Reference target-assisted sensing processing method, apparatus, terminal, and network side device

Abstract

The present application belongs to the technical field of communication and discloses a reference target-assisted sensing processing method, an apparatus, a terminal, and a network side device. The reference target-assisted sensing processing method comprises: a first device obtains a first sensing measurement of a reference target associated with a sensing target, the first sensing measurement being used for determining a correction quantity, the correction quantity being used for correcting a second sensing measurement obtained upon performing sensing measurement on the sensing target, and the first sensing measurement being a measurement obtained upon performing sensing measurement on the reference target; and the first device sends target data to a second device, the target data comprising at least one among the correction quantity, the first sensing measurement, and a third sensing measurement, the third sensing measurement being a measurement obtained after performing revision on the second sensing measurement on the basis of the correction quantity.

Description

Reference target assisted perception processing method, device, terminal and network side equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 202311242578.3 filed in China on September 25, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present application belongs to the field of communication technology, and specifically relates to a reference target assisted perception processing method, device, terminal and network side equipment. Background Art

[0004] With the advancement of communication technology, integrated synaesthesia systems have been introduced into communication systems to achieve sensory measurement. Currently, when using synaesthesia systems to measure distance, speed, and angles of perceived targets, significant errors can occur between the measured results and the true values ​​due to factors such as signal refraction and reflection. Consequently, related technologies suffer from poor sensory measurement accuracy in some sensory application scenarios.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a reference target-assisted perception processing method, apparatus, terminal, and network-side equipment, which can solve the problem of poor accuracy of perception measurements in some perception application scenarios.

[0007] In a first aspect, a reference target-assisted perception processing method is provided, comprising:

[0008] A first device acquires a first perception measurement of a reference target associated with a perception target, where the first perception measurement is used to determine a correction number, and the correction number is used to correct a second perception measurement obtained by perception measurement of the perception target, where the first perception measurement is a measurement obtained by perception measurement of the reference target.

[0009] The first device sends target data to the second device, where the target data includes the correction number, at least one of the first perception measurement value and a third perception measurement value; the third perception measurement value is a measurement value obtained by correcting the second perception measurement value based on the correction number.

[0010] In a second aspect, a reference target-assisted perception processing method is provided, comprising:

[0011] The second device receives target data from the first device, where the target data includes a correction number of a reference target associated with the perception target, at least one of the first perception measurement quantity and a third perception measurement quantity; the correction number is used to correct a second perception measurement quantity obtained by perceptually measuring the perception target, the first perception measurement quantity is a measurement quantity obtained by perceptually measuring the reference target, and the third perception measurement quantity is a measurement quantity after correcting the second perception measurement quantity based on the correction number.

[0012] In a third aspect, a reference target-assisted perception processing device is provided, comprising:

[0013] a first acquisition module, configured to acquire a first perceptual measurement quantity of a reference target associated with a perceptual target, wherein the first perceptual measurement quantity is used to determine a correction number, and the correction number is used to correct a second perceptual measurement quantity obtained by perceptually measuring the perceptual target, wherein the first perceptual measurement quantity is a measurement quantity obtained by perceptually measuring the reference target;

[0014] The first sending module is configured to send target data to the second device, where the target data includes at least one of the correction number, the first perception measurement value, and a third perception measurement value; the third perception measurement value is a measurement value obtained by correcting the second perception measurement value based on the correction number.

[0015] In a fourth aspect, a reference target-assisted perception processing device is provided, comprising:

[0016] A receiving module is configured to receive target data from a first device, the target data including a correction number of a reference target associated with the perception target, at least one of the first perception measurement quantity and a third perception measurement quantity; the correction number is used to correct a second perception measurement quantity obtained by perception measurement of the perception target, the first perception measurement quantity is a measurement quantity obtained by perception measurement of the reference target, and the third perception measurement quantity is a measurement quantity obtained by correcting the second perception measurement quantity based on the correction number.

[0017] In a fifth aspect, a terminal is provided, comprising a processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the method described in the first aspect are implemented.

[0018] In a sixth aspect, a terminal is provided, including a processor and a communication interface, wherein the communication interface is used to obtain a first perception measurement value of a reference target associated with a perception target, the first perception measurement value being used to determine a correction number, the correction number being used to correct a second perception measurement value obtained by perception measurement of the perception target, the first perception measurement value being a measurement value obtained by perception measurement of the reference target; and target data is sent to a second device, the target data including at least one of the correction number, the first perception measurement value, and a third perception measurement value; the third perception measurement value being a measurement value obtained by correcting the second perception measurement value based on the correction number.

[0019] In the seventh aspect, a network side device is provided, which includes a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the method described in the second aspect are implemented, or the steps of the method described in the second aspect are implemented.

[0020] In an eighth aspect, a network side device is provided, including a processor and a communication interface, wherein:

[0021] When the network-side device is a first device, the communication interface is configured to obtain a first perception measurement quantity of a reference target associated with a perception target, the first perception measurement quantity being used to determine a correction number, the correction number being used to correct a second perception measurement quantity obtained by performing perception measurement on the perception target, the first perception measurement quantity being a measurement quantity obtained by performing perception measurement on the reference target; and sending target data to the second device, the target data including at least one of the correction number, the first perception measurement quantity, and a third perception measurement quantity; the third perception measurement quantity being a measurement quantity obtained by correcting the second perception measurement quantity based on the correction number.

[0022] When the network-side device is a second device, the communication interface is configured to receive target data from the first device, where the target data includes a correction number of a reference target associated with the perception target, at least one of the first perception measurement value, and a third perception measurement value; the correction number is used to correct a second perception measurement value obtained by performing perception measurement on the perception target, where the first perception measurement value is a measurement value obtained by performing perception measurement on the reference target, and the third perception measurement value is a measurement value obtained by correcting the second perception measurement value based on the correction number.

[0023] In the ninth aspect, a readable storage medium is provided, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the method described in the first aspect are implemented, or the steps of the method described in the second aspect are implemented.

[0024] In the tenth aspect, a wireless communication system is provided, comprising: a first device and a second device, wherein the first device can be used to execute the steps of the method described in the first aspect, and the second device can be used to execute the steps of the method described in the second aspect.

[0025] In the eleventh aspect, a chip is provided, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the method as described in the first aspect, or to implement the method as described in the second aspect.

[0026] In the twelfth aspect, a computer program / program product is provided, which is stored in a storage medium and is executed by at least one processor to implement the method as described in the first aspect, or to implement the method as described in the second aspect.

[0027] In an embodiment of the present application, a first device obtains a first perception measurement of a reference target associated with a perception target. The first perception measurement is used to determine a correction factor, which is used to correct a second perception measurement obtained by perception measurement of the perception target. The first perception measurement is a measurement obtained by perception measurement of the reference target. The first device sends target data to a second device, the target data including at least one of the correction factor, the first perception measurement, and a third perception measurement. The third perception measurement is a measurement obtained by correcting the second perception measurement based on the correction factor. Thus, by obtaining the first perception measurement of the reference target associated with the perception target, the second perception measurement obtained by perception of the perception target can be corrected based on the correction factor determined from the first perception measurement, thereby improving the perception accuracy of the perception target. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] FIG1 is a block diagram of a wireless communication system to which embodiments of the present application may be applied;

[0029] Figure 2 is an example diagram of a perception scene;

[0030] FIG3 is a flow chart of a reference target assisted perception processing method provided in an embodiment of the present application;

[0031] FIG4 is a schematic diagram of distance measurement or angle measurement errors caused by reflection in an embodiment of the present application;

[0032] FIG5 is a schematic diagram of distance measurement or angle measurement errors caused by refraction in an embodiment of the present application;

[0033] FIG6 is a diagram illustrating an example of perception correction using the reference target assisted perception processing method provided in an embodiment of the present application;

[0034] FIG7 is another example diagram of perception correction applied to the reference target-assisted perception processing method provided in an embodiment of the present application;

[0035] FIG8 is a flow chart of another reference target assisted perception processing method provided in an embodiment of the present application;

[0036] FIG9 is a schematic structural diagram of a reference target assisted perception processing device provided in an embodiment of the present application;

[0037] FIG10 is a schematic structural diagram of another reference target assisted perception processing device provided in an embodiment of the present application;

[0038] FIG11 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0039] FIG12 is a schematic structural diagram of a terminal provided in an embodiment of the present application;

[0040] FIG13 is a schematic structural diagram of a network-side device provided in an embodiment of the present application;

[0041] FIG14 is a schematic structural diagram of another network-side device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way are interchangeable where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same type, and do not limit the number of objects, for example, the first object can be one or more. In addition, "or" in this application represents at least one of the connected objects. For example, "A or B" covers three options, namely, Option 1: including A but not including B; Option 2: including B but not including A; Option 3: including both A and B. The character " / " generally indicates that the objects associated before and after are in an "or" relationship.

[0043] The term "indication" in this application can be either a direct indication (or explicit indication) or an indirect indication (or implicit indication). A direct indication can be understood as the sender explicitly informing the receiver of specific information, the operation to be performed, or the requested result, etc. in the instruction sent; an indirect indication can be understood as the receiver determining the corresponding information based on the instruction sent by the sender, or making a judgment and determining the operation to be performed or the requested result, etc. based on the judgment result.

[0044] It is worth noting that the technology described in the embodiments of the present application is not limited to the Long Term Evolution (LTE) / LTE-Advanced (LTE-A) system, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA) or other systems. The terms "system" and "network" in the embodiments of the present application are often used interchangeably, and the technology described can be used for the systems and radio technologies mentioned above, as well as for other systems and radio technologies. The following description describes a New Radio (NR) system for illustrative purposes, and NR terminology is used in most of the following description, but these technologies can also be applied to systems other than NR systems, such as 6th generation (6G) systems. th Generation, 6G) communication system.

[0045] FIG1 is a block diagram of a wireless communication system applicable to an embodiment of the present application. The wireless communication system includes a terminal 11 and a network-side device 12. The terminal 11 may be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer), a notebook computer, a personal digital assistant (PDA), a handheld computer, a netbook, an ultra-mobile personal computer (UMPC), a mobile internet device (MID), an augmented reality (AR), a virtual reality (VR) device, a robot, a wearable device (Wearable Device), an aircraft (Flight Vehicle), a vehicle-mounted device (VUE), a ship-mounted device, a pedestrian user equipment (PUE), a smart home (home appliances with wireless communication capabilities, such as refrigerators, televisions, washing machines, or furniture), a game console, a personal computer (PC), an ATM, or a self-service machine, or other terminal-side devices. Wearable devices include: smart watches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart bracelets, smart rings, smart necklaces, smart anklets, smart anklets, etc.), smart wristbands, smart clothing, etc. Among them, the vehicle-mounted device can also be called a vehicle-mounted terminal, a vehicle-mounted controller, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip or a vehicle-mounted unit, etc. It should be noted that the specific type of the terminal 11 is not limited in the embodiment of the present application. The network side device 12 may include an access network device or a core network device, wherein the access network device may also be called a radio access network (Radio Access Network, RAN) device, a radio access network function or a radio access network unit. The access network device may include a base station, a wireless local area network (WLAN) access point (AP) or a wireless fidelity (WiFi) node, etc.Among them, the base station can be referred to as Node B (NB), Evolved Node B (eNB), the next generation Node B (gNB), New Radio Node B (NR Node B), access point, Relay Base Station (RBS), Serving Base Station (SBS), Base Transceiver Station (BTS), radio base station, radio transceiver, Basic Service Set (BSS), Extended Service Set (ESS), Home Node B (HNB), Home evolved Node B (home evolved Node B), Transmission Reception Point (TRP) or other appropriate terms in the relevant field. As long as the same technical effect is achieved, the base station is not limited to specific technical vocabulary. It should be noted that in the embodiment of the present application, only the base station in the NR system is used as an example for introduction, and the specific type of the base station is not limited.

