Sensing signal transmission method and device

Abstract

Embodiments of the present disclosure provide a sensing signal transmission method and device. The method comprises: determining resource information of a sensing signal, wherein the resource information comprises at least one of the following: the starting time position of the sensing signal, the number of temporal units of the sensing signal, and the length of a first blank temporal unit after the temporal unit of the sensing signal, and the first blank temporal unit is used for at least one of the following: switching between transmitting and receiving, and receiving an echo signal of the sensing signal; and transmitting the sensing signal on the basis of the resource information.

Description

Method and device for transmitting perception signal

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 2023115799393, filed on November 23, 2023, entitled “Method and device for transmitting perception signals,” which is incorporated herein by reference in its entirety. Technical Field

[0003] The present disclosure relates to the field of communication technology, and in particular to a method and device for transmitting a perception signal. Background Art

[0004] The frame structure of communication-aware fusion is a communication-aware time-division frame structure, that is, perception or communication functions are implemented in different time slots or symbols.

[0005] The current frame structure design of the perception signal is only applicable to the pure dual-base mode. When applied to the single-base mode or the single-base-dual-base mixed mode, the perception signal cannot be sent and received normally, resulting in a degradation of perception performance.

[0006] Summary of the Invention

[0007] The embodiments of the present disclosure provide a method and apparatus for transmitting a perception signal, so as to solve the defect of decreased perception performance in related technologies and improve perception performance.

[0008] In a first aspect, an embodiment of the present disclosure provides a method for transmitting a perception signal, applied to a first communication device, the method comprising:

[0009] determining resource information of a perception signal, the resource information including at least one of the following: a starting time position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; wherein the first blank time unit is used for at least one of the following: switching from a transmission mode to a reception mode, and receiving an echo signal of the perception signal;

[0010] The perception signal is sent based on the resource information.

[0011] Optionally, according to the method for transmitting a perception signal according to an embodiment of the present disclosure, the method further includes:

[0012] An echo signal of the perception signal is received during the first blank time unit.

[0013] Optionally, according to the method for transmitting a perception signal according to an embodiment of the present disclosure, the method further includes:

[0014] obtaining a first sending timing advance TA of the perception signal, and / or,

[0015] The length of a second blank time unit before the time unit of the perception signal is obtained.

[0016] Optionally, according to the perception signal transmission method of an embodiment of the present disclosure, when the first communication device includes a terminal, obtaining a first transmission timing advance TA of the perception signal includes:

[0017] receiving TA information sent by a network-side device, and determining a first TA of the perception signal based on the TA information;

[0018] The TA information includes one or more of the following:

[0019] the first TA; or,

[0020] A second TA for sending messages or data; or

[0021] A timing advance offset is an offset of the first TA relative to the second TA.

[0022] Optionally, according to the perception signal transmission method of an embodiment of the present disclosure, when the first communication device includes a terminal, determining resource information of the perception signal includes:

[0023] Receive resource configuration information of the perception signal sent by the network side device;

[0024] Based on the resource configuration information, resource information of the perception signal is determined.

[0025] Optionally, according to the method for transmitting a perception signal in one embodiment of the present disclosure, the determining resource information of the perception signal includes:

[0026] When it is determined based on the resource configuration information that the number of the time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

[0027] Optionally, according to the method for transmitting a perception signal in one embodiment of the present disclosure, the determining resource information of the perception signal includes:

[0028] If it is determined based on the resource configuration information that the length of the first blank time unit is greater than 0, the number of time units of the perception signal is determined to be 1.

[0029] Optionally, according to the method for transmitting a perception signal according to an embodiment of the present disclosure, when the first communication device includes a terminal, the method further includes:

[0030] Determine whether to send a message or data in the time unit of the sensing signal.

[0031] Optionally, according to the method for transmitting a perception signal in one embodiment of the present disclosure, the determining whether to send a message or data in a time unit of the perception signal includes:

[0032] Based on the first TA and the second TA, it is determined whether to send the message or data in the time unit of the sensing signal.

[0033] Optionally, according to the method for transmitting a perception signal in an embodiment of the present disclosure, the determining, based on the first TA and the second TA, whether to send the message or data in the time unit of the perception signal includes one or more of the following:

[0034] When the absolute value of the difference between the first TA and the second TA is less than or equal to a preset threshold, determining to send the message or data in the time unit of the sensing signal; or

[0035] When an absolute value of a difference between the first TA and the first value is less than or equal to a preset threshold, determining to send the message or data in a time unit of the perception signal; wherein the first value is calculated based on the second TA.

[0036] Optionally, according to the method for transmitting a perception signal in one embodiment of the present disclosure, when the first communication device includes a first network-side device, and the receiving node of the perception signal includes the first network-side device or the second network-side device, the method further includes:

[0037] Before sending the perception signal, it is determined whether the time unit of the perception signal belongs to an uplink time unit or a downlink time unit.

[0038] Optionally, according to the method for transmitting a perception signal in one embodiment of the present disclosure, determining whether a time unit of the perception signal belongs to an uplink time unit or a downlink time unit includes:

[0039] Determining, based on protocol predefinition, that the time unit of the sensing signal belongs to a downlink time unit; or,

[0040] Based on the attribute indication information, it is determined that the time unit of the perception signal belongs to an uplink time unit and / or a downlink time unit.

[0041] Optionally, according to the method for transmitting a perception signal in one embodiment of the present disclosure, the length of the second blank time unit is an integer multiple of the length of a time unit;

[0042] and / or,

[0043] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of the length of a time unit.

[0044] Optionally, according to the method for transmitting a perception signal in an embodiment of the present disclosure, when the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

[0045] Optionally, according to the method for transmitting a perception signal according to an embodiment of the present disclosure, when the first communication device includes a terminal, the method further includes:

[0046] A message or data is sent in the time unit of the sensing signal.

[0047] Optionally, according to the method for transmitting a perception signal according to an embodiment of the present disclosure, the method further includes:

[0048] Obtaining characteristic parameters or model parameters of the perceived object;

[0049] In a case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

[0050] In a second aspect, an embodiment of the present disclosure further provides a method for transmitting a perception signal, which is applied to a second communication device, the method comprising:

[0051] Determining resource information of the perception signal, the resource information including at least one of the following: a starting time position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal;

[0052] Based on the resource information, the perception signal is received.

[0053] Optionally, according to the method for transmitting a perception signal according to an embodiment of the present disclosure, the method further includes:

[0054] The length of a second blank time unit before the time unit of the perception signal is obtained.

[0055] Optionally, according to the method for transmitting a perception signal according to an embodiment of the present disclosure, the method further includes:

[0056] No message or data is received during the first blank time unit or the second blank time unit.

[0057] Optionally, according to the method for transmitting a perception signal in one embodiment of the present disclosure, when the second communication device includes a terminal, the method further includes:

[0058] Messages or data are received at the time unit of the sensing signal.

[0059] Optionally, according to a method for transmitting a perception signal in an embodiment of the present disclosure, determining resource information of the perception signal includes:

[0060] Receive resource configuration information of the perception signal sent by the network side device;

[0061] Based on the resource configuration information, resource information of the perception signal is determined.

[0062] Optionally, according to the method for transmitting a perception signal in one embodiment of the present disclosure, the determining resource information of the perception signal includes:

[0063] When it is determined based on the resource configuration information that the number of the time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

[0064] Optionally, according to the method for transmitting a perception signal in one embodiment of the present disclosure, the determining resource information of the perception signal includes:

[0065] If it is determined based on the resource configuration information that the length of the first blank time unit is greater than 0, the number of time units of the perception signal is determined to be 1.

[0066] Optionally, according to the method for transmitting a perception signal in one embodiment of the present disclosure, the length of the second blank time unit is an integer multiple of the length of a time unit;

[0067] and / or,

[0068] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of the length of a time unit.

[0069] Optionally, according to the method for transmitting a perception signal in an embodiment of the present disclosure, when the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

[0070] Optionally, according to the method for transmitting a perception signal according to an embodiment of the present disclosure, the method further includes:

[0071] Obtaining characteristic parameters or model parameters of the perceived object;

[0072] In a case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

[0073] In a third aspect, an embodiment of the present disclosure further provides a first communication device, including a memory, a transceiver, and a processor, wherein:

[0074] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and implementing the steps of the method for transmitting a perception signal as described in the first aspect above.

[0075] In a fourth aspect, an embodiment of the present disclosure further provides a second communication device, including a memory, a transceiver, and a processor, wherein:

[0076] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and implementing the steps of the method for transmitting a perception signal as described in the second aspect above.

[0077] In a fifth aspect, an embodiment of the present disclosure further provides a device for transmitting a perception signal, the device comprising:

[0078] a first determining module, configured to determine resource information of a perception signal, the resource information including at least one of the following: a starting time position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; wherein the first blank time unit is used for at least one of the following: switching from a transmission mode to a reception mode, and receiving an echo signal of the perception signal;

[0079] A first sending module is configured to send the perception signal based on the resource information.

[0080] Optionally, the device further comprises:

[0081] The second receiving module is configured to receive an echo signal of the sensing signal in the first blank time unit.

[0082] Optionally, the apparatus further includes a first acquisition module, configured to perform one or more of the following:

[0083] obtaining a first sending timing advance TA of the perception signal, and / or,

[0084] The length of a second blank time unit before the time unit of the perception signal is obtained.

[0085] Optionally, when the first communication device includes a terminal, the first acquiring module is configured to:

[0086] receiving TA information sent by a network-side device, and determining a first TA of the perception signal based on the TA information;

[0087] The TA information includes one or more of the following:

[0088] the first TA; or,

[0089] A second TA for sending messages or data; or

[0090] A timing advance offset is an offset of the first TA relative to the second TA.

[0091] Optionally, when the first communication device includes a terminal, the first determining module is configured to:

[0092] Receive resource configuration information of the perception signal sent by the network side device;

[0093] Based on the resource configuration information, resource information of the perception signal is determined.

[0094] Optionally, the first determining module is configured to:

[0095] When it is determined based on the resource configuration information that the number of the time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

[0096] Optionally, the first determining module is configured to:

[0097] If it is determined based on the resource configuration information that the length of the first blank time unit is greater than 0, the number of time units of the perception signal is determined to be 1.

[0098] Optionally, the device further comprises:

[0099] The first judgment module is configured to judge whether to send a message or data in a time unit of the perception signal when the first communication device includes a terminal.

[0100] Optionally, the first judgment module is used to:

[0101] Based on the first TA and the second TA, it is determined whether to send the message or data in the time unit of the sensing signal.

[0102] Optionally, the first judgment module is used for one or more of the following:

[0103] When the absolute value of the difference between the first TA and the second TA is less than or equal to a preset threshold, determining to send the message or data in the time unit of the sensing signal; or

[0104] When an absolute value of a difference between the first TA and the first value is less than or equal to a preset threshold, determining to send the message or data in a time unit of the perception signal; wherein the first value is calculated based on the second TA.

[0105] Optionally, the device further comprises:

[0106] The third determination module is used to determine, before sending the perception signal, whether the time unit of the perception signal belongs to an uplink time unit or a downlink time unit when the first communication device includes a first network side device and the receiving node of the perception signal includes the first network side device or the second network side device.

[0107] Optionally, the third determining module is configured to:

[0108] Determining, based on protocol predefinition, that the time unit of the sensing signal belongs to a downlink time unit; or,

[0109] Based on the attribute indication information, it is determined that the time unit of the perception signal belongs to an uplink time unit and / or a downlink time unit.

[0110] Optionally, the length of the second blank time unit is an integer multiple of the length of a time unit;

[0111] and / or,

[0112] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of the length of a time unit.

[0113] Optionally, when the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

[0114] Optionally, the device further comprises:

[0115] The second sending module is configured to send a message or data in a time unit of the perception signal when the first communication device includes a terminal.

[0116] Optionally, the device further comprises:

[0117] The second acquisition module is used to obtain characteristic parameters or model parameters of the perceived object;

[0118] The third sending module is configured to send the measurement value when the measurement value included in the received perception signal matches the characteristic parameter or model parameter of the perceived object.

[0119] In a sixth aspect, an embodiment of the present disclosure further provides a device for transmitting a perception signal, which is applied to a second communication device. The device for transmitting a perception signal includes:

[0120] a second determining module, configured to determine resource information of the perception signal, the resource information including at least one of the following: a starting time position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal;

[0121] The first receiving module is configured to receive the perception signal based on the resource information.

[0122] Optionally, the device further comprises:

[0123] The third acquisition module is configured to acquire the length of a second blank time unit before the time unit of the perception signal.

[0124] Optionally, the device further comprises:

[0125] The fourth receiving module is configured to receive no message or data in the first blank time unit or the second blank time unit.

[0126] Optionally, the device further comprises:

[0127] The third receiving module is configured to receive a message or data in a time unit of the perception signal when the second communication device includes a terminal.

[0128] Optionally, the second determining module is configured to:

[0129] Receive resource configuration information of the perception signal sent by the network side device;

[0130] Based on the resource configuration information, resource information of the perception signal is determined.

