Communication method and communication apparatus

Abstract

The embodiment of the application provides a communication method, a communication device, a communication apparatus, a communication system, a computer readable storage medium and a computer program product. In the scheme, the perception information of the perception target can indicate N lines used for representing the perception target, that is, line-based perception information is used.

Description

Cross-reference to related applications

[0001] This application claims priority to U.S. Provisional Application No. 63 / 575,998, filed April 8, 2024, entitled “A method and apparatus for line-based sensing information indication,” the entire contents of which are incorporated herein by reference. Technical Field

[0002] Exemplary embodiments of the present invention generally relate to the field of communications, and more particularly to a communication method, communication device, communication system, computer-readable storage medium, and computer program product. Background Technology

[0003] A sensing system is proposed to help gather more information (e.g., attitude information) from communication devices. The sensing information can be decoupled from or integrated with the communication system. The sensing information can be used to describe the sensed object or environment. In this case, a more simplified representation of the sensing information is needed. Summary of the Invention

[0004] In general, exemplary embodiments of the present invention provide a scheme for communication including sensing.

[0005] It should be understood that the summary section is not intended to identify key or essential features of the embodiments of the invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description.

[0006] According to a first aspect, a communication method is described. The method can be applied to a first device, such as a communication device, a circuit or chip within the first device that has communication functionality (e.g., a modem chip (also called a baseband chip), or a system-on-chip (SoC) chip or system-in-package (SIP) chip including a modem core). In the method, sensing information of a sensed object is determined, wherein the sensing information indicates N lines used to represent the sensed target, where N is an integer greater than or equal to 1. In the method, for example, the sensing information is transmitted to a second device.

[0007] The above method is beneficial for representing sensed information; for example, it can determine and transmit line-based sensed information. Therefore, embodiments of the present invention provide a simplified and effective way to represent said sensed information.

[0008] In one possible design, the perceived information comprises M values ​​ordered in a predefined format for representing the N lines, where M is a multiple of N.

[0009] In one possible design, the M values ​​include multiple values ​​for the first line among the N lines, including: the coordinates of the first vertex of the first line; and the coordinates of the second vertex of the first line. Therefore, a line can be represented by the coordinates of two vertices, a simple form that allows the receiving end to directly obtain the two vertices.

[0010] In one possible design, the M values ​​include multiple values ​​for the first line among the N lines, including: the coordinates of the first vertex of the first line; and the difference between the coordinates of the second vertex of the first line and the coordinates of the first vertex of the first line. Therefore, by utilizing the difference between the coordinates of two vertices, since the range of the difference can be smaller, the amount of data can be reduced, thereby saving transmission resources.

[0011] In one possible design, an instruction to the predefined format is sent or received. Therefore, the predefined format can be used for the M values, and since both the sender and receiver are aware of the format, the accuracy of communication can be guaranteed.

[0012] In one possible design, information relating to the N lines is sent or received, the information indicating at least one of the following: the value of N; the maximum value of N; the coordinate system on which the vertex coordinates are based; the number of coordinates used to represent the vertices of the lines; the precision of the values ​​in the perceived information; whether the values ​​in the perceived information are compressed; and / or at least one parameter used for compression. Therefore, information can be provided to the receiving end so that the receiving end can correctly acquire the perceived information; and / or information can be acquired from the receiving end, and the perceived information can be arranged based on the information so that the receiving end can correctly receive the perceived information. Thus, the accuracy of communication can be guaranteed.

[0013] In one possible design, the precision is indicated by the number of bits used to represent the values ​​in the perceived information. Therefore, both parties can know the number of bits, allowing them to parse the perceived information in the same way.

[0014] In one possible design, the sensing information includes the value of N. Therefore, the receiver can directly obtain the number of lines, thus simplifying the operation of the receiver.

[0015] In one possible design, the sensing information is determined based on capability information, which includes at least one of the following: first capability information of a first device; and / or second capability information of a second device. For example, the capability information indicates at least one of the following: whether line-based sensing is supported; the maximum value of N that can be supported; and / or whether compression of the line-based sensing is supported. Therefore, capability information is considered when generating the sensing information, so that the determined line-based sensing information can be supported by both devices.

[0016] In one possible design, first capability information can be sent, indicating the capabilities of the first device. In another possible design, second capability information can be received, indicating the capabilities of the second device.

[0017] In one possible design, a notification indicating at least one of the following can be sent or received: whether to enable line-based sensing; and / or whether to enable real-time sensing. Therefore, the line-based sensing and / or real-time sensing can be enabled or disabled according to the actual scenario, thereby supporting a variety of application scenarios.

[0018] According to the second aspect, a method can be applied to a second device, such as a communication device, a circuit or chip in the second device having communication functionality (e.g., a modem chip (also called a baseband chip), or a system-on-chip (SoC) chip or system-in-package (SIP) chip including a modem core). In the method, sensing information of a sensed object is received, wherein the sensing information indicates N lines used to represent the sensed target, where N is an integer greater than or equal to 1. In the method, the sensed target is determined based on the sensing information.

[0019] In one possible design, the perceived information comprises M values ​​ordered in a predefined format for representing the N lines, where M is a multiple of N.

[0020] In one possible design, the M values ​​include multiple values ​​of the first line among the N lines, the multiple values ​​including: the coordinate value of the first vertex of the first line; and the coordinate value of the second vertex of the first line.

[0021] In one possible design, the M values ​​include multiple values ​​of the first line among the N lines, the multiple values ​​including: the coordinate value of the first vertex of the first line; and the difference between the coordinate value of the second vertex of the first line and the coordinate value of the first vertex of the first line.

[0022] In one possible design, the second device also sends or receives instructions on the predefined format.

[0023] In one possible design, the second device also sends or receives information relating to the N lines, the information indicating at least one of the following: the value of N; the maximum value of N; the coordinate system on which the coordinate values ​​of the vertices are based; the number of coordinate values ​​used to represent the vertices of the lines; the precision of the values ​​in the sensing information; whether the values ​​in the sensing information are compressed; and at least one parameter for compression.

[0024] In one possible design, the precision is indicated by the number of bits used to represent the values ​​in the perceived information.

[0025] In one possible design, the perceived information includes the value of N.

[0026] In one possible design, the sensing information is determined based on capability information, which includes at least one of the following: first capability information of a first device; and second capability information of a second device.

[0027] In one possible design, the second device also receives first capability information, which indicates the capabilities of the first device.

[0028] In one possible design, the second device also sends second capability information, which indicates the capabilities of the second device.

[0029] In one possible design, the capability information indicates at least one of the following: whether line-based sensing is supported; the maximum value of N that can be supported; and whether compression of the line-based sensing is supported.

[0030] In one possible design, the second device also sends or receives a notification indicating at least one of the following: whether to enable line-based sensing; whether to enable real-time sensing.

[0031] In one possible design, the second device may also combine the sensed information with other sensed information; and / or use the sensed information to assist in communication. The above methods facilitate accurate sensing or effective communication using the line-based sensed information.

[0032] According to a third aspect, a communication device is described. The communication device has the functions of the first aspect. For example, the communication device includes corresponding modules, units, or components for performing the operations in the first aspect. Specifically, the modules, units, or components can be implemented using software, hardware, or a combination of software and hardware.

[0033] According to the fourth aspect, a communication device is described. The communication device has the functions of the second aspect. For example, the communication device includes corresponding modules, units, or components for performing the operations in the second aspect. Specifically, the modules, units, or components can be implemented using software, hardware, or a combination of software and hardware.

[0034] According to a fifth aspect, another communication device is described. The communication device includes a memory and one or more processors. The memory stores some or all of a computer program or instructions necessary for implementing the functions of the first aspect. The one or more processors can execute the computer program or instructions, which, when executed, enable the communication device to implement the methods in any possible design or implementation of the first aspect.

[0035] In some embodiments, the communication device may further include an interface circuit, and the processor is configured to communicate with another device or component through the interface circuit.

[0036] According to the sixth aspect, yet another communication device is described. The communication device includes a memory and one or more processors. The memory is used to store some or all of a computer program or instructions necessary for implementing the functions in the second aspect. The one or more processors can execute the computer program or instructions, which, when executed, enable the communication device to implement the methods in any possible design or implementation of the second aspect.

[0037] In some embodiments, the communication device may further include an interface circuit, and the processor is configured to communicate with another device or component through the interface circuit.

[0038] According to a seventh aspect, a communication system is described. The communication system includes a first means for implementing the method in any possible design or implementation of the first aspect. The communication system also includes a second means for implementing the method in any possible design or implementation of the second aspect.

[0039] According to the eighth aspect, a computer-readable storage medium is described. The computer-readable storage medium stores computer-readable instructions that, when read and executed by a computer, enable the computer to perform any of the possible designs in the first and second aspects.

[0040] According to the ninth aspect, a computer program product is described. When a computer reads and executes the computer program product, the computer is enabled to perform any of the possible methods in the design of the first and second aspects.

[0041] It should be noted that the technical effects of the first aspect of the embodiments of the first aspect also apply to each of the second to ninth aspects. Therefore, the technical effects of the second to ninth aspects will not be described again here.

[0042] It should be understood that the summary section is not intended to identify key or essential features of the embodiments of the invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0043] Some exemplary embodiments will now be described in conjunction with the accompanying drawings, in which: Figure 1 Exemplary communication systems that can implement some embodiments of the present invention are shown; Figure 2 Another exemplary communication system that can implement some embodiments of the present invention is shown; Figure 3A Another example of an ED and a base station according to some exemplary embodiments of the present invention is shown; Figure 3B An exemplary block diagram of an apparatus according to some exemplary embodiments of the present invention is shown; Figure 4 Exemplary block diagrams of units or modules in a device according to some exemplary embodiments of the present invention are shown; Figure 5 Examples of SMFs according to some exemplary embodiments of the present invention are shown; Figure 6 Exemplary schematic diagrams of point cloud representation and mesh representation are shown; Figure 7 The signaling process according to some exemplary embodiments of the present invention is illustrated; Figure 8 An example of a line-based representation of a perceived object according to some exemplary embodiments of the present invention is shown; Figure 9 Examples of line-based representations of a perceived environment according to some exemplary embodiments of the present invention are shown; Figure 10 Exemplary processes of two devices according to some exemplary embodiments of the present invention are shown; Figure 11 Another exemplary process of two devices according to some exemplary embodiments of the present invention is shown; Figure 12 An exemplary comparison of grid representation and line-based representation according to some exemplary embodiments of the present invention is shown; Figure 13 An exemplary schematic diagram of shared vertices in a mesh representation is shown; Figure 14 A flowchart illustrating a communication method according to some exemplary embodiments of the present invention is shown; Figure 15 Another flowchart of a communication method according to some exemplary embodiments of the present invention is shown; Figure 16 A schematic diagram of the structure of a device according to some embodiments of the present invention is shown; Figure 17 Another schematic diagram of the structure of a device according to some embodiments of the present invention is shown; Figure 18 A block diagram of a device that can be used to implement some embodiments of the present invention is shown.

[0044] In the accompanying drawings, the same or similar reference numerals denote the same or similar elements. Detailed Implementation

[0045] The principles of the invention will now be described with reference to some exemplary embodiments. It should be understood that these embodiments are described merely to illustrate and assist those skilled in the art in understanding and implementing the invention, and do not impose any limitations on the scope of the invention. The invention described herein can be implemented in various ways other than those described below.

[0046] In the following description and claims, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0047] References to "an embodiment," "an exemplary embodiment," etc., in this invention indicate that the described embodiment may include a specific feature, structure, or characteristic, but not every embodiment must include that specific feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or characteristic is described in connection with an embodiment, it is understood that those skilled in the art will recognize how such features, structures, or characteristics can be combined with other embodiments to achieve the desired result, whether explicitly described or not.

[0048] It should be understood that although terms such as “first” and “second” may be used herein to describe various elements, these elements should not be limited by these terms. These terms are used only to distinguish one element from another. For example, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element, without departing from the scope of the exemplary embodiments. The term “and / or” as used herein includes any and all combinations of one or more of the listed items.

[0049] In some examples, values, processes, or devices are referred to as “best,” “lowest,” “highest,” “minimum,” “maximum,” etc. It should be understood that such descriptions are intended to indicate that there are many functional alternatives that can be chosen, and that such a choice is not necessarily better, smaller, higher, or more preferred than other choices.