[0046] The core network equipment may include but is not limited to at least one of the following: core network node, core network function, mobility management entity (MME), access mobility management function (AMF), session management function (SMF), user plane function (UPF), policy control function (PCF), policy and charging rules function unit (PCRF), edge application service discovery function (EASDF), unified data management (UDM), unified data repository (UDR), home user server (HSS), centralized network configuration (CNC), network storage function (NRF), network exposure function (NEF), local NEF (L-NEF), binding support function (BSF), application function ( It should be noted that in the embodiments of the present application, only the core network device in the NR system is introduced as an example, and the specific type of the core network device is not limited.

[0047] For ease of understanding, some of the contents involved in the embodiments of this application are described below:

[0048] 1. Communication and perception integration or synaesthesia integration.

[0049] Beyond 5G th5G (5th Generation) and 6G wireless communication systems are expected to provide a variety of high-precision sensing services, such as indoor positioning for robot navigation, Wi-Fi sensing for smart homes, and radar sensing for autonomous vehicles. Sensing and communication systems are typically designed separately and occupy different frequency bands. Integrated Sensing and Communication (ISAC) enables sensing and communication systems to share the same frequency band and hardware, improving frequency efficiency and reducing hardware costs. ISAC will become a key technology for future wireless communication systems, supporting many important application scenarios. Typical applications of ISAC include navigation and obstacle avoidance for autonomous vehicles, indoor positioning and activity recognition based on Wi-Fi, communication and sensing for unmanned aerial vehicles, extended reality (XR), and radar and communication integration. Each application has different requirements, limitations, and regulatory issues. ISAC has attracted significant research interest and attention from both academia and industry.

[0050] ISAC achieves low-cost, integrated communication and perception capabilities through shared hardware and software-defined functions. Its key features include: a unified and simplified architecture; reconfigurable and scalable functions; and improved efficiency and reduced costs. The advantages of integrated communication and perception are threefold: reduced equipment cost and size; improved spectrum utilization; and enhanced system performance.

[0051] Currently, typical scenarios of integrated communication and perception that are expected to be achieved through technical upgrades based on the 5G communication system architecture are shown in the following table.

[0052] There are six basic sensing modes, depending on the difference between the sending and receiving nodes of the sensing signal, as shown in Figure 2:

[0053] (1) Base station self-transmitting and self-receiving sensing: In this sensing mode, base station A sends a sensing signal and performs sensing measurement by receiving the echo of the sensing signal.

[0054] (2) Inter-base station air interface sensing: Base station B receives the sensing signal sent by base station A and performs sensing measurements.

[0055] (3) Uplink air interface perception: Base station A receives the perception signal sent by terminal A and performs perception measurement.

[0056] (4) Downlink air interface perception: Terminal B receives the perception signal sent by base station B and performs perception measurement.

[0057] (5) Terminal self-transmitting and self-receiving perception: Terminal A sends a perception signal and performs perception measurement by receiving the echo of the perception signal.

[0058] (6) Sidelink perception between terminals: Terminal B receives the perception signal sent by terminal A and performs perception measurements.

[0059] When using the synaesthesia integration system to perform perception measurements such as ranging, speed measurement, and angle measurement on the perception target, due to reasons such as refraction and reflection of the signal, in some perception application scenarios, there will be a large error between the measurement result and the true value, especially in scenarios such as indoors or in densely populated places with buildings. In addition, in the A-send and B-receive perception mode, the sampling timing deviation and carrier frequency deviation between the receiver and the transmitter will also cause large deviations in the measurement of delay (distance) and Doppler (speed), respectively. In actual tests, the errors in the above two aspects are usually superimposed on each other, causing the perception result to deviate from the true value, thereby reducing the perception performance. To this end, a reference target-assisted perception processing method of an embodiment of the present application is proposed.

[0060] The reference target assisted perception processing method provided by the embodiment of the present application is described in detail below with reference to some embodiments and their application scenarios in conjunction with the accompanying drawings.

[0061] 3 , an embodiment of the present application provides a reference target assisted perception processing method. As shown in FIG3 , the reference target assisted perception processing method includes:

[0062] Step 301: A first device obtains a first perception measurement quantity associated with a perception target, where the first perception measurement quantity is used to determine a correction factor, and the correction factor is used to correct a second perception measurement quantity obtained by perception measurement of the perception target, where the first perception measurement quantity is a measurement quantity obtained by perception measurement of the reference target.

[0063] In step 302, the first device sends target data to the second device, where the target data includes the correction number, at least one of the first perception measurement value and a third perception measurement value; the third perception measurement value is a measurement value obtained by correcting the second perception measurement value based on the correction number.

[0064] In the embodiment of the present application, the above correction number can be understood or replaced by an error value, can also be understood or replaced by a common error, and can also be understood or replaced by a measurement error. The above reference target can be understood as a device or object whose true value of the perceived measurement quantity is known. By perceiving the difference between the measured value and the true value of the measurement quantity, the measurement error of the reference target can be obtained; in many scenarios, part of the measurement error of the reference target and the perception target within a certain range around the reference target is caused by the common error; therefore, the measurement error obtained by measuring the reference target can be used to correct the perception measurement quantity or perception result of the perception target, thereby improving the perception accuracy of the perception target.

[0065] For example, the true position coordinates of the reference target are known, and the measured position coordinates are obtained by measuring the position coordinates of the reference target. The difference between the measured position coordinates and the true position coordinates reflects the measurement error; the perceived measurement value of the position coordinates of the perceived target within a certain range near the reference target is corrected by the correction number to improve the perception accuracy of the perceived target.

[0066] It should be noted that the correction value obtained by perceiving a reference target has a limited scope of application. For example, it is only valid for perceived targets within a certain distance range from the reference target. Therefore, by obtaining the correction value of the reference target associated with the perceived target and correcting the second perceived measurement value obtained by measuring the perceived target, the accuracy of the perceived measurement can be improved.

[0067] The source of the correction number (or common error) includes at least one of the following:

[0068] Ranging or angle measurement errors caused by reflections (e.g., non-line of sight (NLOS) path), as shown in Figure 4;

[0069] Distance or angle measurement errors caused by refraction (for example, outdoor to indoor (O2I)), as shown in Figure 5;

[0070] In dual-station sensing mode, sampling timing deviation and local oscillator frequency offset caused by non-ideal frequency sources between the receiver and transmitter result in the following errors: The sampling timing deviation is superimposed on the signal propagation delay, resulting in errors in the delay measurement of the path reflected by the sensing target; the local oscillator frequency offset is superimposed on the Doppler, resulting in errors in the Doppler measurement of the path reflected by the sensing target.

[0071] It should be understood that in the embodiments of the present application, the correction value can be determined by the first device or the second device. If the correction value is determined by the second device, the first device sends the first perception measurement value to the second device. If the correction value is determined by the first device, the first device sends the correction value or the third perception measurement value to the second device. For example, if the first device corrects the second perception measurement value, the first device sends the third perception measurement value to the second device. If the second device corrects the second perception measurement value, the first device sends the correction value to the second device.

[0072] Optionally, the above-mentioned reference targets may include at least one of the following: a reconfigurable intelligent surface (RIS), a backscatter communication (BSC) device, and other devices that can modulate the incident signal and then reflect or refract it (which may be a user equipment (UE) designed specifically as a reference target).

[0073] Among them, smart metasurfaces have the following properties:

[0074] The RIS can modulate the incident first sensing signal, load it with specific information, and then reflect or transmit it, thereby identifying the path of reflection or transmission through the RIS. For example, the RIS can perform orthogonal cover code (OCC) modulation on the incident signal. The modulation can be amplitude modulation, phase modulation, or polarization modulation.

[0075] RIS can control the beam direction and beamform, so that the first perception signal can concentrate more signal energy in the direction of the receiving end of the first perception signal after being reflected or transmitted by RIS, thereby improving the coverage range of RIS as a reference target.

[0076] The BSC device has the following properties: it can modulate the incident first sensing signal, load it with specific information, and then reflect it, thereby identifying the path reflected by the BSC device. For example, the BSC device can modulate the incident signal, load it with the BSC device ID, and then reflect it. The modulation can be amplitude modulation, phase modulation, or frequency modulation.

[0077] Optionally, the first device may be understood as a device that performs at least one of the three tasks of sending, receiving, and processing a perception signal, and may be a UE or a base station. The second device may be understood as a base station or a perception function network element.

[0078] In an embodiment of the present application, a first device obtains a first perception measurement of a reference target associated with a perception target. The first perception measurement is used to determine a correction factor, which is used to correct a second perception measurement obtained by perception measurement of the perception target. The first perception measurement is a measurement obtained by perception measurement of the reference target. The first device sends target data to a second device, the target data including at least one of the correction factor, the first perception measurement, and a third perception measurement. The third perception measurement is a measurement obtained by correcting the second perception measurement based on the correction factor. Thus, by obtaining the first perception measurement of the reference target associated with the perception target, the second perception measurement obtained by perception of the perception target can be corrected based on the correction factor determined from the first perception measurement, thereby improving the perception accuracy of the perception target.

[0079] Optionally, in some embodiments, before the first device acquires the first perception measurement of the reference target associated with the perception target, the method further includes:

[0080] The first device obtains first information, where the first information is used to indicate an association method between a perception target and a reference target.

[0081] Optionally, in some embodiments, the first information includes at least one of the following:

[0082] The first indicator of reference and perceived goals;

[0083] A first association mode, wherein the first association mode is used to indicate that a first reference target is associated with the perception target, and the first reference target is a reference target having a minimum first index between the reference target and the perception target;

[0084] The second association method is used to indicate that a second reference target is associated with the perception target, and the second reference target is a reference target whose first indicator with respect to the perception target is within a preset threshold range.

[0085] Optionally, the first association method can be understood as: obtaining a correction value by using the first perception measurement corresponding to a reference target with the smallest first indicator to correct the second perception measurement of the perception target. For example, as shown in FIG6 , the nearest reference target (i.e., reference station) can be found as the reference target for association with the perception target.

[0086] Optionally, the second association method can be understood as follows: after obtaining correction values ​​for each of several reference targets whose first indicators are within a preset threshold, averaging or weighting these correction values ​​is used to obtain a final correction value for modifying the second perception measurement of the perception target. For example, as shown in FIG7 , two reference targets whose first indicators are within the preset threshold can be considered as reference targets for the perception target association.

[0087] Optionally, in some embodiments, when the first information includes the second association method, the first information further includes at least one of the following:

[0088] The preset threshold range;

[0089] A weighting method, wherein the weighting method includes at least one of the following: weighting according to a first indicator of a reference target and a perception target; weighting according to a perceived signal-to-noise ratio (SNR) or a perceived signal-to-noise and interference ratio (SINR) of the reference target.