[0131] Optionally, the second determining module is configured to:

[0132] When it is determined based on the resource configuration information that the number of the time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

[0133] Optionally, the second determining module is configured to:

[0134] If it is determined based on the resource configuration information that the length of the first blank time unit is greater than 0, the number of time units of the perception signal is determined to be 1.

[0135] Optionally, the length of the second blank time unit is an integer multiple of the length of a time unit;

[0136] and / or,

[0137] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of the length of a time unit.

[0138] Optionally, when the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

[0139] Optionally, the device further comprises:

[0140] A fourth acquisition module is used to obtain characteristic parameters or model parameters of the sensed object;

[0141] The fourth sending module is configured to send the measurement quantity when the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object.

[0142] In a seventh aspect, an embodiment of the present disclosure further provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the steps of the method for transmitting the perception signal as described in the first aspect above.

[0143] In an eighth aspect, an embodiment of the present disclosure further provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the steps of the method for transmitting a perception signal as described in the second aspect above.

[0144] The perception signal transmission method and apparatus provided in the embodiments of the present disclosure reserve the length of a first blank time unit after the perception signal time unit to transmit / receive switching and / or receive an echo signal of the perception signal, thereby effectively performing perception services in a single-base mode or a single-base / dual-base hybrid mode and improving perception performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0145] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or related technologies, the following is a brief introduction to the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0146] FIG1 is a schematic diagram of dual-station and single-station sensing classification provided by related art;

[0147] FIG2 is a schematic diagram of a hybrid mode provided by the related art;

[0148] FIG3 is a schematic diagram of the structure of a single-column perception symbol and a multi-column perception symbol provided by the related art;

[0149] FIG4 is a schematic diagram showing the requirements of the single-base time-division sensing time domain structure provided by an embodiment of the present disclosure;

[0150] FIG5 is a schematic diagram of a single-base partial full-duplex system provided by an embodiment of the present disclosure;

[0151] FIG6 is a schematic diagram showing the requirements of a single-base partial full-duplex sensing time domain structure provided by an embodiment of the present disclosure;

[0152] FIG7 is a flow chart of a method for transmitting a perception signal according to an embodiment of the present disclosure;

[0153] FIG8 is a second flow chart of a method for transmitting a perception signal according to an embodiment of the present disclosure;

[0154] FIG9 is a schematic diagram of a dual-base mode of base station A+base station B provided in an embodiment of the present disclosure;

[0155] FIG10 is a second schematic diagram of a dual-base mode of base station A+base station B provided in an embodiment of the present disclosure;

[0156] FIG11 is a schematic diagram of a hybrid mode of dual-station sensing and single-station sensing provided by an embodiment of the present disclosure;

[0157] FIG12 is a second schematic diagram of a hybrid mode of dual-station sensing and single-station sensing provided in an embodiment of the present disclosure;

[0158] FIG13 is a schematic diagram of the relative position of the advance amount of the UE sending the perception signal according to an embodiment of the present disclosure;

[0159] FIG14 is a third schematic diagram of a hybrid mode of dual-station sensing and single-station sensing provided in an embodiment of the present disclosure;

[0160] FIG15 is a schematic diagram of resources for sensing signals provided by an embodiment of the present disclosure;

[0161] FIG16 is a schematic structural diagram of a first communication device provided in an embodiment of the present disclosure;

[0162] FIG17 is a schematic structural diagram of a second communication device provided in an embodiment of the present disclosure;

[0163] FIG18 is a schematic diagram of a structure of a transmission device for a perception signal according to an embodiment of the present disclosure;

[0164] FIG19 is a second structural diagram of the apparatus for transmitting perception signals according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0165] In the embodiments of the present disclosure, the term "and / or" describes the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0166] In the embodiments of the present disclosure, the term "plurality" refers to two or more than two, and other quantifiers are similar thereto.

[0167] The technical solution provided by the embodiments of the present disclosure can be applicable to a variety of systems, especially 5G systems. For example, applicable systems may be global system of mobile communication (GSM) systems, code division multiple access (CDMA) systems, wideband code division multiple access (WCDMA) general packet radio service (GPRS) systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, long term evolution advanced (LTE-A) systems, universal mobile telecommunication systems (UMTS), worldwide interoperability for microwave access (WiMAX) systems, 5G new air interface (NR) systems, etc. These various systems include terminal devices and network devices. The system may also include a core network part, such as an evolved packet system (EPS), a 5G system (5GS), etc.

[0168] First, let’s introduce the following contents:

[0169] In the technological evolution of communication systems, ISAC (Integrated Sensing and Communication) is a key candidate for evolutionary features. The sensing process is categorized into dual-station sensing, single-station sensing, and hybrid sensing modes (dual-station mode plus single-station mode). Different sensing modes and sensing-capable nodes may correspond to different sensing resource formats. Sensing capability here refers to the ability to receive reflected signals (or echo signals).

[0170] (1) Basic concepts of ISAC;

[0171] ISAC (Integrated Sensing and Communication) is a key candidate for evolution in communication systems. Its fundamental concept is to introduce wireless sensing capabilities into wireless mobile communications. Wireless sensing involves sensing environmental information through wireless signals. This information includes the distribution, size, quantity, and temperature of objects, human movements, and even breathing and heart rates. The principle of wireless sensing is relatively simple: a radio signal is transmitted to the environment to be sensed, and the receiver collects the wireless signals that have been reflected, scattered, and transmitted through multiple paths. Because the collected wireless signals have been subjected to the environment, they carry environmental information. After receiving the signals, complex signal processing is performed to detect environmental characteristics. This sensed environment can then be reconstructed on a computer. This includes identifying people and objects, measuring temperature, detecting human movements, and even breathing and heart rates. This technology is used in fields such as health monitoring and security.

[0172] Wireless sensing is generally categorized into monostatic and dual-station sensing. Figure 1 illustrates the classification of dual-station and monostatic sensing, as provided by related technologies. As shown in Figure 1, monostatic sensing involves a base station (or terminal) actively transmitting a sensing signal. After the sensing signal is reflected by the sensing object, the base station (or terminal) receives the reflected sensing signal. Dual-station sensing involves a base station (or terminal) actively transmitting a sensing signal. The sensing signal travels through the wireless channel and is received by the other terminal (or base station). Monostatic sensing includes base station monostatic sensing and terminal monostatic sensing. Dual-station sensing includes UE-UE, gNB-gNB, UE-gNB, and gNB-UE.

[0173] In actual deployment scenarios, wireless sensing may also include a hybrid mode. Figure 2 is a schematic diagram of the hybrid mode provided by related technologies. As shown in Figure 2, the base station transmits a sensing signal. In addition to the sensing terminal receiving and measuring the sensing signal, the base station also receives the reflected sensing signal and performs sensing measurements. Finally, the base station (or sensing server) uses the sensing measurement results of the base station and the terminal to determine the final sensing result.

[0174] (2) Perception signal frame structure;

[0175] Figure 3 is a schematic diagram of the structure of single-column and multi-column sensing symbols provided by related technologies. As shown in Figure 3, the frame structure of communication sensing fusion is a communication sensing time-division frame structure, that is, sensing or communication functions are implemented in different time slots / symbols. From the perspective of the entire frame structure, the time-division frame structure maintains the communication frame structure without changing. The structural characteristics of the sensing signal are as follows:

[0176] 1: Occupies one or more OFDM (Orthogonal Frequency Division Multiplexing) symbols.

[0177] 2: Use the same cyclic prefix (CP) and subcarrier spacing (SCS) as the communication symbols.

[0178] 3: The perception and communication symbols use the time division multiplexing (TDM) method (with no empty gaps in between).

[0179] (3) Single-base time division mode (signal transmission and reception adopt time division);

[0180] Single-station time-division mode means that the device cannot receive sensing signals while sending them. That is, the device enters signal reception mode only after the signal transmission is completed.

[0181] Figure 4 is a schematic diagram of the requirements of the perception time domain structure of the single-base time division provided by an embodiment of the present disclosure. As shown in Figure 4, when the single-station time division mode is adopted, time needs to be reserved after the perception signal for the device to switch between sending and receiving, and to receive the perception signal.

[0182] (4) Single-base “partial full-duplex” (signal transmission and reception are performed simultaneously);

[0183] Partial full-duplex means that when a device is operating in full-duplex, the reception time only overlaps with the transmission time of the perception signal, and the reception time of the perception signal cannot overlap with the communication symbol time domain.

[0184] Figure 5 is a schematic diagram of single-base partial full-duplex provided by an embodiment of the present disclosure. As shown in Figure 5, when the device sends a sensing signal, it receives an echo, that is, in the d1 time period, which is a full-duplex time period for transmission and reception. When the device has completed sending the sensing signal, the device can only be in the receiving state, that is, in the d2 time period, the single-base node only receives the sensing signal, which is a non-full-duplex time period for transmission and reception. Based on this, Figure 6 is a schematic diagram of the requirements of the sensing time domain structure of single-base partial full-duplex provided by an embodiment of the present disclosure. As shown in Figure 6, when single-base "partial full-duplex" is adopted, a reserved time is required after the sensing signal. No information can be sent during this reserved time, which is used for the device to receive the reflected signal of the sensing signal.

[0185] The advantage of a device having only partial full-duplex capability is that it reduces the complexity of co-channel interference elimination (the sensing signal contains fewer types of information, making interference elimination easier than communication symbols). When the sensing object and the device sending the signal are far apart, it can reduce interference and improve the signal-to-noise ratio of the echo signal (the greater the reflection wave delay, the smaller the echo signal-to-noise ratio. If the reflected echo falls in a blank symbol area, there is no self-interference from the device, thereby improving the echo signal-to-noise ratio).

[0186] Therefore, the frame structure design of the above-mentioned perception signal is more suitable for the pure dual-base mode, and is difficult to match the single-base mode (time division mode, or partial full-duplex mode) or the single-base / dual-base mixed mode, resulting in reduced perception performance.

[0187] The embodiments of the present disclosure provide a method and apparatus for transmitting a perception signal to improve perception performance.

[0188] Among them, the method and the device are based on the same application concept. Since the principles of solving problems by the method and the device are similar, the implementation of the device and the method can refer to each other, and the repeated parts will not be repeated.

[0189] The following will be combined with the accompanying drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure and not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0190] FIG7 is a flow chart of a method for transmitting a perception signal according to an embodiment of the present disclosure. As shown in FIG7 , the method for transmitting a perception signal is applied to a first communication device (the first communication device refers to a communication device that sends a perception signal and may receive an echo signal of the perception signal). The first communication device may be a terminal or a network-side device, such as a base station. The method for transmitting a perception signal includes:

[0191] Step 700: Determine resource information of a perception signal, where the resource information includes at least one of the following: a starting time position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; wherein the first blank time unit is used for at least one of the following: switching from a transmission mode to a reception mode, and receiving an echo signal of the perception signal;

[0192] Step 710: Send the perception signal based on the resource information.

[0193] Optionally, the resource information of the perception signal may include: the starting time position of the perception signal (the starting time domain position of the first communication device sending the perception signal), the number of time units of the perception signal, and the length of the first blank time unit after the time unit of the perception signal (the length of the time unit after the first communication device stops sending any information after sending the perception signal, which is used for the first communication device to switch between sending / receiving and receiving echo signals).

[0194] Specifically, when the first communication device is a terminal, the network side device can configure resource information of the perception signal for the terminal, such as configuring the time domain parameters of the perception signal: the time unit of the perception signal and the subsequent first blank time unit, wherein the subsequent first blank time unit is used to perceive the first communication device receiving the echo signal in the hybrid mode. After determining the resource information of the perception signal, the first communication device can send the perception signal, and can also perform send-receive switching and / or receive the echo signal of the perception signal in the subsequent first blank time unit.

[0195] Specifically, when the first communication device is a network side device, the network side device can determine the resource information of the perception signal, such as determining the time domain parameters of the perception signal: the time unit of the perception signal and the subsequent first blank time unit, wherein the subsequent first blank time unit is used to perceive the first communication device receiving the echo signal in the hybrid mode. After determining the resource information of the perception signal, the first communication device can send the perception signal, and can also perform send-receive switching and / or receive the echo signal of the perception signal in the subsequent first blank time unit.

[0196] For example, taking the second communication device as a terminal as an example (the second communication device refers to a receiving end that only serves as a perception signal, that is, receives the perception signal sent by the first communication device), the terminal does not expect to receive any downlink information in the first blank time unit, such as PDSCH (Physical Downlink Shared Channel, physical downlink shared channel), CSI-RS (Channel State Information-Reference Signal, channel state information reference signal), PDCCH (Physical Downlink Control Channel, physical downlink control channel), etc., considering that the first communication device may receive the echo signal of the perception signal in the blank symbol, and thus cannot perform the behavior of sending the signal.

