Perception method, apparatus, and computer-readable storage medium

Abstract

The application provides a sensing method, device and computer readable storage medium, which can be used for guaranteeing or determining the reliability of a sensing result. The method comprises: a first device, a second device or a third device determining a first resource, and determining a reliability degree of sensing according to a quantity of the first resource. The first resource is a resource for discarding a sensing transmission, or the first resource is a resource for transmitting a sensing signal. The first resource belongs to a first resource set, and the resources included in the first resource set are used for transmitting the sensing signal.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a sensing method, apparatus and computer-readable storage medium. Background Technology

[0002] Communication-sensing integration is an important research direction in the field of communications. A communication system with sensing capabilities can achieve communication and sensing integration. When a communication system performs its communication function, it needs to send communication signals; similarly, when it performs its sensing function, it needs to send sensing signals. However, both communication and sensing signals need to be mapped onto time-frequency resources for transmission. Therefore, in communication-sensing integration scenarios, there may be conflicts between sensing and communication resources, or between sensing resources themselves.

[0003] If some sensing resources are discarded when resource conflicts occur, the reliability of the sensing results may be affected. Therefore, there is an urgent need for a solution to deal with resource conflicts in sensing resources. Summary of the Invention

[0004] This application provides a sensing method, apparatus, and computer-readable storage medium, which can be used to ensure or determine the reliability of sensing results.

[0005] Firstly, this application provides a sensing method that can be applied to a first device, such as a terminal-side device or a network-side device. Alternatively, the method can be applied to a second device, such as a terminal-side device or a network-side device. Still alternatively, the method can be applied to a third device, such as a terminal-side device or a network-side device.

[0006] The terminal-side device is also referred to as a terminal device or a terminal. This terminal device may be a terminal equipment or a component of a terminal equipment, such as a communication module, circuits or chips responsible for communication functions (e.g., modem chips, also known as baseband chips, or system-on-chip (SoC) chips containing modem cores, system-in-package (SIP) chips, chip systems, or processors, etc.) or other functional modules that can be applied within the terminal equipment. This chip system or functional module can implement the functions of the terminal equipment. For example, if the chip system or functional module is located within the terminal equipment, it can also be a logic module or software that can implement all or part of the functions of the terminal equipment.

[0007] The network-side device is also referred to as a network device. This network device can be, for example, a network equipment, or a component of a network equipment, such as a communication module, circuitry or chip responsible for communication functions (e.g., a modem chip, also known as a baseband chip, or a SoC chip or SIP chip containing a modem core, a chip system, or a processor, etc.) or other functional module that can be used in the network equipment. This chip system or functional module can implement the functions of the network equipment. For example, the chip system or functional module may be located within the network equipment, or it can be a logic module or software that can implement all or part of the functions of the network equipment.

[0008] The first device described above is for transmitting sensing signals, the second device is for receiving sensing signals, and the third device is for configuring sensing-related parameters. These three devices may be the same device or different devices; this application does not limit this.

[0009] For example, the method includes: determining a first resource, which belongs to a first resource set, the first resource set including resources used for transmitting sensing signals, the first resource being either a resource for discarding sensing transmission or a resource for transmitting sensing signals; and determining the reliability of sensing based on the number of the first resources.

[0010] Based on this technical solution, resources for discarding sensing transmission or resources for transmitting sensing signals can be determined from the first resource set from either a forward or reverse perspective. Furthermore, based on the number of resources for discarding sensing transmission or transmitting sensing signals, the utilization rate of sensing resources can be obtained, thereby determining the reliability of the sensing results. This is because, when sensing transmission is discarded, the proportion of resources discarded in the first resource set will apply the maximum sensing velocity and / or the main lobe and side lobes of the sensing autocorrelation / cross-correlation. For example, after obtaining the reliability of the sensing results, this application can choose whether to adopt the sensing results or reschedule the requested resources for sensing transmission based on the reliability of the sensing results, thereby improving the reliability of the sensing.

[0011] Here, discarding the resource for sensing transmission can be understood as: the sensing transmission on the first resource is discarded, the transmission of the sensing signal is discarded, or the sensing signal is not mapped on the first resource.

[0012] There can be many reasons for dropping a sensing transmission. For example, a communication signal may conflict with a sensing signal on the first resource. Another example is that a communication signal is actually being transmitted on the first resource. Yet another example is that other sensing signals are actually being transmitted on the first resource. This embodiment does not limit the reasons for dropping a sensing transmission.

[0013] The resource for transmitting sensing signals can be understood as: the sensing signal on the first resource is transmitted, or the transmission of the sensing signal is performed, or the sensing signal is mapped on the first resource.

[0014] For example, the second device can determine whether the first resource is a resource for discarding sensing transmission or a resource for transmitting sensing signals by detecting the signal strength, sequence, or preamble signal on the first resource. The third device can also determine whether the first resource is a resource for discarding sensing transmission or a resource for transmitting sensing signals by detecting the signal strength, sequence, or preamble signal on the first resource. Alternatively, the first resource may be indicated by either the first or second device.

[0015] The first resource may include one or more resources. It can be understood that if the first resource is a resource for discarding sensing transmission, then the remaining resources in the first resource set, excluding the first resource, are resources for transmitting sensing signals; conversely, if the first resource is a resource for transmitting sensing signals, then the remaining resources in the first resource set, excluding the first resource, are resources for discarding sensing transmission.

[0016] The resources in the first resource set can also be called sensing resources. It can be understood that sensing signals are transmitted on sensing resources, or that sensing signals are mapped onto sensing resources. Therefore, it can be said that the resources included in the first resource set are used to map sensing signals.

[0017] Since the sensing signal is transmitted on the sensing resource, or the sensing signal is mapped onto the sensing resource, "determining the sensing resource," "mapping the sensing resource," "transmitting the sensing signal on the sensing resource," and "mapping the sensing signal on the sensing resource" have the same meaning. That is, the above descriptions can be used interchangeably in this application.

[0018] The reliability of perception can be understood as the reliability of the perception result, or the utilization rate of resources used to transmit perception signals. The reliability of perception reflects the difference between the perceived result and the true value. The smaller the difference between the perceived result and the true value, the more reliable the perception; conversely, the larger the difference, the less reliable the perception.

[0019] Optionally, determining the reliability of perception based on the quantity of the first resource includes: determining a first proportion of the quantity of the first resource in the first resource set; and determining the reliability of perception based on the first proportion.

[0020] Alternatively, determining the reliability of perception based on the quantity of the first resource can be replaced by determining the reliability of perception based on a first proportion. Here, the first proportion is based on the proportion of the quantity of the first resource in the first resource set.

[0021] In conjunction with the first aspect, in some implementations of the first aspect, the degree of reliability of perception includes perceived reliability.

[0022] For example, the first resource is the resource for discarding sensing transmission, and sensing reliability includes: the quantity of the first resource is less than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set is less than or equal to a second value.

[0023] Alternatively, perceived reliability is defined as the quantity of the first resource being less than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set being less than or equal to a second value.

[0024] For example, the first resource set includes multiple time units, and the first resource is the first time unit.

[0025] For example, the first resource set includes multiple time-frequency resources, and the first resource is the first time-frequency resource.

[0026] The reliability of the sensing can be determined based on the quantity of the first resource. Alternatively, the reliability of the sensing can be determined based on the quantity of the first resource in the first frequency domain unit. The first frequency domain unit is a frequency domain resource belonging to the first resource set.

[0027] For example, the first resource set includes multiple frequency domain units, and the frequency domain of the first resource is the second frequency domain unit.

[0028] For example, the first resource set includes multiple time-frequency resources, and the first resource is the second time-frequency resource.

[0029] The reliability of the perception can be determined based on the quantity of the first resource. Alternatively, the reliability of the perception can be determined based on the quantity of the first resource in the second time unit. The second time unit belongs to the time-domain resources of the first resource set.

[0030] For example, the first resource is a resource for transmitting sensing data, and the sensing reliability includes: the quantity of the first resource is greater than or equal to a third value, or the proportion of the quantity of the first resource in the first resource set is greater than or equal to a fourth value.

[0031] Alternatively, perceived reliability is defined as the quantity of the first resource being greater than or equal to a third value, or the proportion of the quantity of the first resource in the first resource set being greater than or equal to a fourth value.

[0032] For example, the first resource set includes multiple time units, and the first resource is the first time unit.

[0033] For example, the first resource set includes multiple time-frequency resources, and the first resource is the first time-frequency resource.

[0034] The reliability of the sensing can be determined based on the quantity of the first resource. Alternatively, the reliability of the sensing can be determined based on the quantity of the first resource in the first frequency domain unit. The first frequency domain unit is a frequency domain resource belonging to the first resource set.

[0035] For example, the first resource set includes multiple frequency domain units, and the frequency domain of the first resource is the second frequency domain unit.

[0036] For example, the first resource set includes multiple time-frequency resources, and the frequency domain of the first resource is the second time-frequency resource.

[0037] The reliability of the perception can be determined based on the quantity of the first resource. Alternatively, the reliability of the perception can be determined based on the quantity of the first resource in the second time unit. The second time unit belongs to the time-domain resources of the first resource set.

[0038] The first and / or second values ​​can be determined based on different perceived quality of service (QoS) flows or different perceived priorities. For example, the higher the priority level of the perceived service, the larger the first and / or second values; or, the lower the priority level of the perceived service, the smaller the first and / or second values. As another example, the higher the QoS requirement, the larger the first and / or second values; or, the lower the QoS requirement, the smaller the first and / or second values. It is understandable that the first and / or second values ​​corresponding to different perceived QoS or different perceived priorities can be different.

[0039] The third and / or fourth values ​​can also be determined based on different perceived QoS levels or different perceived priorities. For example, the higher the priority level of the perceived service, the larger the third and / or fourth values; or, the lower the priority level of the perceived service, the smaller the third and / or fourth values. As another example, the higher the QoS requirement, the larger the third and / or fourth values; or, the lower the QoS requirement, the smaller the third and / or fourth values. It is understandable that the third and / or fourth values ​​may differ for different perceived QoS levels or different perceived priorities.

[0040] In conjunction with the first aspect, in some implementations of the first aspect, the degree of reliability of the perception includes the perception being unreliable.

[0041] For example, the first resource is the resource for discarded sensing transmission, and the sensing unreliability includes: the quantity of the first resource is greater than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set is greater than or equal to a second value.

[0042] Alternatively, unreliability is defined as the quantity of the first resource being greater than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set being greater than or equal to a second value.

[0043] For example, the first resource is a resource for transmitting sensing data, and the perception is unreliable if: the quantity of the first resource is less than or equal to a third value, or the proportion of the quantity of the first resource in the first resource set is less than or equal to a fourth value.

[0044] Alternatively, the quantity of the first resource is less than or equal to the third value, or the proportion of the quantity of the first resource in the first resource set is less than or equal to the fourth value.

[0045] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: sending first information, the first information being used to indicate the reliability of the perception, or the first information being used to indicate the reliability of the perception corresponding to a first resource set.

[0046] Based on this, the device that receives the first information can obtain the reliability of the perception, and thus determine whether the perception result is accurate.

[0047] The reliability of perception corresponding to the first resource set refers to the degree of reliability of perception determined based on the number of resources included in the first resource set that either discard perception transmission or transmit perception signals.

[0048] For example, the perceived reliability includes perceived reliability, whereby the first information is used to indicate the perceived reliability, or to indicate the perceived reliability corresponding to the first resource set.

[0049] For example, the perceived reliability includes perceived unreliability, and the first information is used to indicate perceived unreliability, or to indicate perceived unreliability corresponding to a first resource set.

[0050] One possible implementation is that sending the first information includes: the first device sending the first information to the second device, and / or the first device sending the first information to the third device; or, the physical layer of the first device reporting the first information to the higher layer of the first device.

[0051] Another possible implementation includes sending the first information as follows: the second device sends the first information to the first device, and / or the second device sends the first information to the third device; or the physical layer of the second device reports the first information to the higher layer of the second device.

[0052] Another possible implementation includes sending the first information, which includes: the third device sending the first information to the first device, and / or the third device sending the first information to the second device; or the physical layer of the third device reporting the first information to the higher layer of the third device.

[0053] In conjunction with the first aspect, in certain implementations of the first aspect, the first resource set includes resources for transmitting sensing signals within any of the following ranges: a first time range, wherein the first time range is the time range of the first resource set; a first frequency domain unit within the first time range, wherein the first time range is the time range of the first resource set and the first frequency domain unit belongs to the frequency domain range of the first resource set; a first frequency domain range, wherein the first frequency domain range is the frequency domain range of the first resource set; or, a second time unit within the first frequency domain range, wherein the first frequency domain range is the frequency domain range of the first resource set and the first time unit belongs to the time range of the first resource set.

[0054] The following sections describe two scenarios: the first resource is either the resource for discarding sensing transmission or the resource for transmitting sensing signals.

[0055] In the first case, the primary resource is the resource for discarding sensory transmission.

[0056] In conjunction with the first aspect, in some implementations of the first aspect, the first resource set includes multiple time units, and the first resource is a first time unit.

[0057] The quantity of the first resource is less than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set is less than or equal to a second value, including one of the following: the quantity of the first time unit is less than or equal to the first value; or, the proportion of the quantity of the first time unit in the plurality of time units is less than or equal to the second value.

[0058] The quantity of the first resource is greater than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set is greater than a second value, including the following: the quantity of the first time unit is greater than or equal to the first value; or, the proportion of the quantity of the first time unit in multiple time units is greater than or equal to the second value.

[0059] The first time unit can be a symbol, an orthogonal frequency division multiplexing symbol, a time slot, a mini time slot, a partial time slot, a subframe, a frame, or a radio frame, etc. Alternatively, the first time unit can be any form of time unit defined in the future, and this application does not impose any restrictions.

[0060] Optionally, the first resource is a first time unit, which is a time unit in the first resource set that satisfies a first condition, the first condition being one of the following: in the time unit, there are frequency domain units that discard sensing transmissions; in the time unit, sensing transmissions in all frequency domain units are discarded; in the time unit, the proportion of frequency domain units that discard sensing transmissions is greater than or equal to a first preset value; or, in the time unit, the number of frequency domain units that discard sensing transmissions is greater than or equal to a first number.

[0061] The proportion of frequency domain units that discard sensing transmission in a time unit refers to the proportion of frequency domain units that discard sensing transmission in that time unit among the multiple frequency domain units used for transmitting sensing signals in that time unit.

[0062] The frequency domain units in the time unit refer to the multiple frequency domain units used for transmitting sensing signals in that time unit, which are included in the first resource set. It can be understood that these multiple frequency domain units also belong to the first resource set.

[0063] In conjunction with the first aspect, in some implementations of the first aspect, the first resource set includes multiple time-frequency resources on the first frequency domain unit, and the first resource is a first time-frequency resource.

[0064] The quantity of the first resource is less than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set is less than or equal to a second value, including the following: on the first frequency domain unit, the quantity of the first time-frequency resource is less than or equal to the first value; or, on the first frequency domain unit, the proportion of the quantity of the first time-frequency resource in the plurality of time-frequency resources is less than or equal to the second value.

[0065] The quantity of the first resource is greater than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set is greater than or equal to a second value, including the following: on the first frequency domain unit, the quantity of the first time-frequency resource is greater than or equal to the first value; or, on the first frequency domain unit, the proportion of the quantity of the first time-frequency resource in the plurality of time-frequency resources is greater than or equal to the second value.

[0066] The first frequency domain unit belongs to the frequency domain resources of the first resource set. The frequency domain resources of the first resource are the first frequency domain units, that is, the frequency domain resources of the first time-frequency resource are the first frequency domain units.

[0067] The time unit of the first time-frequency resource can be a symbol, an orthogonal frequency division multiplexing symbol, a time slot, a mini-time slot, a partial time slot, a subframe, a frame, or a radio frame, etc. Alternatively, the time unit of the first time-frequency resource can be any form of time unit defined in the future, and this application does not impose any restrictions on it.

[0068] The frequency domain unit of the first time-frequency resource can be a resource particle, a resource block, a set of resource blocks (RBs), a channel, a sub-channel, a control channel element, interleaving, a comb, a resource pool, a bandwidth portion, a bandwidth portion group, a carrier, a carrier group, a sub-band, or a band, etc. Alternatively, the frequency domain unit of the first time-frequency resource can be any form of frequency domain unit defined in the future, and this application does not impose any restrictions on this.

[0069] In conjunction with the first aspect, in some implementations of the first aspect, the first resource set includes multiple frequency domain units, and the first resource is a second frequency domain unit.

[0070] The quantity of the first resource is less than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set is less than or equal to a second value, including one of the following: the quantity of the second frequency domain is less than or equal to the first value; or, the proportion of the quantity of the second frequency domain units in the plurality of frequency domain units is less than or equal to the second value.

[0071] The quantity of the first resource is greater than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set is greater than or equal to a second value, including the following: the quantity of the second frequency domain is greater than or equal to the first value; or, the proportion of the quantity of the second frequency domain unit in the multiple frequency domain units is greater than or equal to the second value.

[0072] The second frequency domain unit can be a resource particle, resource block, RB set, channel, subchannel, control channel element, interleaving, comb, resource pool, bandwidth portion, bandwidth portion group, carrier, carrier group, subband, or band, etc. Alternatively, the second frequency domain unit can be any form of frequency domain unit defined in the future, and this application does not impose any restrictions on it.

[0073] Optionally, the first resource is a second frequency domain unit, which is a frequency domain unit in the first resource set that satisfies a second condition. The second condition is one of the following: the frequency domain unit includes time units for discarding sensing transmissions; the sensing transmissions in all time units of the frequency domain unit are discarded; the proportion of time units for discarding sensing transmissions in the frequency domain unit is greater than or equal to a second preset value; or the number of time units for discarding sensing transmissions in the frequency domain unit is greater than or equal to a second number.

[0074] In the frequency domain unit, the proportion of time domain units that discard sensing transmission refers to the proportion of time units that discard sensing transmission in the frequency domain unit among the multiple time units used for transmitting sensing signals in that frequency domain unit.

[0075] The time units on the frequency domain unit are: multiple time units on the frequency domain unit used for transmitting sensing signals, which are included in the first resource set. It can be understood that these multiple time units also belong to the first resource set.

[0076] In conjunction with the first aspect, in some implementations of the first aspect, the first resource set includes multiple time-frequency resources on the second time unit, and the frequency domain of the first resource is the second time-frequency resource.

[0077] The quantity of the first resource is less than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set is less than or equal to a second value, including the following: in the second time unit, the quantity of the second time-frequency resource is less than or equal to the first value; or, in the second time unit, the proportion of the quantity of the second time-frequency resource in the plurality of time-frequency resources is less than or equal to the second value.

[0078] The quantity of the first resource is greater than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set is greater than or equal to a second value, including the following: in the second time unit, the quantity of the second time-frequency resource is greater than or equal to the first value; or, in the second time unit, the proportion of the quantity of the second time-frequency resource among multiple time-frequency resources is greater than or equal to the second value. That is, the quantity of time-frequency resources for discarded sensing transmission is greater than or equal to the first value; or, the proportion of the quantity of time-frequency resources for discarded sensing transmission among multiple time-frequency resources is greater than or equal to the second value.

[0079] The second time unit belongs to the time-domain resources of the first resource set. The time-domain resources of the first resource are the second time units, that is, the time-domain resources of the second time-frequency resource are the second time units.

[0080] It can be understood that the second time-frequency resource is the time-frequency resource that is discarded for sensing transmission. The second time-frequency resource belongs to the first resource set, which includes time-frequency resources used for transmitting sensing signals.

[0081] The time unit of the second time-frequency resource can be a symbol, an orthogonal frequency division multiplexing symbol, a time slot, a mini time slot, a partial time slot, a subframe, a frame, or a radio frame, etc. Alternatively, the time unit of the second time-frequency resource can be any form of time unit defined in the future, and this application does not impose any restrictions on it.

[0082] The frequency domain unit of the second time-frequency resource can be a resource particle, resource block, RB set, channel, subchannel, control channel element, interleaving, comb, resource pool, bandwidth portion, bandwidth portion group, carrier, carrier group, subband, or band, etc. Alternatively, the frequency domain unit of the second time-frequency resource can be any form of frequency domain unit defined in the future, and this application does not impose any restrictions on this.

[0083] In the second scenario, the primary resource is the resource for transmitting sensing signals.

[0084] In conjunction with the first aspect, in some implementations of the first aspect, the first resource set includes multiple time units, and the first resource is a first time unit.

[0085] The quantity of the first resource is greater than or equal to a third value, or the proportion of the quantity of the first resource in the first resource set is greater than or equal to a fourth value, including one of the following: the quantity of the first time unit is greater than or equal to the third value; or, the proportion of the quantity of the first time unit in the plurality of time units is greater than or equal to the fourth value.

[0086] The quantity of the first resource is less than or equal to the third value, or the proportion of the quantity of the first resource in the first resource set is less than the fourth value, including the following: the quantity of the first time unit is less than the third value; or, the proportion of the quantity of the first time unit in multiple time units is less than the fourth value.

[0087] Optionally, the first time unit is a time unit in the first resource set that satisfies a first condition, which is one of the following: the time unit includes frequency domain units that transmit sensing signals; the time unit transmits sensing signals in all frequency domain units; the proportion of frequency domain units that transmit sensing signals in the time unit is greater than or equal to a third preset value; or the number of frequency domain units that discard sensing transmissions in the time unit is greater than or equal to a third number.

[0088] For a description of multiple time units, frequency domain units included in the time units, and the first time unit, please refer to the relevant description in the first case above, which will not be repeated here.

[0089] In conjunction with the first aspect, in some implementations of the first aspect, the first resource set includes multiple time-frequency resources on the first frequency domain unit, and the first resource is a first time-frequency resource.

[0090] The quantity of the first resource is greater than or equal to a third value, or the proportion of the quantity of the first resource in the first resource set is greater than or equal to a fourth value, including the following: on the first frequency domain unit, the quantity of the second time unit is greater than or equal to the third value; or, on the first frequency domain unit, the proportion of the quantity of the second time unit in the plurality of time-frequency resources is greater than or equal to the fourth value.

[0091] The quantity of the first resource is less than or equal to the third value, or the proportion of the quantity of the first resource in the first resource set is less than or equal to the fourth value, including the following: the quantity of the second time unit in the first frequency domain unit is less than or equal to the third value; or the proportion of the quantity of the second time unit in the first frequency domain unit among the multiple time-frequency resources is less than or equal to the fourth value.

[0092] For a description of multiple time-frequency resources and the first time-frequency resource, please refer to the relevant description in the first case above, which will not be repeated here.

[0093] In conjunction with the first aspect, in some implementations of the first aspect, the first resource set includes multiple frequency domain units, and the frequency domain of the first resource is the second frequency domain unit.

[0094] The quantity of the first resource is greater than or equal to a third value, or the proportion of the quantity of the first resource in the first resource set is greater than or equal to a fourth value, including one of the following: the quantity of the second frequency domain is greater than or equal to the third value; or, the proportion of the quantity of the second frequency domain units in the first frequency domain range is greater than or equal to the fourth value.

[0095] The quantity of the first resource is less than or equal to the third value, or the proportion of the quantity of the first resource in the first resource set is less than or equal to the fourth value, including the following: the quantity of the second frequency domain is less than or equal to the third value; or, the proportion of the quantity of the second frequency domain units in the first frequency domain range is less than or equal to the fourth value.

[0096] Optionally, the second frequency domain unit is a frequency domain unit in the first resource set that satisfies a second condition, which is one of the following: the frequency domain unit includes time units for transmitting sensing signals; all time units in the frequency domain unit transmit sensing signals; the proportion of time units for transmitting sensing signals in the frequency domain unit is greater than or equal to a second preset value; or the number of time units for transmitting sensing signals in the frequency domain unit is greater than or equal to a second number.

[0097] In conjunction with the first aspect, in some implementations of the first aspect, the first resource set includes multiple time-frequency resources on the second time unit, and the frequency domain of the first resource is the second time-frequency resource.

[0098] The quantity of the first resource is greater than or equal to a third value, or the proportion of the quantity of the first resource in the first resource set is greater than or equal to a fourth value, including one of the following: in the second time unit, the quantity of the second time-frequency resource is greater than or equal to the third value; or, in the second time unit, the proportion of the quantity of the second time-frequency resource in the plurality of time-frequency resources is greater than or equal to the fourth value.

[0099] The quantity of the first resource is less than or equal to a third value, or the proportion of the quantity of the first resource in the first resource set is less than or equal to a fourth value, including the following: in the second time unit, the quantity of the second time-frequency resource is less than or equal to the third value; or, in the second time unit, the proportion of the quantity of the second time-frequency resource among multiple time-frequency resources is less than or equal to the fourth value. That is, the quantity of time-frequency resources for transmitting sensing signals is less than or equal to the third value; or, the proportion of the quantity of time-frequency resources for transmitting sensing signals among multiple time-frequency resources is less than or equal to the fourth value.

[0100] For a description of multiple time-frequency resources and a second time-frequency resource, please refer to the description in the first case above, which will not be repeated here.

[0101] Optionally, the first resource set includes multiple time units, and the first resource is a first time unit; the first information is used to indicate the reliability of the perception corresponding to the first resource set, including: the first information is used to indicate the number of first time units in the multiple time units, or to indicate the proportion of the number of first time units in the multiple time units included in the first resource set.

[0102] Optionally, the first resource set includes multiple time-frequency resources on the first frequency domain unit, and the first resource is a first time-frequency resource; the first information is used to indicate the reliability of the sensing corresponding to the first resource set, including: the first information is used to indicate the number of first time-frequency resources on the first frequency domain unit, or to indicate the proportion of the number of first time-frequency resources in the multiple time-frequency resources on the first frequency domain unit in the first resource set.

[0103] Optionally, the first resource set includes multiple frequency domain units, and the first resource is a second frequency domain unit; the first information is used to indicate the reliability of the sensing corresponding to the first resource set, including: the first information is used to indicate the number of the second frequency domain units, or to indicate the proportion of the number of the second frequency domain units in the multiple frequency domain units.