[0090] Optionally, in some embodiments, the first indicator of the reference target and the perceived target includes: a first indicator of the reference target and the perceived target on a target spectrum, and the target spectrum includes at least one of the following:

[0091] a first spectrum, wherein the first spectrum includes a power spectrum or an amplitude spectrum in any one of the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0092] a second spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0093] A third spectrum, the third spectrum including a power spectrum or an amplitude spectrum of any one of the dimensions corresponding to the X coordinate, the Y coordinate, and the Z coordinate;

[0094] a fourth spectrum, the fourth spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the dimension corresponding to the X coordinate, the dimension corresponding to the Y coordinate, and the dimension corresponding to the Z coordinate;

[0095] The first dimension includes a time delay dimension or a distance dimension, the second dimension includes a Doppler dimension or a velocity dimension, the third dimension includes an azimuth dimension, and the fourth dimension includes an elevation dimension.

[0096] In the embodiments of the present application, the target spectrum can be understood as a power spectrum or an amplitude spectrum, wherein the dimension of the second spectrum can be understood as a joint dimension of at least two dimensions. For example, the delay-Doppler spectrum is the distribution of signal power along the two dimensions of delay and Doppler. Another example is the delay-azimuth-elevation spectrum is the distribution of signal power along the three dimensions of delay, azimuth, and elevation.

[0097] Optionally, in some embodiments, the first indicator includes at least one of Euclidean distance and Mahalanobis distance.

[0098] For Euclidean distance, for example, in the two-dimensional spectrum of X coordinate-Y coordinate, the coordinate of the perceived target is (x T ,y T ), the coordinates of each reference target are (x R,k ,y R,k ), where k is the number of the reference target, the first indicator can be:

[0099] For Mahalanobis distance, for example, in the delay-Doppler-azimuth spectrum, the reference number of the perceived target (τ T ,θ T ,f T ), the coordinates of each reference target are (π R,k ,θ R,k ,f R,k ), then the first indicator can be: in and are the eigenvalues ​​of time delay, azimuth and Doppler respectively.

[0100] Optionally, in some embodiments, the method for obtaining the first information includes at least one of the following: protocol agreement and sending by a second device.

[0101] That is, the first device may receive at least part of the content of the first information from the second device, and the protocol stipulates at least part of the content of the first information.

[0102] Optionally, in some embodiments, the method further comprises:

[0103] The first device acquires target information, where the target information includes at least one of the following:

[0104] a first signal configuration, the first signal configuration being used to indicate a signal configuration of a first signal for performing perception on a perception target;

[0105] a second signal configuration, the second signal configuration being used to indicate a signal configuration of a second signal for performing sensing on a reference target;

[0106] a first measurement configuration, where the first measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a perception target;

[0107] a second measurement configuration, where the second measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a reference target;

[0108] a first reporting configuration, where the first reporting configuration is used to indicate a reporting behavior of a measurement amount required to perform sensing on a sensing target;

[0109] The second reporting configuration is used to indicate a reporting behavior of a measurement quantity required for performing sensing on a reference target.

[0110] Optionally, the perception signal configuration included in the first signal configuration and the second signal configuration may include at least one of the following:

[0111] Waveform type, such as Orthogonal Frequency Division Multiplexing (OFDM), SC-FDMA, Orthogonal Time Frequency Space (OTFS), Frequency Modulated Continuous Wave (FMCW), pulse signal, etc.

[0112] Subcarrier spacing: For example, the subcarrier spacing of the OFDM system is 30KHz;

[0113] Guard interval: The time interval between the moment a signal ends sending and the moment the latest echo signal of the signal is received; this parameter is proportional to the maximum sensing distance; for example, it can be measured by 2d max / c calculated, d max is the maximum sensing distance (belongs to the sensing requirement), for example, for the self-transmitted and self-received sensing signal, d max Represents the maximum distance between the perceived signal receiving and transmitting point and the signal transmitting point. In some cases, the OFDM signal cyclic prefix (CP) can serve as the minimum guard interval.

[0114] Bandwidth: This parameter is inversely proportional to the range resolution and can be obtained by c / (2Δd), where Δd is the range resolution (perception requirement) and c is the speed of light.

[0115] Burst duration: This parameter is inversely proportional to the rate resolution (a perception requirement). It is the time span of the perception signal, mainly for calculating the Doppler frequency deviation. This parameter can be calculated by c / (2f cΔv) is calculated; where Δv is the velocity resolution; f c is the carrier frequency of the sensing signal;

[0116] Time domain interval: This parameter can be expressed by c / (2f c v range ) is calculated; where v range It is the maximum rate minus the minimum speed (belonging to the perception requirement); this parameter is the time interval between two adjacent perception signals;

[0117] Transmit signal power, for example, from -20dBm to 23dBm, with a value of 2dBm;

[0118] Time resources, such as the time slot index or symbol index of the time slot where the perception signal is located. There are two types of time resources: one is a one-time time resource, for example, one symbol sends an omnidirectional perception signal; the other is a non-one-time time resource, such as multiple groups of periodic time resources or discontinuous time resources (which may include start time and end time). Each group of periodic time resources sends a perception signal in the same direction, and different groups of periodic time resources have different beam directions.

[0119] Frequency resources, including the center frequency of the sensing signal, bandwidth, radio bearer (RB) or subcarrier, Point A, starting bandwidth position, etc.

[0120] Quasi co-location (QCL) relationship, for example, the sensing signal includes multiple resources, each resource is associated with a synchronization signal / physical broadcast channel signal block (Synchronization Signal and PBCH block, SSB) QCL, and the QCL includes Type A, Type B, Type C or Type D;

[0121] The antenna configuration information of the sensing node (base station or UE).

[0122] The antenna configuration information may include at least one of the following:

[0123] Antenna element identification (ID) or antenna port ID used for sending and / or receiving sensing signals;

[0124] Panel ID + array element ID used to send and / or receive sensing signals;

[0125] The position information of the antenna element used to send and / or receive the sensing signal relative to a local reference point on the antenna array (which can be expressed in Cartesian coordinates (x, y, z) or spherical coordinates) express);

[0126] The position information of the panel used to send and / or receive sensing signals relative to a local reference point on the antenna array (can be expressed in Cartesian coordinates (x, y, z) or spherical coordinates) ), and the position information of the antenna array elements used to send sensing signals within these selected panels relative to a unified reference point of the panel (such as the center point of the panel) (which can be expressed in Cartesian coordinates (x, y, z) or spherical coordinates) express);

[0127] Bitmap information of antenna elements. For example, the bitmap uses "1" to indicate that the element is selected for transmitting and / or receiving sensing signals, and "0" to indicate that the element is not selected (and vice versa).

[0128] The bitmap information of the array panel. For example, the bitmap uses "1" to indicate that the panel is selected for sending and / or receiving sensing signals, and "0" to indicate that the array element is not selected (or vice versa). And the array element bitmap information within these selected panels;

[0129] Optionally, in some embodiments, the first signal configuration and the second signal configuration are exactly the same. It is easy to understand that there is only one between the two, and it is sufficient to indicate that the one can be used for the perception of the perception target and the reference target at the same time.

[0130] Optionally, in some embodiments, the first signal configuration and the second signal configuration are completely different.

[0131] Optionally, in some embodiments, the first signal configuration and the second signal configuration are partially identical. In this case, some of the identical information between the two may not need to be repeated; for example: the time-frequency resource patterns of the first signal and the second signal are exactly the same, but the second signal has an offset relative to the first signal in the time domain. In this case, the time-frequency resource patterns of the two can be given in detail in the first signal configuration, and then in the second signal configuration, the time-frequency resource pattern is associated with the time-frequency resource pattern in the first signal configuration, and the time offset value is given.

[0132] Optionally, in some embodiments, the first measurement configuration includes at least one of the following:

[0133] a second perception measurement quantity obtained by performing perception on the perception target;

[0134] A third perception measurement value is obtained by correcting the second perception measurement value by using the correction number.

[0135] In the embodiment of the present application, the second perception measurement quantity and the first perception measurement quantity may include at least one of the following perception measurement quantities:

[0136] First-level measurement quantities (received signals or original channel information), including: complex results of received signals or channel responses, amplitude or phase, I-channel or Q-channel, and operation results thereof (operations include addition, subtraction, multiplication, and division, matrix addition, subtraction, and multiplication, matrix transposition, trigonometric operations, square root operations, and power operations, as well as threshold detection results and maximum or minimum value extraction results of the above operation results; operations also include fast Fourier transform (FFT) or inverse fast Fourier transform (IFFT), discrete Fourier transform (DFT) or inverse discrete Fourier transform (IDFT), two-dimensional fast Fourier transform (2D-FFT), three-dimensional fast Fourier transform (3D-FFT), matched filtering, autocorrelation operation, wavelet transform, and digital filtering, as well as threshold detection results and maximum or minimum value extraction results of the above operation results);

[0137] The second-level measurement quantity (basic measurement quantity) includes: time delay, Doppler, angle, intensity, and their multi-dimensional combination representation;

[0138] The third level of measurement (basic attributes or states) includes: distance, speed, direction, spatial position, and acceleration;

[0139] The fourth level of measurement (advanced attributes or states) includes: target presence, trajectory, movement, expression, vital signs, quantity, imaging results, weather, air quality, shape, material, and composition.

[0140] Optionally, in some embodiments, the second measurement configuration includes at least one of the following:

[0141] Identification of the reference target;

[0142] The type of the first perceptual measurement;

[0143] the rate of change of the first perceptual measurement;

[0144] a first perceptual measurement after smoothing filtering;

[0145] A perceived SNR or perceived SINR corresponding to the first perceived measurement value;

[0146] The type of correction number;

[0147] rate of change of corrections;

[0148] Correction number after smoothing filtering.

[0149] In this embodiment of the present application, the rate of change of the correction number can be used to determine the final correction number used to correct the second sensed measurement. That is, the rate of change of the correction number combined with the correction number can be used to determine the target correction number at other times. For example, if the correction number obtained by measuring the reference target at time t is a, and the rate of change of the correction number is δa, then the correction number at time t+δt should be a+δt×δa.

[0150] Optionally, the change rate of the first perception measurement quantity may be used to determine a final first perception measurement quantity for correcting the second perception measurement quantity, that is, the change rate of the first perception measurement quantity combined with the first perception measurement quantity may determine the first perception measurement quantity at other moments.

[0151] Optionally, the correction number after smoothing filtering can be understood as a correction number after smoothing filtering obtained based on multiple measurements.

[0152] Optionally, the first perceptual measurement quantity after smoothing filtering may be understood as the first perceptual measurement quantity after smoothing filtering obtained based on multiple measurements.

[0153] Optionally, the correction value can be understood as the difference or ratio between the first sensed measurement and a fourth sensed measurement associated with the first sensed measurement determined by the third information. Here, the fourth sensed measurement can be understood as the true value corresponding to the first sensed measurement. For example, the first sensed measurement is the measured distance of a reference target obtained by sensing the reference target via the first device transmitting and receiving the second signal, while the fourth sensed measurement is the true distance of the reference target determined based on the position of the reference target in the third information combined with the position of the first device. The difference between the measured distance and the true distance is the correction value.

[0154] Optionally, in some embodiments, the correction number includes at least one of the following:

[0155] Correction for time delay or distance;

[0156] Doppler or velocity corrections;

[0157] Azimuth correction factor;

[0158] Pitch angle correction;

[0159] Correction value of X coordinate;

[0160] Correction value of Y coordinate;

[0161] Correction value of Z coordinate;

[0162] a first correction number, wherein the first correction number includes a correction number for a joint dimension of at least two dimensions among the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0163] a second correction number, the second correction number comprising a correction number for a joint dimension of at least two of the dimensions corresponding to the X coordinate, the Y coordinate, and the Z coordinate;

[0164] The first dimension includes a time delay dimension or a distance dimension, the second dimension includes a Doppler dimension or a velocity dimension, the third dimension includes an azimuth dimension, and the fourth dimension includes an elevation dimension.

