Communication method, apparatus, system, computer program product and readable storage medium

Abstract

The application provides a communication method, device, system, computer program product and readable storage medium. The method can be applied to a sensing integration scene. In the method, a first signal is sent from a transmitting base station to a cooperative sensing base station. The first signal includes a communication data sequence carrying a modulated sensing information identifier and communication data. The sensing information identifier includes a transmission time of the first signal and an identifier of the transmitting base station. The cooperative sensing base station senses a target object existing between the sensing base stations according to the sensing information identifier. In a case where a length of a redundant CP segment in a CP segment of an OFDM symbol is greater than a first threshold, a micro pulse signal multi-feature joint modulation scheme is adopted. In a case where the length of the redundant CP segment is less than or equal to the first threshold, an embedded frame structure modulation scheme is adopted. In this way, the redundant CP segment of the OFDM symbol can be fully utilized, the sensing pilot occupies less communication resources, the signaling process of multi-base station cooperative sensing is simplified, and decentralized cooperative detection is realized.

Description

Technical Field

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

[0002] In integrated communication scenarios, transmitting base stations and receiving base stations achieve collaborative sensing through signal interaction.

[0003] The transmitting base station transmits radio signals to the receiving base station. These radio signals include sensing pilot sequences and communication data sequences. The transmitting base station needs to send known sensing pilot sequences to the cooperative sensing base station in advance. Based on the previously received known sensing pilot sequences and the sensing pilot sequences included in the subsequently received radio signals, the cooperative sensing base station senses the target between the transmitting base station and the cooperative sensing base station.

[0004] When transmitting wireless signals, the base station needs to transmit the sensing pilot sequence and the communication data sequence together. This causes the sensing pilot sequence to occupy the time and frequency resources of the communication data sequence. Summary of the Invention

[0005] This application provides a communication method, apparatus, system, computer program product, and readable storage medium, which can improve the utilization rate of time and frequency resources in integrated communication and sensing scenarios and improve communication efficiency.

[0006] Firstly, a communication method is provided. This method can be executed by a first communication device, or by a component (such as a circuit, chip, or chip system) configured in the first communication device, or by a logic module or software capable of implementing all or part of the functions of the first communication device. The first communication device can be, for example, a transmitting base station; this application does not limit this. The following description uses a first communication device as an example.

[0007] The method includes: a first communication device generating a first signal and transmitting the first signal to a second communication device. The first signal includes a communication data sequence, which carries a modulated and mapped sensing information identifier and communication data; the sensing information identifier includes the transmission time of the first signal and an identifier of the first communication device.

[0008] Therefore, the first communication device receives a first signal from the second communication device, and the second communication device demodulates the first signal to obtain a sensing information identifier and communication data. Based on the transmission time of the first signal included in the sensing information identifier, the second communication device can sense a target object existing between the first and second communication devices. Thus, without relying on a previously transmitted known sensing pilot sequence, the second communication device can also obtain the transmission time of the first signal and the first communication device based on the sensing information identifier, enabling accurate target sensing.

[0009] In one possible implementation, the Orthogonal Frequency Division Multiplexing (OFDM) symbol of the first signal includes a cyclic prefix (CP) segment and a valid symbol segment, with the CP segment preceding the valid symbol segment within each OFDM symbol. The CP segment includes a redundant CP segment, the length of which is the length of the CP segment minus a constant, such as the maximum multipath delay. The redundant CP segment can be a portion of the CP segment whose starting position is shifted by one or more maximum multipath delays. Optionally, the length of the redundant CP segment is: the length of the CP segment - 2. Maximum multipath delay. The maximum multipath delay can be an estimated maximum multipath delay, such as the maximum multipath delay obtained from historical time period data or the maximum multipath delay estimated by collaborative sensing base stations.

[0010] When the length of the redundant CP segment of the OFDM symbol of the first signal is greater than the first threshold, the sensing information identifier is carried in the redundant CP segment, and the communication data is carried in the valid symbol segment. When the length of the redundant CP segment of the OFDM symbol of the first signal is less than or equal to the first threshold, the sensing information identifier and communication data are carried on different cepstral domain resources of the same OFDM symbol.

[0011] Therefore, in the integrated sensing scenario, different signal modulation schemes are selected based on the relationship between the length of the redundant CP segment in the OFDM symbol and the preset threshold. When the length of the redundant CP segment is large, the first modulation scheme is used to modulate and map the sensing information identifier to the CP segment. The larger length of the redundant CP segment supports more sampling points, which can accurately modulate and map the sensing information identifier to the redundant CP segment. When the length of the redundant CP segment is relatively small, the second modulation scheme is used to embed the sensing information identifier into a frame structure.

[0012] In one possible implementation, if the length of the redundant CP segment of the OFDM symbol of the first signal is greater than a first threshold, the modulation scheme of the first signal includes at least one of the following: Amplitude micro-modulation is performed on the pulse signal of the redundant CP segment of the first signal; Amplitude micro-modulation is performed on the amplitude domain of the pulse signal of the redundant CP segment of the first signal; Multiple amplitude domains of the pulse signal of the redundant CP segment of the first signal are modulated in the same direction; The same information is superimposed on multiple amplitude domains of the pulse signal of the redundant CP segment of the first signal for modulation.

[0013] Thus, the first communication device performs accurate sampling point accumulation demodulation under micro-pulse and micro-modulation conditions by repeatedly modulating the sensing information identifier and communication data at multiple sampling points in a multi-amplitude domain.

[0014] In one possible implementation, if the length of the redundant CP segment of the OFDM symbol of the first signal is less than or equal to a first threshold, the modulation scheme of the first signal includes: A bivariate unique mapping pairing function is used to map the identifier of the first communication device and the transmission time of the first signal into a unique first variable, and a block polynomial including the first variable is constructed. Convolve the block feature sequence corresponding to each time-domain node within the first signal with the block polynomial corresponding to the time-domain node.

[0015] Therefore, when the length of the redundant CP segment of the first signal is less than or equal to the first threshold, resulting in a limited number of sampling points, the first communication device embeds the sensing information identifier into the communication data. While modulating and mapping the sensing information identifier, it further occupies time and frequency resources and improves demodulation accuracy.

[0016] In one possible implementation, the first signal further includes a sensing pilot sequence, which is interleaved with the communication data sequence; Before sending the first signal to the second communication device, the method further includes: Send a sensing pilot sequence to the second communication device.

[0017] The solution provided in this embodiment, when the sensing information identifier provides the transmission time of the first information and the identification information of the first communication device, can also send a sensing pilot sequence to the second communication device, retaining the richer sensing reference information that the sensing pilot sequence can provide.

[0018] Secondly, a communication method is provided. This method can be executed by a second communication device, or by a component (such as a circuit, chip, or chip system) configured in the second communication device, or by a logic module or software capable of implementing all or part of the functions of the second communication device. The second communication device can be, for example, a cooperative sensing base station used to assist a transmitting base station in cooperative sensing. This application does not limit this. The following description uses a second communication device as an example.

[0019] The method includes: a second communication device receiving a first signal, demodulating the first signal, and obtaining a sensing information identifier and communication data; the sensing information identifier includes the identifier of the first communication device and the transmission time of the first signal; the second communication device sensing a target object between the second communication device and the first communication device based on the transmission time of the first signal included in the sensing information identifier.

[0020] Therefore, the second communication device receives the first signal sent by the first communication device, and demodulates the first signal to obtain a sensing information identifier and communication data. Based on the transmission time of the first signal included in the sensing information identifier, the second communication device can sense a target object existing between the first and second communication devices. Thus, without relying on a previously transmitted known sensing pilot sequence, the second communication device can also obtain the transmission time of the first signal and the first communication device based on the sensing information identifier, enabling accurate target sensing.

[0021] In one possible implementation, the orthogonal frequency division multiplexing (OFDM) symbol of the first signal includes a CP segment and a valid symbol segment. Within each OFDM symbol, the CP segment precedes the valid symbol segment, and the CP segment includes a redundant CP segment. When the length of the redundant CP segment of the OFDM symbol of the first signal is greater than the first threshold, the sensing information identifier is carried in the redundant CP segment, and the communication data is carried in the valid symbol segment. When the length of the redundant CP segment of the OFDM symbol of the first signal is less than or equal to the first threshold, the sensing information identifier and communication data are carried on different cepstral domain resources of the same OFDM symbol.

[0022] In one possible implementation, if the length of the redundant CP segment of the OFDM symbol of the first signal is greater than a first threshold, the first signal is demodulated to obtain the sensing information identifier and communication data, including: Noise suppression is applied to the first signal; The redundant CP segment of the OFDM symbol of the first signal is compared with the effective symbol segment to obtain the micro-modulation signal of the redundant CP segment; Demodulating the micro-modulated signal yields the sensor information identifier.

[0023] In one possible implementation, if the length of the redundant CP segment of the OFDM symbol of the first signal is less than or equal to a first threshold, the first signal is demodulated to obtain the sensing information identifier and communication data, including: The feature sequence corresponding to the perceived information identifier is obtained by effectively separating the cepstral transform. Based on the Lagrange interpolation method, the perceptual information identifier is recovered from the feature sequence corresponding to the perceptual information identifier.

[0024] In one possible implementation, a dynamic background can be constructed before the second communication device receives the first signal. This dynamic background includes the first communication device, the second communication device, and known targets already existing between the first and second communication devices.

[0025] In one possible implementation, a dynamic background is constructed, including: Configure system parameters; Perceive existing, known targets; Create a dynamic background and eliminate static reflections.

[0026] Subsequently, after the second communication device senses the target object between the second communication device and the first communication device based on the transmission time of the first signal included in the sensing information identifier, the method further includes: Determine whether the target object is a known target; If the target is a known target, continue to receive wireless signals and perform target perception; If the target object is not a known target, update the dynamic background based on the target object.

[0027] Therefore, the collaborative sensing base station pre-constructs a dynamic background, which already marks currently existing known targets. Coarse synchronization timing is obtained by performing correlation operations only with a preset pulse signal information sequence. Using the correlation peak of the pulse signal information sequence as the reference origin, and combining this with the known geographical locations between base stations, a length of [missing information] is defined. The blind search range is defined. Within this range, a blind search is performed, receiving signals from transmitting base stations, autonomously demodulating the sensing information identifiers to obtain the cell ID information and the specific transmission time (absolute delay) of the signal, thus achieving sensing. Sensing information embedding is achieved by micro-modulating some surplus CPs, reducing the crowding out of communication resources and improving spectrum efficiency. The cooperative sensing base station can quickly and accurately perform target sensing and delay compensation simply by sensing whether the target in the dynamic background is a new target, thereby improving communication efficiency.

[0028] The second aspect is the implementation on the network device side, which corresponds to the first aspect. The explanations, supplements, and descriptions of the beneficial effects of the first aspect also apply to the second aspect, and will not be repeated here.

[0029] Thirdly, a communication device is provided, which includes a processing module and a transceiver module.

[0030] The processing module is used to generate a first signal; the first signal includes a communication data sequence, which carries a modulated and mapped sensing information identifier and communication data; the sensing information identifier includes the transmission time of the first signal and the identifier of the first communication device; This transceiver module is used to send a first signal to a second communication device.

[0031] Fourthly, a communication device is provided, which includes a transceiver module.

[0032] This transceiver module is used to receive the first signal; The processing module is used to demodulate the first signal to obtain the sensing information identifier and communication data; the sensing information identifier includes the identifier of the first communication device and the transmission time of the first signal; The processing module is used to sense the target object between the second communication device and the first communication device based on the transmission time of the first signal included in the sensing information identifier.

[0033] The third and fourth aspects are the implementation on the device side corresponding to the first and second aspects. The explanations, supplements, and descriptions of the beneficial effects of the first and second aspects also apply to the third and fourth aspects, and will not be repeated here.