[0197] For example, taking the first communication device as a terminal, the terminal does not expect to send any uplink information in the first blank time unit, such as PUCCH (Physical Uplink Control Channel), PUSCH (Physical Uplink Shared Channel), SRS (Sounding Reference Signal) or PRACH (Physical Random Access Channel), etc. Considering that the terminal may receive an echo signal of the perception signal in the blank symbol, it is impossible to perform the signal sending behavior.

[0198] In various embodiments of the present disclosure, a time unit may be a symbol, a partial symbol, or other units of any other time length, which is not limited here.

[0199] For example, taking the time unit as a symbol, the network side device can configure the resource information of the perception signal for the terminal. For example, the time domain parameters of the perception signal can be configured to include: the number of symbols m of the perception signal, the number of symbols b1 of the first blank symbol afterward;

[0200] For example, taking a symbol as the time unit, the network side device determines that the time domain parameters of the perception signal include: the number m of symbols of the perception signal and the number b1 of the first blank symbol placed afterwards.

[0201] Optionally, the first communication device may have a “partial full-duplex” capability, or only have a “time division duplex” capability.

[0202] The perception signal transmission method provided in the embodiments of the present disclosure reserves the length of a first blank time unit after the perception signal time unit for sending / receiving switching and / or receiving an echo signal of the perception signal, thereby effectively performing perception services in a single-base mode or a single-base-dual-base hybrid mode and improving perception performance.

[0203] In some optional embodiments, the method further includes:

[0204] An echo signal of the perception signal is received during the first blank time unit.

[0205] Specifically, after sending the perception signal, the first communication device may also receive an echo signal of the perception signal.

[0206] Specifically, in a perception scenario, the second communication device receives a perception signal sent by the first communication device.

[0207] For example, in scenario 1: base station 1 sends a perception signal; base station 1 receives the echo signal of the perception signal, and the terminal receives the perception signal (the terminal does not expect to receive communication information on blank symbols); in this scenario 1, the first communication device is base station 1, and the second communication device is the terminal.

[0208] In scenario 2: base station 1 sends a perception signal; base station 1 receives an echo signal of the perception signal, and base station 2 receives the perception signal; in this scenario 2, the first communication device is base station 1, and the second communication device is base station 2.

[0209] In scenario 3: terminal 1 sends a perception signal, terminal 1 receives a perception signal of the perception signal, the base station receives the perception signal, and terminal 1 does not expect to send communication information on the blank symbol; in this scenario 3, the first communication device is terminal 1, and the second communication device is the base station.

[0210] In scenario 4: terminal 1 sends a perception signal, terminal 1 receives a perception signal of the perception signal, terminal 2 receives the perception signal, and terminal 1 does not expect to send communication information on the blank symbol; in this scenario 4, the first communication device is terminal 1, and the second communication device is terminal 2.

[0211] It should be noted that the echo signal of the perception signal received in the first blank time unit may be a complete signal of the echo signal received in the first blank time unit (e.g., the distance of the perceived object is relatively far, and the echo signal delay is greater than the duration of the perception signal). Alternatively, it may be a partial signal of the echo signal received in the first blank time unit (e.g., the distance of the perceived object is relatively close, the echo signal delay is less than the duration of the perception signal, a portion of the echo signal overlaps with the perception signal, and another portion is on a blank symbol), which is not limited here.

[0212] Optionally, when the first communication device includes a terminal, the first blank time unit is not used to send uplink information.

[0213] Specifically, in the case where the perception signal is a signal transmitted in uplink, the terminal does not transmit any uplink information, such as PUSCH or SRS, in the first blank time unit.

[0214] In some optional embodiments, the method further includes:

[0215] obtaining a first sending timing advance (TA) of the sensing signal, and / or,

[0216] The length of a second blank time unit before the time unit of the perception signal is obtained.

[0217] Specifically, for the perception signal configured for uplink transmission, TA information of the perception signal may be further obtained.

[0218] Specifically, a second blank time unit can be reserved before the time unit for sensing the signal, for the first communication device to perform power adjustment or signal bandwidth adjustment or send-receive switching. For example, when the first communication device is a measurement signal receiving node, send-receive switching can be performed in the second blank time unit.

[0219] Specifically, when a second blank time unit is reserved before the time unit for sensing the signal, the first communication device may not send or receive any information in the second blank time unit, and the first communication device performs power adjustment or signal bandwidth adjustment in the second blank time unit.

[0220] Taking the first communication device as a terminal and the time unit as a symbol as an example, the network side device (the network side device may be the second communication device and / or the network side device to which the terminal is connected) may further configure a leading second blank symbol for the terminal, with the number of symbols b0. The terminal may perform power adjustment or signal bandwidth adjustment or perform transmit-receive switching on the second blank symbol before the symbol for sending the perception signal;

[0221] Taking the case where the first communication device is a network side device (in this case the second communication device can be a terminal or another network side device) and the time unit is a symbol as an example, the network side device can determine the preceding second blank symbol and the number of symbols b0. The network side device can adjust the power or signal bandwidth or perform send-receive switching on the second blank symbol before the symbol for sending the perception signal.

[0222] In some optional embodiments, when the first communication device includes a terminal, acquiring a first transmission timing advance TA of the perception signal includes:

[0223] receiving TA information sent by a network-side device, and determining a first TA of the perception signal based on the TA information;

[0224] The TA information includes one or more of the following:

[0225] the first TA; or,

[0226] A second TA for sending messages or data; or

[0227] A timing advance offset is an offset of the first TA relative to the second TA.

[0228] Specifically, the time advance (TA_s) for the terminal to send the synaesthesia signal (perception signal), that is, the first TA, can be indicated to the terminal by the network side device through the following methods:

[0229] (1) The base station (which may be the second communication device and / or the network-side device to which the terminal is connected) independently indicates (via high-layer signaling, MAC-CE or physical layer signaling),

[0230] (2) The indication of “the timing advance TA used for sending communication information” is applied to TA_s.

[0231] (3) Based on the "timing advance TA for sending communication information", the base station indicates an offset.

[0232] Specifically, the time advance (TA_s) at which the terminal sends the synaesthesia signal (perception signal), that is, the first TA, relative to the following time point T0 may be:

[0233] (1) The absolute time indicated by the base station (the base station may be the second communication device and / or the network-side device to which the terminal is connected), and the terminal can use this time to determine the time point T0_TX at which the corresponding perception symbol is sent.

[0234] (2) The terminal determines the downlink subframe timing or symbol timing T0_RX received by the terminal according to the downlink synchronization signal.

[0235] For example, if the first communication device is a terminal, for the perception signal configured for uplink transmission, the network side device may further indicate to the terminal a first timing advance TA for sending the perception signal.

[0236] For example, for the perception mode of base station (first communication device) + terminal (second communication device), or the perception mode of base station 1 (first communication device) + base station 2 (second communication device), if the first communication device sends a perception signal on the uplink symbol, the base station can also indicate the TA_s used to send the perception signal, that is, indicate the first TA used for the perception signal through the TA information.

[0237] Specifically, the TA information may indicate the relative position and / or absolute time of TA_s.

[0238] TA_s is the advance of the following two time reference points:

[0239] (1) The time point T0_Tx indicated by the network-side device (i.e., the timing information when the base station sends downlink information);

[0240] (2) The first communication device detects downlink timing information T0_Rx based on the synchronization channel.

[0241] In some optional embodiments, when the first communication device includes a terminal, determining resource information of the perception signal includes:

[0242] Receive resource configuration information of the perception signal sent by the network side device;

[0243] Based on the resource configuration information, resource information of the perception signal is determined.

[0244] Specifically, when the first communication device is a terminal, the network side device (the network side device may be the second communication device and / or the network side device to which the terminal is connected) may configure resource information of the perception signal for the terminal through resource configuration information.

[0245] In some optional embodiments, determining the resource information of the perception signal includes:

[0246] When it is determined based on the resource configuration information that the number of the time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

[0247] Specifically, when the first communication device is a terminal, the network side device (the network side device may be the second communication device and / or the network side device to which the terminal is connected) may configure resource information of the perception signal for the terminal through resource configuration information, such as configuring the number of time units of the perception signal and the length of the first blank time unit, or only configuring one of them, and the terminal obtains the other item based on default or deduction.

[0248] Specifically, when the resource configuration information indicates that the number of time units of the perception signal is greater than 1, the length of the first blank time unit may not be configured, and the terminal may determine that the length of the first blank time unit is 0 based on default or deduction.

[0249] For example, if the resource configuration information indicates that the number of symbols of the perception signal is m>1, the length b1 of the first blank symbol does not need to be configured, that is, b1=0 by default;

[0250] In some optional embodiments, determining the resource information of the perception signal includes:

[0251] If it is determined based on the resource configuration information that the length of the first blank time unit is greater than 0, the number of time units of the perception signal is determined to be 1.

[0252] Specifically, when the resource configuration information indicates that the length of the first blank time unit is greater than 1, the number of time units of the perception signal may not be configured, and the terminal may determine that the number of time units of the perception signal is 1 based on default or deduction.

[0253] For example, the resource configuration information indicates that the length b1 of the first blank symbol is greater than 0, and the number m of symbols of the perception signal does not need to be configured, that is, m=1 by default.

[0254] In some optional embodiments, when the first communication device includes a terminal, the method further includes:

[0255] Determine whether to send a message or data in the time unit of the sensing signal.

[0256] For example, if the first communication device is a terminal, for the perception signal configured for uplink transmission, the network side device can further indicate the timing advance TA information of the perception signal to the base station, and the terminal can also determine whether to send communication information, such as messages or data, in the time unit of the perception signal.

[0257] In some optional embodiments, the determining whether to send a message or data in the time unit of the sensing signal includes:

[0258] Based on the first TA and the second TA, it is determined whether to send the message or data in the time unit of the sensing signal.

[0259] Specifically, when the terminal determines whether to send communication information in the time unit of the perception signal, it can be based on the first TA and the second TA used for the perception signal (TA of the communication signal, that is, the TA used for message or data sending) to determine whether the communication information can be sent at the same time when sending the perception signal, that is, whether the message or data can be sent in the time unit of the perception signal.

[0260] In some optional embodiments, the determining, based on the first TA and the second TA, whether to send the message or data in the time unit of the perception signal includes one or more of the following:

[0261] When the absolute value of the difference between the first TA and the second TA is less than or equal to a preset threshold, determining to send the message or data in the time unit of the sensing signal; or

[0262] When an absolute value of a difference between the first TA and the first value is less than or equal to a preset threshold, determining to send the message or data in a time unit of the perception signal; wherein the first value is calculated based on the second TA.

[0263] Specifically, the terminal determines whether it can send communication information simultaneously when sending the perception signal based on the first TA and the second TA used for the perception signal. The determination can be based on the difference between the first TA and the second TA, or based on the difference between the first TA and the first value. The first value can be obtained by performing a mathematical operation on the second TA, such as dividing the second TA by 2, or dividing the second TA by 1.5, which is not limited here.

[0264] Optionally, when the absolute value of the difference between the first TA and the second TA is less than or equal to a preset threshold, the perception signal and the communication signal need to be multiplexed, and the communication message or data is sent in the time unit of the perception signal;

[0265] Optionally, when the absolute value of the difference between the first TA and the second TA is greater than a preset threshold, it can be determined that the start time difference between the perception signal and the communication signal exceeds the duration corresponding to the preset threshold, and the perception signal and the communication signal are not multiplexed.

[0266] Optionally, when the absolute value of the difference between the first TA and the second TA is greater than a preset threshold, it can be determined that the perception signal needs to be received by multiple base stations, that is, the perception signal is not aligned with the TA of the normal communication signal.

[0267] Optionally, the terminal may use at least one of the following methods to determine whether communication information can be sent simultaneously with sending the perception signal:

[0268] (1) When the absolute value of the difference between TA_s (first TA) and TA_c / 2 (first value) is less than a preset threshold (or the same), the perception signal and communication information can be sent simultaneously. (Note: In this case, the row positions of the advance amount of the perception signal and the communication information are different < the perception signal is relative to T0_Tx, and the communication information is relative to T0_Rx)

[0269] (2) When the absolute value of the difference between TA_s (first TA) and TA_c (second TA) is less than a certain threshold (or the same), the perception signal and communication information can be sent simultaneously. (Note: In this case, the row pair positions of the advance amount of the perception signal and the communication information are the same < both are T0_Tx or T0_Rx)

[0270] It should be noted that: when the difference between TA_s and TA_c (or the difference between TA_s and TA_c / 2) is less than a certain threshold, it means that the base stations receiving the perception signal and communication information are all service base stations; when the difference is greater than a certain threshold, it means that the base stations receiving the perception signal also include non-service base stations, and therefore cannot be sent together with the communication information.

[0271] In some optional embodiments, when the first communication device includes a first network-side device, and the receiving node of the perception signal includes the first network-side device or the second network-side device, the method further includes:

[0272] Before sending the perception signal, it is determined whether the time unit of the perception signal belongs to an uplink time unit or a downlink time unit.