[0165] It should be understood that the dimensions of the correction factor and the dimensions of the first indicator described above can be the same or different. For example, in one embodiment, the first indicator is the Euclidean distance between the reference target and the perceived target in the X-Y coordinate dimension, while the correction factor can include a Doppler correction factor.

[0166] It should be noted that the measurement type of the second perceptual measurement quantity and the first perceptual measurement quantity is generally the same, or the measurement type of the second perceptual measurement quantity and the first perceptual measurement quantity are at least convertible between each other. For example, if the second perceptual measurement quantity is a distance (corresponding to the perceptual target), then the first perceptual measurement quantity is also a distance (corresponding to the reference target); or, for example, if the second perceptual measurement quantity is a distance and an angle (corresponding to the perceptual target), and the first perceptual measurement quantity is an X coordinate and a Y coordinate (corresponding to the reference target), the X coordinate and the Y coordinate of the reference target can also be converted into the distance and angle of the reference target, thereby having the same measurement type as the second perceptual measurement quantity.

[0167] Optionally, in some embodiments, the first reporting configuration or the second reporting configuration may include at least one of the following:

[0168] Periodic reporting: Reports data according to a specified time offset and / or period.

[0169] Semi-persistent reporting: After receiving an activation command, the device reports the corresponding data according to the specified time offset and / or period until receiving a deactivation command.

[0170] Aperiodic reporting: After receiving the activation command, the corresponding data is reported once.

[0171] In some embodiments, the first reporting configuration (for reporting sensing measurements of a sensing target) may generally be configured as periodic reporting or semi-continuous reporting, such as trajectory tracking and vital sign detection of a sensing target.

[0172] In some embodiments, the second reporting configuration (for reporting sensor measurements of a reference target) can be set to any of the three options described above. For example, if the first device is stationary and the reference target (e.g., a RIS or BSC device deployed on a wall) is also stationary, sensing the reference target only needs to be performed once. If the first device is in motion, sensing the reference target needs to be performed periodically to obtain corrections in real time.

[0173] Optionally, in some embodiments, when the target data includes the correction number or the first perceptual measurement quantity, the target data also includes the second perceptual measurement quantity.

[0174] In an embodiment of the present application, the second device may determine the third perception measurement quantity based on the correction number and the second perception measurement quantity. When the target data includes the first perception measurement quantity, the second device first determines the correction number based on the first perception measurement quantity, and then further determines the third perception measurement quantity based on the correction number and the second perception measurement quantity.

[0175] Optionally, in some embodiments, the target data further includes at least one of the following:

[0176] Identification of the reference target;

[0177] a rate of change of the first perceptual measurement;

[0178] a first perceptual measurement after smoothing filtering;

[0179] A perceived SNR or perceived SINR corresponding to the first perceived measurement value;

[0180] The rate of change of the correction number;

[0181] Correction number after smoothing filtering;

[0182] The identifier of the reference target to which the correction is associated.

[0183] In this embodiment of the present application, the rate of change of the first sensory measurement quantity, the first sensory measurement quantity after smoothing and filtering, the rate of change of the correction number, the correction number after smoothing and filtering, and the identifier of the reference target associated with the correction number can be understood as the measurement data indicated by the second measurement configuration. The target data is the measurement data indicated by the first measurement configuration and the second measurement configuration.

[0184] It should be noted that, in this embodiment of the present application, the target data may include the first perceptual measurement quantity and the first perceptual measurement quantity after smoothing and filtering. In this case, the second device may determine the correction value based on the first perceptual measurement quantity or the first perceptual measurement quantity after smoothing and filtering. In other embodiments, the first perceptual measurement quantity included in the target data may be understood as or replaced by the first perceptual measurement quantity after smoothing and filtering.

[0185] Optionally, in some embodiments, before the first device acquires the first perception measurement of the reference target associated with the perception target, the method further includes:

[0186] The first device sends second information to the second device, where the second information is used to determine a target reference target set, and correction numbers corresponding to reference targets in the target reference target set are used to correct the second perception measurement quantity, where the second information includes at least one of the following: an identifier of the first device, perception capability information of the first device, location information of the first device, posture information of the first device, and speed information of the first device;

[0187] The first device receives third information of the reference target in the reference target set from the second device, and the third information includes at least one of the following: identification information, type information, location information, posture information, perception contract information, antenna array configuration, capability information, modulation capability, signal amplification capability, reflection coefficient, transmission coefficient, reflection delay, transmission delay, supported frequency band, supported frequency band, crystal oscillator stability and radar characteristics.

[0188] In the embodiment of the present application, the location information of the first device can be understood as the coordinates of the first device in a global coordinate system, or the coordinates relative to a reference position, and the coordinates can be rectangular coordinates or polar coordinates. Optionally, the method for obtaining the location of the first device includes at least one of the following:

[0189] Obtaining location information through Global Navigation Satellite System (GNSS) positioning (e.g., GPS positioning, Beidou positioning);

[0190] Obtain location information through 5G positioning (and future 5.5G or 6G positioning);

[0191] The position information is obtained through an inertial measurement unit (IMU) equipped on the first device.

[0192] Optionally, the posture information of the first device may be understood as the orientation of the antenna panel of the first device or the rotation angle of the orientation of the local coordinate system relative to the global coordinate system, or the rotation angle relative to a reference coordinate system, where the rotation angle includes azimuth, pitch, and roll angles;

[0193] Optionally, the manner of acquiring the posture information of the first device includes at least one of the following:

[0194] Acquiring posture information by measuring using a sensor (e.g., a gyroscope) equipped on the first device itself;

[0195] The attitude information is determined by measuring the arrival angle of the downlink signal sent by one or more base stations.

[0196] Optionally, the speed information can be understood as the speed of the first device in the global coordinate system, or relative to a reference coordinate system, where the speed includes both the magnitude and direction of the speed. For a first device at a fixed location, this item can be omitted or simplified.

[0197] Optionally, a method for acquiring the speed information of the first device includes at least one of the following:

[0198] Obtaining speed information by differentiating the location information of the first device;

[0199] The velocity information is obtained by using an inertial measurement unit (IMU) equipped with the first device.

[0200] Optionally, the above type information may include RIS, BSC equipment and UE.

[0201] Optionally, the position information of the reference target may be the coordinates of the reference target in a global coordinate system, or the coordinates relative to a certain reference position, and the coordinates may be rectangular coordinates or polar coordinates.

[0202] Optionally, the attitude information of the reference target can be the orientation of the antenna panel of the reference target or the rotation angle of the local coordinate system relative to the global coordinate system, or the rotation angle relative to a certain reference coordinate system, where the rotation angle includes azimuth, pitch and roll angle.

[0203] Optionally, the contract information may include whether the user agrees to be a reference target, the time or space range of the user agreeing to be a reference target, etc.;

[0204] Optionally, the antenna array configuration of the reference target may include at least one of the following:

[0205] Antenna parameters, including: number of azimuth antennas, number of elevation antennas, etc.;

[0206] Beam parameters, including: beam width, beam gain, beam pattern, etc.

[0207] Optionally, the modulation capability may include at least one of a supported modulation format, a supported modulation rate range, and a supported modulation sequence, wherein the modulation format may include at least one of the following:

[0208] Amplitude modulation: Whether the system has amplitude modulation capability, and if so, the parameters of the amplitude modulation (e.g., the number of amplitude modulation bits)

[0209] Phase modulation: whether phase modulation capability is available, and if so, the phase modulation parameters (e.g., the number of phase modulation bits);

[0210] Polarization modulation: Whether it has the capability of polarization modulation.

[0211] The modulation sequence may include at least one of the following: supported modulation sequence types (eg, Zadoff-Chu sequence, complementary Golay sequence, m-sequence, etc.); supported modulation sequence lengths (eg, 0 to 128 bits, etc.).

[0212] The signal amplification capability may include whether it supports the ability to reflect or transmit the incident signal after power amplification, and the supported signal power gain in the case of power amplification capability.

[0213] The above reflection coefficient and transmission coefficient can be understood as the ratio of the reflected or transmitted signal power to the incident signal power when the reference target reflects or transmits the incident signal.

[0214] Optionally, the above-mentioned radar characteristics may include RCS and micro-Doppler spectrum, etc.

[0215] It should be noted that the second device may determine the target reference target set based on at least one of the second information of the first device, the sensing requirement information, and the third information of the reference targets in the candidate reference target set. For example, the second device may determine the target reference target set based on: the location of the first device, prior information about the spatial range of the sensing target, and the location and reflectivity of the reference targets in the candidate reference target set.

[0216] Optionally, the above-mentioned perception demand information may include at least one of the following:

[0217] Perception service type: classified by type or specific to a certain service, such as imaging, positioning or trajectory tracking, motion recognition, and ranging or speed measurement.

[0218] Perception target area: refers to the location area where the perception target may exist, or the location area where imaging or environmental reconstruction is required.

[0219] Target type: Targets are classified based on their possible motion characteristics. Each target type includes information such as the typical target's motion speed, motion acceleration, and typical radar cross section (RCS).

[0220] Perception Quality of Service (QoS): Performance indicators for perceiving a target area or target.

[0221] Perceive prior information.

[0222] Among them, the perceived QoS includes at least one of the following:

[0223] Perception resolution, including at least one of the following: ranging (or delay) resolution, velocity (or Doppler) resolution, angle (azimuth, pitch) resolution, imaging resolution, acceleration (X / Y / Z directions) resolution, and angular velocity (around X / Y / Z axes) resolution;

[0224] Perception accuracy (error), including at least one of the following: ranging (or delay) accuracy, velocity (or Doppler) accuracy, angle (azimuth, pitch) accuracy, acceleration (X / Y / Z directions) accuracy, and angular velocity (around the X / Y / Z axes) accuracy;

[0225] Sensing range, including at least one of the following: distance (or delay) measurement range, velocity (or Doppler) measurement range, acceleration (X / Y / Z directions) measurement range, angular velocity (around X / Y / Z axes) measurement range, and imaging range;

[0226] Perception latency (the time interval from the sending of the perception signal to the acquisition of the perception result, or the time interval from the initiation of the perception request to the acquisition of the perception result);

[0227] Perception update rate (the time interval between two consecutive perception operations and the acquisition of perception results);

[0228] Detection probability (the probability of correctly detecting the target when it is present);

[0229] False alarm probability (the probability of incorrectly detecting a perceived target when it does not exist);

[0230] Number of targets;

[0231] Coverage: The spatial extent of the perceived target / imaged area that meets at least one of the performance requirements.

[0232] Optionally, the perceptual prior information may include at least one of the following:

[0233] Prior information about the possible spatial location of the perceived target;

[0234] Perceive prior information such as the spatial structure and surface material of the target area;

[0235] Prior information about the radar characteristics of the perceived target, such as the RCS size or pattern and micro-Doppler characteristics of the perceived target.

[0236] Optionally, before the second device determines the target reference target set, the second device obtains a candidate reference target set and third information of the reference targets in the candidate reference target set.

[0237] The method for the second device to obtain the third information of the reference target in the candidate reference target set may include at least one of the following:

[0238] Acquire from a network node storing at least part of the third information, where the network node may be a perception function network element or a network node accessible to the perception function network element;

[0239] Query reporting: the second device sends a first query message to the reference target, and the reference target reports at least part of the third information after receiving the first query message; the first query message is used to instruct the reference target to report at least part of the third information.