[0034] Fifthly, a communication device is provided, including a processor. The processor is coupled to a memory and can be used to execute instructions or data in the memory to implement the method in any possible implementation of the first aspect described above.

[0035] Optionally, the communication device also includes a memory.

[0036] Optionally, the communication device also includes a communication interface, to which the processor is coupled.

[0037] In one implementation, the communication interface can be a transceiver, or an input / output interface.

[0038] In another implementation, the communication device is a chip configured in a terminal device. When the communication device is a chip configured in a terminal device, the communication interface can be an input / output interface.

[0039] In a sixth aspect, a communication device is provided, including a processor. The processor is coupled to a memory and can be used to execute instructions or data in the memory to implement the method in any possible implementation of the second aspect described above. Optionally, the communication device further includes a memory. Optionally, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

[0040] In one implementation, the communication interface can be a transceiver, or an input / output interface.

[0041] In another implementation, the communication device is a chip configured in a satellite. When the communication device is a chip configured in a satellite, the communication interface can be an input / output interface.

[0042] In a seventh aspect, a processor is provided, comprising: an input circuit, an output circuit, and a processing circuit. The processing circuit is used to receive signals through the input circuit and to transmit signals through the output circuit, causing the processor to execute a method in any possible implementation of any aspect.

[0043] In specific implementation, the processor can be one or more chips, the input circuit can be input pins, the output circuit can be output pins, and the processing circuit can be transistors, gate circuits, flip-flops, and various logic circuits. The input signal received by the input circuit can be received and input by, for example, but not limited to, a receiver, and the signal output by the output circuit can be, for example, but not limited to, output to and transmitted by a transmitter. Furthermore, the input circuit and the output circuit can be the same circuit, which is used as both the input circuit and the output circuit at different times. This application does not limit the specific implementation of the processor and various circuits.

[0044] Eighthly, a communication device is provided, including a processor and a memory. The processor is used to read instructions stored in the memory, receive signals via a receiver, and transmit signals via a transmitter to execute the method in any possible implementation of any of the preceding aspects.

[0045] Optionally, there may be one or more processors and one or more memories.

[0046] Ninthly, a computer program product is provided, comprising: a computer program (also referred to as code or instructions) that, when executed, causes a computer to perform a method in any possible implementation of any of the above aspects.

[0047] In a tenth aspect, a computer-readable storage medium is provided that stores a computer program (also referred to as code or instructions) that, when executed on a computer, causes the computer to perform the methods in any possible implementation of any of the above aspects.

[0048] Eleventhly, embodiments of this application provide a chip system including one or more processors for calling and executing instructions stored in memory, causing the methods in any of the above aspects or possible implementations to be executed. The chip system may be composed of chips or may include chips and other discrete devices.

[0049] The chip system may include input circuits or interfaces for transmitting information or data, and output circuits or interfaces for receiving information or data.

[0050] In a twelfth aspect, a communication system is provided, including the aforementioned terminal device and network device. Optionally, the communication system may further include other devices that communicate with the terminal device and / or network device. Attached Figure Description

[0051] Figure 1 This application provides an example of an interactive schematic diagram of a communication system. Figure 2 A schematic diagram of a scenario involving the integration of sensing and communication systems provided in the embodiments of this application; Figure 3 A schematic diagram of the wireless signals involved in the communication method provided in the embodiments of this application; Figure 4 A schematic diagram illustrating the relationship between CP and multipath delay in the communication method provided in the embodiments of this application; Figure 5 An interactive schematic diagram of a communication method provided in an embodiment of this application; Figure 6 A schematic diagram of the first modulation scheme involved in the communication method provided in the embodiments of this application; Figure 7 A schematic diagram of a cooperative sensing base station demodulating a first signal in the communication method provided in the embodiments of this application; Figure 8 A schematic diagram of the second modulation scheme involved in the communication method provided in the embodiments of this application; Figure 9 An interactive schematic diagram of another communication method provided in an embodiment of this application; Figure 10 A schematic diagram illustrating the communication method provided in the embodiments of this application; Figure 11 A schematic block diagram of a communication device provided in an embodiment of this application; Figure 12 A schematic block diagram of another communication device provided in an embodiment of this application. Detailed Implementation

[0052] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0053] The technical solutions provided in this application can be applied to various communication systems, such as: Global System for Mobile Communications (GSM) systems, General Packet Radio Service (GPRS), Wireless Local Area Network (WLAN), Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, sidelink communication systems, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication systems, non-terrestrial network (NTN) communication systems, 5th generation (5G) mobile communication systems, or new radio access technology (NR). Among these, 5G mobile communication systems can include non-standalone (NSA) and / or standalone (SA) networking. The technical solutions provided in this application can also be applied to future communication systems. This application does not limit the scope of these applications.

[0054] See Figure 1 This is an interactive schematic diagram of a communication system provided in an embodiment of this application. Figure 1 As shown, the communication system may include a core network device 110 and multiple access network devices 120. The core network device 110 communicates with each access network device 120 via a wireless link, and the access network devices 120 may also communicate with each other via wireless links. In some cases, the communication system may also include a terminal device 130, which may communicate wirelessly with some of the access network devices 120.

[0055] Figure 1 An exemplary embodiment is shown, comprising a core network device 110, three access network devices 120, and a terminal device 130. In other communication scenarios, the number of various communication devices involved in the communication system can be adaptively adjusted and is not limited.

[0056] Access network equipment, sometimes also called access nodes, possesses wireless transceiver capabilities for communication with terminal devices. Access network equipment includes, but is not limited to, base stations, evolved NodeBs (eNodeBs), transmission reception points (TRPs) in the aforementioned communication systems, next-generation NodeBs (gNBs) in 5G mobile communication systems, access network equipment or modules in open RAN (ORAN) systems, satellites in NTN communication systems, base stations in future mobile communication systems, or access nodes in WiFi systems. Access network equipment can also be modules or units capable of implementing some of the functions of a base station. Access network equipment can be macro base stations, micro base stations, indoor stations, relay nodes, donor nodes, or radio controllers in cloud radio access network (CRAN) scenarios. Optionally, access network equipment can also be servers, wearable devices, or vehicle-mounted equipment. For example, in vehicle-to-everything (V2X) technology, the access network equipment can be a roadside unit (RSU). Multiple access network devices in a communication system can be base stations of the same type or different types. Base stations can communicate with terminal devices directly, or they can communicate with terminal devices through relay stations. Terminal devices can communicate with multiple base stations using different access technologies. The embodiments of this application do not limit the specific technologies or device forms used in the access network devices.

[0057] In this application, the apparatus for implementing the functions of the access network device can be the access network device itself, or it can be any apparatus capable of supporting the network device in implementing the functions, such as a processor, circuit, chip, or chip system. This apparatus can be installed in the access network device or connected to and used with the access network device. In the technical solution provided in this application, the example of the access network device being used to implement the functions of the access network device is used to describe the technical solution provided in this application.

[0058] The terminal device in this application can be a wireless terminal device capable of receiving network device scheduling and instruction information. The wireless terminal device can be a device providing voice and / or data connectivity to a user, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. For example, the terminal device can communicate with one or more core networks or the Internet via a radio access network (RAN). The terminal device can also be referred to as a terminal, user equipment (UE), mobile station, mobile terminal, etc. Terminal devices can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), ultra-reliable low-latency communication (URLLC), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, or satellite communication, etc. The terminal device can be a mobile phone, tablet computer, computer with wireless transceiver capabilities, wearable device, vehicle, aircraft (such as drone, helicopter, airplane), hot air balloon, ship, robot, robotic arm, or smart home device, etc. The embodiments of this application do not limit the form of the terminal device.

[0059] In this application, the apparatus for implementing the functions of a terminal device can be the terminal device itself, or any apparatus capable of supporting the terminal device in implementing those functions, such as a processor, circuit, chip, or chip system. This apparatus can be installed in or connected to the terminal device. In the technical solutions provided in this application, the example of a terminal device being used to implement the functions of a terminal device is used to describe the technical solutions provided in this application.

[0060] Access network equipment and / or terminal equipment can be fixed or mobile. They can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; on water; or in the air on aircraft, balloons, and satellites. This application does not limit the application scenarios of the access network equipment and terminal equipment. They can be deployed in the same or different scenarios; for example, both can be deployed on land simultaneously; or the access network equipment can be deployed on land while the terminal equipment is deployed on water, etc., and so on.

[0061] In practical applications, when the network equipment is an access network device, such as a base station, multiple base stations can cooperate to assist terminal devices in achieving wireless access. Different base stations each perform a portion of the functions of a complete base station. For example, a base station can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). 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 frequency equipment or radio frequency units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radioheads (RRHs).

[0062] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (Open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules. CU (or CU-CP and CU-UP), DU, and RU can implement different protocol layer functions.

[0063] To facilitate understanding of the embodiments of this application, the terminology used in this application will be briefly explained first. Optionally, the explanation of some terms may also refer to the explanations in the 3rd Generation Partnership Project (3GPP) standard protocol.

[0064] 1. Multi-base station collaborative sensing.

[0065] Multi-base station collaborative sensing refers to multiple base stations sharing time and frequency resources, jointly transmitting and receiving signals, and coordinating data processing. Relying on integrated sensing and communication (ISAC) technology, they complement the field of view and signal coverage area of ​​individual base stations to jointly complete target detection, positioning, velocity measurement, trajectory tracking, and environmental reconstruction.

[0066] Among them, the integrated sensing technology refers to a new type of wireless technology that uses the same hardware, the same spectrum, and the same waveform to achieve wireless communication and wireless sensing. Wireless sensing refers to using wireless signal echoes to detect information such as the relative distance, speed, angle, position, and attitude between the sensing target and the base station. The integrated sensing technology can achieve spectrum reuse, hardware sharing, cost reduction, and improved spectrum efficiency, breaking down the separation between communication and radar architectures.

[0067] For ease of description, in a sensor-integrated scenario, multiple base stations are divided into transmitting base stations and cooperative sensing base stations. The transmitting base stations transmit wireless signals to the cooperative sensing base stations, which in turn receive these signals. The wireless signals received by the cooperative sensing base stations are divided into two paths: one is wireless signal 1, transmitted directly from the transmitting base station to the cooperative sensing base station; the other is wireless signal 2, transmitted by the transmitting base station and reflected from the sensing target before reaching the cooperative sensing base station. The cooperative sensing base station analyzes wireless signals 1 and 2 to obtain information such as the relative distance, speed, angle, position, and location between the sensing target and the cooperative sensing base station.

[0068] In this context, the transmitting base station can be replaced by a main base station, signal base station, first base station, etc. The cooperative sensing base station can also be replaced by a secondary base station, receiving base station, receiving cooperative base station, sensing base station, second base station, etc., without limitation. The sensing target can be replaced by a target object, target between base stations, reflector, obstacle, etc. It should be noted that the sensing target involved in the embodiments of this application can be an object between base stations other than the base station itself, such as a person, car, building, plant or animal, terminal device, etc. Alternatively, the sensing target can also refer to a moving object between base stations, such as a person, car, animal, etc., in a moving state (moving speed greater than a speed threshold), without limitation. Furthermore, the same base station may have different functions under different circumstances, for example, acting as a transmitting base station at the first moment and as a cooperative sensing base station at the second moment, without limitation.

[0069] See Figure 2 This is a schematic diagram of a scenario involving the integration of sensing and communication in the communication system provided in the embodiments of this application. Figure 2 As shown in (1), the communication system includes multiple base stations (BS), such as BS1, BS2, and BS3. Among them, BS1 is the transmitting base station, and BS2 and BS3 are the cooperative sensing base stations. There is target 1 between BS1 and BS2, and there is target 2 between BS1 and BS3.