[0273] Specifically, in the perception mode of base station 1 (first communication device) + base station 2 (second communication device), it can be further determined that the time unit in which base station 1 sends the perception signal belongs to the uplink time unit or the downlink time unit, and the TDD matching basis is determined.

[0274] In some optional embodiments, determining whether the time unit of the perception signal belongs to an uplink time unit or a downlink time unit includes:

[0275] Determining, based on protocol predefinition, that the time unit of the sensing signal belongs to a downlink time unit; or,

[0276] Based on the attribute indication information, it is determined that the time unit of the perception signal belongs to an uplink time unit and / or a downlink time unit.

[0277] Specifically, it can be stipulated by the protocol that the time unit of the perception signal belongs to the downlink time unit. In the perception mode of base station 1 (first communication device) + base station 2 (second communication device), it can be further determined that the time unit of base station 1 sending the perception signal belongs to the downlink time unit.

[0278] Specifically, the attribute of the time unit of the perception signal can be indicated by the attribute indication information, for example, the uplink attribute (sent only on uplink symbols), or the downlink attribute (sent only on downlink symbols), or uplink and downlink (according to the uplink and downlink ratio information, the symbols in the downlink range are downlink, and the symbols in the uplink range are uplink). In the perception mode of base station 1 (first communication device) + base station 2 (second communication device), it can be further determined based on the attribute indication information that the time unit in which the base station 1 sends the perception signal belongs to the uplink time unit, or it can be determined based on the attribute indication information that the time unit in which the base station 1 sends the perception signal belongs to the downlink time unit, or it can be determined based on the attribute indication information that the time unit in which the base station 1 sends the perception signal belongs to the uplink and downlink (according to the uplink and downlink ratio information, the symbols in the downlink range are downlink, and the symbols in the uplink range are uplink), or attributes applicable to both uplink and downlink.

[0279] In some optional embodiments, the length of the second blank time unit is an integer multiple of the length of a time unit;

[0280] and / or,

[0281] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of the length of a time unit.

[0282] Taking the symbol as an example, when configuring the second blank symbol b0, the duration of b0 can be an integer multiple of the OFDM symbol duration (for example, b0 = 1 symbol duration), or it can be a non-integer multiple (for example, b0 = 0.5 symbol duration). Furthermore, the first blank symbol b1 can also be a non-integer multiple of the symbol duration (for example, b1 = 1.5 symbol duration). However, it is recommended that b0 + b1 be an integer multiple of the symbol duration.

[0283] In some optional embodiments, when the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

[0284] Specifically, when the time unit of the communication signal and the time unit of the perception signal use the same SCS and CP type, if the length of the second blank time unit is b0, and b0 is not an integer multiple of the time unit, the first communication device does not receive or send communication information on the time unit of the perception signal.

[0285] Taking the first communication device as a terminal and the time unit as a symbol as an example, when the communication symbol and the perception symbol use the same SCS and CP type, if the base station configures a leading blank symbol b0, and b0 is not an integer multiple of the OFDM symbol, the terminal does not receive or send communication information on m symbols (perception symbols).

[0286] Optionally, when the time unit of the perception signal and the communication time unit adopt different SCS or CP types, the time unit of the perception signal is not used for sending or receiving communication information.

[0287] Specifically, when the time unit of the communication signal and the time unit of the perception signal use different SCS and CP types, the first communication device does not receive or send communication information in the time unit of the perception signal.

[0288] Taking the first communication device as a terminal and the time unit as a symbol as an example, when the communication symbol and the perception symbol use different SCS and CP types, the terminal does not receive or send communication information on m symbols (perception symbols).

[0289] In some optional embodiments, when the first communication device includes a terminal, the method further includes:

[0290] A message or data is sent in the time unit of the sensing signal.

[0291] Specifically, in the case where the first communication device is a terminal, the terminal may send a communication signal, that is, send a message or data, at a time unit of sensing the signal.

[0292] In some optional embodiments, the method further includes:

[0293] Obtaining characteristic parameters or model parameters of the perceived object;

[0294] In a case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

[0295] Specifically, after sending the perception signal, the first communication device can also serve as a receiving node for the echo signal of the perception signal to receive the perception signal; it is also possible to configure the characteristic parameters or model parameters of the perceived object, such as the shape, size, material composition, and movement state of the perceived object.

[0296] Specifically, the first communication device can first determine whether there is a measurement quantity that conforms to the characteristics / model in the echo signal of the received perception signal. If a measurement quantity that conforms to the characteristics / model is detected, the relevant measurement quantity is reported; otherwise, the measurement result is not reported this time, or it is indicated that no measurement quantity that conforms to the characteristics / model is detected.

[0297] FIG8 is a second flow chart of a method for transmitting a perception signal according to an embodiment of the present disclosure. As shown in FIG8 , the method for transmitting a perception signal is applied to a second communication device, which may be a terminal or a network-side device, such as a base station. The method includes:

[0298] Step 800: Determine resource information of the perception signal, where the resource information includes at least one of the following: a starting time position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal;

[0299] Step 810: Receive the perception signal based on the resource information.

[0300] Specifically, in the perception scenario, after sending the perception signal, the first communication device may also receive an echo signal of the perception signal, and the second communication device receives the perception signal sent by the first communication device.

[0301] For example, in scenario 1: base station 1 sends a perception signal; base station 1 receives the echo signal of the perception signal, and the terminal receives the perception signal (the terminal does not expect to receive communication information on blank symbols); in this scenario 1, the first communication device is base station 1, and the second communication device is the terminal.

[0302] In scenario 2: base station 1 sends a perception signal; base station 1 receives an echo signal of the perception signal, and base station 2 receives the perception signal; in this scenario 2, the first communication device is base station 1, and the second communication device is base station 2.

[0303] In scenario 3: terminal 1 sends a perception signal, terminal 1 receives a perception signal of the perception signal, the base station receives the perception signal, and terminal 1 does not expect to send communication information on the blank symbol; in this scenario 3, the first communication device is terminal 1, and the second communication device is the base station.

[0304] In scenario 4: terminal 1 sends a perception signal, terminal 1 receives a perception signal of the perception signal, terminal 2 receives the perception signal, and terminal 1 does not expect to send communication information on the blank symbol; in this scenario 4, the first communication device is terminal 1, and the second communication device is terminal 2.

[0305] It should be noted that the echo signal of the perception signal received in the first blank time unit may be a complete signal of the echo signal received in the first blank time unit (e.g., the distance of the perceived object is relatively far, and the echo signal delay is greater than the duration of the perception signal). Alternatively, it may be a partial signal of the echo signal received in the first blank time unit (e.g., the distance of the perceived object is relatively close, the echo signal delay is less than the duration of the perception signal, a portion of the echo signal overlaps with the perception signal, and another portion is on a blank symbol), which is not limited here.

[0306] Optionally, the resource information of the perception signal may include: the starting time position of the perception signal (the starting time domain position of the first communication device sending the perception signal), the number of time units of the perception signal, and the length of the first blank time unit after the time unit of the perception signal (the length of the time unit after the first communication device stops sending any information after sending the perception signal, which is used for the first communication device to switch between sending / receiving and receiving echo signals).

[0307] Specifically, when the second communication device is a terminal, the network side device can configure the resource information of the perception signal for the terminal, such as configuring the time domain parameters of the perception signal: the time unit of the perception signal and the post-first blank time unit, wherein the post-first blank time unit is used for the first communication device to receive the echo signal in the perception hybrid mode. After determining the resource information of the perception signal, the first communication device can send the perception signal, and can also perform send-receive switching and / or receive the echo signal of the perception signal in the post-first blank time unit.

[0308] Specifically, when the second communication device is a network side device, the network side device can determine the resource information of the perception signal, such as determining the time domain parameters of the perception signal: the time unit of the perception signal and the subsequent first blank time unit, wherein the subsequent first blank time unit is used to perceive the first communication device receiving the echo signal in the hybrid mode. After determining the resource information of the perception signal, the first communication device can send the perception signal, and can also perform send-receive switching and / or receive the echo signal of the perception signal in the subsequent first blank time unit.

[0309] For example, taking the second communication device as a terminal, the terminal believes that the base station will not send communication information in the first blank time unit, that is, the terminal does not receive downlink communication information in the first blank time unit, such as PDCCH (Physical Downlink Control Channel), PDSCH (Physical Downlink Shared Channel), CSI-RS, etc.

[0310] For example, taking the second communication device as a terminal as an example (the second communication device refers to a receiving end that only serves as a perception signal, that is, receives the perception signal sent by the first communication device), the terminal does not expect to receive any downlink information in the first blank time unit, such as PDSCH, CSI-RS, PDCCH, etc., considering that the first communication device may receive the echo signal of the perception signal in the blank symbol, and thus cannot perform the behavior of sending the signal.

[0311] For example, taking the first communication device as a terminal, the terminal does not expect to send any uplink information, such as PUCCH, PUSCH, SRS or PRACH, in the first blank time unit. Considering that the terminal may receive an echo signal of a perception signal in a blank symbol, it is impossible to perform the signal sending behavior.

[0312] In various embodiments of the present disclosure, a time unit may be a symbol, a partial symbol, or other units of any other time length, which is not limited here.

[0313] For example, taking the time unit as a symbol, the network side device can configure the resource information of the perception signal for the terminal. For example, the time domain parameters of the perception signal can be configured to include: the number of symbols m of the perception signal, the number of symbols b1 of the first blank symbol afterward;

[0314] For example, taking a symbol as the time unit, the network side device determines that the time domain parameters of the perception signal include: the number m of symbols of the perception signal and the number b1 of the first blank symbol placed afterwards.

[0315] The perception signal transmission method provided in the embodiments of the present disclosure reserves the length of a first blank time unit after the perception signal time unit for sending / receiving switching and / or receiving an echo signal of the perception signal, thereby effectively performing perception services in a single-base mode or a single-base-dual-base hybrid mode and improving perception performance.

[0316] In some optional embodiments, the method further includes:

[0317] The length of a second blank time unit before the time unit of the perception signal is obtained.

[0318] Specifically, a second blank time unit can be reserved before the time unit for sensing the signal, for the first communication device to perform power adjustment or signal bandwidth adjustment or send-receive switching. For example, when the first communication device is a measurement signal receiving node, send-receive switching can be performed in the second blank time unit.

[0319] Specifically, when a second blank time unit is reserved before the time unit for sensing the signal, the first communication device may not send or receive any information in the second blank time unit, and the first communication device performs power adjustment or signal bandwidth adjustment in the second blank time unit.

[0320] Taking the first communication device as a terminal and the time unit as a symbol as an example, the network side device may further configure a leading second blank symbol for the terminal, with a symbol number b0. The terminal may adjust power or signal bandwidth or perform transmit-receive switching in the second blank symbol before the symbol for sending the perception signal.

[0321] Taking the case where the first communication device is a network side device and the time unit is a symbol as an example, the network side device can determine the second blank symbol in front and the number of symbols b0. The network side device can adjust the power or signal bandwidth or perform send-receive switching on the second blank symbol before sending the symbol of the perception signal.

[0322] In some optional embodiments, the method further includes:

[0323] No message or data is received during the first blank time unit or the second blank time unit.

[0324] Optionally, the second communication device may not receive any information in the first blank time unit;

[0325] Optionally, the second communication device may not receive any information during the second blank time unit.

[0326] In some optional embodiments, when the second communication device includes a terminal, the method further includes:

[0327] Messages or data are received at the time unit of the sensing signal.

[0328] Specifically, when the second communication device includes a terminal, in the time unit of the perception signal, the terminal can not only receive the perception signal but also receive communication information, that is, receive messages or data, such as PDCCH, PDSCH or CSI-RS, according to the scheduling signaling or high-level configuration signaling of the network side device (which can be the first communication device).

[0329] In some optional embodiments, determining resource information of the perception signal includes:

[0330] Receive resource configuration information of the perception signal sent by the network side device;

[0331] Based on the resource configuration information, resource information of the perception signal is determined.

[0332] Specifically, the network side device can configure resource information of the perception signal for the terminal through resource configuration information.

[0333] For example, when the first communication device is a base station and the second communication device is a terminal, the base station may configure resource information for sensing signals for the terminal;

[0334] For example, when the first communication device is base station 1 and the second communication device is base station 2, base station 1 may configure resource information of the sensing signal for base station 2;

[0335] In some optional embodiments, determining the resource information of the perception signal includes:

[0336] When it is determined based on the resource configuration information that the number of the time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

[0337] Specifically, when the second communication device is a terminal, the network side device (the network side device may be the first communication device and / or the network side device to which the terminal is connected) may configure resource information of the perception signal for the terminal through resource configuration information, such as configuring the number of time units of the perception signal and the length of the first blank time unit, or only configuring one of them, and the terminal obtains the other item based on default or deduction.

[0338] Specifically, when the resource configuration information indicates that the number of time units of the perception signal is greater than 1, the length of the first blank time unit may not be configured, and the terminal may determine that the length of the first blank time unit is 0 based on default or deduction.

