Sensing method and apparatus

Abstract

The present application relates to the technical field of wireless communications, and provides a sensing method and an apparatus, for use in reducing the calculation amount of a communication system. In the method, a first communication apparatus receives super-resolution capability information from i second communication apparatuses, wherein the super-resolution capability information is used for indicating sensed resolutions of the second communication apparatuses. i is an integer greater than or equal to 2. The first communication apparatus obtains information of a super-resolution area, wherein the super-resolution area is used for super-resolution sensing carried out by the i second communication apparatuses. The super-resolution area is determined by a third communication apparatus having the optimal sensed resolution among the i second communication apparatuses. The first communication apparatus sends the information of the super-resolution area. On the basis of the solution, the first communication apparatus can determine the information of the super-resolution area, so that the second communication apparatuses can carry out super-resolution sensing within the super-resolution area, and the operation complexity can be reduced and the sensing efficiency is improved while ensuring the sensing accuracy as much as possible.

Description

A sensing method and device

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of the People's Republic of China on June 5, 2023, with application number 202310659978.8 and application name "A Perception Method and Device", the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of wireless communication technology, and in particular to a sensing method and device. Background Art

[0004] Super-resolution compressed sensing technology states that as long as the original signal itself or in a certain transform domain meets the sparsity condition, a measurement matrix can be used to compress the high-dimensional signal into a low-dimensional space. A reconstruction algorithm can then accurately recover the original signal from this low-dimensional space. This signal compression and acquisition method breaks through the requirements of the Nyquist sampling theorem in traditional compressed sampling methods, offering significant advantages in broadband signal processing and significantly reducing the costs of signal processing, transmission, and storage.

[0005] However, the current super-resolution compressed sensing technology can provide parameter estimation effects that exceed traditional resolution, but the large parameter search space leads to huge computational complexity and low real-time performance.

[0006] Summary of the Invention

[0007] The present application provides a perception method and device for reducing the computational complexity of a communication system while minimizing the impact on target perception accuracy.

[0008] In a first aspect, a perception method is provided. The method can be performed by a first communication device. The first communication device can be a terminal device or a network device, or can be a chip / chip system applied to a terminal device or a network device. In this method, the first communication device receives super-resolution capability information from i second communication devices, where the super-resolution capability information is used to indicate the perception resolution of the second communication devices. Where i is an integer greater than or equal to 2. The first communication device obtains information about a super-resolution area, where the super-resolution area is used by the i second communication devices to perform super-resolution perception. The super-resolution area is determined by a third communication device with the best perception resolution among the i second communication devices. The first communication device sends information about the super-resolution area.

[0009] Based on the above scheme, the first communication device can determine the third communication device with the optimal perception resolution according to the perception resolution carried by the super-resolution capability information, obtain and send information of the super-resolution area for super-resolution perception, so that the second communication device can perform super-resolution perception within the super-resolution area, which can reduce the computational complexity and improve the perception efficiency while ensuring the perception accuracy as much as possible.

[0010] In a possible implementation, the first communication device sends a request message to the third communication device, where the request message is used to request the super-resolution region information. The first communication device receives the super-resolution region information from the third communication device.

[0011] In another possible implementation, a first communication device receives super-resolution capability information and super-resolution region information from i second communication devices. Each second communication device may determine information about a super-resolution region. The first communication device may determine information about a super-resolution region determined by a third communication device having the optimal perceptual resolution and transmit the super-resolution region information determined by the third communication device.

[0012] Based on the above solution, the first communication device can receive information about the super-resolution region from the third communication device having the best perceptual resolution, and can determine the super-resolution region with higher accuracy.

[0013] In a possible implementation manner, the first communication device sends the super-resolution area information to the second communication devices other than the third communication device among the i second communication devices.

[0014] Based on the above solution, since the information of the super-resolution area is determined by the third communication device, in order to reduce the waste of transmission resources and processing resources, the information of the super-resolution area may not be sent to the third communication device.

[0015] In a possible implementation, the perceived resolution includes one or more of: distance resolution, velocity resolution, and angle resolution. The super-resolution region includes one or more of: distance super-resolution region, angle super-resolution region, and velocity super-resolution region.

[0016] Based on the above scheme, the second communication device can perform super-resolution perception in one or more dimensions such as distance, angle and speed, which can improve the accuracy of perception, and can perform perception within the super-resolution area of ​​each dimension, which can reduce computational complexity.

[0017] In a possible implementation, the third communication device satisfies one or more of the following conditions: the angle resolution is optimal among the i second communication devices, the distance resolution is optimal among the i second communication devices, and the speed resolution is optimal among the i second communication devices.

[0018] Based on the above solution, the third communication device may be a communication device that has the best perceptual resolution in at least one of one or more dimensions, such as distance, angle, and speed. It is understood that the communication devices that have the best perceptual resolution in different dimensions may be the same communication device or different communication devices. For example, the number of third communication devices may be one or more.

[0019] In one possible implementation, the super-resolution region is determined based on a peak value, which is the maximum value of the target estimation result obtained by the third communication device after processing the echo signal. Based on the above scheme, determining the super-resolution region based on the maximum value of the target estimation result increases the probability of sensing the target within the super-resolution region, thereby improving the accuracy of the super-resolution region.

[0020] In one possible implementation, the super-resolution region is determined based on a peak value, including one or more of the following 1 to 3:

[0021] 1. The super-resolution area includes a distance super-resolution area. The center of the distance super-resolution area is the distance peak value obtained by the third communication device after echo signal processing. The lower limit of the distance super-resolution area is less than or equal to the distance peak value, and the upper limit of the distance super-resolution area is greater than or equal to the distance peak value.

[0022] 2. The super-resolution area includes a speed super-resolution area. The center of the speed super-resolution area is the speed peak value obtained by the third communication device after echo signal processing. The lower limit of the speed super-resolution area is less than or equal to the speed peak value, and the upper limit of the speed super-resolution area is greater than or equal to the speed peak value.

[0023] 3. The super-resolution area includes an angle super-resolution area. The center of the angle super-resolution area is the angle peak obtained by the third communication device after echo signal processing. The lower limit of the angle super-resolution area is less than or equal to the angle peak, and the upper limit of the angle super-resolution area is greater than or equal to the angle peak.

[0024] Based on the above scheme, super-resolution regions of different dimensions can be determined based on the maximum value of target estimation results of different dimensions, so the possibility of perceiving the target in the super-resolution region of each dimension is greater.

[0025] In one possible implementation, the first communication device sends a super-resolution factor, which is determined based on the optimal perceptual resolution. Based on the above solution, determining the super-resolution factor based on the optimal perceptual resolution allows each second communication device to align toward the optimal perceptual resolution, thereby improving the consistency of perception results.

[0026] In a possible implementation, a first communication device receives sensing results from i second communication devices, where the sensing results are obtained by the i second communication devices performing super-resolution sensing within a super-resolution area.

[0027] Based on this solution, the second communication device can perform super-resolution perception within the super-resolution area, thereby reducing the computational complexity of the second communication device.

[0028] In a second aspect, a perception method is provided. The method can be performed by a second communication device. The second communication device can be a terminal device or a network device, or can be a chip / chip system applied to a terminal device or a network device. In this method, the second communication device sends super-resolution capability information to the first communication device, where the super-resolution capability information is used to indicate the perception resolution of the second communication device. The perception resolution is used to determine the optimal perception resolution. The second communication device receives information about a super-resolution area from the first communication device, where the super-resolution area is used by the second communication device to perform super-resolution perception. The super-resolution area is determined by a third communication device with the optimal perception resolution. The second communication device sends a perception result to the first communication device, where the perception result is obtained by the second communication device performing super-resolution perception within the super-resolution area.

[0029] In one possible implementation, the second communication device sends super-resolution capability information and information of the super-resolution area determined by the second communication device to the first communication device, wherein the perceptual resolution carried in the super-resolution capability information is used to determine the optimal perceptual resolution.

[0030] In one possible implementation, the second communication device receives a super-resolution factor from the first communication device, where the super-resolution factor is determined based on the perception resolution. It is understood that the perception result is obtained by the second communication device performing super-resolution perception at the super-resolution factor within the super-resolution factor.

[0031] In a possible implementation, the perceived resolution includes one or more of: distance resolution, velocity resolution, and angle resolution. The super-resolution region includes one or more of: distance super-resolution region, angle super-resolution region, and velocity super-resolution region.

[0032] In a possible implementation, the super-resolution area is determined based on a peak value, where the peak value is a maximum value of a target estimation result obtained by the third communication device through echo signal processing.

[0033] In one possible implementation, the super-resolution region is determined based on a peak value, including one or more of the following 1 to 3:

[0034] 1. The super-resolution area includes a distance super-resolution area. The center of the distance super-resolution area is the distance peak value obtained by the third communication device after echo signal processing. The lower limit of the distance super-resolution area is less than or equal to the distance peak value, and the upper limit of the distance super-resolution area is greater than or equal to the distance peak value.

[0035] 2. The super-resolution area includes a speed super-resolution area. The center of the speed super-resolution area is the speed peak value obtained by the third communication device after echo signal processing. The lower limit of the speed super-resolution area is less than or equal to the speed peak value, and the upper limit of the speed super-resolution area is greater than or equal to the speed peak value.

[0036] 3. The super-resolution area includes an angle super-resolution area. The center of the angle super-resolution area is the angle peak obtained by the third communication device after echo signal processing. The lower limit of the angle super-resolution area is less than or equal to the angle peak, and the upper limit of the angle super-resolution area is greater than or equal to the angle peak.