[0070] BS1 transmits radio signal 1 to BS2 Figure 2 (1) is shown by a solid line in the diagram. Wireless signal 1 can reach BS2 directly or via target 1. Also, BS1 sends wireless signal 2 to BS3. Figure 2 (Illustrated by the dashed line in (1)) Wireless signal 2 can reach BS3 directly, or it can reach BS3 via target 2. It should be noted that Figure 2 The illustration only depicts one specific scenario of integrated sensing. In actual communication systems, the number of transmitting base stations, the number of collaborative sensing base stations, and the number of sensing targets between base stations can vary and are not limited.

[0071] 2. Multipath delay.

[0072] Multipath delay refers to the time difference between a wireless signal emitted from the same transmitter and arriving at the same receiver via multiple propagation paths (direct, transmitted, scattered, etc.). Maximum multipath delay is the time difference between the latest arriving wireless signal and the earliest arriving wireless signal (those arriving via the direct propagation path). Multipath delay can also be understood as the maximum value among the time differences corresponding to multiple paths. Multipath delay can be represented by the symbol... To illustrate, the maximum multipath delay can be represented by the symbol... Illustration. The transmitting end can be the aforementioned transmitting base station, and the receiving end can be the aforementioned collaborative sensing base station.

[0073] like Figure 2 In the communication system shown in (2), BS1 transmits radio signals to BS2 and BS3 respectively. BS1 transmits radio signal 1 to BS2, and radio signal 1 has two transmission paths: Path 11: After wireless signal 1 is emitted from BS1, it directly reaches BS2 via a direct path. The corresponding multipath delay is... ; Path 12: After wireless signal 1 is emitted from BS1, it passes through target 1 and reaches BS2. The corresponding multipath delay is... .

[0074] in, This represents the minimum multipath delay between BS1 and BS2. B1 represents the maximum multipath delay between BS1 and BS2; BS2 represents the coordinates of BS2, BS1 represents the coordinates of BS1, B1 represents the coordinates of target 1, and c represents the transmission speed of the wireless signal.

[0075] BS1 transmits radio signal 2 to BS3. Radio signal 2 has two transmission paths: Path 21: After wireless signal 2 is emitted from BS1, it directly reaches BS3 via a direct path. The corresponding multipath delay is... ; Path 22: After wireless signal 2 is emitted from BS1, it reaches BS3 via target 2. The corresponding multipath delay is... .

[0076] in, This represents the minimum multipath delay between BS1 and BS3. B1 represents the maximum multipath delay between BS1 and BS3; BS3 represents the coordinates of BS3, and B2 represents the coordinates of target 2.

[0077] 3. Wireless signals in integrated sensing scenarios.

[0078] In a sensing-communication integrated scenario, the wireless signals sent from the transmitting base station to the cooperative sensing base station include communication pilots and sensing pilots. The communication pilots carry communication data, which is used for channel estimation, beam tracking, demodulation, etc. The sensing pilots carry sensing information, which is used in conjunction with the communication pilots for filtering, calculating parameters such as distance, angle, and velocity. In some cases, the communication pilot can be described as a communication data sequence, communication sequence, or communication pilot sequence, while the sensing pilot can be described as a sensing pilot sequence or sensing signal sequence.

[0079] In wireless signals, communication data includes service data transmitted by the transmitting base station, while the sensing information carried by the sensing pilot does not include specific service data or configuration data. The sensing pilot is a known sensing pilot sequence. The cooperative sensing base station pre-acquires this known sensing pilot sequence and compares it with the sensing pilot in the subsequently received wireless signal to obtain the time delay parameter of the wireless signal during transmission. Based on the time delay parameter, it then senses the target between the transmitting base station and the cooperative sensing base station.

[0080] In 5G NR, the scheme for carrying sensing pilots and communication pilots in wireless signals is as follows: in the time domain resources, sensing pilots and communication pilots are interleaved. For example, the time domain resources include multiple orthogonal frequency division multiplexing (OFDM) symbols, and each OFDM symbol includes multiple subcarriers. The two types of pilots can be alternately allocated according to the subcarriers within the same OFDM symbol.

[0081] For example, odd-numbered subcarriers are assigned communication pilots, and even-numbered subcarriers are assigned sensing pilots. Or, as... Figure 3 The diagram shown is a schematic representation of the wireless signal involved in the communication method provided in the embodiments of this application. Figure 3 In a multi-element OFDM system, each OFDM symbol sequentially includes multiple subcarriers. The first m subcarriers carry sensing pilots, and the subsequent n subcarriers carry communication pilots. Both m and n are positive integers, and typically m < n.

[0082] 4. Cyclic prefix (CP).

[0083] CP (Carrier Preservation) is a time-domain resource formed by sampling a segment of the tail of an OFDM symbol and copying the sampled points to the head of the OFDM symbol, thus creating a guard interval. CP can be used to eliminate inter-carrier interference and to combat multipath delay in integrated sensing scenarios.

[0084] See Figure 4 This is a schematic diagram illustrating the relationship between CP and multipath delay in the communication method provided in this application embodiment. Figure 4 As shown in (1), without CP, an OFDM symbol includes a valid symbol segment; with CP, an OFDM symbol includes a CP segment and a valid symbol segment. In this embodiment, CP refers to the time-frequency resource or replicated waveform information preceding the OFDM symbol, and the CP segment refers to this time-domain resource or time period. Alternatively, in some cases, CP and CP segment can refer to or replace each other, and CP can also be replaced by describing a CP segment or surplus CP, without further limitation.

[0085] like Figure 4 As shown in (2), without CP, the wireless signal, due to multipath delay, will cross into the receiving window of the next OFDM symbol upon arrival, i.e., from OFDM symbol 1 to OFDM symbol 2. This will lead to inter-symbol interference (ISI) and inter-carrier interference (ICI). ISI refers to the interference caused by the trailing edge of the previous OFDM symbol mixing into the signal of the next OFDM symbol, while ICI refers to the interference caused by the disruption of the orthogonality between subcarriers when crossing OFDM symbols, resulting in a surge in demodulation noise.

[0086] like Figure 4 As shown in (3), with CP added, even if there is multipath delay, the wireless signal will be controlled within the receiving window of the current OFDM symbol, i.e., within OFDM symbol 1. This ensures that both the directly arriving wireless signal and the reflected wireless signal are located within the current OFDM symbol, and the subcarriers remain orthogonal.

[0087] In other words, the transmitting base station forms a CP segment by copying the tail waveform of the wireless signal to compensate for the delay caused by multipath delay. Therefore, it can be seen that at the maximum multipath delay... When the value is less than or equal to CP, it can effectively prevent ISI and ICI caused by crossing OFDM symbols.

[0088] It should be understood that the technical terms used in this application are for illustrative purposes only and not as limiting. For example, as technology evolves, technical terms may also change, and other technical terms that have the same technical meaning should also apply to this application.

[0089] In the scenario of integrated sensing, the sensing pilot and the communication pilot are distributed in different time domains in the wireless signals transmitted by the base station for collaborative sensing. The sensing pilot will squeeze the communication resources of the communication pilot and reduce the communication efficiency.

[0090] In view of this, this application provides a communication method applied to a communication system, the communication system including at least a first access network device and a second access network device, and the number of both the first access network device and the second access network device can be one or more. The first access network device transmits a first signal, the first signal including a communication data sequence carrying a modulated sensing information identifier and communication data, the sensing information identifier including the transmission time of the first signal and an identifier of the first access network device. The second access network device receives the first signal and demodulates it to obtain the sensing information identifier and the communication data. The second access network device can sense a target object existing between the first access network device and the second access network device based on the sensing information identifier.

[0091] Furthermore, the modulation scheme used by the first access network device to modulate the first information is related to the length of the redundant CP segment of the OFDM symbol in the first signal. Two modulation schemes are included: when the length of the redundant CP segment of the OFDM symbol is greater than a first threshold, a multi-feature joint modulation scheme using micropulse signals is adopted; when the length of the redundant CP segment of the OFDM symbol is less than or equal to the first threshold, an embedded frame structure modulation scheme is adopted.

[0092] In this way, the CP segment of OFDM symbols can be fully utilized, the communication resources occupied by sensing pilots can be reduced, the signaling process of multi-base station collaborative sensing can be simplified, and decentralized collaborative detection can be achieved.

[0093] For ease of description, in the following embodiments, the term "transmitting base station" will refer to the first access network device, and the term "cooperative sensing base station" will refer to the second access network device. The terms "transmitting base station" and "cooperative sensing base station" are used only to distinguish between the two base stations transmitting and receiving wireless signals in a sensory integration scenario, and do not specifically limit the name or type of the base stations. It should be noted that in a communication system, a base station can be used as a transmitting base station in some situations and as a cooperative sensing base station in others; this is not limited. Furthermore, the target involved in the communication system can refer to any object in space other than the transmitting base station and the cooperative sensing base station, especially moving objects such as pedestrians, animals, vehicles, and mobile terminals; this is not limited.

[0094] The solution provided in this application will be described in detail below with reference to the corresponding flowcharts. It is understood that the illustrative flowcharts provided in this application primarily use different devices (e.g., terminal devices, network devices) as examples of the execution subjects of this interactive illustration to illustrate the method, but this application does not limit the execution subjects of the interactive illustrations. For example, the devices (e.g., terminal devices, network devices) in the illustrative flowcharts can also be chips, chip systems, or processors that support the implementation of this method on the device, or logic modules or software that can implement all or part of the functions of the device.

[0095] As a general statement, the message or signaling interactions involved in the interaction process of this application embodiment can be standard messages or signaling or newly introduced messages or signaling. This application embodiment does not make specific limitations on this.

[0096] See Figure 5 This is an interactive schematic diagram of a communication method according to an embodiment of this application. It can be understood that... Figure 5 Both the transmitting base station and the cooperative sensing base station in the text can be Figure 1 Any two different access network devices in the text can also refer to components within the access network devices (such as processors, chips, or chip systems). For example... Figure 5 As shown, the provided communication method mainly includes the following steps: S500: The transmitting base station generates the first signal.

[0097] The first signal includes a communication data sequence, which carries modulated communication data and a sensing information identifier; the sensing information identifier includes the identifier of the transmitting base station and the transmission time of the first signal.

[0098] The first signal generated by the transmitting base station is used to transmit communication data. The first signal can also be described as a communication signal, a communication sensing signal, a wireless signal carrying a communication data sequence, or an integrated communication sensing signal, etc.

[0099] The first signal includes a communication data sequence, which is mainly used to carry communication data. The communication data carried may include downlink service data sent by the transmitting base station to one or more terminal devices, or communication pilot data used for demodulating reference signals, etc., without limitation.

[0100] In this embodiment, the communication data sequence can carry not only communication data but also sensing information identifiers. These sensing information identifiers include the identifier of the transmitting base station, which identifies the transmitting base station. Optionally, the identifier of the transmitting base station may include its own identity identifier, the physical cell identifier (PCI) of the cell it covers, etc., for clarification.

[0101] The sensing information identifier may also include the transmission time of the first signal. The transmitting base station allocates time-frequency resources for the first signal, and the time-domain resources in the time-frequency resources correspond to the transmission time of the first signal. The transmission time of the first signal can be used to accurately and directly mark the transmission time of the first signal. The transmission time of the first signal can also be described as the transmission moment of the first signal, the time-domain parameters of the time-domain resources of the first signal, etc., without limitation.

[0102] The sensing information identifier may also include other information used to identify the transmitting base station or information related to the transmitting base station transmitting a first signal, such as time-frequency parameter information of time-frequency resources. In other cases, the sensing information identifier may also be described as sensing information, sensing identifier, sensing reference information, etc., without limitation.

