Sensing measurement result processing method and apparatus, sensing measurement result sending method and apparatus, and device

Abstract

The present application relates to the technical field of communications, and provides a sensing measurement result processing method and apparatus, a sensing measurement result sending method and apparatus, and a device. The sensing measurement result processing method of embodiments of the present application comprises: a first device acquires a first sensing measurement result for a sensing target; the first device acquires motion information of a target device, wherein the target device comprises a sending device or a receiving device for a sensing signal corresponding to the first sensing measurement result; and the first device determines a second sensing measurement result for the sensing target on the basis of the first sensing measurement result and the motion information.

Description

Perception measurement result processing method, sending method, device and equipment

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on November 13, 2023, with application number 202311506194.8 and invention name “Perception measurement result processing method, sending method, device and equipment”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application belongs to the field of communication technology, and specifically relates to a method for processing, sending, apparatus and device of perception measurement results. Background Art

[0004] Some communication systems support perception measurement. In related technologies, the perception measurement result is obtained by measuring the perception signal. The perception measurement result is obtained by assuming that both the sending device and the receiving device of the perception signal are stationary. This results in poor reliability of the perception measurement result.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a method for processing, a method for sending, an apparatus, and a device for perceptual measurement results, which can solve the problem of poor reliability of perceptual measurement results.

[0007] In a first aspect, a method for processing a perception measurement result is provided, comprising:

[0008] The first device obtains a first perception measurement result for the perception target;

[0009] The first device acquires motion information of a target device, wherein the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0010] The first device determines a second perception measurement result for the perception target based on the first perception measurement result and the motion information.

[0011] In a second aspect, a method for sending a perception measurement result is provided, including:

[0012] The second device sends target information to the first device, where the target information includes at least one of the following:

[0013] a first perception measurement result of the perception target and motion information of the target device;

[0014] The first perception measurement result is a perception measurement result obtained by the second device performing perception measurement on the perception signal;

[0015] The target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0016] The target information is used to determine a second perception measurement result for the perception target.

[0017] In a third aspect, a perception measurement result processing device is provided, comprising:

[0018] A first acquisition module, configured to acquire a first perception measurement result for a perception target;

[0019] a second acquisition module, configured to acquire motion information of a target device, wherein the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0020] A determining module is configured to determine a second perceptual measurement result for the perceptual target based on the first perceptual measurement result and the motion information.

[0021] In a fourth aspect, a device for sending a perception measurement result is provided, including:

[0022] The first sending module is configured to send target information to the first device, where the target information includes at least one of the following:

[0023] a first perception measurement result of the perception target and motion information of the target device;

[0024] The first perception measurement result is a perception measurement result obtained by the second device performing perception measurement on the perception signal;

[0025] The target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0026] The target information is used to determine a second perception measurement result for the perception target.

[0027] In a fifth aspect, a device is provided, the terminal including a processor and a memory, the memory storing a program or instruction that can be run on the processor, wherein the program or instruction is executed by the processor to implement the steps of the perception measurement result processing method provided in the embodiment of the present application, or the program or instruction is executed by the processor to implement the steps of the perception measurement result sending method provided in the embodiment of the present application.

[0028] In a sixth aspect, a device is provided, comprising a processor and a communication interface, wherein the processor or the communication interface is used to obtain a first perception measurement result for a perception target; obtain motion information of the target device, wherein the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result; and the processor is used to determine a second perception measurement result for the perception target based on the first perception measurement result and the motion information.

[0029] In a seventh aspect, a device is provided, comprising a processor and a communication interface, wherein the communication interface is used to send target information to a first device, the target information including at least one of the following: a first perception measurement result for a perception target and motion information of the target device; wherein the first perception measurement result is a perception measurement result obtained by the second device performing a perception measurement on a perception signal; the target device includes a sending device or a receiving device of the perception signal corresponding to the first perception measurement result; the target information is used to determine a second perception measurement result for the perception target.

[0030] In an eighth 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 for processing the perception measurement results provided in the embodiment of the present application are implemented, or the steps of the method for sending the perception measurement results provided in the embodiment of the present application are implemented.

[0031] In a ninth aspect, a wireless communication system is provided, including: a first device and a second device, wherein the first device can be used to perform the steps of the perception measurement result processing method provided in the embodiment of the present application, and the second device can be used to perform the steps of the perception measurement result sending method provided in the embodiment of the present application.

[0032] In a tenth aspect, a chip is provided, comprising a processor and a communication interface, the communication interface being coupled to the processor, the processor being configured to run a program or instruction to implement a method for processing a perception measurement result as provided in an embodiment of the present application, or to implement a method for sending a perception measurement result as provided in an embodiment of the present application.

[0033] In an eleventh aspect, a computer program / program product is provided, wherein the computer program / program product is stored in a storage medium, and the program / program product is executed by at least one processor to implement the steps of the method for processing perception measurement results as provided in the embodiment of the present application, or the program / program product is executed by at least one processor to implement the steps of the method for processing perception measurement results as provided in the embodiment of the present application.

[0034] In an embodiment of the present application, a first device obtains a first perception measurement result for a perception target; the first device obtains motion information of a target device, wherein the target device includes a transmitting device or a receiving device of a perception signal corresponding to the first perception measurement result; and the first device determines a second perception measurement result for the perception target based on the first perception measurement result and the motion information. Because the second perception measurement result is determined based on the first perception measurement result and the device's motion information, the second perception measurement result is associated with the device's motion information. This improves the reliability of the second perception measurement result in scenarios where the device is in motion. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG1 is a block diagram of a wireless communication system to which embodiments of the present application may be applied;

[0036] FIG2 is a schematic diagram of a perception measurement scenario provided by an embodiment of the present application;

[0037] FIG3 is a flowchart of a method for processing perception measurement results provided by an embodiment of the present application;

[0038] FIG4 is a schematic diagram of a scenario provided by an embodiment of the present application;

[0039] FIG5 is a flowchart of a method for sending perception measurement results provided by an embodiment of the present application;

[0040] FIG6 is a schematic diagram of a perception measurement result processing provided by an embodiment of the present application;

[0041] FIG7 is a schematic diagram of another method for processing perception measurement results provided by an embodiment of the present application;

[0042] FIG8 is a schematic diagram of another method for processing perception measurement results provided by an embodiment of the present application;

[0043] FIG9 is a structural diagram of a perception measurement result processing device provided in an embodiment of the present application;

[0044] FIG10 is a structural diagram of a device for sending a perception measurement result according to an embodiment of the present application;

[0045] FIG11 is a structural diagram of a communication device provided in an embodiment of the present application;

[0046] FIG12 is a structural diagram of a device provided in an embodiment of the present application;

[0047] FIG13 is a structural diagram of another device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0048] The following will be combined with the accompanying drawings in the embodiments of this application to clearly describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field are within the scope of protection of this application.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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, vehicle-mounted controller, vehicle-mounted module, vehicle-mounted component, vehicle-mounted chip or vehicle-mounted unit, etc. It should be noted that the specific type of terminal 11 is not limited in the embodiment of the present application.

[0053] The network-side device 12 may include an access network device or a core network device, wherein the access network device may also be referred to as a 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. 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.

[0054] 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.

[0055] In some embodiments, network-side devices and terminals may have perception capabilities in addition to communication capabilities. Perception capabilities refer to one or more devices with the ability to sense the position, distance, speed, and other information of a target object through the transmission and reception of wireless signals, or to detect, track, identify, and image a target object, event, or environment. Some perception functions and application scenarios are shown in Table 1:

[0056] Table 1

[0057] It should be noted that the perception categories shown in Table 1 above are only examples, and the embodiments of the present application do not limit the categories of perception measurements.

[0058] In addition, the embodiments of the present application can be applied to the communication and perception integration scenario, where communication and perception integration refers to the integrated design of communication and perception functions through spectrum sharing and hardware sharing in the same system. While transmitting information, the system can perceive information such as direction, distance, speed, and detect, track, and identify target devices or events. The communication system and the perception system complement each other to achieve overall performance improvement and bring a better service experience.

[0059] For example: the integration of communication and radar is a typical communication-perception integration (communication-perception fusion) application, and the integration of communication and radar systems can bring many advantages, such as cost savings, size reduction, power consumption reduction, spectrum efficiency improvement, and mutual interference reduction, thereby improving the overall performance of the system.

[0060] In the embodiment of the present application, depending on the difference between the sending node and the receiving node of the perception signal, the six types of perception links shown in Figure 2 may be included but not limited to. It should be noted that each perception link in Figure 2 is illustrated by taking a sending node and a receiving node as an example. In the actual system, different perception links can be selected according to different perception needs. Each perception link may have one or more sending nodes and one receiving node, and the actual perception system may include a variety of different perception links. In addition, the perception targets in Figure 2 take people and cars as examples, and assuming that people and cars do not carry or install signal receiving / transmitting equipment, the perception targets of the actual scene will be richer.

[0061] Sensing link 1: The base station transmits and receives sensing signals autonomously. In this mode, the base station sends sensing signals and obtains sensing results by receiving the echo of the sensing signals.

[0062] Sensing link 2: inter-base station air interface sensing. In this mode, base station 2 receives the sensing signal sent by base station 1 and obtains the sensing result.

[0063] Perception link 3: Uplink air interface perception: In this mode, the base station receives the perception signal sent by the terminal and obtains the perception result.

[0064] Perception link 4: Downlink air interface perception: In this mode, the terminal receives the perception signal sent by the base station and obtains the perception result.

[0065] Perception link 5: Terminal self-transmitting and self-receiving perception. In this mode, the terminal sends a perception signal and obtains the perception result by receiving the echo of the perception signal.

[0066] Perception link 6: Sidelink perception between terminals. For example, terminal 2 receives a perception signal sent by terminal 1 and obtains a perception result, or terminal 1 receives a perception signal sent by terminal 2 and obtains a perception result.

[0067] In some embodiments, the signaling transmission between the wireless access network device and the terminal, or between different terminals, may be through Radio Resource Control (RRC) signaling or Medium Access Control Control Element (MAC CE) or Layer 1 signaling or other newly defined perception signaling; the signaling transmission between the perception network function and the terminal may be through Non-Access-Stratum (NAS) signaling (forwarded via AMF) or through RRC signaling or MAC CE or Layer 1 signaling or other newly defined perception signaling; the interaction between the perception network function and the base station may be forwarded to the wireless access network through the N2 interface by the AMF; or the core network perception network function may send it to the UPF, and the UPF may send it to the wireless access network through the N3 interface; or it may be sent to the wireless access network (such as a base station) through a newly defined interface; the signaling transmission between wireless access network devices may be through the Xn interface.

[0068] In the embodiment of the present application, the perception network function may also be called a perception network element or a perception management function (Sensing Management Function, Sensing MF), which may be located on the RAN side or the core network side. It refers to a network node in the core network or RAN responsible for at least one function, such as perception request processing, perception resource scheduling, perception information interaction, and perception data processing. It may be based on an upgrade of the AMF or LMF in the mobile communication network, or it may be another network node or a newly defined network node. Specifically, the functional characteristics of the perception network function / perception network element may include at least one of the following:

[0069] Target information is exchanged with a wireless signal sending device or a wireless signal measuring device (including a target terminal or a serving base station of the target terminal or a base station associated with a target area), wherein the target information includes a perception processing request, a perception capability, perception assistance data, a perception measurement quantity type, a perception resource configuration information, etc., to obtain the value of the target perception result or the perception measurement quantity (uplink measurement quantity or downlink measurement quantity) sent by the wireless signal measuring device; wherein the wireless signal can also be referred to as a perception signal.

[0070] The perception method to be used is determined based on factors such as the type of perception service, perception service consumer information, required perception service quality (QoS) requirement information, the perception capability of the wireless signal sending device, and the perception capability of the wireless signal measuring device. The perception method may include: wireless access network device A sends and wireless access network device B receives, or the wireless access network device sends and the terminal receives, or the wireless access network device A sends and receives by itself, or the terminal sends and the wireless access network device receives, or the terminal sends and receives by itself, or terminal A sends and terminal B receives, etc.

[0071] The perception device serving the perception service is determined based on factors such as the type of perception service, information about the perception service consumer, required perception QoS requirement information, the perception capability of the wireless signal sending device, and the perception capability of the wireless signal measuring device. The perception device includes a wireless signal sending device or a wireless signal measuring device.