[0339] For example, if the resource configuration information indicates that the number of symbols of the perception signal m>1, the length b1 of the first blank symbol does not need to be configured, that is, b1=0 by default.

[0340] In some optional embodiments, determining the resource information of the perception signal includes:

[0341] If it is determined based on the resource configuration information that the length of the first blank time unit is greater than 0, the number of time units of the perception signal is determined to be 1.

[0342] Specifically, when the resource configuration information indicates that the length of the first blank time unit is greater than 1, the number of time units of the perception signal may not be configured, and the terminal may determine that the number of time units of the perception signal is 1 based on default or deduction.

[0343] For example, the resource configuration information indicates that the length b1 of the first blank symbol is greater than 0, and the number m of symbols of the perception signal does not need to be configured, that is, m=1 by default.

[0344] In some optional embodiments, the length of the second blank time unit is an integer multiple of the length of a time unit;

[0345] and / or,

[0346] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of the length of a time unit.

[0347] Taking the symbol as an example, when configuring the second blank symbol b0, the duration of b0 can be an integer multiple of the OFDM symbol duration (for example, b0 = 1 symbol duration), or it can be a non-integer multiple (for example, b0 = 0.5 symbol duration). Furthermore, the first blank symbol b1 can also be a non-integer multiple of the symbol duration (for example, b1 = 1.5 symbol duration). However, it is recommended that b0 + b1 be an integer multiple of the symbol duration.

[0348] In some optional embodiments, when the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

[0349] Specifically, when the time unit of the communication signal and the time unit of the perception signal use the same SCS and CP type, if the length of the second blank time unit is b0, and b0 is not an integer multiple of the time unit, the first communication device and / or the second communication device does not receive or send communication information in the time unit of the perception signal.

[0350] Taking the second communication device as a terminal and the time unit as a symbol as an example, when the communication symbol and the perception symbol use the same SCS and CP type, if the base station (the base station can be the first communication device and / or the network side device accessed by the terminal) configures a leading blank symbol b0, and b0 is not an integer multiple of the OFDM symbol, the terminal does not receive or send communication information on m symbols (perception symbols).

[0351] Optionally, when the time unit of the perception signal and the communication time unit adopt different SCS or CP types, the time unit of the perception signal is not used for sending or receiving communication information.

[0352] Specifically, when the time unit of the communication signal and the time unit of the perception signal use different SCS and CP types, the first communication device and / or the second communication device does not receive or send communication information in the time unit of the perception signal.

[0353] Taking the second communication device as a terminal (in this case the first communication device can be a base station) and the time unit as a symbol as an example, when the communication symbol and the perception symbol use different SCS and CP types, the terminal does not receive or send communication information on m symbols (perception symbols).

[0354] In some optional embodiments, the method further includes:

[0355] Obtaining characteristic parameters or model parameters of the perceived object;

[0356] In a case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

[0357] Specifically, after the first communication device sends the perception signal, the second communication device can serve as a receiving node for the echo signal of the perception signal and receive the perception signal; it is also possible to configure the characteristic parameters or model parameters of the perceived object, such as the shape, size, material composition, and movement status of the perceived object.

[0358] Specifically, the second communication device can first determine whether there is a measurement quantity that conforms to the characteristics / model in the echo signal of the received perception signal. If a measurement quantity that conforms to the characteristics / model is detected, the relevant measurement quantity is reported; otherwise, the measurement result is not reported this time, or it is indicated that no measurement quantity that conforms to the characteristics / model is detected.

[0359] In one embodiment, for a base station, the base station may configure resource information of the perception signal, and the configuration parameters may include: the starting time position s of the perception signal, the number m of time units of the perception signal, and the length b1 of the first blank time unit after the time unit of the perception signal.

[0360] Here, we take the time unit as an example:

[0361] The starting time position s of the perception signal: the starting symbol position at which the first communication device sends the perception signal.

[0362] The number m of time units of the perception signal: the number of symbols of the perception signal sent by the first communication device.

[0363] The length b1 of the first blank time unit after the time unit of the perception signal is: the number of symbols during which the first communication device stops sending any information after sending the perception signal. The blank symbol period is used for the transmit / receive switching of the transmitter and the reception of the echo signal.

[0364] Furthermore, the base station can also configure a pre-placed second blank symbol b0 (i.e., a second blank time unit), and the blank symbol before sending the perception symbol is used for the first communication device to adjust the power or signal bandwidth, or for measuring the signal receiving node to perform transmit / receive switching.

[0365] Furthermore, when b0 is configured, the duration of b0 can be an integer multiple of the OFDM symbol duration (for example, b0 = 1 symbol duration), or it can be a non-integer multiple (for example, b0 = 0.5 symbol duration). Furthermore, b1 can also be a non-integer multiple of the symbol duration (for example, b1 = 1.5 symbol duration). However, it is recommended that b0 + b1 be an integer multiple of the symbol duration.

[0366] In one embodiment, for a terminal, the terminal may receive or send a perception signal according to resource information of the perception signal.

[0367] Specifically, the terminal determines the starting time position s of receiving the perception signal, the number m of the time units of the perception signal, and the length b1 of the first blank time unit after the time unit of the perception signal;

[0368] Case 1 (Terminal receives perception signal): Taking the time unit as a symbol as an example, the terminal determines the following resource information of the perception signal:

[0369] The starting time position s of the perception signal: the starting symbol position of the terminal receiving the perception signal.

[0370] The number of time units m of the perception signal: In m symbols, in addition to receiving the perception signal, the terminal can also receive communication symbol information (such as PDCCH, PDSCH or CSI-RS) according to the scheduling signaling (or high-layer configuration signaling) of the base station;

[0371] The length b1 of the first blank time unit after the time unit of the perception signal: on the first blank symbol b1, the terminal believes that the base station will not send a communication symbol, that is, the terminal does not receive downlink communication information (such as PDCCH, PDSCH or CSI-RS) on this symbol.

[0372] Case 2 (Terminal sends perception signal): Taking the time unit as a symbol as an example, the terminal determines the following resource information of the perception signal:

[0373] Starting time position s of the perception signal: the starting symbol position of the terminal sending the perception signal.

[0374] The number m of time units of the perception signal: On m symbols, in addition to sending the perception signal, the terminal can also determine whether it can send uplink communication information (such as PUCCH, PUSCH, SRS or PRACH) based on the difference between TA_s (first TA) and TA_c (second TA) (the absolute value of the difference is less than a preset threshold).

[0375] The length b1 of the first blank time unit after the time unit of the perception signal: on the first blank symbol b1, the terminal does not send any information (such as PUCCH, PUSCH, SRS or PRACH) on this symbol.

[0376] Optionally, to save resource information configuration overhead, only one of m and b1 can be configured, and the other can be calculated based on the configuration item:

[0377] (1) If m is configured and m>1, the terminal assumes that b1 = 0. That is, b1 does not need to be configured and is calculated based on m.

[0378] (2) If b1 is configured and b1>0, m=1. That is, m does not need to be configured and is calculated based on b1.

[0379] Optionally, if the base station configures a pre-placed second blank symbol b0 (i.e., a second blank time unit), the terminal does not send any information on the b0 symbol according to the indicated b0, and the sending node of the perceived signal performs power adjustment or signal bandwidth adjustment.

[0380] Optionally, when the communication symbol and the perception symbol use the same SCS and CP type, if the base station configures a pre-placed second blank symbol b0, and b0 is not an integer multiple of the OFDM symbol, the terminal does not receive or send communication information on m symbols.

[0381] Optionally, when the communication symbol and the perception symbol use different SCS or CP types, the terminal does not receive or send communication information on m symbols.

[0382] Optionally, the sensing node receiving the sensing signal may also be configured with characteristic parameters or model parameters of the sensed object (for example, the shape, size, material composition, and movement state of the sensed object). The sensing node first determines whether there are any measurements that match the characteristics or models in the received sensing signal. If a measurement that matches the characteristics or models is detected, the sensing node reports the relevant measurement. Otherwise, the measurement result is not reported, or an indication is given that no measurement that matches the characteristics or models was detected.

[0383] In each embodiment of the present disclosure, for the dual-base mode of base station + terminal, or the mixed mode, the downlink symbol refers to the symbol of the perception signal sent by the base station (received by the terminal); the uplink symbol refers to the symbol of the perception signal sent by the terminal (received by the base station); accordingly, the positions of the downlink symbol and the uplink symbol comply with the uplink / downlink time slot information indicated by the base station.

[0384] In each embodiment of the present disclosure, FIG9 is a schematic diagram of a dual-base mode of base station A + base station B provided in an embodiment of the present disclosure, and FIG10 is a schematic diagram of a dual-base mode of base station A + base station B provided in an embodiment of the present disclosure. As shown in FIG9 and FIG10, the dual-base mode or hybrid mode of base station A + base station B includes the following methods:

[0385] Method 1: Indicate that one base station role is a base station and the other base station role is a terminal.

[0386] For example, it can be instructed by a perception server or determined through negotiation between two base stations;

[0387] For the perception resource allocation of a certain perception service, one base station is indicated as the first base station (such as the main base station) and the other base station is indicated as the second base station (such as the secondary base station), wherein the role of the first base station is the base station and the role of the second base station is the terminal.

[0388] The downlink symbol refers to the symbol of the perception signal sent by the base station (the first base station) (received by the second base station).

[0389] The uplink symbol refers to the symbol of the perception signal sent by the second base station (received by the first base station).

[0390] Correspondingly, the position of the downlink / uplink symbols complies with the uplink / downlink time slot information indicated by the first base station.

[0391] Method 2: The sending end is the base station and the receiving end is the terminal.

[0392] The downlink symbol refers to the symbol of the sensing signal sent by base station A or base station B (received by base station B or base station A).

[0393] Correspondingly, when base station A acts as the transmitting end, the position of the downlink / uplink symbols complies with the uplink / downlink time slot information indicated by base station A.

[0394] Correspondingly, when base station B acts as the transmitting end, the position of the downlink / uplink symbols complies with the uplink / downlink time slot information indicated by base station B.

[0395] Method 3: The base station that sends the perception signal is the terminal, and the receiving end is the base station.

[0396] The uplink symbol refers to the symbol of the sensing signal sent by base station A or base station B (received by base station B or base station A).

[0397] Correspondingly, when base station A acts as the transmitter, the position of the downlink / uplink symbols follows the uplink / downlink time slot information indicated by base station B.

[0398] Correspondingly, when base station B acts as the transmitting end, the position of the downlink / uplink symbols follows the uplink / downlink time slot information indicated by base station A.

[0399] Method 4: Indicate the uplink / downlink time slots of synaesthesia separately, and send the perception signal in the downlink.

[0400] Separate configuration information for the perception signal indicates uplink / link time slot information (negotiated between base stations or indicated by the perception server).

[0401] When base station A acts as a transmitter, it sends a perception signal in a downlink symbol, and the position of the downlink / uplink symbols complies with the uplink / downlink time slot information for synaesthesia.

[0402] When base station B acts as a transmitter, it sends a sensing signal in a downlink symbol, and the position of the downlink / uplink symbols complies with the uplink / downlink time slot information for synaesthesia.

[0403] It should be noted that, for mode 4, it is also possible to limit the sending of the perception signal only to the uplink symbols.

[0404] In one embodiment, taking a hybrid mode of dual-station and single-station sensing as an example, a sensing signal is transmitted in a downlink symbol (the base station is a first communication device, and the terminal is a second communication device). FIG11 is a schematic diagram of a hybrid mode of dual-station and single-station sensing provided by an embodiment of the present disclosure. As shown in FIG11 , the base station transmits a sensing signal in downlink symbol #1 and receives an echo signal (reflected by the sensed object) in symbols #2 and #3. The sensing terminal receives the sensing signal in symbol #1. No downlink symbols are received in symbols #2 and #3.

[0405] For a base station, the base station can configure resource information of the perception signal. The configuration parameters may include: the starting time position s of the perception signal, the number m of the time units of the perception signal, and the length b1 of the first blank time unit after the time unit of the perception signal.

[0406] Here, we take the time unit as an example:

[0407] The starting time position s of the perception signal: the starting symbol position of the first communication device sending the perception signal. Here, s=1, indicating the second symbol starting from a time slot. It should be noted that the first symbol is s=0.

[0408] The number m of time units of the sensing signal is the number of symbols of the sensing signal sent by the first communication device, where m = 1. Typically, for a single-base mode, m is 1. For a dual-base mode, m can be 1, 2, or 4.

[0409] The length b1 of the first blank time unit after the time unit of the perception signal is the number of symbols during which the first communication device stops sending any information after sending the perception signal. This blank time unit is used for the transmitter to switch between transmission and reception and receive the echo signal. Here, b1 = 2.

[0410] Optionally, the value of b1 is related to the farthest sensing distance L and the subcarrier spacing width.

[0411] Optionally, the resource information of the perception signal may be configured to the base station by the perception service.