[0037] In a third aspect, a perception method is provided. This method can be performed by a third communication device. The third communication device can be a terminal device or a network device, or a chip or chip system used in a terminal device or a network device. In this method, the third communication device sends super-resolution capability information to the first communication device. The super-resolution capability information indicates the perception resolution of the third communication device, and the perception resolution of the third communication device is optimal. The third communication device sends information about a super-resolution area to the first communication device, and the super-resolution area is used for super-resolution perception.

[0038] In a possible implementation manner, the third communication device receives request information from the first communication device, where the request information is used to request information of the super-resolution region.

[0039] In one possible implementation, the third communication device sends super-resolution capability information and information about the super-resolution area determined by the third communication device to the first communication device, wherein the super-resolution capability information indicates the perceptual resolution of the third communication device, and the perceptual resolution of the third communication device is optimal.

[0040] In a possible implementation, the perceived resolution includes one or more of: distance resolution, velocity resolution, and angle resolution. The super-resolution region includes one or more of: distance super-resolution region, angle super-resolution region, and velocity super-resolution region.

[0041] In a possible implementation, the super-resolution area is determined based on a peak value, where the peak value is a maximum value of a target estimation result obtained by the third communication device through echo signal processing.

[0042] In one possible implementation, the super-resolution region is determined based on a peak value, including one or more of the following 1 to 3:

[0043] 1. The super-resolution area includes a distance super-resolution area. The center of the distance super-resolution area is the distance peak value obtained by the third communication device after echo signal processing. The lower limit of the distance super-resolution area is less than or equal to the distance peak value, and the upper limit of the distance super-resolution area is greater than or equal to the distance peak value.

[0044] 2. The super-resolution area includes a speed super-resolution area. The center of the speed super-resolution area is the speed peak value obtained by the third communication device after echo signal processing. The lower limit of the speed super-resolution area is less than or equal to the speed peak value, and the upper limit of the speed super-resolution area is greater than or equal to the speed peak value.

[0045] 3. The super-resolution area includes an angle super-resolution area. The center of the angle super-resolution area is the angle peak obtained by the third communication device after echo signal processing. The lower limit of the angle super-resolution area is less than or equal to the angle peak, and the upper limit of the angle super-resolution area is greater than or equal to the angle peak.

[0046] In one possible implementation, the super-resolution area includes a distance super-resolution area, and the third communication device receives the angle super-resolution area and the speed super-resolution area from the first communication device. The third communication device performs super-resolution sensing in the angle super-resolution area and the speed super-resolution area.

[0047] In another possible implementation, the super-resolution area includes an angle super-resolution area, and the third communication device receives the distance super-resolution area and the speed super-resolution area from the first communication device. The third communication device performs super-resolution sensing in the distance super-resolution area and the speed super-resolution area.

[0048] In another possible implementation, the super-resolution area includes a speed super-resolution area, and the third communication device receives the angle super-resolution area and the distance super-resolution area from the first communication device. The third communication device performs super-resolution sensing in the angle super-resolution area and the distance super-resolution area.

[0049] In another possible implementation, the super-resolution area includes a distance super-resolution area and an angle super-resolution area, and the third communication device receives the speed super-resolution area from the first communication device. The third communication device performs super-resolution sensing in the speed super-resolution area.

[0050] In another possible implementation, the super-resolution area includes a distance super-resolution area and a speed super-resolution area, and the third communication device receives the angle super-resolution area from the first communication device. The third communication device performs super-resolution sensing in the angle super-resolution area.

[0051] In another possible implementation, the super-resolution area includes an angle super-resolution area and a speed super-resolution area, and the third communication device receives the distance super-resolution area from the first communication device. The third communication device performs super-resolution sensing in the distance super-resolution area.

[0052] In a fourth aspect, a communication device is provided, comprising: a processing unit and a transceiver unit.

[0053] The transceiver unit is configured to receive super-resolution capability information from i second communication devices, where the super-resolution capability information indicates the perceptual resolution of the second communication devices. i is an integer greater than or equal to 2. The processing unit is configured to obtain information about a super-resolution region, where the super-resolution region is used by the i second communication devices for super-resolution perception. The super-resolution region is determined by a third communication device with the best perceptual resolution among the i second communication devices. The transceiver unit is further configured to transmit information about the super-resolution region.

[0054] In a possible implementation, the transceiver unit is further configured to send a request message to the third communication device, the request message being used to request the super-resolution area information. The transceiver unit is further configured to receive the super-resolution area information from the third communication device.

[0055] In another possible implementation, the transceiver unit is specifically configured to receive super-resolution capability information and super-resolution region information from i second communication devices. Each second communication device may determine information about a super-resolution region. The processing unit is specifically configured to determine the super-resolution region information sent by a third communication device with the optimal perceptual resolution. The transceiver unit is specifically configured to transmit the super-resolution region information determined by the third communication device.

[0056] In a possible implementation manner, the transceiver unit is specifically configured to send the super-resolution area information to the second communication devices other than the third communication device among the i second communication devices.

[0057] In a possible implementation, the perceived resolution includes one or more of: distance resolution, velocity resolution, and angle resolution. The super-resolution region includes one or more of: distance super-resolution region, angle super-resolution region, and velocity super-resolution region.

[0058] In a possible implementation, the third communication device satisfies one or more of the following conditions: the angle resolution is optimal among the i second communication devices, the distance resolution is optimal among the i second communication devices, and the speed resolution is optimal among the i second communication devices.

[0059] In a possible implementation, the number of the third communication device is one or more.

[0060] In one possible implementation, the super-resolution region is determined based on a peak value, which is the maximum value of the target estimation result obtained by the third communication device after processing the echo signal. Based on the above scheme, determining the super-resolution region based on the maximum value of the target estimation result increases the probability of sensing the target within the super-resolution region, thereby improving the accuracy of the super-resolution region.

[0061] In one possible implementation, the super-resolution region is determined based on a peak value, including one or more of the following 1 to 3:

[0062] 1. The super-resolution area includes a distance super-resolution area. The center of the distance super-resolution area is the distance peak value obtained by the third communication device after echo signal processing. The lower limit of the distance super-resolution area is less than or equal to the distance peak value, and the upper limit of the distance super-resolution area is greater than or equal to the distance peak value.

[0063] 2. The super-resolution area includes a speed super-resolution area. The center of the speed super-resolution area is the speed peak value obtained by the third communication device after echo signal processing. The lower limit of the speed super-resolution area is less than or equal to the speed peak value, and the upper limit of the speed super-resolution area is greater than or equal to the speed peak value.

[0064] 3. The super-resolution area includes an angle super-resolution area. The center of the angle super-resolution area is the angle peak obtained by the third communication device after echo signal processing. The lower limit of the angle super-resolution area is less than or equal to the angle peak, and the upper limit of the angle super-resolution area is greater than or equal to the angle peak.

[0065] In a possible implementation, the transceiver unit is further configured to send a super-resolution multiple, where the super-resolution multiple is determined based on an optimal perceptual resolution.

[0066] In a possible implementation, the transceiver unit is further configured to receive sensing results from i second communication devices, wherein the sensing results are obtained by the i second communication devices performing super-resolution sensing within the super-resolution area.

[0067] In a fifth aspect, a communication device is provided, comprising: a processing unit and a transceiver unit.

[0068] The transceiver unit is configured to transmit super-resolution capability information to the first communication device, the super-resolution capability information being used to indicate the perception resolution of the second communication device. The perception resolution is used to determine the optimal perception resolution. The transceiver unit is further configured to receive information about a super-resolution region from the first communication device, the super-resolution region being used by the communication device for super-resolution perception. The super-resolution region is determined by a third communication device having the optimal perception resolution. The processing unit is configured to perform super-resolution perception within the super-resolution region. The transceiver unit is further configured to transmit a perception result to the first communication device, the perception result being obtained by the communication device performing super-resolution perception within the super-resolution region.

[0069] In one possible implementation, the transceiver unit is specifically configured to send super-resolution capability information and information about the super-resolution area determined by the communication device to the first communication device, wherein the perceptual resolution carried in the super-resolution capability information is used to determine the optimal perceptual resolution.

[0070] In one possible implementation, the transceiver unit is further configured to receive a super-resolution factor from the first communication device, where the super-resolution factor is determined based on the perception resolution. It is understood that the perception result is obtained by the communication device performing super-resolution perception at the super-resolution factor within the super-resolution factor.

[0071] In a possible implementation, the perceived resolution includes one or more of: distance resolution, velocity resolution, and angle resolution. The super-resolution region includes one or more of: distance super-resolution region, angle super-resolution region, and velocity super-resolution region.

[0072] In a possible implementation, the super-resolution area is determined based on a peak value, where the peak value is a maximum value of a target estimation result obtained by the third communication device through echo signal processing.

[0073] In one possible implementation, the super-resolution region is determined based on a peak value, including one or more of the following 1 to 3:

[0074] 1. The super-resolution area includes a distance super-resolution area. The center of the distance super-resolution area is the distance peak value obtained by the third communication device after echo signal processing. The lower limit of the distance super-resolution area is less than or equal to the distance peak value, and the upper limit of the distance super-resolution area is greater than or equal to the distance peak value.