[0103] In addition to the communication data sequence, the first signal may also include a sensing pilot sequence. The sensing pilot sequence may be interspersed with the communication data sequence in the time domain, or interspersed on different subcarriers in the same time domain, etc., without limitation. For a related explanation of the sensing pilot sequence, please refer to the relevant description in the aforementioned background section, which will not be repeated here.

[0104] The transmitting base station modulates the communication data and sensing information identifiers, and maps the modulated symbols obtained through modulation onto the communication data sequence to generate the first signal. The transmitting base station can employ various modulation schemes to modulate the communication data and sensing information identifiers.

[0105] In some embodiments, the modulation scheme can be a basic linear modulation scheme, such as quadrature phase shift keying (QPSK), 16 quadrature amplitude modulation (16QAM), etc. Alternatively, the modulation scheme can be a dedicated low-order modulation scheme, such as binary phase shift keying (BPSK).

[0106] In other embodiments, the modulation scheme may also be a specific modulation scheme associated with the length of the redundant CP segment of the OFDM symbol of the first signal.

[0107] Within the OFDM symbol, redundant CP segments are included. For example... Figure 4 As shown in (4), the redundant CP segment can refer to a segment that is relatively earlier or later within the CP segment. Optionally, the redundant CP segment can be represented as: CP-constant, indicating that the redundant CP segment is the part of the CP segment whose starting position is shifted to the right by a constant. This constant can be... 2 Or other values, without limitation.

[0108] In one specific example, the constant is 2. , Indicates multiple time delays , This refers to a preset value or a real-time measured value. The length of the redundant CP segment, or the redundant CP segment itself, can be expressed as: CP-2. Wherein, CP represents the length of the CP segment of the OFDM symbol.

[0109] The redundant CP segment can also be described as redundant CP, extra CP segment, free CP segment, CP sub-segment, first CP segment, first symbol segment, etc., without limitation.

[0110] For example, when the length of the redundant CP segment of the OFDM symbol of the first signal is relatively long (e.g., greater than a certain length threshold), a scheme can be adopted to modulate the sensing information identifier and the communication data separately at different time periods. In other words, the sensing information identifier can be mapped to the redundant CP segment. The specific modulation scheme can be: modulating and mapping the sensing information identifier to the redundant CP segment of the OFDM symbol, and modulating and mapping the communication data to the effective symbol segment of the OFDM symbol.

[0111] When the length of the redundant CP segment of the OFDM symbol in the first signal is relatively short, the sensing information identifier and communication data can be modulated using frequency division multiplexing within the same time period. Specifically, the modulation scheme can be: mapping the sensing information identifier and communication data to the effective symbol segments of the OFDM symbol.

[0112] In one specific embodiment, the transmitting base station employs different modulation schemes based on the relationship between the length of the redundant CP segment of the OFDM symbol and a length threshold. Specifically, the transmitting base station predetermines a length threshold, denoted as the first threshold. The modulation schemes corresponding to the lengths of the redundant CP segments of different OFDM symbols include Scheme 1 and Scheme 2: Scheme 1: When the length of the redundant CP segment is greater than the first threshold, the transmitting base station adopts the first modulation scheme. In the first modulation scheme, the sensing information identifier is modulated and mapped to the redundant CP segment of the OFDM symbol, and the communication data is modulated and mapped to the effective symbol segment of the OFDM symbol.

[0113] Scheme 2: When the length of the redundant CP segment is less than or equal to the first threshold, the transmitting base station adopts the second modulation scheme. In the second modulation scheme, the sensing information identifier and communication data are both modulated and mapped to different cepstral domain resources of the effective symbol segment of the same OFDM symbol.

[0114] The first modulation scheme can also be described as a time-segmented modulation scheme, a redundant CP segment modulation scheme, a micro-modulation scheme, or a multi-feature joint modulation scheme for micropulse signals. The second modulation scheme can also be described as a shared time-segmented modulation scheme, a symbol segment modulation scheme, a frequency division multiplexing modulation scheme, or an embedded frame structure modulation scheme.

[0115] The modulation scheme adopted by the transmitting base station, which is determined based on the relationship between the length of the redundant CP segment of the OFDM symbol of the first signal and the length threshold, will be described in detail in subsequent embodiments and will not be repeated here.

[0116] S510, the base station transmits the first signal.

[0117] Correspondingly, the collaborative sensing base station receives the first signal.

[0118] The first signal transmitted by the transmitting base station can reach the cooperative sensing base station, other base stations, or terminal devices. There are multiple transmission paths for the first signal to reach the cooperative sensing base station from the transmitting base station. For example, the first signal can reach the cooperative sensing base station directly, or it can reach the cooperative sensing base station from the transmitting base station via other targets. The cooperative sensing base station can receive the first signal that arrives directly from the transmitting base station, or it can receive the first signal that arrives via other targets. The reception time of the first signal arriving via other targets is later than the reception time of the first signal that arrives directly at the cooperative sensing base station.

[0119] S520, in collaboration with the sensing base station, demodulates the first signal to acquire communication data and sensing information identifiers.

[0120] The cooperative sensing base station receives and demodulates the first signal to obtain the modulated communication data and sensing information identifier carried by the communication data sequence. The demodulation scheme of the first signal by the cooperative sensing base station corresponds to the modulation scheme of the first signal by the transmitting base station.

[0121] For example, when the transmitting base station modulates the first signal using a basic linear modulation scheme, the cooperative sensing base station demodulates the first signal using a corresponding basic linear demodulation scheme.

[0122] For example, the transmitting base station adopts a first modulation scheme or a second modulation scheme based on the relationship between the length of the redundant CP segment of the OFDM symbol of the first signal and a length threshold. Correspondingly, the cooperative sensing base station adopts the corresponding first demodulation scheme or second demodulation scheme. Specifically, the first modulation scheme is a multi-feature joint modulation scheme for micropulse signals, and the first demodulation scheme is also a multi-feature joint demodulation scheme for micropulse signals; the second modulation scheme is an embedded frame structure modulation scheme, and the second demodulation scheme is also an embedded frame structure demodulation scheme. The cooperative sensing base station can determine the demodulation scheme to be used based on the length of the redundant CP segment of the OFDM symbol of the received first signal. The demodulation scheme adopted by the cooperative sensing base station based on the relationship between the length of the redundant CP segment of the OFDM symbol of the first signal and a length threshold will be described in detail in subsequent embodiments, and will not be elaborated here.

[0123] S530, the cooperative sensing base station obtains the displacement data of the target object based on the sensing information identifier.

[0124] The collaborative sensing base station demodulates the first signal to obtain communication data and sensing information identifiers. The communication data is used by the collaborative sensing base station to acquire service data, or for time-frequency synchronization between the collaborative sensing base station and the transmitting base station.

[0125] Sensing information identifiers are used to assist receiving cooperative sensing base stations in sensing target objects. A target object refers to a target existing between the transmitting base station and the cooperative sensing base station. Target objects can include static objects, moving objects, or objects whose moving speed exceeds a speed threshold. Types of target objects can include people, vehicles, animals, plants, buildings, terminal devices, etc.

[0126] In this embodiment, the cooperative sensing base station sensing the target object refers to acquiring the displacement data of the target object. This displacement data may include, for example, position, speed, and attitude angle. The cooperative sensing base station acquires the displacement data of the target object for use in scenarios such as radar sensing, obstacle avoidance, and latency prediction.

[0127] In summary, the communication method provided in this application involves a transmitting base station sending a first signal that includes a modulated communication data sequence carrying a modulated sensing information identifier and communication data. The sensing information identifier includes the transmission time of the first signal and the identifier of the transmitting base station. A cooperative sensing base station receives the first signal and demodulates it to obtain the sensing information identifier and communication data. Based on the sensing information identifier, the cooperative sensing base station can sense a target object existing between the transmitting base station and the cooperative sensing base station. Thus, without relying on a previously transmitted known sensing pilot sequence, the cooperative sensing base station can also obtain the transmission time of the first signal and the transmitting base station based on the sensing information identifier, enabling accurate target sensing.

[0128] In integrated sensing scenarios, different signal modulation schemes are selected based on the relationship between the length of the redundant CP segment in the OFDM symbol and a preset threshold. When the length of the redundant CP segment is large, the first modulation scheme is used to modulate and map the sensing information identifier to the CP segment. The larger length of the redundant CP segment supports more sampling points, ensuring accurate modulation and mapping of the sensing information identifier to the redundant CP segment. When the length of the redundant CP segment is relatively small, the second modulation scheme is used to modulate and map the sensing information identifier to the effective symbol segment instead of the CP segment or the non-redundant CP segment using an embedded frame structure, ensuring the modulation accuracy of the sensing information identifier.

[0129] In the above embodiments, the transmitting base station can modulate the first signal using a first modulation scheme or a second modulation scheme. Correspondingly, the cooperative sensing base station uses a first demodulation scheme or a second demodulation scheme to demodulate the first signal. The first modulation scheme / first demodulation scheme and the second modulation scheme / second demodulation scheme will be explained below in Embodiment 1 and Embodiment 2, respectively.

[0130] Example 1: First modulation scheme and first demodulation scheme.

[0131] The first modulation scheme provided in this embodiment is used to fine-modulate a portion of the pulse signal in the first signal, such as fine-modulating the pulse signal of the redundant CP segment in the first signal, so as to achieve the purpose of modulating and mapping the sensing information identifier to the redundant CP segment of the OFDM symbol, while the communication data is modulated and mapped to the effective symbol segment of the OFDM symbol. Fine-modulation may slightly reduce the amplitude of the correlation peak at the target time delay and have a certain impact on the sidelobes, but as long as the position of the main peak does not shift significantly and the peak-to-sidelobe ratio still meets the detection requirements, the cooperative sensing base station can still reliably identify the positioning peak and maintain the original positioning function based on CP correlation.

[0132] In some embodiments, the target of micro-modulation is the pulse signal of the redundant CP segment of the first signal. The first modulation scheme may include at least one of the following modulation schemes: Modulation scheme 1 involves amplitude fine-modulation of the pulse signal; Modulation scheme 2 involves amplitude micro-modulation of a small portion of the pulse signal (e.g., sampling points); Modulation scheme 3 modulates multiple amplitude domains of the pulse signal in the same direction; Modulation scheme 4 modulates the same information by superimposing multiple amplitude domains of the pulse signal.

[0133] Among them, modulation schemes 1 to 4 are used to modulate one or more parts of the pulse signal using different schemes, without changing the original modulation scheme of the pulse signal, only making fine adjustments.

[0134] In modulation scheme 1, amplitude micro-modulation of the pulse signal can refer to adding or subtracting simple information in the amplitude domain of the pulse signal to achieve micro-modulation. In modulation scheme 2, a small portion of the pulse signal can be a sampling point, and the amplitude of the sampling point can be micro-modulated. In modulation scheme 3, multiple sampling points in multiple amplitude domains of the pulse signal, such as the signal amplitude domain, multi-signal difference amplitude domain, micro-signal amplitude domain, and multi-micro-signal difference amplitude domain, are repeatedly and in the same direction modulated.

[0135] Modulation scheme 4 involves micro-modulation of multiple features, namely, a micro-pulse multi-feature joint modulation scheme. The multiple amplitude domains of the pulse signal can include the signal amplitude domain, the amplitude domain of multiple signal differences, the amplitude domain of micro-signals, and the amplitude domain of multiple micro-signal differences. The micro-pulse multi-feature joint modulation scheme refers to micro-modulation of the feature information corresponding to multiple amplitude domains. For example, micro-modulation can involve adding or subtracting a small amount of the same information.