[0104] Optionally, the first resource set includes multiple time-frequency resources on the second time unit, and the frequency domain of the first resource is the second time-frequency resource; the first information is used to indicate the reliability of the perception corresponding to the first resource set, including: the first information is used to indicate the number of the second time-frequency resources on the second time unit, or to indicate the proportion of the number of the second time-frequency resources on the second time unit among the multiple time-frequency resources.

[0105] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: sending second information, the second information being used to determine the time domain range of the first resource set.

[0106] One possible implementation includes sending the second information by: the first device sending the second information to a second device and / or a third device. Alternatively, the physical layer of the first device reporting the second information to a higher layer of the first device.

[0107] Another possible implementation includes sending the second information by the second device to the first device and / or the third device. Alternatively, the physical layer of the second device reports the second information to the higher layer of the first device.

[0108] Another possible implementation includes sending the second information by a third device to the first device and / or the second device. Alternatively, the physical layer of the third device reports the second information to the higher layers of the first device.

[0109] For example, the second information is used to indicate at least two of the following: the start time unit of the time domain range of the first resource set, the end time unit of the time domain range of the first resource set, or the duration of the time domain range of the first resource set.

[0110] It is understood that if the duration of the time domain range of the first resource set is predefined, then the second information can be used to indicate the start time unit of the time domain range of the first resource set, and / or the end time unit of the time domain range of the first resource set.

[0111] For example, the second information is used to indicate the duration of the time domain range of the first resource set, and the second information is sent in a third time unit; the interval between the start time unit of the time domain range and the third time unit is a first duration, or the interval between the end time unit of the time domain range and the third time unit is a second duration.

[0112] The first duration and / or the second duration are predefined. This saves signaling overhead.

[0113] Optionally, the second information is also used to indicate the first duration and / or the second duration. This allows for more flexible indication of the first duration and / or the second duration.

[0114] In conjunction with the first aspect, in some implementations of the first aspect, the first resource is a resource for discarding sensing transmission; the method further includes: reselecting a resource for transmitting sensing signals when one or more of the following conditions are met: the number of the first resources is greater than a first value, or the proportion of the number of the first resources in the first resource set is greater than a second value.

[0115] Alternatively, the first resource is a resource for discarding sensing transmission; the method further includes: reselecting a resource for transmitting sensing signals when one or more of the following conditions are met: the number of the first resources is less than or equal to a third value, or the proportion of the number of the first resources in the first resource set is less than or equal to a fourth value.

[0116] In other words, when sensing is unreliable, resources for transmitting sensing signals are reselected. Alternatively, when sensing reliability is not met, resources for transmitting sensing signals are reselected.

[0117] The resource for reselecting the transmission of sensing signals can be replaced with: reselecting the first resource, or reselecting the first resource set.

[0118] This method of reselecting sensing signal resources can effectively ensure the reliability of sensing, thereby making the obtained sensing results more accurate.

[0119] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: sending information to the third device for requesting resources for transmitting the sensing signal. For example, the information for requesting resources for transmitting the sensing signal is sent to the third device before reselecting resources for transmitting the sensing signal.

[0120] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: sending a sensing result, the sensing result being obtained based on the sensing signal. The sensing result can also be referred to as information about the sensing target. The information about the sensing target can be understood as the measurement results of the resources included in the first resource set, or the information about the sensing target can be understood as the measurement results of the first resource.

[0121] When the first resource is a resource for transmitting sensing signals, the sensing signals here are sensing signals transmitted on the first resource. Therefore, the sensing result is obtained based on the sensing signals transmitted on the first resource. That is, the sensing signals are the sensing results corresponding to the first resource set.

[0122] When the first resource is a resource for discarded sensing transmission, the sensing signal here can be a sensing signal transmitted on other resources in the first resource set besides the first resource. Therefore, the sensing result is obtained based on the sensing signals transmitted on other resources. That is, the sensing signal is the sensing result corresponding to other resource sets.

[0123] For example, in the event of unreliable sensing, if the application layer of the first device or the second device determines the information of the sensing target, or if the sensing function (SF) of the first device and / or the SF of the second device determines the information of the sensing target, the first device and / or the second device still report the information of the sensing target. Alternatively, in the event of unreliable sensing, if the physical layer of the first device and / or the physical layer of the second device determines the information of the sensing target, the first device and / or the second device do not report the information of the sensing target.

[0124] Secondly, this application provides a sensing method that can be applied to a first device, such as a terminal-side device or a network-side device. Alternatively, the method can be applied to a second device, such as a terminal-side device or a network-side device. For a description of the terminal-side device or network-side device, please refer to the description in the first aspect, which will not be repeated here.

[0125] The first device described above is used to transmit sensing signals, and the second device is used to receive sensing signals. The first device and the second device can be the same device or different devices, and this application does not limit this.

[0126] The method may include: determining a third resource that conflicts with a fourth resource, the third resource being used to transmit sensing signals, and the fourth resource being used to transmit communication signals or to transmit sensing signals; transmitting sensing signals on a fifth resource; and transmitting communication signals or sensing signals on the fourth resource.

[0127] Alternatively, the method may include: determining a third resource that conflicts with a fourth resource, the third resource being used to transmit sensing signals, and the fourth resource being used to transmit communication signals or to transmit sensing signals; and transmitting sensing signals on a fifth resource.

[0128] In the above method: determining the third resource, the conflict between the third resource and the fourth resource can be replaced with: determining the conflict between the third resource and the fourth resource.

[0129] Based on this technical solution, in the event of a conflict between the third and fourth resources, the sensing signal is not transmitted on the third resource, but on the fifth resource. For the fourth resource, communication signals or sensing signals can still be transmitted on the fourth resource. Since the sensing signals transmitted on the fifth resource and the sensing signals transmitted on the third resource are used to determine information about the same sensing target, the method provided in this application can guarantee both the reliability of communication and the reliability of sensing.

[0130] Among them, the conflict between the third resource and the fourth resource refers to the conflict between transmissions on the third resource and transmissions on the fourth resource.

[0131] When the fourth resource is used to transmit sensing signals, the sensing signals transmitted on the third and fourth resources are used to perform different sensing operations. For example, the sensing signals transmitted on the third and fourth resources belong to different services; or, for example, the sensing signals transmitted on the third and fourth resources are used to determine information about different sensing targets.

[0132] The third and fifth resources are used to perform the same sensing operations. For example, sensing transmissions on the fourth and fifth resources belong to the same sensing service. As another example, sensing signals transmitted on the fifth resource and sensing signals transmitted on the third resource are used to determine information about the same sensing target.

[0133] Optionally, the fifth resource may be actively sent by the third device or requested by the first or second device.

[0134] In the first possible implementation, the fifth message is actively sent by the third device.

[0135] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: receiving third information from a third device, the third information being used to indicate the fourth resource and the fifth resource. This method of using the same information to indicate two resources can effectively save signaling overhead.

[0136] The fifth resource can also be indicated by information other than the third information. That is, the third information indicates the fourth resource but not the fifth resource. This method of separately indicating the fourth and third resources is more flexible.

[0137] Optionally, the third information is carried in downlink control information (DCI).

[0138] In the first possible implementation, the determination of the conflict between the third and fourth resources includes: determining the conflict between the third and fourth resources based on information from the third device indicating the conflict between the third and fourth resources.

[0139] In a second possible implementation, the fifth resource is requested by either the first or second device.

[0140] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: sending fourth information to a third device, the fourth information being used for: indicating a conflict between the third resource and the fourth resource, requesting a resource for transmitting sensing signals, or requesting the fifth resource.

[0141] Optionally, this fourth piece of information can be carried in uplink control information (UCI).

[0142] The fourth information can be carried on the fourth resource. That is, the fourth resource is used to transmit communication signals or sensing signals, and also to carry the fourth information. This method of multiplexing the fourth resource to send the fourth information can save time, signaling overhead, and resource overhead.

[0143] Alternatively, the fourth information can be carried on other resources, meaning the fourth information is not transmitted on a separate resource. This method of transmitting the fourth information on other resources is more flexible.

[0144] Optionally, after sending the fourth information to the third device, the method further includes: receiving third information from the third device, the third information being used to indicate the fifth resource.

[0145] For the second possible implementation, determining the conflict between the third and fourth resources includes: the third and fourth resources satisfying one of the following conditions (items 1 to 3) in the time domain, thus determining a conflict between the third and fourth resources. In other words, the third and fourth resources are in conflict if they satisfy one of the following conditions (items 1 to 3) in the time domain.

[0146] First: The third resource and the fourth resource overlap in the time domain.

[0147] Second: The fourth resource overlaps with the first time domain range, and the first time domain range includes at least one of the following: resources within a third time period before the third resource, the third resource, or resources within a third time period after the third resource.

[0148] The third item: The third resource overlaps with the second time domain range, and the second time domain range includes at least one of the following: resources within a third time period before the fourth resource, the fourth resource, or resources within a third time period after the fourth resource.

[0149] The third duration is the time for switching between the first frequency domain and the second frequency domain, or the third duration is predefined, the third resource belongs to the first frequency domain, and the fourth resource belongs to the second frequency domain.

[0150] Optionally, switching between the first frequency domain and the second frequency domain includes: switching from the first frequency domain to the second frequency domain, or switching from the second frequency domain to the first frequency domain. That is, the third duration is the time for switching from the first frequency domain to the second frequency domain, or the third duration is the time for switching from the second frequency domain to the first frequency domain.

[0151] Optionally, the fourth resource is used to transmit communication signals or sensing signals; the third duration is the time for switching between the first frequency domain transmission and the second frequency domain transmission. Alternatively, the fourth resource is used to receive communication signals or sensing signals; the third duration is the time for switching between the first frequency domain reception and the second frequency domain reception.

[0152] Optionally, the first frequency domain and the second frequency domain may be the same or different. The first frequency domain may be: a first carrier (CC), a first carrier group (CC group), a first band, a first bandwidth part (BWP), a first BWP group, or a first cell. The second frequency domain may be a second carrier, a first carrier group, a second band, a second BWP, a second BWP group, or a second cell.

[0153] In this application, in the event of a conflict between the third and fourth resources, the sensing signal is transmitted on the fifth resource, and the sensing signal is not transmitted on the third resource. That is, in the event of a conflict between the third and fourth resources, the sensing transmission on the third resource is discarded.

[0154] Optionally, the conditions for dropping a sensing transmission on the third resource include: the first priority level being lower than or equal to the second priority level. Based on this, the reliability of high-priority transmissions can be guaranteed.

[0155] The first priority level is one of the following: the priority level of transmission on the third resource; the highest priority level of at least one transmission within the first time domain of the first frequency domain; and the lowest priority level of at least one transmission within the first time domain of the first frequency domain.

[0156] Optionally, the first time domain includes at least one of the following: resources within a third time period before the third resource, the third resource, or resources within a third time period after the third resource.

[0157] The second priority level is one of the following: the priority level of transmission on the fourth resource; at least one highest priority level of transmission within the second time domain of the second frequency domain; at least one lowest priority level of transmission within the second time domain of the second frequency domain.

[0158] Optionally, the second time domain range includes at least one of the following: resources within a third time period before the fourth resource, the fourth resource, or resources within a third time period after the fourth resource.

[0159] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: sending fifth information to a third device according to a sensing mode, the fifth information indicating that reception and transmission are in the same frequency domain in a first time slot, the first time slot being used to transmit sensing signals; or, the fifth information indicating that reception and transmission are in the same frequency domain on a third resource; or, the fifth information indicating that reception and transmission are in the same frequency domain on a fifth resource.

[0160] Among them, being in the same frequency domain can also be understood as being in the first frequency domain or being in the second frequency domain.

[0161] Optionally, the perception modes include spontaneously received perception modes and spontaneously received perception modes.

[0162] Thirdly, this application provides a sensing method that can be applied to a third device. The third device may be, for example, a terminal-side device or a network-side device. For a description of the terminal-side device or network-side device, please refer to the description in the first aspect, which will not be repeated here.

[0163] The third device is used to configure sensing-related parameters. The third device, the first device, and the second device can be the same device or different devices; this application does not limit this.

[0164] For example, the method may include: determining that a fourth resource conflicts with a third resource, the third resource being used to transmit sensing signals, and the fourth resource being used to transmit communication signals or to transmit sensing signals; and sending third information, the third information being used to indicate a fifth resource, the fifth resource being used to transmit sensing signals.

[0165] Alternatively, the method may include: determining a third resource that conflicts with a fourth resource, the third resource being used to transmit sensing signals, and the fourth resource being used to transmit communication signals or to transmit sensing signals; sending an indication to transmit sensing signals on a fifth resource; and sending an indication to transmit communication signals or to transmit sensing signals on the fourth resource.

[0166] For descriptions of the third, fourth, and fifth resources, please refer to the relevant descriptions in the second section; they will not be repeated here.

[0167] Based on this technical solution, in the event of a conflict between the third and fourth resources, the system instructs that the sensing signal be transmitted on the fifth resource instead of the third resource. Since the sensing signal transmitted on the fifth resource and the sensing signal transmitted on the third resource are used to determine information about the same sensing target, the method provided in this application can guarantee both the reliability of communication and the reliability of sensing.

[0168] Optionally, the conflict between the fourth and third resources may be determined by the third device itself, or by the third device based on instructions from the first or second device.

[0169] One possible implementation is that the third device determines the conflict between the fourth resource and the third resource based on instructions from the first device or the second device.

[0170] Optionally, the method further includes: receiving fourth information from a first device or a second device, the fourth information being used to: indicate a conflict between the third resource and the fourth resource, to request a resource for transmitting a sensing signal, or the fourth information being used to request the fifth resource.

[0171] Accordingly, the third device determines, based on the fourth information, that the fourth resource conflicts with the third resource.

[0172] For a description of the fourth piece of information, please refer to the description in the second part above, which will not be repeated here.

[0173] Another possible implementation is that the third device determines the conflict between the fourth resource and the third resource itself.

[0174] Optionally, the third resource and the fourth resource are determined to be in conflict if they satisfy one of the following conditions in the time domain:

[0175] First: The third resource and the fourth resource overlap in the time domain;

[0176] Second item: The fourth resource overlaps with the first time domain range, and the first time domain range includes at least one of the following: resources within the third time period before the third resource, the third resource, or resources within the third time period after the third resource;

[0177] The third item: The third resource overlaps with the second time domain range, and the second time domain range includes at least one of the following: resources within a third time period before the fourth resource, the fourth resource, or resources within a third time period after the fourth resource.

[0178] The third duration is either the time for switching between the first and second frequency domains, or it is predefined. The third resource belongs to the first frequency domain, and the fourth resource belongs to the second frequency domain. The first and second frequency domains can be the same or different; that is, the third and fourth resources can be located in the same frequency domain or in different frequency domains.

[0179] Optionally, switching between the first frequency domain and the second frequency domain includes: switching from the first frequency domain to the second frequency domain, or switching from the second frequency domain to the first frequency domain. That is, the third duration is the time for switching from the first frequency domain to the second frequency domain, or the third duration is the time for switching from the second frequency domain to the first frequency domain.

[0180] For a description of the first frequency domain, the second frequency domain, and the third duration, please refer to the relevant description in the second part above, which will not be repeated here.

[0181] In another possible implementation, the method further includes sending third information to the first or second device, the third information also indicating the fourth resource. That is, if a conflict is determined between the third and fourth resources, the transmission on the third resource is discarded.

[0182] Optionally, the third information is carried in the DCI.

[0183] In conjunction with the third aspect, in some implementations of the third aspect, the conditions under which the sensing transmission on the third resource is dropped include: the first priority level is lower than or equal to the second priority level.

[0184] For a description of the first priority level being equal to or equal to the second priority level, please refer to the description in the second part above, which will not be repeated here.

[0185] The discarding of sensing transmissions on the third resource can also be understood as: transmitting sensing signals or communication signals on the fourth resource, but not transmitting sensing signals on the third resource.

[0186] In conjunction with the third aspect, in some implementations of the third aspect, the method further includes: receiving fifth information, the fifth information being used to indicate that the receiving channel and the transmitting channel in the first time slot are located in the same frequency domain, the first time slot being used to transmit sensing signals; or, the fifth information being used to indicate that the receiving and transmitting on the third resource are located in the same frequency domain; or, the fifth information being used to indicate that the receiving and transmitting on the fifth resource are located in the same frequency domain.

[0187] Among them, being in the same frequency domain can also be understood as being in the first frequency domain or the second frequency domain.

[0188] Optionally, the perception modes include spontaneously received perception modes and spontaneously received perception modes.

[0189] Fourthly, this application provides a sensing method that can be applied to a first device, such as a terminal-side device or a network-side device. Alternatively, the method can be applied to a second device, such as a terminal-side device or a network-side device. For a description of the terminal-side device or network-side device, please refer to the description in the first aspect, which will not be repeated here.

[0190] The first device described above is used to transmit sensing signals, and the second device is used to receive sensing signals. The first device and the second device can be the same device or different devices, and this application does not limit this.

[0191] For example, the method may include: determining a third resource and / or a fourth resource; transmitting a sensing signal on the third resource; and / or transmitting a communication signal or a sensing signal on the fourth resource.

[0192] The third resource is used to transmit sensing signals, and the fourth resource is used to transmit communication signals or sensing signals. When the fourth resource is used to transmit sensing signals, the third and fourth resources are used to perform different sensing operations.

[0193] Optionally, the third resource and the fourth resource may conflict, or the third resource and the fourth resource may not conflict.

[0194] In the first possible implementation, the time interval between the third resource and the fourth resource is greater than or equal to the third duration, and the third resource and the fourth resource do not conflict.

[0195] The third duration is the time for switching between the first frequency domain and the second frequency domain, or the third duration is predefined, the third resource belongs to the first frequency domain, and the fourth resource belongs to the second frequency domain.

[0196] For a description of the third duration, the first frequency domain, and the second frequency domain, please refer to the description in the second part above, which will not be repeated here.

[0197] In the first possible implementation, if the first device transmits a sensing signal on the third resource, then the third device does not schedule the fourth resource within the first time domain. Alternatively, if the first device transmits a communication signal or a sensing signal on the fourth resource, then the third device does not schedule the third resource within the second time domain.

[0198] For the first possible implementation, the method specifically includes: determining a third resource and a fourth resource; transmitting a sensing signal on the third resource; and transmitting a communication signal or a sensing signal on the fourth resource.

[0199] Optionally, determining the third resource and / or the fourth resource includes: receiving sixth information and / or seventh information from a third device, wherein the seventh information is used to indicate the third resource and the sixth information is used to indicate the fourth resource; determining the fourth resource based on the sixth information; and determining the third resource based on the seventh information.

[0200] Based on this technical solution, the acquired third and fourth resources do not conflict, effectively guaranteeing the performance of communication and sensing.

[0201] In a second possible implementation, the third resource and the fourth resource satisfy one of the following conditions in the time domain: the fourth resource conflicts with the third resource.

[0202] First: The third resource and the fourth resource overlap in the time domain;

[0203] Second item: The fourth resource overlaps with the first time domain range, and the first time domain range includes at least one of the following: resources within the third time period before the third resource, the third resource, or resources within the third time period after the third resource;

[0204] The third item: The third resource overlaps with the second time domain range, and the second time domain range includes at least one of the following: resources within the third time period before the fourth resource, the fourth resource, or resources within the third time period after the fourth resource;

[0205] The third duration is the time for switching between the first frequency domain and the second frequency domain, or the third duration is predefined, the third resource belongs to the first frequency domain, and the fourth resource belongs to the second frequency domain.

[0206] For a more detailed description of the first and third items, please refer to the description in the second part above, which will not be repeated here.

[0207] Optionally, in the event of a conflict between the third and fourth resources, the method may further include: determining, based on a first priority level and a second priority level, whether to discard sensing transmissions on the third resource or to discard communication transmissions or sensing transmissions on the fourth resource.

[0208] For a description of the first and second priority levels, please refer to the description in the second part above, which will not be repeated here.

[0209] Specifically, the conditions for discarding sensing transmissions on a third resource or transmitting communication or sensing signals on a fourth resource include: the first priority level being lower than or equal to the second priority level.

[0210] Specifically, the conditions for discarding communication or sensing transmissions on the fourth resource, or transmitting sensing signals on the third resource, include: the first priority level being higher than or equal to (i.e. not lower than) the second priority level.

[0211] In the second possible implementation, the method specifically includes: determining a third resource for transmitting sensing signals; and transmitting sensing signals on the third resource. Alternatively, it includes determining a fourth resource for transmitting communication signals or for transmitting sensing signals; and transmitting either communication signals or sensing signals on the fourth resource.

[0212] Optionally, determining the third resource includes: receiving seventh information from a third device, the seventh information indicating the third resource; and determining the third resource based on the seventh information.

[0213] Optionally, determining the fourth resource includes: receiving sixth information from the third device, the sixth information indicating the fourth resource; and determining the fourth resource based on the sixth information.

[0214] Based on this technical solution, in the event of a conflict between the third and fourth resources, sensing signals can be transmitted on the third resource and communication signals can be transmitted on the fourth resource, thus ensuring the reliability of sensing; or in the event of a conflict between the third and fourth resources, communication signals or sensing signals can be transmitted on the fourth resource and sensing signals can be transmitted on the third resource, thus ensuring the reliability of communication.

[0215] Fifthly, this application provides a sensing method that can be applied to a third device. The third device may be, for example, a terminal-side device or a network-side device. For a description of the terminal-side device or network-side device, please refer to the description in the first aspect, which will not be repeated here.

[0216] The third device is used to configure sensing-related parameters. The third device, the first device, and the second device can be the same device or different devices; this application does not limit this.

[0217] For example, the method includes: sending seventh information and / or sixth information, the seventh information being used to indicate a third resource, the third resource being used to transmit sensing signals, and the sixth information being used to indicate a fourth resource.

[0218] The fourth resource is used to transmit communication signals or sensing signals. When the fourth resource is used to transmit sensing signals, the third and fourth resources are used to perform different sensing operations.

[0219] Optionally, the third resource and the fourth resource may conflict, or the third resource and the fourth resource may not conflict.

[0220] In the first possible implementation, the time interval between the third resource and the fourth resource is greater than or equal to the third duration, and the third resource and the fourth resource do not conflict.

[0221] The third duration is the time for switching between the first frequency domain and the second frequency domain, or the third duration is predefined.

[0222] For a description of the third duration, the first frequency domain, and the second frequency domain, please refer to the description in the second part above, which will not be repeated here.

[0223] In the first possible implementation, if the first device transmits a sensing signal on the third resource, then the third device does not schedule the fourth resource within the first time domain. Alternatively, if the first device transmits a communication signal or a sensing signal on the fourth resource, then the third device does not schedule the third resource within the second time domain.

[0224] For the first possible implementation, the method specifically includes: sending the seventh information and the sixth information.

[0225] Optionally, the method further includes: determining a third resource; determining a resource that is located before the third resource in the time domain and whose interval with the third resource is greater than a third duration as a fourth resource, or determining a resource that is located after the third resource in the time domain and whose interval with the third resource is greater than a third duration as a fourth resource.

[0226] Optionally, the method further includes: determining a fourth resource; determining a resource that is located before the fourth resource in the time domain and whose interval with the fourth resource is greater than a third time duration as the fourth resource, or determining a resource that is located after the fourth resource in the time domain and whose interval with the fourth resource is greater than a third time duration as the third resource.

[0227] Based on this technical solution, the acquired third and fourth resources do not conflict, effectively guaranteeing the performance of communication and sensing.

[0228] In the second possible implementation, the third and fourth resources satisfy one of the following conditions in the time domain: the fourth resource conflicts with the third resource.

[0229] First: The third resource and the fourth resource overlap in the time domain;

[0230] Second item: The fourth resource overlaps with the first time domain range, and the first time domain range includes at least one of the following: resources within the third time period before the third resource, the third resource, or resources within the third time period after the third resource;

[0231] The third item: The third resource overlaps with the second time domain range, and the second time domain range includes at least one of the following: resources within the third time period before the fourth resource, the fourth resource, or resources within the third time period after the fourth resource;

[0232] The third duration is the time for switching between the first frequency domain and the second frequency domain, or the third duration is predefined, the third resource belongs to the first frequency domain, and the fourth resource belongs to the second frequency domain.

[0233] For a more detailed description of items one through three, please refer to the description in the second part above; it will not be repeated here.

[0234] For the second possible implementation, the method specifically includes: sending the seventh information or the sixth information.

[0235] The conditions for sending the seventh message include: the first priority level is higher than or equal to (i.e., not lower than) the second priority level. The conditions for sending the sixth message include: the first priority level is lower than the second priority level.

[0236] For a description of the first and second priority levels, please refer to the description in the second part above, which will not be repeated here.

[0237] Optionally, before sending the seventh or sixth message, the method further includes: determining a third resource and a fourth resource, wherein the time interval between the third resource and the fourth resource is less than or equal to a third duration.

[0238] Based on this technical solution, in the event of a conflict between the third and fourth resources, information indicating the third resource can be sent to the first or second device without sending information indicating the fourth resource, thus effectively ensuring the reliability of perception; or in the event of a conflict between the third and fourth resources, information indicating the fourth resource can be sent to the first or second device without sending information indicating the third resource, thus effectively ensuring the reliability of communication.

[0239] Sixthly, this application provides a communication device, including modules or units for implementing the methods of any of the above aspects and any possible implementations of any of the above aspects. It should be understood that each module or unit can implement its corresponding function by executing a computer program.

[0240] In a seventh aspect, this application provides a communication device including a processor, the processor being configured to perform the methods described in any of the foregoing aspects and any possible implementations of any of the foregoing aspects.

[0241] The apparatus may further include a memory for storing instructions and data. The memory is coupled to the processor, which, when executing the instructions stored in the memory, can implement the methods described in the foregoing aspects.