[0075] 2. The super-resolution area includes a speed super-resolution area. The center of the speed super-resolution area is the speed peak value obtained by the third communication device after echo signal processing. The lower limit of the speed super-resolution area is less than or equal to the speed peak value, and the upper limit of the speed super-resolution area is greater than or equal to the speed peak value.

[0076] 3. The super-resolution area includes an angle super-resolution area. The center of the angle super-resolution area is the angle peak obtained by the third communication device after echo signal processing. The lower limit of the angle super-resolution area is less than or equal to the angle peak, and the upper limit of the angle super-resolution area is greater than or equal to the angle peak.

[0077] In a sixth aspect, a communication device is provided, comprising: a processing unit and a transceiver unit.

[0078] The transceiver unit is configured to transmit super-resolution capability information to the first communication device. The super-resolution capability information is used to indicate the perception resolution of the third communication device, where the perception resolution of the communication device is optimal. The processing unit is configured to determine information about a super-resolution region, where the super-resolution region is used for super-resolution perception. The transceiver unit is further configured to transmit the super-resolution region information to the first communication device.

[0079] In a possible implementation, the transceiver unit is further configured to receive request information from the first communication device, where the request information is used to request information of the super-resolution area.

[0080] In a possible implementation, the transceiver unit is specifically configured to send super-resolution capability information and information about the determined super-resolution area to the first communication device, wherein the super-resolution capability information is used to indicate the perception resolution of the communication device, and the perception resolution of the communication device is optimal.

[0081] In a possible implementation, the perceived resolution includes one or more of: distance resolution, velocity resolution, and angle resolution. The super-resolution region includes one or more of: distance super-resolution region, angle super-resolution region, and velocity super-resolution region.

[0082] In a possible implementation, the super-resolution region is determined based on a peak value, where the peak value is the maximum value of a target estimation result obtained by the communication device through echo signal processing.

[0083] In one possible implementation, the super-resolution region is determined based on a peak value, including one or more of the following 1 to 3:

[0084] 1. The super-resolution area includes a distance super-resolution area. The center of the distance super-resolution area is the distance peak value obtained by the communication device after echo signal processing. The lower limit of the distance super-resolution area is less than or equal to the distance peak value, and the upper limit of the distance super-resolution area is greater than or equal to the distance peak value.

[0085] 2. The super-resolution area includes a speed super-resolution area. The center of the speed super-resolution area is the speed peak value obtained by the communication device after echo signal processing. The lower limit of the speed super-resolution area is less than or equal to the speed peak value, and the upper limit of the speed super-resolution area is greater than or equal to the speed peak value.

[0086] 3. The super-resolution area includes an angle super-resolution area. The center of the angle super-resolution area is the angle peak obtained by the communication device after echo signal processing. The lower limit of the angle super-resolution area is less than or equal to the angle peak, and the upper limit of the angle super-resolution area is greater than or equal to the angle peak.

[0087] In one possible implementation, the super-resolution area includes a distance super-resolution area, the transceiver unit is further configured to receive information about an angle super-resolution area and a speed super-resolution area from the first communication device, and the processing unit is further configured to perform super-resolution perception in the angle super-resolution area and the speed super-resolution area.

[0088] In another possible implementation, the super-resolution area includes an angle super-resolution area, the transceiver unit is further configured to receive information about the distance super-resolution area and the speed super-resolution area from the first communication device, and the processing unit is further configured to perform super-resolution sensing in the distance super-resolution area and the speed super-resolution area.

[0089] In another possible implementation, the super-resolution area includes a speed super-resolution area, the transceiver unit is further configured to receive information about the angle super-resolution area and the distance super-resolution area from the first communication device, and the processing unit is further configured to perform super-resolution perception in the angle super-resolution area and the distance super-resolution area.

[0090] In another possible implementation, the super-resolution area includes a distance super-resolution area and an angle super-resolution area, and the transceiver unit is further configured to receive the speed super-resolution area from the first communication device. The processing unit is further configured to perform super-resolution sensing in the speed super-resolution area.

[0091] In another possible implementation, the super-resolution area includes a distance super-resolution area and a speed super-resolution area, and the transceiver unit is further configured to receive the angle super-resolution area from the first communication device. The processing unit is further configured to perform super-resolution perception in the angle super-resolution area.

[0092] In another possible implementation, the super-resolution area includes an angle super-resolution area and a speed super-resolution area, and the transceiver unit is further configured to receive the distance super-resolution area from the first communication device. The processing unit is further configured to perform super-resolution sensing in the distance super-resolution area.

[0093] In a seventh aspect, a communication device is provided, which may be a communication device in any possible implementation of the third to sixth aspects of the above-mentioned embodiments, or a chip provided in a communication device in any aspect of the third to sixth aspects. The communication device includes a communication interface and a processor, and optionally, also includes a memory. The memory is used to store computer programs, instructions, or data, and the processor is coupled to the memory and the communication interface. When the processor reads the computer program, instructions, or data, the communication device executes the method executed by the first communication device, the second communication device, or the third communication device in any possible implementation of the first to third aspects.

[0094] It should be understood that the communication interface can be implemented by an antenna, a feeder, a codec, etc. in the communication device, or if the communication device is a chip provided in the first communication device, the second communication device, or the third communication device, the communication interface can be an input / output interface of the chip, such as an input / output pin, etc. The communication device may further include a transceiver for communicating between the communication device and other devices.

[0095] In an eighth aspect, an embodiment of the present application provides a chip system, which includes a processor and may also include a memory, for implementing the method performed by the first communication device, the second communication device, or the third communication device in any possible implementation of the first to third aspects. In one possible implementation, the chip system also includes a memory for storing program instructions and / or data. The chip system can be composed of a chip, or it can include a chip and other discrete devices.

[0096] In the ninth aspect, the present application provides a computer-readable storage medium, which stores a computer program or instruction. When the computer program or instruction is executed, it implements the method performed by the first communication device, the second communication device or the third communication device in the above aspects.

[0097] In the tenth aspect, a computer program product is provided, comprising: computer program code or instructions, which, when executed, causes the method performed by the first communication device, the second communication device or the third communication device in the above aspects to be executed.

[0098] In an eleventh aspect, a communication device is provided, comprising a unit or module for executing the above-mentioned methods.

[0099] In a twelfth aspect, a chip system is provided, comprising a logic circuit and an input / output interface. The logic circuit is configured to execute the method executed by the first, second, or third communication device. The input / output interface is configured to communicate with other devices.

[0100] In a thirteenth aspect, a system is provided, comprising at least one first communication device and at least one second communication device. Optionally, the system may further comprise at least one third communication device.

[0101] The beneficial effects of the above-mentioned second to thirteenth aspects and their implementation methods can refer to the description of the beneficial effects of the method of the first aspect and its implementation method. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] FIG1 is a schematic diagram of a communication system provided in an embodiment of the present application;

[0103] FIG2 is a schematic diagram of signal processing of a multi-station target positioning method;

[0104] FIG3 is an exemplary flow chart of a sensing method provided in an embodiment of the present application;

[0105] FIG4A is a schematic diagram of a signal processing flow of a sensing method provided in an embodiment of the present application;

[0106] FIG4B is a schematic diagram of a signal processing flow of another sensing method provided in an embodiment of the present application;

[0107] FIG5 is a schematic diagram of a communication device provided in an embodiment of the present application;

[0108] FIG6 is a schematic diagram of another communication device provided in an embodiment of the present application;

[0109] FIG7 is a schematic diagram of another communication device provided in an embodiment of the present application;

[0110] FIG8 is a schematic diagram of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0111] To facilitate understanding of the technical solutions provided by the embodiments of the present application, the technical terms involved in the embodiments of the present application are introduced below.

[0112] 1) Super-resolution perception states that as long as the original signal itself or in a certain transform domain satisfies the sparsity condition, the high-dimensional signal can be compressed into a low-dimensional space using a measurement matrix. The original signal can then be accurately restored from this low-dimensional space using a reconstruction algorithm. Super-resolution perception can also compress the parameter search space to improve algorithm performance.

[0113] The communication device involved in the embodiments of the present application can be a network device, a terminal device (for example, a mobile phone or a drone, etc.), a vehicle (for example, a vehicle, a ship, an airplane, a robot, an electric car, etc.), a wearable device (for example, glasses, headphones, watches, head-mounted display (HMD) devices, etc.), or the communication device can also be a chip or a sensor device, etc.

[0114] The network device is a device in a wireless network, such as a radio access network (RAN) node or radio access network device that connects a terminal device to the wireless network. Currently, some examples of access network devices include: next-generation base stations (gNodeBs, gNBs) in 5G, transmission reception points (TRPs), evolved Node Bs (eNBs), radio network controllers (RNCs), Node Bs (NBs), base station controllers (BSCs), base transceiver stations (BTSs), home base stations (e.g., home evolved NodeBs, or home Node Bs, HNBs), base band units (BBUs), wireless fidelity (Wi-Fi) access points (APs), integrated access and backhaul (IABs), etc. In some implementations, the access network device may also be an access network device in future communication systems (e.g., 6G communication systems).