[0136] In the micro-pulse multi-feature joint modulation scheme, the same information can be superimposed in multiple ways, such as information 0 or information 1. In the modulation scheme provided in this embodiment, the sensed information identifier is generated into a random information sequence (information 0 or information 1) and added to the redundant CP segment. While performing micro-modulation on the multiple amplitude domains of the pulse signal, the sensed information identifier is superimposed onto the redundant CP segment before the communication data, thus realizing the modulation mapping between the communication data and the sensed information identifier.

[0137] like Figure 6 The diagram shown illustrates a first modulation scheme involved in the communication method provided in this application embodiment. Modulation scheme 4 is taken as an example. The type of micro-modulation can include micro-increase or micro-decrease. For example, micro-increase indicates that information 1 is superimposed, and micro-decrease indicates that information 0 is superimposed. Or conversely, micro-increase indicates that information 0 is superimposed, and micro-decrease indicates that information 1 is superimposed.

[0138] The transmitting base station uses the first modulation scheme, namely modulation scheme 4 described above, to modulate the first signal. The scheme may include: Modulation step 1: In the signal amplitude domain, compare the amplitude of the first signal with that of the original signal to see if it has increased or decreased slightly.

[0139] like Figure 6 As shown in (1), after the signal amplitude is slightly modulated in the time domain, the slight increase in the signal amplitude domain indicates that information 1 is superimposed; the slight decrease in the amplitude of the first signal relative to the original indicates that information 0 is superimposed.

[0140] Modulation step 2: In the multi-signal difference amplitude domain, pulse signals are generated in a cycle, with adjacent cycles cycling from beginning to end, and the amplitude of the first signal is compared with that of the original signal.

[0141] like Figure 6 As shown in (2), after the signal time domain signal is modulated by the micro-signal amplitude, the slight increase in the amplitude difference in the amplitude domain of the multi-signal difference indicates information 1; the slight decrease in the amplitude difference indicates information 0.

[0142] Modulation step 3: In the micro-signal amplitude domain, compare the micro-signal amplitude of the first signal with that of the original signal to determine whether the micro-signal amplitude domain is slightly increasing or slightly decreasing.

[0143] like Figure 6 As shown in (3), after the signal time domain signal is subjected to multi-signal amplitude micro-modulation, the slight increase in the amplitude of the first signal relative to the original micro-signal (similar to a subcarrier) indicates that information 1 is superimposed, and the slight decrease in the amplitude of the first signal relative to the original micro-signal (similar to a subcarrier) indicates that information 0 is superimposed.

[0144] Modulation step 4: In the multi-micro-signal difference amplitude domain, pulse signals are generated in a cycle, with adjacent cycles cycling from beginning to end, and the difference between the first signal and the original signal in the multi-micro-signal amplitude domain is compared.

[0145] like Figure 6 As shown in (4), after the signal time domain signal is subjected to multi-signal amplitude micro-modulation, the slight increase in ...

[0146] The transmitting base station repeatedly modulates the sensing information identifier and communication data at multiple sampling points in a multi-amplitude domain in order to perform accurate sampling point accumulation demodulation under micro-pulse and micro-modulation conditions.

[0147] Corresponding to the first modulation scheme on the transmitting base station side, the cooperative sensing base station side adopts the corresponding first demodulation scheme. Considering that the quality of the channel conditions affects the consistency of the first signal received by the cooperative sensing base station, the demodulation schemes are explained below under both ideal and non-ideal channel scenarios.

[0148] In the first scenario, an ideal channel, the collaborative sensing base station demodulates the first signal.

[0149] An ideal channel refers to a channel condition where only a direct path exists, without multiple time-delayed signals caused by reflection or scattering, and without the need to consider signal interference. Under an ideal channel, the transmission of the first signal is not affected by factors such as changes in time, frequency, or spatial location. The transmission of the first signal is not reflected by obstacles, does not weaken, is not mixed with clutter noise, and does not experience frequency shifts due to movement.

[0150] See Figure 7 This is a schematic diagram of a cooperative sensing base station demodulating a first signal in the communication method provided in this application embodiment. Figure 7 As shown in (1), this is a schematic diagram of the cooperative sensing base station comparing the waveforms of the head CP segment and the tail effective symbol segment of the OFDM symbol in the first signal.

[0151] Comparing the original signal S0, the signal after superimposing information 1 is S1, and the signal after superimposing information 0 is S2. When the cooperative sensing base station demodulates and compares S1 with S0, a slight increase indicates a slight superimposed information 1. Without comparing information segments, information 1 can be demodulated by comparing the signals of the redundant CP segments. Similarly, when the cooperative sensing base station demodulates and compares S2 with S0, a slight decrease indicates a slight superimposed information 0. Information 0 can be demodulated by comparing the signals of the redundant CP segments.

[0152] like Figure 7 As shown in (2), this is a demodulation comparison diagram of the multipath aliasing signal received by the cooperative sensing base station, illustrating the comparison results of the beginning and end micro-modulation CP segment and the effective symbol segment. The original signal transmitted by the transmitting base station forms an aliasing signal after passing through the multipath effect of the channel. Signal 1 and Signal 2 are any two signals among the aliasing signals received by the cooperative sensing base station. Furthermore, Signal 2 is the signal obtained after a time delay of Signal 1, or the reception time of Signal 2 is later than the reception time of Signal 1. Therefore, the content of Signal 2 before micro-modulation is consistent with the content of Information 1 before micro-modulation.

[0153] Figure 7 (2) illustrates two time-domain symbols within a time slot, namely OFDM symbol 1 and OFDM symbol 2. The frequency-domain subcarriers corresponding to OFDM symbol 1 are denoted as subcarriers 1-7, and the frequency-domain subcarriers corresponding to OFDM symbol 2 are denoted as subcarriers -1 to -7. It should be noted that this illustration only demonstrates the demodulation of information from two aliased signals across two time-domain symbols. In reality, a time slot includes multiple OFDM symbols (e.g., 14), and each OFDM symbol is preceded by a CP segment used as a guard interval.

[0154] like Figure 7 The OFDM symbol shown in (3) includes a CP segment and a valid symbol segment. The period after the starting position of the CP segment is shifted by 2 multipath delays τ is the redundant CP segment, and the length of the redundant CP segment is CP-2τ. In the first modulation scheme, the sensing information identifier is micro-modulated to the redundant CP segment of the OFDM symbol, and the communication data is mapped to the valid symbol segment.

[0155] The OFDM symbols preceding OFDM symbol 1, from OFDM symbol 0 to OFDM symbol 2, constitute the CP segment, which copies the sampling points of OFDM symbols 5 to 7 to OFDM0-OFDM2. In both the CP segments of OFDM symbol 1 and OFDM symbol 2, micro-modulation sensing information identifiers are superimposed. The communication data is then modulated and mapped onto the effective symbol segments of OFDM symbol 1 and OFDM symbol 2.

[0156] Without micro-modulation, the information content of OFDM symbol 1 and OFDM symbol 2 should be equal. However, when OFDM symbol 1 is micro-modulated, the information content of OFDM symbol 1 and OFDM symbol 2 is not entirely equal. Therefore, by comparing the preceding and following subcarriers of the aliased signals of OFDM symbol 1 and OFDM symbol 2, the newly added information due to micro-modulation can be demodulated.

[0157] For the aliased signals 1 and 2, the information content of subcarrier 2 of signal 1 should be equal to that of subcarrier 1, and the information content of subcarrier 7 of signal 1 should be equal to that of subcarrier 6 of signal 2. The tail subcarrier 7 of signal 1 should also be equal to the subcarrier 2 of the copied CP segment at the beginning, and the tail subcarrier 6 should also be equal to the head subcarrier 1. After micro-modulation, the tail subcarrier 7 remains equal to the subcarrier 2 of the CP segment, while subcarrier 1 and subcarrier 6 differ. Demodulating this difference in information sequence yields the superimposed information from the modulation process, which can then be used to obtain the perceived information identifier.

[0158] The cooperative sensing base station receives aliased signals, meaning that the subcarriers (2+1) of the original signal should theoretically be equal to the subcarriers (7+6) of the aliased signal. However, after micro-modulation, there is a difference between the two, and this difference is denoted as the micro-modulation information. The micro-modulation information is either information 0 or information 1 superimposed on the CP segment of the OFDM symbol.

[0159] Based on this, the micro-modulation information corresponding to signal 1 and signal 2 can be demodulated. Based on this micro-modulation information, signal 1 and signal 2 can be analyzed to obtain the sensing information identifiers and communication data carried by signal 1 and signal 2.

[0160] In the second scenario, a non-ideal channel is encountered, and the first signal is demodulated by the collaborative sensing base station.

[0161] A non-ideal channel refers to a channel condition in which multiple time-delayed signals exist during actual transmission due to direct light, reflection, and scattering, requiring consideration of signal interference. Under a non-ideal channel, the transmission of the first signal is affected by factors such as changes in time, frequency, and spatial location. Problems include reflection from obstacles, weakened signal strength, the introduction of clutter and noise, and frequency shifts due to movement.

[0162] Therefore, cooperative sensing base stations operating in non-ideal channels need to undergo noise suppression and reliability assessment first. Specifically, in the case of non-ideal channels, the demodulation of the first signal by a cooperative sensing base station mainly includes the following steps: Step 1: Perform noise variance suppression on the first signal; Step 2: Perform a demodulation reliability assessment; Step 3, compare and decide the CP segment at the beginning and end; Step 4: Obtain the judgment result.

[0163] For step 1, the collaborative sensing base station first performs noise variance suppression on the received first signal in order to minimize the impact of noise on signal accuracy in a non-ideal channel.

[0164] In one possible approach, the specific scheme for the collaborative sensing base station to suppress noise variance of the first signal includes at least one of the following: Noise variance suppression scheme 1 uses correlation summation within a time window to suppress the influence of noise.

[0165] Noise variance suppression scheme 2 involves multiplying the first and last CP parts by conjugate and accumulating the sampling points of the CP parts to cancel out noise interference and linearly superimpose the signal energy.

[0166] The effective signal of the first signal has relatively stable phase and amplitude within the time window, while the noise is a random, uncorrelated variable. Therefore, using correlation summation within the time window can reduce the noise content. The cooperative sensing base station utilizes the coherent characteristics of the beginning and end CPs of OFDM symbols, performs conjugate multiplication on the beginning CP and the tail replica segment, and accumulates and superimposes all CP sampling points: the linear superposition of coherent effective signals increases energy, and the positive and negative cancellation of the two uncorrelated noises further suppresses the noise variance, ultimately achieving overall noise variance suppression and improving the signal-to-noise ratio of the first signal, thus achieving the purpose of noise variance suppression.

[0167] For step 2, the collaborative sensing base station assesses demodulation reliability, which mainly includes the following steps: S21, L sampling points on the micro-modulation CP are used to obtain the accumulated equivalent signal-to-noise ratio (SNR) of the micro-signal.

[0168] The formula for calculating SNR is: .

[0169] in, Indicates the number of sampling points. This represents the difference in the amplitude domain. This represents the noise variance.

[0170] S22, in the equivalent signal-to-noise ratio (communication signal-to-noise ratio) When the value reaches at least 10dB, calculate the amplitude offset ratio.

[0171] The formula for calculating the amplitude offset ratio is: .

[0172] in, This represents the amplitude offset ratio coefficient. This represents the maximum value in the amplitude field. This represents the minimum signal-to-noise ratio.

[0173] S23, when the number of sampling points L is 64, CP is available, then the amplitude offset ratio coefficient satisfies:

[0174] Where L=64, =100 (20dB).

[0175] S24, when the amplitude offset ratio reaches 5.5% of the original amplitude, it can be assessed that the first information can be accurately demodulated.

[0176] S25, Impact assessment on CP synchronization.