[0412] Optionally, the resource information of the sensing signal may be determined based on the farthest sensing distance of the service;

[0413] For example, b1=duration(2*L) / duration(1 symbol), or b1=duration(2*L) / duration(1 symbol)-m.

[0414] Duration() is used to calculate the time length. To ensure that the blank symbol length is greater than or equal to twice the echo delay, the calculated b can be rounded up.

[0415] For the terminal, the terminal can receive the perception signal according to the resource information of the perception signal.

[0416] Specifically, the terminal determines the location where the base station sends the sensing resource according to the configuration information of the sensing resource, and performs signal reception and measurement;

[0417] Specifically, the terminal determines the starting time position s of receiving the perception signal, the number m of the time units of the perception signal, and the length b1 of the first blank time unit after the time unit of the perception signal;

[0418] Here, we take the time unit as an example:

[0419] The starting time position s of the perception signal: the starting symbol position of the terminal receiving the perception signal.

[0420] The number of time units m of the perception signal: In m symbols, in addition to receiving the perception signal, the terminal can also receive communication symbol information (such as PDCCH, PDSCH or CSI-RS) according to the scheduling signaling (or high-layer configuration signaling) of the base station;

[0421] The length b1 of the first blank time unit after the time unit of the perception signal: on the first blank symbol b1, the terminal believes that the base station will not send a communication symbol, that is, the terminal does not receive downlink communication information (such as PDCCH, PDSCH or CSI-RS) on this symbol.

[0422] Optionally, for m symbols, the base station may also instruct the terminal not to receive downlink communication symbol information, so the terminal does not receive downlink communication information (such as PDCCH, PDSCH, CSI-RS) on the symbol.

[0423] Optionally, for periodic perception resource configuration (or repeated transmission configuration), if any of the above m symbols is not on the downlink symbol, for example, on the uplink symbol, the terminal believes that the base station will not send the perception signal in m symbols, that is, the terminal believes that the corresponding perception resource configuration is invalid (including: m symbols and b1 symbols).

[0424] Optionally, for periodic perception resource configuration (or repeated transmission configuration), if the above m symbols are all downlink symbols, but at least one of the b1 symbols is not a downlink symbol, then the protocol specifies that the corresponding perception resource configuration of the terminal is valid (including: m symbols and b1 symbols) or invalid; or the base station indicates whether it is valid or invalid.

[0425] In one embodiment, taking a hybrid mode of dual-station and single-station sensing as an example, a sensing signal is transmitted in uplink symbols (the terminal is a first communication device, and the base station is a second communication device). FIG12 is a second schematic diagram of a hybrid mode of dual-station and single-station sensing provided by an embodiment of the present disclosure. As shown in FIG12 , the terminal transmits a sensing signal on uplink symbol #1 and receives an echo signal (reflected by the sensed object) on symbols #2 and #3. The sensing base station receives the sensing signal on symbol #1. The terminal does not transmit uplink symbols on symbols #2 and #3.

[0426] For a base station, the base station can configure resource information of the perception signal. The configuration parameters may include: the starting time position s of the perception signal, the number m of the time units of the perception signal, and the length b1 of the first blank time unit after the time unit of the perception signal.

[0427] FIG15 is a schematic diagram of a resource of a sensing signal provided by an embodiment of the present disclosure. As shown in FIG15 , taking a time unit as a symbol as an example:

[0428] The starting time position s of the perception signal is the starting symbol position of the first communication device sending the perception signal, and the base station starts receiving the perception signal at the starting symbol position. Here, s=1 represents the second symbol starting from a time slot. It should be noted that the first symbol is s=0.

[0429] The number m of time units of the sensing signal is the number of symbols of the sensing signal sent by the first communication device, where m = 1. Typically, for a single-base mode, m is 1. For a dual-base mode, m can be 1, 2, or 4.

[0430] The length b1 of the first blank time unit after the time unit of the perception signal is the number of symbols during which the terminal stops sending any information after the first communication device sends the perception signal. This blank time unit is used for the transmitting end to switch between transmission and reception and receive the echo signal. Here, b1 = 2.

[0431] Optionally, the value of b1 is related to the farthest sensing distance L and the subcarrier spacing width.

[0432] Optionally, the resource information of the perception signal may be configured to the base station by the perception service.

[0433] Optionally, the resource information of the sensing signal may be determined based on the farthest sensing distance of the service;

[0434] For example, b1=duration(2*L) / duration(1 symbol), or b1=duration(2*L) / duration(1 symbol)-m.

[0435] Duration() is used to calculate the time length. To ensure that the blank symbol length is greater than or equal to twice the echo delay, the calculated b can be rounded up.

[0436] For the terminal, the terminal can send the perception signal according to the resource information of the perception signal (the terminal is the first communication device).

[0437] Specifically, the terminal determines the location where the base station sends the sensing resource according to the configuration information of the sensing resource, and performs signal reception and measurement;

[0438] Specifically, the terminal determines the starting time position s of receiving the perception signal, the number m of the time units of the perception signal, and the length b1 of the first blank time unit after the time unit of the perception signal;

[0439] Here, we take the time unit as an example:

[0440] Starting time position s of the perception signal: the starting symbol position of the terminal sending the perception signal.

[0441] The number of time units m of the perception signal: In addition to sending the perception signal, the terminal may also send communication symbol information (such as PUCCH, PUSCH, SRS, PRACH) based on the scheduling signaling (or higher-layer configuration signaling) of the base station over m symbols.

[0442] The length b1 of the first blank time unit after the time unit of the perception signal: on the first blank symbol b1, the terminal does not send a communication symbol, that is, the terminal does not receive or send communication information (such as PUCCH, PUSCH, SRS or PRACH) on this symbol.

[0443] In the embodiment of the present disclosure, the base station indicates the time advance (TA_s) (i.e., the first TA) for sending the synaesthesia signal, and the terminal sends the perception signal according to TA_s;

[0444] The time advance (TA_s) for the terminal to send the synaesthesia signal, i.e., the first TA, can be indicated to the terminal by the base station in the following manner:

[0445] (1) The base station indicates separately (through high-layer signaling, MAC-CE or physical layer signaling),

[0446] (2) The indication of “the timing advance TA used for sending communication information” is applied to TA_s.

[0447] (3) Based on the "timing advance TA for sending communication information", the base station indicates an offset.

[0448] The time advance (TA_s) at which the terminal sends the synaesthesia signal relative to the following time point T0 may be:

[0449] (1) The absolute time indicated by the base station, and the terminal can use this time to determine the time point T0_TX at which the corresponding perception symbol is sent.

[0450] (2) The terminal determines the downlink subframe timing or symbol timing T0_RX received by the terminal according to the downlink synchronization signal.

[0451] Figure 13 is a schematic diagram illustrating the relative position of the lead time for a UE to transmit a perception signal, according to an embodiment of the present disclosure. As shown in Figure 13 , T0_Tx is the subframe / symbol timing information of a base station learned by the terminal. The relevant subframe timing information or symbol information represents the timing information of the base station during actual transmission or when it expects to receive a signal. When the UE transmits the perception signal, TA_s is the lead time relative to T0_Tx.

[0452] In the embodiments of the present disclosure, the UE may use at least one of the following methods to determine whether communication information can be sent simultaneously with the sending of the perception signal:

[0453] (1) When the difference between TA_s and TA_c / 2 is less than a certain threshold (or the same), the perception signal and communication information can be sent simultaneously. (Note: In this case, the row positions of the advance amount of the perception signal and the communication information are different < the perception signal is relative to T0_Tx, and the communication information is relative to T0_Rx)

[0454] (2) When the difference between TA_s and TA_c is less than a certain threshold (or the same), the perception signal and communication information can be sent simultaneously. (Note: In this case, the row pair positions of the advance amount of the perception signal and the communication information are the same < both are T0_Tx or T0_Rx)

[0455] It should be noted that: when the difference between TA_s and TA_c (or the difference between TA_s and TA_c / 2) is less than a certain threshold, it means that the base stations receiving the perception signal and communication information are all service base stations; when the difference is greater than a certain threshold, it means that the base stations receiving the perception signal also include non-service base stations, and therefore cannot be sent together with the communication information.

[0456] In an embodiment of the present disclosure, the base station may further instruct the terminal to continue sending communication signals or stop sending communication signals when sending the perception signal, or specify through a protocol that the terminal continues sending communication signals or stops sending communication signals when sending the perception signal.

[0457] In one embodiment, taking a base station + base station dual-base hybrid mode sensing scenario as an example, a sensing signal is sent in a downlink symbol (base station 1 is the first communication device, and base station 2 is the second communication device). FIG14 is a third schematic diagram of a hybrid mode of dual-base and single-base sensing provided by an embodiment of the present disclosure. As shown in FIG14 , base station 1 sends a sensing signal in downlink symbol #1 and receives an echo signal (reflected by the sensed object) in symbols #2 / #3. Base station 2 receives the sensing signal in receiver symbol #1.

[0458] For base station 1, base station 1 can configure resource information of the perception signal to base station 2. The configuration parameters may include: the starting time position s of the perception signal and the number m of time units of the perception signal.

[0459] Here, we take the time unit as an example:

[0460] The starting time position s of the sensing signal is the starting symbol position of the sensing signal sent by base station 1. Here, s=1, indicating the second symbol starting from a time slot. It should be noted that the first symbol is s=0.

[0461] The number m of time units of the sensing signal is the number of symbols sent by base station 1, where m = 1. Typically, for single-base mode, m is 1. For dual-base mode, m can be 1, 2, or 4.

[0462] For base station 2, it is not necessary to configure the length b1 of the first blank time unit after the time unit for sensing the signal, or the configuration of the subsequent first blank time unit b1 may be ignored.

[0463] In addition to receiving the resource information of the sensing signal, base station 2 can also receive the following information:

[0464] (1) Symbol properties of the sensing signal: indicates the symbol properties of the sensing signal sent by base station 1, such as uplink symbol, downlink symbol, or downlink and uplink symbols.

[0465] (2) Time slot ratio of base station 1: indicates the uplink and downlink time slot ratio information of base station 1. It is used to determine the position of the sensing symbol.

[0466] (3) Base station 1 sends the carrier information and subframe timing information used by the sensing signal.

[0467] Optionally, the configuration information received by base station 2 may be configured by the perception server, or may be transmitted by base station 1 to base station 2.

[0468] For base station 2, base station 2 receives the sensing signal according to the configuration information of the sensing resource.

[0469] Base station 2 determines the resource location of base station 1 for sending the perception signal according to the resource information of the perception signal, and performs signal reception and measurement.

[0470] Specifically, the base station 2 may determine a starting time position s for receiving the perception signal and the number m of time units of the perception signal.

[0471] Optionally, base station 2 may determine the valid position of the perception information sent by base station 1 according to the “symbol property of the perception signal” indication information:

[0472] Optionally, if the indication information is "downlink", base station 2 may consider that the perception signal is transmitted on the downlink symbol, that is, base station 2 receives the perception signal on the downlink symbol and considers that the perception signal on the uplink symbol is invalid.

[0473] Optionally, if the indication information is "uplink", base station 2 may consider that the perception signal is transmitted on uplink symbols, that is, base station 2 receives the perception signal on uplink symbols and considers that the perception signal on downlink symbols is invalid.

[0474] Optionally, if the indication information is "uplink and downlink", the base station 2 considers that the perception signal is transmitted in both uplink and downlink symbols.

[0475] For mixed sensing modes (e.g., base station-UE dual-base and base station single-base), the disclosed embodiments provide a method for sensing signal formats (including trailing blank symbols and / or leading blank symbols), ensuring effective sensing services in mixed modes. Furthermore, methods for determining the symbol attributes of sensing signal transmission in mixed base station-base station / base station single-base modes are provided, which utilize flexible time slots for base station-base station dual-base mode.

[0476] The terminal device involved in the embodiments of the present disclosure may be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connection function, or other processing device connected to a wireless modem. In different systems, the name of the terminal device may also be different. For example, in a 5G system, the terminal device may be called User Equipment (UE). A wireless terminal device can communicate with one or more core networks (CN) via a radio access network (RAN). The wireless terminal device may be a mobile terminal device, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal device. For example, it may be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device that exchanges voice and / or data with a radio access network. For example, Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (PDAs), and other devices. The wireless terminal device may also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, an access point, a remote terminal device, an access terminal device, a user terminal device, a user agent, or a user device, but is not limited in the embodiments of the present disclosure.

[0477] The network device involved in the embodiments of the present disclosure may be a base station, which may include multiple cells providing services to terminals. Depending on the specific application scenario, the base station may also be called an access point, or may be a device in an access network that communicates with a wireless terminal device through one or more sectors on an air interface, or may be called another name. The network device may be used to interchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, wherein the rest of the access network may include an Internet Protocol (IP) communication network. The network device may also coordinate the attribute management of the air interface. For example, the network device involved in the embodiments of the present disclosure may be a base transceiver station (BTS) in the Global System for Mobile communications (GSM) or code division multiple access (CDMA), a network device (NodeB) in wide-band code division multiple access (WCDMA), an evolutionary Node B (eNB or e-NodeB) in the long term evolution (LTE) system, a 5G base station (gNB) in the 5G network architecture (next generation system), a home evolved Node B (HeNB), a relay node, a femto, a pico, etc., and is not limited in the embodiments of the present disclosure. In some network structures, the network device may include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit may also be geographically separated.