[0240] In order to better understand the present application, some examples are given below for detailed description.

[0241] In some embodiments, a self-transmitting and self-receiving sensing mode may be employed.

[0242] In an embodiment of the present application, the first device is a device that performs single-station perception, that is, the first device is both a sending device of the perception signal (including: a first signal for performing perception on the perception target, a second signal for performing perception on the perception target) and a receiving device of the perception signal.

[0243] After determining a target reference target set, a first signal configuration, a second signal configuration, a first measurement configuration, and a second measurement configuration, the first device sends a perception signal according to the first signal configuration to perform perception on the perception target, and sends a perception signal according to the second signal configuration to perform perception on the reference target.

[0244] After the first device receives the second signal for performing perception on the reference target, it obtains a first perception measurement quantity of the reference target, and determines a fourth perception measurement quantity (i.e., a true value corresponding to the first perception measurement quantity) based on the second information of the first device and the third information of the reference target; and a corresponding correction number can be determined by combining the first perception measurement quantity and the fourth perception measurement quantity.

[0245] In addition, the first device receives a first signal for performing perception on a perception target and obtains a second perception measurement of the perception target. At this time, the operation of the first device may be as follows:

[0246] In case 1, the first device reports the second perception measurement quantity and the first perception measurement quantity to the second device, and the second device determines the corresponding correction number based on the first perception measurement quantity and the fourth perception measurement quantity. Then, the second device combines the second perception measurement quantity and the correction number to determine the third perception measurement quantity. The third perception measurement quantity is the measurement quantity after the common error is corrected.

[0247] In the embodiment of the present application, due to reasons such as weak signal processing capabilities of the first device, the second perception measurement quantity and the first perception measurement quantity are relatively elementary measurement quantities such as original I / Q path data or a channel matrix. After the first device reports the second perception measurement quantity and the first perception measurement quantity to the second device, the second device determines a correction factor and obtains a corrected third perception measurement quantity.

[0248] In case 2, the first device determines the corresponding correction number based on the first perception measurement quantity and the fourth perception measurement quantity. Then, the first device reports the second perception measurement quantity and the correction number to the second device, and the second device determines the corrected third perception measurement quantity based on the second perception measurement quantity and the correction number.

[0249] In the embodiment of the present application, the first device has a strong signal processing capability and is capable of obtaining relatively advanced measurement quantities and correction numbers such as delay, Doppler, and angle. However, due to reasons such as multi-sensing node collaboration, the first device is still required to report the correction number. The first device reports the second perception measurement quantity and correction number to the second device, and the second device determines the third perception measurement quantity.

[0250] In case 3, the first device determines corresponding correction numbers according to the first perception measurement quantity and the fourth perception measurement quantity, and determines a third perception measurement quantity by combining the second perception measurement quantity and the correction number.

[0251] The first device independently performs the sensing process, and the first device only needs to report the corrected third sensing measurement value to the second device.

[0252] In some embodiments, an A-transmit B-receive sensing mode may be employed.

[0253] In an embodiment of the present application, the first device is a device that performs dual-station perception. Therefore, the first device includes: a sending device (denoted as the third device) of a perception signal (including: a first signal for performing perception on a perception target and a second signal for performing perception on the perception target), and a receiving device (denoted as the fourth device) of the perception signal.

[0254] After determining the target reference target set, the first signal configuration, the second signal configuration, the first measurement configuration, and the second measurement configuration, the third device sends a perception signal according to the first signal configuration to perform perception on the perception target, and sends a perception signal according to the second signal configuration to perform perception on the reference target.

[0255] After the fourth device receives the second signal for performing perception on the reference target, it obtains the first perception measurement quantity of the reference target, and determines the fourth perception measurement quantity (i.e., the true value corresponding to the first perception measurement quantity) based on the second information of the first device and the third information of the reference target; and determines the corresponding correction number by combining the first perception measurement quantity and the fourth perception measurement quantity.

[0256] In addition, the fourth device receives the first signal for sensing the sensing target and obtains a second sensing measurement of the sensing target. The operation of the fourth device corresponds to the same behavior as the operation of the first device in the above embodiment. The above description may be referred to and will not be repeated here.

[0257] 8 , an embodiment of the present application further provides a reference target assisted perception processing method. As shown in FIG8 , the reference target assisted perception processing method includes:

[0258] In step 801, a second device receives target data from a first device, where the target data includes a correction number of a reference target associated with the perception target, at least one of the first perception measurement quantity and a third perception measurement quantity; the correction number is used to correct a second perception measurement quantity obtained by perception measurement of the perception target, the first perception measurement quantity is a measurement quantity obtained by perception measurement of the reference target, and the third perception measurement quantity is a measurement quantity obtained by correcting the second perception measurement quantity based on the correction number.

[0259] Optionally, before the second device receives the target data from the first device, the method further includes:

[0260] The second device sends at least part of first information to the first device, where the first information is used to indicate an association manner between the perception target and the reference target.

[0261] Optionally, the first information includes at least one of the following:

[0262] The first indicator of reference and perceived goals;

[0263] A first association mode, wherein the first association mode is used to indicate that a first reference target is associated with the perception target, and the first reference target is a reference target having a minimum first index between the reference target and the perception target;

[0264] The second association method is used to indicate that a second reference target is associated with the perception target, and the second reference target is a reference target whose first indicator with respect to the perception target is within a preset threshold range.

[0265] Optionally, when the first information includes the second association method, the first information also includes at least one of the following:

[0266] The preset threshold range;

[0267] A weighting method, wherein the weighting method includes at least one of the following: weighting according to a first indicator of a reference target and a perception target; weighting according to a perceived signal-to-noise ratio (SNR) or a perceived signal-to-interference-plus-noise ratio (SINR) of the reference target.

[0268] Optionally, the first indicator of the reference target and the perceived target includes: a first indicator of the reference target and the perceived target on a target spectrum, and the target spectrum includes at least one of the following:

[0269] a first spectrum, wherein the first spectrum includes a power spectrum or an amplitude spectrum in any one of the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0270] a second spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0271] A third spectrum, the third spectrum including a power spectrum or an amplitude spectrum of any one of the dimensions corresponding to the X coordinate, the Y coordinate, and the Z coordinate;

[0272] a fourth spectrum, the fourth spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the dimension corresponding to the X coordinate, the dimension corresponding to the Y coordinate, and the dimension corresponding to the Z coordinate;

[0273] The first dimension includes a time delay dimension or a distance dimension, the second dimension includes a Doppler dimension or a velocity dimension, the third dimension includes an azimuth dimension, and the fourth dimension includes an elevation dimension.

[0274] Optionally, the first indicator includes at least one of Euclidean distance and Mahalanobis distance.

[0275] Optionally, the method further includes:

[0276] The second device sends at least part of target information to the first device, where the target information includes at least one of the following:

[0277] a first signal configuration, the first signal configuration being used to indicate a signal configuration of a first signal for performing perception on a perception target;

[0278] a second signal configuration, the second signal configuration being used to indicate a signal configuration of a second signal for performing sensing on a reference target;

[0279] a first measurement configuration, where the first measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a perception target;

[0280] a second measurement configuration, where the second measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a reference target;

[0281] a first reporting configuration, where the first reporting configuration is used to indicate a reporting behavior of a measurement amount required to perform sensing on a sensing target;

[0282] The second reporting configuration is used to indicate a reporting behavior of a measurement quantity required for performing sensing on a reference target.

[0283] Optionally, the first measurement configuration includes at least one of the following:

[0284] a second perception measurement quantity obtained by performing perception on the perception target;

[0285] A third perception measurement value is obtained by correcting the second perception measurement value by using the correction number.

[0286] Optionally, the second measurement configuration includes at least one of the following:

[0287] Identification of the reference target;

[0288] The type of the first perceptual measurement;

[0289] the rate of change of the first perceptual measurement;

[0290] a first perceptual measurement after smoothing filtering;

[0291] A perceived SNR or perceived SINR corresponding to the first perceived measurement value;

[0292] The type of correction number;

[0293] rate of change of corrections;

[0294] Correction number after smoothing filtering.

[0295] Optionally, the correction number includes at least one of the following:

[0296] Correction for time delay or distance;

[0297] Doppler or velocity corrections;

[0298] Azimuth correction factor;

[0299] Pitch angle correction;

[0300] Correction value of X coordinate;

[0301] Correction value of Y coordinate;

[0302] Correction value of Z coordinate;

[0303] a first correction number, wherein the first correction number includes a correction number for a joint dimension of at least two dimensions among the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0304] a second correction number, wherein the first correction number includes a correction number for a joint dimension of at least two dimensions among a dimension corresponding to the X coordinate, a dimension corresponding to the Y coordinate, and a dimension corresponding to the Z coordinate;

[0305] The first dimension includes a time delay dimension or a distance dimension, the second dimension includes a Doppler dimension or a velocity dimension, the third dimension includes an azimuth dimension, and the fourth dimension includes an elevation dimension.

[0306] Optionally, when the target data includes the correction number or the first perceptual measurement quantity, the target data also includes the second perceptual measurement quantity.

[0307] Optionally, the target data further includes at least one of the following:

[0308] Identification of the reference target;

[0309] a rate of change of the first perceptual measurement;

[0310] a first perceptual measurement after smoothing filtering;

[0311] A perceived SNR or perceived SINR corresponding to the first perceived measurement value;

[0312] The rate of change of the correction number;

[0313] Correction number after smoothing filtering;

[0314] The identifier of the reference target to which the correction is associated.

[0315] Optionally, before the second device receives the target data from the first device, the method further includes:

[0316] The second device determines a target reference target set, and correction numbers corresponding to reference targets in the target reference target set are used to correct the second perception measurement amount;

[0317] The second device sends third information of the reference target in the target reference target set to the first device, where the third information includes at least one of the following: identification information, type information, location information, posture information, perception contract information, antenna array configuration, capability information, modulation capability, signal amplification capability, reflection coefficient, transmission coefficient, reflection delay, transmission delay, supported frequency band, supported frequency band, crystal oscillator stability and radar characteristics.

[0318] Optionally, before the second device determines the target reference target set, the method further includes at least one of the following:

[0319] The second device receives second information of the first device from the first device, where the second information is used to determine the target reference target set, the second information including at least one of the following: an identifier of the first device, sensing capability information of the first device, location information of the first device, posture information of the first device, and speed information of the first device;

[0320] The second device acquires perception requirement information, where the perception requirement information is used to determine the target reference target set;

[0321] The second device obtains third information of a reference target set in the candidate reference target set, where the third information of the reference target set in the candidate reference target set is used to determine the target reference target set.

[0322] The reference target assisted perception processing method provided in the embodiment of the present application can be executed by a reference target assisted perception processing device. In the embodiment of the present application, the reference target assisted perception processing device performing the reference target assisted perception processing method is taken as an example to illustrate the reference target assisted perception processing device provided in the embodiment of the present application.

[0323] 9 , an embodiment of the present application further provides a reference target assisted perception processing device. As shown in FIG9 , the reference target assisted perception processing device 900 includes:

[0324] A first acquisition module 901 is configured to acquire a first perceptual measurement of a reference target associated with a perceptual target, where the first perceptual measurement is used to determine a correction factor, and the correction factor is used to correct a second perceptual measurement obtained by perceptually measuring the perceptual target, where the first perceptual measurement is a measurement obtained by perceptually measuring the reference target.