[0242] The device may also include a communication interface for communicating with other devices. For example, the communication interface may be a transceiver, circuit, bus, module or other type of communication interface.

[0243] Eighthly, this application provides a chip system including at least one processor for supporting the implementation of the functions involved in any of the above aspects and any possible implementations of any of the above aspects, such as receiving or processing data and / or information involved in the above methods.

[0244] In one possible design, the chip system also includes a memory for storing program instructions and data, which may be located within or outside the processor.

[0245] The chip system can consist of chips or include chips and other discrete components.

[0246] Ninthly, this application provides a computer-readable storage medium including a computer program that, when run on a computer, causes the computer to implement the methods in any of the foregoing aspects and any possible implementations of any of the foregoing aspects.

[0247] In a tenth aspect, this application provides a computer program product comprising: a computer program (also referred to as code or instructions) that, when run, causes a computer to perform the methods of any of the above aspects and any possible implementations of any of the above aspects.

[0248] It should be understood that the sixth to tenth aspects of this application correspond to the technical solutions of the first to fifth aspects of this application, and the beneficial effects obtained by each aspect and the corresponding feasible implementation are similar, and will not be repeated here. Attached Figure Description

[0249] Figure 1 This is a schematic diagram of the architecture of the communication system provided in the embodiments of this application;

[0250] Figure 2 This is a schematic flowchart of the sensing method provided in the embodiments of this application;

[0251] Figures 3 to 6 This is a schematic diagram illustrating the proportion of resources that are discarded for sensing transmission in the first resource set provided in this application embodiment;

[0252] Figure 7 This is a schematic diagram illustrating the positional relationship between the third time unit and the time domain range of the first resource set provided in an embodiment of this application;

[0253] Figure 8 This is another illustrative flowchart of the sensing method provided in the embodiments of this application;

[0254] Figure 9 This is a schematic diagram illustrating several conflicts between third and fourth resources provided in the embodiments of this application;

[0255] Figure 10 This is a schematic diagram of the fourth information carried in the fourth resource according to an embodiment of this application;

[0256] Figure 11 This is a schematic diagram illustrating the third information indicating the fifth and fourth resources provided in the embodiments of this application;

[0257] Figure 12 This is another illustrative flowchart of the sensing method provided in the embodiments of this application;

[0258] Figure 13 This is a schematic block diagram of the device provided in the embodiments of this application;

[0259] Figure 14 This is another schematic block diagram of the device provided in the embodiments of this application. Detailed Implementation

[0260] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0261] To facilitate understanding of the embodiments of this application, the following points are explained first:

[0262] First, in the embodiments of this application, the use of prefixes such as "first" and "second" is merely for the purpose of distinguishing and describing different things belonging to the same name category, and does not constrain the order, size, or quantity of things. For example, "first device" and "second device" are merely for distinguishing the sending end and the receiving end, and do not limit the number of devices or their priority relationship; as another example, "first information" and "second information" are simply different information, and there is no temporal sequence, size relationship, or priority relationship between them.

[0263] Second, in the embodiments of this application, "send" and "receive" indicate the direction of signal transmission. For example, "send first information to the second device" can be understood as the destination of the information being the second device, which may include direct transmission via the air interface or indirect transmission via the air interface by other units or modules. "Receive first information from the first device" can be understood as the source of the first information being the first device, which may include direct reception from the first device via the air interface or indirect reception from the first device via the air interface by other units or modules. "Send" can also be understood as the "output" of the chip interface, and "receive" can also be understood as the "input" of the chip interface.

[0264] In other words, sending and receiving can be done between devices, such as between a second device and a first device; or it can be done within a device, such as between components, modules, chips, software modules, or hardware modules within a device via a bus, wiring, or interface.

[0265] It is understandable that information may undergo necessary processing, such as encoding and modulation, before being sent from the source to the destination. Similarly, the destination, upon receiving information from the source, can also perform corresponding processing, such as decoding and demodulation, to interpret the valid information from the source. Similar expressions in this application can be understood in a similar way and will not be elaborated further.

[0266] Third, in the embodiments of this application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates an "or" relationship between the preceding and following related objects, but it does not exclude the possibility of indicating an "and" relationship. The specific meaning can be understood in conjunction with the context. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c; a and b; a and c; b and c; or a and b and c. Here, a, b, and c can be single or multiple.

[0267] Fourth, in the embodiments of this application, "instruction" can include direct instruction and indirect instruction, as well as explicit instruction and implicit instruction. The information indicated by a certain piece of information (as described below) is called the information to be instructed. In the specific implementation process, there are many ways to instruct the information to be instructed, such as, but not limited to, directly instructing the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly instruct the information to be instructed by instructing other information, where there is a correlation between the other information and the information to be instructed; or it can only instruct a part of the information to be instructed, while the other parts of the information to be instructed are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol predefined) arrangement order of various pieces of information, thereby reducing instruction overhead to a certain extent. This application does not limit the specific method of instruction.

[0268] It is understandable that, for the sender of the instruction information, the instruction information can be used to indicate the information to be indicated, and for the receiver of the instruction information, the instruction information can be used to determine the information to be indicated.

[0269] Fifth, the tables in the embodiments of this application are merely examples. The values ​​of the information in each table are only examples and can be configured to other values; this application is not limited thereto. The tables do not limit the scope of protection of this application. For example, appropriate modifications and adjustments can be made based on the tables described above, such as splitting, merging, etc. Furthermore, the parameter names shown in the headings of each table can also use other names understandable to the communication device, and the values ​​or representations of the parameters can also be other values ​​or representations understandable to the communication device. Moreover, in the implementation of the above tables, other data structures can also be used, such as arrays, queues, containers, stacks, linear lists, pointers, linked lists, trees, graphs, structures, classes, heaps, hash tables, or hash tables, etc.

[0270] Sixth, in the embodiments of this application, descriptions such as "when," "under the circumstances," "if," and "if" all refer to the device making corresponding processing under certain objective circumstances, and are not limited to a time, nor do they require the device to have a judgment action when it is implemented, nor do they mean that there are other limitations.

[0271] Seventh, the predefined terms in this application can be understood as: definition, pre-defined, storage, pre-storage, pre-negotiation, pre-configuration, solidification, or pre-firing.

[0272] Eighth, the term "storage" in this application can refer to storage in one or more memory devices. These memory devices can be separate installations or integrated into an encoder, decoder, processor, or communication device. Alternatively, some memory devices can be separately installed, while others can be integrated into the decoder, processor, or communication device. The type of memory can be any form of storage medium, and this application does not limit this.

[0273] The technical solutions provided in this application can be applied to various communication systems, such as: Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, sidelink (SL) communication systems, Worldwide Interoperability for Microwave Access (WiMAX) communication systems, 5th Generation (5G) mobile communication systems or new radio access technology (NR), satellite communication systems, etc. Among them, 5G mobile communication systems can include non-standalone (NSA) and / or standalone (SA) networking.

[0274] The technical solution provided in this application can also be applied to future communication networks.

[0275] The network devices in this application include, for example, access network devices and / or core network devices.

[0276] 1) Core network equipment refers to the equipment in the core network that provides service support to terminals. For example, in the context of the 5th generation (5G) core network, the evolved 5G core network, or the core network in future communication systems, some examples of core network equipment include: access and mobility management function (AMF) entities, session management function (SMF) entities, user plane function (UPF) entities, sensing function (SF) entities, policy control function (PCF) entities, location management function (LMF) entities, etc., which will not be listed here. These core network devices can operate independently or be combined to implement certain control functions; for example, AMF, SMF, and PCF can be combined into a single core network device.

[0277] Optionally, the core network equipment may further include sensing entities (or sensing functional entities). Sensing entities can be used to sense targets, such as determining the target's location or reconstructing the target's environment, and are not limited in this regard. This application does not limit the deployment of sensing entities. For example, sensing entities can be deployed in the core network or in the access network, without limitation. For example, sensing entities can also be sensing servers, network management platforms, or network management devices, etc. It should be understood that in future communication systems, functional entities used for sensing targets may still be called sensing entities, or may have other names; this application does not limit this.

[0278] It should be noted that in this application, an entity may also be referred to as a network element or a functional entity. For example, a sensing entity may also be referred to as a sensing network element, a sensing functional entity, or a sensing functional network element.

[0279] 2) Access network equipment is a network-side device with wireless transceiver capabilities. For example, a device that provides wireless communication capabilities to terminal devices in a radio access network (RAN) is called an RAN device or RAN node.

[0280] As an example, access network equipment includes, but is not limited to, base stations (base transceiver stations (BTS), Node Bs, evolved Node Bs (eNodeBs) / eNBs, or next-generation Node Bs (gNodeBs) / gNBs), transmission reception points (TRPs), home evolved Node Bs (or home Node Bs, HNBs), base stations evolved under the 3rd Generation Partnership Project (3GPP), access points (APs) in Wi-Fi systems, mobile switching centers, wireless relay nodes, and wireless backhaul nodes. Base stations can be macro base stations, micro base stations, pico base stations, small cells, relay stations, donor nodes, or indoor stations. Multiple base stations can support networks using the same access technology or networks using different access technologies. A base station can contain one or more co-located or non-co-located transmit / receive points. Another example is that access network devices can also be radio controllers in cloud radio access network (CRAN) scenarios, nodes in open radio access network (O-RAN or ORAN) scenarios, etc. Yet another example is that access network devices can also be servers, wearable devices, vehicles, or in-vehicle equipment. For instance, in V2X technology, access network devices can be roadside units (RSUs).

[0281] The following explanation of access network equipment uses a base station as an example. A base station can communicate directly with a terminal device, or it can communicate with a terminal device through a relay station. A terminal device can communicate with multiple base stations using different access technologies.

[0282] In one possible scenario, a RAN node can also be a device that functions as a base station in a device-to-device (D2D) communication system, a vehicle-to-everything (V2X) communication system, a machine-to-machine (M2M) communication system, or an internet-to-things (IoT) communication system. A RAN node can also be a RAN node in a non-terrestrial network (NTN), meaning that a RAN node can be deployed on a high-altitude platform or on a satellite.

[0283] In another possible scenario, multiple RAN nodes collaborate to assist the terminal in achieving wireless access, with different RAN nodes each implementing some of the base station's functions. For example, RAN nodes can be central units (CUs), distributed units (DUs), CU-control plane (CPs), CU-user plane (UPs), or radio units (RUs), etc. CUs and DUs can be set up separately or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio equipment or radio units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs). Optionally, a central unit can also be called a control unit.

[0284] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called an open CU (O-CU), DU can also be called an open DU (O-DU), CU-CP can also be called an open CU-CP (O-CU-CP), CU-UP can also be called an open CU-UP (O-CU-UP), and RU can also be called an open RU (O-RU). Any of the units among CU (or CU-CP, CU-UP), DU, and RU can be implemented through software modules, hardware modules, or a combination of software and hardware modules. That is, the wireless access network device in this application can be a virtualized device, for example, implemented through general-purpose hardware and instantiated virtualization functions, or dedicated hardware and instantiated virtualization functions. The general-purpose hardware can be a server, such as a cloud server.

[0285] In this embodiment, the device for implementing the functions of the network device can be the network device itself, or a device capable of supporting the network device in implementing those functions, such as a chip system, hardware circuit, software module, or a combination of hardware circuit and software module. This device can be installed in the network device or used in conjunction with the network device. In this embodiment, the network device is used as an example to illustrate the implementation of its functions, and this does not limit the scope of the embodiments. Alternatively, the functions can be implemented by a control subsystem that includes the implementation of the network device's functions. This control subsystem can be a control center in the aforementioned application scenarios such as smart grids, industrial control, intelligent transportation, and smart cities.

[0286] The terminal equipment in this application is a device with wireless transceiver capabilities, capable of sending signals to or receiving signals from RAN nodes. The terminal equipment may also be referred to as a terminal device, terminal, user equipment (UE), mobile station, mobile terminal, access terminal, subscriber unit, user station, user terminal, wireless communication equipment, user agent, or user equipment, etc.

[0287] Terminal devices are used to connect people, things, and machines, and can be widely used in various scenarios, including but not limited to: sensing scenarios, cellular communication, enhanced mobile broadband (eMBB), ultra-reliable low-latency communication (URLLC), massive machine-type communications (mMTC), device-to-device (D2D), vehicle-to-everything (V2X), machine-type communication (MTC), Internet of Things (IoT), ISAC, virtual reality (VR), augmented reality (AR), industrial control, autonomous driving, remote medical care, smart grid, smart furniture, smart office, smart wearables, smart transportation, smart city, drones, robots, or indoor commercial scenarios (such as mobile phone screen mirroring, file sharing, and mobile phone to VR glasses video transmission), etc.

[0288] When terminal equipment is used in V2X, it can also be called V2X equipment. Examples include smart cars, digital cars, unmanned cars, driverless cars, pilotless cars, autonomous cars, pure electric vehicles (EVs), hybrid electric vehicles (HEVs), range-extended electric vehicles (REEVs), plug-in hybrid electric vehicles (PHEVs), new energy vehicles, and roadside units (RSUs). Terminal equipment can also be devices used in D2D communication, such as electricity meters and water meters.

[0289] Currently, examples of terminal devices include: mobile phones, tablets, computers with wireless transceiver capabilities (such as laptops and PDAs), mobile internet devices (MIDs), virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in self-driving vehicles, drones, wireless terminals in remote medical care, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handheld devices with wireless communication capabilities, computing devices or other processing devices connected to wireless modems, in-vehicle devices, wearable devices, terminal devices in 5G networks, or future public land mobile communication networks. Terminal equipment in a mobile network (PLMN), etc.

[0290] Furthermore, in this embodiment, the terminal device can also be a terminal device in an IoT system. IoT is an important component of the future development of information technology. Its main technical feature is to connect objects to the network through communication technology, thereby realizing an intelligent network of human-machine interconnection and object-to-object interconnection.

[0291] The various terminal devices described above, if located in a vehicle (e.g., placed inside or installed inside a vehicle), can all be considered in-vehicle terminal devices, also known as on-board units (OBUs). The terminal device of this application can also be an in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit built into a vehicle as one or more components or units. The vehicle can implement the methods of this application through the built-in in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit.

[0292] In this application embodiment, the communication device used to implement the terminal device function can be the terminal device itself, or it can be a device capable of supporting the terminal device in implementing the function, such as a chip system, hardware circuit, software module, or hardware circuit plus software module. This device can be installed in the terminal device or used in conjunction with the terminal device. In the technical solutions provided in this application embodiment, the terminal device is used as an example to describe the technical solutions provided in this application embodiment. Furthermore, for ease of description, the terminal device in this application embodiment is described using a UE as an example.

[0293] Figure 1 This is a schematic diagram of the architecture of the communication system 100 provided in an embodiment of this application. Figure 1 As shown, the communication system 100 includes a wireless access network 10 and a core network 20. Optionally, the communication system 100 may also include an Internet 30. The wireless access network 10 may include at least one wireless access network device (such as...). Figure 1 110a and 110b in the above), may also include at least one terminal device (such as Figure 1 (120a-120j in the middle).

[0294] The wireless access network 10 can be a cellular system related to the 3rd generation partnership project (3GPP), such as the 4th generation mobile communication technology (4G) system (also known as the long term evolution (LTE) system), the 5th generation mobile communication technology (5G) system (also known as the new radio (NR) system), or it can be applied to future communication systems or other similar communication systems, etc., which are not limited in this application.

[0295] The wireless access network 10 can also be an open RAN (open-RAN, O-RAN, or ORAN) or a cloud radio access network (CRAN). The wireless access network 100 can also be a non-terrestrial network (NTN), a satellite communication network, a high altitude platform station (HAPS) communication network, an integrated access and backhaul (IAB) communication network, or a reconfigurable intelligent surface (RIS) communication network. The wireless access network 10 can also be a communication system that integrates two or more of the above systems.

[0296] Terminal devices can connect to radio access network (RAN) devices wirelessly, and RAN devices can connect to the core network wirelessly or via wired connections. Core network devices and RAN devices can be independent, separate physical devices, or they can integrate the functions of core network devices and the logical functions of RAN devices onto a single physical device. Alternatively, a single physical device can integrate some core network device functions and some RAN device functions. Terminal devices and RAN devices can be interconnected via wired or wireless connections.

[0297] Communication between wireless access network devices and terminal devices, between wireless access network devices, and between terminal devices can all be conducted using licensed spectrum, unlicensed spectrum, or a combination of both. Communication can be conducted using spectrum below 6 GHz, spectrum above 6 GHz, or a combination of both. The embodiments of this application do not limit the spectrum resources used for wireless communication.

[0298] The wireless access network equipment can be a base station deployed in the air, such as a satellite base station 110a; or it can be a base station deployed indoors, such as a micro base station or an indoor station 110b.

[0299] The terminal device can be a terminal device deployed in the air, such as... Figure 1 The 120i can be a helicopter or drone; it can also be a terminal device deployed on the ground, such as... Figure 1 The following are examples: mobile phones 120a, 120e, 120f and 120j, vehicle 120b, computer 110b, printer 120h, etc.

[0300] Wireless access network equipment and terminals can be fixed or mobile. For example, wireless access network equipment and terminal equipment can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; and they can also be deployed in the air on airplanes, balloons, and satellites.

[0301] The roles of wireless access network equipment and terminal equipment can be relative. For example, Figure 1 The helicopter or drone 120i in the diagram can be configured as a mobile base station. For those 120j accessing the wireless access network 10 via 120i, 120i is a base station; however, for 110a, 120i is a terminal device, meaning that 110a and 120i communicate via a wireless air interface protocol. Of course, 110a and 120i can also communicate via an interface protocol between wireless access network devices; in this case, 120i is also a base station relative to 110a. Therefore, both wireless access network devices and terminal devices can be collectively referred to as communication devices. Figure 1 The 110a, 110b, and 120a-120j in the text can be referred to as communication devices with their respective corresponding functions, such as communication devices with base station functions or communication devices with terminal functions.

[0302] It should be understood that Figure 1 This is just an illustration; the communication system may also include other devices, such as wireless repeaters and wireless backhaul devices. Figure 1 It is not shown in the middle.

[0303] To better understand the methods provided in the embodiments of this application, the terms involved in this application will be briefly explained below.

[0304] 1. Resources.

[0305] Resources comprise two dimensions: time domain and / or frequency domain. The unit of time-domain resources is the time unit, and the unit of frequency-domain resources is the frequency unit.

[0306] For example, a time unit can be a symbol, an orthogonal frequency division multiplexing (OFDM) symbol, a slot, a mini-slot, a partial slot, a sub-frame, a frame, or a radio frame, etc. A time unit can also be referred to as a time-domain unit.

[0307] For example, a frequency domain unit can be a resource element (RE), resource block (RB), RB set, channel, subchannel, control channel element (CCE), interlace, comb, resource pool, bandwidth part (BWP), bandwidth part group (BWPG), carrier, carrier group, subband, or band, etc. Optionally, a resource block can be interchanged with a physical resource block (PRB) and / or a virtual resource block (VRB). The frequency domain unit can also be referred to as a frequency unit.

[0308] It is understood that the time unit and frequency unit shown above can be combined arbitrarily. For example, a resource can be a time-frequency resource with symbols in the time domain and resource particles in the frequency domain. Another example is that a resource can be a time-frequency resource with symbols in the time domain and resource blocks in the frequency domain.

[0309] In the embodiments of this application, the time unit for transmitting the sensing signal can also be called the transmission occasion of the sensing signal, and the two can be used interchangeably.

[0310] 2. Perception.

[0311] Perception can be replaced by: detection, sensing process, sensing operation, sensing detection, detection processing, executing perception, running perception, executing perception service, or running perception service, etc.

[0312] Perception can be a business, or it can be a business.

[0313] 3. Sensing signal.

[0314] Sensing signals are signals transmitted over the air interface and can be used to sense the target signal. They can also be called signals acting on sensing, sensing reference signals, or reference signals used for sensing. Sensing services can be realized through the processing of sensing signals.

[0315] Sensing signals can be transmitted separately, or they can be transmitted together with communication signals, or they can be communication signals used for sensing services.

[0316] The sensing signal in this embodiment can be any one of the following: channel state information-reference signal (CSI-RS), synchronization signal block (SSB), positioning reference signal (PRS), sounding reference signal (SRS), sensing reference signal, or demodulation reference signal (DMRS). The SRS can be a multi-input multi-output (MIMO) SRS or a positioning SRS.

[0317] For example, in the embodiments of this application, the first resource, the third resource, the fourth resource, and the fifth resource are all resources capable of carrying sensing signals. The resource carrying the sensing signal can be any one of CSI-RS resource, SSB resource, PRS resource, SRS resource, sensing reference signal resource, and DMRS resource.

[0318] For example, the sensing signal can propagate via the path of "sensing transmitter - sensing target - sensing receiver", or via the path of "sensing transmitter - sensing receiver", or via the path of "sensing transmitter - interference / environment - sensing receiver". Alternatively, the sensing signal can propagate via a combination of the above paths. In the latter case, the sensing receiver receives the sum of the signals from the combined paths.

[0319] 4. Communication signal.

[0320] This can be a communication signal transmitted between communication devices. The communication signal can carry communication data information, communication control information, and can also be used for communication measurement. For example, the communication signal may include signals transmitted between network devices and terminal devices. The communication signal may be carried, for example, on a physical downlink shared channel (PDSCH), a physical uplink shared channel (PUSCH), a physical downlink control channel (PDCCH), or a physical uplink control channel (PDCCH); or, for example, on CSI-RS, SRS, or DMRS.

[0321] For example, in this embodiment of the application, the fourth resource is a resource that can carry communication signals.

[0322] 3. Perception mode.

[0323] Perception modes include spontaneous and self-receiving perception modes and spontaneous and externally received perception modes.

[0324] In this context, the self-transmitting and self-receiving sensing mode refers to a mode where the device transmitting sensing signal A and the device receiving sensing signal B are the same device; or, the transmitter transmitting sensing signal A and the receiver receiving sensing signal B are located in the same device. Optionally, the self-transmitting and self-receiving sensing mode can be called a single-station sensing mode, a single-base sensing mode, or a mono-static sensing mode, etc.

[0325] In this context, the self-transmitting and self-receiving sensing mode refers to a mode where the device transmitting sensing signal A and the device receiving sensing signal B are different devices; or, the transmitter transmitting sensing signal A and the receiver receiving sensing signal B are located in different devices. Optionally, the self-transmitting and self-receiving sensing mode can also be called a dual-station sensing mode, A-transmitting B-receiving mode, dual-base sensing mode, or bi-static sensing mode, etc. Specifically, the self-transmitting and self-receiving sensing mode includes the following two types:

[0326] Sensing Mode 1: Network Device A Sends and Receives: Network Device A sends a sensing signal, which is reflected by a target in the environment, and then the reflected signal is received by Network Device A.

[0327] Perception Mode 2: Terminal Device A Sends and Receives: Terminal Device A sends a perception signal, which is reflected by a target in the environment, and then the reflected signal is received by Terminal Device A.

[0328] Specifically, the spontaneous perception modes of receiving information from others include the following four:

[0329] Sensing Mode 3: Network Device A Sends, Network Device B Receives: Network Device A sends a sensing signal, which is reflected by a target in the environment, and then received by Network Device B.

[0330] Sensing Mode 4: Network Device A Sends, Terminal Device A Receives: Network device A sends a sensing signal, which is reflected by a target in the environment and then received by terminal device A.

[0331] Sensing Mode 5: Terminal Device A Sends, Network Device A Receives: Terminal Device A sends a sensing signal, which is reflected by a target in the environment, and then the reflected signal is received by Network Device A.

[0332] Sensing Mode 6: Terminal Device A transmits and Terminal Device B receives: Terminal Device A sends a sensing signal, which is reflected by a target in the environment, and then Terminal Device B receives the reflected signal.

[0333] The reflected signal is the echo signal after the sensing signal is reflected by the target. This echo signal can also be called the sensing signal. In fact, the sensing signal and the reflected signal are the same signal (for example, both are called sensing signals). If the transmitted sensing signal is called the first sensing signal and the received reflected signal is called the second sensing signal, then the changes in the second sensing signal compared to the first sensing signal during sensing include changes caused by reflection or scattering from the sensing target. For example, these changes include changes in the time domain and / or frequency domain of the sensing signal, and also changes in the amplitude and / or phase of the sensing signal. These changes reflect the information of the sensing target to a certain extent.

[0334] For ease of description, the device that transmits the sensing signal in the above six sensing modes will be referred to as the first device, and the device that receives the reflected signal will be referred to as the second device. It can be understood that for sensing mode one and sensing mode two, the first device and the second device are the same device.

[0335] The first device can be either a terminal-side device or a network-side device, and the second device can also be either a terminal-side device or a network-side device. The terminal-side device is also referred to as a terminal device or a terminal. This terminal device is, for example, a terminal equipment or a component of a terminal equipment, such as a communication module, circuitry or chip responsible for communication functions (e.g., a modem chip, also known as a baseband chip, or a SoC chip or SIP chip containing a modem core, a chip system, or a processor, etc.) or other functional modules that can be applied in the terminal equipment. This chip system or functional module can realize the functions of the terminal equipment. This chip system or functional module, for example, is located in the terminal equipment and can also be a logic module or software that can realize all or part of the functions of the terminal equipment. The network-side device is also referred to as a network device. This network device is, for example, a network equipment or a component of a network equipment, such as a communication module, circuitry or chip responsible for communication functions (e.g., a modem chip, also known as a baseband chip, or a SoC chip or SIP chip containing a modem core, a chip system, or a processor, etc.) or other functional modules that can be applied in the network equipment. This chip system or functional module can realize the functions of the network equipment. The chip system or functional module, for example, is located in a network device, and may also be a logic module or software capable of implementing all or part of the functions of the network device. Optionally, the network device may be a non-ORAN architecture or an ORAN architecture; or, the network device may be a CU, DU, or RU under an ORAN architecture. The network device may be located on the ground, or it may be a non-ground device such as a satellite or an airborne vehicle, or it may be located on a non-ground device such as a satellite or an airborne vehicle.