[0115] In a network structure, the network equipment may refer to a centralized unit (CU), a distributed unit (DU), or the access network equipment may also include a CU and a DU. The CU and the DU are set separately, or they may be included in the same network element, for example, the BBU. The CU and the DU can be understood as a division of the access network equipment from a logical functional perspective. The CU and the DU are connected via the F1 interface; the CU may represent the gNB and is connected to the core network via the NG interface. Among them, the CU and the DU may be physically separated or deployed together, and this embodiment of the present application does not specifically limit this. One CU can be connected to one DU, or multiple DUs can share one CU, which can save costs and facilitate network expansion. The CU and DU can be divided according to the protocol stack. One possible way is to deploy the radio resource control (RRC) layer, the service data adaptation protocol stack (SDAP) layer, and the packet data convergence protocol (PDCP) layer in the CU, and the remaining radio link control (RLC) layer, the media access control (MAC) layer, and the physical layer (PHY) in the DU. The embodiment of the present application is not limited to the above-mentioned protocol stack division method, and other division methods may also be used.

[0116] In addition, the network device may also be a radio unit (RU, etc.). The RU may be included in a radio frequency device or radio frequency unit, for example, a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0117] CU, DU, or RU may have different names in different systems, but those skilled in the art will understand their meanings. For example, in an open radio access network (O-RAN) system, the CU may be referred to as an O-CU (Open CU), the DU may be referred to as an O-DU (Open DU), and the RU may be referred to as an O-RU (Open RU).

[0118] The terminal device may be a wireless terminal device capable of receiving network device scheduling and instruction information. The wireless terminal device may be a device that provides voice and / or data connectivity to a user, or a handheld device with wireless connection capabilities, or other processing devices connected to a wireless modem. The wireless terminal device may communicate with one or more core networks or the Internet via a radio access network (RAN). The wireless terminal device may be a mobile terminal device, such as a mobile phone (also known as a "cellular" phone, mobile phone), a computer, and a data card. For example, the wireless terminal device may be a portable, pocket-sized, handheld, computer-built-in, or vehicle-mounted mobile device that exchanges voice and / or data with the radio access network. Examples include personal communications service (PCS) phones, cordless phones, session initiation protocol phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), tablet computers, and computers with wireless transceiver capabilities. A wireless terminal device may also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile station (MS), a remote station, an access point (AP), a remote terminal, an access terminal, a user terminal, a user agent, a subscriber station (SS), a customer premises equipment (CPE), a terminal, a user equipment (UE), a mobile terminal (MT), etc. A wireless terminal device may also be a wearable device and a next-generation communication system, for example, a terminal device in a 5G network or a terminal device in a future evolved PLMN network, a terminal device in an NR communication system, etc.

[0119] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0120] The technical solutions of the embodiments of the present application can be applied to New Radio (NR) systems, Global System of Mobile communication (GSM) systems, Code Division Multiple Access (CDMA) systems, Wideband Code Division Multiple Access (WCDMA) systems, General Packet Radio Service (GPRS), Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication systems, vehicle to everything (V2X) communication systems, device to device (D2D) communication systems, etc., without limitation.

[0121] Figure 1 is a schematic diagram of the architecture of a communication system 1000 used in an embodiment of the present application. As shown in Figure 1 , the communication system includes at least two communication devices. For example, a communication system including communication device 110 and communication device 120 can sense a target. Communication devices 110 and 120 can send the sensed results to a fusion center, which then determines the target's location based on the sensed results from communication devices 110 and 120.

[0122] The integrated communication and perception system, also known as the integrated synaesthesia system, utilizes multiple communication base stations as detection nodes to form a perception network. Each base station has both an active detection mode (monostatic), where it transmits and receives data on its own, and a passive detection mode (bistatic), where it uses other base stations as radiation sources. These base stations are active and passive detection nodes. Each base station reports its detection results to a fusion center for collaborative processing, ultimately achieving high-precision detection results of the target. Urban scenarios are densely populated with communication base stations. When building an integrated communication and perception system, adjacent base stations can be combined into a base station network, similar to a dual-base station radar system in the radar field. This can improve the system's perception performance to a certain extent.

[0123] Refer to Figure 2 for a flow chart of a multi-station target positioning method. First, signals are received and processed to obtain a preliminary estimate of target parameters. Based on the detection of multiple emitters at a single station, an assessment is made as to whether to perform iterative clutter matching and cancellation. If this is necessary, the preliminary target parameter estimates are updated. Second, based on the preliminary multi-emitter target parameter estimates, a comprehensive analysis of target point information is performed. Finally, the target parameter estimates are updated to obtain the corresponding target positioning result.

[0124] In FIG2 , the processing flow of a single station for a received signal may include the following contents.

[0125] 1) Use digital beamforming (DBF) to acquire echo signals in a specific direction while preserving multi-channel raw data.

[0126] 2) Use the frequency domain extended cancellation algorithm (ECA) fast algorithm to achieve clutter suppression in the received signal.

[0127] 3) The clutter-suppressed signal and the reference signal are segmented and processed by moving target detection (MTD) to achieve fast time-frequency two-dimensional coherent accumulation of the echo signal and obtain a range-doppler map (RD map).

[0128] 4) Perform constant false alarm rate (CFAR) detection on the RD-map to achieve target detection and obtain the range Doppler information of possible targets.

[0129] 5) Calculate and output the target state based on the target's angle, distance, and speed information.

[0130] However, targets in urban environments are densely distributed. Due to the limitations of antenna aperture and transmission signal bandwidth, the angle and distance resolution of the integrated synaesthesia system cannot meet the requirements of precise positioning. The target positioning accuracy obtained by the multi-station target positioning method needs to be further improved.

[0131] Super-resolution compressed sensing theory states that as long as the original signal itself or in a certain transform domain meets the sparsity condition, the measurement matrix can be used to compress the high-dimensional signal into a low-dimensional space. The original signal can then be accurately restored from this low-dimensional space through a reconstruction algorithm. This signal compression and acquisition method breaks through the requirements of the Nyquist sampling theorem in traditional compressed sampling methods, has great advantages in processing broadband signals, and greatly reduces the cost of signal processing, transmission, and storage. Currently, there are two general types of compressed sensing signal reconstruction algorithms:

[0132] (1) Greedy iterative algorithm, which selects the best atom and reconstructs the signal through a step-by-step approximation method. Common algorithms include matching pursuit algorithm, orthogonal matching pursuit algorithm, subspace matching pursuit algorithm, etc.

[0133] (2) Convex optimization algorithm, which approximates the solution of the 0-norm to the 1-norm and then solves it through linear programming. Common algorithms include gradient projection method, basis pursuit method, minimum angle regression method, etc.

[0134] While current super-resolution compressed sensing technology can provide parameter estimation results that surpass those of traditional resolution, the large parameter search space results in significant computational effort and poor real-time performance. Therefore, methods that compress the parameter search space are needed to improve algorithm performance. However, the number of spatial resolution units in an integrated synaesthesia system is large, and applying super-resolution technology to all of them would be computationally intensive and unnecessary.

[0135] In view of this, an embodiment of the present application provides a perception method. In this method, i second communication devices can send super-resolution capability information to a first communication device to indicate their respective perception resolutions. The first communication device can obtain information about a super-resolution region determined by a third communication device with the optimal perception resolution and send the information about the super-resolution region. The super-resolution region can be used by the second communication device for super-resolution perception. Based on this solution, the second communication device can perform super-resolution perception within the super-resolution region, thereby reducing computational complexity and improving perception efficiency while ensuring perception accuracy as much as possible.

[0136] Referring to FIG3 , which is an exemplary flowchart of a perception method provided in an embodiment of the present application, the following operations may be included. In an embodiment of the present application, the first communication device may be a fusion center capable of collaboratively processing the communication devices, or may be one of the second communication devices, which may be determined by negotiation by the second communication device.

[0137] S301: i second communication devices send super-resolution capability information to the first communication device.

[0138] Correspondingly, the first communication device receives super-resolution capability information from i second communication devices.

[0139] The super-resolution capability information may indicate the perception resolution of the second communication device. For example, the super-resolution capability information may carry a value of the perception resolution of the second communication device, such as one or more of distance resolution, angle resolution, and velocity resolution, which is not specifically limited in this application.

[0140] It should be noted that the unit of perception resolution can be pre-agreed, such as the unit of distance resolution can be meters or centimeters, the unit of angle resolution can be degrees or radians, and the unit of speed resolution can be meters per second. This application does not make specific limitations.

[0141] It is understandable that the distance resolution, angle resolution and velocity resolution are shown only as examples, and the perception resolution may also include other resolutions, such as acceleration resolution, imaging resolution, etc., which are not specifically limited in this application.

[0142] S302: The first communication device obtains information of the super-resolution area.

[0143] The super-resolution area may be used for super-resolution sensing. For example, the super-resolution area may be used for super-resolution sensing by i second communication devices.

[0144] S303: The first communication device sends information of the super-resolution area.

[0145] For example, the first super-resolution region may send super-resolution region information to i second communication devices.

[0146] In one possible implementation, the super-resolution region may be determined by a third communication device with the best perceptual resolution among i second communication devices. For example, the third communication device may obtain a target estimation result by processing the echo signal and determine the super-resolution region based on the target estimation result. For example, the third communication device may use the maximum value of the target estimation result as the center of the super-resolution region, with the lower limit of the super-resolution region being less than or equal to the maximum value of the target estimation result, and the upper limit of the super-resolution region being greater than or equal to the maximum value of the target estimation result. Optionally, the first communication device may send super-resolution region information to the second communication devices among the i second communication devices excluding the third communication device.

[0147] It should be understood that the optimal perceptual resolution can be understood as the minimum perceptual resolution. For example, the optimal distance resolution is the minimum distance resolution sent by i second communication devices, the optimal angle resolution is the minimum angle resolution sent by i second communication devices, and the optimal speed resolution is the minimum speed resolution sent by i second communication devices.