[0072] Manage the overall coordination and scheduling of resources required for sensing services, such as configuring sensing resources for wireless access network devices or terminals;

[0073] Data processing or calculation is performed on the values ​​of the perceived measurement quantity to obtain the perceived result. The perceived result can also be verified and the perception accuracy can be estimated.

[0074] In the following, in conjunction with the accompanying drawings, a method for processing, sending, apparatus and device of perception measurement results provided by the embodiments of the present application are described in detail through some embodiments and their application scenarios.

[0075] Please refer to FIG3 , which is a flowchart of a method for processing perception measurement results provided by an embodiment of the present application. As shown in FIG3 , the method includes the following steps:

[0076] Step 301: A first device obtains a first perception measurement result for a perception target.

[0077] Among them, the above-mentioned first device can be a terminal, a network side device or a core network element, or a perception network function.

[0078] The above steps may be that the first device receives the first perception measurement result sent by other devices, or the first device measures the perception signal to obtain the perception measurement result.

[0079] The first perception measurement result is a perception measurement result obtained by measuring the perception signal.

[0080] In the embodiments of the present application, there is no limitation on the sensing target, for example, it can be a passive sensing target or an active sensing target.

[0081] Step 302: The first device obtains motion information of a target device, where the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result.

[0082] The target device is a device that can move during the perception measurement process, such as a terminal or a mobile network-side device.

[0083] In some embodiments, the first device may be the target device, or the first device may be the opposite device of the target device, such as the first device is a receiving device of the perception signal and the target device is a sending device of the perception signal, or the first device is a sending device of the perception signal and the target device is a receiving device of the perception signal.

[0084] In some embodiments, the motion information includes but is not limited to at least one of the following:

[0085] Movement direction and speed.

[0086] The above steps may be that the first device receives motion information sent by other devices, or the first device measures or detects motion information through a sensor, etc.

[0087] In the embodiment of the present application, the type of the perception signal is not limited. For example, the perception signal may be a perception-specific signal, a communication signal, or a reference signal.

[0088] It should be noted that the embodiment of the present application does not limit the execution order of step 301 and step 302. If they can be executed simultaneously, step 301 can be executed first and then step 302, or step 302 can be executed first and then step 301.

[0089] Step 303: The first device determines a second perception measurement result for the perception target based on the first perception measurement result and the motion information.

[0090] The above-mentioned determination of the second perception measurement result for the perception target based on the first perception measurement result and the motion information can be that the first perception measurement result is corrected based on the motion information to obtain the above-mentioned second perception measurement result; or, the above-mentioned determination of the second perception measurement result for the perception target based on the first perception measurement result and the motion information can be that a perception measurement result of a different type from the first perception measurement result is determined based on the first perception measurement result and the motion information, such as the first perception measurement result is Doppler information, and the above-mentioned second perception measurement result is the perception information calculated based on the Doppler information and the motion information, such as perception information such as target motion speed, motion recognition, breathing or heart rate.

[0091] In an embodiment of the present application, the above steps can be used to determine the second perception measurement result based on the first perception measurement result and the motion information of the device, so that the second perception measurement result is a perception measurement result associated with the motion information of the device. In this way, for scenarios where the device is moving, the reliability of the second perception measurement result can be improved.

[0092] As an optional implementation manner, the first device obtains a first perception measurement result for a perception target, including:

[0093] The first device performs perception measurement on the perception signal to obtain a first perception measurement result for a perception target; or

[0094] The first device receives a first perception measurement result for a perception target sent by the second device.

[0095] In one of the above optional implementations, the above first device is a receiving device of the perception signal, such as the above first device is the above target device, or the target device is a sending device of the perception signal, and the above first device is a receiving device of the perception signal.

[0096] In one of the above optional implementations, the above second device may be the above target device, or may be the opposite device of the target device, such as the above target device is a sending device of the perception signal, and the above second device is a receiving device of the perception signal.

[0097] The first perception measurement result for the perception target sent by the second device may be a first perception measurement result obtained by the second device measuring the perception signal.

[0098] In this implementation, it is possible to support multiple ways of obtaining the first perception measurement result, so as to adapt to more scenarios or services and improve the compatibility of perception measurement.

[0099] As an optional implementation manner, the first perception measurement result includes at least one of the following:

[0100] A Doppler measurement value of the sensing signal and an angle measurement value of the sensing signal.

[0101] The Doppler measurement value of the sensing signal may be the Doppler measurement value of one or more paths of the sensing signal. For example, the Doppler measurement value of the sensing signal includes at least one of the following:

[0102] a Doppler measurement value of a first path of the sensing signal, a Doppler measurement value of a second path of the sensing signal, and a Doppler measurement value of a third path of the sensing signal;

[0103] The arrival time of the first path is earlier than the arrival time of the second path and the third path, for example, the first path is the first path to arrive, such as the line of sight (LOS) path.

[0104] The second path is a signal path reflected by the sensing target, which may also be referred to as a target path.

[0105] The third path is a signal path reflected by a target object, which may be a specific target, such as a Reconfigurable Intelligent Surface (RIS) or a backscatter device, or a known object.

[0106] In the embodiment of the present application, there is no limitation on the identification method of the first path, the second path and the third path. For example, the first path can be determined by the arrival time, the second path can be determined by the modulation information or characteristic information carried by the signal path, and the third path can be determined by Doppler or time delay.

[0107] The angle measurement value of the above-mentioned perception signal can be the angle measurement value of one or more paths of the perception signal, for example: the angle measurement value of the perception signal includes at least one of the following

[0108] an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and an angle measurement value of a third path of the perception signal;

[0109] The first path, the second path and the third path are as described above.

[0110] In some embodiments, the above-mentioned angle measurement value can be an angle of arrival (AoA) measurement value, for example, including at least one of the horizontal arrival angle and the vertical arrival angle, or including at least one of the azimuth arrival angle and the pitch arrival angle; the embodiment of the present application does not limit the angle measurement value to the arrival angle, for example, in some embodiments, it can also be a departure angle, such as when the target device is a signal sending device, so that the angle between the two can be calculated based on the departure angle of the LOS path and the movement direction of the target device, and then the Doppler projection value on the LOS path and the frequency deviation value of the transceiver device caused by the movement of the target device are calculated, or the maximum Doppler value caused by the movement of the target device are calculated; or, the angle between the two can be calculated based on the departure angle of the target reflection path and the movement direction of the target device, and then the Doppler projection value on the target reflection path caused by the movement of the target device is calculated, and then the perception measurement result that eliminates the influence of device motion (and transceiver frequency deviation) is calculated.

[0111] In one of the above optional implementations, a Doppler measurement value of the perception signal or an angle measurement value of the perception signal may be obtained to improve perception performance.

[0112] In some embodiments, the above-mentioned angle measurement value is angle information relative to the global coordinate system. If the angle information measured by the device is angle information relative to the local coordinate system of the device, the angle information in the global coordinate system can be calculated through the conversion parameters between the local coordinate system and the global coordinate system, such as the rotation angle of the local coordinate system relative to the global coordinate system: α (bearing angle), β (downtilt angle) and γ (tilt angle).

[0113] As an optional implementation, step 302 includes at least one of the following:

[0114] The first device measures the signal sent by the target device to obtain motion information of the target device;

[0115] The first device receives the motion information of the target device reported by the target device;

[0116] The first device receives the motion information of the target device sent by the second device;

[0117] The first device obtains motion information of the target device through a sensor;

[0118] The first device measures a signal sent by a peer device of the target device to obtain motion information of the target device;

[0119] The first device calculates motion information of the target device based on the first perception measurement result;

[0120] The first device calculates motion information of the target device based on the location information of the target device.

[0121] The signal sent by the target device may be the perception signal or a signal other than the perception signal.

[0122] The motion information reported by the target device may be the motion information of the target device itself obtained by a sensor and reported to the first device.

[0123] The motion information of the target device sent by the second device may be obtained by the second device by measuring the signal sent by the target device and reporting the motion information to the first device. Alternatively, the second device may be a third-party device. That is, based on the third-party device's perception of the target device, one method may be to obtain the motion information of the target device through other passive sensing methods, such as a network-side device sending and receiving the motion information of the target device, a network-side device sending and receiving the motion information of the target device to other terminals, or another method may be to use other sensor devices, such as a camera, to perceive the motion status of the target device.

[0124] The first device obtaining the motion information of the target device via a sensor refers to the first device being the target device, and the target device obtaining the motion information of itself via a sensor. For example, the first device may be equipped with a motion sensor, such as an accelerometer, gyroscope, electronic compass, magnetometer, or inertial measurement unit (IMU).

[0125] The above-mentioned first device measures the signal sent by the opposite device of the target device to obtain the motion information of the target device. The first device can be the target device, and the target device measures the signal sent by the opposite device (such as the perception signal) to obtain its own motion information.

[0126] The above-mentioned first device calculating the motion information of the target device based on the first perception measurement result may be that the first device calculates the position information of the target device at multiple time points based on the first perception measurement result, and determines the motion information of the target device based on the position information.

[0127] The first device calculating the motion information of the target device based on the location information of the target device may be performed by the first device determining the location information of the target device at multiple time points through signal measurement or reporting, and calculating the motion information of the target device based on this location information. For example, the motion information may be obtained based on active positioning of the target device, such as measuring based on a sensing signal or measuring the positioning signal of the target device, obtaining the location of the target device at different times during the sensing measurement process, and calculating the speed, magnitude, or direction of the target device's motion based on the changes in the location of the target device at different times.

[0128] The above step 302 including at least one of the above items means that the motion information acquired in step 302 may include the above at least one item of motion information acquired.

[0129] The above implementation can support different ways of acquiring the motion information of the target device, thereby adapting to more scenarios or perception measurements of services, and improving the compatibility of perception measurements.

[0130] In some embodiments, the above-mentioned motion information may also be acquired in advance, that is, known, such as in a specific perception scenario such as a highway, where a vehicle is used as a target device and its motion direction is known.

[0131] As an optional implementation manner, the first device determines, based on the first perception measurement result and the motion information, a second perception measurement result for the perception target, including:

[0132] The first device determines a second perception measurement result for the perception target based on the first perception measurement result, the motion information, and the device information of the target device.

[0133] The device information of the target device is device-related information used to assist in determining the calculation of the second perception measurement result. For example, the device information includes at least one of the following:

[0134] location information of the target device, orientation information of the target device, coordinate information of the target device, timestamp information of the target device, and clock frequency deviation information;

[0135] In which, the clock frequency deviation information includes: when the target device includes the sending device of the perception signal, the clock frequency deviation information between the target device and the receiving device of the perception signal, or, the clock frequency deviation information includes: when the target device includes the receiving device of the perception signal, the clock frequency deviation information between the target device and the sending device of the perception signal.

[0136] The location information of the target device may be location information before or after the target device moves. This location information may be used as a benchmark or reference when determining the second perception measurement result, thereby making the second perception measurement result more reliable.

[0137] The orientation information of the target device may be the orientation information of a reference device used in the sensory measurement process, such as an antenna, a screen, or a sensor. This orientation information can be used as a benchmark or reference when determining the second sensory measurement result, thereby making the second sensory measurement result more reliable.

[0138] The coordinate information of the above-mentioned target device can be the local coordinate system information of the target device, such as the rotation angle of the local coordinate system relative to the global coordinate system. Through this coordinate information, the coordinate information can be used as a benchmark or reference when determining the second perception measurement result, thereby making the second perception measurement result more reliable.

[0139] The above-mentioned timestamp information is used to match the above-mentioned first perception measurement result, such as the motion information or position information of the target device measured based on the sensor or third-party device corresponds to the time of sending or receiving the perception signal. In this way, the motion information or device information of the target device can be matched with the first perception measurement result, thereby making the second perception measurement result more reliable.

[0140] The above-mentioned clock frequency deviation information can be used to align the clock frequencies of the sending device and the receiving device of the perception signal, so that the second perception measurement result is determined when the clock frequencies of the sending and receiving ends are aligned, making the second perception measurement result more reliable.

[0141] It should be noted that, in some implementations, the device information may not be used when determining the second perception measurement result.

[0142] As an optional implementation manner, the first device includes a core network element, and the target device includes a terminal or a network side device; or,

[0143] The first device includes a terminal, and the target device includes a network-side device, the first device, or another terminal; or

[0144] The first device includes a network-side device, and the target device includes a terminal, the first device, or another network-side device.