[0050] The terminology used herein is for describing particular embodiments only and is not intended to limit the exemplary embodiments. Unless the context clearly indicates otherwise, the singular forms “a” and “described” as used herein include the plural meaning. It should also be understood that the terms “comprising” and / or “having” as used herein specify the presence of the stated features, elements, and / or components, but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0051] In the following description and claims, unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0052] The embodiments of the present invention may relate to a communication device, which may include terminal devices, network devices, electronic devices, etc.

[0053] The term "terminal equipment" refers to any device with wireless or wired communication capabilities. Examples of terminal devices include, but are not limited to: user equipment (UE), personal computers, desktops, mobile phones, cellular phones, smartphones, personal digital assistants (PDAs), laptops, tablets, wearable devices, Internet of Things (IoT) devices, Ultra-reliable and Low Latency Communication (URLLC) devices, Internet of Everything (IoE) devices, machine-type communication (MTC) devices, vehicular equipment for V2X communication (where X represents pedestrians, vehicles, or infrastructure / networks), devices for Integrated Access and Backhaul (IAB), spacecraft or aircraft in non-terrestrial networks (NTNs) including satellites and high-altitude platforms (HAPs) encompassing unmanned aircraft systems (UAS), and various types of reality (e.g., Augmented Reality (AR), Mixed Reality (MR), and Virtual Reality). Extended Reality (XR) devices (VR), unmanned aerial vehicles (UAVs) often referred to as drones (which are aircraft without human pilots), devices on high-speed trains (HSTs), or image capture devices (e.g., digital cameras, sensors, gaming devices, music storage and playback devices, or internet devices that enable wireless or wired internet access and browsing), etc. "Terminal devices" can also have "multicast / broadcast" characteristics to support public safety and mission-critical applications, V2X applications, transparent IPv4 / IPv6 multicast transmission, IPTV, smart TVs, wireless services, software delivery via wireless means, group communications, and IoT applications. It can also include one or more Subscriber Identity Modules (SIMs), referred to as Multi-SIM. The term "terminal device" is used interchangeably with UE, mobile station, user station, mobile terminal, user terminal, or wireless device.

[0054] The term "network equipment" refers to access network equipment (or network nodes) or core network equipment (CN entities or CN functions). For example, it can be equipment capable of providing or hosting communication for a cell or coverage area that terminal devices can communicate with. Examples of network equipment include, but are not limited to: satellites, unmanned aerial system (UAS) platforms, Node Bs (NodeBs or NBs), evolved Node Bs (eNodeBs or eNBs), next-generation Node Bs (gNBs), transmission reception points (TRPs), remote radio units (RRUs), radio heads (RHs), remote radio heads (RRHs), IAB nodes, low-power nodes (e.g., femtonodes, piconodes), reconfigurable intelligent surfaces (RISs), access points (APs), etc.

[0055] Embodiments of the present invention may be performed according to any generation of communication protocols currently known or to be developed in the future. Examples of such communication protocols include, but are not limited to: cellular protocols, including first generation (1G), second generation (2G, 2.5G, 2.75G), third generation (3G), fourth generation (4G (sometimes referred to as "LTE"), 4.5G (sometimes referred to as "LTE Advanced" and "LTE AdvancedPro")), fifth generation (5G (sometimes referred to as "NR"), 5.5G, 5G-Advanced) and next generation, as well as various generations of Wireless Fidelity (WiFi) and Ultra Wideband (UWB).

[0056] In cellular communication networks, user equipment (UE) location information is commonly used to improve various network performance metrics. These metrics may include, for example, capacity, agility, and efficiency. This improvement can be achieved when network elements utilize the UE's location, behavior, mobility patterns, etc., within the context of prior information describing the radio environment in which the UE operates.

[0057] Sensing systems can be used to help collect UE attitude information, including the UE's position in a global coordinate system, its speed and direction of movement in the global coordinate system, orientation information, and information about the wireless environment. "Position" is also called "location," and the two terms are used interchangeably herein. Well-known examples of sensing systems include radio detection and ranging (RADAR) and light detection and ranging (LIDAR). While sensing systems can be separated from communication systems, it can be advantageous to collect information using an integrated system, reducing the hardware (and cost) in the system and the time, frequency, or spatial resources required to implement both functions. However, using communication system hardware to perform the sensing of UE attitude and environmental information is a highly challenging and open problem. The difficulty of this problem is related to factors such as the limited resolution of the communication system, dynamic environmental changes, and the large number of objects whose electromagnetic properties and positions need to be estimated.

[0058] Therefore, the integration of sensing and communication (also known as the integration of communication and sensing, joint sensing and communication, and other similar names) is an ideal feature in existing and future communication systems.

[0059] In some scenarios of integrated perception and communication, devices (or sensors, or UEs) can perceive the environment and then perform corresponding tasks based on the perception results. These tasks can include object detection, object tracking, obstacle avoidance, etc. In other scenarios, devices can reconstruct the environment based on the perception results and then use the reconstructed environment to further assist communication. Devices can also report the perception results (detected objects or the reconstructed environment) to a central node (or sensor, or base station) for further processing. For example, since each device can perceive / observe the same environment from different angles, the central node can fuse the perception results from multiple devices into a complete / large-scale environmental map. The fused environmental map can be used to perform tasks / applications such as environmental reconstruction or digital twins. Furthermore, the central node can send the fused environmental map to other devices to assist them in communication tasks such as beamforming / beam tracking and MIMO parameter estimation. Through perception fusion, the reconstructed environment is more complete and detailed, contributing to better task execution results.

[0060] In the scenarios described above, it is necessary to describe the exchanged perceptual information, i.e., the detected objects or the perceived environment, in some way. While very fine-grained descriptions are desirable, they also lead to relatively large computational and transmission overhead. Considering scenarios involving auxiliary communication such as object detection, object tracking, obstacle avoidance, and environment reconstruction, a coarse and generalized description of the perceptual information is sufficient for most tasks. Therefore, we can consider how to describe objects and the environment in a simplified manner.

[0061] In view of the above, embodiments of the present invention provide a communication method for determining and transmitting line-based sensing information. In this method, the sensing information indicates one or more lines used to represent a sensing target, which may be a sensing object and / or the environment. Line-based representation can be considered a good way to indicate sensing information, as it can describe the object and environment in a simplified and efficient manner. Based on such a simplified representation, the computational complexity and power consumption of the device can be reduced, and the transmission overhead of sensing information exchange can be significantly reduced.

[0062] For illustrative purposes, the following will refer to Figures 1 to 17 The principles and exemplary embodiments of the invention are described herein. However, it should be noted that these embodiments are given so that those skilled in the art can understand the inventive concept and implement the solutions presented herein, and are not intended to limit the scope of this application in any way to the combination of structures and features explicitly shown.

[0063] Figure 1 An exemplary communication system 100 is shown, which can implement some embodiments of the present invention. (Reference) Figure 1 As a non-limiting illustrative example, a simplified schematic diagram of a communication system is provided. Communication system 100 includes a radio access network 120. Radio access network 120 may be a next-generation radio access network or a traditional (e.g., 5G, 4G, 3G, or 2G) radio access network. One or more electronic devices (EDs) 110a, 110b, 110c, 110d, 110e, 110f, 110g, 110h, 110i, 110j (generally referred to as 110) may interconnect or be connected to one or more network nodes (170a, 170b, generally referred to as 170) in radio access network 120. Core network 130 may be part of communication system 100 and may depend on or be independent of the radio access technology used in communication system 100. Furthermore, communication system 100 includes a public switched telephone network (PSTN) 140, the Internet 150, and other networks 160.

[0064] Figure 2Another exemplary communication system 100 is illustrated. Typically, communication system 100 enables multiple wireless or wired components to transmit data and other content. The purpose of communication system 100 may be to provide content such as voice, data, video, and / or text via broadcast, multicast, unicast, etc. Communication system 100 can operate by sharing resources such as carrier spectrum bandwidth among its constituent components. Communication system 100 may include terrestrial communication systems and / or non-terrestrial communication systems. Communication system 100 can provide a wide range of communication services and applications (e.g., earth monitoring, remote sensing, passive sensing and positioning, navigation and tracking, automated delivery and mobility, etc.). Communication system 100 can provide high availability and robustness through the joint operation of terrestrial and non-terrestrial communication systems. For example, integrating a non-terrestrial communication system (or components thereof) into a terrestrial communication system can create a heterogeneous network that can be viewed as comprising multiple layers. Compared to traditional communication networks, heterogeneous networks can achieve better overall performance through efficient multi-link joint operation, more flexible function sharing, and faster physical layer link switching between terrestrial and non-terrestrial networks.

[0065] Terrestrial communication systems and non-terrestrial communication systems can be considered subsystems of a communication system. Figure 2 In the example shown, communication system 100 includes electronic devices (EDs) 110a, 110b, 110c, and 110d (collectively referred to as ED110), radio access networks (RANs) 120a and 120b, a non-terrestrial communication network 120c, a core network 130, a public switched telephone network (PSTN) 140, the Internet 150, and other networks 160. RANs 120a and 120b include corresponding base stations (BSs) 170a and 170b, which are generally referred to as terrestrial transmit and receive points (T-TRPs) 170a and 170b. The non-terrestrial communication network 120c includes access nodes 172, which are generally referred to as non-terrestrial transmit and receive points (NT-TRPs) 172.

[0066] Alternatively or additionally, any ED 110 can be used to connect, access, or communicate with any T-TRP 170a, 170b, and NT-TRP 172, Internet 150, core network 130, PSTN 140, other network 160, or any combination thereof. In some examples, ED 110a can communicate uplink and / or downlink with T-TRP 170a via terrestrial air interface 190a. In some examples, ED 110a, 110b, 110c, and 110d can also communicate directly with each other via one or more sidelink air interfaces 190b. In some examples, ED 110d can communicate uplink and / or downlink with NT-TRP 172 via non-terrestrial air interface 190c.

[0067] An air interface (e.g., 190a, 190b, 190c) typically includes multiple components and associated parameters that collectively specify how transmissions are sent and / or received over a wireless communication link between two or more communication devices (e.g., an ED and a base station). For example, an air interface may include one or more waveforms, one or more frame structures, one or more multiple access schemes, one or more protocols, one or more coding schemes, and / or one or more modulation schemes that define the transmission of information (e.g., data) over the wireless communication link. Air interfaces 190a and 190b can employ similar communication technologies, such as any suitable wireless access technology. For example, communication system 100 can implement one or more channel access methods in air interfaces 190a and 190b, such as code division multiple access (CDMA), space division multiple access (SDMA), time division multiple access (TDMA), frequency division multiple access (FDMA), orthogonal FDMA (OFDMA), and single-carrier FDMA (SC-FDMA) (also known as discrete fourier transform spread OFDMA, DFT-s-OFDMA). Air interfaces 190a and 190b can employ other higher-dimensional signal spaces, which may involve combinations of orthogonal and / or non-orthogonal dimensions.

[0068] The non-terrestrial air interface 190c enables communication between the ED 110d and one or more NT-TRP 172s via a wireless link or simply via a link. For some examples, the link is a dedicated connection for unicast transmission, a connection for broadcast transmission, or a connection between a group of ED 110s and one or more NT-TRP 172s for multicast transmission.

[0069] RANs 120a and 120b communicate with the core network 130 to provide various services, including voice, data, and other services, to EDs 110a, 110b, and 110c. RANs 120a and 120b, and / or the core network 130, can communicate directly or indirectly with one or more other RANs (not shown), which may or may not be directly served by the core network 130, and may or may not use the same radio access technology as RANs 120a and / or RAN 120b. The core network 130 can also serve as a gateway access between (i) RANs 120a and 120b or EDs 110a, 110b, and 110c, or both, and (ii) other networks (e.g., PSTN 140, Internet 150, and other networks 160). Furthermore, some or all of EDs 110a, 110b, and 110c may include functionality for communicating with different wireless networks via different radio links using different radio technologies and / or protocols. ED 110a, 110b, and 110c can communicate with a service provider or exchange (not shown) via a wired communication channel and with the Internet 150, rather than via wireless communication (or via wired communication in addition to wireless communication). PSTN 140 may include a circuit-switched telephone network for providing plain old telephone service (POTS). The Internet 150 may include a computer network and / or subnet (internal network) and employ protocols such as Internet Protocol (IP), Transmission Control Protocol (TCP), and User Datagram Protocol (UDP). ED 110a, 110b, and 110c may be multimode devices capable of operating under various wireless access technologies and integrate multiple transceivers required to support such technologies.