[0148] In one example, the super-resolution region may include a range super-resolution region, a velocity super-resolution region, and an angle super-resolution region. The range super-resolution region may be determined by communication device m with the best range resolution, the velocity super-resolution region may be determined by communication device n with the best velocity resolution, and the angle super-resolution region may be determined by communication device k with the best angle resolution. The aforementioned third communication device may be one or more of communication devices m, n, and k.

[0149] In the embodiments of the present application, communication device m, communication device n, and communication device k may be different communication devices or the same communication device. In other words, there may be multiple third communication devices. For example, communication device m may be a third communication device with optimal distance resolution, communication device n may be a third communication device with optimal velocity resolution, and communication device k may be a third communication device with optimal angle resolution.

[0150] It can be understood that the distance super-resolution area, angle super-resolution area and speed super-resolution area are shown only as examples, and the super-resolution area can also include other super-resolution areas, such as acceleration super-resolution area, imaging super-resolution area, etc., which are not specifically limited in this application.

[0151] In S302 , the first communication device may obtain the information of the super-resolution area through two situations.

[0152] In one possible scenario, the first communication device may receive information about super-resolution regions determined by each of the i second communication devices from i second communication devices. Taking the second communication device L as an example, the second communication device L may process the echo signal, such as through the single-station signal fast processing flow shown in FIG2 , to obtain the maximum value of the target estimation result, and then determine the super-resolution region based on the maximum value.

[0153] For example, the second communication device L can determine a super-resolution range region. The second communication device L can process the echo signal to obtain a range peak D. The center of the super-resolution range region is the range peak D, and the lower limit d1 of the super-resolution range region is less than or equal to the range peak, and the upper limit d2 of the super-resolution range region is greater than or equal to the range peak. The second communication device L can send information about the super-resolution range region to the first communication device. For example, the second communication device L can send {D, d1, d2} as the super-resolution range region information to the first communication device.

[0154] It is understood that the present application does not specifically limit d1 and d2, and the relationship between d1, d2 and D can be pre-agreed. For example, the second communication device L can set the peak power ratio to a preset value, such as 3dB, with the left endpoint of the width corresponding to the peak power ratio as d1 and the right endpoint as d2, that is, 10*log(P D / P d1 )=3dB,10*log(P D / P d2 )=3dB. For another example, the second communication device L may use the left endpoint of the width corresponding to half the peak power of the detection result as d1 and the right endpoint as d2.

[0155] For another example, the second communication device L can determine a velocity super-resolution region. The second communication device L can process the echo signal to obtain a velocity peak value, also known as a Doppler peak value V. The center of the velocity super-resolution region is the velocity peak value V, while the lower limit v1 of the velocity super-resolution region is less than or equal to the velocity peak value V, and the upper limit v2 of the velocity super-resolution region is greater than or equal to the velocity peak value V. The second communication device L can send information about the velocity super-resolution region to the first communication device. For example, the second communication device L can send {V, v1, v2} as information about the distance super-resolution region to the first communication device.

[0156] It is understandable that this application does not make specific limitations on v1 and v2. The relationship between v1, v2 and V can be pre-agreed and can be implemented with reference to d1 and d2, which will not be repeated here.

[0157] For another example, the second communication device L can determine an angle super-resolution area. The second communication device L can obtain an angle peak by processing the echo signal. Optionally, the angle peak can be divided into an azimuth angle peak Theta and an elevation angle peak Phi. Optionally, the angle super-resolution area can also be divided into an azimuth angle super-resolution area and an elevation angle super-resolution area. The center of the angle super-resolution area 1, or the azimuth angle super-resolution area, is the azimuth angle peak Theta, the lower limit theta1 of the angle super-resolution area 1 is less than or equal to the azimuth angle peak Theta, and the upper limit theta2 of the angle super-resolution area 1 is greater than or equal to the azimuth angle peak Theta. The center of the angle super-resolution area 2, or the elevation angle super-resolution area, is the elevation angle peak Phi. The center of the angle super-resolution area 2, or the elevation angle super-resolution area, is the elevation angle peak Phi, the lower limit phi1 of the angle super-resolution area 2 is less than or equal to the elevation angle peak Phi, and the upper limit phi2 of the angle super-resolution area 2 is greater than or equal to the elevation angle peak Phi. The second communication device L can send information of the angular super-resolution area to the first communication device. For example, the second communication device L can send {Theta, theta1, theta2}, {Phi, phi1, phi2} as information of the angular super-resolution area to the first communication device.

[0158] It can be understood that the embodiments of the present application do not make specific limitations on theta1, theta2, phi1 and phi2. The relationship between theta1, theta2 and Theta, and the relationship between phi1, phi2 and Phi can be pre-agreed and can be implemented with reference to d1 and d2, which will not be repeated here.

[0159] The i second communication devices can determine the super-resolution region one by one by referring to the second communication device L, and send the super-resolution region information to the first communication device. For example, the i second communication devices can send the super-resolution region information in S301. For another example, the i second communication devices can send the super-resolution capability information and the super-resolution region information separately, which is not specifically limited in this application.

[0160] The first communication device may determine the super-resolution region information determined by the communication device with the best perceptual resolution as the super-resolution region information sent in S303. For example, the first communication device may determine the communication device m with the best distance resolution and send the distance super-resolution region information determined by communication device m to other communication devices other than communication device m. For another example, the first communication device may determine the communication device n with the best velocity resolution and send the velocity super-resolution region information determined by communication device n to other communication devices other than communication device n. For another example, the first communication device may determine the communication device k with the best angular resolution and send the angular super-resolution region information determined by communication device k to other communication devices other than communication device k.

[0161] Based on the above situation, the first communication device can obtain the information of the super-resolution region determined by the third communication device having the optimal perceptual resolution, and can obtain the super-resolution region with higher accuracy.

[0162] In another possible scenario, the first communication device may send a request to a third communication device, requesting a super-resolution region. For example, the first communication device may send a request to communication device m, requesting a range super-resolution region. For another example, the first communication device may send a request to communication device n, requesting a velocity super-resolution region. For another example, the first communication device may send a request to communication device k, requesting an angle super-resolution region.

[0163] In this case, the third communication device can process the echo signal, such as through the single-station signal rapid processing process shown in Figure 2, to obtain the maximum value of the target estimation result, and then determine the super-resolution region based on the maximum value. For example, communication device m can determine a range super-resolution region and send information about the range super-resolution region to the first communication device. This can be implemented by referring to the determination of the range super-resolution region by the second communication device L, which is not described in detail here. For another example, communication device n can determine a velocity super-resolution region and send information about the velocity super-resolution region to the first communication device. This can be implemented by referring to the determination of the velocity super-resolution region by the second communication device L, which is not described in detail here. For another example, communication device k can determine an angle super-resolution region and send information about the angle super-resolution region to the first communication device. This can be implemented by referring to the determination of the angle super-resolution region by the second communication device L, which is not described in detail here.

[0164] Based on the above situation, the first communication device can determine the third communication device with the optimal perceptual resolution and send a request message to the third communication device to obtain the super-resolution area. Compared with each second communication device sending its own determined super-resolution area to the first communication device separately, transmission resources can be saved.

[0165] Optionally, the embodiment shown in FIG3 may further include the following operation S304 .

[0166] S304: The second communication device performs super-resolution sensing in the super-resolution area.

[0167] For example, the second communication device may perform distance super-resolution sensing within a distance super-resolution region. For another example, the second communication device may perform angle super-resolution sensing within an angle super-resolution region. For another example, the second communication device may perform speed super-resolution sensing within a speed super-resolution region.

[0168] In one possible implementation, a second communication device may receive a super-resolution factor from a first communication device, and the second communication device may perform super-resolution perception according to the super-resolution factor. To align each communication device to the same perception resolution, the first communication device may send the super-resolution factor to i second communication devices. The super-resolution factor is determined based on the optimal perception resolution. For example, the distance super-resolution factor is determined based on the optimal distance resolution. For another example, the angle super-resolution factor is determined based on the optimal angle resolution. For another example, the speed super-resolution factor is determined based on the optimal speed resolution.

[0169] In one example, the first communication device may determine a super-resolution factor Y = int(perceptual resolution / optimal perceptual resolution). "int" indicates rounding. For example, if the range resolution of communication device 1 is 1 meter and the optimal range resolution is 0.1 meter, the first communication device may determine a range super-resolution factor Y = int(1 / 0.1) = 10, which is 10 times.

[0170] It is understandable that the first communication device may compare the determined super-resolution multiple of the communication device with the upper limit of the super-resolution multiple of the communication device. Optionally, the upper limit of the super-resolution multiple may be sent by the communication device to the first communication device, such as carried in the super-resolution capability information sent to the first communication device. If Y is greater than the upper limit of the super-resolution multiple of the communication device, the super-resolution multiple sent by the first communication device to the communication device is the upper limit of the super-resolution multiple of the communication device. If Y is less than or equal to the upper limit of the super-resolution multiple of the communication device, the super-resolution multiple sent by the first communication device to the communication device is Y.