[0145] In the case where the above-mentioned first device is a core network network element, the opposite device of the above-mentioned target device can be a terminal or a network side device, for example: the network side device sends a perception signal, and the terminal receives the perception signal; or, the terminal sends a perception signal, and the network side device receives the perception signal; or, terminal A sends a perception signal, and terminal B receives the perception signal.

[0146] In the case where the first device is a terminal, the target device may include the first device, or an opposite-end device of the first device, such as a network-side device or another terminal.

[0147] In the case where the first device is a network-side device, the target device may include the first device, or an opposite-end device of the first device, such as a terminal or another network-side device.

[0148] In one of the above optional implementations, the second perception measurement result can be determined by the core network network element, terminal or network side device to improve the compatibility of the perception measurement. For example, the second perception measurement result can be calculated by the core network perception network function / perception network element, or by the base station or terminal.

[0149] Optionally, when the first device includes a core network element, the method further includes at least one of the following:

[0150] The first device obtains capability information sent by the target device or a peer device of the target device;

[0151] The first device sends signal configuration information to the target device or a peer device of the target device;

[0152] The first device sends measurement configuration information to the target device or an opposite device of the target device.

[0153] When the first device is a perception signal sending device, the opposite device of the target device is a perception signal receiving device; when the first device is a perception signal receiving device, the opposite device of the target device is a perception signal sending device.

[0154] The capability information is used to represent the relevant capabilities of the device for sensing measurements. For example, the capability information includes at least one of the following:

[0155] Supported perception services, supported perception service types, supported perception modes, supported perception measurements, perception accuracy, and supported perception resource configurations.

[0156] The above-mentioned supported sensing services may include at least one of the following:

[0157] Detect target presence, positioning, speed detection, distance detection, angle detection, acceleration detection, material analysis, component analysis, shape detection, classification, radar cross-section (RCS) detection, polarization scattering characteristic detection, fall detection, intrusion detection, population counting, indoor positioning, gesture recognition, lip reading recognition, gait recognition, expression recognition, facial recognition, respiration monitoring, heart rate monitoring, pulse monitoring, humidity / brightness / temperature / atmospheric pressure monitoring, air quality monitoring, weather monitoring, environmental reconstruction, topography, building / vegetation distribution detection, pedestrian or vehicle flow detection, crowd density detection, vehicle density detection, etc.

[0158] The supported perception service types can be to classify multiple different perception services according to certain characteristics, for example: according to function, they can be divided into detection-type perception services (such as intrusion detection, fall detection), parameter estimation-type perception services (distance, angle, speed calculation), recognition-type perception services (motion recognition, identity recognition), etc. They can also be divided according to the range of perception (close-range perception, medium-range perception, long-range perception), according to the degree of perception refinement (coarse-grained perception, fine force perception, etc.), according to power consumption / energy consumption, according to resource occupancy, etc.

[0159] The supported perception modes may include at least one of the following:

[0160] Spontaneous and self-receiving sensing or single-base sensing;

[0161] Device A sends a message and device B receives it.

[0162] dual-base sensing;

[0163] Multi-base perception;

[0164] At least one of the six wireless sensing modes shown in FIG2 ;

[0165] Whether sensor perception is supported;

[0166] Supported sensor types include: at least one of an accelerometer, gyroscope, magnetometer, rotation vector sensor, IMU, Global Navigation Satellite System (GNSS), pressure sensor, light sensor, temperature sensor, humidity sensor, and camera.

[0167] The above-mentioned supported perceptual measurement quantities may include at least one of the following:

[0168] The first-level measurement quantity (also known as the received signal / original channel information) includes at least one of the following: the complex result of the received signal / channel response, the amplitude / phase, the I-path / Q-path, and related operation results (operations include addition, subtraction, multiplication, and division, matrix addition, subtraction, multiplication, and division, matrix transposition, trigonometric operations, square root operations, and power operations, as well as threshold detection results and maximum / minimum value extraction results of the above operation results; wherein the operations also include Fast Fourier Transform (FFT) / Inverse Fast Fourier Transform (IFFT), Discrete Fourier Transform (DFT) / Inverse Discrete Fourier Transform (IDFT), 2D-FFT, 3D-FFT, matched filtering, autocorrelation operation, wavelet transform, and digital filtering, as well as threshold detection results and maximum / minimum value extraction results of the above operation results);

[0169] The second-level measurement quantity (also called basic measurement quantity) includes at least one of the following: time delay, Doppler, angle, intensity, and their multi-dimensional combination representation;

[0170] The third level of measurement (also known as basic attributes / states) includes at least one of the following: distance, speed, direction, spatial position, acceleration;

[0171] The fourth level of measurement (also known as advanced attributes / states) includes at least one of the following: target presence, trajectory, movement, expression, vital signs, quantity, imaging results, weather, air quality, shape, material, and composition.

[0172] The above-mentioned perception accuracy may be an achievable perception accuracy, for example, a positioning error of less than 10 m, a Doppler measurement error of less than 100 Hz, etc.

[0173] The above-mentioned supported sensing resource configurations may include waveform, frequency band, bandwidth, power, antenna configuration, etc.

[0174] In this implementation, reporting the capability information enables the first device to schedule the terminal or the network-side device to perform the perception measurement supported by it based on the capability information, thereby improving the perception measurement performance.

[0175] In some implementations, the method further includes: the first device sending a capability query request to the target device or a peer device of the target device. This is not limited to this, for example, the target device or the peer device may proactively report capability information.

[0176] The above measurement configuration information is configuration information of perception measurement, for example: the above measurement configuration information includes:

[0177] Measured signal resource indication, perception measurement quantity, indication information for indicating whether to report sensor measurement results, expected sensor type, expected sensor data type, and measurement result reporting configuration.

[0178] The measured signal resource indication is used to indicate the resource of the perception signal, such as a signal resource identifier. In this way, the indication of the resource of the perception signal can be achieved through the identifier, thereby saving configuration overhead.

[0179] The above-mentioned perception measurement amount refers to the perception measurement amount in the above-mentioned capability information, which will not be described in detail here. Since the perception measurement amount is configured, only the perception measurement amount needs to be measured, thereby saving perception measurement overhead.

[0180] The above-mentioned indication information for indicating whether to report the sensor measurement result can be used to realize that the reporting of the sensor measurement result during the perception measurement process is based on the indication information, thereby avoiding redundant reporting and saving reporting overhead.

[0181] The sensor type expected to be used is the sensor type expected to be used by the first device. This allows calculation based on motion information of the expected sensor type when determining the second perception measurement result, further improving the reliability of the second perception measurement result.

[0182] The above-mentioned expected sensor data type is the sensor data type expected to be used by the above-mentioned first device. In this way, calculation can be performed based on the motion information of the expected sensor data type when determining the second perception measurement result, further improving the reliability of the second perception measurement result.

[0183] The measurement result reporting configuration is used to indicate a reporting configuration of the perception measurement result. For example, the measurement result reporting configuration includes at least one of the following:

[0184] Reported resource configuration, reporting cycle, and reporting triggering events;

[0185] The triggering event includes at least one of the following:

[0186] Enter the target area;

[0187] Time to reach target;

[0188] The measurement result of the target signal reaches a first threshold;

[0189] The moving position exceeds a second threshold;

[0190] The angle of change in orientation exceeds a third threshold;

[0191] The movement speed exceeds the fourth threshold;

[0192] The environmental information changes meet the preset conditions.

[0193] The reported resource configuration may be a reported time domain or frequency domain resource configuration.

[0194] The above-mentioned reporting period may indicate that the perception measurement results are reported periodically.

[0195] The trigger event for reporting may indicate that the perception measurement result meets the trigger condition for reporting.

[0196] The target area may be a specific location area or a cell.

[0197] The target time may be a specific time agreed upon in the protocol or configured on the network side.

[0198] The target signal may be a specific measurement signal agreed upon in a protocol or configured on the network side.

[0199] The first threshold, second threshold, third threshold, fourth threshold and preset condition may be agreed upon by the protocol or configured on the network side. For example, the trigger events include an event in which the device moves more than a predefined (straight-line) distance from a previous position, or an event in which the angle of change in the device's orientation exceeds a predefined angle threshold, or an event in which the device's movement speed exceeds a predefined speed threshold, or an event in which a change in environmental information (e.g., temperature / humidity / light intensity) measured by a device sensor exceeds a certain range.

[0200] In the above implementation manner, the measurement configuration information can be used to perform perception measurement based on the configuration information during the perception measurement process, thereby improving the reliability of the perception measurement.

[0201] The signal configuration information is configuration information of the perception signal. For example, the signal configuration information includes at least one of the following:

[0202] Signal resource identifier, used to distinguish different signal resource configurations;

[0203] Signal usage indicates whether the signal is used for communication (e.g., channel measurement, channel estimation, synchronization, or carrying data information), for sensing, or for both communication and sensing. Specifically, it may also indicate which sensing service the signal is used for, or which type of sensing service the signal is used for.

[0204] Waveforms, such as Orthogonal Frequency Division Multiplex (OFDM), Single-Carrier Frequency-Division Multiple Access (SC-FDMA), Orthogonal Time Frequency Space (OTFS), Frequency Modulated Continuous Wave (FMCW), pulse signals, etc.

[0205] Subcarrier spacing, for example, the subcarrier spacing of the OFDM system is 30KHz.

[0206] The guard interval is the time interval from the moment the signal ends to the moment the latest echo signal of the signal is received; this parameter is proportional to the maximum perception distance; for example, it can be calculated by c / (2R max ) is calculated, R max is the maximum perception distance (belonging to the perception demand information), for example, for the self-transmitted and self-received perception signal, R maxrepresents the maximum distance between the perceived signal transceiver point and the signal transmission point; in some cases, the OFDM signal cyclic prefix (CP) can serve as the minimum guard interval; c is the speed of light.

[0207] The starting frequency domain position, i.e., the starting frequency point, can also be the starting resource element (RE) or resource block (RB) index;

[0208] The starting time domain position, i.e. the starting time point, can also be the starting symbol index, time slot index, or frame index;

[0209] The ending frequency domain position, i.e., the ending frequency point, can be represented by the ending RE and RB index;

[0210] The termination time domain position, i.e., the termination time point, can be represented by the termination RE and RB index;

[0211] Frequency domain resource length, i.e., frequency domain bandwidth, where the frequency domain bandwidth is inversely proportional to the range resolution, and the frequency domain bandwidth B of each first signal is ≥ c / (2ΔR), where c is the speed of light and ΔR is the range resolution;

[0212] The time domain resource length, also called the burst duration, is inversely proportional to the Doppler resolution.

[0213] Frequency domain resource spacing, which indicates the spacing between adjacent signal frequency domain resource units, can be expressed as the number of REs or RBs, or as a density value (Density). For example, Density = 1 means that there is one RE in each RB used to carry the signal. The frequency domain resource spacing is inversely proportional to the maximum unambiguous distance / delay. For OFDM systems, when subcarriers are continuously mapped, the frequency domain spacing is equal to the subcarrier spacing.

[0214] The time domain resource interval is a time interval between two adjacent signal resource units, and the time domain resource interval is associated with a maximum unambiguous Doppler frequency shift or a maximum unambiguous speed.

[0215] Time domain resource characteristics: periodic transmission, semi-continuous transmission, and aperiodic transmission.

[0216] The signal power, for example, takes a value from -20dBm to 23dBm at intervals of 2dBm.

[0217] Sequence information, including sequence type information (ZC sequence, PN sequence, etc.), sequence generation method, sequence length, etc.

[0218] Signal direction, angle information or beam information of the signal transmission.

[0219] Quasi co-location (QCL) relationship, for example, the sensing signal includes multiple resources, each resource is associated with a synchronization signal block (SSB) QCL, and the QCL includes type A, B, C or D.

[0220] Antenna port information, such as the maximum number of antenna ports and antenna port index.

[0221] Cyclic prefix (CP) information, including CP type (e.g., normal cyclic prefix (NCP), extended cyclic prefix (ECP), or a newly designed CP dedicated to perception measurement), CP length, etc.

[0222] In the above implementation manner, the above signal configuration information can be used to enable the perception signal to be sent and measured based on the signal configuration information, thereby saving transmission overhead.

[0223] Optionally, when the first device includes a terminal or a network-side device, the method further includes at least one of the following:

[0224] The first device sends capability information to a core network element;

[0225] The first device receives signal configuration information sent by a core network network element;

[0226] The first device receives measurement configuration information sent by a core network element.