[0070] Figure 3AAnother example 300 of ED 110 and base stations 170a, 170b and / or 170c is shown. EDs 110a to 110d and TRPs 170a and 170b, 172 are examples of communication devices that can be used to implement some or all of the operations and / or embodiments described herein. TRP 170a forms part of RAN 120a, which may include other TRPs and / or other devices. Furthermore, TRP 170b forms part of RAN 120b, which may include other TRPs and / or devices. Each TRP 170a, 170b can transmit and / or receive radio signals within a specific geographic area or region, sometimes referred to as a “cell” or “coverage area.” TRPs 170a and 170b can be responsible for resource allocation and / or configuration, as well as transmission and / or reception, within the cell set. A cell can be a wireless network object, uniquely identified by a (cell) identifier broadcast over a geographic area or region from the base station associated with the cell. A cell can be in FDD or TDD mode. A cell can also refer to a carrier frequency within a single independent carrier or a DL / UL carrier bandwidth resource comprising a carrier in carrier aggregation mode. A cell can be further divided into cell sectors, and base stations 170a and 170b can, for example, employ multiple transceivers to provide services to multiple sectors. In some implementations, there may be established picocells or femtocells supported by radio access technologies. In some implementations, for example, multiple transceivers can be used for each cell via multiple-input multiple-output (MIMO) technology. The number of RANs 120a and 120b shown is merely exemplary. Any number of RANs can be considered when designing the communication system 100.

[0071] Any base station can be a single element, as shown in the figure, or multiple elements distributed across a corresponding RAN, and so on. In some implementations, multiple RAN nodes coordinate to assist the ED 110 in achieving radio access, and different RAN nodes implement different functions of the base station. For example, a RAN node can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), etc. CU and DU can be deployed separately or included in the same element (i.e., a baseband unit (BBU)). RU can be included in radio equipment or radio units (i.e., remote radio unit (RRU), active antenna unit (AAU), or remote radio head (RRH)). In different systems, CU (or CU-CP and CU-UP), DU, or RU may also have different names, but their meanings will be understood by those skilled in the art. For example, in an Open Radio Access Network (ORAN) system, a CU can also be called an Open CU (O-CU), a DU can also be called an Open DU (O-DU), and a CU-CP can also be called an Open CU-CP (O-CU-CP). A CU-UP can also be called an Open CU-UP (O-CU-UP), and a RU can also be called an Open RU (O-RU). Any of the CU (or CU-CP, CU-UP), DU, and RU can be implemented using software modules, hardware modules, or a combination of software and hardware modules.

[0072] Furthermore, in various embodiments of this application, one or more communications between different devices / apparatus can refer to direct communication between different devices / apparatus (i.e., without the need for forwarding by another device / apparatus), or it can refer to one or more communications between different devices / apparatus via another device / apparatus (i.e., requiring forwarding by another device / apparatus). Alternatively, such one or more communications can refer to a functional unit within a device / apparatus using another functional unit within the device / apparatus to communicate with another device / apparatus. In other words, "sending (or transmitting) information to... (ED or base station)" in this application can be understood as the destination endpoint of the information being the ED or base station. This can include sending / transmitting information directly or indirectly to the ED or base station. Similarly, "receiving information from... (ED or base station)" can be understood as the source endpoint of the information being the ED or base station, and can include receiving information directly or indirectly from the ED or base station. Necessary processing such as format conversion, digital-to-analog conversion, amplification, and filtering can be performed on the information between the source endpoint and the destination endpoint. However, the destination endpoint can understand valid information from the source endpoint. Similar descriptions in this application can be understood similarly. Further details are omitted here. In this invention, the terms "send" and "transmit" are used interchangeably in the embodiments of this application.

[0073] The ED 110 is used to connect people, objects, and machines. It can be widely used in various scenarios, including cellular communication, device-to-device (D2D), vehicle-to-everything (V2X), peer-to-peer (P2P), machine-to-machine (M2M), machine-type communication (MTC), the Internet of Things (IoT), virtual reality (VR), augmented reality (AR), mixed reality (MR), metaverse, digital twins, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, drones, robots, remote sensing, passive sensing, positioning, navigation and tracking, autonomous delivery and mobility, etc.

[0074] Each ED 110 represents any suitable end-user equipment for wireless operation and may include (or be referred to as) devices such as: user equipment / device (UE), wireless transmit / receive unit (WTRU), mobile station, fixed or mobile subscriber unit, cellular phone, station (STA), machine type communication (MTC) device, personal digital assistant (PDA), smartphone, laptop, computer, tablet, wireless sensor, consumer electronics device, smartbook, vehicle, automobile, truck, bus, train, or IoT device, wearable device (e.g., watch, glasses, head-mounted device, etc.), industrial equipment, or means comprising or including the aforementioned devices (e.g., communication module, modem, or chip), etc. Next-generation Ed 110 may be referred to using other terms. When ED 110 performs (or is used to perform) the methods described herein, it can be interpreted as ED, one or more modules (or units) within ED, circuitry or chips, or combinations thereof performing the method. For example, a circuit or chip may include a modem chip (also known as a baseband chip), a system-on-a-chip (SoC) including a modem core, or a system-in-package (SIP), and may have one or more communication functions in the ED.

[0075] Base stations 170a and 170b are T-TRPs, and will be referred to as T-TRP 170 below. Similarly... Figure 3A As shown, NT-TRP will be referred to as NT-TRP 172 below. Each ED 110 connected to T-TRP 170 and / or NT-TRP 172 can be dynamically or semi-statically started (i.e., established, activated, or enabled), shut down (i.e., released, deactivated, or disabled), and / or configured in response to one or more of connectivity availability and connectivity necessity.

[0076] ED 110 includes a transmitter 201 and a receiver 203 coupled to one or more antennas 204. Only one antenna 204 is shown in the figures to avoid congestion. Alternatively, one, part, or all of the antennas 204 may be panels. For example, the transmitter 201 and receiver 203 may be integrated as a transceiver. The transceiver is used to modulate data or other content for transmission by at least one antenna 204 or a network interface controller (NIC). The transceiver is also used to demodulate data or other content received by at least one antenna 204. Each transceiver includes any suitable structure for generating signals for wireless or wired transmission and / or processing signals received wirelessly or wiredly. Each antenna 204 includes any suitable structure for transmitting and / or receiving wireless or wired signals.

[0077] ED 110 includes at least one memory 208. Memory 208 stores instructions and data used, generated, or acquired by ED 110. For example, memory 208 may store software instructions or modules executed by one or more processing units (e.g., processor 210) for implementing some or all of the functions and / or embodiments described herein. Each memory 208 includes any suitable one or more volatile and / or non-volatile storage and retrieval devices. Any suitable type of memory can be used, such as random access memory (RAM), read-only memory (ROM), hard disk, optical disk, subscriber identity module (SIM) card, memory stick, secure digital (SD) memory card, on-processor cache, etc.

[0078] ED 110 may also include one or more input / output devices (not shown) or interfaces (e.g., connected to...). Figure 1 (Wired interface of Internet 150 in the network). Input / output devices or interfaces support interaction with users or other devices in the network. Each input / output device or interface includes any suitable structure for providing or receiving information from the user and / or for network interface communication. Suitable structures include, for example, speakers, microphones, keypads, keyboards, displays, touchscreens, etc.

[0079] ED 110 includes a processor 210 for performing operations related to: operations related to preparing uplink transmissions to NT-TRP 172 and / or T-TRP 170; operations related to processing downlink transmissions received from NT-TRP 172 and / or T-TRP 170; and operations related to processing sidelink transmissions to and from another ED 110. Processing operations related to preparing uplink transmissions may include operations such as encoding, modulation, transmit beamforming, and generating symbols for transmission. Processing operations related to processing downlink transmissions may include operations such as receive beamforming, demodulation, and decoding of received symbols. According to an embodiment, the downlink transmissions may be received by receiver 203 (possibly using receive beamforming), and processor 210 may extract signaling from the downlink transmissions (e.g., by detecting and / or decoding the signaling). Examples of signaling may be reference signals transmitted by NT-TRP 172 and / or T-TRP 170. In some embodiments, processor 210 performs transmit beamforming and / or receive beamforming based on beam direction indications (e.g., beam angle information (BAI)) received from T-TRP 170. In some embodiments, processor 210 may perform operations related to network access (e.g., initial access) and / or downlink synchronization, such as operations related to detecting synchronization sequences, decoding, and obtaining system information. In some embodiments, processor 210 may perform channel estimation (e.g., using reference signals received from NT-TRP 172 and / or T-TRP 170).

[0080] Although not shown, processor 210 may be part of transmitter 201 and / or receiver 203. Although not shown, memory 208 may be part of processor 210.

[0081] The processing components of processor 210, transmitter 201, and receiver 203 may each be implemented using one or more processors, either the same or different, for executing instructions stored in memory (e.g., memory 208). Alternatively, some or all of the processing components of processor 210, transmitter 201, and receiver 203 may each be implemented using dedicated circuitry (e.g., a programmable field-programmable gate array (FPGA), application-specific integrated circuit (ASIC), or hardware accelerators (e.g., a graphics processing unit (GPU) or artificial intelligence (AI) accelerator)).

[0082] In some implementations, the T-TRP 170 can use other names, such as base station, base transceiver station (BTS), wireless base station, network node, network device, network-side device, transmit / receive node, NodeB, evolved NodeB (eNodeB or eNB), home eNodeB, next-generation NodeB (gNB), transmission point (TP), site controller, access point (AP), wireless router, relay station, ground node, ground network device, ground base station, base band unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), location node, etc. The T-TRP 170 can be a macro BS, pico BS, relay node, or host node, or a combination thereof. T-TRP 170 may refer to the aforementioned device or a component of the aforementioned device (e.g., a communication module, modem, or chip).

[0083] In some embodiments, the various parts of T-TRP 170 may be distributed. For example, some of the modules of T-TRP 170 may be located remotely from the device housing the antenna 256 for T-TRP 170 and may be coupled to the device housing the antenna 256 via a communication link (not shown) sometimes referred to as a fronthaul (e.g., a common public radio interface (CPRI)). Therefore, in some embodiments, the term "T-TRP 170" may also refer to network-side modules that perform processing operations such as determining the location of ED 110, resource allocation (scheduling), message generation, and encoding / decoding, and are not necessarily part of the device housing the antenna 256 of T-TRP 170. These modules may also be coupled to other T-TRPs. In some embodiments, T-TRP 170 may actually be multiple T-TRPs that operate together, for example, by using coordinated multicast transmissions to serve ED 110.

[0084] T-TRP 170 includes at least one transmitter 252 and at least one receiver 254 coupled to one or more antennas 256. Only one antenna 256 is shown in the figures to avoid congestion. Alternatively, one, some, or all of the antennas 256 may be panels. The transmitter 252 and receiver 254 may be integrated as a transceiver. T-TRP 170 also includes a processor 260 for performing operations, including operations related to: preparing to transmit downlink transmissions to ED 110, processing uplink transmissions received from ED 110, preparing to transmit backhaul transmissions to NT-TRP 172, and processing transmissions received from NT-TRP 172 via backhaul. Processing operations related to preparing to transmit downlink or backhaul transmissions may include operations such as encoding, modulation, precoding (e.g., multiple-input multiple-output (MIMO) precoding), transmit beamforming, and generating symbols for transmission. Processing operations related to receiving transmissions in the uplink or via backhaul may include receive beamforming, demodulating received symbols, and decoding received symbols. Processor 260 may also perform operations related to network access (e.g., initial access) and / or downlink synchronization, such as generating the contents of a synchronization signal block (SSB) and generating system information. In some embodiments, processor 260 also generates an indication of beam direction (e.g., BAI), which scheduler 253 may schedule for transmission. Processor 260 performs other network-side processing operations described herein, such as determining the location of ED 110 and the location for deploying NT-TRP 172. In some embodiments, processor 260 may generate signaling, for example, to configure one or more parameters of ED 110 and / or one or more parameters of NT-TRP 172. Any signaling generated by processor 260 is transmitted by transmitter 252. It should be noted that "signaling" as used herein may alternatively be referred to as control signaling. Signaling can be transmitted in physical layer control channels such as the physical downlink control channel (PDCCH). In this case, the signaling can be called dynamic signaling. Signaling transmitted in the downlink physical layer control channel is called downlink control information (DCI). Signaling transmitted in the uplink physical layer control channel is called uplink control information (UCI). Signaling transmitted in the sidelink physical layer control channel is called sidelink control information (SCI).Signaling can be included in higher-layer (e.g., above the physical layer) data packets transmitted in physical layer data channels such as the Physical Downlink Shared Channel (PDSCH). In this case, the signaling can be referred to as higher-layer signaling, static signaling, or semi-static signaling. Higher-layer signaling can also refer to Radio Resource Control (RRC) protocol signaling or Media Access Control – Control Element (MAC-CE) signaling.