[0177] By evaluating and determining a synchronization correlation peak threshold that is slightly lower than the threshold without micromodulation, synchronization correlation peak detection can be achieved without causing any impact.

[0178] Assessment of the original impact on CP: The effect on timing can be achieved by lowering the relevant peak threshold.

[0179] S26, Evaluation of the sampling point length of the micro-modulation CP section.

[0180] The formula for calculating the sampling points of the redundant CP segment length is as follows: One sampling point; remaining sampling points calculated: One sampling point.

[0181] It should be noted that reliability assessment is not a necessary step in the demodulation process.

[0182] For step 3, the collaborative sensing base station determines the decision formula, including the following steps: Assume the sequence of length L of the micromodulated redundant CP segment is as follows: , where i represents the i-th sample of the time-domain fine-tuning part, assuming the channel is 2-path, with delays of 0 and k respectively, and the delay unit is the sampling interval.

[0183] The CP signal obtained by the cooperative sensing base station receiving the first signal and then fine-modulating the CP segment can be expressed as: .

[0184] in, This represents the received sample from the micro-modulation CP section. Let represent the coefficient matrix applied to the micromodulation redundancy CP part, and s(i) represent the equivalent signal of the original OFDM tail sample after passing through the channel. This represents the noise at the location of the micro-modulated CP portion.

[0185] Furthermore, the cooperative sensing base station receives the original tail signal of the CP segment. Relative to the CP of the header, the tail of the OFDM symbol will be superimposed with a phase rotation that occurs over time. The superimposed signal can be represented as: .

[0186] in, This represents the noise at the position of the CP segment in the micro-modulation. In practice, the CP segment is conjugately superimposed before and after to obtain the normalized frequency offset, which generates a reverse rotation to compensate for the CP segment and the effective symbol segment of the OFDM symbol.

[0187] If the noise is negligible, the coefficient matrix applied to the micro-modulation redundancy CP part can also be expressed as: .

[0188] in, This represents the micro-modulation coefficient to be estimated. This represents the set of sampling points for the fine-modulation portion. This represents the received sample from the micro-modulation CP section. Let y(i) represent the corresponding OFDM tail sample. This expression is an optimization formula, indicating that a suitable OFDM tail sample can be found. Make After fine-tuning and Most similar to, or closest to.

[0189] By applying correlation summation within a time window to suppress the influence of noise in the numerator of the above calculation formula, the closed-form solution obtained is: .

[0190] Using noise variance The formula for noise correction is as follows: .

[0191] The cooperative sensing base station makes a decision based on the estimated value calculated by the above formula, and can then demodulate information 0 and / or information 1. Thus, the cooperative sensing base station can obtain information 0 and / or information 1 superimposed on the communication data.

[0192] The communication method provided in Embodiment 1 above, when the length of the redundant CP segment of the first signal is greater than the first threshold, adopts a multi-feature modulation scheme for micro-pulse signals, performs multi-sampling point accumulation and accurate demodulation under micro-pulse and micro-modulation conditions, and realizes effective identification of sensing information identifiers on the CP segment.

[0193] Example 2: Second modulation scheme and second demodulation scheme.

[0194] The second modulation scheme provided in this embodiment is applied when the length of the redundant CP segment of the first signal is less than or equal to the first threshold. In this case, the length of the redundant CP segment is small, the number of sampling points is limited, and it is not suitable to place the sensing information identifier in the CP segment. This embodiment embeds the sensing information identifier into the communication data, and while modulating and mapping the sensing information identifier, it further reduces the use of time and frequency resources and improves demodulation accuracy.

[0195] The second modulation scheme refers to mapping the identifier of the transmitting base station, which is included in the sensing information identifier, and the transmission time of the first signal, into a unique variable using a bivariate unique mapping pairing function. And use polynomials to generate random information sequences. .

[0196] For example, information sequence Grouped into sets of 6 bits, each bit represents one of the amplitude domains: amplitude field, difference amplitude field, micro-amplitude field, micro-amplitude field, and difference micro-amplitude field. (Information sequence) The total number of bits is , where L represents the total number of sampling points in the micro-modulation CP section.

[0197] See Figure 8 This is a schematic diagram of the second modulation scheme involved in the communication method provided in this application embodiment. The process of the transmitting base station executing the second modulation scheme includes: S31, Construction ( polynomial of degree )

[0198] .

[0199] in, In the set The coefficients are randomly selected from the set, and the selection time is randomly refreshed, as are the selected coefficients. That is, the system at different times is not entirely the same. The set includes coefficients defined in a finite field. Large prime numbers in the modulus The following operation. When pWhen the element is a prime number, it forms a finite field, which allows all non-zero elements to be inverted. Therefore, it can guarantee the validity of operations such as polynomial interpolation and matrix inversion.

[0200] S32 divides the radio frame of the first signal into... Blocks, each block corresponds to a point in time. Each wireless frame sequence is convolved with its corresponding block polynomial.

[0201] like Figure 8 As shown, A block of data is a sequentially consecutive block of data in time. Each block of data can be represented as: .

[0202] in, This represents the nth integrated sensor signal block after embedding sensing information. This represents the nth communication signal block. Representing a polynomial in The value at position n represents the perceptual information identifier embedded in the nth block. It represents a complete synesthetic time-domain signal composed of all data blocks.

[0203] Corresponding to the second modulation scheme described above, the second demodulation scheme executed by the cooperative sensing base station includes the following steps: S41, based on cepstral transform, effectively separates the sensing information identifier in the first signal.

[0204] Performing a Fourier transform on the first signal yields the cumulative sum of multiple products as follows: ; .

[0205] in, Represents a complete synesthetic integrated time-domain signal. Represents a complete integrated frequency domain signal of synesthesia. Indicates the first Fourier transform of a communication signal block express Fourier transform.

[0206] S42, filtering communication data in the cepstral domain based on cepstral transform.

[0207] Specifically, collaborative sensing base stations can be designed with suitable cepstral windows to set the cepstral window of the characteristic portion of the communication data to 0, thereby obtaining the sensing information identification features. The characteristics of wireless signals can be illustrated as follows: .

[0208] in, The cepstral domain represents the product of the communication signal and the sensing signal in the frequency domain. This represents the characteristics of the communication signal in the cepstral domain. This indicates the characteristics of the communication signal in the cepstral domain.

[0209] S43, arbitrary aggregation It senses information and transforms it into a time-domain sensing signal.

[0210] .

[0211] S44, based on the Lagrange interpolation method, effectively recovers the perceived information.

[0212] .

[0213] in, Indicated by base station ID The unique perceptual identifier obtained by mapping time information, Indicates from the first The polynomial values ​​recovered from each perceptual block It indicates that it is the first The Lagrange basis functions are in The value at that location.

[0214] The perceived information identifier is fused into f(t). Based on the cepstral variation, a portion of the communication data (i.e., ...) is extracted in the cepstral domain. The process involves removing the first K parts of the perceived information identifier (F(logF(f))) and retaining only the portion containing the identifier, i.e., F(logF(f)). Then, the first K parts of this perceived information identifier F(logF(f)) are aggregated, i.e., F(logF(f1)), F(logF(f2)), ..., F(logF(fk)). These are then subjected to Fourier transform to obtain the time-domain information, and finally, Lagrange interpolation is used to obtain the final result. and .

[0215] In the second modulation scheme, such as Figure 7 The OFDM symbol shown in (4) superimposes the sensing information identifier and communication data in the frequency domain, and modulates and maps them onto the same OFDM symbol, or in other words, onto the effective symbol segment of the OFDM symbol. The sensing information identifier and communication data have the same time domain position but different frequency domain positions.

[0216] like Figure 7 Figure (5) shows a modulation mapping diagram for 5G NR. The sensing information identifier and communication data occupy different time-domain resources; the sensing information identifier will crowd out the time-domain resources of the communication data. Figure 7The first modulation scheme shown in (3) maps the sensing information identifier to the redundant CP segment without occupying the time domain resources of the effective symbol segment. Figure 7 The second modulation scheme shown in (4) modulates and maps the sensing information identifier and communication data in a frequency division multiplexing manner.

[0217] The communication method provided in Embodiment 2 above employs an embedded frame structure modulation and demodulation scheme when the length of the redundant CP segment of the first signal is greater than a first threshold. Based on the physical layer superposition mechanism of dynamic polynomial evaluation and block convolution, communication data and sensing information identifiers are fused and transmitted in the frame structure, enabling the collaborative sensing base station to effectively identify sensing information identifiers even in scenarios where the length of the micro-modulation redundant CP segment is extremely limited.

[0218] Based on the above embodiments, this application can also provide another communication method for realizing the identification and perception of sensing targets in a sensor-integrated scenario. See also Figure 9 This is an interactive schematic diagram of another communication method provided in an embodiment of this application. See also... Figure 10 This is a schematic diagram of the process involved in the communication method provided in the embodiments of this application. The following will be combined with... Figure 9 and Figure 10 This application explains the specific scheme of the communication method provided in the embodiments.

[0219] Figure 10 As shown in (1), it is mainly divided into three stages: Phase 1, Initialization Phase: Constructing a dynamic background; Phase 2, the perception and tracking phase, involves perceiving the target object; Phase 3, the evaluation phase, assesses whether the target object is a known target.

[0220] The following description will be divided into three stages.

[0221] Phase 1, Initialization Phase. (e.g.) Figure 9 As shown, the main steps include: S910, collaborative sensing base station constructs dynamic background.

[0222] The dynamic background includes the transmitting base station, the cooperative sensing base station, and known targets that already exist between the transmitting base station and the cooperative sensing base station.

[0223] The solution provided in this embodiment involves a collaborative sensing base station first sensing existing target objects in the current environment and then constructing a dynamic background from these sensed target objects. For ease of description, existing target objects are referred to as known targets. The dynamic background can also be described as a static background, sensed background, known background, current environment background, existing target set, etc., without limitation.

[0224] The scheme for constructing a dynamic background using collaborative sensing base stations may include the following steps S911-S913.

[0225] S911, cooperative sensing base station configuration system parameters.

[0226] System parameters may include the length of redundant CP segments, multipath delay, etc.

[0227] The collaborative sensing base station sets the length of the redundant CP segment, which is greater than the maximum multipath delay. This avoids interference that may occur when the multipath delay is large. The collaborative sensing base station can determine the length of the redundant CP segment based on the parameters configured by the transmitting base station, or it can determine the length of the redundant CP segment based on historical data; there is no limitation.

[0228] The collaborative sensing base station configuration system parameters can also set the time and frequency resources of different wireless signals, so that the resources of different wireless signals are orthogonal, in order to demodulate the communication data included in different wireless signals.

[0229] S912, a collaborative sensing base station, senses existing known targets.

[0230] The cooperative sensing base station can receive wireless signals transmitted by the transmitting base station. Based on the communication data and sensing information identifiers carried in the wireless signals, it can sense existing known targets and obtain the displacement parameters of the known targets. These displacement parameters can be, for example, position data, attitude angle data, or movement speed. Cooperative sensing can obtain the displacement parameters of the known targets based on the relative positions of the transmitting and cooperative sensing base stations and the time difference between the time the transmitting base station transmits the wireless signal and the time it takes for the wireless signal to reach the cooperative sensing base station after passing through the known target. For a specific implementation scheme of the cooperative sensing base station sensing known targets based on wireless signals, please refer to the target object sensing scheme provided in the foregoing embodiments, which will not be elaborated upon further.

[0231] S913, collaborative sensing base stations construct dynamic backgrounds and eliminate static reflections.