[0227] For the capability information, signal configuration information and measurement configuration information, please refer to the corresponding description of the above implementation manner.

[0228] Reporting the capability information enables the first device to schedule the terminal or the network-side device to perform the perception measurement supported by it based on the capability information, thereby improving the perception measurement performance.

[0229] The above signal configuration information can be used to enable the perception signal to be sent and measured based on the signal configuration information, thereby saving transmission overhead.

[0230] The measurement configuration information described above can enable perception measurement to be performed based on the configuration information during the perception measurement process, thereby improving the reliability of the perception measurement.

[0231] As an optional implementation manner, the second perception measurement result includes at least one of the following:

[0232] A target Doppler value, and sensing information calculated based on the target Doppler value.

[0233] The above-mentioned target Doppler value can be the target Doppler value of the signal path (ie, the second path) in the perception signal that is reflected by the perception target, or can be the target Doppler value of other signal paths, without limitation.

[0234] The perception information calculated based on the target Doppler value may be perception information such as target motion speed, action recognition, breathing, heart rate, etc. further calculated based on the target Doppler value.

[0235] In this implementation, it is possible to obtain a target Doppler value associated with motion information and to calculate perception information based on the target Doppler value, thereby improving perception performance.

[0236] As an optional implementation manner, determining the second perception measurement result for the perception target includes:

[0237] A motion interference cancellation operation is performed on the first perception measurement result to obtain the second perception measurement result for the perception target.

[0238] The motion interference elimination operation is used to eliminate or reduce the impact of the target device's motion on the perception measurement result. The operation may be agreed upon by a protocol or predefined.

[0239] The performing the motion interference elimination operation on the first perception measurement result may include:

[0240] Performing a motion interference cancellation operation on the first perception measurement result based on the motion information; or

[0241] A motion interference cancellation operation is performed on the first perception measurement result based on the motion information and the device information of the target device.

[0242] In this implementation, the influence of the target device movement on the perception measurement result can be eliminated or reduced, thereby improving the accuracy of the second perception measurement result.

[0243] It should be noted that, in the embodiment of the present application, determining the second perception measurement result for the perception target is not limited to performing the above-mentioned motion interference elimination operation. For example, in some embodiments, the second perception measurement result for the perception target can be a perception measurement result of a different type from the first perception measurement result based on the first perception measurement result and motion information. For example, the first perception measurement result is Doppler information, and the second perception measurement result is perception information calculated based on the Doppler information and motion information, such as perception information such as target motion speed, motion recognition, breathing or heart rate.

[0244] Optionally, the first sensing measurement result includes a Doppler measurement value of a second path of the sensing signal, where the second path is a signal path reflected by the sensing target;

[0245] The motion interference elimination operation includes:

[0246] Calculating a Doppler projection value on the second path based on the motion information;

[0247] The second sensing measurement result for the sensing target is calculated based on the projection value and the Doppler measurement value of the second path.

[0248] The Doppler projection value on the second path may be an influence value of the Doppler of the sensing signal on the second path due to the movement of the target device.

[0249] The calculation of the second perception measurement result for the perception target based on the projection value and the Doppler measurement value of the second path may be performed by removing the influence of the Doppler of the perception signal on the second path caused by the motion of the target device from the Doppler measurement value of the second path based on the projection value. For example, the calculation of the second perception measurement result for the perception target based on the projection value and the Doppler measurement value of the second path may include:

[0250] Subtract the projection value from the Doppler measurement value of the second path to obtain a target Doppler value of the second path; or

[0251] Subtracting the projection value and the frequency offset value from the Doppler measurement value of the second path to obtain a target Doppler value of the second path, where the frequency offset value is a frequency offset value of the transceiver of the sensing signal;

[0252] The second sensing measurement result includes a target Doppler value of the second path.

[0253] The frequency offset value is a frequency offset value of the transceiver of the sensing signal calculated based on the motion information. The frequency offset value may also be referred to as a clock frequency offset value of the transceiver of the sensing signal.

[0254] The target Doppler value of the second path may be understood as the Doppler value of the second path after eliminating or reducing the influence of motion.

[0255] In this implementation, the above calculation can eliminate or reduce the impact of the target device movement on the perception measurement result, thereby improving the accuracy of the second perception measurement result.

[0256] It should be noted that, in some embodiments, the motion interference elimination operation is not limited to the calculation method based on the projection value. For example, in some embodiments, the motion interference elimination operation can also be based on removing the measurement value of the first perception measurement result that is most affected by the motion in the motion information, and retaining the measurement value of the first perception measurement result that is less affected by the motion.

[0257] Optionally, the first perception measurement result further includes an angle measurement value of a second path of the perception signal, the motion information includes: a motion direction and a motion speed, and the projection value includes: a projection value calculated based on the angle measurement value of the second path, the motion direction, and the motion speed; or,

[0258] The first perception measurement result further includes an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and a Doppler measurement value of the first path, wherein an arrival time of the first path is earlier than an arrival time of the second path, the motion information includes: a motion direction, and the projection value includes: a projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, and the motion direction; or

[0259] The first perception measurement result also includes an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and a Doppler measurement value of the first path, wherein an arrival time of the first path is earlier than an arrival time of the second path, the motion information includes: a motion direction and a motion speed, and the projection value includes: a projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, the motion direction, and the motion speed.

[0260] Taking the scenario shown in FIG4 as an example, the projection value calculated based on the angle measurement value of the second path, the movement direction, and the movement speed may include a projection value obtained through the following process:

[0261] According to the angle θ of the second diameter R The angle θ between the target device's movement direction and the positive direction of the x-axis v , the angle Δθ between the second path and the moving direction of the target device is calculated to be θ R -θ v ;

[0262] Calculate the maximum Doppler value caused by the target device's motion Among them, f dmax is the maximum Doppler value, |v R | represents the speed of the target device, where f c is the center frequency of the carrier signal, c is the speed of light;

[0263] Calculate the Doppler projection value f on the second path caused by the target device movement d1 =f dmax ·cosΔθ.

[0264] Taking the scenario shown in FIG4 as an example, the projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, and the motion direction may include a projection value obtained through the following process:

[0265] According to the angle θ of the first diameter L The angle θ between the target device's movement direction and the positive direction of the x-axis v The angle Δθ1 between the first path and the moving direction of the target device is calculated as θ L -θ v ;

[0266] Calculate the maximum Doppler value caused by the target device's motion Among them, f dLOS represents the Doppler measurement value of the first path;

[0267] According to the angle θ of the second diameter R The angle θ between the target device's movement direction and the positive direction of the x-axis v The angle between the second path and the target device's moving direction is calculated to be Δθ2 = θ R -θ v ;

[0268] Calculate the Doppler projection value f on the second path caused by the target device movement d1 =f dmax ·cosΔθ2.

[0269] Taking the scenario shown in FIG4 as an example, the projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, the motion direction, and the motion speed may include a projection value obtained through the following process:

[0270] According to the angle θ of the first diameter L The angle θ between the target device's movement direction and the positive direction of the x-axis v The angle between the first path and the target device's moving direction is calculated to be Δθ1 = θ L -θ v ;

[0271] Calculate the maximum Doppler value caused by the target device's motion |v R | indicates the speed of the target device, f c is the center frequency of the carrier signal, c is the speed of light;

[0272] Calculate the Doppler projection value f on the first path caused by the target device movement d1 =f dmax ·cosΔθ1;

[0273] Calculate the clock frequency deviation of the transceiver device that senses the signal Δf = f dLOS -f d1 Among them, f dLOS represents the Doppler measurement value of the first path;

[0274] According to the angle θ of the second diameter R The angle θ between the target device's movement direction and the positive direction of the x-axis v The angle between the target diameter and the target device's moving direction is calculated as Δθ2 = θ R -θ v ;

[0275] Calculate the Doppler projection value f caused by the target device movement on the target reflection path d2 =f dmax ·cosΔθ2.

[0276] In the above implementation, it is possible to calculate the Doppler projection value on the second path based on different information.

[0277] In an embodiment of the present application, a first device obtains a first perception measurement result for a perception target; the first device obtains motion information of a target device, wherein the target device includes a transmitting device or a receiving device of a perception signal corresponding to the first perception measurement result; and the first device determines a second perception measurement result for the perception target based on the first perception measurement result and the motion information. Because the second perception measurement result is determined based on the first perception measurement result and the device's motion information, the second perception measurement result is associated with the device's motion information. This improves the reliability of the second perception measurement result in scenarios where the device is in motion.

[0278] Please refer to FIG5 , which is a flowchart of a method for sending perception measurement results provided by an embodiment of the present application. As shown in FIG5 , the method includes the following steps:

[0279] Step 501: The second device sends target information to the first device. The target information includes at least one of the following:

[0280] a first perception measurement result of the perception target and motion information of the target device;

[0281] The first perception measurement result is a perception measurement result obtained by the second device performing perception measurement on the perception signal;

[0282] The target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0283] The target information is used to determine a second perception measurement result for the perception target.

[0284] Optionally, the first perception measurement result includes at least one of the following:

[0285] A Doppler measurement value of the sensing signal and an angle measurement value of the sensing signal.

[0286] Optionally, the Doppler measurement value of the sensing signal includes at least one of the following:

[0287] a Doppler measurement value of a first path of the sensing signal, a Doppler measurement value of a second path of the sensing signal, and a Doppler measurement value of a third path of the sensing signal;

[0288] Or, the angle measurement value of the perception signal includes at least one of the following

[0289] an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and an angle measurement value of a third path of the perception signal;

[0290] The arrival time of the first path is earlier than the arrival times of the second path and the third path;

[0291] The second path is a signal path reflected by the sensing target;

[0292] The third path is a signal path reflected by the target object.

[0293] Optionally, the method further includes at least one of the following:

[0294] The second device measures the signal sent by the target device to obtain motion information of the target device;

[0295] The second device obtains motion information of the target device through a sensor;

[0296] The second device measures a signal sent by a peer device of the target device to obtain motion information of the target device;

[0297] The second device calculates motion information of the target device based on the first perception measurement result;

[0298] The second device calculates motion information of the target device based on the location information of the target device.

[0299] Optionally, the motion information includes at least one of the following:

[0300] Movement direction and speed.

[0301] Optionally, the target information also includes device information of the target device.

[0302] Optionally, the device information includes at least one of the following:

[0303] location information of the target device, orientation information of the target device, coordinate information of the target device, timestamp information of the target device, and clock frequency deviation information;

[0304] In which, the clock frequency deviation information includes: when the target device is the sending device of the perception signal, the clock frequency deviation information between the target device and the receiving device of the perception signal, or, the clock frequency deviation information includes: when the target device is the receiving device of the perception signal, the clock frequency deviation information between the target device and the sending device of the perception signal.

[0305] Optionally, the target device is the second device; or,

[0306] The target device is a sending device of the perception signal, and the second device is a receiving device of the perception signal; or,

[0307] The target device is a receiving device of the perception signal, and the second device is a sending device of the perception signal.

[0308] Optionally, the method further includes at least one of the following:

[0309] capability information transmitted by the second device to the first device;

[0310] The second device receives the signal configuration information sent by the first device;

[0311] The second device receives the measurement configuration information sent by the first device.

[0312] Optionally, the capability information includes at least one of the following:

[0313] Supported perception services, supported perception service types, supported perception modes, supported perception measurements, perception accuracy, and supported perception resource configurations.

[0314] Optionally, the measurement configuration information includes:

[0315] Measured signal resource indication, perception measurement quantity, indication information for indicating whether to report sensor measurement results, expected sensor type, expected sensor data type, and measurement result reporting configuration.

[0316] Optionally, the measurement result reporting configuration includes at least one of the following:

[0317] Reported resource configuration, reporting cycle, and reporting triggering events;

[0318] The triggering event includes at least one of the following:

[0319] Enter the target area;

[0320] Time to reach target;

[0321] The measurement result of the target signal reaches a first threshold;

[0322] The moving position exceeds a second threshold;

[0323] The angle of change in orientation exceeds a third threshold;

[0324] The movement speed exceeds the fourth threshold;

[0325] The environmental information changes meet the preset conditions.

[0326] It should be noted that this embodiment is an implementation of the second device corresponding to the embodiment shown in Figure 3. Its specific implementation can refer to the relevant description of the embodiment shown in Figure 3. In order to avoid repeated description, this embodiment will not be repeated.