[0171] For example, the first communication device determines that the distance super-resolution multiplier of communication device 1 is 10 times, the angle super-resolution multiplier of communication device 1 is 20 times, and the speed super-resolution multiplier of communication device 1 is 5 times. The upper limit of the distance super-resolution multiplier of communication device 1 is 15 times, the upper limit of the angle super-resolution multiplier of communication device 1 is 15 times, and the speed super-resolution multiplier of communication device 1 is 15 times. Since the distance super-resolution multiplier of communication device 1 determined by the first communication device is 10 times, which is less than the upper limit of the distance super-resolution multiplier of 15 times, the distance super-resolution multiplier sent by the first communication device to communication device 1 is 10 times. Similarly, the speed super-resolution multiplier of communication device 1 determined by the first communication device is 5 times, which is less than the upper limit of the speed super-resolution multiplier of 15 times, and the distance super-resolution multiplier sent by the first communication device to communication device 1 is 5 times. Similarly, the angle super-resolution magnification of communication device 1 determined by the first communication device is 20 times, which is greater than the upper limit of the angle super-resolution magnification of 15 times. Therefore, the angle super-resolution magnification sent by the first communication device to communication device 1 is 15 times.

[0172] Based on the above solution, the first communication device determines the super-resolution multiples of each second communication device based on the optimal perception resolution, so that the super-resolution multiples of the second communication devices can be aligned, thereby improving the consistency of the system's perception results.

[0173] Refer to Figure 4A, which shows a flowchart of the communication device performing perception. As shown in Figure 4A, the communication device can process the echo signal and obtain the result of the target parameter estimation. Through the process shown in Figure 3, the communication device can obtain information about the super-resolution perception area. For example, the communication device can receive information about the angle super-resolution area from the first communication device, then the communication device can determine that angle super-resolution perception is required, and the communication device can perform angle super-resolution perception within the angle super-resolution area. For another example, the communication device can receive information about the speed super-resolution area from the first communication device, then the communication device can determine that speed super-resolution perception is required, and the communication device can perform speed super-resolution perception within the speed super-resolution area. For another example, the communication device can receive information about the distance super-resolution area from the first communication device, then the communication device can determine that distance super-resolution perception is required, and the communication device can perform speed super-resolution perception within the distance super-resolution area.

[0174] It is understandable that, since the super-resolution perception area is determined by the third communication device, the third communication device may not perform super-resolution perception. For example, communication device m may not perform distance super-resolution perception. Alternatively, communication device m may perform angle super-resolution perception within the angle super-resolution area and speed super-resolution perception within the speed super-resolution area. Similarly, communication device n may not perform speed super-resolution perception, but may perform distance super-resolution perception within the distance super-resolution area and angle super-resolution perception within the angle super-resolution area. Similarly, communication device k may not perform angle super-resolution perception, but may perform distance super-resolution perception within the distance super-resolution area and speed super-resolution perception within the speed super-resolution area.

[0175] Referring to Figure 4B , a flow chart illustrating super-resolution sensing by a communication device is shown. Based on the embodiment shown in Figure 3 , the communication device can determine super-resolution regions, such as a distance super-resolution region, a velocity super-resolution region, and an angle super-resolution region. The communication device can then perform super-resolution based on these super-resolution regions.

[0176] Referring to Figure 4B, if super-resolution distance estimation is required, a super-resolution algorithm is used to perform super-resolution distance estimation, using the preliminary estimate of the target's distance obtained based on echo signal processing as prior information. The super-resolution result is then used to update the target's distance estimate. For another example, if super-resolution velocity estimation is required, a super-resolution algorithm is used to perform super-resolution velocity estimation, using the preliminary estimate of the target's velocity obtained based on echo signal processing as prior information. The super-resolution result is then used to update the target's velocity estimate. For another example, if super-resolution angle estimation is required, the array's raw data is retrieved, and then the accumulated results corresponding to each array element are extracted based on the target's range and Doppler information. Super-resolution angle estimation is then performed on a region of interest near the target, centered around the target's angle information obtained based on echo signal processing. The super-resolution result is then used to update the target's angle estimate. The communication device can then calculate and update the target's state based on the updated super-resolution estimates of the target's angle and distance. Based on the above scheme, the scale of the super-resolution problem can be reduced, computational complexity can be lowered, and operational efficiency can be improved.

[0177] It should be noted that the communication device can use a multiple signal classification algorithm based on the subspace method, a minimum unbiased estimation (Capon) algorithm, an orthogonal matching pursuit algorithm, an iterative adaptive method, a sparse Bayesian method, a convex optimization algorithm based on L1 norm minimization, and a convex optimization algorithm based on atomic norm minimization for super-resolution estimation. The embodiments of the present application do not limit the super-resolution algorithm used by the communication device.

[0178] Optionally, the embodiment shown in FIG3 may further include the following operation S305 .

[0179] S305: The second communication device sends the sensing result to the first communication device.

[0180] Correspondingly, the first communication device receives the sensing result from the second communication device.

[0181] The first communication device can locate and measure the speed of the target based on the sensing results of each second communication device, and determine information such as the position and speed of the target.

[0182] It should be noted that in the above-mentioned solutions provided in the embodiments of the present application, due to changes in the perception scene, information such as the communication device with the optimal perception resolution, the super-resolution perception area, and the super-resolution multiple also changes dynamically. In the embodiments of the present application, the first communication device can instruct the second communication device to perform super-resolution perception in the distance, angle, or speed dimensions alone, or the first communication device can instruct the second communication device to perform super-resolution perception in the distance and angle dimensions, or the distance and speed dimensions, or the angle and speed dimensions, or the first communication device can instruct the second communication device to perform super-resolution perception in the distance, angle, and speed dimensions.

[0183] The first communication device may instruct the second communication device to perform super-resolution sensing by sending a super-resolution region to the second communication device. For example, if the first communication device sends a range super-resolution region to the second communication device, it can be considered that the first communication device instructs the second communication device to perform range super-resolution sensing within the range super-resolution region.

[0184] The following describes the communication device provided in the embodiments of the present application with reference to the accompanying drawings.

[0185] Figure 5 is a schematic block diagram of a communication device 500 provided in an embodiment of the present application. The communication device 500 can correspond to the functions or steps implemented by the terminal device or network device in the above-mentioned various method embodiments. The communication device may include a processing unit 510 and a transceiver unit 520. Optionally, it may also include a storage unit, which can be used to store instructions (codes or programs) and / or data. The processing unit 510 and the transceiver unit 520 can be coupled to the storage unit. For example, the processing unit 510 can read the instructions (codes or programs) and / or data in the storage unit to implement the corresponding method. The above-mentioned units can be set independently or partially or fully integrated.

[0186] Optionally, the transceiver unit 520 may include a sending unit and a receiving unit, wherein the sending unit may be used to perform all sending operations performed by the communication device 500, and the receiving unit may be used to perform all receiving operations performed by the communication device 500.

[0187] In some possible implementations, the communication device 500 can implement the corresponding behaviors and functions of the first communication device, etc. in the above-mentioned method embodiments. The transceiver unit 520 can be used to perform all receiving or sending operations performed by the first communication device in the embodiment shown in Figure 3. For example, S301, S303, S305 in the embodiment shown in Figure 3, and / or other processes used to support the technology described herein; wherein the processing unit 510 is used to perform all operations performed by the first communication device in the embodiment shown in Figure 3 except for the sending and receiving operations. For example, S302 in the embodiment shown in Figure 3, and / or other processes used to support the technology described herein.

[0188] For example, the transceiver unit 520 is configured to receive super-resolution capability information from i second communication devices, where the super-resolution capability information indicates the perceptual resolution of the second communication devices. Here, i is an integer greater than or equal to 2. The processing unit 510 is configured to obtain information about a super-resolution region, where the super-resolution region is used by the i second communication devices for super-resolution perception. The super-resolution region is determined by a third communication device with the best perceptual resolution among the i second communication devices. The transceiver unit 520 is also configured to transmit information about the super-resolution region.

[0189] In some possible implementations, the communication device 500 can implement the corresponding behaviors and functions of the second communication device in the above-described method embodiments. The transceiver unit 520 can be used to perform all receiving or transmitting operations performed by the second communication device in the embodiment shown in FIG. 3 , such as S301, S303, and S305 in the embodiment shown in FIG. 3 , and / or other processes used to support the technology described herein. The processing unit 510 is used to perform all operations other than the transmitting and receiving operations performed by the second communication device in the embodiment shown in FIG. 3 , such as S304 in the embodiment shown in FIG. 3 , and / or other processes used to support the technology described herein.

[0190] For example, the transceiver unit 520 is configured to send super-resolution capability information to the first communication device, where the super-resolution capability information is used to indicate the perception resolution of the second communication device. The perception resolution is used to determine the optimal perception resolution. The transceiver unit 520 is also configured to receive information about a super-resolution region from the first communication device, where the super-resolution region is used by the communication device for super-resolution perception. The super-resolution region is determined by a third communication device having the optimal perception resolution. The processing unit 510 is configured to perform super-resolution perception within the super-resolution region. The transceiver unit 520 is also configured to send a perception result to the first communication device, where the perception result is obtained by the communication device performing super-resolution perception within the super-resolution region.

[0191] In some possible implementations, the communication device 500 can implement the corresponding behaviors and functions of the third communication device in the above-described method embodiment. The transceiver unit 520 can be configured to perform all receiving or transmitting operations performed by the third communication device in the embodiment shown in FIG. 3 , for example, S301 in the embodiment shown in FIG. 3 , and / or other processes used to support the techniques described herein; wherein the processing unit 510 is configured to perform all operations performed by the third communication device in the embodiment shown in FIG. 3 , except for the transmitting and receiving operations.