[0232] Based on the relationships between the perceived known targets, the transmitting base station, and the cooperative sensing base station, the cooperative sensing base station performs spatial correlation separation to construct a dynamic background. Specifically, the spatial correlation separation performed by the cooperative sensing base station utilizes the differences in channel characteristics of different targets / channels in the spatial domain (angle, position, propagation space). Through beamforming, spatial filtering, and receiver spatial matrix processing, it decouples the mutually coupled and interfering multiple spatial channel / target echoes, separating the superimposed signals into multiple independent and non-interfering spatial signal branches.

[0233] Furthermore, considering the existence of static reflections in a dynamic background, such as fixed reflection paths between different base stations, these reflection paths are unchanging. Cooperative sensing base stations can identify signals with no motion characteristics (zero Doppler) at different observation angles through cross-validation of data from multiple cooperative sensing terminals, classifying them as static reflections for noise suppression. By eliminating interference from static environmental reflections, cooperative sensing base stations can more accurately pinpoint signal reflection jumps caused by dynamic, known targets.

[0234] Phase 2, Sensing and Tracking Phase. After the collaborative sensing base stations construct a dynamic background, the sensing and tracking phase begins. For example... Figure 9 As shown, the cooperative base station sensing of the target object mainly includes the following steps: S920, the transmitting base station uses the target modulation scheme to generate the first signal.

[0235] The first signal includes a communication data sequence carrying a modulated sensing information identifier and communication data, wherein the sensing information identifier includes the identifier of the transmitting base station and the transmission time of the first signal; When the length of the redundant CP segment is greater than the first threshold, the target modulation scheme is a multi-feature amplitude modulation scheme for micropulse signals, the sensing information identifier is carried in the redundant CP segment, and the communication data is carried in the effective symbol segment. When the length of the redundant CP segment is less than or equal to the first threshold, the target modulation scheme is an embedded frame structure modulation scheme, where the sensing information identifier and communication data are carried on different cepstral domain resources of the same OFDM symbol.

[0236] like Figure 10 As shown in (2), the transmitting base station generates the first signal by superimposing the identifier of the transmitting base station and the transmission time of the first signal as unique variables through the bivariate mapping pairing function generation method, mapping them into an information sequence.

[0237] For a detailed implementation scheme of the base station modulating the first signal, please refer to the aforementioned S500, as well as the specific implementation process of Embodiments 1 and 2, which will not be repeated here.

[0238] S930: The transmitting base station sends the first signal, and the cooperative sensing base station receives the first signal.

[0239] The transmitting base station transmits the first signal according to the transmission time of the first signal. The first signal reaches the cooperative sensing base station after being directly transmitted and / or reflected or scattered by other targets. The cooperative sensing base station receives the first signal.

[0240] S940, the cooperative sensing base station demodulates the first signal based on the target demodulation scheme to obtain the sensing information identifier.

[0241] Among them, when the length of the redundant CP segment is greater than the first threshold, the target demodulation scheme is a multi-feature amplitude demodulation scheme for micropulse signals; When the length of the redundant CP segment is less than or equal to the first threshold, the target demodulation scheme is the embedded frame structure demodulation scheme.

[0242] like Figure 10 As shown in (2), the cooperative sensing base station constructs a dynamic background through initial detection and performs real-time tracking of targets in the dynamic background based on the dynamic background. The cooperative sensing base station obtains the estimated length of the redundant CP segment to determine the demodulation scheme. The cooperative sensing base station first determines whether the length of the redundant CP segment is greater than the first threshold.

[0243] If so, a demodulation scheme in which the sensing information identifier and communication data are not superimposed is adopted. The collaborative sensing base station adopts a multi-feature joint demodulation method for micropulse signals, which repeatedly and in the same direction performs micro-demodulation on the same information in multiple amplitude domains and multiple sampling points. In the CP micro-demodulation part, the first and last sampling points correspond to each other to achieve demodulation.

[0244] If not, a demodulation scheme that superimposes the sensing information identifier and communication data is adopted. The cooperative sensing base station can adopt an embedded frame structure demodulation scheme, which effectively separates the feature sequence of the sensing information identifier based on cepstral transform, and recovers the sensing information identifier based on Lagrange interpolation.

[0245] The specific implementation scheme for demodulating the first signal by the collaborative sensing base station can be found in the specific implementation process of the aforementioned Embodiments 1 and 2, and will not be repeated here.

[0246] The S950 cooperative sensing base station senses target objects based on sensing information identifiers.

[0247] The collaborative sensing base station acquires the sensing information identifier, including the transmission time of the first signal and the time difference between the transmission time and the received first signal. For example... Figure 10 As shown in (1), the collaborative sensing base station predicts the motion state and maximum multipath delay of the target based on the transmission time of the first signal and the time difference between the first signal and the received first signal, and switches to the adapted sensing mode based on the sensing mode dynamic switching adaptation mechanism to sense the existing target object and determine the displacement parameters corresponding to the target through which the first signal passes.

[0248] Among them, the specific implementation scheme for the cooperative sensing base station to predict motion state based on maximum multipath delay and select the appropriate sensing mode can be as follows: if the length of the redundant CP segment is greater than the first threshold, then the target sensing mode of micro-modulation is selected; if the length of the redundant CP segment is less than or equal to the first threshold, then the target sensing mode of embedded frame structure demodulation is selected.

[0249] In a specific example, the process of target perception by the cooperative sensing base station in phase 2 includes the following steps: Step 1: The collaborative sensing base station performs motion state prediction and calculates the upper bound of the rich CP micro-modulation part.

[0250] Cooperative sensing base stations use Kalman filtering or other tracking and prediction algorithms to predict the relative time delay changes of a known target over a future period, based on the target's current position and displacement vector in the current environment.

[0251] The collaborative sensing base station calculates the dynamic known targets, the positional relationships between the transmitting base station and the collaborative sensing base station, and dynamically updates the established dynamic background model. The predicted value is used to calculate the length of the potentially fluctuating redundant CP segment.

[0252] The upper bound of the CP micro-modulation section refers to the CP segment length of the OFDM symbol, which is generally a fixed length. By predicting the delay spread value, it can be determined whether the length of the redundant CP segment is greater than the first threshold, thus confirming whether a micro-modulation demodulation scheme can be adopted.

[0253] Step 2: The collaborative sensing base station switches sensing modes through a dynamic adaptation mechanism.

[0254] The sensing mode corresponds to the demodulation scheme, and the sensing mode can be divided into CP micro-modulation mode and embedded frame structure mode. The collaborative sensing base station determines the relationship between the length of the redundant CP segment and the first threshold. The length of the redundant CP segment can be expressed as, for example, CP-2. .

[0255] In CP micro-modulation mode, the length of the redundant CP segment (i.e. CP-2 If the value exceeds the first threshold, perform micro-pulse feature demodulation; In embedded frame structure mode, the length of the redundant CP segment (i.e. CP-2 If the value is less than or equal to the first threshold, switch to embedded frame structure demodulation.

[0256] Phase 3, Evaluation Phase. For example... Figure 9 As shown, the evaluation steps performed by the collaborative sensing base station include: S960, the collaborative sensing base station determines whether the target object is a known target.

[0257] If the target is a known target, S970 is executed, and the cooperative sensing base station continues to receive wireless signals and perform target sensing.

[0258] If the target object is not a known target, execute S980, and the cooperative sensing base station updates the dynamic background according to the known target.

[0259] The solution provided in this embodiment allows the cooperative sensing base station to first sense target objects existing in the current environment. It then compares the target object with known targets for consistency. If they match, the sensed target object is considered a known target, confirming that no new target object has been added to the current environment. If the target object does not match a known target, the sensed target object is considered a newly added target object in the current environment, requiring an update to the previously created dynamic background.

[0260] In one specific example, the target evaluation performed by the cooperative sensing base station in phase 3 includes: the cooperative sensing base station identifying whether the received demodulated sensing information identifier is valid.

[0261] If the perceived information identifier is valid, target perception is performed based on the current perception mode to determine if a new target object has appeared. If a target object is detected, and a new target exists, the new target object is added to the dynamic background.

[0262] If the perception information identifier identification is invalid, the cooperative sensing base station demodulates the perception information identifier. If the demodulation accuracy is relatively low (e.g., below a predetermined or second threshold configured by the transmitting base station), the cooperative sensing base station determines that the CP micro-modulation part prediction has failed. In this case, the cooperative sensing base station needs to interrupt tracking and switch sensing modes, such as from CP micro-modulation mode to embedded frame structure mode. If the cooperative sensing base station determines that a new target object may have intruded into the dynamic background or that a significant deviation in positioning prediction has led to increased multipath latency, potentially failing to meet the requirement that the multipath latency be less than or equal to the length of the redundant CP segment, the cooperative sensing base station needs to return to stage 1, re-perceive known targets in the current environment, and re-perform a full-domain scan and boundary determination to construct a completely new dynamic background.

[0263] In summary, the communication method provided in this application involves a collaborative sensing base station pre-constructing a dynamic background, which already marks currently existing known targets. Coarse synchronization timing is obtained solely through correlation operations with a preset pulse signal information sequence. Using the correlation peak of the pulse signal information sequence as a reference origin, and combining this with the known geographical locations between base stations, a length of [missing information] is defined. The blind search range is defined. Within this range, a blind search is performed, receiving signals from transmitting base stations, autonomously demodulating the sensing information identifiers to obtain the cell ID information and the specific transmission time (absolute delay) of the signal, thus achieving sensing. Sensing information embedding is achieved by micro-modulating some surplus CPs, reducing the crowding out of communication resources and improving spectrum efficiency. The cooperative sensing base station can quickly and accurately perform target sensing and delay compensation simply by sensing whether the target in the dynamic background is a new target, thereby improving communication efficiency.

[0264] Based on the relationship between the length of the redundant CP segment and the size of the first threshold, an appropriate demodulation scheme is selected. Through a time delay extension dynamic prediction mechanism, autonomous blind detection is performed by separating and demodulating the first and last autocorrelation features of the micro-modulated rich CP segment or the cepstral transform of the embedded frame structure method. This simplifies the signaling process of multi-base station collaborative sensing and realizes decentralized collaborative detection.

[0265] The communication method provided in this embodiment can be applied to vehicle-to-everything (V2X) scenarios. Based on the need for high dynamism and low latency between vehicles, the vehicle's radar can superimpose sensing information through micro-modulation in redundant CP segments. Other surrounding vehicles, upon receiving echo signals, can autonomously and quickly perform blind demodulation, thereby sensing the displacement data of targets between vehicles, improving the accuracy of target perception in V2X scenarios such as autonomous driving and obstacle avoidance. Vehicles no longer need to constantly exchange relevant information to demodulate sensing information, meeting the high dynamism and low latency requirements of V2X.

[0266] It should be understood that Figures 1 to 10 The flowcharts or scene diagrams shown are for illustrative purposes only and are not intended to limit the embodiments of this application to the examples illustrated. In fact, those skilled in the art can interpret the embodiments based on... Figures 1 to 10 The examples in the document can be transformed into equivalent ways to obtain more implementations.

[0267] The above text combined Figures 1 to 10 This document describes in detail the communication method provided in the embodiments of this application. The following will combine... Figures 11 to 12 The device embodiments of this application are described in detail below. It should be understood that the communication device of this application embodiment can execute the various communication methods of the foregoing embodiments of this application, that is, the specific working processes of the various products below can be referred to the corresponding processes in the foregoing method embodiments.