[0478] FIG16 is a schematic structural diagram of a first communication device provided in an embodiment of the present disclosure. As shown in FIG16 , the first communication device includes a memory 1620, a transceiver 1600, and a processor 1610, wherein:

[0479] The memory 1620 is used to store computer programs; the transceiver 1600 is used to send and receive data under the control of the processor 1610; the processor 1610 is used to read the computer program in the memory 1620 and perform the following operations:

[0480] determining resource information of a perception signal, the resource information including at least one of the following: a starting time position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; wherein the first blank time unit is used for at least one of the following: switching from a transmission mode to a reception mode, and receiving an echo signal of the perception signal;

[0481] The perception signal is sent based on the resource information.

[0482] Specifically, the transceiver 1600 is configured to receive and send data under the control of the processor 1610 .

[0483] In FIG16 , the bus architecture may include any number of interconnected buses and bridges, specifically various circuits linked together by one or more processors represented by processor 1610 and memory represented by memory 1620. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1600 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium, such as a wireless channel, a wired channel, an optical cable, or the like. The processor 1610 is responsible for managing the bus architecture and general processing, and the memory 1620 may store data used by the processor 1610 when performing operations.

[0484] The processor 1610 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor may also adopt a multi-core architecture.

[0485] Optionally, the processor 1610 is further configured to:

[0486] An echo signal of the perception signal is received during the first blank time unit.

[0487] Optionally, the processor 1610 is further configured to: obtain a first sending timing advance TA of the perception signal, and / or,

[0488] The length of a second blank time unit before the time unit of the perception signal is obtained.

[0489] Optionally, when the first communication device includes a terminal, the processor 1610 is specifically configured to:

[0490] receiving TA information sent by a network-side device, and determining a first TA of the perception signal based on the TA information;

[0491] The TA information includes one or more of the following:

[0492] the first TA; or,

[0493] A second TA for sending messages or data; or

[0494] A timing advance offset is an offset of the first TA relative to the second TA.

[0495] Optionally, when the first communication device includes a terminal, the processor 1610 is specifically configured to:

[0496] Receive resource configuration information of the perception signal sent by the network side device;

[0497] Based on the resource configuration information, resource information of the perception signal is determined.

[0498] Optionally, the processor 1610 is specifically configured to:

[0499] When it is determined based on the resource configuration information that the number of the time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

[0500] Optionally, the processor 1610 is specifically configured to:

[0501] If it is determined based on the resource configuration information that the length of the first blank time unit is greater than 0, the number of time units of the perception signal is determined to be 1.

[0502] Optionally, when the first communication device includes a terminal, the processor 1610 is further configured to:

[0503] Determine whether to send a message or data in the time unit of the sensing signal.

[0504] Optionally, the processor 1610 is specifically configured to:

[0505] Based on the first TA and the second TA, it is determined whether to send the message or data in the time unit of the sensing signal.

[0506] Optionally, the processor 1610 is specifically configured to perform one or more of the following:

[0507] When the absolute value of the difference between the first TA and the second TA is less than or equal to a preset threshold, determining to send the message or data in the time unit of the sensing signal; or

[0508] When an absolute value of a difference between the first TA and the first value is less than or equal to a preset threshold, determining to send the message or data in a time unit of the perception signal; wherein the first value is calculated based on the second TA.

[0509] Optionally, when the first communication device includes a first network-side device, and the receiving node of the perception signal includes the first network-side device or the second network-side device, the processor 1610 is further configured to:

[0510] Before sending the perception signal, it is determined whether the time unit of the perception signal belongs to an uplink time unit or a downlink time unit.

[0511] Optionally, the processor 1610 is specifically configured to:

[0512] Determining, based on protocol predefinition, that the time unit of the sensing signal belongs to a downlink time unit; or,

[0513] Based on the attribute indication information, it is determined that the time unit of the perception signal belongs to an uplink time unit and / or a downlink time unit.

[0514] Optionally, the length of the second blank time unit is an integer multiple of the length of a time unit;

[0515] and / or,

[0516] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of the length of a time unit.

[0517] Optionally, when the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

[0518] Optionally, when the first communication device includes a terminal, the processor 1610 is further configured to:

[0519] A message or data is sent in the time unit of the sensing signal.

[0520] Optionally, the processor 1610 is further configured to:

[0521] Obtaining characteristic parameters or model parameters of the perceived object;

[0522] In a case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

[0523] It should be noted here that the above-mentioned first communication device provided in the embodiment of the present disclosure can implement all the method steps implemented by the method embodiment in which the execution subject is the first communication device, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0524] FIG17 is a schematic structural diagram of a second communication device provided in an embodiment of the present disclosure. As shown in FIG17 , the second communication device includes a memory 1720, a transceiver 1700, and a processor 1710, wherein:

[0525] The memory 1720 is used to store computer programs; the transceiver 1700 is used to send and receive data under the control of the processor 1710; the processor 1710 is used to read the computer program in the memory 1720 and perform the following operations:

[0526] Determining resource information of the perception signal, the resource information including at least one of the following: a starting time position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal;

[0527] Based on the resource information, the perception signal is received.

[0528] Specifically, the transceiver 1700 is configured to receive and send data under the control of the processor 1710 .

[0529] In FIG17 , the bus architecture may include any number of interconnected buses and bridges, specifically various circuits linked together by one or more processors represented by processor 1710 and memory represented by memory 1720. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface. The transceiver 1700 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium, such as a wireless channel, a wired channel, an optical cable, or the like. The processor 1710 is responsible for managing the bus architecture and general processing, and the memory 1720 may store data used by the processor 1710 when performing operations.

[0530] The processor 1710 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor may also adopt a multi-core architecture.

[0531] Optionally, the processor 1710 is further configured to:

[0532] The length of a second blank time unit before the time unit of the perception signal is obtained.

[0533] Optionally, when the second communication device includes a terminal, the processor 1710 is further configured to:

[0534] Messages or data are received at the time unit of the sensing signal.

[0535] Optionally, the processor 1710 is specifically configured to:

[0536] Receive resource configuration information of the perception signal sent by the network side device;

[0537] Based on the resource configuration information, resource information of the perception signal is determined.

[0538] Optionally, the processor 1710 is specifically configured to:

[0539] When it is determined based on the resource configuration information that the number of the time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

[0540] Optionally, the processor 1710 is specifically configured to:

[0541] If it is determined based on the resource configuration information that the length of the first blank time unit is greater than 0, the number of time units of the perception signal is determined to be 1.

[0542] Optionally, the length of the second blank time unit is an integer multiple of the length of a time unit;

[0543] and / or,

[0544] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of the length of a time unit.

[0545] Optionally, when the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

[0546] Optionally, the processor 1710 is further configured to:

[0547] Obtaining characteristic parameters or model parameters of the perceived object;

[0548] In a case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

[0549] It should be noted here that the above-mentioned second communication device provided in the embodiment of the present disclosure can implement all the method steps implemented by the method embodiment in which the execution subject is the second communication device, and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as the method embodiment will not be described in detail here.

[0550] FIG18 is a schematic diagram of a structure of a device for transmitting a perception signal according to an embodiment of the present disclosure. As shown in FIG18 , the device for transmitting a perception signal 1800 is applied to a first communication device and includes:

[0551] A first determining module 1810 is configured to determine resource information of a perception signal, where the resource information includes at least one of the following: a starting time position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; wherein the first blank time unit is used for at least one of the following: switching from a transmission mode to a reception mode, and receiving an echo signal of the perception signal;

[0552] The first sending module 1820 is configured to send the perception signal based on the resource information.

[0553] It should be noted here that the perception signal transmission device provided in the embodiment of the present disclosure can implement all the method steps implemented in the above-mentioned perception signal transmission method embodiment, and can achieve the same technical effects. The parts and beneficial effects of this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0554] Optionally, the device further comprises:

[0555] The second receiving module is configured to receive an echo signal of the sensing signal in the first blank time unit.

[0556] Optionally, the apparatus further includes a first acquisition module, configured to perform one or more of the following:

[0557] obtaining a first sending timing advance TA of the perception signal, and / or,

[0558] The length of a second blank time unit before the time unit of the perception signal is obtained.

[0559] Optionally, when the first communication device includes a terminal, the first acquiring module is configured to:

[0560] receiving TA information sent by a network-side device, and determining a first TA of the perception signal based on the TA information;

[0561] The TA information includes one or more of the following:

[0562] the first TA; or,

[0563] A second TA for sending messages or data; or

[0564] A timing advance offset is an offset of the first TA relative to the second TA.

[0565] Optionally, when the first communication device includes a terminal, the first determining module 1810 is configured to:

[0566] Receive resource configuration information of the perception signal sent by the network side device;

[0567] Based on the resource configuration information, resource information of the perception signal is determined.

[0568] Optionally, the first determining module 1810 is configured to:

[0569] When it is determined based on the resource configuration information that the number of the time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

[0570] Optionally, the first determining module 1810 is configured to:

[0571] If it is determined based on the resource configuration information that the length of the first blank time unit is greater than 0, the number of time units of the perception signal is determined to be 1.

[0572] Optionally, the device further comprises:

[0573] The first judgment module is configured to judge whether to send a message or data in a time unit of the perception signal when the first communication device includes a terminal.

[0574] Optionally, the first judgment module is used to:

[0575] Based on the first TA and the second TA, it is determined whether to send the message or data in the time unit of the sensing signal.

[0576] Optionally, the first judgment module is used for one or more of the following:

[0577] When the absolute value of the difference between the first TA and the second TA is less than or equal to a preset threshold, determining to send the message or data in the time unit of the sensing signal; or

[0578] When an absolute value of a difference between the first TA and the first value is less than or equal to a preset threshold, determining to send the message or data in a time unit of the sensing signal; wherein the first value is calculated based on the second TA.

[0579] Optionally, the device further comprises:

[0580] The third determination module is used to determine, before sending the perception signal, whether the time unit of the perception signal belongs to an uplink time unit or a downlink time unit when the first communication device includes a first network side device and the receiving node of the perception signal includes the first network side device or the second network side device.

[0581] Optionally, the third determining module is configured to:

[0582] Determining, based on protocol predefinition, that the time unit of the sensing signal belongs to a downlink time unit; or,

[0583] Based on the attribute indication information, it is determined that the time unit of the perception signal belongs to an uplink time unit and / or a downlink time unit.

[0584] Optionally, the length of the second blank time unit is an integer multiple of the length of a time unit;

[0585] and / or,

[0586] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of the length of a time unit.

[0587] Optionally, when the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

[0588] Optionally, the device further comprises:

[0589] The second sending module is configured to send a message or data in a time unit of the perception signal when the first communication device includes a terminal.

[0590] Optionally, the device further comprises:

[0591] The second acquisition module is used to obtain characteristic parameters or model parameters of the perceived object;

[0592] The third sending module is configured to send the measurement value when the measurement value included in the received perception signal matches the characteristic parameter or model parameter of the perceived object.

[0593] FIG19 is a second structural diagram of a device for transmitting a perception signal according to an embodiment of the present disclosure. As shown in FIG19 , the device for transmitting a perception signal 1900 is applied to a second communication device and includes:

[0594] A second determining module 1910 is configured to determine resource information of the perception signal, where the resource information includes at least one of the following: a starting time position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal;

[0595] The first receiving module 1920 is configured to receive the perception signal based on the resource information.

[0596] It should be noted here that the perception signal transmission device provided in the embodiment of the present disclosure can implement all the method steps implemented in the above-mentioned perception signal transmission method embodiment, and can achieve the same technical effects. The parts and beneficial effects of this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0597] Optionally, the device further comprises:

[0598] The third acquisition module is configured to acquire the length of a second blank time unit before the time unit of the perception signal.

[0599] Optionally, the device further comprises:

[0600] The fourth receiving module is configured to receive no message or data in the first blank time unit or the second blank time unit.

[0601] Optionally, the device further comprises:

[0602] The third receiving module is configured to receive a message or data in a time unit of the perception signal when the second communication device includes a terminal.

[0603] Optionally, the second determining module 1910 is configured to:

[0604] Receive resource configuration information of the perception signal sent by the network side device;

[0605] Based on the resource configuration information, resource information of the perception signal is determined.

[0606] Optionally, the second determining module 1910 is configured to:

[0607] When it is determined based on the resource configuration information that the number of the time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

[0608] Optionally, the second determining module 1910 is configured to:

[0609] If it is determined based on the resource configuration information that the length of the first blank time unit is greater than 0, the number of time units of the perception signal is determined to be 1.

[0610] Optionally, the length of the second blank time unit is an integer multiple of the length of a time unit;

[0611] and / or,

[0612] The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of the length of a time unit.