[0325] The first sending module 902 is configured to send target data to the second device, where the target data includes the correction number, at least one of the first perception measurement value, and a third perception measurement value; the third perception measurement value is a measurement value obtained by correcting the second perception measurement value based on the correction number.

[0326] Optionally, the first acquisition module 901 is further used to: acquire first information, where the first information is used to indicate an association manner between the perception target and the reference target.

[0327] Optionally, the first information includes at least one of the following:

[0328] The first indicator of reference and perceived goals;

[0329] A first association mode, wherein the first association mode is used to indicate that a first reference target is associated with the perception target, and the first reference target is a reference target having a minimum first index between the reference target and the perception target;

[0330] The second association method is used to indicate that a second reference target is associated with the perception target, and the second reference target is a reference target whose first indicator with respect to the perception target is within a preset threshold range.

[0331] Optionally, when the first information includes the second association method, the first information also includes at least one of the following:

[0332] The preset threshold range;

[0333] A weighting method, wherein the weighting method includes at least one of the following: weighting according to a first indicator of a reference target and a perception target; weighting according to a perceived signal-to-noise ratio (SNR) or a perceived signal-to-interference-plus-noise ratio (SINR) of the reference target.

[0334] Optionally, the first indicator of the reference target and the perceived target includes: a first indicator of the reference target and the perceived target on a target spectrum, and the target spectrum includes at least one of the following:

[0335] a first spectrum, wherein the first spectrum includes a power spectrum or an amplitude spectrum in any one of the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0336] a second spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0337] A third spectrum, the third spectrum including a power spectrum or an amplitude spectrum of any one of the dimensions corresponding to the X coordinate, the Y coordinate, and the Z coordinate;

[0338] a fourth spectrum, the fourth spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the dimension corresponding to the X coordinate, the dimension corresponding to the Y coordinate, and the dimension corresponding to the Z coordinate;

[0339] The first dimension includes a time delay dimension or a distance dimension, the second dimension includes a Doppler dimension or a velocity dimension, the third dimension includes an azimuth dimension, and the fourth dimension includes an elevation dimension.

[0340] Optionally, the first indicator includes at least one of Euclidean distance and Mahalanobis distance.

[0341] Optionally, a method for acquiring the first information includes at least one of the following: protocol agreement and sending by a second device.

[0342] Optionally, the first acquisition module 901 is further configured to: acquire target information, the target information including at least one of the following:

[0343] a first signal configuration, the first signal configuration being used to indicate a signal configuration of a first signal for performing perception on a perception target;

[0344] a second signal configuration, the second signal configuration being used to indicate a signal configuration of a second signal for performing sensing on a reference target;

[0345] a first measurement configuration, where the first measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a perception target;

[0346] a second measurement configuration, where the second measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a reference target;

[0347] a first reporting configuration, where the first reporting configuration is used to indicate a reporting behavior of a measurement amount required to perform sensing on a sensing target;

[0348] The second reporting configuration is used to indicate a reporting behavior of a measurement quantity required for performing sensing on a reference target.

[0349] Optionally, the first measurement configuration includes at least one of the following:

[0350] a second perception measurement quantity obtained by performing perception on the perception target;

[0351] A third perception measurement value is obtained by correcting the second perception measurement value by using the correction number.

[0352] Optionally, the second measurement configuration includes at least one of the following:

[0353] Identification of the reference target;

[0354] The type of the first perceptual measurement;

[0355] the rate of change of the first perceptual measurement;

[0356] a first perceptual measurement after smoothing filtering;

[0357] A perceived SNR or perceived SINR corresponding to the first perceived measurement value;

[0358] The type of correction number;

[0359] rate of change of corrections;

[0360] Correction number after smoothing filtering.

[0361] Optionally, the target information is obtained in at least one of the following ways: protocol agreement and sending by a second device.

[0362] Optionally, the correction number includes at least one of the following:

[0363] Correction for time delay or distance;

[0364] Doppler or velocity corrections;

[0365] Azimuth correction factor;

[0366] Pitch angle correction;

[0367] Correction value of X coordinate;

[0368] Correction value of Y coordinate;

[0369] Correction value of Z coordinate;

[0370] a first correction number, wherein the first correction number includes a correction number for a joint dimension of at least two dimensions among the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0371] a second correction number, wherein the first correction number includes a correction number for a joint dimension of at least two dimensions among a dimension corresponding to the X coordinate, a dimension corresponding to the Y coordinate, and a dimension corresponding to the Z coordinate;

[0372] The first dimension includes a time delay dimension or a distance dimension, the second dimension includes a Doppler dimension or a velocity dimension, the third dimension includes an azimuth dimension, and the fourth dimension includes an elevation dimension.

[0373] Optionally, when the target data includes the correction number or the first perceptual measurement quantity, the target data also includes the second perceptual measurement quantity.

[0374] Optionally, the target data further includes at least one of the following:

[0375] Identification of the reference target;

[0376] a rate of change of the first perceptual measurement;

[0377] a first perceptual measurement after smoothing filtering;

[0378] A perceived SNR or perceived SINR corresponding to the first perceived measurement value;

[0379] The rate of change of the correction number;

[0380] Correction number after smoothing filtering;

[0381] The identifier of the reference target to which the correction is associated.

[0382] Optionally, the first sending module 902 is further configured to send second information to the second device, where the second information is used to determine a target reference target set, and correction numbers corresponding to reference targets in the target reference target set are used to correct the second perception measurement quantity, where the second information includes at least one of the following: an identifier of the first device, perception capability information of the first device, location information of the first device, posture information of the first device, and speed information of the first device;

[0383] The first acquisition module 901 is also used to receive third information of the reference target in the reference target set from the second device, and the third information includes at least one of the following: identification information, type information, location information, posture information, perception contract information, antenna array configuration, capability information, modulation capability, signal amplification capability, reflection coefficient, transmission coefficient, reflection delay, transmission delay, supported frequency band, supported frequency band, crystal oscillator stability and radar characteristics.

[0384] 10 , an embodiment of the present application further provides a reference target assisted perception processing device. As shown in FIG10 , the reference target assisted perception processing device 1000 includes:

[0385] A receiving module 1001 is configured to receive target data from a first device, where the target data includes a correction number of a reference target associated with the perception target, at least one of the first perception measurement quantity and a third perception measurement quantity; the correction number is used to correct a second perception measurement quantity obtained by perception measurement of the perception target, where the first perception measurement quantity is a measurement quantity obtained by perception measurement of the reference target, and the third perception measurement quantity is a measurement quantity obtained by correcting the second perception measurement quantity based on the correction number.

[0386] Optionally, the reference target assisted perception processing device 1000 further includes:

[0387] The second sending module is used to send at least part of the first information to the first device, where the first information is used to indicate the association method between the perception target and the reference target.

[0388] Optionally, the first information includes at least one of the following:

[0389] The first indicator of reference and perceived goals;

[0390] A first association mode, wherein the first association mode is used to indicate that a first reference target is associated with the perception target, and the first reference target is a reference target having a minimum first index between the reference target and the perception target;

[0391] The second association method is used to indicate that a second reference target is associated with the perception target, and the second reference target is a reference target whose first indicator with respect to the perception target is within a preset threshold range.

[0392] Optionally, when the first information includes the second association method, the first information also includes at least one of the following:

[0393] The preset threshold range;

[0394] A weighting method, wherein the weighting method includes at least one of the following: weighting according to a first indicator of a reference target and a perception target; weighting according to a perceived signal-to-noise ratio (SNR) or a perceived signal-to-interference-plus-noise ratio (SINR) of the reference target.

[0395] Optionally, the first indicator of the reference target and the perceived target includes: a first indicator of the reference target and the perceived target on a target spectrum, and the target spectrum includes at least one of the following:

[0396] a first spectrum, wherein the first spectrum includes a power spectrum or an amplitude spectrum in any one of the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0397] a second spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0398] A third spectrum, the third spectrum including a power spectrum or an amplitude spectrum of any one of the dimensions corresponding to the X coordinate, the Y coordinate, and the Z coordinate;

[0399] a fourth spectrum, the fourth spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the dimension corresponding to the X coordinate, the dimension corresponding to the Y coordinate, and the dimension corresponding to the Z coordinate;

[0400] The first dimension includes a time delay dimension or a distance dimension, the second dimension includes a Doppler dimension or a velocity dimension, the third dimension includes an azimuth dimension, and the fourth dimension includes an elevation dimension.

[0401] Optionally, the first indicator includes at least one of Euclidean distance and Mahalanobis distance.

[0402] Optionally, the reference target assisted perception processing device 1000 further includes:

[0403] The second sending module is configured to send at least part of target information to the first device, where the target information includes at least one of the following:

[0404] a first signal configuration, the first signal configuration being used to indicate a signal configuration of a first signal for performing perception on a perception target;

[0405] a second signal configuration, the second signal configuration being used to indicate a signal configuration of a second signal for performing sensing on a reference target;

[0406] a first measurement configuration, where the first measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a perception target;

[0407] a second measurement configuration, where the second measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a reference target;

[0408] a first reporting configuration, where the first reporting configuration is used to indicate a reporting behavior of a measurement amount required to perform sensing on a sensing target;

[0409] The second reporting configuration is used to indicate a reporting behavior of a measurement quantity required for performing sensing on a reference target.

[0410] Optionally, the first measurement configuration includes at least one of the following:

[0411] a second perception measurement quantity obtained by performing perception on the perception target;

[0412] A third perception measurement value is obtained by correcting the second perception measurement value by using the correction number.

[0413] Optionally, the second measurement configuration includes at least one of the following:

[0414] Identification of the reference target;

[0415] The type of the first perceptual measurement;

[0416] the rate of change of the first perceptual measurement;

[0417] a first perceptual measurement after smoothing filtering;

[0418] A perceived SNR or perceived SINR corresponding to the first perceived measurement value;

[0419] The type of correction number;

[0420] rate of change of corrections;

[0421] Correction number after smoothing filtering.

[0422] Optionally, the correction number includes at least one of the following:

[0423] Correction for time delay or distance;

[0424] Doppler or velocity corrections;

[0425] Azimuth correction factor;

[0426] Pitch angle correction;

[0427] Correction value of X coordinate;

[0428] Correction value of Y coordinate;

[0429] Correction value of Z coordinate;

[0430] a first correction number, wherein the first correction number includes a correction number for a joint dimension of at least two dimensions among the first dimension, the second dimension, the third dimension, and the fourth dimension;

[0431] a second correction number, wherein the first correction number includes a correction number for a joint dimension of at least two dimensions among a dimension corresponding to the X coordinate, a dimension corresponding to the Y coordinate, and a dimension corresponding to the Z coordinate;

[0432] The first dimension includes a time delay dimension or a distance dimension, the second dimension includes a Doppler dimension or a velocity dimension, the third dimension includes an azimuth dimension, and the fourth dimension includes an elevation dimension.

[0433] Optionally, when the target data includes the correction number or the first perceptual measurement quantity, the target data also includes the second perceptual measurement quantity.

[0434] Optionally, the target data further includes at least one of the following:

[0435] Identification of the reference target;

[0436] a rate of change of the first perceptual measurement;

[0437] a first perceptual measurement after smoothing filtering;

[0438] A perceived SNR or perceived SINR corresponding to the first perceived measurement value;

[0439] The rate of change of the correction number;

[0440] Correction number after smoothing filtering;

[0441] The identifier of the reference target to which the correction is associated.