[0336] 4. Sensing target.

[0337] The target of perception can be any tangible object in the environment that can reflect electromagnetic waves, and the characteristics of the target can be deduced based on the perceived signals. For example, mountains, forests, roads or buildings, and can also include mobile objects such as vehicles, drones, pedestrians, automated equipment, and terminal devices.

[0338] Alternatively, the target may also be referred to as a sensed target, a detected target, a sensed object, a sensed device, a sensing target, a detection target, a sensed object, or a detection object, etc., and the embodiments of this application do not limit it.

[0339] 5. Perceive information about the target.

[0340] In the embodiments of this application, "for transmitting sensing signals" can also be understood as "information for determining sensing targets", or as "information for sensing signals to determine sensing targets", and the above can be used interchangeably.

[0341] The information about the target being sensed can be the received signal, the result of the signal response, or the result of the channel response. For example, signal amplitude information, signal phase information, I-channel information, Q-channel information, or the result of operations on the above information.

[0342] The information about the target being sensed can be the results of sensing measurements. For example, time delay information, Doppler information, angle information, signal strength information, or a combination of the above.

[0343] Information about a perceived target can be the perception result. The perception result can include, for example, the presence of the target, its distance, its position, its trajectory, its speed, its breathing rate, its heart rate, its angle, its motion, changes in its motion, its direction of motion, or its acceleration. Among these, information such as speed, acceleration, and direction can be obtained from changes in distance.

[0344] The distance to the sensing target includes at least one of the following: the distance between the sensing target and the first device, the distance between the sensing target and the second device, and the distance between the sensing target and the third device. The third device is used to configure sensing-related information for the sensing transmitter (i.e., the first device) and / or the sensing receiver (i.e., the second device), such as configuring resources for transmitting sensing signals, configuring resources for transmitting communication signals, etc.

[0345] The third device can be a terminal-side device or a network-side device. The third device can be the same as the first device, i.e., the sensing transmitter configures sensing-related information to the sensing receiver; the third device can also be the same as the second device, i.e., the sensing receiver configures sensing-related information to the sensing transmitter; or the third device can be different from the first and second devices, i.e., a third-party device configures sensing-related information to the sensing transmitter and / or the sensing receiver.

[0346] In the above Figure 1 When the communication system shown communicates, resource conflicts may occur in the physical layer channel and signal. The conflicts defined by the 3GPP standard mainly include the following situations:

[0347] I) Resource conflicts in the downlink.

[0348] 1. Conflict between the Physical Downlink Shared Channel (PDSCH) and the Physical Downlink Control Channel (PDCCH): The PDSCH is used for downlink data transmission, while the PDCCH is used for transmitting downlink control information, including scheduling decisions required to receive the PDSCH. Improper resource allocation can lead to conflicts between these two channels in terms of time and frequency resources, affecting both data transmission and the delivery of control information.

[0349] 2. Conflicts between the primary synchronization signal (PSS) or secondary synchronization signal (SSS) and other channels: PSS and SSS are used for time / frequency synchronization and cell search. If they overlap with other channels (such as PDSCH or PDCCH) on time-frequency resources, they may interfere with the reception of the synchronization signal, thereby affecting the terminal's synchronization and cell search.

[0350] II) Resource conflicts in the uplink.

[0351] 1. Conflict between the Physical Uplink Shared Channel (PUSCH) and the Physical Uplink Control Channel (PUCCH): PUSCH is used for uplink data transmission, while PUCCH is used for transmitting uplink control information, such as hybrid automatic repeat request (HARQ) feedback acknowledgments and scheduling requests. The conflict between these two channels in terms of time-frequency resources can lead to problems with data transmission and control information feedback.

[0352] 2. Conflicts between the Physical Random Access Channel (PRACH) and other channels: The PRACH is used by the UE to request connection establishment. If it conflicts with the PUSCH or PUCCH in terms of resources, it may affect the success rate of random access, and thus affect the establishment of the connection between the UE and the network.

[0353] III) Collisions between the reference signal and other channels / signals.

[0354] 1. Conflict between demodulation reference signal (DM-RS) and data channel: DM-RS is used for channel estimation of uplink and downlink traffic channels and control channels to achieve coherent demodulation. If it conflicts with PDSCH or PUSCH in terms of time and frequency resources, it may affect the accuracy of data demodulation.

[0355] 2. Conflicts between the Channel-State Information-Reference Signal (CSI-RS) and other signals: The CSI-RS is used for beam measurement and reporting during beam management. If it overlaps with other signals (such as PSS / SSS or the Physical Broadcast Channel (PBCH)) in terms of resources, it may affect the measurement accuracy of the CSI-RS, thereby affecting beam management and data transmission.

[0356] To avoid the aforementioned resource conflicts, 3GPP standards typically employ resource allocation and management strategies when designing physical layer channels and signals to ensure that each channel and signal can operate efficiently and stably with limited resources.

[0357] Currently, integrated communication and sensing (also known as sensing) is an important technological direction in communication system research. This means that the communication system possesses sensing capabilities, achieving an integrated design of communication and sensing. Similar to LTE / NR communication systems, sensing does not require a separate sensing network or customized terminals, resulting in low deployment, usage, and maintenance costs. The sensing function relies on network and terminal capabilities, continuously iterating and evolving.

[0358] The integration of communication and sensing takes many forms, such as using communication signals to perform sensing functions or using sensing results to assist communication. Sensing functions include target detection and target monitoring. The target can also be called the sensing target or the target being sensed. This sensing target can include unmanned aerial vehicles (UAVs), humans, automotive vehicles, automated guided vehicles, and objects creating hazards on roads / railways.

[0359] It is understandable that performing perception requires determining information about the target based on perception signals over a period of time and on changes in those signals. Since it's necessary to acquire information about how the target changes over time, perception signals need to be sent periodically. For example, the sensing transmitter might periodically send X perception signals within a first time period Tw. By comparing the changes in the perception signals over this period, it's determined whether the target is moving, or the speed at which it is moving.

[0360] Furthermore, the longer the accumulation time of the sensing signals, the better the speed resolution of the sensing. Specifically, the speed of the target's movement can be sensed by the frequency of amplitude changes and / or phase changes of X sensing signals received within a first time period Tw. For example, in respiratory sensing, the speed of the target's movement corresponds to the number of breaths per second.

[0361] In addition, the frequency domain resources of sensing also need to be guaranteed, because the frequency domain resources of sensing determine factors such as the range resolution, the range accuracy, the maximum range of sensing, and the height and shape of the main lobe / side lobe after correlation processing.

[0362] In summary, the prerequisite for ensuring the performance of sensing is that sensing has sufficient time domain resources over a period of time and sufficient frequency domain resources within a bandwidth.

[0363] Based on communication resource conflicts, it's conceivable that conflicts can occur between communication resources, and also between sensing resources themselves. When a conflict occurs, the general solution is to discard one of the transmissions. However, if sensing resources are discarded, there won't be enough time-frequency resources for sensing transmission, thus affecting the reliability of the sensing results. Therefore, how to measure the reliability of sensing results becomes a pressing issue.

[0364] The methods and apparatus provided in the embodiments of this application are described in detail below with reference to the accompanying drawings.

[0365] Figure 2 This is a schematic flowchart of the sensing method 200 provided in an embodiment of this application. The method 200 can be executed by a first device, which can be replaced by a chip, chip system, or processor that supports the implementation of the method, or it can be a logic module or software capable of implementing all or part of the functions of the first device. Alternatively, the method 200 can be executed by a second device, which can be replaced by a chip, chip system, or processor that supports the implementation of the method, or it can be a logic module or software capable of implementing all or part of the functions of the second device. Alternatively, the method 200 can be executed by a third device, which can be replaced by a chip, chip system, or processor that supports the implementation of the method, or it can be a logic module or software capable of implementing all or part of the functions of the third device.

[0366] like Figure 2 As shown, the method 200 may include steps S201 and S202. The steps of the method 200 are described in detail below.

[0367] S201, determine a first resource, which belongs to a first resource set, and the resources included in the first resource set are used to transmit sensing signals.

[0368] "Used for" indicates a purpose; in reality, the first resource set may or may not carry sensing signals. Similarly, a first resource belongs to the first resource set, and in reality, the first resource may or may not carry sensing signals. For example, if the first device transmits a signal on the first resource, then the first resource carries a sensing signal; if the first device discards the sensing transmission on the first resource, then the first resource does not carry a sensing signal. That is to say, some resources in the first resource set transmit sensing signals, and some do not, but from the perspective of purpose, the first resource set is used for transmitting sensing signals.

[0369] In this context, the first resource refers to either a resource that discards sensing transmission or a resource that transmits sensing signals. It is understood that during actual sensing, some resources in the first resource set may transmit sensing signals, while others may not. This application refers to resources that transmit sensing signals as "resources that transmit sensing signals" and resources that do not transmit sensing signals as "resources that discard sensing transmission."

[0370] Discarding a resource for sensing transmission can also be understood as: the sensing transmission on the first resource is discarded, the transmission of the sensing signal is discarded, or the sensing signal is not mapped on the first resource. For example, the first resource was originally allocated for transmitting sensing signals, but the first device did not transmit sensing signals on the first resource, and the sensing transmission is discarded; wherein, the first resource may have been allocated by the second device or the third device. Another example is that the first resource was originally determined to transmit sensing signals, but the first device did not transmit sensing signals on the first resource, and the sensing transmission is discarded; wherein, the first resource may have been determined by the first device. There can be many reasons for discarding sensing transmission. For example, a communication signal conflicts with a sensing signal on the first resource. Another example is that a communication signal was actually transmitted on the first resource. Yet another example is that other sensing signals were actually transmitted on the first resource. This embodiment does not limit the reasons for discarding sensing transmission.

[0371] The resource for transmitting sensing signals can also be understood as: the sensing signal on the first resource is transmitted, or the transmission of the sensing signal is performed, or the sensing signal is mapped on the first resource. It can be understood that the first resource was originally allocated for transmitting sensing signals, and the first device transmits the sensing signal on the first resource; the first resource is a resource for transmitting sensing signals; wherein, the first resource may be allocated by the second device or the third device. For example, the first resource was originally determined to transmit sensing signals, and the first device transmits the sensing signal on the first resource; the first resource is a resource for transmitting sensing signals; wherein, the first resource may be determined by the first device.

[0372] In the embodiments of this application, the resources determined by the first device itself can be referred to as allocated resources; the resources indicated to the first device by the second device and / or the third device can also be referred to as allocated resources. Therefore, the resources used for transmitting sensing signals can also be referred to as: allocated resources for transmitting sensing signals, or simply allocated sensing resources.

[0373] The first resource includes one or more resources. It can be understood that if the first resource is a resource for discarding sensing transmission, then the remaining resources in the first resource set, excluding the first resource, are resources for transmitting sensing signals; conversely, if the first resource is a resource for transmitting sensing signals, then the remaining resources in the first resource set, excluding the first resource, are resources for discarding sensing transmission.

[0374] The resources included in this first resource set can also be called sensing resources, resources for transmitting sensing signals, or resources for mapping sensing signals; these names can be used interchangeably. It can be understood that sensing signals are transmitted on sensing resources, or that sensing signals are mapped onto sensing resources. Therefore, it can be said that the resources included in the first resource set are used for mapping sensing signals.

[0375] In this application, "transmission" refers to sending or receiving. If S201 is performed by the first device, then transmission can be replaced by sending, for example, resources included in the first resource set are used to send sensing signals. In this case, the resources included in the first resource set can be determined by the first device, or indicated by the second or third device. The first resource is determined by the first device based on whether a sensing signal has been sent on a resource in the first resource set. For example, the first resource is a resource that discards sensing transmission, or the first resource is a resource that sends a sensing signal.

[0376] If S201 is performed by the second device, transmission can be replaced by reception, for example, resources included in the first resource set are used to receive sensing signals. In this case, the resources included in the first resource set can be determined by the second device, or indicated by the first or third device. For example, the first resource may be a resource for discarding sensing reception, or a resource for receiving sensing signals. The second device can determine whether the first resource is a resource for discarding sensing transmission or a resource for transmitting sensing signals by detecting the signal strength, sequence, or preamble on the first resource.

[0377] As an example, the first resource is determined by the second device by detecting signal strength. For instance, if the signal strength detected on the first resource included in the first resource set is less than a preset value, the second device determines that the first resource is a resource for discarding sensing transmission; conversely, if the signal strength detected on the first resource is greater than or equal to the preset value, the second device determines that the first resource is a resource for transmitting sensing signals.

[0378] As another example, the first resource is determined by the second device through information from the detection sequence. For instance, if the sequence of signals detected on the first resource included in the first resource set does not belong to the sequence of sensing signals, then the second device determines that the first resource is a resource for discarding sensing transmission; conversely, if the sequence of signals detected on the first resource belongs to the sequence of sensing signals, then the second device determines that the first resource is a resource for transmitting sensing signals.

[0379] As another example, the first resource is determined by the second device by detecting a preamble signal. For instance, if the preamble signal detected on the first resource included in the first resource set does not belong to the sensing preamble signal, then the second device determines that the first resource is a resource for discarding sensing transmission; conversely, if the preamble signal detected on the first resource belongs to the sensing preamble signal, then the second device determines that the first resource is a resource for transmitting sensing signals.

[0380] If S201 is executed by the third device, the resources included in the first resource set may be resources indicated by the first or second device, or resources allocated by the third device.

[0381] As an example, the third device can reuse the method by which the second device determined the first resource to determine the first resource. That is, the third device can determine whether the first resource is a resource for discarding sensing transmission or a resource for transmitting sensing signals by detecting the signal strength, sequence, or preamble signal on the first resource. The description of detecting the signal strength, sequence, or preamble signal on the first resource is given above and will not be repeated here.

[0382] As another example, the first resource may be indicated by a first device or a second device. For example, it may indicate that the first resource is a resource for discarding sensing transmissions, or that the first resource is a resource for transmitting sensing signals.

[0383] Optionally, the first resource is used to perform the same sensing, or resources in the first resource set are used to perform the same sensing.

[0384] As an example, using the same perception can be understood as using information to perceive the same target. For instance, multiple resources included in the first resource are all used to perceive the breathing rate of a human target. As another example, all resources in the first resource set are used to perceive the breathing rate of a human target.

[0385] As another example, using the same sensing function can be understood as corresponding to the same sensing service. For instance, a first resource may be used to transmit sensing signals, and the sensing service corresponding to these signals (or sensing transmissions) is a sensing service with the same QoS index or a sensing service with the same sensing process. As another example, the resources included in the first resource set may be used to transmit sensing signals, and the sensing services corresponding to these signals (or sensing transmissions) may be sensing services with the same QoS index or a sensing service with the same sensing process.

[0386] S202, Determine the reliability of the perception based on the quantity of the first resource.

[0387] The reliability of perception can be understood as the reliability of the perception results, or the utilization rate of resources used to transmit perception signals. Reliability can also be described as reliability, accuracy, precision, confidence, credibility, trustworthiness, stability, effectiveness, etc., and these terms are interchangeable.

[0388] The reliability of perception is used to reflect the difference between the perceived result and the true value. The smaller the difference between the perceived result and the true value, the more reliable the perception; conversely, the larger the difference between the perceived result and the true value, the less reliable the perception.

[0389] One specific implementation of S202 is to determine the first proportion of the quantity of the first resource in the first resource set based on the quantity of the first resource; and to determine the reliability of the perception based on the first proportion.

[0390] S202 can also be replaced by: determining the reliability of perception based on a first ratio; wherein the first ratio is the proportion of the quantity of the first resource in the first resource set.

[0391] As an example, the first resource is the resource for discarding sensory transmissions, and the first proportion can also be called the first discard proportion. That is, the first proportion is the proportion of the resources for discarding sensory transmissions in the first resource set.

[0392] As another example, the first resource is the resource for transmitting sensing signals, and the first proportion can also be called the first transmission proportion. That is, the first proportion is the proportion of resources for transmitting sensing signals in the first resource set.

[0393] In this embodiment, by determining the resources for discarding sensing transmissions or transmitting sensing signals from the first resource set, and then based on the number of resources for discarding sensing transmissions or transmitting sensing signals, the utilization rate of sensing resources can be obtained, thereby determining the reliability of the sensing results. This is because, in the case of discarded sensing transmissions, the proportion of discarded sensing transmission resources in the first resource set will apply the maximum sensing speed and / or the main lobe and side lobes of sensing autocorrelation / cross-correlation.

[0394] Optionally, the aforementioned level of reliability of perception includes both reliable and unreliable perception. Therefore, a specific implementation of S202 determining the level of reliability of perception based on the quantity of the first resource is: determining reliable perception based on the quantity of the first resource; or, determining unreliable perception based on the quantity of the first resource. Therefore, a specific implementation of S202 determining the level of reliability of perception based on a first ratio is: determining reliable perception based on the first ratio; or, determining unreliable perception based on the first ratio.

[0395] One possible implementation of the method 200 further includes: sending first information, which indicates the reliability of the perception, or indicates the reliability of the perception corresponding to a first resource set. This step can be performed after S202.

[0396] The reliability of perception corresponding to the first resource set refers to the degree of reliability of perception determined based on the number of resources included in the first resource set that either discard perception transmission or transmit perception signals.

[0397] Since the reliability of perception includes both reliable and unreliable perception, the first information used to indicate the reliability of perception can be replaced with: the first information used to indicate reliable perception, or the first information used to indicate unreliable perception. The first information indicating the reliability of perception corresponding to the first resource set can also be replaced with: the first information used to indicate reliable perception corresponding to the first resource set, or the first information used to indicate unreliable perception corresponding to the first resource set.

[0398] The reliability of the perception indicated by the first information is determined in S202, therefore the device used to execute S202 can continue to execute the step of sending the first information. That is, the first information can be sent by one of the following devices: a first device, the physical layer of the first device, a second device, the physical layer of the second device, a third device, or the physical layer of the third device.

[0399] Example 1: S202 is executed by the first device. Specifically, the first device sends the first information to the second device, and / or sends the first information to the third device. Correspondingly, the second device receives the first information from the first device, and / or the third device receives the first information from the first device.

[0400] Example 2: S202 is executed by the physical layer of the first device. The specific implementation of the physical layer of the first device sending the first information is as follows: the physical layer of the first device reports the first information to the higher layer of the first device. Correspondingly, the higher layer of the first device receives the first information.

[0401] The first device's higher-level layer can be its medium access control (MAC) layer, application layer, or sensing function (SF) entity. The second device refers to its physical layer or SF entity. The third device refers to its physical layer or SF entity.

[0402] Example 3: S202 is executed by the second device. Specifically, the second device sends the first information to the first device, and / or sends the first information to the third device. Correspondingly, the first device receives the first information from the second device, and / or the third device receives the first information from the second device.

[0403] Example 4: S202 is executed by the physical layer of the second device. The specific implementation of the physical layer of the second device sending the second information is as follows: the physical layer of the second device reports the first information to the higher layer of the second device. Accordingly, the higher layer of the second device obtains the first information.

[0404] The higher layers of the second device can be the MAC layer, application layer, or SF entity of the second device. The first device refers to the physical layer or SF entity of the first device. The third device refers to the physical layer or SF entity of the third device.

[0405] Example 5: S202 is executed by the third device. Specifically, the third device sends the first information to the first device, and / or sends the first information to the second device. Correspondingly, the first device receives the first information from the third device, and / or the second device receives the first information from the third device.

[0406] Example 6: S202 is executed by the physical layer of the third device. The specific implementation of the physical layer of the third device sending the second information is as follows: the physical layer of the third device reports the first information to the higher layer of the third device. Accordingly, the higher layer of the third device obtains the first information.

[0407] The higher layers of the third device can be the MAC layer, application layer, or SF entity of the third device. The first device refers to the physical layer or SF entity of the first device. The second device refers to the physical layer or SF entity of the third device.

[0408] The following examples illustrate the scenarios of reliable and unreliable sensing, using the first resource being the resource for discarding sensing transmission and the first resource being the resource for transmitting sensing signals, respectively.

[0409] First, the primary resource is the resource for discarding sensory transmission.

[0410] 1. Perceived reliability includes: the quantity of the first resource is less than or equal to the first value, or the proportion of the quantity of the first resource in the first resource set (i.e., the aforementioned first discard ratio) is less than or equal to the second value.

[0411] In one specific implementation of the aforementioned first information indicating perceived reliability, the first information indicates that the quantity of the first resource is less than or equal to a first value, or that the first discard ratio is less than or equal to a second value. Therefore, perceived reliability can be interchanged with the quantity of the first resource being less than or equal to the first value and the first discard ratio being less than or equal to the second value.

[0412] 2. Unreliable perception includes: the quantity of the first resource is greater than or equal to the first value, or the proportion of the quantity of the first resource in the first resource set is greater than or equal to the second value.

[0413] In one specific implementation of the aforementioned first information indicating perceived unreliability, the first information indicates that the quantity of the first resource is greater than or equal to a first value, or that the first discard ratio is greater than or equal to a second value. Therefore, perceived unreliability can be interchanged with the quantity of the first resource being greater than or equal to the first value, and with the first discard ratio being greater than or equal to the second value.

[0414] The first value in this application may be predefined or indicated by a third device, and the first value is a non-negative integer. The second value in this application may be predefined or indicated by a third device, and the second value is greater than or equal to 0 and less than or equal to 1.

[0415] The first and / or second values ​​can be determined based on different perceived QoS levels or different perceived priorities. For example, the higher the priority level of the perceived service, the larger the first and / or second values; or, the lower the priority level of the perceived service, the smaller the first and / or second values. As another example, the higher the QoS requirement, the larger the first and / or second values; or, the lower the QoS requirement, the smaller the first and / or second values. It is understandable that the first and / or second values ​​corresponding to different perceived QoS levels or different perceived priorities can be different.

[0416] In a scenario where the first resource is a resource for discarding sensor transmission, the resources included in the aforementioned first resource set can be time-domain resources, frequency-domain resources, or time-frequency resources.

[0417] The following section introduces the types of resources included in the first resource set and the perceived reliability, based on four possible implementations.

[0418] In the first possible implementation, the first resource set includes multiple time units, and the first resource is the first time unit.

[0419] It can be understood that the first time unit is the time unit for discarding sensing transmissions. The first time unit belongs to the first resource set, which includes time units used for transmitting sensing signals.

[0420] The first time unit can be a symbol, an orthogonal frequency division multiplexing symbol, a time slot, a mini time slot, a partial time slot, a subframe, a frame, or a radio frame, etc. Alternatively, the first time unit can be any form of time unit defined in the future, and this application does not impose any restrictions.

[0421] For example, the quantity of the first resource being less than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set being less than or equal to a second value, includes one of the following: the quantity of the first time units being less than or equal to the first value; or, the proportion of the quantity of the first time units in a plurality of time units being less than or equal to the second value. That is, the quantity of time units that discard sensing transmissions being less than or equal to the first value; or, the proportion of the quantity of time units that discard sensing transmissions in a plurality of time units being less than or equal to the second value.

[0422] For example, the quantity of the first resource being greater than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set being greater than a second value, includes one of the following: the quantity of the first time units being greater than or equal to the first value; or, the proportion of the quantity of the first time units in multiple time units being greater than or equal to the second value. That is, the quantity of time units that discard sensing transmissions being greater than or equal to the first value; or, the proportion of the quantity of time units that discard sensing transmissions in multiple time units being greater than or equal to the second value.

[0423] That is, the reliability of perception can be determined based on the number or proportion of time units in which perception transmission is discarded in multiple time units.

[0424] In the first possible implementation, the multiple time units included in the first resource set can be time units allocated for transmitting sensing signals within a first time range. Optionally, the first time range can be predefined or indicated by a third device. Figure 3 This is a schematic diagram showing the proportion of resources discarded for sensing transmission in the first resource set provided in this application embodiment. Assume that the first time range is from time slot 0 to time slot 403, where the resources used for transmitting sensing signals are time slots 0, 100, 200, 300 and 400.

[0425] like Figure 3 As shown, time slots 0, 100, 200, 300, and 400 are the time units included in the first resource set. Among them, time slots 100 and 300 are resources for discarded sensing transmissions. That is, the number of first time units is 2, and the proportion of the number of first time units in the 5 time units is 40%.

[0426] The proportion of time-domain resources that are discarded during the initial sensing period affects the maximum perceptible speed. For example, if the period for sensing time-domain resources is 100 milliseconds (ms), the maximum perceptible speed is v1. If a sensing transmission is discarded for every other resource, the period for sensing time-domain resources becomes 200 ms, and correspondingly, the maximum perceptible speed becomes v2. v2 is only half the size of v1. In other words, when the period for sensing time-domain resources is reduced to half, the maximum perceptible speed also decreases to half.

[0427] For the first possible implementation, the first time unit is a time unit in the first resource set that satisfies a first condition, which is one of the following: the time unit includes frequency domain units that discard sensing transmissions; the sensing transmissions in all frequency domain units are discarded in the time unit; the proportion of frequency domain units that discard sensing transmissions in the time unit is greater than or equal to a first preset value, which is greater than or equal to 0 and less than or equal to 1; or, the number of frequency domain units that discard sensing transmissions in the time unit is greater than or equal to a first quantity, which may be predefined or indicated by a third device.

[0428] The frequency domain units in a time unit refer to the multiple frequency domain units used for transmitting sensing signals in that time unit, which are included in the first resource set. It can be understood that these multiple frequency domain units also belong to the first resource set. For example, if a time unit includes frequency domain units that discard sensing transmissions, it can be understood that among the multiple frequency domain units used for transmitting sensing signals in that time unit, which are included in the first resource set, there are frequency domain units that discard sensing transmissions. As another example, if sensing transmissions are discarded in all frequency domain units in a time unit, it can be understood that sensing transmissions in all frequency domain units used for transmitting sensing signals in that time unit, which are included in the first resource set, are discarded. Furthermore, the number of frequency domain units that discard sensing transmissions in a time unit can be understood as the number of frequency domain units that discard sensing transmissions among the multiple frequency domain units used for transmitting sensing signals in that time unit, which are included in the first resource set.