[0192] For example, the transceiver unit 520 is configured to transmit super-resolution capability information to the first communication device. The super-resolution capability information is used to indicate the perception resolution of the third communication device, where the perception resolution of the communication device is optimal. The processing unit 510 is configured to determine information about a super-resolution region, where the super-resolution region is used for super-resolution perception. The transceiver unit 520 is further configured to transmit the super-resolution region information to the first communication device.

[0193] For the operations performed by the processing unit 510 and the transceiver unit 520 , reference may be made to the relevant description of the aforementioned method embodiment.

[0194] It should be understood that the processing unit 510 in the embodiment of the present application can be implemented by a processor or a processor-related circuit component, and the transceiver unit 520 can be implemented by a transceiver or a transceiver-related circuit component or a communication interface.

[0195] Based on the same concept, as shown in FIG6 , an embodiment of the present application provides a communication device 600. The communication device 600 includes a processor 610. Optionally, the communication device 600 may further include a memory 620 for storing instructions executed by the processor 610, or storing input data required by the processor 610 to execute instructions, or storing data generated after the processor 610 executes instructions. The processor 610 can implement the method shown in the above method embodiment through the instructions stored in the memory 620.

[0196] Based on the same concept, as shown in Figure 7, an embodiment of the present application provides a communication device 700, which can be a chip or a chip system. Optionally, in the embodiment of the present application, the chip system can be composed of a chip, or can include a chip and other discrete devices.

[0197] The communication device 700 may include at least one processor 710 coupled to a memory. Optionally, the memory may be located within or outside the device. For example, the communication device 700 may also include at least one memory 720. The memory 720 stores the necessary computer programs, configuration information, computer programs or instructions, and / or data for implementing any of the above-described embodiments. The processor 710 may execute the computer programs stored in the memory 720 to perform the method in any of the above-described embodiments.

[0198] The coupling in the embodiments of the present application is an indirect coupling or communication connection between devices, units, or modules, which can be electrical, mechanical, or other forms, and is used for information exchange between devices, units, or modules. The processor 710 may operate in conjunction with the memory 720. The specific connection medium between the transceiver 730, the processor 710, and the memory 720 is not limited in the embodiments of the present application.

[0199] The communication device 700 may also include a transceiver 730, and the communication device 700 can exchange information with other devices through the transceiver 730. The transceiver 730 can be a circuit, a bus, a transceiver or any other device that can be used for information exchange, or is called a signal transceiver unit. As shown in Figure 7, the transceiver 730 includes a transmitter 731, a receiver 732 and an antenna 733. In addition, when the communication device 700 is a chip-type device or circuit, the transceiver in the communication device 700 can also be an input and output circuit and / or a communication interface, which can input data (or receive data) and output data (or send data). The processor is an integrated processor or microprocessor or integrated circuit, and the processor can determine the output data based on the input data.

[0200] In one possible implementation, the communication device 700 can be applied to a first communication device. Specifically, the communication device 700 can be the first communication device, or a device capable of supporting the first communication device in implementing the functions of the first communication device in any of the aforementioned embodiments. The memory 720 stores the necessary computer programs, computer programs, instructions, and / or data for implementing the functions of the first communication device in any of the aforementioned embodiments. The processor 710 can execute the computer program stored in the memory 720 to perform the method performed by the first communication device in any of the aforementioned embodiments.

[0201] In one possible implementation, the communication device 700 can be applied to a second communication device. Specifically, the communication device 700 can be a second communication device, or a device that can support a network device to implement the functions of the second communication device in any of the above-mentioned embodiments. The memory 720 stores the necessary computer programs, computer programs or instructions and / or data to implement the functions of the second communication device in any of the above-mentioned embodiments. The processor 710 can execute the computer program stored in the memory 720 to perform the method performed by the second communication device in any of the above-mentioned embodiments.

[0202] In one possible implementation, the communication device 700 can be applied to a third communication device. Specifically, the communication device 700 can be a third communication device, or a device that can support a network device to implement the functions of the third communication device in any of the above-mentioned embodiments. The memory 720 stores the necessary computer programs, computer programs, instructions, and / or data to implement the functions of the third communication device in any of the above-mentioned embodiments. The processor 710 can execute the computer program stored in the memory 720 to perform the method performed by the third communication device in any of the above-mentioned embodiments.

[0203] Since the communication device 700 provided in this embodiment can be applied to a first communication device to implement the method performed by the first communication device, or can be applied to a second communication device to implement the method performed by the second communication device, or can be applied to a third communication device to implement the method performed by the third communication device, the technical effects that can be achieved can be referred to the above method embodiments and will not be described in detail here.

[0204] In the embodiments of the present application, the processor may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, and may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present application may be directly implemented as being executed by a hardware processor, or may be executed by a combination of hardware and software modules in the processor.

[0205] In an embodiment of the present application, the memory may be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), etc., or a volatile memory (volatile memory), such as a random-access memory (RAM). The memory may also be any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory in an embodiment of the present application may also be a circuit or any other device that can implement a storage function, for storing computer programs, computer programs or instructions and / or data.

[0206] Based on the above embodiments, referring to FIG8 , an embodiment of the present application also provides another communication device 800, including: an input / output interface 810 and a logic circuit 820; the input / output interface 810 is used to receive code instructions and transmit them to the logic circuit 820; the logic circuit 820 is used to run code instructions to execute the method executed by the first communication device, the second communication device, or the third communication device in any of the above embodiments.

[0207] Optionally, the input / output interface 810 may be an interface on a chip, and the logic circuit 820 may be one or more processors. Optionally, the one or more processors may be located inside or outside the device.

[0208] The following describes in detail the operations performed by the communication device when applied to the first communication device, the second communication device, or the third communication device.

[0209] In an optional implementation, the communication device 800 may be applied to a first communication device to execute the method executed by the first communication device, for example, the method executed by the first communication device in the embodiment shown in FIG. 3 .

[0210] For example, the input / output interface 810 is configured to input super-resolution capability information from i second communication devices, where the super-resolution capability information indicates the perceptual resolution of the second communication devices. Here, i is an integer greater than or equal to 2. The logic circuit 820 is configured to obtain information about super-resolution regions, where the super-resolution regions are used by the i second communication devices for super-resolution perception. The super-resolution regions are determined by the third communication device with the best perceptual resolution among the i second communication devices. The input / output interface 810 is also configured to output information about the super-resolution regions.

[0211] Since the communication device 800 provided in this embodiment can be applied to the first communication device to implement the method performed by the first communication device, the technical effects that can be obtained can be referred to the above method embodiments and will not be described in detail here.

[0212] In an optional implementation, the communication device 800 may be applied to a second communication device to execute the method executed by the aforementioned second communication device, for example, the method executed by the second communication device in the embodiment shown in FIG. 3 .

[0213] For example, the input / output interface 810 is configured to output super-resolution capability information, which indicates the perception resolution of the second communication device. The perception resolution is used to determine the optimal perception resolution. The input / output interface 810 is also configured to input information about a super-resolution region from the first communication device, where the super-resolution region is used by the communication device for super-resolution perception. The super-resolution region is determined by a third communication device with the optimal perception resolution. The logic circuit 820 is configured to perform super-resolution perception within the super-resolution region. The input / output interface 810 is also configured to output a perception result, which is obtained by the communication device performing super-resolution perception within the super-resolution region.

[0214] Since the communication device 800 provided in this embodiment can be applied to a second communication device to implement the method performed by the second communication device, the technical effects that can be obtained can be referred to the above method embodiment and will not be described in detail here.

[0215] In an optional implementation, the communication device 800 may be applied to a third communication device to execute the method executed by the third communication device, for example, the method executed by the third communication device in the embodiment shown in FIG. 3 .

[0216] For example, input / output interface 810 is configured to output super-resolution capability information, which indicates the perception resolution of a third communication device, where the communication device has the optimal perception resolution. Logic circuit 820 is configured to determine information about a super-resolution region, which is used for super-resolution perception. Input / output interface 810 is also configured to output information about the super-resolution region.

[0217] Since the communication device 800 provided in this embodiment can be applied to a third communication device to implement the method performed by the third communication device, the technical effects that can be obtained can be referred to the above method embodiment and will not be described in detail here.

[0218] Based on the above embodiments, embodiments of the present application further provide a communication system. The communication system includes at least one first communication device and at least one second communication device. Optionally, the communication system may also include at least one third communication system. The technical effects achieved by the communication system can be referenced to the above method embodiments and will not be further described here.

[0219] Based on the above embodiments, embodiments of the present application further provide a computer-readable storage medium storing a computer program or instructions. When the instructions are executed, the method executed by the terminal device or the method executed by the network device in any of the above embodiments is implemented. The computer-readable storage medium may include various media capable of storing program code, such as a USB flash drive, a mobile hard drive, a read-only memory, a random access memory, a magnetic disk, or an optical disk.

[0220] To implement the functions of the communication device shown in Figures 5 to 8 above, embodiments of the present application further provide a chip including a processor for supporting the communication device in implementing the functions of the terminal device or network device in the above method embodiments. In one possible design, the chip is connected to or includes a memory, which is used to store computer programs, instructions, and data necessary for the communication device.

[0221] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain computer-usable program code.

[0222] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by a computer program or instruction. These computer programs or instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0223] These computer programs or instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0224] These computer programs or instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0225] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the scope of the embodiments of the present application. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application also intends to include these modifications and variations.