[0327] The following describes the method provided in the embodiments of the present application through multiple examples:

[0328] Example 1:

[0329] This embodiment uses a sensing process based on a mobile receiving device as an example, specifically, a base station sends a sensing signal, and a terminal receives the sensing signal as an example, as shown in FIG6 , including the following steps:

[0330] Step 1. The sensing network function obtains device capability information of the terminal or base station. The sensing network function may send a device capability query request message to the terminal or base station, and the terminal or base station sends the device capability information to the sensing network function. The device capability information includes at least one of the following:

[0331] Supported sensing services or types of sensing services;

[0332] Supported perception modes;

[0333] Supported perceptual measurements;

[0334] Achievable perception accuracy;

[0335] Supported perceptual resource configurations.

[0336] The above capability information is described in the embodiment shown in FIG3 and will not be described in detail here.

[0337] Step 2. The perception network function sends signal configuration information or measurement configuration information to the terminal or base station. The signal configuration information and the measurement configuration information may be sent in the same signaling or in different signalings.

[0338] The above-mentioned signal configuration information and measurement configuration information refer to the embodiment shown in FIG3 , which will not be described in detail here.

[0339] Step 3. The base station sends a perception signal to the terminal. The perception signal can be sent omnidirectionally or directionally, for example, using multiple beams.

[0340] Step 4. The terminal receives the sensing signal and performs a measurement, and sends first information to the sensing network function, including at least one of the following: a first sensing measurement result, motion information, or device information. The first sensing measurement result, motion information, and device information are described in the embodiment shown in FIG3 and are not further described here.

[0341] Step 5. The perception network function calculates the perception result after eliminating the influence of device motion based on the first information sent by the terminal.

[0342] Optionally, the terminal may calculate the perception result after eliminating the influence of device motion based on the first information and send it to the perception network function; or the terminal may send the first information to the base station, and the base station may calculate the perception result after eliminating the influence of device motion and send it to the perception network function.

[0343] Example 2:

[0344] This embodiment is described by taking perception based on a mobile sending device as an example. Specifically, taking the example of a terminal sending a perception signal and a base station receiving the perception signal, as shown in FIG7 , the following steps are included:

[0345] Step 1: The sensing network function obtains the sensing capability information of the terminal or base station.

[0346] Step 2: The sensing network function sends signal configuration information or measurement configuration information to the terminal or base station.

[0347] Step 3. The terminal sends a perception signal to the base station. The perception signal can be sent omnidirectionally or directionally, for example, using multiple beams.

[0348] Step 4. The terminal sends the terminal's motion information or device information to the perception network function, for example, at least one of the terminal's motion speed, motion direction, device orientation, location, and device local coordinate system information.

[0349] Step 5. The base station receives the perception signal and performs measurement, and sends a first perception measurement result to the perception network function.

[0350] The first perception measurement result, motion information or device information refers to the corresponding description of the embodiment shown in Figure 3, and will not be repeated here.

[0351] Optionally, the base station obtains a perception result after eliminating the influence of device motion based on the device information and the first perception measurement result (and sends it to the perception network function), wherein the motion information or device information can be sent to the base station by the terminal (measured using a sensor equipped with the terminal), or obtained by the base station based on the perception signal measurement.

[0352] Example 3:

[0353] In this embodiment, the perception based on a mobile transceiver device is used as an example. Specifically, a terminal sends a perception signal and a base station receives the perception signal as an example. As shown in FIG8 , the following steps are included:

[0354] Step 1. The perception network function obtains the perception capability information of the terminal.

[0355] Step 2. The perception network function sends signal configuration information or measurement configuration information to terminal A or terminal B.

[0356] Step 3. Terminal A sends a perception signal to terminal B. The perception signal may be sent omnidirectionally or directionally, for example, using multiple beams.

[0357] Step 4. Terminal A sends motion information or device information to the perception network function, for example, at least one of the motion speed, motion direction, device orientation, location, and device local coordinate system information of terminal A.

[0358] Step 5. Terminal B receives the perception signal and performs measurement, and sends first information to the perception network function, including at least one of the following: a first perception measurement result, motion information, and device information, such as at least one of the movement speed, movement direction, device orientation, position, and device local coordinate system information of terminal B.

[0359] Optionally, terminal B may obtain a perception result after eliminating the influence of device motion based on the device information (including the device information of terminal A and terminal B) and the first perception measurement result (and send it to the perception network function), wherein the device information of terminal A may be sent by terminal A (measured using a sensor equipped with terminal A) to terminal B, or obtained by terminal B based on the perception signal measurement.

[0360] Example 4:

[0361] This embodiment mainly describes the calculation of the perception result after eliminating the influence of device motion. In this embodiment, the clock deviation of the transmitting and receiving devices is known or can be ignored relative to the perception measurement result.

[0362] In this embodiment, the clock deviation of the transceiver device is known or negligible relative to the perception measurement result. The process of calculating the perception result after eliminating the influence of device motion based on the device information and the first perception measurement result is described.

[0363] Taking the dual-base sensing scenario in Figure 4 as an example, the sensing mode is that the base station sends a sensing signal and the terminal receives the sensing signal. The target moves toward the negative direction of the y-axis, and the terminal is also moving while receiving the sensing signal.

[0364] Case 1: The perception result is calculated based on the terminal's speed and direction, the Doppler measurement value of the target reflection path (i.e., the second path mentioned above), and the target reflection path AoA measurement value. That is, the first perception measurement result includes: the arrival angle θ of the target path R , the Doppler measurement value of the target path f d0 ; Device information includes: terminal movement speed |v R | and the direction of motion (in this embodiment, it is expressed as the angle θ with the positive direction of the x-axis v The Doppler value f caused by the target motion can be calculated by the first sensing measurement result and the device information. dT (Perception results after eliminating the influence of device motion):

[0365] According to the target diameter angle θ R The angle θ between the terminal motion direction and the positive direction of the x-axis v The angle between the target diameter and the terminal motion direction is calculated as Δθ = θ R -θ v ;

[0366] Calculate the maximum Doppler value caused by terminal motion where f c is the center frequency of the carrier signal, c is the speed of light;

[0367] Calculate the projection value f of the Doppler caused by terminal motion on the target reflection path d1 =f dmax ·cosΔθ;

[0368] Calculate the Doppler value f caused by target motion dT =f d0 -f d1 .

[0369] Case 2: The perception result is calculated based on the terminal's movement direction, the Doppler measurement value of the first arrival path (i.e., the first path), the Doppler measurement value of the target reflection path (i.e., the second path), the AoA measurement value of the LOS path, and the AoA measurement value of the target reflection path. That is, the first perception measurement result includes: the arrival angle θ of the first arrival path (i.e., the LoS path) L , the arrival angle θ of the target path R , the Doppler measurement value f of the LoS path dLOS , the Doppler measurement value of the target path f d0 ; Device information includes: terminal movement direction (in this embodiment, it is expressed as the angle θ with the positive direction of the x-axis v The Doppler value f caused by the target motion can be calculated by the first sensing measurement result and the device information. dT (Perception results after eliminating the influence of device motion):

[0370] According to the LoS angle θ L The angle θ between the terminal (terminal) motion direction and the positive direction of the x-axis v The angle between the LoS path and the terminal's motion direction is calculated as Δθ1 = θ L -θ v ;

[0371] Calculate the maximum Doppler value caused by terminal motion

[0372] According to the target diameter angle θ R The angle θ between the terminal motion direction and the positive direction of the x-axis v The angle between the target diameter and the terminal motion direction is calculated as Δθ2 = θ R -θ v ;

[0373] Calculate the projection value f of the Doppler caused by terminal motion on the target reflection path d1 =f dmax ·cosΔθ2;

[0374] Calculate the Doppler value f caused by target motion dT =f d0 -f d1 .

[0375] The angle information in this embodiment is all angle information relative to the global coordinate system. If the angle information measured by the terminal is angle information relative to the local coordinate system of the terminal, the angle information in the global coordinate system can be calculated through the conversion parameters between the local coordinate system and the global coordinate system, such as the rotation angle of the local coordinate system relative to the global coordinate system: α (bearing angle), β (downtilt angle) and γ (tilt angle).

[0376] Embodiment 5:

[0377] This embodiment describes the perception results after calculating and eliminating the influence of device motion. In this embodiment, the clock bias of the transmitting and receiving devices is unknown and cannot be ignored relative to the perception measurement results.

[0378] In this embodiment, the clock bias of the transceiver device is unknown and cannot be ignored relative to the perception measurement result. The process of calculating the perception result after eliminating the influence of device motion based on the device information and the first perception measurement result is described.

[0379] Taking the scenario in Figure 4 as an example, the perception result is calculated based on the terminal's movement direction, movement speed, LoS path Doppler measurement value, target reflection path Doppler measurement value, LOS path AoA measurement value, and target reflection path AoA measurement value. That is, the first perception measurement result includes: the arrival angle θ of the first arrival path (LoS path in this implementation) L , the arrival angle θ of the target path R , the Doppler measurement value f of the LoS path dLOS (In this embodiment, the Doppler measurement value is the superposition of the Doppler projection value on the LoS path caused by the terminal movement and the frequency offset value of the transceiver device), the Doppler measurement value f of the target path d0 ; Device information includes: terminal movement speed |v R | and the direction of motion (in this embodiment, it is expressed as the angle θ with the positive direction of the x-axis v ). There is a clock frequency deviation Δf between the transmitting and receiving devices. The Doppler value f caused by the target motion can be calculated by the first perception measurement result and the device information. dT (Perception results after eliminating the influence of device motion):

[0380] According to the LoS angle θ L The angle θ between the terminal (terminal) motion direction and the positive direction of the x-axis v The angle between the LoS path and the terminal's motion direction is calculated as Δθ1 = θ L -θ v ;

[0381] Calculate the maximum Doppler value caused by terminal motion where f c is the center frequency of the carrier signal, c is the speed of light;

[0382] Calculate the Doppler projection value f caused by terminal motion on the LoS path d1 =f dmax ·cosΔθ1

[0383] Calculate the clock frequency deviation of the transceiver device Δf = f dLOS -f d1

[0384] According to the target diameter angle θR The angle θ between the terminal (terminal) motion direction and the positive direction of the x-axis v The angle between the target diameter and the terminal motion direction is calculated as Δθ2 = θ R -θ v ;

[0385] Calculate the projection value f of the Doppler caused by terminal motion on the target reflection path d2 =f dmax ·cosΔθ2;

[0386] Calculate the Doppler value f caused by target motion dT =f d0 -f d2 -Δf.

[0387] The embodiments of the present application can achieve a perception result after eliminating the influence of device motion based on the first perception measurement result and motion information obtained by the perception signal receiving device measuring the perception signal, and can solve the problem that device motion interferes with perception services such as dynamic target detection and Doppler measurement, resulting in poor perception performance.

[0388] The perception measurement result processing method provided in the embodiment of the present application may be executed by a perception measurement result processing device. In the embodiment of the present application, the perception measurement result processing method performed by a perception measurement result sending device is taken as an example to illustrate the perception measurement result processing device provided in the embodiment of the present application.

[0389] The perception measurement result sending method provided in the embodiment of the present application may be executed by a perception measurement result sending device. In the embodiment of the present application, the perception measurement result sending method performed by the perception measurement result sending device is taken as an example to illustrate the perception measurement result sending device provided in the embodiment of the present application.

[0390] Please refer to FIG. 9 , which is a structural diagram of a perception measurement result processing apparatus provided in an embodiment of the present application. As shown in FIG. 9 , the perception measurement result processing apparatus 900 includes:

[0391] A first acquisition module 901 is configured to acquire a first perception measurement result for a perception target;

[0392] A second acquisition module 902 is configured to acquire motion information of a target device, wherein the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0393] The determining module 903 is configured to determine a second perception measurement result for the perception target based on the first perception measurement result and the motion information.

[0394] Optionally, the first obtaining module 901 is configured to:

[0395] performing a perception measurement on the perception signal to obtain a first perception measurement result for a perception target; or

[0396] Receive a first perception measurement result for a perception target sent by a second device.

[0397] Optionally, the first perception measurement result includes at least one of the following:

[0398] A Doppler measurement value of the sensing signal and an angle measurement value of the sensing signal.