[0429] The proportion of frequency domain units that discard sensing transmission in the aforementioned time unit refers to the proportion of frequency domain units that discard sensing transmission in that time unit among the multiple frequency domain units used for transmitting sensing signals in that time unit.

[0430] The second possible implementation is that the first resource set includes multiple time-frequency resources, and the first resource is the first time-frequency resource.

[0431] Optionally, the first time-frequency resource belongs to the multiple time-frequency resources included in the first resource set. This second possible implementation can also be understood as the first resource set including multiple time-frequency resources on the first frequency domain unit, and the first resource being the first time-frequency resource.

[0432] The first frequency domain unit belongs to the frequency domain resources of the first resource set. The frequency domain resources of the first resource can be the first frequency domain unit, that is, the frequency domain resources of the first time-frequency resource can be the first frequency domain unit.

[0433] It can be understood that the first time-frequency resource is the time-frequency resource that is discarded for sensing transmission. The first time-frequency resource belongs to the first resource set, which includes time-frequency resources used for transmitting sensing signals.

[0434] The time unit of the first time-frequency resource can be a symbol, an orthogonal frequency division multiplexing symbol, a time slot, a mini-time slot, a partial time slot, a subframe, a frame, or a radio frame, etc. Alternatively, the time unit of the first time-frequency resource can be any form of time unit defined in the future, and this application does not impose any restrictions on it.

[0435] The frequency domain unit of the first time-frequency resource can be a resource particle, resource block, RB set, channel, subchannel, control channel element, interleaving, comb, resource pool, bandwidth portion, bandwidth portion group, carrier, carrier group, subband, or band, etc. Alternatively, the frequency domain unit of the first time-frequency resource can be any form of frequency domain unit defined in the future, and this application does not impose any restrictions on this.

[0436] As one implementation method, the reliability of perception can be determined based on the quantity of the primary resource.

[0437] For example, perceived reliability can be determined based on the quantity of the first time-frequency resources.

[0438] Specifically, the quantity of the first resource being less than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set being less than or equal to a second value, includes the following: the quantity of the first time-frequency resource in the first resource set is less than or equal to the first value; or, the proportion of the quantity of the first time-frequency resource in the first resource set among the multiple time-frequency resources included in the first resource set is less than or equal to the second value. In other words, the quantity of time-frequency resources for discarded sensing transmission is less than or equal to the first value; or, the proportion of the quantity of time-frequency resources for discarded sensing transmission among the multiple time-frequency resources included in the first resource set is less than or equal to the second value.

[0439] For example, the degree of perceived unreliability can be determined based on the quantity of the first time-frequency resources.

[0440] Specifically, the quantity of the first resource being greater than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set being greater than or equal to a second value, includes the following: the quantity of the first time-frequency resource in the first resource set is greater than or equal to the first value; or, the proportion of the quantity of the first time-frequency resource in the first resource set among the multiple time-frequency resources included in the first resource set is greater than or equal to the second value. In other words, the quantity of time-frequency resources for discarded sensing transmission is greater than or equal to the first value; or, the proportion of the quantity of time-frequency resources for discarded sensing transmission among the multiple time-frequency resources included in the first resource set is greater than or equal to the second value.

[0441] As another implementation, the reliability of the sensing can be determined based on the number of first resources on the first frequency domain unit. Here, the first frequency domain unit is a frequency domain resource belonging to the first resource set.

[0442] For example, the reliability of perception can be determined based on the quantity of the first time-frequency resources on the first frequency domain unit.

[0443] Specifically, the quantity of the first resource being less than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set being less than or equal to a second value, includes the following: In the first frequency domain unit, the quantity of the first time-frequency resource is less than or equal to the first value; or, in the first frequency domain unit, the proportion of the quantity of the first time-frequency resource among multiple time-frequency resources in the first frequency domain unit is less than or equal to the second value. In other words, the quantity of time-frequency resources discarded for sensing transmission is less than or equal to the first value; or, the proportion of the quantity of time-frequency resources discarded for sensing transmission among multiple time-frequency resources in the first frequency domain unit is less than or equal to the second value.

[0444] For example, the unreliability of perception can be determined based on the quantity of the first time-frequency resources on the first frequency domain unit.

[0445] Specifically, the quantity of the first resource being greater than a first value, or the proportion of the quantity of the first resource in the first resource set being greater than or equal to a second value, includes the following: In the first frequency domain unit, the quantity of the first time-frequency resource is greater than or equal to the first value; or, in the first frequency domain unit, the proportion of the quantity of the first time-frequency resource among multiple time-frequency resources in the first frequency domain unit is greater than or equal to the second value. In other words, the quantity of time-frequency resources for discarded sensing transmission is greater than the first value; or, the proportion of the quantity of time-frequency resources for discarded sensing transmission among multiple time-frequency resources in the first frequency domain unit is greater than the second value.

[0446] That is, the reliability of sensing can be determined based on the amount or proportion of time-frequency resources discarded for sensing transmission within the first frequency domain unit.

[0447] This application determines target information, such as target velocity information, based on changes in the sensed signal over a single frequency domain unit (e.g., a first frequency domain unit). Therefore, the reliability of sensing based on that frequency domain unit can be determined by the amount of first time-frequency resources within that unit. The changes in the sensed signal include both target information and channel variation information. Thus, a simple method is to determine target information based on changes in the sensed signal over a fixed frequency domain unit. Alternatively, the reliability can be determined based on the amount of discarded sensed transmission resources over more frequency domain units, thereby improving reliability. This is because sensing results from multiple frequency domain units can achieve a combining gain.

[0448] The first resource set can be resources allocated for transmitting sensing signals within a first time range and a first frequency range. The first frequency range is the frequency range of the first resource set; that is, the first frequency range is a continuous frequency bandwidth. Alternatively, it can be the frequency range of resources within the first resource set; that is, the first frequency range can be discrete or continuous frequency resources. Alternatively, the first frequency range can be predefined or indicated by a third device. For a detailed description of the first time range, please refer to the description in the first possible implementation; it will not be repeated here.

[0449] Figure 4This is another schematic diagram illustrating the proportion of resources discarded for sensing transmission in the first resource set provided in this application embodiment. Assume the first time range is time slot 0 to time slot 403, and the first frequency domain range is RE0 to RE4. The resources used for transmitting sensing signals include: time-frequency resource 1 with frequency domain RE0 and time domains of time slots 0, 100, 200, 300, and 400; time-frequency resource 2 with frequency domain RE2 and time domains of time slots 0, 100, 200, 300, and 400; and time-frequency resource 3 with frequency domain RE4 and time domains of time slots 0, 100, 200, 300, and 400.

[0450] like Figure 4 As shown, time-frequency resources 1, 2, and 3 are the time-frequency resources included in the first resource set. Time-frequency resource 2 consists of five time-frequency resources on RE2 included in the first resource set. Sensing transmissions on two of these five time-frequency resources are discarded. That is, the number of first time-frequency resources in the first frequency domain unit is 2. The proportion of the number of first time-frequency resources in the five time-frequency resources in the first frequency domain unit is 40%.

[0451] For the second possible implementation, the first time-frequency resource is the time-frequency resource in the first resource set where the sensing transmission is discarded.

[0452] In the third possible implementation, the first resource set includes multiple frequency domain units, and the frequency domain of the first resource is the second frequency domain unit.

[0453] It can be understood that the second frequency domain unit is the frequency domain unit that discards sensing transmission. The second frequency domain unit belongs to the first resource set, which includes frequency domain units used for transmitting sensing signals.

[0454] The second frequency domain unit can be a resource particle, resource block, RB set, channel, subchannel, control channel element, interleaving, comb, resource pool, bandwidth portion, bandwidth portion group, carrier, carrier group, subband, or band, etc. Alternatively, the second frequency domain unit can be any form of frequency domain unit defined in the future, and this application does not impose any restrictions.

[0455] For example, the number of first resources being less than or equal to a first value, or the proportion of the number of first resources in the first resource set being less than or equal to a second value, includes one of the following: the number of second frequency domain units being less than or equal to the first value; or, the proportion of the number of second frequency domain units in the plurality of frequency domain units being less than or equal to the second value. That is, the number of frequency domain units that discard sensing transmissions is less than or equal to the first value; or, the proportion of the number of frequency domain units that discard sensing transmissions in the plurality of frequency domain units being less than or equal to the second value.

[0456] For example, the quantity of the first resource being greater than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set being greater than or equal to a second value, includes one of the following: the quantity of the second frequency domain being greater than or equal to the first value; or, the proportion of the quantity of the second frequency domain units in the plurality of frequency domain units being greater than or equal to the second value. That is, the quantity of frequency domain units that discard sensing transmissions is greater than or equal to the first value; or, the proportion of the quantity of frequency domain units that discard sensing transmissions in the plurality of frequency domain units being greater than or equal to the second value.

[0457] That is, the reliability of sensing can be determined based on the number or proportion of frequency domain units that discard sensing transmissions among multiple frequency domain units.

[0458] The multiple frequency domain units included in the first resource set can be frequency domain units allocated for transmitting sensing signals within a second frequency domain range. Here, the second frequency domain range is the frequency domain range of the first resource set; that is, the second frequency domain range is a continuous frequency domain bandwidth. Alternatively, it can be the frequency domain range of resources within the first resource set; that is, the second frequency domain range is discrete or continuous frequency domain resources. Alternatively, the second frequency domain range can be predefined or indicated by a third device.

[0459] The proportion of (frequency domain) resources discarded in the second frequency domain affects the main lobe and side lobes of the sensor autocorrelation / cross-correlation. For example, when the sensor frequency domain resources are not evenly spaced, the main lobe may produce spikes, or the side lobes may increase.

[0460] Figure 5 This is another schematic diagram illustrating the proportion of resources discarded for sensing transmission in the first resource set provided in this application embodiment. Assume the second frequency domain range is RB0 to RB23, where the resources used for transmitting sensing signals are RB0, RB4, RB8, RB12, and RB20.

[0461] like Figure 5 As shown, RB0, RB4, RB8, RB12, and RB20 are frequency domain units included in the first resource set. Among them, RB4, RB12, and RB20 are resources for discarded sensing transmissions. That is, the number of first frequency domain units is 3, and the proportion of the number of first frequency domain units in the 6 time units is 50%.

[0462] For the third possible implementation, the second frequency domain unit is a frequency domain unit in the first resource set that satisfies a second condition, which is one of the following: the frequency domain unit includes time units for discarding sensing transmissions; the sensing transmissions in all time units are discarded in the frequency domain unit; the proportion of time units for discarding sensing transmissions in the frequency domain unit is greater than or equal to a second preset value; or the number of time units for discarding sensing transmissions in the frequency domain unit is greater than or equal to a second number.

[0463] The second preset value is greater than or equal to 0 and less than or equal to 1. This second preset value can be the same as or different from the first preset value. The second quantity can be predefined. This second quantity can be the same as or different from the first quantity.

[0464] The time units in the aforementioned frequency domain unit refer to the multiple time units used for transmitting sensing signals within that frequency domain unit, which are included in the first resource set. It can be understood that these multiple time units also belong to the first resource set. For example, if a frequency domain unit includes time units for discarding sensing transmissions, it can be understood that among the multiple time units used for transmitting sensing signals within that frequency domain unit, which are included in the first resource set, there are time units for discarding sensing transmissions. As another example, if sensing transmissions are discarded in all time units of a frequency domain unit, it can be understood that sensing transmissions in all time units used for transmitting sensing signals within that frequency domain unit, which are included in the first resource set, are discarded. Furthermore, the number of time units for discarding sensing transmissions in a frequency domain unit can be understood as the number of time units for discarding sensing transmissions among the multiple time units used for transmitting sensing signals within that time unit, which are included in the first resource set.

[0465] In the aforementioned frequency domain unit, the proportion of time domain units that discard sensing transmission refers to the proportion of time units that discard sensing transmission in the frequency domain unit among the multiple time units in the frequency domain unit used for transmitting sensing signals.

[0466] The fourth possible implementation is that the first resource set includes multiple time-frequency resources, and the first resource is the second time-frequency resource.

[0467] Optionally, the second time-frequency resource belongs to the multiple time-frequency resources included in the first resource set. This fourth possible implementation can also be understood as the first resource set including multiple time-frequency resources on the second time unit, where the first resource is the second time-frequency resource.

[0468] The second time unit belongs to the time-domain resources of the first resource set. The time-domain resources of the first resource can be the second time unit, that is, the time-domain resources of the second time-frequency resource can be the second time unit.

[0469] It can be understood that the second time-frequency resource is the time-frequency resource that is discarded for sensing transmission. The second time-frequency resource belongs to the first resource set, which includes time-frequency resources used for transmitting sensing signals.

[0470] The time unit of the second time-frequency resource can be a symbol, an orthogonal frequency division multiplexing symbol, a time slot, a mini time slot, a partial time slot, a subframe, a frame, or a radio frame, etc. Alternatively, the time unit of the second time-frequency resource can be any form of time unit defined in the future, and this application does not impose any restrictions on it.

[0471] The frequency domain unit of the second time-frequency resource can be a resource particle, resource block, RB set, channel, subchannel, control channel element, interleaving, comb, resource pool, bandwidth portion, bandwidth portion group, carrier, carrier group, subband, or band, etc. Alternatively, the frequency domain unit of the second time-frequency resource can be any form of frequency domain unit defined in the future, and this application does not impose any restrictions on this.

[0472] As one implementation method, the reliability of perception can be determined based on the quantity of the primary resource.

[0473] For example, perceived reliability can be determined based on the quantity of the second time-frequency resources.

[0474] Specifically, the quantity of the first resource being less than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set being less than or equal to a second value, includes the following: the quantity of the second time-frequency resource in the first resource set is less than or equal to the first value; or, the proportion of the quantity of the second time-frequency resource in the first resource set among the multiple time-frequency resources included in the first resource set is less than or equal to the second value. In other words, the quantity of time-frequency resources for discarded sensing transmission is less than or equal to the first value; or, the proportion of the quantity of time-frequency resources for discarded sensing transmission among the multiple time-frequency resources included in the first resource set is less than or equal to the second value.

[0475] For example, the degree of perceived unreliability can be determined based on the quantity of the first time-frequency resources.

[0476] Specifically, the quantity of the first resource being greater than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set being greater than or equal to a second value, includes the following: in the first resource set, the quantity of the first time-frequency resource is greater than or equal to the first value; or, in the first resource set, the proportion of the quantity of the first time-frequency resource among the multiple time-frequency resources included in the first resource set is greater than or equal to the second value. In other words, the quantity of time-frequency resources for discarded sensing transmission is greater than or equal to the first value; or, the proportion of the quantity of time-frequency resources for discarded sensing transmission among the multiple time-frequency resources in the first resource set is greater than or equal to the second value.

[0477] As another implementation, the reliability of the perception can be determined based on the quantity of the first resource in the second time unit. The second time unit refers to the temporal resources belonging to the first resource set.

[0478] For example, perceived reliability can be determined based on the quantity of the second time-frequency resources in the second time unit.

[0479] For example, the quantity of the first resource being less than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set being less than or equal to a second value, includes the following: in the second time unit, the quantity of the second time-frequency resource is less than or equal to the first value; or, in the second time unit, the proportion of the quantity of the second time-frequency resource among the multiple time-frequency resources in the second time is less than or equal to the second value. That is, the quantity of time-frequency resources for discarded sensing transmission is less than or equal to the first value; or, the proportion of the quantity of time-frequency resources for discarded sensing transmission among the multiple time-frequency resources in the second time unit is less than or equal to the second value.

[0480] For example, the unreliability of perception can be determined based on the quantity of the second time-frequency resources in the second time unit.

[0481] For example, the quantity of the first resource being greater than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set being greater than or equal to a second value, includes the following: in the second time unit, the quantity of the second time-frequency resource is greater than or equal to the first value; or, in the second time unit, the proportion of the quantity of the second time-frequency resource among multiple time-frequency resources in the second time is greater than or equal to the second value. That is, the quantity of time-frequency resources for discarded sensing transmission is greater than or equal to the first value; or, the proportion of the quantity of time-frequency resources for discarded sensing transmission among multiple time-frequency resources in the second time is greater than or equal to the second value.

[0482] That is, the reliability of sensing can be determined based on the amount or proportion of time-frequency resources discarded during sensing transmission within the second time unit.

[0483] The first resource set can be a second frequency domain range or a second time range, allocating resources for transmitting sensing signals. The second frequency domain range is the frequency domain range of the first resource set; that is, the second frequency domain range is a continuous frequency domain bandwidth. Alternatively, it can be the frequency domain range of resources within the first resource set; that is, the second frequency domain range can be discrete or continuous frequency domain resources. Alternatively, the second time domain range can be predefined or indicated by a third device.

[0484] Optionally, the second time range can be the perception accumulation time. Multiple first resources within the second time range are used to perform the same perception, or, alternatively, resources in the set of first resources within the second time range are used to perform the same perception. For a detailed description of the second time range, please refer to the description of the first time range in the first possible implementation; it will not be repeated here.

[0485] This application determines information about a sensed target, such as its distance, based on changes in the sensed signal over a single time unit (e.g., a second time unit). Therefore, the reliability of sensing based on a given time unit can be determined by the amount of first time-frequency resources available in that time unit. Since the changes in the sensed signal include both information about the sensed target and information about channel changes, a simple method is to determine the sensed target information based on changes in the sensed signal over a single time unit. Alternatively, the reliability of sensing can be determined based on the number of discarded sensed transmissions over more time units, thereby improving the reliability of sensing. This is because sensing results from multiple time units can achieve a merging gain.

[0486] Figure 6 This is another schematic diagram illustrating the proportion of resources discarded for sensing transmission in the first resource set provided in this application embodiment. Assume the second time range is from time slot 0 to time slot 200, and the first frequency domain range is from RB0 to RE23. The resources used for transmitting sensing signals include: time-frequency resource 1 with time slot 0 in the time domain and RB0, RB4, RB8, RB12, and RB20 in the frequency domain; time-frequency resource 2 with time slot 100 in the time domain and RB0, RB4, RB8, RB12, and RB20 in the frequency domain; and time-frequency resource 3 with time slot 200 in the time domain and RB0, RB4, RB8, RB12, and RB20 in the frequency domain.

[0487] like Figure 6 As shown, time-frequency resources 1, 2, and 3 are the time-frequency resources included in the first resource set. Time-frequency resource 2 consists of six time-frequency resources on time slot 100 included in the first resource set. Sensing transmission on one of these six time-frequency resources is discarded. That is, in the second time unit, the number of second frequency domain resources is 1. In the second time unit, the proportion of the second time-frequency resource among the six time-frequency resources is approximately 17%.

[0488] For the fourth possible implementation, the second time-frequency resource is a time-frequency resource in the first resource set that satisfies the following condition: the sensing transmission on the time-frequency resource is discarded.

[0489] For the first resource being the resource for discarded sensing transmission, optionally, the method 200 may further include: reselecting the resource for transmitting the sensing signal when one or more of the following conditions are met: the number of the first resources is greater than a first value, or the proportion of the number of the first resources in the first resource set is greater than a second value. Wherein, reselecting the resource for transmitting the sensing signal can be replaced by: reselecting the first resource, or reselecting the first resource set.

[0490] In other words, when sensing is unreliable, resources for transmitting sensing signals are reselected. Alternatively, when sensing reliability is not met, resources for transmitting sensing signals are reselected.

[0491] Second, the primary resource is the resource for transmitting sensing signals.

[0492] 3. Perceived reliability includes: the quantity of the first resource is greater than or equal to the third value, or the proportion of the quantity of the first resource in the first resource set (i.e., the aforementioned first transmission ratio) is greater than or equal to the third value.

[0493] In a specific implementation where the aforementioned first information indicates perceived reliability, the first information indicates that the quantity of the first resource is greater than or equal to a third value, or that the first transmission ratio is greater than or equal to a fourth value. Therefore, perceived reliability can be interchanged with the quantity of the first resource being greater than or equal to a third value, and with the first transmission ratio being greater than or equal to a third value.

[0494] 4. Unreliable perception includes: the quantity of the first resource is less than or equal to the third value, or the proportion of the quantity of the first resource in the first resource set is less than or equal to the third value.

[0495] In one specific implementation of the aforementioned first information indicating perceived unreliability, the first information indicates that the quantity of the first resource is less than or equal to a third value, or that the first transmission ratio is less than or equal to a fourth value. Therefore, perceived unreliability can be interchanged with the quantity of the first resource being less than or equal to a third value, or with the first transmission ratio being less than or equal to a fourth value.

[0496] The third value in this application may be predefined or indicated by a third device, and the third value is a non-negative integer. The fourth value in this application may be predefined or indicated by a third device, and the fourth value is greater than or equal to 0 and less than or equal to 1.

[0497] The third and / or fourth values ​​can be determined based on different perceived QoS levels or different perceived priorities. For example, the higher the priority level of the perceived service, the larger the third and / or fourth values; or, the lower the priority level of the perceived service, the smaller the third and / or fourth values. As another example, the higher the QoS requirement, the larger the third and / or fourth values; or, the lower the QoS requirement, the smaller the third and / or fourth values. It is understandable that the third and / or fourth values ​​corresponding to different perceived QoS levels or different perceived priorities can be different.

[0498] In a scenario where the first resource is a resource for transmitting sensing signals, the resources included in the aforementioned first resource set can be time-domain resources, frequency-domain resources, or time-frequency resources.

[0499] The following section introduces the types of resources included in the first resource set and the perceived reliability, based on four possible implementations.

[0500] The fifth possible implementation is that the first resource set includes multiple time units, and the first resource is the first time unit.

[0501] It can be understood that the first time unit is the time unit for transmitting sensing signals. The first time unit belongs to the first resource set, which includes time units used for transmitting sensing signals.

[0502] For a description of the first time unit, please refer to the description in the first possible implementation above, which will not be repeated here.

[0503] For example, the quantity of the first resource being greater than or equal to a third value, or the proportion of the quantity of the first resource in the first resource set being greater than or equal to a fourth value, includes one of the following: the quantity of the first time units being greater than or equal to the third value; or, the proportion of the quantity of the first time units in the multiple time units being greater than or equal to the fourth value. That is, the quantity of time units transmitting the sensing signal is greater than or equal to the third value; or, the proportion of the quantity of time units transmitting the sensing signal in the multiple time units being greater than or equal to the fourth value.

[0504] For example, the number of first resources is less than or equal to a third value, or the proportion of the number of first resources in the first resource set is less than a fourth value, including the following: the number of first time units is less than the third value; or, the proportion of the number of first time units in multiple time units is less than the fourth value. That is, the number of time units transmitting sensing signals is greater than or equal to the third value; or, the proportion of the number of time units transmitting sensing signals in multiple time units is greater than or equal to the fourth value.

[0505] That is, the reliability of sensing can be determined based on the number or proportion of time units in which sensing signals are transmitted in multiple time units.

[0506] In the fifth possible implementation, the multiple time units included in the first resource set can be time units allocated for transmitting sensing signals within a first time range. Optionally, the first time range can be predefined or indicated by a third device.

[0507] In combination with the above Figure 3 The example illustrates the proportion of resources in the first resource set that transmit sensing signals. For example... Figure 3 As shown, time slots 0, 100, 200, 300, and 400 are the time units included in the first resource set. Among them, time slots 0, 200, and 300 are resources for transmitting sensing signals. That is, the number of first time units is 3, and the proportion of the number of first time units in the 5 time units is 60%.

[0508] The proportion of resources used to transmit sensing signals within the first time frame affects the maximum perceptible speed. A specific example can be found in the first possible implementation, and will not be repeated here.

[0509] For the fifth possible implementation, the first time unit is a time unit in the first resource set that satisfies a first condition, which is one of the following: the time unit includes frequency domain units that transmit sensing signals; the time unit transmits sensing signals on all frequency domain units; the proportion of frequency domain units that transmit sensing signals on the time unit is greater than or equal to a third preset value; or the number of frequency domain units that transmit sensing signals on the time unit is greater than or equal to a third number.

[0510] The sixth possible implementation is that the first resource set includes multiple time-frequency resources, and the first resource is the first time-frequency resource.

[0511] Optionally, the first time-frequency resource belongs to multiple time-frequency resources included in the first resource set. This sixth possible implementation can also be understood as the first resource set including multiple time-frequency resources on the first frequency domain unit, where the first resource is the first time-frequency resource.

[0512] The first frequency domain unit belongs to the frequency domain resources of the first resource set. The frequency domain resources of the first resource can be the first frequency domain unit, that is, the frequency domain resources of the first time-frequency resource can be the first frequency domain unit. For the description of the time unit and frequency domain unit of the first time-frequency resource, as well as the description of the first resource set, please refer to the relevant description in the second possible implementation, which will not be repeated here.

[0513] As one implementation method, the reliability of perception can be determined based on the quantity of the primary resource.

[0514] For example, perceived reliability can be determined based on the quantity of the first time-frequency resources.

[0515] Specifically, the quantity of the first resource being greater than or equal to the third value, or the proportion of the quantity of the first resource in the first resource set being greater than or equal to the fourth value, includes the following: in the first resource set, the quantity of the first time-frequency resource is greater than or equal to the third value; or, in the first resource set, the proportion of the quantity of the first time-frequency resource in the multiple time-frequency resources included in the first resource set is greater than or equal to the fourth value. That is, the quantity of time-frequency resources for transmitting sensing signals is greater than or equal to the third value; or, the proportion of the quantity of time-frequency resources for transmitting sensing signals in the multiple time-frequency resources included in the first resource set is less than or equal to the fourth value.

[0516] For example, the degree of perceived unreliability can be determined based on the quantity of the first time-frequency resources.