[0085] Scheduler 253 may be coupled to processor 260. Scheduler 253 may be included within T-TRP 170 or may operate separately from T-TRP. Scheduler 253 may schedule uplink, downlink, lateral link, and / or backlink transmissions, including issuing scheduling authorizations and / or configuring scheduling-free (e.g., "configuration authorization") resources. T-TRP 170 also includes memory 258 for storing information and data. Memory 258 stores instructions and data used, generated, or acquired by T-TRP 170. For example, memory 258 may store software instructions or modules executed by processor 260 for implementing some or all of the functions and / or embodiments described herein.

[0086] Although not shown, processor 260 may constitute part of transmitter 252 and / or receiver 254. Furthermore, although not shown, processor 260 may implement scheduler 253. Although not shown, memory 258 may constitute part of processor 260.

[0087] The processing components of processor 260, scheduler 253, transmitter 252, and receiver 254 may each be implemented using one or more processors, either the same or different, for executing instructions stored in memory (e.g., memory 258). Alternatively, some or all of the processing components of processor 260, scheduler 253, transmitter 252, and receiver 254 may be implemented using dedicated circuitry (e.g., a programmable FPGA, hardware accelerator (e.g., GPU or AI accelerator), or ASIC).

[0088] Although the NT-TRP 172 is shown as an example of a drone only, it can be implemented in any suitable non-terrestrial form, such as satellites and high-altitude platforms, including international mobile communication base stations and unmanned aerial vehicles. Furthermore, in some implementations, the NT-TRP 172 may use other names, such as a non-terrestrial node, a non-terrestrial network device, or a non-terrestrial base station. The NT-TRP 172 includes a transmitter 272 and a receiver 274 coupled to one or more antennas 280. Only one antenna 280 is shown in the figures to avoid congestion. Alternatively, one, some, or all of the antennas may be panels. The transmitter 272 and receiver 274 may be integrated as a transceiver. The NT-TRP 172 also includes a processor 276 for performing operations, including operations related to: preparing downlink transmissions to ED 110, processing uplink transmissions received from ED 110, preparing return transmissions to T-TRP 170, and processing transmissions received from T-TRP 170 via return. Processing operations related to preparing to transmit downlink or backhaul transmissions may include operations such as encoding, modulation, precoding (e.g., MIMO precoding), transmit beamforming, and generating symbols for transmission. Processing operations related to processing transmissions received in the uplink or received via backhaul may include operations such as receive beamforming, demodulating received symbols, and decoding received symbols. In some embodiments, processor 276 implements transmit beamforming and / or receive beamforming based on beam direction information (e.g., BAI) received from T-TRP 170. In some embodiments, processor 276 may generate signaling, for example, for configuring one or more parameters of ED 110. In some embodiments, NT-TRP 172 implements physical layer processing but does not implement higher-layer functions, such as those in the medium access control (MAC) layer or radio link control (RLC) layer. Since this is only an example, more generally, NT-TRP 172 may also implement higher-layer functions other than physical layer processing.

[0089] The NT-TRP 172 also includes a memory 278 for storing information and data. Although not shown, a processor 276 may form part of the transmitter 272 and / or the receiver 274. Although not shown, the memory 278 may form part of the processor 276.

[0090] The processing components of processor 276, transmitter 272, and receiver 274 can each be implemented using one or more processors, either the same or different, to execute instructions stored in memory (e.g., memory 278). Alternatively, some or all of the processing components of processor 276, transmitter 272, and receiver 274 can be implemented using dedicated circuitry (e.g., a programmable FPGA, hardware accelerator (e.g., GPU or AI accelerator), or ASIC). In some embodiments, NT-TRP 172 can actually be multiple NT-TRPs that operate together, for example, through coordinated multicast transmissions, to serve ED 110.

[0091] T-TRP 170, NT-TRP 172 and / or ED 110 may include other components, but for clarity these components are omitted.

[0092] Figure 3B An exemplary block diagram of a device 310 according to some exemplary embodiments of the present invention is shown. Device 310 may be a communication device such as ED 110 or TRPs 170a and 170b, 172, or a device implemented in such a communication device. For example, the device implemented in the communication device may be an integrated circuit, which may have other names in some cases, such as chip, modem, modem chip, baseband chip, or baseband processor. In some implementations, one or more integrated circuits may be packaged as a system-on-a-chip, system-in-package, or multi-chip module. The device may include one or more integrated circuits, or one or more integrated circuits and other discrete components. In some implementations, device 310 may be a module in ED 110. In some implementations, device 310 may be a module in one of TRPs 170a and 170b, 172.

[0093] In one example, device 310 may include one or more processors / processor cores 311 and interface circuitry 312. Device 310 may also include memory 313. The one or more processors / processor cores 311 are used to process signals and execute one or more communication protocols. Memory 313 is used to store at least a portion of corresponding computer program instructions and / or data. In one example, one or more processors (or processor cores) 311 execute the computer program instructions stored in memory 313 to implement the relevant operations (e.g., input, output, reception, and transmission) in the above method embodiments. In some implementations, the memory 313 storing corresponding computer program instructions and / or data may mean that the memory 313 stores all of the corresponding computer program instructions and / or data for execution by one or more processors / processor cores 311. In some implementations, the memory 313 storing corresponding computer program instructions and / or data may mean that the memory 313 stores a portion of the corresponding computer program instructions and / or data. For example, a portion of the corresponding computer program instructions and / or data includes computer program instructions and / or data that one or more processors / processor cores 311 currently need to execute. Therefore, memory 313 can store different portions of computer program instructions and / or data multiple times for one or more processors (or processor cores) 311 to execute the relevant operations in the above method embodiments. Interface circuit 312 serves as a communication interface for communication with another component. For example, interface circuit 312 can transmit signals with other devices / systems (e.g., radio frequency processing devices or processor systems). Optionally, to reduce the load on the processor core, baseband signal processing circuit 314 can also be provided to process at least a portion of the baseband signals, including signal demodulation, modulation, encoding, decoding, etc.

[0094] Device 310 may be, in some scenarios, a processor 210 (or 260 or 276) within ED 110 (or T-TRP 170 or NT-TRP 172), or in some scenarios, a processor 210 (or 260 or 276) included within ED 110 (or T-TRP 170 or NT-TRP 172). Device 310 may be or may include a baseband chip. In some implementations, device 310 may be packaged independently into a chip. In some implementations, ED 110 (or T-TRP 170 or NT-TRP 172) includes different types of chips. Device 310 may be packaged together with different types of chips into a processor chip (e.g., a SoC chip or a SIP chip). In some implementations, device 310 may be packaged together with some or all of the circuitry from a radio frequency processing system that may also be included in ED 110 (or T-TRP 170 or NT-TRP 172) into a chip.

[0095] according to Figure 4 One or more steps of the methods in the embodiments provided herein may be performed by the corresponding units or modules. Figure 4 An exemplary block diagram 400 of a unit or module in a device such as ED 110, T-TRP 170, or NT-TRP 172 is shown. For example, a signal may be transmitted or output by a transmitting unit or transmitting module. A signal may be received or input by a receiving unit or receiving module. A signal may be processed by a processing unit or processing module. Other steps may be performed by an artificial intelligence (AI) module or a machine learning (ML) module. The corresponding unit or module may be implemented using hardware, one or more components or devices executing software, or a combination thereof. For example, one or more of these units or modules may be a circuit (e.g., an integrated circuit). Examples of integrated circuits include programmable FPGAs, GPUs, or ASICs. For example, one or more of these units or modules may be logical, such as a logical function executed by software instructions executed by a circuit, a portion of an integrated circuit, or a processor. It should be understood that if a module is implemented, for example, by a processor using software execution, the module can be retrieved by the processor, wholly or partially, individually or collectively, for processing, in one or more instances, and the module itself may include instructions for further deployment and instantiation.

[0096] Although not shown, the transmitting module and the receiving module can be part of a transceiver module, or they can be combined to form a transceiver module. A transceiver module can also be called an interface module, or simply an interface, and is used for input and output operations.

[0097] Further details regarding ED 110, T-TRP 170, and NT-TRP 172 are known to those skilled in the art. Therefore, these details are omitted herein.

[0098] As mentioned above, integrated sensing and communication (ISAC) is an ideal feature in existing and future communication systems and is expected to provide improved sensing for the practical implementation of integrated sensing.

[0099] Return to reference Figure 2 Any or both of ED 110 and BS 170 can be a sensing node in system 100. A sensing node is a network entity that performs sensing by sending and receiving sensing signals. Some sensing nodes are communication devices that perform both communication and sensing. However, some sensing nodes may not perform communication and are dedicated solely to sensing. Figure 2A sensing agent 174 is also shown, which is an example of a sensing node dedicated to sensing. Unlike ED 110 and BS 170, sensing agent 174 does not send or receive communication signals. However, sensing agent 174 can send configuration information, sensing information, signaling information, or other information within communication system 100. Sensing agent 174 can communicate with core network 130 to communicate with the remaining devices in communication system 100. For example, sensing agent 174 can determine the location of ED 110a and send that information to base station 170a via core network 130. Although only one sensing agent 174 is shown in the figures, any number of sensing agents can be implemented in communication system 100. In some embodiments, one or more sensing agents can be implemented at one or more RANs in RAN 120.

[0100] A sensing node can combine sensing-based technologies with reference signal-based technologies to enhance UE attitude determination. This type of sensing node can also be called a sensing management function (SMF). In some networks, the SMF can also be called a location management function (LMF). The SMF can be implemented as a physically independent entity located at core network 130, which is connected to multiple BS 170s. In other aspects of this application, the SMF can be implemented as a logical entity co-located within BS 170 by logic executed by processor 260.

[0101] Figure 5 An example of SMF 176 is shown. (e.g.) Figure 5 As shown, when implemented as a physically independent entity, the SMF 176 includes at least one processor 290, at least one transmitter 282, at least one receiver 284, one or more antennas 286, and at least one memory 288. Transceivers (not shown) may be used in place of transmitters 282 and receivers 284. A scheduler 283 may be coupled to the processor 290. The scheduler 283 may be included within the SMF 176 or may operate separately from the SMF. The processor 290 implements various processing operations of the SMF 176, such as signal encoding, data processing, power control, input / output processing, or any other function. The processor 290 may also be used to implement some or all of the functions and / or embodiments described in more detail above. Each processor 290 includes any suitable processing or computing device for performing one or more operations. For example, each processor 290 may include a microprocessor, microcontroller, digital signal processor, field-programmable gate array, or application-specific integrated circuit.

[0102] Attitude determination techniques based on reference signals belong to the "active" attitude estimation paradigm. In this paradigm, the user (UE) that queries attitude information participates in the process of determining the querier's attitude. The querier can send or receive (or both send and receive) signals related to the attitude determination process. Positioning techniques based on Global Navigation Satellite Systems (GNSS) (e.g., Global Positioning System (GPS)) are other examples of the active attitude estimation paradigm.

[0103] In contrast, radar-based sensing technologies, for example, can be considered a "passive" attitude determination paradigm. In the passive attitude determination paradigm, the target is completely unaware of the attitude determination process.

[0104] By integrating sensing and communication into a single system, the system does not need to operate according to a single paradigm. Therefore, combining sensing-based techniques with reference signal-based techniques can achieve enhanced attitude determination.

[0105] In some embodiments of integrated sensing and communication, sensing and communication use the same radioaccess technology (RAT). This avoids multiplexing two different RATs under a single carrier spectrum, or avoids providing two different carrier spectrums for two different RATs.

[0106] In an embodiment of integrated sensing and communication under a RAT, a first set of channels can be used to transmit sensing signals, and a second set of channels can be used to transmit communication signals. In some embodiments, each channel in the first set of channels and each channel in the second set of channels is a logical channel, a transport channel, or a physical channel.