[0399] Optionally, the Doppler measurement value of the sensing signal includes at least one of the following:

[0400] a Doppler measurement value of a first path of the sensing signal, a Doppler measurement value of a second path of the sensing signal, and a Doppler measurement value of a third path of the sensing signal;

[0401] Or, the angle measurement value of the perception signal includes at least one of the following

[0402] an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and an angle measurement value of a third path of the perception signal;

[0403] The arrival time of the first path is earlier than the arrival times of the second path and the third path;

[0404] The second path is a signal path reflected by the sensing target;

[0405] The third path is a signal path reflected by the target object.

[0406] Optionally, the second acquisition module 902 is configured to perform at least one of the following:

[0407] measuring a signal sent by the target device to obtain motion information of the target device;

[0408] receiving motion information of the target device reported by the target device;

[0409] receiving motion information of the target device sent by the second device;

[0410] Acquiring motion information of the target device through a sensor;

[0411] Measuring a signal sent by a peer device of the target device to obtain motion information of the target device;

[0412] Calculating motion information of the target device based on the first perception measurement result;

[0413] The motion information of the target device is calculated based on the position information of the target device.

[0414] Optionally, the motion information includes at least one of the following:

[0415] Movement direction and speed.

[0416] Optionally, the determination module 903 is configured to determine a second perception measurement result for the perception target based on the first perception measurement result, the motion information, and the device information of the target device.

[0417] Optionally, the device information includes at least one of the following:

[0418] location information of the target device, orientation information of the target device, coordinate information of the target device, timestamp information of the target device, and clock frequency deviation information;

[0419] In which, the clock frequency deviation information includes: when the target device includes the sending device of the perception signal, the clock frequency deviation information between the target device and the receiving device of the perception signal, or, the clock frequency deviation information includes: when the target device includes the receiving device of the perception signal, the clock frequency deviation information between the target device and the sending device of the perception signal.

[0420] Optionally, the first device corresponding to the apparatus includes a core network element, and the target device includes a terminal or a network-side device; or,

[0421] The first device includes a terminal, and the target device includes a network-side device, the first device, or another terminal; or

[0422] The first device includes a network-side device, and the target device includes a terminal, the first device, or another network-side device.

[0423] Optionally, when the first device includes a core network element, the apparatus further includes at least one of the following:

[0424] A third acquisition module is used to acquire capability information sent by the target device or a peer device of the target device;

[0425] A first sending module, configured to send signal configuration information to the target device or a peer device of the target device;

[0426] The second sending module is configured to send measurement configuration information to the target device or an opposite end device of the target device.

[0427] Optionally, when the first device includes a terminal or a network-side device, the apparatus further includes at least one of the following:

[0428] A third sending module is used to send capability information to the core network element;

[0429] A first receiving module, configured to receive signal configuration information sent by a core network element;

[0430] The first receiving module is configured to receive measurement configuration information sent by a core network element.

[0431] Optionally, the capability information includes at least one of the following:

[0432] Supported perception services, supported perception service types, supported perception modes, supported perception measurements, perception accuracy, and supported perception resource configurations.

[0433] Optionally, the measurement configuration information includes:

[0434] Measured signal resource indication, perception measurement quantity, indication information for indicating whether to report sensor measurement results, expected sensor type, expected sensor data type, and measurement result reporting configuration.

[0435] Optionally, the measurement result reporting configuration includes at least one of the following:

[0436] Reported resource configuration, reporting cycle, and reporting triggering events;

[0437] The triggering event includes at least one of the following:

[0438] Enter the target area;

[0439] Time to reach target;

[0440] The measurement result of the target signal reaches a first threshold;

[0441] The moving position exceeds a second threshold;

[0442] The angle of change in orientation exceeds a third threshold;

[0443] The movement speed exceeds the fourth threshold;

[0444] The environmental information changes meet the preset conditions.

[0445] Optionally, the second perception measurement result includes at least one of the following:

[0446] A target Doppler value, and sensing information calculated based on the target Doppler value.

[0447] Optionally, determining a second perception measurement result for the perception target includes:

[0448] A motion interference cancellation operation is performed on the first perception measurement result to obtain the second perception measurement result for the perception target.

[0449] Optionally, the first sensing measurement result includes a Doppler measurement value of a second path of the sensing signal, where the second path is a signal path reflected by the sensing target;

[0450] The motion interference elimination operation includes:

[0451] Calculating a Doppler projection value on the second path based on the motion information;

[0452] The second sensing measurement result for the sensing target is calculated based on the projection value and the Doppler measurement value of the second path.

[0453] Optionally, the calculating the second perception measurement result for the perception target based on the projection value and the Doppler measurement value of the second path includes:

[0454] Subtract the projection value from the Doppler measurement value of the second path to obtain a target Doppler value of the second path; or

[0455] Subtracting the projection value and the frequency offset value from the Doppler measurement value of the second path to obtain a target Doppler value of the second path, where the frequency offset value is a frequency offset value of the transceiver of the sensing signal;

[0456] The second sensing measurement result includes a target Doppler value of the second path.

[0457] Optionally, the first perception measurement result further includes an angle measurement value of a second path of the perception signal, the motion information includes: a motion direction and a motion speed, and the projection value includes: a projection value calculated based on the angle measurement value of the second path, the motion direction, and the motion speed; or,

[0458] The first perception measurement result further includes an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and a Doppler measurement value of the first path, wherein an arrival time of the first path is earlier than an arrival time of the second path, the motion information includes: a motion direction, and the projection value includes: a projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, and the motion direction; or

[0459] The first perception measurement result also includes an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and a Doppler measurement value of the first path, wherein an arrival time of the first path is earlier than an arrival time of the second path, the motion information includes: a motion direction and a motion speed, and the projection value includes: a projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, the motion direction, and the motion speed.

[0460] The above-mentioned perception measurement result processing device can improve the reliability of perception measurement results.

[0461] In the embodiments of the present application, the perception measurement result processing device 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. For example, 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 listed in the embodiments of the present application, and the other devices can be servers, network attached storage (NAS), etc., which are not specifically limited in the embodiments of the present application.

[0462] The perception measurement result processing device provided in the embodiment of the present application can implement each process implemented by the method embodiment shown in Figure 3 and achieve the same technical effect. To avoid repetition, it will not be described here.

[0463] Please refer to FIG. 10 , which is a structural diagram of a device for sending a perception measurement result provided in an embodiment of the present application. As shown in FIG. 10 , the device 1000 for sending a perception measurement result includes:

[0464] The first sending module 1001 is configured to send target information to the first device, where the target information includes at least one of the following:

[0465] a first perception measurement result of the perception target and motion information of the target device;

[0466] The first perception measurement result is a perception measurement result obtained by the second device performing perception measurement on the perception signal;

[0467] The target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0468] The target information is used to determine a second perception measurement result for the perception target.

[0469] Optionally, the first perception measurement result includes at least one of the following:

[0470] A Doppler measurement value of the sensing signal and an angle measurement value of the sensing signal.

[0471] Optionally, the Doppler measurement value of the sensing signal includes at least one of the following:

[0472] a Doppler measurement value of a first path of the sensing signal, a Doppler measurement value of a second path of the sensing signal, and a Doppler measurement value of a third path of the sensing signal;

[0473] Or, the angle measurement value of the perception signal includes at least one of the following

[0474] an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and an angle measurement value of a third path of the perception signal;

[0475] The arrival time of the first path is earlier than the arrival times of the second path and the third path;

[0476] The second path is a signal path reflected by the sensing target;

[0477] The third path is a signal path reflected by the target object.

[0478] Optionally, the device further comprises at least one of the following:

[0479] a first measuring module, configured to measure the signal sent by the target device to obtain motion information of the target device;

[0480] An acquisition module, configured to acquire motion information of the target device through a sensor;

[0481] a second measuring module, configured to measure a signal sent by a peer device of the target device to obtain motion information of the target device;

[0482] a first calculation module, configured to calculate motion information of the target device based on the first perception measurement result;

[0483] The second calculation module is configured to calculate the motion information of the target device based on the location information of the target device.

[0484] Optionally, the motion information includes at least one of the following:

[0485] Movement direction and speed.

[0486] Optionally, the target information also includes device information of the target device.

[0487] Optionally, the device information includes at least one of the following:

[0488] location information of the target device, orientation information of the target device, coordinate information of the target device, timestamp information of the target device, and clock frequency deviation information;

[0489] In which, the clock frequency deviation information includes: when the target device is the sending device of the perception signal, the clock frequency deviation information between the target device and the receiving device of the perception signal, or, the clock frequency deviation information includes: when the target device is the receiving device of the perception signal, the clock frequency deviation information between the target device and the sending device of the perception signal.

[0490] Optionally, the target device is the second device; or,

[0491] The target device is a sending device of the perception signal, and the second device is a receiving device of the perception signal; or,

[0492] The target device is a receiving device of the perception signal, and the second device is a sending device of the perception signal.

[0493] Optionally, the device further comprises at least one of the following:

[0494] a second sending module, configured to send capability information to the first device;

[0495] A first receiving module, configured to receive signal configuration information sent by the first device;

[0496] The second receiving module is configured to receive measurement configuration information sent by the first device.

[0497] Optionally, the capability information includes at least one of the following:

[0498] Supported perception services, supported perception service types, supported perception modes, supported perception measurements, perception accuracy, and supported perception resource configurations.

[0499] Optionally, the measurement configuration information includes:

[0500] Measured signal resource indication, perception measurement quantity, indication information for indicating whether to report sensor measurement results, expected sensor type, expected sensor data type, and measurement result reporting configuration.

[0501] Optionally, the measurement result reporting configuration includes at least one of the following:

[0502] Reported resource configuration, reporting cycle, and reporting triggering events;

[0503] The triggering event includes at least one of the following:

[0504] Enter the target area;

[0505] Time to reach target;

[0506] The measurement result of the target signal reaches a first threshold;

[0507] The moving position exceeds a second threshold;

[0508] The angle of change in orientation exceeds a third threshold;

[0509] The movement speed exceeds the fourth threshold;

[0510] The environmental information changes meet the preset conditions.

[0511] The above-mentioned perception measurement result sending device can improve the reliability of the perception measurement result.

[0512] The sensing measurement result sending 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 the electronic device, such as an integrated circuit or a chip. The electronic device can be a terminal or a network-side device.

[0513] The perception measurement result sending device provided in the embodiment of the present application can implement each process implemented by the method embodiment shown in Figure 5 and achieve the same technical effect. To avoid repetition, it will not be described here.

[0514] Optionally, as shown in Figure 11, an embodiment of the present application further provides a communication device 1100, including a processor 1101 and a memory 1102, wherein the memory 1102 stores a program or instruction that can be run on the processor 1101. For example, when the communication device 1100 is a first device, the program or instruction is executed by the processor 1101 to implement the various steps of the above-mentioned perception measurement result processing method embodiment, and can achieve the same technical effect. When the communication device 1100 is a second device, the program or instruction is executed by the processor 1101 to implement the various steps of the above-mentioned perception measurement result sending method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0515] An embodiment of the present application also provides a communication device, including a processor and a communication interface, wherein the processor or the communication interface is configured to obtain a first perception measurement result for a perception target; obtain motion information of the target device, wherein the target device includes a transmitting device or a receiving device for a perception signal corresponding to the first perception measurement result; and the processor is configured to determine a second perception measurement result for the perception target based on the first perception measurement result and the motion information. This communication device embodiment corresponds to the above-mentioned perception measurement result processing method embodiment, and each implementation process and implementation method of the above-mentioned method embodiment are applicable to this communication device embodiment and can achieve the same technical effects.

[0516] Specifically, Figure 12 is a schematic diagram of the hardware structure of a device for implementing an embodiment of the present application, which is a first device or a second device.

[0517] The device 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.

[0518] Those skilled in the art will appreciate that device 1200 may also include a power source (such as a battery) to power various components. The power source may be logically connected to processor 1210 via a power management system, thereby enabling the power management system to manage charging, discharging, and power consumption. The device structure shown in FIG12 does not limit the device. The device may include more or fewer components than shown, or may combine certain components or arrange the components differently, which will not be described in detail here.

[0519] 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.

[0520] 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.

[0521] 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, or the memory 1209 may include both volatile and non-volatile memories. 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.

[0522] 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.

[0523] In this embodiment, the above device is taken as the first device, and the first device is taken as the terminal for illustration.