[0517] Specifically, the quantity of the first resource being less than or equal to the third value, or the proportion of the quantity of the first resource in the first resource set being less than or equal to the fourth value, includes the following: in the first resource set, the quantity of the first time-frequency resource is less than or equal to the third value; or, in the first resource set, the proportion of the quantity of the first time-frequency resource among the multiple time-frequency resources included in the first resource set is less than or equal to the fourth value. In other words, the quantity of time-frequency resources for transmitting sensing signals is less than or equal to the third value; or, the proportion of the quantity of time-frequency resources for transmitting sensing signals among the multiple time-frequency resources included in the first resource set is less than or equal to the fourth value.

[0518] As another implementation, the reliability of the sensing can be determined based on the number of first resources on the first frequency domain unit. Here, the first frequency domain unit is a frequency domain resource belonging to the first resource set.

[0519] For example, the reliability of perception can be determined based on the quantity of the first time-frequency resources on the first frequency domain unit.

[0520] Specifically, the quantity of the first resource is greater than or equal to the third value, or the proportion of the quantity of the first resource in the first resource set is greater than or equal to the fourth value, including the following: on the first frequency domain unit, the quantity of the second time unit is greater than or equal to the third value; or, on the first frequency domain unit, the proportion of the quantity of the second time unit in the multiple time-frequency resources on the first frequency domain unit is greater than or equal to the fourth value.

[0521] In other words, the number of time-frequency resources for transmitting sensing signals is less than or equal to the first value; or, the proportion of the number of time-frequency resources for transmitting sensing signals among multiple time-frequency resources is less than or equal to the second value.

[0522] For example, the unreliability of perception can be determined based on the quantity of the first time-frequency resources on the first frequency domain unit.

[0523] Specifically, the quantity of the first resource is less than or equal to the third value, or the proportion of the quantity of the first resource in the first resource set is less than or equal to the fourth value, including the following: on the first frequency domain unit, the quantity of the second time unit is less than or equal to the third value; or, on the first frequency domain unit, the proportion of the quantity of the second time unit in the multiple time-frequency resources on the first frequency domain unit is less than or equal to the fourth value.

[0524] That is, the reliability of sensing can be determined based on the quantity or proportion of time-frequency resources for transmitting sensing signals within the first frequency domain unit.

[0525] This application determines target information, such as target velocity information, based on changes in the sensed signal over a single frequency domain unit (e.g., a first frequency domain unit). Therefore, the reliability of sensing based on that frequency domain unit can be determined by the quantity of first time-frequency resources within that unit. The changes in the sensed signal include both target information and channel variation information. Thus, a simple method is to determine target information based on changes in the sensed signal over a fixed frequency domain unit. Alternatively, the reliability can be determined based on the number of sensed signals transmitted over more frequency domain units, thereby improving reliability. This is because sensing results from multiple frequency domain units can achieve a merging gain.

[0526] Combination Figure 4 The example illustrates the proportion of resources in the first resource set that transmit sensing signals. For example... Figure 4 As shown, time-frequency resources 1, 2, and 3 are the time-frequency resources included in the first resource set. Time-frequency resource 2 consists of five time-frequency resources on RE2 included in the first resource set. Among these five time-frequency resources, three are used to transmit sensing signals. That is, the number of first time-frequency resources in the first frequency domain unit is three. The proportion of the number of first time-frequency resources in the five time-frequency resources in the first frequency domain unit is 60%.

[0527] For the sixth possible implementation, the first time-frequency resource is the time-frequency resource in the first resource set that transmits the sensing signal.

[0528] The seventh possible implementation is that the first resource set includes multiple frequency domain units, and the frequency domain of the first resource is the second frequency domain unit.

[0529] It can be understood that the second frequency domain unit is the frequency domain unit for transmitting sensing signals. The second frequency domain unit belongs to the first resource set, which includes frequency domain units used for transmitting sensing signals. For a description of the second frequency domain unit and the first resource set, please refer to the relevant description in the third possible implementation above; it will not be repeated here.

[0530] For example, the number of first resources being greater than or equal to a third value, or the proportion of the number of first resources in the first resource set being greater than or equal to a fourth value, includes one of the following: the number of second frequency domain units being greater than or equal to the third value; or, the proportion of the number of second frequency domain units in the first frequency domain range being greater than or equal to the fourth value. That is, the number of frequency domain units transmitting the sensing signal is greater than or equal to the third value; or, the proportion of the number of frequency domain units transmitting the sensing signal in the multiple frequency domain units is greater than or equal to the fourth value.

[0531] For example, the number of first resources being less than or equal to a third value, or the proportion of the number of first resources in the first resource set being less than or equal to a fourth value, includes one of the following: the number of second frequency domain units being less than or equal to the third value; or, the proportion of the number of second frequency domain units in the first frequency domain range being less than or equal to the fourth value. That is, the number of frequency domain units transmitting the sensing signal is less than or equal to the third value; or, the proportion of the number of frequency domain units transmitting the sensing signal in the multiple frequency domain units is less than or equal to the fourth value.

[0532] That is, the reliability of sensing can be determined based on the number or proportion of frequency domain units that transmit sensing signals in multiple frequency domain units.

[0533] The multiple frequency domain units included in the first resource set can be frequency domain units allocated for transmitting sensing signals within a second frequency domain range. The second frequency domain range can be predefined or indicated by a third device.

[0534] Combination Figure 5 The example illustrates the proportion of resources in the first resource set that transmit sensing signals. For example... Figure 5 As shown, RB0, RB4, RB8, RB12, RB16, and RB20 are frequency domain units included in the first resource set. Among them, RB0, RB8, and RB12 are resources for transmitting sensing signals. That is, the number of first frequency domain units is 3, and the proportion of the number of first frequency domain units in the 6 time units is 50%.

[0535] For the seventh possible implementation, the second frequency domain unit is a frequency domain unit in the first resource set that satisfies a second condition, which is one of the following: the frequency domain unit includes a time unit for transmitting sensing signals; all time units in the frequency domain unit transmit sensing signals; the proportion of time units for transmitting sensing signals in the frequency domain unit is greater than or equal to a second preset value; or the number of time units for transmitting sensing signals in the frequency domain unit is greater than or equal to a second number.

[0536] The second preset value is greater than or equal to 0 and less than or equal to 1. This second preset value can be the same as or different from the first preset value. The second quantity can be predefined. This second quantity can be the same as or different from the first quantity.

[0537] The time units in the aforementioned frequency domain unit refer to the multiple time units used for transmitting sensing signals within that frequency domain unit, which are included in the first resource set. It can be understood that these multiple time units also belong to the first resource set. For example, "the frequency domain unit includes time units for transmitting sensing signals" can be understood as: among the multiple time units used for transmitting sensing signals within that frequency domain unit, which are included in the first resource set, there are time units for transmitting sensing signals. As another example, "sensing transmissions are transmitted in all time units of the frequency domain unit" can be understood as: sensing transmissions are transmitted in all time units of the frequency domain unit, which are included in the first resource set, across all time units used for transmitting sensing signals. Furthermore, the number of time units for transmitting sensing signals in the frequency domain unit can be understood as: the number of time units used for transmitting sensing signals within that time unit, which are included in the first resource set, across all time units used for transmitting sensing signals.

[0538] In the aforementioned frequency domain unit, the proportion of time domain units for transmitting sensing signals refers to the proportion of time units for transmitting sensing signals in the multiple time units used for transmitting sensing signals in that frequency domain unit.

[0539] The eighth possible implementation is that the first resource set includes multiple time-frequency resources, and the frequency domain of the first resource is the second time-frequency resource.

[0540] In this context, the second time-frequency resource is one of the multiple time-frequency resources included in the first resource set. This eighth possible implementation can also be understood as follows: the first resource set includes multiple time-frequency resources on the second time unit, and the first resource is the second time-frequency resource.

[0541] The second time unit belongs to the time-domain resources of the first resource set. The time-domain resources of the first resource can be the second time unit, that is, the time-domain resources of the second time-frequency resource can be the second time unit.

[0542] It can be understood that the second time-frequency resource is the time-frequency resource for transmitting sensing signals. The second time-frequency resource belongs to the first resource set, which includes time-frequency resources used for transmitting sensing signals. For descriptions of the time and frequency domain units of the second time-frequency resource, as well as the first resource set, please refer to the relevant descriptions in the fourth possible implementation above; they will not be repeated here.

[0543] As one implementation method, the reliability of perception can be determined based on the quantity of the primary resource.

[0544] For example, perceived reliability can be determined based on the quantity of the first time-frequency resources.

[0545] Specifically, the quantity of the first resource being greater than or equal to the third value, or the proportion of the quantity of the first resource in the first resource set being greater than or equal to the fourth value, includes the following: in the first resource set, the quantity of the second time-frequency resource is greater than or equal to the third value; or, in the first resource set, the proportion of the quantity of the second time-frequency resource in the multiple time-frequency resources included in the first resource set is greater than or equal to the fourth value. In other words, the quantity of time-frequency resources for transmitting sensing signals is greater than or equal to the third value; or, the proportion of the quantity of time-frequency resources for transmitting sensing signals in the multiple time-frequency resources included in the first resource set is less than or equal to the fourth value.

[0546] For example, the degree of perceived unreliability can be determined based on the quantity of the first time-frequency resources.

[0547] Specifically, the quantity of the first resource being less than or equal to the third value, or the proportion of the quantity of the first resource in the first resource set being less than or equal to the fourth value, includes the following: in the first resource set, the quantity of the second time-frequency resource is less than or equal to the third value; or, in the first resource set, the proportion of the quantity of the second time-frequency resource among the multiple time-frequency resources included in the first resource set is less than or equal to the fourth value. In other words, the quantity of time-frequency resources for transmitting sensing signals is less than or equal to the third value; or, the proportion of the quantity of time-frequency resources for transmitting sensing signals among the multiple time-frequency resources included in the first resource set is less than or equal to the fourth value.

[0548] As another implementation, the reliability of the perception can be determined based on the quantity of the first resource in the second time unit. The second time unit refers to the temporal resources belonging to the first resource set.

[0549] For example, the perception can be determined based on the quantity of the second time-frequency resource in the second time unit.

[0550] For example, the quantity of the first resource being greater than or equal to a third value, or the proportion of the quantity of the first resource in the first resource set being greater than or equal to a fourth value, includes the following: in the second time unit, the quantity of the second time-frequency resource is greater than or equal to the third value; or, in the second time unit, the proportion of the quantity of the second time-frequency resource among multiple time-frequency resources is greater than or equal to the fourth value. That is, the quantity of time-frequency resources for transmitting sensing signals is greater than or equal to the third value; or, the proportion of the quantity of time-frequency resources for transmitting sensing signals among multiple time-frequency resources is greater than or equal to the fourth value.

[0551] For example, the degree of perceived unreliability can be determined based on the number of second time-frequency resources in the second time unit.

[0552] For example, the quantity of the first resource being less than or equal to a third value, or the proportion of the quantity of the first resource in the first resource set being less than or equal to a fourth value, includes the following: in the second time unit, the quantity of the second time-frequency resource is less than or equal to the third value; or, in the second time unit, the proportion of the quantity of the second time-frequency resource among multiple time-frequency resources is less than or equal to the fourth value. That is, the quantity of time-frequency resources for transmitting sensing signals is less than or equal to the third value; or, the proportion of the quantity of time-frequency resources for transmitting sensing signals among multiple time-frequency resources is less than or equal to the fourth value.

[0553] That is, the reliability of the sensing can be determined based on the quantity or proportion of time-frequency resources used to transmit the sensing signal within the second time unit.

[0554] This application determines information about a sensed target, such as its distance, based on changes in the sensed signal over a single time unit (e.g., a second time unit). Therefore, the reliability of sensing based on a given time unit can be determined by the amount of first time-frequency resources available in that time unit. Since the changes in the sensed signal include both information about the sensed target and information about channel changes, a simple method is to determine the sensed target information based on changes in the sensed signal over a single time unit. Alternatively, the reliability of sensing can be determined based on the number of sensed signals transmitted over more time units, thereby improving the reliability of sensing. This is because sensing results from multiple time units can achieve a merging gain.

[0555] Combination Figure 6 The example illustrates the proportion of resources in the first resource set that transmit sensing signals. For example... Figure 6 As shown, time-frequency resources 1, 2, and 3 are the time-frequency resources included in the first resource set. Time-frequency resource 2 consists of six time-frequency resources on time slot 100 included in the first resource set. Of these six time-frequency resources, five are used for transmitting sensing signals. That is, in the second time unit, the number of second frequency domain resources is five. In the second time unit, the proportion of second time-frequency resources among the six time-frequency resources is approximately 83%.

[0556] For the eighth possible implementation, the second time-frequency resource is a time-frequency resource in the first resource set that satisfies the following condition: sensing transmissions are transmitted on the time-frequency resource.

[0557] For the first resource being a resource for transmitting sensing signals, the method 200 may further include: reselecting the resource for transmitting sensing signals when one or more of the following conditions are met: the number of the first resources is less than or equal to a third value, or the proportion of the number of the first resources in the first resource set is less than or equal to a fourth value. Wherein, reselecting the resource for transmitting sensing signals can be replaced by: reselecting the first resource, or reselecting the first resource set.

[0558] In other words, when sensing is unreliable, resources for transmitting sensing signals are reselected. Alternatively, when sensing reliability is not met, resources for transmitting sensing signals are reselected. This can improve the reliability of sensing.

[0559] Combining the descriptions in sections one and two above, when the first resource set includes multiple time units and the first resource is a first time unit, the first information is used to indicate the reliability of the perception corresponding to the first resource set, including: the first information is used to indicate the number of first time units in the multiple time units, or to indicate the proportion of the number of first time units in the multiple time units included in the first resource set.

[0560] Alternatively, when the first resource set includes multiple time-frequency resources on the second time unit, and the frequency domain of the first resource is the second time-frequency resource, the first information is used to indicate the reliability of the perception corresponding to the first resource set, including: the first information is used to indicate the number of second time-frequency resources on the second time unit, or to indicate the proportion of the number of second time-frequency resources on the second time unit among the multiple time-frequency resources.

[0561] Combining the descriptions in sections one and two above, when the first resource set includes multiple time-frequency resources and the first resource is a first time-frequency resource, the first information is used to indicate the reliability of the perception corresponding to the first resource set, including: the first information is used to indicate the number of the first time-frequency resources, or to indicate the proportion of the number of the first time-frequency resources in the multiple time-frequency resources included in the first resource set.

[0562] Alternatively, when the first resource set includes multiple time-frequency resources on the first frequency domain unit, and the first resource is a first time-frequency resource, the first information is used to indicate the reliability of the perception corresponding to the first resource set, including: the first information is used to indicate the number of first time-frequency resources on the first frequency domain unit, or to indicate the proportion of the number of first time-frequency resources in the multiple time-frequency resources on the first frequency domain unit in the first resource set.

[0563] Alternatively, when the first resource set includes multiple frequency domain units and the first resource is a second frequency domain unit, the first information is used to indicate the reliability of the sensing corresponding to the first resource set, including: the first information is used to indicate the number of second frequency domain units, or to indicate the proportion of the number of second frequency domain units in the multiple frequency domain units.

[0564] Optionally, the method 200 may further include: sending information to a third device for requesting resources for transmitting the sensing signal. For example, sending information for requesting resources for transmitting the sensing signal to the third device before reselecting resources for transmitting the sensing signal.

[0565] For example, sending information to a third device for requesting resources to transmit sensing signals includes: a first device or a second device sending information to a third device for requesting resources to transmit sensing signals.

[0566] Optionally, method 200 may further include: sending second information for determining the temporal range of the first resource set. For example, the second information may be sent after S202.

[0567] For example, the second information is sent by a first device or its physical layer. Alternatively, the second information is sent by a second device or its physical layer. Alternatively, the second information is sent by a third device or its physical layer.

[0568] The time domain range of the first resource set can be either the first time range or the second time range mentioned above.

[0569] Optionally, the time domain range (e.g., a first time range or a second time range) can be the sensing accumulation time, which can be determined according to one of velocity resolution, velocity accuracy, distance resolution, and distance accuracy. For example, the time domain range of the first resource set is inversely proportional to the value of velocity resolution; or, for example, the time domain range of the first resource set is inversely proportional to the value of velocity accuracy.

[0570] Optionally, multiple first resources within the time domain (e.g., a first time domain or a second time domain) may be used to perform the same sensing, or resources within the set of first resources within the time domain may be used to perform the same sensing. The description of performing the same sensing is given above and will not be repeated here.

[0571] For example, the specific implementation of the first device sending the second information is that the first device sends the second information to the second device, and / or the first device sends the second information to the third device. Alternatively, the physical layer of the first device reports the second information to the higher layer of the first device.

[0572] For example, the specific implementation of the second device sending the second information is that the second device sends the second information to the first device, and / or the second device sends the second information to the third device. Alternatively, the physical layer of the second device reports the second information to the higher layer of the second device.

[0573] For example, the specific implementation of the third device sending the second information is that the third device sends the second information to the first device, and / or the third device sends the second information to the second device. Alternatively, the physical layer of the third device reports the second information to the higher layer of the second device.

[0574] In one possible implementation, the second information is used to indicate at least two of the following: the start time unit of the time domain range of the first resource set, the end time unit of the time domain range of the first resource set, or the duration of the time domain range of the first resource set.

[0575] It is understood that the duration of the time domain range of the first resource set can be predefined, and the second information is used to indicate the start time unit of the time domain range of the first resource set, and / or the end time unit of the time domain range of the first resource set.

[0576] In another possible implementation, the second information is used to indicate the duration of the time domain range of the first resource set. The second information is sent in a third time unit, which is located after the time domain range of the first resource set.

[0577] Accordingly, the first device or the second device may determine the time domain range of the first resource set based on the duration of the time domain range and the first duration. Alternatively, the first device or the second device may determine the time domain range of the first resource set based on the duration of the time domain range and the second duration.

[0578] The first duration is the interval between the starting time unit and the third time unit of the time domain range of the first resource set. This first duration can be predefined, or it can be indicated by the first device or the second device.

[0579] The second duration is the interval between the end time unit of the time domain range of the first resource set and the third time unit. This second duration can be predefined or indicated by the first or second device.

[0580] Optionally, the second information may also be used to indicate the first duration and / or the second duration.

[0581] Figure 7 This is a schematic diagram illustrating the positional relationship between the third time unit and the time domain range of the first resource set provided in an embodiment of this application. For example... Figure 7 As shown, the time domain range of the first resource set is located before the third time unit in the time domain. The first time unit of the first resource set is separated from the third time unit by a first time interval, and the end time unit of the first resource set is separated from the third time unit by a second time interval.

[0582] Optionally, the method 200 further includes: transmitting a sensing result, which is obtained based on a sensing signal. For example, after S202, the first device and / or the second device transmits the sensing result.

[0583] For example, sending the sensing result includes: the first device or the second device sending the sensing result.

[0584] When the first resource is a resource for transmitting sensing signals, the sensing signals here are sensing signals transmitted on the first resource. Therefore, the sensing result is obtained based on the sensing signals transmitted on the first resource. That is, the sensing signals are the sensing results corresponding to the first resource set.

[0585] This perception result can also be referred to as the information of the perceived target. That is, sending the information of the perceived target.

[0586] For example, in the case of unreliable sensing, if the application layer of the first device and / or the application layer of the second device determine the information of the sensing target, or if the SF of the first device and / or the SF of the second device determine the information of the sensing target, the first device and / or the second device still report the information of the sensing target. Alternatively, in the case of unreliable sensing, if the physical layer of the first device and / or the physical layer of the second device determine the information of the sensing target, the first device and / or the second device do not report the information of the sensing target.

[0587] The information of the perceived target can be understood as the measurement results of the first resource set, or the information of the perceived target can be understood as the measurement results of the first resource.

[0588] Figure 8 This is another illustrative flowchart of the sensing method 800 provided in an embodiment of this application. Figure 8 The flowchart shown illustrates the method from the perspective of device interaction, but this application does not limit the subject that performs the method. For example, Figure 8 The first or second device can be replaced by a chip, chip system, or processor that supports the implementation of the method, or it can be a logic module or software that can implement all or part of the functions of the first or second device. Figure 8 The third device can be replaced by a chip, chip system, or processor that supports the implementation of the method by the third device, or it can be a logic module or software that can implement all or part of the functions of the third device.

[0589] like Figure 8 As shown, the method 800 may include steps S801 to S809, and the steps included in the method 800 are described in detail below.

[0590] S801, determine the third resource. This third resource conflicts with the fourth resource, which is used to transmit sensing signals, while the fourth resource is used to transmit communication signals or to transmit sensing signals.

[0591] For example, S801 is executed by the first device, that is, the first device determines a third resource that conflicts with a fourth resource. The third resource is used to transmit a sensing signal, and the fourth resource is used to transmit a communication signal or to transmit a sensing signal.

[0592] For example, S801 is executed by the second device, that is, the second device determines a third resource that conflicts with a fourth resource. The third resource is used to receive sensing signals, and the fourth resource is used to receive communication signals or to receive sensing signals.

[0593] Alternatively, S801 can also be replaced by: the first device or the second device determining that the third resource and the fourth resource conflict, the third resource being used to transmit sensing signals, and the fourth resource being used to transmit communication signals or to transmit sensing signals.

[0594] In this application, "for transmitting sensing signals" indicates the intended use. In reality, the third resource may or may not carry sensing signals. For example, due to a conflict between the third and fourth resources, the third resource may not carry sensing signals, but from the perspective of its intended use, it is still a resource used for transmitting sensing signals. In this application, "for transmitting sensing signals" can also be replaced with "for mapping sensing signals." Similarly, "for transmitting communication signals" indicates the intended use. In this application, "for transmitting communication signals" can also be replaced with "for mapping communication signals."

[0595] In this embodiment, transmitting a sensing signal means sending or receiving a sensing signal. For the first device, the third resource is used to send a sensing signal, and the fourth resource is used to send a communication signal or to send a sensing signal. For the second device, the third resource is used to receive a sensing signal, and the fourth resource is used to receive a communication signal or to receive a sensing signal.

[0596] In one example, both the third and fourth resources are indicated by the third device.

[0597] One implementation of S801 for determining the third resource is: receiving seventh information from a third device, the seventh information indicating the third resource; and determining the third resource based on the seventh information. Optionally, the method 800 further includes: receiving sixth information from a third device, the sixth information indicating the fourth resource; and determining the fourth resource based on the sixth information.

[0598] One way S801 determines the conflict between the third and fourth resources is to: receive seventh information from the third device; receive sixth information from the third device; and determine the conflict between the third and fourth resources based on the seventh and sixth information.

[0599] In another example, the third resource is indicated by the third device, and the fourth resource is determined by the first or second device.

[0600] One implementation of S801 determining the third resource is: receiving seventh information from a third device, the seventh information indicating the third resource; and determining the third resource based on the seventh information. Optionally, the method 800 further includes: the first device or the second device determining a fourth resource.

[0601] One implementation of S801 in determining the conflict between the third and fourth resources is as follows: determine the fourth resource; receive seventh information from the third device, which indicates the third resource; and determine the conflict between the third and fourth resources based on the seventh information.

[0602] In another example, the fourth resource is indicated by the third device, which is determined by the first or second device.

[0603] Optionally, the method 800 further includes: receiving sixth information from the third device; and determining a fourth resource based on the sixth information. The sixth information may be received before or after determining the third resource.

[0604] One implementation of S801 to determine the conflict between the third and fourth resources is as follows: determine the third resource; receive sixth information from the third device; and determine the conflict between the third and fourth resources based on the sixth information.

[0605] In the examples above, determining the third resource can also be expressed as: determining to transmit sensing signals on the third resource. Similarly, determining the fourth resource can also be expressed as: determining to transmit communication signals or sensing signals on the fourth resource.

[0606] It should be noted that when the fourth resource is used to transmit sensing signals, the third and fourth resources are used to perform different sensing operations.

[0607] As an example, the sensing signals transmitted on the third and fourth resources belong to different services. For instance, the sensing services corresponding to the sensing signals transmitted on the third and fourth resources may have different QoS indices, or the sensing services corresponding to the sensing signals transmitted on the third and fourth resources may have different sensing processes.

[0608] As another example, sensing signals transmitted on a third resource and a fourth resource are used to determine information about different sensing targets. For instance, the third and fourth resources are used to sense the respiratory rate of different human targets, respectively. As another example, the third and fourth resources are used to sense the respiratory rate and heart rate of a human target, respectively.

[0609] In this application, the conflict between the third resource and the fourth resource refers to the conflict between transmissions on the third resource and transmissions on the fourth resource.

[0610] S802 transmits sensing signals on the fifth resource.

[0611] For example, S802 is performed by the first device, that is, the first device sends a sensing signal on the fifth resource.

[0612] Specifically, the first device transmitting a sensing signal on the fifth resource includes: the first device transmitting a sensing signal on the fifth resource instead of the third resource. In other words, the first device transmits a sensing signal on the fifth resource that was originally transmitted on the third resource.

[0613] For example, S802 is performed by the second device, that is, the second device receives the sensing signal on the fifth resource.

[0614] Specifically, the second device receiving the sensing signal on the fifth resource includes: the second device not receiving the sensing signal on the third resource, but receiving the sensing signal on the fifth resource. In other words, the second device receives the sensing signal on the fifth resource that was originally received on the third resource.

[0615] In other words, the third and fifth resources are used to perform the same perception.

[0616] As an example, the sensing transmissions on the fifth resource and the third resource belong to the same sensing service. For instance, the sensing services corresponding to the sensing signals transmitted on the third resource and the fifth resource have the same QoS index, or the sensing services corresponding to the sensing signals transmitted on the third resource and the fifth resource have the same sensing process.

[0617] As another example, sensing signals transmitted on the fifth resource and sensing signals transmitted on the third resource are used to determine information about the same sensing target. For example, both the third and fifth resources are used to sense the breathing rate of a human target.

[0618] Optionally, the third resource may belong to a periodic set of sensing resources. For example, the third resource may be a resource in a first set of resources, wherein the resources included in the first set of resources are used to transmit sensing signals.