[0107] At the physical layer, communication and sensing can be performed through separate physical channels. For example, a first physical downlink shared channel (PDSCH-C) can be defined for data communication, while a second physical downlink shared channel (PDSCH-S) can be defined for sensing. Similarly, separate physical uplink shared channels (PUSCH) PUSCH-C and PUSCH-S can be defined for uplink communication and sensing.

[0108] In another example, the same PDSCH and PUSCH can also be used for communication and sensing, where separate logical layer channels and / or transport layer channels are defined for communication and sensing. Furthermore, it should be noted that one or more control channels and one or more data channels used for sensing can have the same or different channel structures (formats), occupying the same or different frequency bands or bandwidth portions.

[0109] In another example, a common physical downlink control channel (PDCCH) and a common physical uplink control channel (PUCCH) are used to carry control information for sensing and communication. Alternatively, separate physical layer control channels can be used to carry separate control information for communication and sensing. For example, PUCCH-S and PUCCH-C can be used for uplink control for sensing and communication, and PDCCH-S and PDCCH-C can be used for downlink control for sensing and communication, respectively.

[0110] At each of the physical, transport, and logical layers, sensing and communication can be performed using different combinations of shared and dedicated channels.

[0111] The term "radar" originates from the phrase "wireless detection and ranging"; however, expressions with different capitalization (e.g., "Radar" and "radar") are equally valid and are now more common. Radar is typically used to detect the presence and location of objects. A radar system radiates radio frequency energy and receives the echoes of energy reflected from one or more targets. The system determines the attitude of a given target based on the echoes returning from that target. The radiated energy can be in the form of energy pulses or continuous waves, which can be represented or defined by specific waveforms. Waveforms used in radar include frequency-modulated continuous wave (FMCW) and ultra-wideband (UWB) waveforms.

[0112] Radar systems can be monostatic, bistatic, or multistatic. In a monostatic radar system, the radar transmitter and receiver are co-located, for example, integrated into a transceiver. In a bistatic radar system, the transmitter and receiver are spatially separated, with the separation distance equal to or greater than the expected target distance (often referred to as range). In a multistatic radar system, two or more radar components are spatially distinct but share a common coverage area. Multistatic radar is also known as multisite or mesh radar.

[0113] The characteristics of a sensing signal, or a signal used for both sensing and communication, include the signal's waveform and frame structure. The frame structure defines the signal's time-domain boundaries. The waveform describes how the signal's shape changes over time and frequency. Examples of waveforms that can be used for sensing signals include ultra-wideband (UWB) pulses, frequency-modulated continuous waves (FMCW) or "chirps," orthogonal frequency-division multiplexing (OFDM), cyclic prefix (CP)-OFDM, and discrete fourier transform spread (DFT-s)-OFDM.

[0114] For sensing tasks / applications, a device can sense its environment and then perform corresponding tasks based on the sensing results (e.g., detected objects or reconstructed environments). The sensing results can be sent to another device for further processing. Therefore, the exchanged sensing information needs to be described in a certain way.

[0115] Detected objects can be represented as points in space with coordinates (x, y, z). While this position-based representation is simple and has low transmission overhead, it cannot accurately describe information about the detected objects or environment. For example, it cannot describe the outline information of the objects or environment.

[0116] Detected objects or reconstructed environments can also be represented using point clouds or meshes. For example, in Figure 6 In the diagram, (a) shows an exemplary schematic diagram 600 of a point cloud representation, and (b) shows an exemplary schematic diagram 600 of a grid representation of two buildings.

[0117] A point cloud is a discrete collection of data points in space. Each point has coordinates (x, y, z).

[0118] A mesh is a collection of vertices, edges, and faces that define the shape of an object. Faces are typically composed of triangles (triangle mesh), quadrilaterals (quadrilateral mesh), or other convex polygons. A mesh can also be called a polygon or polygonal mesh.

[0119] Both point clouds and mesh representations can provide a detailed description of an object or environment. However, because they both represent objects based on points / vertices, the number of bits used for representation is relatively large, which introduces significant communication overhead in scenarios involving perceptual fusion, perceptual reporting, or other perceptual information exchange. For example, assuming the coordinates (x, y, z) of each point / vertex have a precision of 16 bits, the total number of bits for 100 points / vertexes would be 100. 3 16 = 4800 bits. Grid representation requires additional bits to represent edges, i.e., the relationships between vertices.

[0120] While very fine-grained descriptions are desirable for depicting detected objects or reconstructed environments, they also incur relatively high computational and transmission overhead. Considering these or similar scenarios, coarse and generalized descriptions suffice for most tasks. In such cases, line-based representations can be used to represent perceptual information, providing a simplified and efficient way to describe objects and the environment.

[0121] Figure 7 A signaling process 700 according to some exemplary embodiments of the present invention is illustrated. For illustrative purposes, the process 700 will be described with respect to a first device 701 and a second device 702.

[0122] In process 700, the first device 701 and the second device 702 may belong to the same communication device or different communication devices. In some implementations, the first device 701 may be a chip in the communication device, and the second device 702 may be a radio frequency device in the same communication device. In some implementations, the first device 701 may be a first communication device, and the second device 702 may be a second communication device. In some implementations, the first device 701 may be part of the first communication device, and the second device 702 may be part of the second communication device. In some examples, the first communication device and the second communication device may communicate with each other via a communication link or channel. In some examples, the first communication device and the second communication device may have the same device type or different device types. For example, either the first communication device or the second communication device may be ED 110, T-TRP 170, NT-TRP 172, SMF 176, etc., as discussed above. It should be noted that the first communication device and / or the second communication device can be implemented as any device type, and the present invention is not limited to this aspect. For ease of description, the first communication device may be referred to as the first device and the second communication device as the second device in the following description.

[0123] In signaling process 700, the first device 701 determines the perception information of the perception target at 710. For example, the perception target associated with the perception task (e.g., a perception object or a reconstructed environment) can be perceived to determine or generate the perception information.

[0124] In some examples, one or more objects, such as people, cars, buildings, or other objects or machines, may exist around the first device 701. In some examples, these objects may be static or moving, and may affect communication between the first device 701 or another device 702. In such cases, obtaining detailed information about the one or more objects (e.g., location, size, direction of movement, speed of movement, etc.) may be advantageous. Sensing operations can be used to determine the sensing information, and therefore, the sensing information can be used to derive detailed information. In this invention, for ease of description, the one or more objects may be referred to as sensing objects.

[0125] For example, one or more sensing signals can be used to determine or generate sensing information. In this invention, the sensing information can indicate N lines, where N is an integer, for example, N≥1.

[0126] In this invention, the term "line" can be used interchangeably with any of the terms edge, line segment, line section, etc. The perceptual information in this invention can be referred to as line-based perceptual information, line segment-based perceptual information, etc. That is, the perceptual information in this invention can be represented using either a line-based representation or a line segment-based representation.

[0127] refer to Figures 8 to 9 These accompanying figures illustrate two examples of perception tasks. Figure 8 Example 800 of perception for object detection is shown. Figure 9 An example 900 of perception for environmental reconstruction is shown. As shown in the figure, in Figure 8 In object detection, detected objects 810 can be perceived, and line-based representations 820 can be used. As shown in the figure, in... Figure 9 In the environment reconstruction process, the UE is sensing the environment 910. Due to limited sensing distance and range, it can only reconstruct partial environmental information 920. To roughly describe the detected objects and the reconstructed environment, a line-based representation or a line segment-based representation can be used. Based on this representation, the perceived information becomes a simplified representation at 820 and 920, respectively. Although the representation is relatively simple, it can still obtain the approximate outline of the detected objects, which is sufficient for many sensing tasks or related applications.

[0128] Line segments are the basic elements of line-based representation. Line-based representation uses a set of line segments to represent perceptual information, such as detected objects, reconstructed environments, etc. For example, ... Figure 8As shown at point 820, four line segments represent the vehicle. This line-based representation reduces the computational complexity and power consumption of the device, and also significantly reduces the transmission overhead for exchanging sensing information.

[0129] In some implementations, the sensing information may include M values ​​used to indicate N lines. In some examples, M is a multiple of N. For example, if p values ​​are used to represent each line, then M = p. N. For example, if p=4 or p=6, then M=4. N or M=6 N. In some implementations, the M values ​​can be ordered in a predefined format used to represent the N lines.

[0130] In some embodiments, a line may be represented using multiple values ​​(e.g., p values, where p is an integer). In some examples, the p values ​​may include the coordinates of the first vertex of the line and the coordinates of the second vertex of the line, which can be considered as Option 1 discussed below. In some examples, the p values ​​may include the coordinates of the first vertex of the line and the difference between the coordinates of the second vertex of the line and the coordinates of the first vertex of the line, which can be considered as Option 2 discussed below.

[0131] In some examples, in line-based or segment-based representations used for perceiving information, the basic element of a line-based representation is a line segment (e.g., represented as L). There are several representations of a line segment. For example, option 1 or option 2 line segments can be used.

[0132] Option 1: Each line segment L can be represented by two vertices (v1, v2). i Including 2D coordinates (x) i , y i ) or 3D coordinates (x i , y i , z i (e.g., i=1, 2). This means that the line segment can be a 2D line segment or a 3D line segment. For the 2D case, the line segment L can be represented by (x1, y1, x2, y2) or (x1, x2, y1, y2); or for the 3D case, the line segment L can be represented by (x1, y1, z1, x2, y2, z2) or (x1, x2, y1, y2, z1, z2). For example, for a line segment L composed of (x1, y1, z1, x2, y2, z2)... Figure 8For a line segment indexed (1) in the equation, if it is a 3D line segment and the coordinates of its two vertices are (2.56, 3.32, 16.2) and (5.79, 12.6, 15.7), then line segment (1) can be represented as (2.56, 3.32, 16.2, 5.79, 12.6, 15.7) or (2.56, 5.79, 3.32, 12.6, 16.2, 15.7). The same applies to 2D line segments.

[0133] Option 2: Each line segment L can be represented as (v, n) using a vertex v and a direction vector n. v includes 2D coordinates (x, y) or 3D coordinates (x, y, z). N is a 2D vector (a, b) or a 3D vector (a, b, c). Then, for the 2D case, line segment L can be represented as (x, y, a, b) or (x, a, y, b); or for the 3D case, line segment L can be represented as (x, y, z, a, b, c) or (x, y, z, a, b, c). , The line segment can be represented as (a, y, b, z, c). Using v+n, we can find the other vertex of the line segment (x+a, y+b, z+c). Taking option 1 as an example, one vertex of line segment (1) is (2.56, 3.32, 16.2), and the direction vector is (3.23, 9.28, -0.5). Therefore, line segment (1) can be represented as (2.56, 3.32, 16.2, 3.23, 9.28, -0.5) or (2.56, 3.23, 3.32, 9.28, 15.7, -0.5). The same applies to 2D line segments. Then, in order to obtain the other vertex of line segment (1), (2.56, 3.32, 16.2) + (3.23, 9.28, -0.5) can be used to obtain the other vertex of line segment L (5.79, 12.6, 15.7).

[0134] Option 1 has the advantage of directly obtaining the two vertices of the line segment without additional calculation. Option 2 has the advantage that the range of values ​​for the direction vector is usually smaller than the range of values ​​for the vertices, which will benefit from compression if line segment compression is enabled. Therefore, the overhead of Option 2 can be reduced.

[0135] For options 1 and 2, the coordinates of the vertex can be global coordinates (geographic coordinate system, community coordinate system, etc.) or local coordinates (device coordinate system, coordinate system relative to a reference point, coordinate system defined by a plane, etc.).

[0136] In some embodiments, for any line L, p values ​​can be used to represent line N, for example (the 1st value, the 2nd value, ..., the i-th value, ..., the p-th value), where 1 ≤ i ≤ p. In some examples, the meaning of the p values ​​can be based on option 1 or option 2 above. In some examples, the order of the p values ​​can be predefined. Taking option 1 as an example, the order can be the coordinates of the first vertex, then the coordinates of the second vertex. Taking option 1 as an example, the order can be the first coordinates of the first and second vertices, then the second coordinates of the first and second vertices. It should be understood that the present invention does not limit the order of the p values ​​of line N.

[0137] In some implementations, the perceived information comprises M values ​​ordered in a predefined format. In some implementations, the predefined format may indicate: N groups of values, each group including p values ​​representing a line. For example, the predefined format may indicate the order of the (j-1)th group followed by the jth group. For example, the jth group in N groups may include the line L. j p values.