Claims

1. A sensing method, characterized in that: include: The first communication device receives super-resolution capability information from i second communication devices, where the super-resolution capability information is used to indicate the perception resolution of the second communication device; Said i is an integer greater than or equal to 2; The first communication device acquires information of a super-resolution area, where the super-resolution area is used for the i second communication devices to perform super-resolution perception; The super-resolution region is determined by a third communication device having the best perceptual resolution among the i second communication devices; The first communication device sends information of the super-resolution area.

2. The method according to claim 1, characterized in that The first communication device acquires information of the super-resolution area, including: The first communication device sends request information to the third communication device, where the request information is used to request information of the super-resolution area; The first communication device receives information of the super-resolution area from the third communication device.

3. The method according to claim 2, characterized in that The first communication device sends the information of the super-resolution area, including: The first communication device sends the information of the super-resolution area to the second communication devices other than the third communication device among the i second communication devices.

4. The method according to any one of claims 1 to 3, characterized in that: The perceived resolution includes: one or more of distance resolution, speed resolution and angle resolution; the super-resolution area includes one or more of distance super-resolution area, angle super-resolution area and speed super-resolution area.

5. The method according to claim 4, characterized in that The third communication device satisfies one or more of the following conditions: The angle resolution among the i second communication devices is optimal, the distance resolution among the i second communication devices is optimal, and the speed resolution among the i second communication devices is optimal.

6. The method according to any one of claims 1 to 5, characterized in that: The number of the third communication device is one or more.

7. The method according to claim 4 or 5, characterized in that: The super-resolution area is determined based on a peak value, and the peak value is a maximum value of a target estimation result obtained by the third communication device through echo signal processing.

8. The method according to claim 7, characterized in that The super-resolution region is determined based on the peak value, including one or more of the following: The super-resolution region includes the distance super-resolution region, the center of the distance super-resolution region is the distance peak value obtained by the third communication device after echo signal processing, the lower limit of the distance super-resolution region is less than or equal to the distance peak value, and the upper limit of the distance super-resolution region is greater than or equal to the distance peak value; or The super-resolution region includes the speed super-resolution region, the center of the speed super-resolution region is the speed peak value obtained by the third communication device after echo signal processing, the lower limit of the speed super-resolution region is less than or equal to the speed peak value, and the upper limit of the speed super-resolution region is greater than or equal to the speed peak value; or The super-resolution area includes the angle super-resolution area, the center of the angle super-resolution area is the angle peak value obtained by the third communication device after echo signal processing, the lower limit of the angle super-resolution area is less than or equal to the target angle, and the upper limit of the angle super-resolution area is greater than or equal to the angle peak value.

9. The method according to any one of claims 1 to 8, characterized in that: Also includes: The first communication device sends a super-resolution factor, where the super-resolution factor is determined based on an optimal perceptual resolution.

10. The method according to any one of claims 1 to 9, characterized in that: Also includes: The first communication device receives the sensing results from the i second communication devices; The perception result is obtained by the i second communication devices performing super-resolution perception in the super-resolution area.

11. A sensing method, characterized in that: include: The second communication device sends super-resolution capability information to the first communication device, where the super-resolution capability information is used to indicate a perception resolution of the second communication device; The perceptual resolution is used to determine an optimal perceptual resolution; The second communication device receives information of a super-resolution area from the first communication device, where the super-resolution area is used by the second communication device to perform super-resolution perception; The super-resolution region is determined by a third communication device having the optimal perceptual resolution; The second communication device sends a perception result to the first communication device; the perception result is obtained by the second communication device performing super-resolution perception in the super-resolution area.

12. The method according to claim 11, characterized in that Also includes: The second communication device receives a super-resolution multiple from the first communication device, where the super-resolution multiple is determined based on the perceived resolution; The perception result is obtained by the second communication device performing super-resolution perception in the super-resolution area at the super-resolution multiple.

13. The method according to claim 11 or 12, characterized in that: The perceived resolution includes: one or more of distance resolution, speed resolution and angle resolution; the super-resolution area includes one or more of distance super-resolution area, angle super-resolution area and speed super-resolution area.

14. The method according to claim 13, characterized in that The super-resolution area is determined based on a peak value, and the peak value is a maximum value of a target estimation result obtained by the third communication device through echo signal processing.

15. The method according to claim 14, characterized in that The super-resolution region is determined based on the peak value, including one or more of the following: The super-resolution region includes the distance super-resolution region, the center of the distance super-resolution region is the distance peak value obtained by the third communication device after echo signal processing, the lower limit of the distance super-resolution region is less than or equal to the distance peak value, and the upper limit of the distance super-resolution region is greater than or equal to the distance peak value; or The super-resolution region includes the speed super-resolution region, the center of the speed super-resolution region is the speed peak value obtained by the third communication device after echo signal processing, the lower limit of the speed super-resolution region is less than or equal to the speed peak value, and the upper limit of the speed super-resolution region is greater than or equal to the speed peak value; or The super-resolution area includes the angle super-resolution area, the center of the angle super-resolution area is the angle peak value obtained by the third communication device after echo signal processing, the lower limit of the angle super-resolution area is less than or equal to the target angle, and the upper limit of the angle super-resolution area is greater than or equal to the angle peak value.

16. A sensing method, characterized in that: Also includes: The third communication device sends super-resolution capability information to the first communication device, where the super-resolution capability information is used to indicate the perception resolution of the third communication device; The third communication device has an optimal perception resolution; The third communication device sends information of a super-resolution area to the first communication device, where the super-resolution area is used for super-resolution perception.

17. The method according to claim 16, characterized in that Also includes: The third communication device receives request information from the first communication device, where the request information is used to request information of the super-resolution area.

18. The method according to claim 16 or 17, characterized in that The perceived resolution includes: one or more of distance resolution, speed resolution and angle resolution; the super-resolution area includes one or more of distance super-resolution area, angle super-resolution area and speed super-resolution area.

19. The method according to claim 18, characterized in that The super-resolution area is determined based on a peak value, and the peak value is a maximum value of a target estimation result obtained by the third communication device through echo signal processing.

20. The method according to claim 19, characterized in that The super-resolution region is determined based on the peak value, including one or more of the following: The super-resolution region includes the distance super-resolution region, the center of the distance super-resolution region is the distance peak value obtained by the third communication device after echo signal processing, the lower limit of the distance super-resolution region is less than or equal to the distance peak value, and the upper limit of the distance super-resolution region is greater than or equal to the distance peak value; or The super-resolution region includes the speed super-resolution region, the center of the speed super-resolution region is the speed peak value obtained by the third communication device after echo signal processing, the lower limit of the speed super-resolution region is less than or equal to the speed peak value, and the upper limit of the speed super-resolution region is greater than or equal to the speed peak value; or The super-resolution area includes the angle super-resolution area, the center of the angle super-resolution area is the angle peak value obtained by the third communication device after echo signal processing, the lower limit of the angle super-resolution area is less than or equal to the target angle, and the upper limit of the angle super-resolution area is greater than or equal to the angle peak value.

21. The method according to any one of claims 18 to 20, characterized in that: Also includes: The super-resolution area includes the distance super-resolution area, the third communication device receives the angle super-resolution area and the speed super-resolution area from the first communication device; the third communication device receives the angle super-resolution area and the speed super-resolution area from the first communication device; Super-resolution perception in the domain; or The super-resolution area includes the angle super-resolution area, the third communication device receives the distance super-resolution area and the speed super-resolution area from the first communication device; the third communication device performs super-resolution perception in the distance super-resolution area and the speed super-resolution area; or The super-resolution area includes the speed super-resolution area, the third communication device receives the angle super-resolution area and the distance super-resolution area from the first communication device; the third communication device performs super-resolution perception in the angle super-resolution area and the distance super-resolution area; or The super-resolution area includes the distance super-resolution area and the angle super-resolution area, and the third communication device receives the speed super-resolution area from the first communication device; the third communication device performs super-resolution perception in the speed super-resolution area; or The super-resolution area includes the distance super-resolution area and the speed super-resolution area, and the third communication device receives the angle super-resolution area from the first communication device; the third communication device performs super-resolution perception in the angle super-resolution area; or The super-resolution area includes the angle super-resolution area and the speed super-resolution area. The third communication device receives the distance super-resolution area from the first communication device; and the third communication device performs super-resolution perception in the distance super-resolution area.

22. A communication device, characterized in that: The method comprises means for executing the method according to any one of claims 1 to 10.

23. A communication device, characterized in that: Comprising means for performing the method as claimed in any one of claims 11 to 15.

24. A communication device, characterized in that: Comprising means for performing the method as claimed in any one of claims 16 to 21.

25. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which, when called by an electronic device, cause the electronic device to execute the method as described in any one of claims 1 to 10, or cause the electronic device to execute the method as described in any one of claims 11 to 15, or cause the electronic device to execute the method as described in any one of claims 16 to 21.

26. A communication system, characterized in that: The invention comprises a device for executing the method according to any one of claims 1 to 10 and a device for executing the method according to any one of claims 11 to 15.

27. The communication system according to claim 26, characterized in that The communication system further comprises means for executing the method according to any one of claims 16-21.

28. A chip system, characterized in that: The chip system comprises: Communication interface; A processor, used to call and run the instruction through the communication interface, so that the device installed with the chip system executes the method as described in any one of claims 1 to 10, or the device installed with the chip system executes the method as described in any one of claims 11 to 15, or the device installed with the chip system executes the method as described in any one of claims 16 to 21.

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