[0619] Alternatively, the fifth resource may be a non-periodic perceptual resource, or it may be a semi-static perceptual resource.

[0620] S803 transmits communication signals or sensing signals on the fourth resource.

[0621] For example, S803 is performed by the first device, that is, the first device transmits a communication signal or a sensing signal on the fourth resource.

[0622] For example, S803 is performed by the second device, that is, the second device receives a communication signal or a sensing signal on the fourth resource.

[0623] In this embodiment, when there is a conflict between the third and fourth resources, communication signals or sensing signals can be transmitted on the fourth resource, while sensing signals are not transmitted on the third resource, but on the fifth resource. Since the sensing signals transmitted on the fifth resource and the sensing signals transmitted on the third resource are used to determine information about the same sensing target, the method provided in this application can guarantee both the reliability of communication and the reliability of sensing.

[0624] When the third resource is determined in S801, the conflict between the third and fourth resources can be determined by the first or second device, or by the third device alone. The following describes two possible implementations.

[0625] In the first possible implementation, the conflict between the third and fourth resources is determined by the first or second device.

[0626] Optionally, the method 800 further includes: S804, determining a conflict between the third and fourth resources. For example, S804 is executed after S801.

[0627] For example, S804 is executed by the first device, that is, the first device determines that the third resource and the fourth resource conflict. For example, S804 is executed by the second device, that is, the second device determines that the third resource and the fourth resource conflict.

[0628] For example, if the third resource and the fourth resource satisfy condition 1 in the time domain, the first device or the second device determines that the third resource and the fourth resource conflict. That is, the condition for the conflict between the third resource and the fourth resource is condition 1. Condition 1 is one of the following 1 to 3:

[0629] 1. The third and fourth resources overlap in the time domain.

[0630] 2. The fourth resource overlaps with the first time domain, which includes at least one of the following: resources within the third time period before the third resource, the third resource, or resources within the third time period after the third resource.

[0631] For example, the first time domain range includes resources within a third time period preceding the third resource, where the third time period precedes the third resource in the time domain, and the end time of the third time period is the start time unit of the third resource. Optionally, the first time domain range may also include the third resource.

[0632] For example, the first time domain range includes resources within a third duration following the third resource. The third duration is located after the third resource in the time domain, and the start time of the third duration is the end time unit of the third resource. Optionally, the first time domain range may also include the third resource.

[0633] For example, the first time domain includes resources within the third time period before the third resource, the third resource, and resources within the third time period after the third resource.

[0634] 3. The third resource overlaps with the second time domain range, and the second time domain range includes at least one of the following: resources within the third time period before the fourth resource, the fourth resource, or resources within the third time period after the fourth resource.

[0635] For example, the second time domain range includes resources within the third time period preceding the fourth resource. When the third time period is located before the fourth resource in the time domain, the end time of the third time period is the start time unit of the fourth resource. Optionally, the second time domain range may also include the fourth resource.

[0636] For example, the second time domain range includes resources within a third time period following the fourth resource. When the third time period is located after the fourth resource in the time domain, the start time of the third time period is the end time unit of the fourth resource. Optionally, the second time domain range may also include the fourth resource.

[0637] For example, the second time domain includes resources within the third time period before the fourth resource, the fourth resource, and resources within the third time period after the fourth resource.

[0638] The third duration is the time for switching between the first and second frequency domains, or the third duration is predefined, with the third resource belonging to the first frequency domain and the fourth resource belonging to the second frequency domain.

[0639] The aforementioned switching between the first frequency domain and the second frequency domain can include: switching from the first frequency domain to the second frequency domain, or switching from the second frequency domain to the first frequency domain. That is, the third duration is the time for switching from the first frequency domain to the second frequency domain, or the third duration is the time for switching from the second frequency domain to the first frequency domain.

[0640] As an example, the third resource is used to transmit sensing signals, and the fourth resource is used to transmit communication signals or to transmit sensing signals. The third duration is the time spent switching between transmitting in the first frequency domain and transmitting in the second frequency domain.

[0641] As an example, the third resource is used to transmit and receive sensing signals, and the fourth resource is used to transmit communication signals or to transmit sensing signals. The third duration is the time spent switching between transmitting in the first frequency domain and transmitting in the second frequency domain.

[0642] In any of the above examples, the third duration is the time during which the transmitter switches between transmitting in the first frequency domain and transmitting in the second frequency domain.

[0643] In this application, the transmitting end can be at least one of the following: transmitting port, transmitting radio frequency channel, transmitting radio frequency integrated circuit, transmitting baseband channel, transmitting antenna, transmitting antenna vibrator, transmitting antenna array element, transmitting remote radio frequency unit, and transmitting wireless unit.

[0644] As another example, the third resource is used to receive sensing signals, and the fourth resource is used to receive communication signals or to receive sensing signals. The third duration is the time spent switching between receiving in the first frequency domain and receiving in the second frequency domain.

[0645] As another example, the third resource is used to transmit and receive sensing signals, and the fourth resource is used to receive communication signals or to receive sensing signals. The third duration is the time spent switching between receiving in the first frequency domain and receiving in the second frequency domain.

[0646] In any of the above examples, the third duration is the time during which the receiving end switches between receiving in the first frequency domain and receiving in the second frequency domain. In this application, the receiving end can be at least one of a receiving port, a receiving radio frequency channel, a receiving radio frequency integrated circuit, a receiving baseband channel, a receiving antenna, a receiving antenna element, a receiving antenna array element, a receiving remote radio frequency unit, and a receiving wireless unit.

[0647] Optionally, the first frequency domain and the second frequency domain may be the same or different. The first frequency domain may be: a first carrier, a first carrier group, a first frequency band, a first BWP, a first BWP group, or a first cell; the second frequency domain may be a second carrier, a first carrier group, a second frequency band, a second BWP, a second BWP group, or a second cell.

[0648] Optionally, the third, fourth, and fifth resources may belong to the same frequency domain or different frequency domains.

[0649] As one possible implementation, the fourth and fifth resources can belong to the same frequency domain or different frequency domains. For example, the fourth resource belongs to the first frequency domain and the fifth resource belongs to the second frequency domain; or, both the fourth and fifth resources belong to the first frequency domain; or, both the fourth and fifth resources belong to the second frequency domain.

[0650] As another possible implementation, the third and fourth resources can belong to the same frequency domain or different frequency domains. For example, the third resource belongs to the first frequency domain and the fourth resource belongs to the second frequency domain; or, both the third and fourth resources belong to the first frequency domain; or, both the third and fourth resources belong to the second frequency domain.

[0651] As another possible implementation, the third and fifth resources can belong to the same frequency domain or different frequency domains. For example, the third resource belongs to the first frequency domain and the fifth resource belongs to the second frequency domain; or, both the third and fifth resources belong to the first frequency domain; or, both the third and fifth resources belong to the second frequency domain.

[0652] Figure 9 This is a schematic diagram illustrating several conflicts between third and fourth resources provided in embodiments of this application. For example... Figure 9 As shown in (a), the fourth resource belongs to CC1, and the third resource belongs to CC2. The fourth resource is used to receive communication signals or sensing signals, while the third resource is used to transmit and receive sensing signals. In the conflict described in Case 1, both the fourth and third resources occupy symbol 1 in the time domain, meaning they overlap in the time domain. In the conflict described in Case 2, the fourth resource overlaps with the resource within the third time period following the third resource in symbol 7.

[0653] like Figure 9 As shown in (b), the third resource belongs to CC1, and the fourth resource belongs to CC2. The fourth resource is used to transmit communication signals or sensing signals, while the third resource is used to transmit and receive sensing signals. In the conflict shown in case three, both the fourth and third resources occupy symbol 1 in the time domain, meaning they overlap in the time domain. In the conflict shown in case four, the third resource overlaps with the resources within the third time period following the fourth resource in symbol 7.

[0654] In the first possible implementation, alternatively, the method 800 further includes: S805, sending fourth information to the third device, the fourth information being used to: indicate a conflict between the third and fourth resources, or request a resource for transmitting the sensing signal, or request a fifth resource. For example, S805 is executed before S802.

[0655] One specific implementation of S805 is as follows: the first device or the second device sends fourth information to the third device, the fourth information being used for one of the following: indicating a conflict between the third resource and the fourth resource, requesting a resource for transmitting a sensing signal, or requesting a fifth resource. Accordingly, the third device receives the fourth information from the first device or the second device.

[0656] As an example, the fourth information can be carried on the fourth resource, or it can be carried on the time unit where the fourth resource is located. For example, when the fourth resource is an uplink resource, or when the time unit where the fourth resource is located is an uplink resource, the fourth information can be carried on the fourth resource. The time unit can be a subframe, a time slot, a symbol, or any time unit defined in the future; this application does not impose any restrictions.

[0657] In other words, the fourth resource is used to transmit communication signals or sensing signals, and also to carry fourth information. The fourth resource can be reused to indicate fourth information; or the time unit containing the fourth resource can be reused to indicate fourth information. This saves time, signaling overhead, and resource overhead.

[0658] In this embodiment, multiplexing can also be understood as "as-you-go". Multiplexing can be achieved through puncturing or rate matching. That is, by puncturing or rate matching, the fourth information is multiplexed for transmission on the fourth resource, and the fourth information is multiplexed for transmission within the time unit where the fourth resource resides. The second message can be a UCI.

[0659] As another example, this fourth information can also be carried on other uplink resources besides the fourth resource. Here, uplink resources refer to resources used for uplink transmission.

[0660] In other words, the fourth resource can be reused to indicate the fourth information, while the fourth information can be indicated on other uplink resources. This flexible resource utilization method meets different needs.

[0661] In the above example, the fourth piece of information can be carried in the UCI, or it can be carried in the HARQ.

[0662] Optionally, the aforementioned fourth information can be a predefined scheduling request message to request resources for transmitting sensing signals, or to request a fifth resource. Specifically, the fourth information can be a scheduling request (SR) message requesting sensing resources. The resources for transmitting sensing signals or the fifth resource can be aperiodic sensing resources, or the fifth resource can be a semi-static sensing resource.

[0663] Optionally, the base sequence of the fourth information is the first sequence, used to indicate a request for sensing resources; or, the cyclic shift of the fourth information is the first cyclic shift, used to indicate a request for sensing resources. That is, other sequences (such as the second sequence) are used to indicate a request for communication resources; or, other cyclic shifts (such as the second cyclic shift) are used to indicate a request for communication resources. In this way, when the third device receives a request message, it can distinguish whether the received request message is a request for resources for sensing or a request for resources for communication based on the sequence (or cyclic shift).

[0664] Optionally, the third device can configure the first device to transmit sensing information at the sensing information transmission time, and the first device transmits the fourth information at the sensing information transmission time.

[0665] The timing of the sensing transmission can be periodic. In this case, the first device can transmit the fourth information at the first sensing transmission timing after the third resource. Alternatively, the first device can transmit the fourth information at the first sensing transmission timing after a preset duration following the third resource. The start time of the preset duration can be the end time of the third resource.

[0666] The period for this sensing transmission timing can be the same as the period of the sensing service. That is, the period for the sensing transmission timing is the same as the period of the sensing service associated with the third resource. Or, in other words, the period for the sensing transmission timing is the same as the period of the sensing service associated with the sensing signal carried by the third resource.

[0667] Optionally, for the first possible implementation, method 800 further includes: S806, sending third information to the first device or the second device, the third information being used to indicate the fifth resource. Correspondingly, the first device or the second device receives the third information. The third information may be carried in the DCI. For example, S806 is executed after S805.

[0668] One specific implementation of S806 is as follows: the third device sends third information to the first or second device, the third information being used to indicate the fifth resource. Accordingly, the first or second device receives the third information from the third device.

[0669] In other words, if the sensing signal carried by the third resource and the uplink communication signal or sensing signal carried by the fourth resource conflict in transmission, the third device sends third information, which is used to instruct the fifth resource.

[0670] Optionally, for the first possible implementation, the method 800 further includes: the third device determining a conflict between the third resource and the fourth resource based on the fourth information.

[0671] Specifically, when the third resource and the fourth resource satisfy condition 1 in the time domain, the third device determines that the third resource and the fourth resource conflict. The description of condition 1 can be found in the preceding description and will not be repeated here. For example, after S805, the conflict between the third resource and the fourth resource is determined. As another example, after determining the conflict between the third resource and the fourth resource, S806 is executed.

[0672] Figure 10 This is a schematic diagram illustrating the fourth information carried on a fourth resource according to an embodiment of this application. For example... Figure 10As shown, symbols 0 to 2 belong to the first time slot, and symbols 3 to 9 belong to the second time slot. The fourth resource located on symbols 0 and CC1, used for uplink transmission, conflicts with the third resource located on symbols 3 and CC2, used for downlink transmission. The first or second device transmits a UCI on the fourth resource, carrying fourth information. Correspondingly, after receiving the UCI on the fourth resource, the third device transmits third information on a resource used for downlink transmission (e.g., the resource located on symbols 6 and CC2) to instruct the transmission of a sensing signal on the fifth resource located on symbols 8 and CC2.

[0673] In the second possible implementation, the conflict between the third and fourth resources is determined by the third device.

[0674] Optionally, the method 800 further includes: S807, determining a conflict between the third and fourth resources. For example, S807 is executed before S802.

[0675] One specific implementation of S807 is: the third device determines that the third resource and the fourth resource conflict.

[0676] Optionally, the method 800 further includes: S808, sending third information to the first or second device, the third information indicating a fourth resource and a fifth resource, the fifth resource being used to transmit a sensing signal. For example, S808 is performed before S802.

[0677] One specific implementation of S808 is as follows: a third device sends third information to a first or second device, the third information being used to indicate a fourth resource and a fifth resource, the fifth resource being used to transmit sensing signals. Correspondingly, the first or second device receives the third information from the third device.

[0678] The third information can be carried in the DCI.

[0679] In other words, if the sensing signal carried by the third resource and the downlink communication signal or sensing signal carried by the fourth resource conflict in transmission, the third device sends third information, which is used to instruct the fourth resource and the fifth resource.

[0680] Based on this technical solution, if the third and fourth resources conflict, the fifth resource can be indicated in the third information indicating the fourth resource. Due to the conflict, sensing signals cannot be transmitted on the third resource, but they can be transmitted on the fifth resource. The sensing transmissions on the fifth and third resources belong to the same sensing service, thus ensuring the continuity of sensing.

[0681] It is understood that the fifth resource can be sent separately from the fourth resource. For example, the third information is used to indicate the fifth resource, and the eighth information is used to indicate the fourth resource. Based on this, S808 can be replaced by: the third device sending the eighth information to the first or second device, which is used to indicate the fourth resource; and sending the third information to the first or second device, which is used to indicate the fifth resource. Here, the eighth information can be replaced by the sixth information mentioned above.

[0682] This method of indicating the fourth and fifth resources in separate information is more flexible and simplifies the scheduling of network devices.

[0683] Optionally, in this application, the third, fourth, and fifth resources may belong to the same frequency domain or different frequency domains but the same frequency domain. As one possible implementation, the fourth and fifth resources may belong to the same frequency domain or different frequency domains. For example, the fourth resource may belong to the first frequency domain, and the fifth resource may belong to the second frequency domain; or, both the fourth and fifth resources may belong to the first frequency domain; or, both the fourth and fifth resources may belong to the second frequency domain.

[0684] As another possible implementation, the third and fourth resources can belong to the same frequency domain or different frequency domains. For example, the third resource belongs to the first frequency domain and the fourth resource belongs to the second frequency domain; or, both the third and fourth resources belong to the first frequency domain; or, both the third and fourth resources belong to the second frequency domain.

[0685] As another possible implementation, the third and fifth resources can belong to the same frequency domain or different frequency domains. For example, the third resource belongs to the first frequency domain and the fifth resource belongs to the second frequency domain; or, both the third and fifth resources belong to the first frequency domain; or, both the third and fifth resources belong to the second frequency domain.

[0686] One specific implementation of S807 is that when the third resource and the fourth resource satisfy condition 1 in the time domain, the third device determines that the third resource and the fourth resource are in conflict.

[0687] The description of condition 1 can be found in the description of the first possible implementation method, and will not be repeated here.

[0688] As mentioned earlier, the third resource can be determined by the first or second device, or by the first or second device according to the instructions of the third device.

[0689] In the second possible implementation, the third resource is determined by the first or second device according to the instruction of the third device. That is, the method 800 may further include: the third device determining the third resource and the fourth resource; and sending information indicating the third resource to the first or second device. For example, before S801, the third device determines the third resource and the fourth resource; and sends information indicating the third resource to the first or second device.

[0690] Figure 11 This is a schematic diagram illustrating the third information indicating the fifth and fourth resources provided in an embodiment of this application. For example... Figure 11 As shown, symbols 0 to 5 belong to the third time slot, and symbols 6 to 9 belong to the fourth time slot. The fourth resource located on symbols 3 and CC1 conflicts with the third resource located on symbols 6 and CC2. The third device instructs, in the DCI indicating the fourth resource, to transmit a sensing signal on the fifth resource located on symbols 9 and CC2. This DCI is located on symbols 0 and CC1.

[0691] For the first and second possible implementations, if the third and fourth resources conflict, the condition for dropping a sensing transmission on the third resource includes: the first priority level being lower than or equal to the second priority level. Alternatively, if the third and fourth resources conflict, the condition for transmitting a sensing signal or communication signal on the fourth resource includes: the first priority level being lower than or equal to the second priority level.

[0692] The first priority level is one of the following 1 to 3:

[0693] 1. Priority level of transmission on third-party resources.

[0694] 2. At least one transmission of the highest priority level within the first time domain of the first frequency domain.

[0695] 3. At least one lowest priority level of transmission within the first time domain of the first frequency domain.

[0696] The second priority level is one of the following 4 to 6:

[0697] 4. Priority level of transmission on the fourth resource.

[0698] 5. At least one transmission of the highest priority level within the second time domain of the second frequency domain.

[0699] 6. At least one lowest priority level of transmission within the second time domain of the second frequency domain.

[0700] The first time domain includes at least one of the following: resources within a third time period before the third resource, the third resource, or resources within a third time period after the third resource. Similarly, the second time domain includes at least one of the following: resources within a third time period before the fourth resource, the fourth resource, or resources within a third time period after the fourth resource. See the description above for details, which will not be repeated here.

[0701] The priority level of transmission on the third resource being lower than or equal to the highest priority level of at least one transmission within the second time domain of the second frequency domain can be understood as: the priority level of transmission on the third resource being lower than or equal to the priority level of any transmission within the second time domain of the second frequency domain; the priority level of transmission on the third resource being lower than or equal to the lowest priority level of at least one transmission within the second time domain of the second frequency domain can also be understood as: the priority level of transmission on the third resource being lower than or equal to the priority level of each transmission within the second time domain of the second frequency domain.

[0702] Similarly, the priority level of transmission on the fourth resource is not lower than the highest priority level of at least one transmission within the first time domain of the first frequency domain, which can be understood as: the priority level of transmission on the fourth resource is not lower than the priority level of any transmission within the first time domain of the first frequency domain; the priority level of transmission on the fourth resource is not lower than the lowest priority level of at least one transmission within the second time domain of the second frequency domain, which can also be understood as: the priority level of transmission on the fourth resource is not lower than the priority level of each transmission within the first time domain of the first frequency domain.

[0703] It can be understood that the priority level of transmission on the third resource is the same as the priority of the sensing signal on the third resource. Similarly, the priority level of transmission on the fourth resource is the same as the priority of the sensing signal and / or communication signal on the fourth resource. At least one transmission within the first time domain of the first frequency domain can be a transmission of a sensing signal, a transmission of a communication signal, or a transmission of both a communication signal and a sensing signal. Similarly, at least one transmission within the second time domain of the second frequency domain can be a transmission of a sensing signal, a transmission of a communication signal, or a transmission of both a communication signal and a sensing signal.

[0704] In this application, the first priority level is lower than the second priority level, which can also be understood as: the first priority value is greater than the second priority value. That is to say, the higher the priority level, the lower the priority value.

[0705] Optionally, the method 800 further includes: S809, sending fifth information to a third device according to a sensing mode, the fifth information indicating that reception and transmission are in the same frequency domain in a first time slot. The first time slot is used to transmit sensing signals.

[0706] One specific implementation of S808 is: the first device or the second device sends fifth information to the third device according to the sensing mode. The fifth information is used to indicate that the reception and transmission are in the same frequency domain in the first time slot, which is used to transmit the sensing signal.

[0707] Correspondingly, the third device receives the fifth information.

[0708] S809 is executed by the first device, and the first time slot is used to transmit a sensing signal. Alternatively, S809 is executed by the second device, and the first time slot is used to receive a sensing signal.

[0709] Alternatively, the fifth information may be used to indicate that the receiving channel and the transmitting channel are located in the same frequency domain on the third resource; or, the fifth information may be used to indicate that the receiving channel and the transmitting channel are located in the same frequency domain on the fifth resource.

[0710] In this context, being in the same frequency domain can be understood as being in the first frequency domain or being in the second frequency domain.

[0711] The description of sensing modes can be found in the previous descriptions and will not be repeated here. For example, in a self-transmitting and self-receiving sensing mode: Transmit (T) and receive (R) need to be in the same frequency domain, or channel 1 and channel 2 need to be in the same frequency domain. In a self-transmitting and self-receiving sensing mode, sensing is performed by the receiving end: T and R need to be in the same frequency domain, or channel 1 needs to be in one frequency domain, or channel 2 needs to be in one frequency domain. Again, in a self-transmitting and self-receiving sensing mode, sensing is performed by the transmitting end: T and R need to be in one frequency domain, or channel 1 needs to be in one frequency domain. Here, channel 1 and channel 2 are the two channels of the first device, or channel 1 and channel 2 are the two channels of the second device.

[0712] It should be noted that methods 200 and 800 can be combined or implemented independently. When methods 200 and 800 are implemented independently, more or fewer steps can be performed than those shown in methods 200 and 800. When the embodiments shown in methods 200 and 800 are combined, when the first or second device in method 800 transmits a perceptible signal on the fifth resource, the fifth resource is the resource in the first resource set in method 200 that transmits the perceptible signal. If the first or second device in method 800 does not transmit a perceptible signal on the fifth resource or the third device does not indicate the fifth resource, the third resource and / or the fifth resource is the resource in the first resource set that discards the perceptible transmission.

[0713] The above method 800 describes a scheme where, in the event of a conflict between the third and fourth resources, sensing transmissions on the third resource are discarded, and communication and sensing signals are transmitted on the fourth resource. It can be understood that, in the event of a conflict between the third and fourth resources, the transmission of communication and sensing signals on the fourth resource can also be discarded, and sensing signals can be transmitted on the third resource. That is, when the third and fourth resources conflict, the first or second device does not request a fifth resource from the third device for transmitting sensing signals; or when the third and fourth resources conflict, the third device does not actively indicate a fifth resource for transmitting sensing signals to the first or second device. The conditions under which sensing transmissions on the third resource are not discarded (i.e., communication or sensing transmissions on the fourth resource are discarded) include: the first priority level is not lower than the second priority level. The descriptions of the first and second priorities can be found in the preceding descriptions and will not be repeated here.

[0714] Figure 12 This is another illustrative flowchart of the sensing method 1200 provided in the embodiments of this application. Figure 12 The flowchart shown illustrates the method from the perspective of device interaction, but this application does not limit the subject that performs the method. For example, Figure 12 The first or second device can be replaced by a chip, chip system, or processor that supports the first or second device in implementing the method, or it can be a logic module or software that can implement all or part of the functions of the first or second device. Figure 12 The third device can be replaced by a chip, chip system, or processor that supports the implementation of the method by the third device, or it can be a logic module or software that can implement all or part of the functions of the third device.

[0715] like Figure 12 As shown, the method 1200 may include steps S1201 to S1205. The steps of the method 1200 are described in detail below.

[0716] S1201, send a seventh message and / or a sixth message to the first device and / or the second device, the seventh message indicating a third resource and the sixth message indicating a fourth resource.

[0717] One specific implementation of S1201 is: the third device sends the seventh information and / or the sixth information to the first device; or, the third device sends the seventh information and / or the sixth information to the second device; or, the third device sends the seventh information and / or the sixth information to both the first and second devices.

[0718] Correspondingly, the first device and / or the second device receive one or more of the following information from the third device: seventh information, or sixth information.

[0719] Among them, Figure 12 In the method shown, the sixth piece of information can be replaced with the eighth piece of information mentioned above.

[0720] The third resource is used to transmit sensing signals. Therefore, the seventh information is used to indicate the third resource, which can also be understood as indicating the transmission of sensing signals on the third resource.

[0721] Similarly, the fourth resource is used to transmit communication signals or to transmit sensing signals. Therefore, the sixth information used to indicate the fourth resource can also be understood as indicating the transmission of communication signals or sensing signals on the fourth resource.

[0722] It should be noted here that when the fourth resource is used to transmit sensing signals, the third and fourth resources are used to perform different sensing operations. For example, the sensing signals transmitted on the third and fourth resources may belong to different services, or the sensing signals transmitted on the third and fourth resources may be used to determine information about different sensing targets. See the description of the third and fourth resources in S801 for details, which will not be repeated here.

[0723] For a description of sensing signals and communication signals, please refer to the relevant descriptions above; they will not be repeated here.

[0724] Optionally, the method 1200 may further include the steps of: the third device determining a third resource, and / or, the third device determining a fourth resource. This step may be performed before S1201.

[0725] For example, the fourth resource is determined by the third device. The third resource may be determined by the first and / or second device, or by other devices; this application does not impose any restrictions.

[0726] For example, the third resource may be determined by the third device. The fourth resource may be determined by the first and / or second device, or by other devices; this application does not impose any restrictions.

[0727] For example, both the third and fourth resources are determined by the third device.

[0728] The following examples illustrate the two scenarios of conflict and non-conflict between the third and fourth resources.

[0729] In the first example, the fourth resource does not conflict with the third resource.