[0138] In some other implementations, a predefined format can indicate p groups of values, where the j-th group comprises N values, which are the j-th values ​​of the corresponding line. For example, a predefined format can indicate the order of the (j-1)-th group followed by the j-th group. For example, the j-th group in p groups can include N values, which are the j-th values ​​of the corresponding line (e.g., out of p values).

[0139] In some other implementations, N lines have 2 There are N vertices. A predefined format can indicate p / 2 groups of values, where the j-th group of values ​​includes 2... There are N values, which are the j-th values ​​of the corresponding vertices. For example, a predefined format can indicate the order of the (j-1)-th group followed by the j-th group. For example, the j-th group in p / 2 groups can include 2. There are N values, which are the j-th coordinates of the corresponding vertices.

[0140] Based on the description of line segments (option 1 and / or option 2 above), the perceptual information of detected objects, reconstructed environment, etc., can be represented by {L1, L2, … L… N The format can be represented as a reweave (as shown below). N is the number of segments, L... j Let j be the j-th line segment described earlier, where 1 ≤ j ≤ N. For example, as... Figure 8 As shown, there are four line segments to represent vehicle 810.

[0141] In some examples, if option 1 is used, then line segment L j It can be represented as (x j 1, y j 1, z j 1, xj 2, y j 2,z j 2) or (x) j 1, x j 2, y j 1, y j 2, z j 1, z j 2), where (x) j 1, y j 1, z j 1) is the coordinate value of the vertex, (x j 2, y j 2, z j 2) is line segment L j The coordinates of the other vertex.

[0142] In some examples, if option 2 is used, then line segment L j It can be represented as (x j 1, y j 1, z j 1, a j , b j , c j ) or (x j 1, a j , y j 1, b j , z j 1, c j ), where (x j 1, y j 1, z j 1) is the coordinate value of the vertex, (a j , b j , c j ) represents the distance from the vertex to the line segment L. j The direction vector of the other vertex.

[0143] In some embodiments, if option 1 line segments are used, then {L1, L2, … L N The detailed information for} may include, but is not limited to: {x 1 1, y 1 1, z 1 1, x 1 2, y 1 2, z 1 2, x 2 1, y 2 1, z 2 1, x 2 2, y 2 2, z 2 2, …, xN 1, y N 1, z N 1,x N 2, y N 2, z N 2} (Put each L in based on the previous description) j ),or {x 1 1, x 1 2, y 1 1, y 1 2, z 1 1, z 1 2, x 2 1, x 2 2, y 2 1, y 2 2, z 2 1, z 2 2, …, x N 1, x N 2, y N 1,y N 2, z N 1, z N 2} (Put each L in based on the previous description) j ),or {x 1 1, x 1 2, x 2 1, x 2 2, …, x N 1, x N 2, …, y 1 1, y 1 2, …, y N 1, y N 2, z 1 1, z 1 2, …,z N 1, z N 2} (Recombination: put all x values ​​together, put all y values ​​together, put all z values ​​together), or {x 1 1, x 2 1, …, x N 1, x 1 2, x 2 2, …, x N 2, y 1 1, …, y N 1, y 1 2, …, y N 2, z 1 1, …,zN 1, z 1 2, …, z N 2} (Reorganization: Put all x1 values ​​together, put all x2 values ​​together, put all y1 values ​​together, put all y2 values ​​together, ...), Where (x) j 1, y j 1, z j 1) and (x) j 2, y j 2, z j 2) is the j-th line segment L j The vertices, 1≤j≤N.

[0144] In some embodiments, if option 2 line segments are used, then {L1, L2, … L N The detailed information for} may include, but is not limited to: {x 1 , y 1 , z 1 , a 1 , b 1 , c 1 , x 2 , y 2 , z 2 , a 2 , b 2 , c 2 , …, x N , y N , z N , a N , b N ,c N} (Put each L in based on the previous description) j ),or {x 1 , a 1 , y 1 , b 1 , z 1 , c 1 , x 2 , a 2 , y 2 , b 2 , z 2 , c 2 , …, x N , a N , y N , b N , z N , c N} (Put each L in based on the previous description) j ),or {x 1 , a 1 , x 2 , a 2 , …, x N , a N , …, y 1 , b 1 , …, y N , b N , z 1 , c 1 , …, z N , c N (Recombination: grouping all x values ​​and x-direction values ​​together, grouping all y values ​​and y-direction values ​​together, and grouping all z values ​​and z-direction values ​​together), or {x 1 , x 2 , …, x N , y 1 , …, y N , z 1 , …, z N , a 1 , …, a N , b 1 , …, b N , c 1 , …,c N (Reorganization: Put all x values ​​together, put all y values ​​together, put all z values ​​together, put all x-direction values ​​together, put all y-direction values ​​together, put all z-direction values ​​together, ...) Where (x) j 1 = x j , y j 1 = y j , z j 1 = z j ) and (x j 2 = x j 1+ a j , y j 2 = y j 1+b j , z j 2 = z j 1+c j ) is the j-th line segment L j The vertices, 1≤j≤N.

[0145] It should be noted that the advantage of grouping all x values ​​together, or all y values ​​together, or all x-direction values ​​together, or all z-direction values ​​together, is that by grouping numbers with similar properties together, compression performance will be improved if compression of line-based perceptual information (e.g., quantization and entropy coding) is enabled.

[0146] In some embodiments, compression operations can be performed on the M values. Therefore, the amount of data in the perceived information can be reduced, and overhead can be saved.

[0147] Return to reference Figure 7 At 720, the first device 701 sends and the second device 702 receives sensing information. In some implementations, the message or signaling used to send the sensing information may depend on the type of the first device 701 and the second device 702, the communication scenario between the first device 701 and the second device 702, the link conditions between the first device 701 and the second device 702, etc., and the present invention does not limit this aspect.

[0148] In some implementations, further information can be transmitted from the first device 701 to the second device 701, wherein this further information is associated with the sensed information. For example, the further information can be transmitted together with the sensed information or transmitted separately.

[0149] In some embodiments, further information may indicate that the perception information is line-based (e.g., a model of the perception information). In some embodiments, further information may indicate at least one of the following: the total number of lines (e.g., the value of N), the total number of values ​​(e.g., M), or the number of coordinates used to represent lines (e.g., p, which is the number of coordinate values ​​used to represent lines). In some embodiments, further information may indicate a coordinate system upon which the M values ​​are used (or the coordinates of the lines / vertices are used based on this coordinate system). In some embodiments, further information may indicate the precision of at least a portion of the M values. In some embodiments, further information may indicate whether option 1 or option 2 is used. In some embodiments, further information may indicate a predefined format for the M values. In some embodiments, further information may indicate whether a compression operation is used. In some embodiments, if a compression operation is used, further information may indicate one or more compression parameters.

[0150] It should be noted that although some examples of further information are listed here, some or all of the information in the further information may be included or omitted. For example, some of the information in the further information may be predefined and does not need to be sent redundantly, thus saving transmission resources.

[0151] From the perspective of the second device 702, the second device 702 can determine the sensing target at 730 based on the sensing information.

[0152] In some implementations, the second device 702 can construct a sensing target (e.g., a sensing object or a sensing environment) based on sensing information. In some examples, sensing information from more than one device can be used. For example, the second device 702 can also receive further sensing information from another device, and the second device 702 can combine the sensing information (received at 720) with the further sensing information. In some examples, the combined information can be used to construct the sensing target.

[0153] In some implementations, the sensing information can be used to assist the second device 702 in communication. For example, the second device 702 may be in a mobile state, and the sensing information may be used to avoid collisions. For example, the second device 702 may communicate with another device (e.g., sensing an object or other device), and the sensing information may be used to improve communication efficiency.

[0154] It should be understood that, although the perceived information comes from... Figure 7 The first device 701 provides information to the second device 702, but in some scenarios, other sensing information can be provided from the second device 702 to the first device 701.

[0155] In some examples, the first device 701 may not be able to perceive all objects in the environment. For example, at least part of an object may be occluded by another object, and the first device 701 cannot obtain detailed information about the occluded object. In this case, the perceptual information determined by the first device 701 may be insufficient to complete the perception task, and additional perceptual information from the second device 702 may help to construct an accurate environment. For example, the perceptual information determined by the first device 701 and other perceptual information determined by the second device 702 can be combined. In some cases, there may be two or more devices in a specific area (e.g., a room), and the two or more pieces of perceptual information determined by these two or more devices can be exchanged. For example, the first device 701 among multiple devices can obtain all the perceptual information. Therefore, the environment (e.g., a specific area (e.g., a room)) can be constructed more accurately.

[0156] As a specific example, the first device 701 can be implemented as a first device 1001, and the second device 702 can be implemented as a second device 1002. Figure 10 An exemplary process 1000 for indicating line-based sensing information is illustrated. The exemplary process 1000 is a related flow for the transmission of sensing information between a first device 1001 and a second device 1002. For example... Figure 10As shown at 1010, in order to exchange sensing information, the first device 1001 may send line-based sensing information to the second device 1002 and / or receive line-based sensing information from the second device 1002.

[0157] The first device 1001 can send line-based sensing information {L1, L2, … L} to the second device 1002. N Alternatively, it may receive line-based sensing information from the second device 1002, the content and format of which are as previously described. Optionally, it may also include the number of line segments N. It should be noted that if the number of line segments is fixed, or configured / indicated before the sensing information indication, then N does not need to be related to {L1, L2, … L}. N Send them together.

[0158] In some implementations, further interactions may be performed between the first device 701 and the second device 702 to enable the transmission of line-based sensing information. In some examples, these further interactions may relate to some or all of the following: capability information, configuration information, parameter information, or other indication information. Further details will be referenced below. Figure 11 supply.

[0159] Figure 11 An exemplary process 1100 for two devices according to some exemplary embodiments of the present invention is illustrated. The exemplary process 1100 is a related flow for indicating line-based sensing information between a first device 1001 and a second device 1002.

[0160] As mentioned above, the first device 1001 and the second device 1002 may belong to the same device type or different types. In some examples, one of the first device 1001 and the second device 1002 is a terminal device, and the other of the first device 1001 and the second device 1002 is another terminal device or a network device. In some examples, both the first device 1001 and the second device 1002 are network devices. For example, one of the first device 1001 and the second device 1002 is an access network device (e.g., gNB), and the other of the first device 1001 and the second device 1002 is another access network device (e.g., gNB) or a core network device (e.g., LMF or SMF 176). For ease of description, refer to... Figure 11 The following description may assume that one of the first device 1001 and the second device 1002 is a UE and the other of the first device 1001 and the second device 1002 is a BS.

[0161] At 1110, the first device 1001 can send and the second device 1002 can receive first capability information from the first device 1001; and / or the second device 1002 can send and the first device 1001 can receive second capability information from the second device 1002. In some embodiments, the capability information (first capability information / second capability information) can indicate whether the corresponding device (e.g., the first device / second device (e.g., the sender of the capability information)) has a capability associated with perception.

[0162] For example, capability information (first capability information / second capability information) can indicate whether line-based sensing is supported, such as whether it supports generating or receiving line-based sensing information. For example, capability information (first capability information / second capability information) can indicate line-based mode selection, i.e., support for line-based sensing. For example, the selected mode is a line-based mode used for sensing information.

[0163] For example, capability information (first capability information / second capability information) can indicate the maximum value of N supported, such as Nmax. In this case, the generated or received line-based sensing information should indicate N lines with N ≤ Nmax.

[0164] For example, capability information (first capability information / second capability information) can indicate whether compression of line-based sensing is supported, such as compressing the generated line-based sensing information or receiving compressed line-based sensing information.

[0165] Before exchanging line-based perception information (e.g., at 1010), the first device 1001 and the second device 1002 may exchange their capability or mode selection information for line-based representation.

[0166] For example, if the first device 1001 is a UE and the second device 1002 is a BS, the UE can indicate to the BS its capability for line-based sensing representation, or its mode selection for line-based sensing representation (e.g., using line-based sensing representation), in RRC signaling, MACCE, or PHY signaling. This indicates whether it has the capability to extract line-based sensing information, or selects a mode for extracting line-based sensing information; if so, it indicates whether it has the capability to compress line-based sensing information, or selects a mode for compressing line-based sensing information, such as the maximum number of line segments that can be extracted / transmitted at once.