[0524] The radio frequency unit 1201 is configured to obtain a first sensing measurement result for a sensing target;

[0525] The radio frequency unit 1201 or the processor 1210 is configured to obtain motion information of a target device, where the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0526] The processor 1210 is configured to determine a second perception measurement result for the perception target based on the first perception measurement result and the motion information.

[0527] Optionally, obtaining a first perception measurement result for a perception target includes:

[0528] performing a perception measurement on the perception signal to obtain a first perception measurement result for a perception target; or

[0529] Receive a first perception measurement result for a perception target sent by a second device.

[0530] Optionally, the first perception measurement result includes at least one of the following:

[0531] A Doppler measurement value of the sensing signal and an angle measurement value of the sensing signal.

[0532] Optionally, the Doppler measurement value of the sensing signal includes at least one of the following:

[0533] a Doppler measurement value of a first path of the sensing signal, a Doppler measurement value of a second path of the sensing signal, and a Doppler measurement value of a third path of the sensing signal;

[0534] Or, the angle measurement value of the perception signal includes at least one of the following

[0535] an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and an angle measurement value of a third path of the perception signal;

[0536] The arrival time of the first path is earlier than the arrival times of the second path and the third path;

[0537] The second path is a signal path reflected by the sensing target;

[0538] The third path is a signal path reflected by the target object.

[0539] Optionally, obtaining the motion information of the target device includes at least one of the following:

[0540] measuring a signal sent by the target device to obtain motion information of the target device;

[0541] receiving motion information of the target device reported by the target device;

[0542] receiving motion information of the target device sent by the second device;

[0543] Acquiring motion information of the target device through a sensor;

[0544] Measuring a signal sent by a peer device of the target device to obtain motion information of the target device;

[0545] Calculating motion information of the target device based on the first perception measurement result;

[0546] The motion information of the target device is calculated based on the position information of the target device.

[0547] Optionally, the motion information includes at least one of the following:

[0548] Movement direction and speed.

[0549] Optionally, the determining, based on the first perception measurement result and the motion information, a second perception measurement result for the perception target includes:

[0550] A second perception measurement result for the perception target is determined based on the first perception measurement result, the motion information, and the device information of the target device.

[0551] Optionally, the device information includes at least one of the following:

[0552] location information of the target device, orientation information of the target device, coordinate information of the target device, timestamp information of the target device, and clock frequency deviation information;

[0553] In which, the clock frequency deviation information includes: when the target device includes the sending device of the perception signal, the clock frequency deviation information between the target device and the receiving device of the perception signal, or, the clock frequency deviation information includes: when the target device includes the receiving device of the perception signal, the clock frequency deviation information between the target device and the sending device of the perception signal.

[0554] Optionally, the first device includes a core network element, and the target device includes a terminal or a network side device; or,

[0555] The first device includes a terminal, and the target device includes a network-side device, the first device, or another terminal; or

[0556] The first device includes a network-side device, and the target device includes a terminal, the first device, or another network-side device.

[0557] Optionally, when the first device includes a core network element, the radio frequency unit 1201 is further configured to perform at least one of the following:

[0558] Acquiring capability information sent by the target device or a peer device of the target device;

[0559] Sending signal configuration information to the target device or a peer device of the target device;

[0560] Send measurement configuration information to the target device or a peer device of the target device.

[0561] Optionally, when the first device includes a terminal or a network-side device, the radio frequency unit 1201 is further configured to perform at least one of the following:

[0562] Send capability information to core network elements;

[0563] Receive signal configuration information sent by core network elements;

[0564] Receive measurement configuration information sent by the core network element.

[0565] Optionally, the capability information includes at least one of the following:

[0566] Supported perception services, supported perception service types, supported perception modes, supported perception measurements, perception accuracy, and supported perception resource configurations.

[0567] Optionally, the measurement configuration information includes:

[0568] Measured signal resource indication, perception measurement quantity, indication information for indicating whether to report sensor measurement results, expected sensor type, expected sensor data type, and measurement result reporting configuration.

[0569] Optionally, the measurement result reporting configuration includes at least one of the following:

[0570] Reported resource configuration, reporting cycle, and reporting triggering events;

[0571] The triggering event includes at least one of the following:

[0572] Enter the target area;

[0573] Time to reach target;

[0574] The measurement result of the target signal reaches a first threshold;

[0575] The moving position exceeds a second threshold;

[0576] The angle of change in orientation exceeds a third threshold;

[0577] The movement speed exceeds the fourth threshold;

[0578] The environmental information changes meet the preset conditions.

[0579] Optionally, the second perception measurement result includes at least one of the following:

[0580] A target Doppler value, and sensing information calculated based on the target Doppler value.

[0581] Optionally, determining a second perception measurement result for the perception target includes:

[0582] A motion interference cancellation operation is performed on the first perception measurement result to obtain the second perception measurement result for the perception target.

[0583] Optionally, the first sensing measurement result includes a Doppler measurement value of a second path of the sensing signal, where the second path is a signal path reflected by the sensing target;

[0584] The motion interference elimination operation includes:

[0585] Calculating a Doppler projection value on the second path based on the motion information;

[0586] The second sensing measurement result for the sensing target is calculated based on the projection value and the Doppler measurement value of the second path.

[0587] Optionally, the calculating the second perception measurement result for the perception target based on the projection value and the Doppler measurement value of the second path includes:

[0588] Subtract the projection value from the Doppler measurement value of the second path to obtain a target Doppler value of the second path; or

[0589] Subtracting the projection value and the frequency offset value from the Doppler measurement value of the second path to obtain a target Doppler value of the second path, where the frequency offset value is a frequency offset value of the transceiver of the sensing signal;

[0590] The second sensing measurement result includes a target Doppler value of the second path.

[0591] Optionally, the first perception measurement result further includes an angle measurement value of a second path of the perception signal, the motion information includes: a motion direction and a motion speed, and the projection value includes: a projection value calculated based on the angle measurement value of the second path, the motion direction, and the motion speed; or,

[0592] The first perception measurement result further includes an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and a Doppler measurement value of the first path, wherein an arrival time of the first path is earlier than an arrival time of the second path, the motion information includes: a motion direction, and the projection value includes: a projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, and the motion direction; or

[0593] The first perception measurement result also includes an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and a Doppler measurement value of the first path, wherein an arrival time of the first path is earlier than an arrival time of the second path, the motion information includes: a motion direction and a motion speed, and the projection value includes: a projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, the motion direction, and the motion speed.

[0594] The above-mentioned device can improve the reliability of the perception measurement results.

[0595] 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 perception measurement result sending method and achieve the same or corresponding technical effects. To avoid repetition, it will not be repeated here.

[0596] It should be noted that the above-mentioned device can also implement the steps in the method shown in Figure 5, or can implement the method executed by each module shown in Figure 10.

[0597] An embodiment of the present application further provides a 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 FIG5 . This device embodiment corresponds to the above-described method for sending perception measurement results, and each implementation process and implementation method of the above-described method embodiment are applicable to this device embodiment and can achieve the same technical effects.

[0598] An embodiment of the present application also provides a device, including a processor and a communication interface, wherein the communication interface is used to send target information to a first device, the target information including at least one of the following: a first perception measurement result for a perception target and motion information of the target device; wherein the first perception measurement result is a perception measurement result obtained by the second device performing a perception measurement on a perception signal; the target device includes a sending device or a receiving device of the perception signal corresponding to the first perception measurement result; and the target information is used to determine a second perception measurement result for the perception target.

[0599] Specifically, embodiments of the present application further provide a device, which is either a first device or a second device. As shown in Figure 13, 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.

[0600] The perception measurement method in the above embodiment may be implemented in the baseband device 1303 , which includes a baseband processor.

[0601] 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 device operations shown in the above method embodiment.

[0602] The device may further include a network interface 1306 , such as a Common Public Radio Interface (CPRI).

[0603] Specifically, the device 1300 of the embodiment of the present application also includes: instructions or programs stored in the memory 1305 and executable 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 FIG9 or FIG10 and achieve the same technical effect. To avoid repetition, they will not be elaborated here.

[0604] In this embodiment, the above device is taken as an example for description as the second device.

[0605] The radio frequency device 1302 is configured to send target information from the second device to the first device, where the target information includes at least one of the following:

[0606] a first perception measurement result of the perception target and motion information of the target device;

[0607] The first perception measurement result is a perception measurement result obtained by the second device performing perception measurement on the perception signal;

[0608] The target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result;

[0609] The target information is used to determine a second perception measurement result for the perception target.

[0610] Optionally, the first perception measurement result includes at least one of the following:

[0611] A Doppler measurement value of the sensing signal and an angle measurement value of the sensing signal.

[0612] Optionally, the Doppler measurement value of the sensing signal includes at least one of the following:

[0613] a Doppler measurement value of a first path of the sensing signal, a Doppler measurement value of a second path of the sensing signal, and a Doppler measurement value of a third path of the sensing signal;

[0614] Or, the angle measurement value of the perception signal includes at least one of the following

[0615] an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and an angle measurement value of a third path of the perception signal;

[0616] The arrival time of the first path is earlier than the arrival times of the second path and the third path;

[0617] The second path is a signal path reflected by the sensing target;

[0618] The third path is a signal path reflected by the target object.

[0619] Optionally, the radio frequency device 1302 or the processor 1304 is further configured to perform at least one of the following:

[0620] measuring a signal sent by the target device to obtain motion information of the target device;

[0621] Acquiring motion information of the target device through a sensor;

[0622] Measuring a signal sent by a peer device of the target device to obtain motion information of the target device;

[0623] Calculating motion information of the target device based on the first perception measurement result;

[0624] The motion information of the target device is calculated based on the position information of the target device.

[0625] Optionally, the motion information includes at least one of the following:

[0626] Movement direction and speed.

[0627] Optionally, the target information also includes device information of the target device.

[0628] Optionally, the device information includes at least one of the following:

[0629] location information of the target device, orientation information of the target device, coordinate information of the target device, timestamp information of the target device, and clock frequency deviation information;

[0630] In which, the clock frequency deviation information includes: when the target device is the sending device of the perception signal, the clock frequency deviation information between the target device and the receiving device of the perception signal, or, the clock frequency deviation information includes: when the target device is the receiving device of the perception signal, the clock frequency deviation information between the target device and the sending device of the perception signal.

[0631] Optionally, the target device is the second device; or,

[0632] The target device is a sending device of the perception signal, and the second device is a receiving device of the perception signal; or,

[0633] The target device is a receiving device of the perception signal, and the second device is a sending device of the perception signal.

[0634] Optionally, the radio frequency device 1302 is further configured to perform at least one of the following:

[0635] capability information to the first device;

[0636] receiving signal configuration information sent by the first device;

[0637] Receive measurement configuration information sent by the first device.

[0638] Optionally, the capability information includes at least one of the following:

[0639] Supported perception services, supported perception service types, supported perception modes, supported perception measurements, perception accuracy, and supported perception resource configurations.

[0640] Optionally, the measurement configuration information includes:

[0641] Measured signal resource indication, perception measurement quantity, indication information for indicating whether to report sensor measurement results, expected sensor type, expected sensor data type, and measurement result reporting configuration.

[0642] Optionally, the measurement result reporting configuration includes at least one of the following:

[0643] Reported resource configuration, reporting cycle, and reporting triggering events;

[0644] The triggering event includes at least one of the following:

[0645] Enter the target area;

[0646] Time to reach target;

[0647] The measurement result of the target signal reaches a first threshold;

[0648] The moving position exceeds a second threshold;

[0649] The angle of change in orientation exceeds a third threshold;

[0650] The movement speed exceeds the fourth threshold;

[0651] The environmental information changes meet the preset conditions.

[0652] The above-mentioned device can improve the reliability of the perception measurement results.

[0653] 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 method embodiment and achieve the same or corresponding technical effects. To avoid repetition, it will not be repeated here.

[0654] It should be noted that the above-mentioned device can also implement the steps in the method shown in FIG3 , or can implement the method executed by each module shown in FIG9 .

[0655] An embodiment of the present application further 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 perception measurement result processing method or perception measurement result sending method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, they are not repeated here.

[0656] 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.

[0657] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, the communication interface and the processor are coupled, and the processor is used to run a program or instruction to implement the various processes of the above-mentioned perception measurement result processing method or perception measurement result sending method embodiment, and can achieve the same technical effect. To avoid repetition, it is not repeated here.

[0658] 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.