[0268] In the embodiments described above, the terminal device may execute some or all of the steps in each embodiment; the network device may execute some or all of the steps in each embodiment. These steps or operations are merely examples, and the embodiments of this application may also perform other operations or variations thereof. Furthermore, the steps may be executed in different orders as presented in the embodiments, and it is not necessary to execute all the operations in the embodiments of this application. Moreover, the sequence number of each step does not imply the order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0269] Figure 11 This is a schematic block diagram of a communication device provided in an embodiment of this application. Figure 11 As shown, the communication device 1100 may include a communication module 1120. The communication module 1120 can implement corresponding communication functions, which can be internal communication functions of the communication device 1100 or communication functions between the communication device 1100 and other devices. Optionally, the communication module 1120 may also be referred to as a communication interface or transceiver module. Optionally, the communication device 1100 also includes a processing module 1110. The processing module 1110 can implement corresponding processing functions.

[0270] Optionally, the communication device 1100 further includes a storage module, which can be used to store instructions and / or data; the processing module 1110 can read the instructions and / or data in the storage module so that the communication device 1100 can implement the aforementioned method embodiments.

[0271] In one possible design, the communication device 1100 may correspond to the first communication device in the above method embodiments, or a component (such as a circuit, chip, or chip system) configured in the first communication device. The communication device 1100 may be used to perform the steps or processes performed by the first communication device in any of the above method embodiments.

[0272] For example, the processing module 1110 is used to generate a first signal; the first signal includes a communication data sequence carrying a modulated and mapped sensing information identifier and communication data; the sensing information identifier includes the transmission time of the first signal and an identifier of a first communication device; The communication module 1120 is used to send a first signal to the second communication device.

[0273] The above are merely examples; for detailed steps or procedures, please refer to the descriptions in the foregoing embodiments.

[0274] In one possible design, the communication device 1100 may correspond to the second communication device in the above method embodiments, or to a component (such as a circuit, chip, or chip system) configured in the second communication device. The communication device 1100 may be used to perform the steps or processes performed by the second communication device in any of the above method embodiments.

[0275] For example, the communication module 1120 is used to receive a first signal; The processing module 1110 is used to demodulate the first signal to obtain the sensing information identifier and communication data; the sensing information identifier includes the identifier of the first communication device and the transmission time of the first signal; The processing module 1110 is used to sense the target object between the second communication device and the first communication device based on the transmission time of the first signal included in the sensing information identifier.

[0276] The above are merely examples; for detailed steps or procedures, please refer to the descriptions in the foregoing embodiments.

[0277] Figure 12 This is a schematic block diagram of another communication device provided in an embodiment of this application. The communication device 1200 may be a chip, chip system, or processor, etc., in a terminal device or network device that implements the above-described methods. The communication device 1200 can be used to implement the methods described in the above-described method embodiments; for details, please refer to the descriptions in the above-described method embodiments.

[0278] like Figure 12 As shown, the communication device 1200 may include one or more processors 1210, which may also be referred to as processing units or processing modules, and can implement certain control functions. The processor 1210 may be a general-purpose processor or a dedicated processor, such as a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, while the central processing unit can be used to control the communication device 1200 (e.g., a base station, baseband chip, user, user chip), execute software programs, and process data from the software programs.

[0279] In an alternative design, the processor 1210 may also store instructions and / or data, which can be executed by the processor 1210 to cause the communication device 1200 to perform the methods described in the above method embodiments.

[0280] In another alternative design, the communication device 1200 may include a communication interface 1220 for implementing receiving and transmitting functions. For example, the communication interface 1220 may be a transceiver circuit, interface, interface circuit, or transceiver. The transceiver circuit, interface, interface circuit, or transceiver for implementing receiving and transmitting functions may be separate or integrated. The aforementioned transceiver circuit, interface, interface circuit, or transceiver may be used for reading and writing code / data, or it may be used for transmitting or relaying signals.

[0281] Optionally, the communication device 1200 may include one or more memories 1230, which may store instructions that can be executed on the processor 1210, causing the communication device 1200 to perform the methods described in the above method embodiments. Optionally, the memories 1230 may also store data. Optionally, the processor 1210 may also store instructions and / or data. The processor 1210 and the memories 1230 may be provided separately or integrated together.

[0282] It should be understood that, in one possible design, the steps in the method embodiments provided in this application can be implemented by integrated logic circuits in the processor's hardware or by instructions in software form. The steps of the methods disclosed in the embodiments of this application can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are not provided here.

[0283] In one implementation, the communication device 1200 may correspond to the terminal device in the above method embodiments and may be used to execute the various steps and / or processes executed by the terminal device in the above method embodiments. The processor 1210 may be used to execute instructions stored in the memory 1230, and when the processor 1210 executes the instructions stored in the memory, the processor 1210 is used to execute the various steps and / or processes of the above method embodiments corresponding to the terminal device.

[0284] In another implementation, the communication device 1200 may correspond to the network device in the above method embodiments and may be used to execute the various steps and / or processes executed by the network device in the above method embodiments. The processor 1210 may be used to execute instructions stored in the memory 1230, and when the processor 1210 executes the instructions stored in the memory, the processor 1210 is used to execute the various steps and / or processes of the above method embodiments corresponding to the network device.

[0285] It should be understood that the aforementioned processing device can be one or more chips. For example, the processing device can be a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system-on-chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated chips.

[0286] It is understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0287] According to the method provided in the embodiments of this application, this application also provides a chip system, which includes one or more processors for calling and executing instructions stored in memory, thereby causing the method described in the embodiments of this application to be executed. The chip system may be composed of chips or may include chips and other discrete devices.

[0288] The chip system may include input circuits or interfaces for transmitting information or data, and output circuits or interfaces for receiving information or data.

[0289] According to the method provided in the embodiments of this application, this application also provides a communication system, which includes the aforementioned network device and terminal device.

[0290] According to the method provided in the embodiments of this application, this application also provides a computer program product, which includes: computer program code, which, when run on a computer, causes the computer to execute the various steps or processes executed by the network device or terminal device in any of the foregoing method embodiments.

[0291] According to the method provided in the embodiments of this application, this application also provides a computer-readable storage medium storing program code, which, when run on a computer, causes the computer to execute the various steps or processes executed by the network device or terminal device in any of the foregoing method embodiments.

[0292] The computer-readable storage medium may be the aforementioned volatile memory or non-volatile memory, or it may include both volatile memory and non-volatile memory.

[0293] In the embodiments of this application, the terms and English abbreviations are exemplary examples given for ease of description and should not be construed as limiting the application in any way. This application does not preclude the possibility of defining other terms that can achieve the same or similar functions in existing or future agreements.

[0294] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated.

[0295] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0296] It should be understood that in the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0297] In summary, the above description is merely a preferred embodiment of the technical solution of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A communication method, characterized in that, Applied to a first communication device, the method includes: A first signal is generated; the first signal includes a communication data sequence, the communication data sequence carrying a modulated and mapped sensing information identifier and communication data; the sensing information identifier includes the transmission time of the first signal and the identifier of the first communication device; Send the first signal to the second communication device; Wherein, the orthogonal frequency division multiplexing (OFDM) symbol of the first signal includes a cyclic prefix (CP) segment and a valid symbol segment, wherein the CP segment is located before the valid symbol segment, and the CP segment includes a redundant CP segment; If the length of the redundant CP segment of the OFDM symbol of the first signal is greater than a first threshold, the sensing information identifier is carried in the redundant CP segment, and the communication data is carried in the valid symbol segment; When the length of the redundant CP segment of the OFDM symbol of the first signal is less than or equal to the first threshold, the sensing information identifier and the communication data are carried on different cepstral domain resources of the same OFDM symbol.

2. The method according to claim 1, characterized in that, If the length of the redundant CP segment of the OFDM symbol of the first signal is greater than a first threshold, the modulation scheme of the first signal includes at least one of the following: The pulse signal of the redundant CP segment of the first signal is subjected to amplitude micro-modulation; Amplitude micro-modulation is performed on the amplitude domain of the pulse signal of the redundant CP segment of the first signal; Multiple amplitude domains of the pulse signal of the redundant CP segment of the first signal are modulated in the same direction; The same information is superimposed on multiple amplitude domains of the pulse signal of the redundant CP segment of the first signal for modulation.

3. The method according to claim 1 or 2, characterized in that, When the length of the redundant CP segment of the OFDM symbol of the first signal is less than or equal to the first threshold, the modulation scheme of the first signal includes: A bivariate unique mapping pairing function is used to map the identifier of the first communication device and the transmission time of the first signal into a unique first variable, and a block polynomial including the first variable is constructed. The block feature sequence corresponding to each time-domain node in the first signal is convolved with the block polynomial corresponding to the time-domain node.

4. The method according to claim 1 or 2, characterized in that, The formula for calculating the length of the redundant CP segment is: The length of the redundant CP segment = the length of the CP segment - 2 Estimated maximum multipath delay.

5. A communication method, characterized in that, Applied to a second communication device, the method includes: Receive the first signal; The first signal is demodulated to obtain a sensing information identifier and communication data. The sensing information identifier includes the identifier of the first communication device and the transmission time of the first signal. The orthogonal frequency division multiplexing (OFDM) symbol of the first signal includes a cyclic prefix (CP) segment and a valid symbol segment. The CP segment precedes the valid symbol segment and includes a redundant CP segment. If the length of the redundant CP segment of the OFDM symbol of the first signal is greater than a first threshold, the sensing information identifier is carried in the redundant CP segment, and the communication data is carried in the valid symbol segment. If the length of the redundant CP segment of the OFDM symbol of the first signal is less than or equal to the first threshold, the sensing information identifier and the communication data are carried on different cepstral domain resources of the same OFDM symbol. Based on the transmission time of the first signal included in the perception information identifier, the target object between the second communication device and the first communication device is perceived.

6. The method according to claim 5, characterized in that, When the length of the redundant CP segment of the OFDM symbol of the first signal is greater than a first threshold, the demodulation of the first signal includes: Noise suppression is applied to the first signal; The redundant CP segment of the OFDM symbol of the first signal is compared with the effective symbol segment to obtain the micro-modulation signal of the redundant CP segment; The sensing information identifier is obtained by demodulating the micro-modulated signal.

7. The method according to claim 5 or 6, characterized in that, When the length of the redundant CP segment of the OFDM symbol of the first signal is less than or equal to the first threshold, the demodulation of the first signal to obtain the sensing information identifier and communication data includes: The feature sequence corresponding to the perceived information identifier is obtained by effective separation based on cepstral transform; The perception information identifier is recovered from the feature sequence corresponding to the perception information identifier using the Lagrange interpolation method.

8. The method according to claim 5 or 6, characterized in that, Before receiving the first signal, the method further includes: Construct a dynamic background; the dynamic background includes the first communication device, the second communication device, and a known target that already exists between the first communication device and the second communication device; After sensing the target object between the second communication device and the first communication device based on the transmission time of the first signal included in the sensing information identifier, the method further includes: Determine whether the target object is the known target; If the target object is the known target, continue to receive wireless signals and perform target perception; If the target object is not the known target, the dynamic background is updated according to the target object.

9. The method according to claim 8, characterized in that, The construction of the dynamic background includes: Configure system parameters; Perceive existing, known targets; Create a dynamic background and eliminate static reflections.

10. A communication device, characterized in that, The device includes at least one processor coupled to a memory storing a program or instructions, the processor executing the program or instructions to cause the device to perform the method as claimed in any one of claims 1 to 4, or the method as claimed in any one of claims 5 to 9.

11. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed, they cause the computer to perform the method as described in any one of claims 1 to 4, or the communication method as described in any one of claims 5 to 9.

12. A computer program product, characterized in that, include: A computer program, when run, causes a computer to perform the method as described in any one of claims 1 to 4, or the method as described in any one of claims 5 to 9.

13. A communication system, characterized in that, Includes the communication device as described in claim 10.

14. A chip system, characterized in that, The chip system includes one or more processors, which are configured to retrieve and execute instructions stored in memory, such that the method as described in any one of claims 1 to 4 is performed, or the method as described in any one of claims 5 to 9 is performed.

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