[0167] Conversely, the BS may also broadcast / multicast / unicast its mode selection for line-based sensing representation (e.g., using line-based sensing representation) to one or more UEs (including the first device 1001). This mode selection may be included in RRC signaling, MAC CE, or PHY signaling. For example, the indication may be included in control channels such as synchronization signal block (SSB), system information block (SIB), RRC-specific signaling, or PDCCH / DCI.

[0168] At 1120, the first device 1001 can send and the second device 1002 can receive a first notification; and / or the second device 1002 can send and the first device 1001 can receive a second notification. In some embodiments, the notification (i.e., the first notification / second notification, which may also be referred to as an indication in some cases) may indicate whether line-based sensing is enabled or disabled; and / or whether real-time sensing is enabled or disabled.

[0169] In some examples, it is also possible to indicate from the first device 1001 to the second device 1002 or from the second device 1002 to the first device 1001 to enable or disable line-based sensing representation in real time. This can be included as RRC signaling, MAC CE, or PHY signaling in broadcast / multicast / unicast messages. For example, notifications can be included in synchronization signal blocks (SSBs), system information (SIBs), RRC-specific signaling, UAI, or control channels such as PUCCH / PDCCH / DCI / UCI.

[0170] At 1130, the first device 1001 can send and the second device 1002 can receive a first parameter indication / configuration; and / or the second device 1002 can send and the first device 1001 can receive a second parameter indication / configuration. In some implementations, the parameter indication / configuration (i.e., the first parameter indication / configuration / second parameter indication / configuration, also referred to as the related parameter indication or related parameter configuration) can indicate, for example, one or more parameters used for line-based sensing information. For example, the one or more parameters may include one or more parameters associated with N lines.

[0171] Before exchanging line-based sensing information (e.g., in step 1010), some relevant parameters may be configured to or indicated by one or more first and / or second devices. For example, if the first device 1001 is a UE and the second device 1002 is a BS, the UE may indicate the relevant parameters to the BS. Conversely, the BS may also broadcast / multicast / unicast the relevant parameters to one or more UEs (including the first device 1001). The relevant parameters may be included in downlink / uplink / sideline RRC signaling, MAC CE, or PHY signaling. For example, indication / configuration may be included in synchronization signal blocks (SSBs), system information (SIBs), public / private RRC signaling, or control channels such as PUCCH / PDCCH / DCI / UCI. In some examples, the relevant parameters may include, but are not limited to: ○ The line segment or coordinate system is 2D or 3D.

[0172] ○ The maximum number of line segments transmitted each time (e.g., Nmax).

[0173] ○ The number of line segments N transmitted each time (e.g., the value of N, which can be a fixed value).

[0174] ○ The coordinate system is a global coordinate system (geographic coordinate system, local coordinate system, etc.) or a local coordinate system (equipment coordinate system, coordinate system relative to a reference point, coordinate system defined by a plane, etc.).

[0175] ○ The precision of the vertex and / or direction vector of the line segment (e.g., the number of bits used to represent (x, y, z) and / or (a, b, c)).

[0176] ○ represents {L1, L2, … L N The format is}, i.e., option 1 or option 2 as previously described, and directly fills each L. j Detailed descriptions, such as grouping all x values ​​together, are provided. For example, see the reference above. Figure 7 The predefined formats discussed.

[0177] ○ Whether to compress line segments or line-based perceptual information. If compression is used, then the compression method and / or compression parameters. For example, the quantization method for vertex coordinates and / or direction vector values ​​(e.g., scalar quantization, dynamic quantization, etc.), quantization parameters (e.g., quantization bits, [min, max] values, scaling parameters, etc.), whether entropy coding is used (e.g., Huffman coding, arithmetic coding, etc.), etc.

[0178] For example, relevant parameters can indicate that compression should be used for line-based sensing information, and can further indicate compression parameters. For example, compression can be performed using quantization methods. For example, compression can be performed using entropy methods.

[0179] In some implementations, such as Figure 11 As shown, line-based sensing information can be sent at 1010, which can be performed after operations 1110 to 1130. In some examples, the line-based sensing information at 1010 is determined based on the information from operations 1110 to 1130. As an example, if the first capability information indicates that the maximum value of N supported by the first device 1001 is Nmax1, and the second capability information indicates that the maximum value of N supported by the second device 1002 is Nmax2, then the value of N should not be greater than min {Nmax1, Nmax2}.

[0180] It should be understood that although operations 1110 to 1130 are described, some operations in operations 1110 to 1130 may be combined, modified, or removed (omitted). For example, relevant parameters may be included in the capability information, and operation 1130 may be omitted. For example, operation 1130 may be removed, and information about parameters of the line-based sensing information may be sent at 1010.

[0181] It should be understood that although some of the above embodiments are described using the interaction and processing flow between user equipment (UE) and base station (BS), the exchanged information and protocol streams can also occur at other network nodes (e.g., Figure 2 Used between those network nodes described in the document (e.g., between ED and TRP, between ED and core network, between ED and ED, between TRP and TRP).

[0182] This invention can also be applied to Wi-Fi, Ultra Wide Band (UWB), and other short-range communications. Furthermore, in some embodiments of this invention, the BS in the above-described process can be replaced with an Access Point (AP), etc.

[0183] It should be noted that the line-based representation or line segment-based representation in this invention differs from, for example... Figure 6 The grid representation is shown in (b) above. (See reference.) Figure 12The figure illustrates the difference 1200 between mesh representation 1210 and line-based representation 1220. As shown, in mesh representation 1210, multiple vertices are connected by edges. This means that edges (1) and (2) in mesh representation 1210 share the same vertex A, edges (2) and (3) in mesh representation 1210 share the same vertex B, and so on. For example, mesh representation 1210 includes 4 edges and 4 vertices.

[0184] Forcing two edges to share a vertex in a mesh representation not only increases the computational complexity of the device, but also causes the edges to deviate from their original detected orientation during vertex sharing, potentially distorting or inaccurating the described object / environment. For example, Figure 13 An exemplary schematic diagram 1300 showing a shared vertex in a mesh representation is shown. As shown, edges 1302 and 1304 need to be deformed to share the same vertex 1310.

[0185] However, in the line-based representation 1220 of the present invention, the lines (or edges) are not deformed so as to preserve the original information. It is best to preserve the original detected object / environment boundaries in order to obtain more accurate fusion results, especially in perceptual fusion scenarios. On the other hand, line-based perceptual information representation can not only reduce the computational complexity of the device, but also preserve the original detected object / environment boundaries.

[0186] Figure 14 A flowchart of a communication method 1400 according to some exemplary embodiments of the present invention is shown. Method 1400 can be derived from reference... Figure 7 The first device 701 discussed is implemented. The first device 701 may be a reference. Figures 10 to 11 The first device 1001 or the second device under discussion. For discussion purposes, method 1400 will be described with reference to the first device. It should be understood that method 1400 may include additional actions not shown and / or some actions shown may be omitted, and the scope of the invention is not limited thereto.

[0187] At 1410, the first device determines perception information of the perceived target, wherein the perception information indicates N lines used to represent the perceived target, where N is an integer greater than or equal to 1. In some examples, the operation at box 1410 can be referenced in combination. Figure 7 For the sake of brevity, the operations discussed in step 710 will not be repeated here.

[0188] In some embodiments, the perceived information includes M values ​​ordered in a predefined format for representing N lines, where M is a multiple of N. In some examples, the M values ​​include multiple values ​​for the first line among the N lines, wherein the multiple values ​​include: the coordinates of a first vertex of the first line; and the coordinates of a second vertex of the first line. In some examples, the M values ​​include multiple values ​​for the first line among the N lines, wherein the multiple values ​​include: the coordinates of a first vertex of the first line; and the difference between the coordinates of the second vertex of the first line and the coordinates of the first vertex of the first line.

[0189] At point 1420, the first device transmits sensing information. In some examples, the operation at point 1420 can be referenced in combination. Figure 7 For the sake of brevity, the operations discussed in step 720 will not be repeated here.

[0190] It should be noted that method 1400 may include various other operations that can be performed by the first device 701, the first apparatus 1001, or the second apparatus 1002, as referenced above. Figure 7 as well as Figures 11 to 12 As described. In some examples, the first device may also receive and / or transmit capability information. In some examples, additional operations that the first device may perform can be referenced in conjunction with... Figures 11 to 12 For the sake of brevity, the operations discussed in steps 1010 and 1110 to 1130 will not be repeated here.

[0191] Figure 15 A flowchart of a communication method 1500 according to some exemplary embodiments of the present invention is shown. Method 1500 can be derived from reference... Figure 7 The second device 702 discussed is implemented. The second device 702 may be a reference. Figures 10 to 11 The first device 1001 or the second device is discussed. For discussion purposes, method 1500 will be described with reference to the second device. It should be understood that method 1500 may include additional actions not shown and / or some actions shown may be omitted, and the scope of the invention is not limited thereto.

[0192] At 1510, the second device receives sensing information of the sensing target, wherein the sensing information indicates N lines used to represent the sensing target, where N is an integer greater than or equal to 1. In some examples, the operation at box 1510 can be referenced in combination. Figure 7 For the sake of brevity, the operations discussed in step 720 will not be repeated here.

[0193] In some embodiments, the perceived information includes M values ​​ordered in a predefined format for representing N lines, where M is a multiple of N. In some examples, the M values ​​include multiple values ​​for the first line of the N lines, wherein the multiple values ​​include: the coordinates of a first vertex of the first line; and the coordinates of a second vertex of the first line. In some examples, the M values ​​include multiple values ​​for the first line of the N lines, wherein the multiple values ​​include: the coordinates of a first vertex of the first line; and the difference between the coordinates of the second vertex of the first line and the coordinates of the first vertex of the first line.

[0194] At point 1520, the second device determines the perceived object based on the perceived information. In some examples, the operation at point 1520 can be referenced in combination. Figure 7 For the sake of brevity, the operations discussed in step 730 will not be repeated here.

[0195] It should be noted that method 1500 may include various other operations that can be performed by the second device 702, the first device 1001, or the second device 1002, as referenced above. Figure 7 as well as Figures 11 to 12 As described. In some examples, the second device may also receive and / or transmit capability information. In some examples, additional operations that the second device may perform can be referenced in conjunction with... Figures 11 to 12 For the sake of brevity, the operations discussed in steps 1010 and 1110 to 1130 will not be repeated here.

[0196] Figure 16 A schematic diagram of the structure of an apparatus 1600 according to some embodiments of the present invention is shown. As shown, the apparatus 1600 includes a processing module 1610 and a transmitting module 1620. The apparatus 1600 can be applied to, for example, the first apparatus discussed above, and can implement any of the methods provided in the above embodiments.

[0197] The processing module 1610 is used to determine the sensing information of the sensing target, wherein the sensing information indicates N lines used to represent the sensing target, where N is an integer greater than or equal to 1. The sending module 1620 is used to send the sensing information.

[0198] Figure 17 A schematic diagram of the structure of an apparatus 1700 according to some embodiments of the present invention is shown. As shown, the apparatus 1700 includes a receiving module 1710 and a processing module 1720. The apparatus 1700 can be applied to, for example, the second apparatus discussed above, and can implement any of the methods provided in the above embodiments.

[0199] The receiving module 1710 is used to receive sensing information of the sensing target, wherein the sensing information indicates N lines used to represent the sensing target, where N is an integer greater than or equal to 1. The processing module 1720 is used to determine the sensing object based on the sensing information.

[0200] The physical representation of device 1600 or device 1700 may be a communication device (e.g., a network device or a UE). Alternatively, device 1600 / 1700 may also be another device capable of implementing the functions of a communication device, such as a processor or chip within the communication device. Specifically, device 1600 / 1700 may be some programmable chip, such as a field-programmable gate array (FPGA), a complex programmable logic device (CPLD), an application-specific integrated circuit (ASIC), or a system-on-a-chip (SoC).

[0201] In some embodiments, apparatus 1600 or apparatus 1700 may include various other units or modules that can be used to perform various operations or functions described in conjunction with the above method embodiments. Details can be found in the detailed description of the above method embodiments, and will not be repeated here.