[0659] 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 perception measurement result processing method or perception measurement result sending method embodiment, and can achieve the same technical effect. To avoid repetition, it is not repeated here.

[0660] An embodiment of the present application further provides a wireless communication system, including: a first device and a second device, wherein the first device can be used to perform the steps of the perception measurement result processing method provided in the embodiment of the present application, and the second device can be used to perform the steps of the perception measurement result sending method provided in the embodiment of the present application.

[0661] 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.

[0662] 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.

[0663] 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 method for processing perception measurement results, wherein: include: The first device obtains a first perception measurement result for a perception target; The first device acquires motion information of a target device, wherein the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result; The first device determines a second perception measurement result for the perception target based on the first perception measurement result and the motion information.

2. The method of claim 1, wherein: The first device obtains a first perception measurement result for a perception target, including: The first device performs perception measurement on the perception signal to obtain a first perception measurement result for a perception target; or The first device receives a first perception measurement result for a perception target sent by the second device.

3. The method according to claim 1 or 2, wherein: The first perception measurement result includes at least one of the following: A Doppler measurement value of the perception signal and an angle measurement value of the perception signal.

4. The method of claim 3, wherein: The Doppler measurement value of the sensing signal includes at least one of the following: a Doppler measurement value of a first path of the sensed signal, a Doppler measurement value of a second path of the sensed signal, and a Doppler measurement value of a third path of the sensed signal; Or, the angle measurement value of the perception signal includes at least one of the following an angle measurement value of a first path of the perceived signal, an angle measurement value of a second path of the perceived signal, and an angle measurement value of a third path of the perceived signal; The arrival time of the first path is earlier than the arrival times of the second path and the third path; The second path is a signal path reflected by the sensing target; The third path is a signal path reflected by the target object.

5. The method according to any one of claims 1 to 4, wherein: The first device acquires motion information of the target device, including at least one of the following: The first device measures the signal sent by the target device to obtain motion information of the target device; The first device receives the motion information of the target device reported by the target device; The first device receives the motion information of the target device sent by the second device; The first device obtains the motion information of the target device through a sensor; The first device measures a signal sent by a peer device of the target device to obtain motion information of the target device; The first device calculates motion information of the target device based on the first perception measurement result; The first device calculates motion information of the target device based on the location information of the target device.

6. The method according to any one of claims 1 to 5, wherein: The motion information includes at least one of the following: Movement direction and speed.

7. The method according to any one of claims 1 to 6, wherein: The first device determines, based on the first perception measurement result and the motion information, a second perception measurement result for the perception target, including: The first device determines a second perception measurement result for the perception target based on the first perception measurement result, the motion information, and the device information of the target device.

8. The method of claim 7, wherein: The device information includes at least one of the following: The location information of the target device, the orientation information of the target device, the coordinate information of the target device, the timestamp information of the target device, and the clock frequency deviation information; Among them, the clock frequency deviation information includes: when the target device includes the sending device of the perception signal, the clock frequency deviation information between the target device and the receiving device of the perception signal, or, the clock frequency deviation information includes: when the target device includes the receiving device of the perception signal, the clock frequency deviation information between the target device and the sending device of the perception signal.

9. The method according to any one of claims 1 to 8, wherein: The first device includes a core network element, and the target device includes a terminal or a network side device; or, The first device includes a terminal, and the target device includes a network-side device, the first device, or another terminal; or, The first device includes a network side device, and the target device includes a terminal, the first device or another network side device.

10. The method of claim 9, wherein: In the case where the first device includes a core network element, the method further includes at least one of the following: The first device obtains capability information sent by the target device or a peer device of the target device; The first device sends signal configuration information to the target device or a peer device of the target device; The first device sends measurement configuration information to the target device or an opposite end device of the target device.

11. The method of claim 9, wherein: In the case where the first device includes a terminal or a network side device, the method further includes at least one of the following: The first device sends capability information to a core network element; The first device receives signal configuration information sent by a core network element; The first device receives measurement configuration information sent by a core network element.

12. The method according to claim 10 or 11, wherein: The capability information includes at least one of the following: Supported perception services, supported perception service types, supported perception modes, supported perception measurements, perception accuracy, supported perception resource configurations.

13. The method according to any one of claims 10 to 12, wherein: The measurement configuration information includes: The measured signal resource indication, the perceived measurement quantity, the indication information used to indicate whether to report the sensor measurement result, the expected sensor type to be used, the expected sensor data type, and the measurement result reporting configuration.

14. The method of claim 13, wherein: The measurement result reporting configuration includes at least one of the following: Reporting resource configuration, reporting cycle, and reporting triggering events; The triggering event includes at least one of the following: Enter the target area; Time to reach target; The measurement result of the target signal reaches a first threshold; The moving position exceeds a second threshold; The change angle of the orientation exceeds a third threshold; The movement speed exceeds the fourth threshold; The environmental information changes meet the preset conditions.

15. The method according to any one of claims 1 to 14, wherein: The second perception measurement result includes at least one of the following: A target Doppler value, and sensing information calculated based on the target Doppler value.

16. The method according to any one of claims 1 to 15, wherein: The determining a second perception measurement result for the perception target includes: A motion interference elimination operation is performed on the first perception measurement result to obtain the second perception measurement result for the perception target.

17. The method of claim 16, wherein: The first sensing measurement result includes a Doppler measurement value of a second path of the sensing signal, where the second path is a signal path reflected by the sensing target; The motion interference elimination operation includes: Calculate the Doppler projection value on the second path based on the motion information; The second perception measurement result for the perception target is calculated based on the projection value and the Doppler measurement value of the second path.

18. The method of claim 17, wherein: The calculating, based on the projection value and the Doppler measurement value of the second path, the second perception measurement result for the perception target includes: Subtract the projection value from the Doppler measurement value of the second path to obtain a target Doppler value of the second path; or, Subtract the projection value and the frequency deviation value from the Doppler measurement value of the second path to obtain a target Doppler value of the second path, wherein the frequency deviation value is a frequency deviation value of the transceiver device of the sensing signal; The second sensing measurement result includes a target Doppler value of the second path.

19. The method according to claim 17 or 18, wherein: The first perception measurement result further includes an angle measurement value of a second path of the perception signal, the motion information includes: a motion direction and a motion speed, and the projection value includes: a projection value calculated based on the angle measurement value of the second path, the motion direction and the motion speed; or The first perception measurement result also includes an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and a Doppler measurement value of the first path, wherein the arrival time of the first path is earlier than the arrival time of the second path, the motion information includes: a motion direction, and the projection value includes: a value based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, and the motion direction measurement value. The calculated projection value; or, The first perception measurement result also includes an angle measurement value of a first path of the perception signal, an angle measurement value of a second path of the perception signal, and a Doppler measurement value of the first path, wherein an arrival time of the first path is earlier than an arrival time of the second path, the motion information includes: a motion direction and a motion speed, and the projection value includes: a projection value calculated based on the angle measurement value of the first path, the angle measurement value of the second path, the Doppler measurement value of the first path, the motion direction, and the motion speed.

20. A method for sending a perception measurement result, wherein: include: The second device sends target information to the first device, where the target information includes at least one of the following: a first perception measurement result for a perception target and motion information of a target device; The first perception measurement result is a perception measurement result obtained by the second device performing perception measurement on the perception signal; The target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result; The target information is used to determine a second perception measurement result for the perception target.

21. The method of claim 20, wherein: The first perception measurement result includes at least one of the following: A Doppler measurement value of the perception signal and an angle measurement value of the perception signal.

22. The method of claim 21, wherein: The Doppler measurement value of the sensing signal includes at least one of the following: a Doppler measurement value of a first path of the sensed signal, a Doppler measurement value of a second path of the sensed signal, and a Doppler measurement value of a third path of the sensed signal; Or, the angle measurement value of the perception signal includes at least one of the following an angle measurement value of a first path of the perceived signal, an angle measurement value of a second path of the perceived signal, and an angle measurement value of a third path of the perceived signal; The arrival time of the first path is earlier than the arrival times of the second path and the third path; The second path is a signal path reflected by the sensing target; The third path is a signal path reflected by the target object.

23. The method of any one of claims 20 to 22, wherein: The method further comprises at least one of the following: The second device measures the signal sent by the target device to obtain motion information of the target device; The second device obtains the motion information of the target device through a sensor; The second device measures a signal sent by a peer device of the target device to obtain movement information of the target device; The second device calculates the motion information of the target device based on the first perception measurement result; The second device calculates motion information of the target device based on the location information of the target device.

24. The method of any one of claims 20 to 23, wherein: The motion information includes at least one of the following: Movement direction and speed.

25. The method of any one of claims 20 to 24, wherein: The target information also includes device information of the target device.

26. The method of claim 25, wherein: The device information includes at least one of the following: The location information of the target device, the orientation information of the target device, the coordinate information of the target device, the timestamp information of the target device, and the clock frequency deviation information; Among them, the clock frequency deviation information includes: when the target device is the sending device of the perception signal, the clock frequency deviation information between the target device and the receiving device of the perception signal, or, the clock frequency deviation information includes: when the target device is the receiving device of the perception signal, the clock frequency deviation information between the target device and the sending device of the perception signal.

27. The method of any one of claims 20 to 26, wherein: The target device is the second device; or, The target device is a sending device of the perception signal, and the second device is a receiving device of the perception signal; or, The target device is a receiving device of the perception signal, and the second device is a sending device of the perception signal.

28. The method of any one of claims 20 to 27, wherein: The method further comprises at least one of the following: capability information of the second device to the first device; The second device receives the signal configuration information sent by the first device; The second device receives the measurement configuration information sent by the first device.

29. The method of claim 28, wherein: The capability information includes at least one of the following: Supported perception services, supported perception service types, supported perception modes, supported perception measurements, perception accuracy, supported perception resource configurations.

30. The method of claim 28 or 29, wherein: The measurement configuration information includes: The measured signal resource indication, the perceived measurement quantity, the indication information used to indicate whether to report the sensor measurement result, the expected sensor type to be used, the expected sensor data type, and the measurement result reporting configuration.

31. The method of claim 30, wherein: The measurement result reporting configuration includes at least one of the following: Reporting resource configuration, reporting cycle, and reporting triggering events; The triggering event includes at least one of the following: Enter the target area; Time to reach target; The measurement result of the target signal reaches a first threshold; The moving position exceeds a second threshold; The change angle of the orientation exceeds a third threshold; The movement speed exceeds the fourth threshold; The environmental information changes meet the preset conditions.

32. A perception measurement result processing device, wherein: include: A first acquisition module, used to acquire a first perception measurement result for a perception target; A second acquisition module, configured to acquire motion information of a target device, wherein the target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result; A determination module is used to determine a second perception measurement result for the perception target based on the first perception measurement result and the motion information.

33. A device for sending a perception measurement result, wherein: include: The first sending module is configured to send target information to the first device, where the target information includes at least one of the following: a first perception measurement result for a perception target and motion information of a target device; The first perception measurement result is a perception measurement result obtained by the second device performing perception measurement on the perception signal; The target device includes a sending device or a receiving device of a perception signal corresponding to the first perception measurement result; The target information is used to determine a second perception measurement result for the perception target.

34. A device, wherein: The method comprises 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 for processing the perception measurement result according to any one of claims 1 to 19 are implemented, or when the program or instruction is executed by the processor, the steps of the method for sending the perception measurement result according to any one of claims 20 to 31 are implemented.

35. A readable storage medium, wherein: The readable storage medium stores a program or an instruction, and when the program or the instruction is executed by the processor, the steps of the method for processing the perception measurement result according to any one of claims 1 to 19 are implemented, or the steps of the method for sending the perception measurement result according to any one of claims 20 to 31 are implemented.

36. A chip, wherein: The chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run a program or an instruction to implement the steps of the method for processing the perception measurement results according to any one of claims 1 to 19, or to implement the steps of the method for sending the perception measurement results according to any one of claims 20 to 31.

37. A computer program product, wherein: The program product is executed by at least one processor to implement the steps of the method for processing the perception measurement results according to any one of claims 1 to 19, or to implement the steps of the method for sending the perception measurement results according to any one of claims 20 to 31.

38. An operation execution device / equipment, wherein: The apparatus / device is configured to execute the steps of the method for processing a perception measurement result according to any one of claims 1 to 19, or the steps of the method for sending a perception measurement result according to any one of claims 20 to 31.

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