[0442] Optionally, the reference target assisted perception processing device 1000 further includes:

[0443] A determination module, configured to determine a target reference target set, wherein correction values ​​corresponding to reference targets in the target reference target set are used to correct the second perception measurement value;

[0444] The second sending module is used to send third information of the reference target in the target reference target set to the first device, where the third information includes at least one of the following: identification information, type information, location information, posture information, perception contract information, antenna array configuration, capability information, modulation capability, signal amplification capability, reflection coefficient, transmission coefficient, reflection delay, transmission delay, supported frequency band, supported frequency band, crystal oscillator stability and radar characteristics.

[0445] Optionally, the receiving module 1001 is further configured to perform at least one of the following:

[0446] receiving, from the first device, second information of the first device, where the second information is used to determine the target reference target set, the second information comprising at least one of the following: an identifier of the first device, sensing capability information of the first device, location information of the first device, posture information of the first device, and speed information of the first device;

[0447] Acquiring perception demand information, wherein the perception demand information is used to determine the target reference target set;

[0448] Third information of a reference target set in the candidate reference target set is acquired, where the third information of the reference target set in the candidate reference target set is used to determine the target reference target set.

[0449] The reference target assisted perception processing device in the embodiment of the present application can be an electronic device, such as an electronic device with an operating system, or a component in an electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal, or it can be a device other than a terminal. For example, the terminal can include but is not limited to the types of terminals 11 listed above, and other devices can be servers, network attached storage (NAS), etc., which are not specifically limited in the embodiment of the present application.

[0450] The reference target assisted perception processing device provided in the embodiment of the present application can implement the various processes implemented in the method embodiments of Figures 3 to 8 and achieve the same technical effects. To avoid repetition, they will not be repeated here.

[0451] As shown in Figure 11, an embodiment of the present application also provides a communication device 1100, including a processor 1101 and a memory 1102, and the memory 1102 stores a program or instruction that can be run on the processor 1101. When the program or instruction is executed by the processor 1101, the various steps of the above-mentioned reference target assisted perception processing method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0452] The present application also provides a terminal comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is configured to execute a program or instruction to implement the steps of the method embodiment shown in FIG3 . This terminal embodiment corresponds to the first device-side method embodiment described above, and each implementation process and implementation method of the method embodiment described above are applicable to this terminal embodiment and can achieve the same technical effects. Specifically, FIG12 is a schematic diagram of the hardware structure of a terminal implementing an embodiment of the present application.

[0453] The terminal 1200 includes but is not limited to: a radio frequency unit 1201, a network module 1202, an audio output unit 1203, an input unit 1204, a sensor 1205, a display unit 1206, a user input unit 1207, an interface unit 1208, a memory 1209 and at least some of the components of the processor 1210.

[0454] Those skilled in the art will appreciate that the terminal 1200 may also include a power supply (such as a battery) to power various components. The power supply may be logically connected to the processor 1210 via a power management system, thereby enabling the power management system to manage charging, discharging, and power consumption. The terminal structure shown in FIG12 does not limit the terminal. The terminal may include more or fewer components than shown, or may combine certain components, or have different component arrangements, which will not be described in detail here.

[0455] It should be understood that in an embodiment of the present application, the input unit 1204 may include a graphics processing unit (GPU) 12041 and a microphone 12042, and the graphics processor 12041 processes the image data of a static picture or video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 1206 may include a display panel 12061, and the display panel 12061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 1207 includes a touch panel 12071 and at least one of other input devices 12072. The touch panel 12071 is also called a touch screen. The touch panel 12071 may include two parts: a touch detection device and a touch controller. Other input devices 12072 may include, but are not limited to, a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and a joystick, which will not be repeated here.

[0456] In the embodiment of the present application, after receiving downlink data from a network-side device, the RF unit 1201 may transmit the data to the processor 1210 for processing. Furthermore, the RF unit 1201 may send uplink data to the network-side device. Typically, the RF unit 1201 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low-noise amplifier, a duplexer, and the like.

[0457] The memory 1209 can be used to store software programs or instructions and various data. The memory 1209 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, applications or instructions required for at least one function (such as a sound playback function, an image playback function, etc.). In addition, the memory 1209 may include a volatile memory or a non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DRRAM). The memory 1209 in the embodiment of the present application includes but is not limited to these and any other suitable types of memory.

[0458] Processor 1210 may include one or more processing units. Optionally, processor 1210 integrates an application processor and a modem processor. The application processor primarily handles operations related to the operating system, user interface, and application programs, while the modem processor primarily processes wireless communication signals, such as a baseband processor. It is understood that the modem processor may not be integrated into processor 1210.

[0459] The radio frequency unit 1201 is configured to obtain a first perception measurement quantity of a reference target associated with a perception target, where the first perception measurement quantity is used to determine a correction number, where the correction number is used to correct a second perception measurement quantity obtained by performing perception measurement on the perception target, where the first perception measurement quantity is a measurement quantity obtained by performing perception measurement on the reference target; and send target data to a second device, where the target data includes at least one of the correction number, the first perception measurement quantity, and a third perception measurement quantity, where the third perception measurement quantity is a measurement quantity obtained by correcting the second perception measurement quantity based on the correction number.

[0460] It can be understood that the implementation process of each implementation method mentioned in this embodiment can refer to the relevant description of the above-mentioned first device side method embodiment and achieve the same or corresponding technical effects. To avoid repetition, it will not be repeated here.

[0461] The present application also provides a network-side device, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is configured to execute a program or instruction to implement the steps of the method embodiment shown in FIG3 or FIG8 . This network-side device embodiment corresponds to the aforementioned network-side device method embodiment, and each implementation process and implementation method of the aforementioned method embodiment is applicable to this network-side device embodiment and can achieve the same technical effects.

[0462] Specifically, embodiments of the present application also provide a network-side device. As shown in Figure 13, network-side device 1300 includes an antenna 1301, a radio frequency device 1302, a baseband device 1303, a processor 1304, and a memory 1305. Antenna 1301 is connected to radio frequency device 1302. In the uplink direction, radio frequency device 1302 receives information via antenna 1301 and sends the received information to baseband device 1303 for processing. In the downlink direction, baseband device 1303 processes the information to be transmitted and sends it to radio frequency device 1302. Radio frequency device 1302 processes the received information and then sends it through antenna 1301.

[0463] The method executed by the network-side device in the above embodiment may be implemented in the baseband device 1303 , which includes a baseband processor.

[0464] The baseband device 1303 may include, for example, at least one baseband board, on which multiple chips are arranged, as shown in Figure 13, one of which is, for example, a baseband processor, which is connected to the memory 1305 through a bus interface to call the program in the memory 1305 and execute the network device operations shown in the above method embodiment.

[0465] The network side device may further include a network interface 1306 , which is, for example, a Common Public Radio Interface (CPRI).

[0466] Specifically, the network side device 1300 of the embodiment of the present application also includes: instructions or programs stored in the memory 1305 and can be run on the processor 1304. The processor 1304 calls the instructions or programs in the memory 1305 to execute the methods executed by the modules shown in Figure 9 or Figure 10, and achieves the same technical effect. To avoid repetition, it will not be repeated here.

[0467] Specifically, the embodiment of the present application further provides a network side device. As shown in FIG14 , the network side device 1400 includes: a processor 1401, a network interface 1402, and a memory 1403. The network interface 1402 is, for example, a common public radio interface (CPRI).

[0468] Specifically, the network side device 1400 of the embodiment of the present application also includes: instructions or programs stored in the memory 1403 and executable on the processor 1401. The processor 1401 calls the instructions or programs in the memory 1403 to execute the methods executed by the modules shown in FIG10 and achieve the same technical effect. To avoid repetition, it will not be described here.

[0469] An embodiment of the present application also provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the various processes of the above-mentioned reference target assisted perception processing method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0470] The processor is the processor in the terminal described in the above embodiment. The readable storage medium includes a computer-readable storage medium, such as a computer read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk. In some examples, the readable storage medium may be a non-transitory readable storage medium.

[0471] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned reference target assisted perception processing method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0472] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0473] An embodiment of the present application further provides a computer program / program product, which is stored in a storage medium. The computer program / program product is executed by at least one processor to implement the various processes of the above-mentioned reference target assisted perception processing method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0474] An embodiment of the present application also provides a wireless communication system, including: a first device and a second device, wherein the terminal can be used to execute the steps of the reference target assisted perception processing method on the first device side as described above, and the network side device can be used to execute the steps of the reference target assisted perception processing method on the second device side as described above.

[0475] It should be noted that, in this article, the terms "comprise", "include" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or device comprising the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved. For example, the described method may be performed in an order different from that described, and various steps may also be added, omitted or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0476] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of a computer software product plus a necessary general-purpose hardware platform, or of course, by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes a number of instructions for enabling a terminal or network-side device to execute the methods described in each embodiment of the present application.

[0477] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of this application, ordinary technicians in this field can also make many forms of implementation methods without departing from the purpose of this application and the scope of protection of the claims. These implementation methods are all within the protection of this application.

Claims

1. A reference target assisted perception processing method, comprising: The first device acquires a first perception measurement amount of a reference target associated with the perception target, where the first perception measurement amount is used to determine a correction number, where the correction number is used to correct a second perception measurement amount obtained by perception measurement of the perception target, where the first perception measurement amount is a measurement amount obtained by perception measurement of the reference target; The first device sends target data to the second device, where the target data includes the correction number, at least one of the first perception measurement value and a third perception measurement value; the third perception measurement value is a measurement value obtained by correcting the second perception measurement value based on the correction number.

2. The method according to claim 1, wherein: Before the first device acquires a first perception measurement amount of a reference target associated with the perception target, the method further includes: The first device obtains first information, where the first information is used to indicate an association method between a perception target and a reference target.

3. The method according to claim 2, wherein: The first information includes at least one of the following: The first indicator of reference and perceived targets; A first association mode, wherein the first association mode is used to indicate that a first reference target is associated with the perception target, and the first reference target is a reference target with a minimum first index between the reference target and the perception target; The second association method is used to indicate that a second reference target is associated with the perception target, and the second reference target is a reference target whose first indicator with respect to the perception target is within a preset threshold range.

4. The method according to claim 3, wherein: When the first information includes the second association method, the first information also includes at least one of the following: The preset threshold range; A weighting method, wherein the weighting method includes at least one of the following: weighting according to a first indicator of a reference target and a perceived target; weighting according to a perceived signal-to-noise ratio (SNR) or a perceived signal-to-interference-plus-noise ratio (SINR) of the reference target.

5. The method according to claim 3, wherein: The first index of the reference target and the perceived target includes: a first index of the reference target and the perceived target on a target spectrum, and the target spectrum includes at least one of the following: A first spectrum, wherein the first spectrum includes a power spectrum or an amplitude spectrum in any one of the first dimension, the second dimension, the third dimension, and the fourth dimension; a second spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the first dimension, the second dimension, the third dimension, and the fourth dimension; A third spectrum, wherein the third spectrum includes a power spectrum or an amplitude spectrum of any one of the dimensions corresponding to the X coordinate, the Y coordinate, and the Z coordinate; a fourth spectrum, the fourth spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two dimensions of a dimension corresponding to the X coordinate, a dimension corresponding to the Y coordinate, and a dimension corresponding to the Z coordinate; Among them, the first dimension includes the time delay dimension or the distance dimension, the second dimension includes the Doppler dimension or the speed dimension, the third dimension includes the azimuth dimension, and the fourth dimension includes the elevation dimension.

6. The method according to claim 3, wherein: The first indicator includes at least one of Euclidean distance and Mahalanobis distance.