[0202] It should be noted that the division of units or modules in the above embodiments of the present invention is exemplary and only represents a logical functional division. In actual implementation, other division methods are possible. Furthermore, the functional units in the embodiments of the present invention can be integrated into one processing unit, or can exist physically independently, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0203] When an integrated unit is implemented as a software functional unit and sold or used as an independent product, the integrated unit can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention can be implemented essentially, or in whole or in part, in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for instructing a computer device (which may be a personal computer, server, or network device) or processor to execute all or part of the steps of the methods described in the embodiments of the present invention. The aforementioned storage medium includes any medium capable of storing program code, such as a USB flash drive, a portable hard drive, read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk.

[0204] Figure 18 A block diagram of a device 1800 that can be used to implement some embodiments of the present invention is shown. Device 1800 can be considered as yet another exemplary implementation (e.g., a portion) of the first and second devices discussed above.

[0205] As shown in the figure, device 1800 includes a processor 1810, a memory 1820 coupled to the processor 1810, suitable transmitter (TX) and receiver (RX) 1840 coupled to the processor 1810, and a communication interface coupled to the TX / RX 1840. The memory 1810 stores at least a portion of a program 1830. The TX / RX 1840 is used for bidirectional communication.

[0206] Assume that program 1830 includes program instructions that, when executed by the associated processor 1810, enable device 1800 to operate according to embodiments of the present invention, as referenced herein. Figures 7 to 17 The embodiments described herein can be implemented by computer software executable by the processor 1810 of device 1800, or by hardware, or by a combination of software and hardware. The processor 1810 can be used to implement various embodiments of the invention. Furthermore, a combination of the processor 1810 and the memory 1820 can form a processing unit 1850 suitable for implementing various embodiments of the invention.

[0207] Memory 1820 can be of any type suitable for a local technology network and can be implemented using any suitable data storage technology, such as non-transitory computer-readable storage media, semiconductor-based storage devices, magnetic storage devices and systems, optical storage devices and systems, fixed memory, and removable memory (as non-limiting examples). Although only one memory 1820 is shown in device 1800, several physically different memory modules may exist in device 1800. Processor 1810 can be of any type suitable for a local technology network and can include one or more of the following: general-purpose computer, special-purpose computer, microprocessor, digital signal processor (DSP), and processor based on a multi-core processor architecture (as non-limiting examples). Device 1800 can have multiple processors, such as application-specific integrated circuit chips that are time-dependent on a clock synchronized with the main processor.

[0208] The table below provides some acronyms, abbreviations, and acronyms that may be used in this invention.

[0209] This invention encompasses a variety of embodiments, including not only method embodiments but also other embodiments, such as apparatus embodiments and embodiments related to non-transitory computer-readable storage media. Embodiments may be combined individually or in combination with the features disclosed herein.

[0210] While this invention pertains to illustrative embodiments, it is not intended to be limiting. Various modifications and combinations of the illustrative embodiments, as well as other embodiments of the invention, will become apparent to those skilled in the art upon reference to this description.

[0211] Additionally or alternatively, features disclosed herein in the context of any particular embodiment may be implemented in other embodiments. For example, method embodiments may be implemented in apparatus, system, and / or computer program product embodiments. Furthermore, although embodiments are described primarily in the context of methods and apparatus, other implementations are contemplated as instructions stored in one or more non-transitory computer-readable media, etc. Such media may store programs or instructions to perform any of the various methods consistent with the present invention.

[0212] The present invention provides an apparatus or device, comprising: a processor; a memory storing computer program code; the memory and the computer program code being used by the processor to cause the apparatus or device to perform a method implemented at the first and / or second apparatus discussed above.

[0213] The present invention provides a computer-readable medium (e.g., a non-transitory computer-readable storage medium) having instructions stored thereon, which, when executed by a processor of a device, cause the device to perform a method implemented at the first or second device discussed above.

[0214] The present invention provides a computer program product including instructions that, when executed by a processor of a device, cause the device to perform a method implemented at the first or second device discussed above.

[0215] Generally, various embodiments of the present invention can be implemented in hardware or dedicated circuitry, software, logic, or any combination thereof. Some aspects can be implemented in hardware, while others can be implemented in firmware or software, which can be executed by a controller, microprocessor, or other computing device. Although various aspects of embodiments of the present invention are shown and described as block diagrams, flowcharts, or using other graphical representations, it should be understood that the blocks, apparatuses, systems, techniques, or methods described herein can be implemented in hardware, software, firmware, dedicated circuitry or logic, general-purpose hardware or controllers or other computing devices (as non-limiting examples), or some combination thereof.

[0216] The present invention also provides at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes computer-executable instructions (e.g., computer-executable instructions included in a program module) which, when executed in a device on a target real or virtual processor, are used to perform the functions described above. Figures 7 to 15 The described process or method. Typically, a program module includes routines, programs, libraries, objects, classes, components, data structures, etc., that perform specific tasks or implement specific abstract data types. In various embodiments, the functionality of a program module can be combined or split among program modules as needed. The machine-executable instructions of a program module can execute on a local or distributed device. In a distributed device, the program module can reside on both local and remote storage media.

[0217] The program code used to perform the methods of the present invention can be written in any combination of one or more programming languages. This program code can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the program code implements the functions / operations specified in the flowchart or block diagram. The program code can be executed entirely on the machine, partially on the machine (as a standalone software package), partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0218] The aforementioned program code can be embodied in a machine-readable medium, which can be any tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. The machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Further specific examples of machine-readable storage media include electrical connections having one or more wires, portable computer floppy disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0219] Furthermore, although the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or sequentially, or requiring the execution of all the operations shown to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the foregoing discussion, these details should not be considered as limitations on the scope of the invention, but rather as descriptions of features specific to particular embodiments. Certain features described in the context of various embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

[0220] Although the invention has been described in language specific to structural features or methodological actions, it should be understood that the invention as defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are disclosed as exemplary forms for implementing the claims.

Claims

1. A communication method, characterized in that, include: Determine the perceptual information of the target being perceived; Send the sensing information; wherein the sensing information indicates N lines used to represent the sensing target, where N is an integer greater than or equal to 1.

2. The method according to claim 1, characterized in that, The perceived information includes M values ​​sorted in a predefined format for representing the N lines, where M is a multiple of N.

3. The method according to claim 2, characterized in that, The M values ​​include multiple values ​​of the first line among the N lines, wherein the multiple values ​​include: The coordinates of the first vertex of the first line; The coordinates of the second vertex of the first line.

4. The method according to claim 2, characterized in that, The M values ​​include multiple values ​​of the first line among the N lines, wherein the multiple values ​​include: The coordinates of the first vertex of the first line; The difference between the coordinates of the second vertex of the first line and the coordinates of the first vertex of the first line.

5. The method according to any one of claims 2 to 4, characterized in that, Also includes: Send or receive instructions for the predefined format.

6. The method according to any one of claims 1 to 5, characterized in that, Also includes: Sending or receiving information relating to the N lines, wherein the information relating to the N lines indicates at least one of the following: The value of N; The maximum value of N; The coordinate system on which the coordinates of the vertices are based; The number of coordinate values ​​used to represent the vertices of a line; The precision of the values ​​in the perceived information; Whether the values ​​in the perceived information are compressed; At least one parameter used for compression.

7. The method according to claim 6, characterized in that, The precision is indicated by the number of bits used to represent the values ​​in the perceived information.

8. The method according to any one of claims 1 to 7, characterized in that, The perceived information includes the value of N.

9. The method according to any one of claims 1 to 8, characterized in that, Determining the perceived information includes: The perception information is determined based on capability information, wherein the capability information includes at least one of the following: First capability information of the first device; Second capability information of the second device.

10. The method according to claim 9, characterized in that, Also includes: Send first capability information, which indicates the capabilities of the first device.

11. The method according to claim 9 or 10, characterized in that, Also includes: Receive second capability information, which indicates the capabilities of the second device.

12. The method according to any one of claims 9 to 11, characterized in that, The capability information indicates at least one of the following: Does it support line-based sensing? The maximum value of N that can be supported; Does it support compression of the line-based sensing? 13. The method according to any one of claims 1 to 12, characterized in that, Also includes: Sending or receiving a notification that indicates at least one of the following: Enable line-based awareness; Whether to enable real-time sensing.

14. A communication method, characterized in that, include: Receive sensing information of a sensing target, wherein the sensing information indicates N lines used to represent the sensing target, where N is an integer greater than or equal to 1; The sensing target is determined based on the sensing information.

15. The method according to claim 14, characterized in that, The perceived information includes M values ​​sorted in a predefined format for representing the N lines, where M is a multiple of N.

16. The method according to claim 15, characterized in that, The M values ​​include multiple values ​​of the first line among the N lines, wherein the multiple values ​​include: The coordinates of the first vertex of the first line; The coordinates of the second vertex of the first line.

17. The method according to claim 15, characterized in that, The M values ​​include multiple values ​​of the first line among the N lines, wherein the multiple values ​​include: The coordinates of the first vertex of the first line; The difference between the coordinates of the second vertex of the first line and the coordinates of the first vertex of the first line.

18. The method according to any one of claims 15 to 17, characterized in that, Also includes: Send or receive instructions for the predefined format.

19. The method according to any one of claims 14 to 18, characterized in that, Also includes: Sending or receiving information relating to the N lines, wherein the information relating to the N lines indicates at least one of the following: The value of N; The maximum value of N; The coordinate system on which the coordinates of the vertices are based; The number of coordinate values ​​used to represent the vertices of a line; The precision of the values ​​in the perceived information; Whether the values ​​in the perceived information are compressed; At least one parameter used for compression.

20. The method according to claim 19, characterized in that, The precision is indicated by the number of bits used to represent the values ​​in the perceived information.

21. The method according to any one of claims 14 to 20, characterized in that, The perceived information includes the value of N.

22. The method according to any one of claims 14 to 21, characterized in that, The perception information is determined based on capability information, which includes at least one of the following: First capability information of the first device; Second capability information of the second device.

23. The method according to claim 22, characterized in that, Also includes: Receive first capability information, which indicates the capabilities of the first device.

24. The method according to claim 22 or 23, characterized in that, Also includes: Send second capability information, which indicates the capabilities of the second device.

25. The method according to any one of claims 22 to 24, characterized in that, The capability information indicates at least one of the following: Does it support line-based sensing? The maximum value of N that can be supported; Does it support compression of the line-based sensing? 26. The method according to any one of claims 14 to 25, characterized in that, Also includes: Sending or receiving a notification that indicates at least one of the following: Enable line-based awareness; Whether to enable real-time sensing.

27. The method according to any one of claims 14 to 26, characterized in that, Also includes: Perform at least one of the following: The perceived information is combined with other perceived information; The perceived information is used to assist in communication.

28. A communication device, characterized in that, Used to perform the method according to any one of claims 1 to 13 or 14 to 27.

29. The communication device according to claim 28, characterized in that, include: A processing unit is configured to determine the perception information of a sensing target, wherein the perception information indicates N lines used to represent the sensing target, where N is an integer greater than or equal to 1; A transmitting unit is used to transmit the sensed information.

30. The communication device according to claim 28, characterized in that, include: A receiving unit is used to receive sensing information of a sensing target, wherein the sensing information indicates N lines used to represent the sensing target, where N is an integer greater than or equal to 1; A processing unit is used to determine the sensing target based on the sensing information.

31. The communication device according to claim 28, characterized in that, include: One or more processors are configured to determine perception information of a perceived target, wherein the perception information indicates N lines for representing the perceived target, where N is an integer greater than or equal to 1; An interface circuit is used to transmit the sensed information.

32. The communication device according to claim 28, characterized in that, include: An interface circuit is used to receive sensing information of a sensing target, wherein the sensing information indicates N lines used to represent the sensing target, where N is an integer greater than or equal to 1; One or more processors are configured to determine the perceived target based on the perceived information.

33. The communication device according to claim 31 or 32, characterized in that, The interface circuit includes one or more transceivers.

34. An apparatus, characterized in that, include: One or more processors; The memory stores instructions that, when executed by the one or more processors, cause the apparatus to perform the method according to any one of claims 1 to 13 or 14 to 27.

35. A communication system, characterized in that, include: A first communication device is configured to perform the method according to any one of claims 1 to 13; A second communication device is used to perform the method according to any one of claims 14 to 27.

36. A computer-readable storage medium, characterized in that, It stores instructions that, when executed by the device, cause the device to perform the method according to any one of claims 1 to 13 or 14 to 27.

37. A computer program product that stores instructions, characterized in that, When the instruction is executed, it causes the device to perform the method according to any one of claims 1 to 13 or 14 to 27.

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