[0730] It is understood that in this application, the non-conflict between the third resource and the fourth resource means that the transmission on the third resource does not conflict with the transmission on the fourth resource.

[0731] Optionally, the third and fourth resources do not conflict if they satisfy condition 2 in the time domain; or, the third and fourth resources do not conflict if they do not satisfy condition 1 in the time domain. A description of condition 1 can be found in the relevant description in method 800 above, and will not be repeated here.

[0732] Condition 2 states that the time interval between the third and fourth resources is greater than or equal to the third duration. For example, the third resource may be located after the fourth resource in the time domain, and the time interval between them may be greater than or equal to the third duration. Another example is that the third resource may be located before the fourth resource in the time domain, and the time interval between them may be greater than or equal to the third duration. For a detailed description of the third duration, please refer to the description in S804; it will not be repeated here. As an example, the fourth resource is used to transmit communication signals or sensing signals, and the third duration is the switching time between transmission in the first frequency domain and transmission in the second frequency domain.

[0733] As another example, the fourth resource is used to receive communication signals or sensing signals, and the third duration is the time for switching between receiving in the first frequency domain and receiving in the second frequency domain.

[0734] In the first example, a specific implementation of S1201 is: the third device sends seventh information and / or sixth information to the first device and / or the second device. Correspondingly, the first device and / or the second device receive the seventh information and / or the sixth information from the third device.

[0735] Optionally, the method 1200 further includes: S1202, determining a third resource based on the seventh information; and / or, determining a fourth resource based on the sixth information.

[0736] One specific implementation of S1202 is: the first device and / or the second device determine the third resource based on the seventh information; and / or the first device and / or the second device determine the fourth resource based on the sixth information.

[0737] For example, S1202 is executed after S1021.

[0738] For example, in S1201, the third device determines a third resource; in S1202, the first and / or second devices determine the third resource based on seventh information. As another example, in S1201, the third device determines a fourth resource; in S1202, the first and / or second devices determine the fourth resource based on sixth information. Yet another example, in S1201, the third device determines both the third and fourth resources; in S1202, the first and / or second devices determine the third resource based on seventh information and the fourth resource based on sixth information.

[0739] Optionally, in S1202, determining the third resource can also be expressed as determining to transmit a sensing signal on the third resource. Similarly, determining the fourth resource can also be expressed as determining to transmit a communication signal or a sensing signal on the fourth resource.

[0740] Optionally, the method 1200 further includes: S1203, transmitting a sensing signal on a third resource and transmitting a communication signal or sensing signal on a fourth resource. For example, S1203 can be executed after S1202.

[0741] In this context, transmission refers to sending and receiving. S1203 is executed by the first device, which sends a sensing signal on the third resource and sends a communication signal or sensing signal on the fourth resource. S1203 is also executed by the second device, which receives the sensing signal on the third resource and receives the communication signal or sensing signal on the fourth resource.

[0742] Optionally, in S1203, the transmission of sensing signals on the third resource by the seventh information is indicated by the seventh information, and similarly, the transmission of communication signals or sensing signals on the fourth resource is indicated by the sixth information.

[0743] For the first example, method 1200 may further include: a third device determining a third resource; scheduling a fourth resource that does not conflict with the third resource based on the third resource; or, the third device determining a fourth resource; scheduling a third resource that does not conflict with the fourth resource based on the fourth resource. This step may be performed before S1201.

[0744] The third resource determined by the third device may be determined by the third device itself, or it may be determined by the third device based on information from the first device or the second device used to indicate the third resource.

[0745] Optionally, the time interval between the third and fourth resources can be greater than or equal to the third duration; in other words, the third device ensures that the third and fourth resources are not scheduled within the third duration. A description of the third duration can be found in method 800, and will not be repeated here.

[0746] As an example, if the first device transmits a sensing signal on the third resource, then the third device does not schedule the fourth resource within the first time domain. The first time domain includes at least one of the following: resources within a third time period before the third resource, the third resource, or resources within a third time period after the third resource. A detailed description of the first time domain is provided in method 800, and will not be repeated here.

[0747] For example, the first device transmits a sensing signal on the third resource, the third device schedules the fourth resource on the resource three time intervals before the third resource, or the third device schedules the fourth resource on the resource three time intervals after the third resource.

[0748] In combination with the above Figure 9 In example (a) of the first device, when the first device transmits / receives a sensing signal on symbol 4 of the second CC, the third device cannot schedule resources for communication reception or sensing reception within symbol 4 of the first CC, within the third duration before symbol 4 and / or within the third duration after symbol 4.

[0749] As another example, if the first device transmits a communication signal or a sensing signal on the fourth resource, then the third device does not schedule the third resource within the second time domain. The second time domain includes at least one of the following: resources within a third time period before the fourth resource, the fourth resource, or resources within a third time period after the fourth resource. A detailed description of the second time domain is provided in method 800 and will not be repeated here.

[0750] For example, the first device transmits communication signals or sensing signals on the fourth resource, the third device schedules the fourth resource on a resource three time intervals before the fourth resource, or the third device schedules the fourth resource on a resource three time intervals after the fourth resource.

[0751] In combination with the above Figure 9 In example (b) of the first device, when the first device transmits a communication signal or a sensing signal on symbol 4 of the second CC, the third device cannot schedule sensing transmission / reception within symbol 4 of the first CC, within the third time period before symbol 4, and / or within the third time period after symbol 4.

[0752] In the above examples, the third resource and the fourth resource may belong to the same frequency domain or different frequency domains. For example, the third resource belongs to the first frequency domain and the fourth resource belongs to the second frequency domain; or, both the third resource and the fourth resource belong to the first frequency domain; or, both the third resource and the fourth resource belong to the second frequency domain.

[0753] In the above examples, transmitting a sensing signal on the third resource can be either sending or receiving the sensing signal on the third resource. Similarly, transmitting a communication signal or a sensing signal on the fourth resource can be either sending or receiving the communication signal or a sensing signal on the fourth resource.

[0754] In the first example, the third device can indicate a fourth resource that does not conflict with the third resource to the first and / or second devices for transmitting communication signals or sensing signals. This ensures the reliability of both communication and sensing.

[0755] The second example involves a conflict between the fourth and third resources.

[0756] It is understood that in this application, the conflict between the third resource and the fourth resource refers to the conflict between transmissions on the third resource and transmissions on the fourth resource.

[0757] Optionally, the third and fourth resources satisfy condition 1 above in the time domain, and the third and fourth resources conflict. A description of condition 1 can be found in the relevant description in method 800, and will not be repeated here.

[0758] In the second example, a specific implementation of S1201 is as follows: the third device sends the following information to the first device and / or the second device: a seventh message or a sixth message. Correspondingly, the first device and / or the second device receive the following information from the third device: a seventh message or a sixth message.

[0759] Optionally, the conditions for the third device to send the seventh information include: the first priority level is higher than or equal to the second priority level.

[0760] A conflict exists between the third and fourth resources. The conditions for transmitting sensing signals on the third resource include a first priority level being higher than or equal to the second priority level. Alternatively, the conditions for dropping the transmission of sensing signals or communication signals on the fourth resource include a first priority level being higher than or equal to the second priority level.

[0761] Optionally, the conditions for the third device to send the sixth information include: the first priority level is lower than or equal to the second priority level.

[0762] If a third and fourth resource conflict, the condition for dropping a sensing transmission on the third resource includes: the first priority level being lower than or equal to the second priority level. Alternatively, if a third and fourth resource conflict, the condition for transmitting sensing or communication signals on the fourth resource includes: the first priority level being lower than or equal to the second priority level.

[0763] For a description of the first and second priorities, please refer to the description in Method 800 above, which will not be repeated here.

[0764] Optionally, the method 1200 further includes: S1204, determining a third resource based on the seventh information; or, determining a fourth resource based on the sixth information.

[0765] One specific implementation of S1204 is: the first device and / or the second device determine the third resource based on the seventh information; or, the first device and / or the second device determine the fourth resource based on the sixth information.

[0766] Optionally, the method 1200 further includes: S1205, transmitting a sensing signal on a third resource, or transmitting a communication signal or sensing signal on a fourth resource. S1205 can be executed after S1204.

[0767] For example, S1205 is performed by the first device, which transmits a sensing signal on the third resource, or transmits a communication signal or sensing signal on the fourth resource.

[0768] For example, S1205 is performed by a second device that receives a sensing signal on a third resource or a communication signal or sensing signal on a fourth resource.

[0769] For example, S1205 is performed by the first device and the second device. The first device transmits a sensing signal on a third resource, or transmits a communication signal or sensing signal on a fourth resource. Correspondingly, the second device receives the sensing signal on the third resource, or receives the communication signal or sensing signal on the fourth resource.

[0770] It is understood that if the first device and / or the second device receives the seventh information, then the first device and / or the second device transmits a sensing signal on the third resource indicated by the seventh information. If the first device and / or the second device receives the sixth information, then the first device and / or the second device transmits a communication signal or a sensing signal on the fourth resource indicated by the sixth information.

[0771] For the second example, method 1200 may further include: a third device determining a conflict between a third resource and a fourth resource. This step may be performed before S1201.

[0772] For a description of the conflict between the third and fourth resources, please refer to the relevant description in Method 800 above, which will not be repeated here.

[0773] For the second example, the method provided in this application can guarantee the reliability of communication or the reliability of perception.

[0774] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers does not imply the order of execution; the execution order of each process should be determined by its function and internal logic.

[0775] Figure 13 and Figure 14 The diagram illustrates possible apparatuses provided for embodiments of this application. These apparatuses can be used to implement the functions of the first, second, or third apparatuses in the above method embodiments, and thus also achieve the beneficial effects of the above method embodiments.

[0776] Figure 13 This is a schematic block diagram of the apparatus provided in the embodiments of this application. Figure 13 As shown, the device 1300 includes a processing module 1310. Optionally, the device 1300 may also include a transceiver module 1320.

[0777] One possible design is that the device 1300 is used to implement the functions of the first device, the second device, or the third device in the method embodiment shown in the method 200 above.

[0778] For example, the processing module 1310 is configured to: determine a first resource, the first resource belonging to a first resource set, the resources included in the first resource set being used to transmit sensing signals, the first resource being a resource for discarding sensing transmission, or the first resource being a resource for transmitting sensing signals; and determine the reliability of sensing based on the quantity of the first resource.

[0779] Optionally, the transceiver module 1320 is configured to: send first information, the first information being used to indicate the reliability of the perception, or the first information being used to indicate the reliability of the perception corresponding to a first resource set.

[0780] Optionally, the transceiver module 1320 is further configured to: send second information, the second information being used to determine the time domain range of the first resource set.

[0781] Optionally, the processing module 1310 is further configured to: reselect the resource for transmitting the sensing signal, or reselect the first resource, or reselect the first resource set when one or more of the following conditions are met: the number of the first resources is greater than a first value, or the proportion of the number of the first resources in the first resource set is greater than a second value.

[0782] Optionally, the transceiver module 1320 is further configured to: send a sensing result, the sensing result being obtained based on the sensing signal.

[0783] One possible design is that the device 1300 is used to implement the function of the first or second device in the method embodiments shown in the above-described method 800 and method 1200.

[0784] For example, the processing module 1310 is configured to: determine a third resource that conflicts with a fourth resource, the third resource being used to transmit a sensing signal, and the fourth resource being used to transmit a communication signal or to transmit a sensing signal; the transceiver module 1320 is further configured to: transmit a sensing signal on a fifth resource; and transmit a communication signal or a sensing signal on the fourth resource.

[0785] Optionally, the transceiver module 1320 is further configured to: send fourth information, the fourth information being used for: indicating a conflict between the third resource and the fourth resource, requesting a resource for transmitting sensing signals, or requesting the fifth resource.

[0786] Optionally, the transceiver module 1320 is further configured to: receive third information, the third information being used to indicate the fourth resource and the fifth resource.

[0787] Optionally, the transceiver module 1320 is further configured to: send fifth information according to the sensing mode, the fifth information being used to indicate that the reception and transmission in the first time slot are located in the same frequency domain, the first time slot being used to transmit sensing signals.

[0788] For example, the processing module 1310 is configured to: determine a third resource and a fourth resource, wherein the third resource is used to transmit a sensing signal and the fourth resource is used to transmit a communication signal or to transmit a sensing signal; the transceiver module 1320 is further configured to: transmit a sensing signal on the third resource, and / or transmit a communication signal or a sensing signal on the fourth resource.

[0789] More detailed descriptions of the processing module 1310 and the transceiver module 1320 can be obtained directly from the relevant descriptions in the embodiments shown in methods 200, 800 and 1200, and will not be repeated here.

[0790] Another possible design is that the device 1300 is used to implement the function of the third device in the method embodiments shown in the above-described methods 800 and 1200.

[0791] For example, the processing module 1310 is used to determine that a fourth resource conflicts with a third resource, the third resource being used to transmit sensing signals, and the fourth resource being used to transmit communication signals or to transmit sensing signals; the transceiver module 1320 is used to: send third information, the third information being used to indicate a fifth resource, the fifth resource being used to transmit sensing signals.

[0792] Optionally, the transceiver module 1320 is further configured to: receive fourth information, the fourth information being used for: indicating a conflict between the third resource and the fourth resource, for requesting a resource for transmitting sensing signals, or for requesting the fifth resource.

[0793] Optionally, the transceiver module 1320 is further configured to: receive fifth information, the fifth information being used to indicate that the receiving channel and the transmitting channel in the first time slot are located in the same frequency domain, and the first time slot is used to transmit sensing signals.

[0794] For example, the transceiver module 1320 is configured to: send a seventh message and / or a sixth message, wherein the seventh message is used to indicate a third resource, the third resource is used to transmit a sensing signal, and the sixth message is used to indicate a fourth resource, the fourth resource is used to transmit a communication signal or a sensing signal.

[0795] Optionally, the fourth resource does not conflict with the third resource; the transceiver module 1320 is specifically used to send the seventh information and the sixth information.

[0796] Optionally, the fourth resource conflicts with the third resource; the transceiver module 1320 is specifically used to send the seventh information or the sixth information.

[0797] A more detailed description of the processing module 1310 and the transceiver module 1320 can be obtained directly from the relevant descriptions in the embodiment shown in method 800, and will not be repeated here.

[0798] It should be noted that device 1300 may include a transmitting module but not a receiving module. Alternatively, device 1300 may include a receiving module but not a transmitting module. Specifically, it depends on whether the above-described scheme executed by device 1300 includes both transmitting and receiving actions. It is understood that because device 1300 has communication capabilities, it can also be called a communication device.

[0799] Figure 14 This is another schematic block diagram of the device provided in the embodiments of this application. For example... Figure 14 As shown, device 1400 includes one or more processors 1410. The processor 1410 can be a general-purpose processor or a dedicated processor, such as a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, while the central processing unit can be used to control the device (e.g., a first device, a second device, a third device, or a chip), execute software programs, and process data from the software programs.

[0800] Optionally, in one design, processor 1410 may include a program (also referred to as code or instructions) that can be executed on processor 1410, causing device 1400 to perform the method performed by the first or second device in the above method embodiments. In yet another possible design, device 1400 includes circuitry (…). Figure 14 (Not shown), the circuit is used to implement the functions of the first device, the second device, or the third device in the above method embodiments.

[0801] For example, processor 1410 may be used to execute computer programs or instructions in memory to implement the steps performed by the first, second, or third means in any of the embodiments shown in method 200, method 800, and method 1200.

[0802] Optionally, the device 1400 may include one or more memories 1420 storing programs (sometimes referred to as code or instructions) that can be run on the processor 1410 to cause the device 1400 to perform the methods performed by the first, second, or third device in the above embodiments.

[0803] Optionally, the processor 1410 and / or memory 1420 may also store data. The processor and memory may be configured separately or integrated together.

[0804] Optionally, the device 1400 may further include a communication interface 1430. The processor 1410, sometimes referred to as a processing unit, controls the device (e.g., the first device, the second device, or the third device). The communication interface 1430, sometimes referred to as a transceiver unit, transceiver, transceiver circuit, or transceiver, is used to implement the transceiver function of the device.

[0805] Optionally, the device 1400 also includes a communication interface 1430. The processor 1410 and the communication interface 1430 are coupled to each other. It is understood that the communication interface 1430 can be a transceiver or an input / output interface.

[0806] It is understandable that since device 1400 has communication capabilities, it can also be called a communication device.

[0807] When device 1400 is used to implement method 200, method 800, and method 1200, processor 1410 is used to execute the functions of the aforementioned processing unit, and communication interface 1430 is used to execute the functions of the aforementioned processing module. Whether communication interface 1430 is used for sending or receiving depends on whether the scheme executed by device 1400 is used to perform a sending action or a receiving action.

[0808] It is understood that when the device 1400 is a first device, a second device, or a third device, the communication interface 1430 can be a transceiver, specifically including a transmitter and a receiver, with the transmitter used to send signals and the receiver used to receive signals. When the device 1400 is a chip applied to the first device, the second device, or the third device, the communication interface 1430 can be an input / output circuit, wherein the input circuit can be used for receiving and the output interface can be used for sending.

[0809] It should be noted that the above method embodiments can be applied to a processor, or implemented by a processor. A processor may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method embodiments can be completed by integrated logic circuits in the processor's hardware or by software instructions.

[0810] The aforementioned processor can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or any combination thereof. A general-purpose processor can be a microprocessor or any conventional processor.

[0811] The steps of the method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can reside in mature storage media in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, or registers. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method.

[0812] The memory in this application embodiment can be volatile memory or non-volatile memory, or it can include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0813] The methods provided in the above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any combination thereof. When implemented in software, they can be implemented, in whole or in part, in the form of a computer program product. The computer program product may include one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another w...

Claims

1. A sensing method, characterized in that, include: A first resource is identified, which belongs to a first resource set. The resources included in the first resource set are used to transmit sensing signals. The first resource is either a resource that discards sensing transmission or a resource that transmits sensing signals. The reliability of the perception is determined based on the quantity of the first resource.

2. The method according to claim 1, characterized in that, The degree of reliability of the perception includes the reliability of the perception itself; The first resource is a resource for discarded sensing transmission, and the sensing reliability includes: the quantity of the first resource is less than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set is less than or equal to a second value; or, The first resource is a resource for transmission sensing transmission, and the sensing reliability includes: the quantity of the first resource is greater than or equal to a third value, or the proportion of the quantity of the first resource in the first resource set is greater than or equal to a fourth value.

3. The method according to claim 2, characterized in that, The method further includes: Send a first message, which indicates the reliability of the perception, or the first message indicates the reliability of the perception corresponding to a first resource set.

4. The method according to claim 2 or 3, characterized in that, The first resource set includes multiple time units; the first resource is the resource for discarded sensing transmission, and the first resource is the first time unit; The quantity of the first resource is less than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set is less than or equal to a second value, including one of the following: The number of the first time units is less than or equal to the first value; or, The proportion of the first time unit in the plurality of time units is less than or equal to the second value.

5. The method according to claim 4, characterized in that, The first resource is a first time unit, which is a time unit in the first resource set that satisfies a first condition. The first condition is one of the following: In terms of time units, this includes frequency domain units that discard sensor transmissions; In the time unit, all sensing transmissions in the frequency domain units are discarded; In terms of time units, the proportion of frequency domain units that are discarded during sensing transmission is greater than or equal to a first preset value; or, In the time unit, the number of frequency domain units that are discarded during sensing transmission is greater than or equal to the first number.

6. The method according to claim 2 or 3, characterized in that, The first resource set includes multiple time-frequency resources on the first frequency domain unit; the first resource is a resource for discarded sensing transmission, and the first resource is a first time-frequency resource; The quantity of the first resource is less than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set is less than or equal to a second value, including one of the following: In the first frequency domain unit, the number of the first time-frequency resources is less than or equal to the first value; or, In the first frequency domain unit, the proportion of the first time-frequency resource among the plurality of time-frequency resources is less than or equal to the second value.

7. The method according to claim 2 or 3, characterized in that, The first resource set includes multiple frequency domain units; the first resource is a resource for discarded sensing transmission, and the first resource is a second frequency domain unit; The quantity of the first resource is less than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set is less than or equal to a second value, including one of the following: The number of frequencies in the second frequency domain is less than or equal to the first value; or, The proportion of the number of the second frequency domain units in the plurality of frequency domain units is less than or equal to the second value.

8. The method according to claim 7, characterized in that, The first resource is a second frequency domain unit, which is a frequency domain unit in the first resource set that satisfies a second condition, which is one of the following: In the frequency domain unit, this includes the time unit for discarding sensing transmissions; In the frequency domain, all sensing transmissions in the time domain are discarded; In the frequency domain, the proportion of time units of the sensed transmission that are discarded is greater than or equal to a second preset value; or... In the frequency domain, the number of time units of the discarded sensing transmission is greater than or equal to the second number.

9. The method according to claim 2 or 3, characterized in that, The first resource set includes multiple time-frequency resources in the second time unit; the first resource is a resource for discarded sensing transmission, and the frequency domain of the first resource is the second time-frequency resource; The quantity of the first resource is less than or equal to a first value, or the proportion of the quantity of the first resource in the first resource set is less than or equal to a second value, including one of the following: In the second time unit, the quantity of the second time-frequency resource is less than or equal to the first value; or, In the second time unit, the proportion of the second time-frequency resource among the plurality of time-frequency resources is less than or equal to the second value.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes: Send a second message, which is used to determine the time domain range of the first resource set.

11. The method according to claim 10, characterized in that, The second information is used to indicate at least two of the following: the start time unit of the time domain range, the end time unit of the time domain range, or the duration of the time domain range.

12. The method according to claim 10, characterized in that, The second information is used to indicate the duration of the time domain range, and the second information is sent in the third time unit; The interval between the start time unit of the time domain range and the third time unit is a first duration, or the interval between the end time unit of the time domain range and the third time unit is a second duration. Wherein, the first duration and / or the second duration are predefined, or the first duration and / or the second duration are indicated by the first device.

13. The method according to any one of claims 1 to 12, characterized in that, The first resource is the resource for discarding sensor transmission; The method further includes: The resource for transmitting the sensing signal is reselected, or the first resource is reselected, or the first set of resources is reselected, when one or more of the following conditions are met: The quantity of the first resource is greater than a first value, or the proportion of the quantity of the first resource in the first resource set is greater than a second value.

14. The method according to any one of claims 1 to 13, characterized in that, The method further includes: Send the sensing results, which are obtained based on the sensing signals.

15. A sensing method, characterized in that, include: A third resource is identified, which conflicts with a fourth resource. The third resource is used to transmit sensing signals, and the fourth resource is used to transmit communication signals or to transmit sensing signals. Transmitting sensing signals on the fifth resource; Transmit communication signals or sensing signals on the fourth resource.

16. The method according to claim 15, characterized in that, The method further includes: Send a fourth message, which is used for one of the following: indicating a conflict between the third resource and the fourth resource, requesting a resource for transmitting sensing signals, or requesting the fifth resource.

17. The method according to claim 16, characterized in that, The fourth information is carried on the fourth resource.

18. The method according to claim 16 or 17, characterized in that, The fourth piece of information is carried in the uplink control signaling (UCI).

19. The method according to any one of claims 16 to 18, characterized in that, The fifth resource is indicated by the third information.

20. The method according to claim 15, characterized in that, The method further includes: Receive third information, which is used to indicate the fourth resource and the fifth resource.

21. The method according to claim 20, characterized in that, The third information is carried in the downlink control signaling (DCI).

22. The method according to any one of claims 15 to 21, characterized in that, The sensing transmissions on the fifth resource and the third resource belong to the same sensing service, or the sensing signals transmitted on the fifth resource and the sensing signals transmitted on the third resource are used to determine the information of the same sensing target.

23. The method according to any one of claims 15 to 22, characterized in that, The third resource and the fourth resource conflict if they satisfy one of the following conditions in the time domain: The third resource overlaps with the fourth resource in the time domain; The fourth resource overlaps with the first time domain range, which includes at least one of the following: resources within a third time period before the third resource, the third resource, or resources within a third time period after the third resource; The third resource overlaps with the second time domain range, which includes at least one of the following: resources within a third time period before the fourth resource, the fourth resource, or resources within a third time period after the fourth resource; The third duration is the time for switching between the first frequency domain and the second frequency domain, or the third duration is predefined, the third resource belongs to the first frequency domain, and the fourth resource belongs to the second frequency domain.

24. The method according to claim 23, characterized in that, The fourth resource is used to transmit communication signals or sensing signals; the third duration is the time for switching between the first frequency domain transmission and the second frequency domain transmission; or... The fourth resource is used to receive communication signals or sensing signals; the third duration is the time for switching between the first frequency domain reception and the second frequency domain reception.

25. The method according to claim 23 or 24, characterized in that, The conditions under which the sensing transmission on the third resource is dropped include: the first priority level is lower than or equal to the second priority level; The first priority level is one of the following: Priority levels for transmission on third-party resources; At least one highest priority level transmitted within the first time domain of the first frequency domain; At least one lowest priority level transmitted within the first time domain range of the first frequency domain; The second priority level is any one of the following: The priority level of transmission on the fourth resource; At least one highest priority level transmitted within the second time domain of the second frequency domain; At least one lowest priority level of transmission within the second time domain of the second frequency domain.

26. The method according to any one of claims 15 to 25, characterized in that, The method further includes: A fifth message is sent according to the sensing mode. The fifth message is used to indicate that the reception and transmission are in the same frequency domain in the first time slot, which is used to transmit the sensing signal.

27. A communication device, characterized in that, Includes a module for implementing the method as described in any one of claims 1 to 26.

28. A communication device, characterized in that, It includes at least one processor for causing the communication device to implement the method as described in any one of claims 1 to 26 by executing a computer program and / or by logic circuitry.

29. A computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by a processor, the method described in any one of claims 1 to 26 is performed.

30. A computer program product, characterized in that, Includes a computer program, which, when run, performs the method according to any one of claims 1 to 26.

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