7. The method according to claim 2, wherein: The method for acquiring the first information includes at least one of the following: protocol agreement and sending by a second device.

8. The method according to claim 1, further comprising: The first device acquires target information, where the target information includes at least one of the following: A first signal configuration, wherein the first signal configuration is used to indicate a signal configuration of a first signal for performing perception on a perception target; a second signal configuration, the second signal configuration being used to indicate a signal configuration of a second signal for performing sensing on a reference target; a first measurement configuration, where the first measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a perception target; a second measurement configuration, where the second measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a reference target; a first report configuration, where the first report configuration is used to indicate a reporting behavior of a measurement amount required to perform perception on a perception target; The second reporting configuration is used to indicate a reporting behavior of a measurement amount required to be obtained by performing sensing on a reference target.

9. The method according to claim 8, wherein: The first measurement configuration includes at least one of the following: a second perception measurement quantity obtained by performing perception on the perception target; A third perception measurement value is obtained by correcting the second perception measurement value by using the correction number.

10. The method according to claim 8, wherein: The second measurement configuration includes at least one of the following: Identification of the reference target; The type of first perceptual measurement quantity; The rate of change of the first perceived measurement quantity; The first perceptual measurement after smoothing filtering; A perceived SNR or a perceived SINR corresponding to the first perceived measurement amount; The type of correction number; The rate of change of the correction number; Correction number after smoothing filtering.

11. The method according to claim 8, wherein: The target information is obtained in at least one of the following ways: protocol agreement and sending by a second device.

12. The method according to any one of claims 1 to 10, wherein: The correction number includes at least one of the following: Correction number for time delay or distance; Doppler or velocity corrections; Correction number of azimuth; Pitch angle correction factor; Correction value of X coordinate; Correction value of Y coordinate; Correction value of Z coordinate; a first correction number, wherein the first correction number includes a correction number of a joint dimension of at least two dimensions among a first dimension, a second dimension, a third dimension, and a fourth dimension; a second correction number, wherein the first correction number includes a correction number of a joint dimension of at least two dimensions of a dimension corresponding to the X coordinate, a dimension corresponding to the Y coordinate, and a dimension corresponding to the Z coordinate; Among them, the first dimension includes the time delay dimension or the distance dimension, the second dimension includes the Doppler dimension or the speed dimension, the third dimension includes the azimuth dimension, and the fourth dimension includes the elevation dimension.

13. The method according to claim 1, wherein: In a case where the target data includes the correction value or the first perceptual measurement quantity, the target data further includes the second perceptual measurement quantity.

14. The method according to claim 1, wherein: The target data also includes at least one of the following: Identification of the reference target; the rate of change of the first sensed measurement; The first perceptual measurement after smoothing filtering; A perceived SNR or a perceived SINR corresponding to the first perceived measurement amount; The rate of change of the correction number; Correction number after smoothing filtering; The identifier of the reference target to which the correction is associated.

15. The method according to claim 1, wherein: Before the first device acquires a first perception measurement amount of a reference target associated with the perception target, the method further includes: The first device sends second information to the second device, where the second information is used to determine a target reference target set, where correction numbers corresponding to reference targets in the target reference target set are used to correct the second perception measurement quantity, where the second information includes at least one of the following: an identifier of the first device, perception capability information of the first device, location information of the first device, posture information of the first device, and speed information of the first device; The first device receives third information of the reference target in the reference target set from the second device, and the third information includes at least one of the following: identification information, type information, location information, posture information, perception contract information, antenna array configuration, capability information, modulation capability, signal amplification capability, reflection coefficient, transmission coefficient, reflection delay, transmission delay, supported frequency band, supported frequency band, crystal oscillator stability and radar characteristics.

16. A reference target assisted perception processing method, comprising: The second device receives target data from the first device, the target data including at least one of a correction number of a reference target associated with the perception target, a first perception measurement quantity, and a third perception measurement quantity; the correction number is used to correct a second perception measurement quantity obtained by perception measurement of the perception target, the first perception measurement quantity is a measurement quantity obtained by perception measurement of the reference target, and the third perception measurement quantity is a correction number for the second perception measurement quantity based on the correction number. The corrected measurement.

17. The method according to claim 16, wherein: Before the second device receives the target data from the first device, the method further includes: The second device sends at least part of the first information to the first device, where the first information is used to indicate the association method between the perception target and the reference target.

18. The method according to claim 17, wherein: The first information includes at least one of the following: The first indicator of reference and perceived targets; A first association mode, wherein the first association mode is used to indicate that a first reference target is associated with the perception target, and the first reference target is a reference target with a minimum first index between the reference target and the perception target; The second association method is used to indicate that a second reference target is associated with the perception target, and the second reference target is a reference target whose first indicator with respect to the perception target is within a preset threshold range.

19. The method according to claim 18, wherein: When the first information includes the second association method, the first information also includes at least one of the following: The preset threshold range; A weighting method, wherein the weighting method includes at least one of the following: weighting according to a first indicator of a reference target and a perceived target; weighting according to a perceived signal-to-noise ratio (SNR) or a perceived signal-to-interference-plus-noise ratio (SINR) of the reference target.

20. The method according to claim 18, wherein: The first index of the reference target and the perceived target includes: a first index of the reference target and the perceived target on a target spectrum, and the target spectrum includes at least one of the following: A first spectrum, wherein the first spectrum includes a power spectrum or an amplitude spectrum in any one of the first dimension, the second dimension, the third dimension, and the fourth dimension; a second spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two of the first dimension, the second dimension, the third dimension, and the fourth dimension; A third spectrum, wherein the third spectrum includes a power spectrum or an amplitude spectrum of any one of the dimensions corresponding to the X coordinate, the Y coordinate, and the Z coordinate; a fourth spectrum, the fourth spectrum comprising a power spectrum or an amplitude spectrum of a joint dimension of at least two dimensions of a dimension corresponding to the X coordinate, a dimension corresponding to the Y coordinate, and a dimension corresponding to the Z coordinate; Among them, the first dimension includes the time delay dimension or the distance dimension, the second dimension includes the Doppler dimension or the speed dimension, the third dimension includes the azimuth dimension, and the fourth dimension includes the elevation dimension.

21. The method according to claim 20, wherein: The first indicator includes at least one of Euclidean distance and Mahalanobis distance.

22. The method according to claim 16, further comprising: The second device sends at least part of the target information to the first device, where the target information includes at least one of the following: A first signal configuration, wherein the first signal configuration is used to indicate a signal configuration of a first signal for performing perception on a perception target; a second signal configuration, the second signal configuration being used to indicate a signal configuration of a second signal for performing sensing on a reference target; a first measurement configuration, where the first measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a perception target; a second measurement configuration, where the second measurement configuration is used to indicate a type of measurement quantity required to obtain for performing perception on a reference target; a first report configuration, where the first report configuration is used to indicate a reporting behavior of a measurement amount required to perform perception on a perception target; The second reporting configuration is used to indicate a reporting behavior of a measurement amount required to be obtained by performing sensing on a reference target.

23. The method according to claim 22, wherein: The first measurement configuration includes at least one of the following: a second perception measurement quantity obtained by performing perception on the perception target; A third perception measurement value is obtained by correcting the second perception measurement value by using the correction number.

24. The method according to claim 22, wherein: The second measurement configuration includes at least one of the following: Identification of the reference target; The type of first perceptual measurement quantity; The rate of change of the first perceived measurement quantity; The first perceptual measurement after smoothing filtering; A perceived SNR or a perceived SINR corresponding to the first perceived measurement amount; The type of correction number; The rate of change of the correction number; Correction number after smoothing filtering.

25. The method according to any one of claims 16 to 24, wherein: The correction number includes at least one of the following: Correction number for time delay or distance; Doppler or velocity corrections; Correction number of azimuth; Pitch angle correction factor; Correction value of X coordinate; Correction value of Y coordinate; Correction value of Z coordinate; a first correction number, wherein the first correction number includes a correction number of a joint dimension of at least two dimensions among a first dimension, a second dimension, a third dimension, and a fourth dimension; a second correction number, wherein the first correction number includes a correction number of a joint dimension of at least two dimensions of a dimension corresponding to the X coordinate, a dimension corresponding to the Y coordinate, and a dimension corresponding to the Z coordinate; The first dimension includes the time delay dimension or the distance dimension, the second dimension includes the Doppler dimension or the speed dimension. The third dimension includes the azimuth dimension, and the fourth dimension includes the elevation dimension.

26. The method of claim 16, wherein: In a case where the target data includes the correction value or the first perceptual measurement quantity, the target data further includes the second perceptual measurement quantity.

27. The method of claim 16, wherein: The target data also includes at least one of the following: Identification of the reference target; the rate of change of the first sensed measurement; The first perceptual measurement after smoothing filtering; A perceived SNR or a perceived SINR corresponding to the first perceived measurement amount; The rate of change of the correction number; Correction number after smoothing filtering; The identifier of the reference target to which the correction is associated.

28. The method of claim 16, wherein: Before the second device receives the target data from the first device, the method further includes: The second device determines a target reference target set, and correction numbers corresponding to reference targets in the target reference target set are used to correct the second perception measurement amount; The second device sends third information of the reference target in the target reference target set to the first device, and the third information includes at least one of the following: identification information, type information, location information, posture information, perception contract information, antenna array configuration, capability information, modulation capability, signal amplification capability, reflection coefficient, transmission coefficient, reflection delay, transmission delay, supported frequency band, supported frequency band, crystal oscillator stability and radar characteristics.

29. The method according to claim 28, wherein: Before the second device determines the target reference target set, the method further includes at least one of the following: The second device receives second information of the first device from the first device, where the second information is used to determine the target reference target set, and the second information includes at least one of the following: an identifier of the first device, sensing capability information of the first device, location information of the first device, posture information of the first device, and speed information of the first device; The second device acquires perception requirement information, where the perception requirement information is used to determine the target reference target set; The second device obtains third information of a reference target set in a candidate reference target set, and the third information of the reference target set in the candidate reference target set is used to determine the target reference target set.

30. A reference target assisted perception processing device, comprising: a first acquisition module, configured to acquire a first perceptual measurement quantity of a reference target associated with the perceptual target, wherein the first perceptual measurement quantity is used to determine a correction number, wherein the correction number is used to correct a second perceptual measurement quantity obtained by perceptually measuring the perceptual target, wherein the first perceptual measurement quantity is a measurement quantity obtained by perceptually measuring the reference target; The first sending module is used to send target data to the second device, where the target data includes the correction number, at least one of the first perception measurement value and a third perception measurement value; the third perception measurement value is a measurement value obtained by correcting the second perception measurement value based on the correction number.

31. A reference target assisted perception processing device, comprising: A receiving module is used to receive target data from a first device, where the target data includes at least one of a correction number of a reference target associated with the perception target, a first perception measurement amount, and a third perception measurement amount; the correction number is used to correct a second perception measurement amount obtained by perceptually measuring the perception target, the first perception measurement amount is a measurement amount obtained by perceptually measuring the reference target, and the third perception measurement amount is a measurement amount after correcting the second perception measurement amount based on the correction number.

32. A terminal comprising a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the reference target assisted perception processing method as described in any one of claims 1 to 15 are implemented.

33. A network side device, comprising a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the reference target assisted perception processing method as described in any one of claims 1 to 29 are implemented.

34. A readable storage medium storing a program or instruction, wherein the program or instruction, when executed by a processor, implements the steps of the reference target assisted perception processing method as described in any one of claims 1 to 29.

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