[0613] Optionally, when the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

[0614] Optionally, the device further comprises:

[0615] A fourth acquisition module is used to obtain characteristic parameters or model parameters of the sensed object;

[0616] The fourth sending module is configured to send the measurement quantity when the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object.

[0617] It should be noted that the division of units in the embodiments of the present disclosure is schematic and is merely a logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of the present disclosure may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0618] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the relevant technology or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) or a processor to perform all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0619] It should be noted here that the above-mentioned device provided by the embodiment of the present invention can implement all the method steps implemented by the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects that are the same as the method embodiment in this embodiment will not be described in detail here.

[0620] On the other hand, an embodiment of the present disclosure further provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the methods provided in the above embodiments.

[0621] The processor-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO)), optical storage (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (such as ROMs, EPROMs, EEPROMs, non-volatile memories (NAND FLASH), solid-state drives (SSDs)), etc.

[0622] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer-usable program code.

[0623] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0624] These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the processor-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0625] These processor-executable instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0626] Obviously, those skilled in the art may make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is intended to include these modifications and variations.

Claims

1. A method for transmitting a perception signal, applied to a first communication device, the method comprising: Determine resource information of the perception signal, the resource information including at least one of the following: a starting time position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; wherein the first blank time unit is used for at least one of the following: switching from a transmission unit to a reception unit, and receiving an echo signal of the perception signal; Based on the resource information, the perception signal is sent.

2. The method for transmitting a perceptual signal according to claim 1, wherein: The method further comprises: An echo signal of the perception signal is received during the first blank time unit.

3. The method for transmitting a perceptual signal according to claim 1 or 2, wherein: The method further comprises: obtaining a first sending timing advance TA of the perception signal, and / or, The length of a second blank time unit before the time unit of the perception signal is obtained.

4. The method for transmitting a perceptual signal according to claim 3, wherein: In a case where the first communication device includes a terminal, the acquiring a first sending timing advance TA of the perception signal includes: receiving TA information sent by a network side device, and determining a first TA of the perception signal based on the TA information; The TA information includes one or more of the following: the first TA; or, A second TA for sending messages or data; or A timing advance offset is an offset of the first TA relative to the second TA.

5. The method for transmitting a perception signal according to any one of claims 1 to 4, wherein: In a case where the first communication device includes a terminal, the determining resource information of the perception signal includes: Receive resource configuration information of the perception signal sent by the network side device; Based on the resource configuration information, resource information of the perception signal is determined.

6. The method for transmitting a perceptual signal according to claim 5, wherein: The determining resource information of the perception signal includes: When it is determined based on the resource configuration information that the number of time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

7. The method for transmitting a perceptual signal according to claim 5, wherein: The determining resource information of the perception signal includes: When it is determined that the length of the first blank time unit is greater than 0 based on the resource configuration information, the number of time units of the perception signal is determined to be 1.

8. The method for transmitting a perceptual signal according to claim 3, wherein: In the case where the first communication device includes a terminal, the method further includes: Determine whether to send a message or data in the time unit of the sensing signal.

9. The method for transmitting a perceptual signal according to claim 8, wherein: The determining whether to send a message or data in the time unit of the sensing signal includes: Based on the first TA and the second TA, it is determined whether to send the message or data in the time unit of the sensing signal.

10. The method for transmitting a perception signal according to claim 9, wherein: The determining, based on the first TA and the second TA, whether to send the message or data in the time unit of the sensing signal includes one or more of the following: When the absolute value of the difference between the first TA and the second TA is less than or equal to a preset threshold, determining to send the message or data in the time unit of the sensing signal; or When an absolute value of a difference between the first TA and the first value is less than or equal to a preset threshold, determining to send the message or data in a time unit of the sensing signal; The first value is calculated based on the second TA.

11. The method for transmitting a perception signal according to any one of claims 1 to 3, wherein: In a case where the first communication device includes a first network side device, and the receiving node of the perception signal includes the first network side device or the second network side device, the method further includes: Before sending the perception signal, it is determined whether the time unit of the perception signal belongs to an uplink time unit or a downlink time unit.

12. The method for transmitting a sensory signal according to claim 11, wherein: The determining that the time unit of the perception signal belongs to an uplink time unit or a downlink time unit includes: Determining, based on protocol pre-definition, that the time unit of the sensing signal belongs to a downlink time unit; or, Based on the attribute indication information, it is determined that the time unit of the perception signal belongs to an uplink time unit and / or a downlink time unit.

13. The method for transmitting a perceptual signal according to claim 3, wherein: The length of the second blank time unit is an integer multiple of the length of a time unit; and / or, The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of a time unit length.

14. The method for transmitting a perceptual signal according to claim 3 or 13, wherein: In the case that the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

15. The method for transmitting a perception signal according to any one of claims 1 to 3, wherein: In the case where the first communication device includes a terminal, the method further includes: A message or data is sent at the time unit of the sensing signal.

16. The method for transmitting a perception signal according to any one of claims 1 to 3, wherein: The method further comprises: Obtain characteristic parameters or model parameters of the perceived object; In the case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

17. A method for transmitting a perception signal, applied to a second communication device, the method comprising: Determine resource information of the perception signal, the resource information comprising at least one of the following: a starting time position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; Based on the resource information, the perception signal is received.

18. The method for transmitting a perception signal according to claim 17, wherein: The method further comprises: The length of a second blank time unit before the time unit of the perception signal is obtained.

19. The method for transmitting a perceptual signal according to claim 17 or 18, wherein: The method further comprises: No message or data is received on the first blank time unit or the second blank time unit.

20. The method for transmitting a perceptual signal according to claim 17 or 18, wherein: In the case where the second communication device includes a terminal, the method further includes: A message or data is received at the time unit of the sensing signal.

21. The method for transmitting a perceptual signal according to claim 17 or 18, wherein: The determining of resource information of the perception signal includes: Receive resource configuration information of the perception signal sent by the network side device; Based on the resource configuration information, resource information of the perception signal is determined.

22. The method for transmitting a sensory signal according to claim 21, wherein: The determining resource information of the perception signal includes: When it is determined based on the resource configuration information that the number of time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

23. The method for transmitting a sensory signal according to claim 21, wherein: The determining resource information of the perception signal includes: When it is determined that the length of the first blank time unit is greater than 0 based on the resource configuration information, the number of time units of the perception signal is determined to be 1.

24. The method for transmitting a sensory signal according to claim 18, wherein: The length of the second blank time unit is an integer multiple of the length of a time unit; and / or, The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of a time unit length.

25. The method for transmitting a sensory signal according to claim 24, wherein: In the case that the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

26. The method for transmitting a sensory signal according to claim 17 or 18, wherein: The method further comprises: Obtain characteristic parameters or model parameters of the perceived object; In the case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

27. A first communication device, comprising a memory, a transceiver, and a processor: A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Determine resource information of the perception signal, the resource information including at least one of the following: the starting time position of the perception signal, the number of time units of the perception signal, and the length of the first blank time unit after the time unit of the perception signal; wherein, The first blank time unit is used for at least one of the following: switching from a signal for sending to a signal for receiving, receiving an echo signal of the sensing signal; Based on the resource information, the perception signal is sent.

28. The first communication device according to claim 27, wherein: The operations also include: An echo signal of the perception signal is received during the first blank time unit.

29. The first communication device according to claim 27 or 28, wherein: The operations also include: obtaining a first sending timing advance TA of the perception signal, and / or, The length of a second blank time unit before the time unit of the perception signal is obtained.

30. The first communication device according to claim 29, wherein: In a case where the first communication device includes a terminal, the acquiring a first sending timing advance TA of the perception signal includes: receiving TA information sent by a network side device, and determining a first TA of the perception signal based on the TA information; The TA information includes one or more of the following: the first TA; or, A second TA for sending messages or data; or A timing advance offset is an offset of the first TA relative to the second TA.

31. The first communication device according to any one of claims 27 to 30, wherein: In a case where the first communication device includes a terminal, the determining resource information of the perception signal includes: Receive resource configuration information of the perception signal sent by the network side device; Based on the resource configuration information, resource information of the perception signal is determined.

32. The first communication device according to claim 31, wherein: The determining resource information of the perception signal includes: When it is determined based on the resource configuration information that the number of time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

33. The first communication device according to claim 31, wherein: The determining resource information of the perception signal includes: When it is determined that the length of the first blank time unit is greater than 0 based on the resource configuration information, the number of time units of the perception signal is determined to be 1.

34. The first communication device according to claim 29, wherein: In the case where the first communication device includes a terminal, the operation further includes: Determine whether to send a message or data in the time unit of the sensing signal.

35. The first communication device according to claim 34, wherein: The determining whether to send a message or data in the time unit of the sensing signal includes: Based on the first TA and the second TA, it is determined whether to send the message or data in the time unit of the sensing signal.

36. The first communication device according to claim 35, wherein: The determining, based on the first TA and the second TA, whether to send the message or data in the time unit of the sensing signal includes one or more of the following: When the absolute value of the difference between the first TA and the second TA is less than or equal to a preset threshold, determining to send the message or data in the time unit of the sensing signal; or When an absolute value of a difference between the first TA and the first value is less than or equal to a preset threshold, determine to send the message or data in a time unit of the perception signal; wherein the first value is calculated based on the second TA.

37. The first communication device according to any one of claims 27 to 29, wherein: In a case where the first communication device includes a first network side device, and the receiving node of the perception signal includes the first network side device or the second network side device, the operation further includes: Before sending the perception signal, it is determined whether the time unit of the perception signal belongs to an uplink time unit or a downlink time unit.

38. The first communication device according to claim 37, wherein: The determining that the time unit of the perception signal belongs to an uplink time unit or a downlink time unit includes: Determining, based on protocol pre-definition, that the time unit of the sensing signal belongs to a downlink time unit; or, Based on the attribute indication information, it is determined that the time unit of the perception signal belongs to an uplink time unit and / or a downlink time unit.

39. The first communication device according to claim 29, wherein: The length of the second blank time unit is an integer multiple of the length of a time unit; and / or, The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of a time unit length.

40. The first communication device according to claim 29 or 39, wherein: In the case that the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

41. The first communication device according to any one of claims 27 to 29, wherein: In the case where the first communication device includes a terminal, the operation further includes: A message or data is sent at the time unit of the sensing signal.

42. The first communication device according to any one of claims 27 to 29, wherein: The operations also include: Obtain characteristic parameters or model parameters of the perceived object; In the case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

43. A second communication device, comprising a memory, a transceiver, and a processor: A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations: Determine resource information of the perception signal, the resource information comprising at least one of the following: a starting time position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; Based on the resource information, the perception signal is received.

44. The second communication device according to claim 43, wherein: The operations also include: The length of a second blank time unit before the time unit of the perception signal is obtained.

45. The second communication device according to claim 43 or 44, wherein: The operations also include: No message or data is received on the first blank time unit or the second blank time unit.

46. ​​The second communication device according to claim 43 or 44, wherein: In the case where the second communication device includes a terminal, the operation further includes: A message or data is received at the time unit of the sensing signal.

47. The second communication device according to claim 43 or 44, wherein: The determining of resource information of the perception signal includes: Receive resource configuration information of the perception signal sent by the network side device; Based on the resource configuration information, resource information of the perception signal is determined.

48. The second communication device according to claim 47, wherein: The determining resource information of the perception signal includes: When it is determined based on the resource configuration information that the number of time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

49. The second communication device according to claim 47, wherein: The determining resource information of the perception signal includes: When it is determined that the length of the first blank time unit is greater than 0 based on the resource configuration information, the number of time units of the perception signal is determined to be 1.

50. The second communication device according to claim 44, wherein: The length of the second blank time unit is an integer multiple of the length of a time unit; and / or, The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of a time unit length.

51. The second communication device according to claim 50, wherein: In the case that the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

52. The second communication device according to claim 43 or 44, wherein: The operations also include: Obtain characteristic parameters or model parameters of the perceived object; In the case where the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object, the measurement quantity is sent.

53. A transmission device for a perception signal, applied to a first communication device, comprising: A first determining module is configured to determine resource information of a perception signal, wherein the resource information includes at least one of the following: a starting time position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; wherein the first blank time unit is used for at least one of the following: switching from a transmission unit to a reception unit, and receiving an echo signal of the perception signal; The first sending module is used to send the perception signal based on the resource information.

54. The apparatus for transmitting a sensory signal according to claim 53, wherein: The device also includes: The second receiving module is used to receive the echo signal of the perception signal in the first blank time unit.

55. The sensory signal transmission device according to claim 53 or 54, wherein: The apparatus further includes a first acquisition module, configured to: obtaining a first sending timing advance TA of the perception signal, and / or, The length of a second blank time unit before the time unit of the perception signal is obtained.

56. The apparatus for transmitting a sensory signal according to claim 55, wherein: In a case where the first communication device includes a terminal, the acquiring a first sending timing advance TA of the perception signal includes: receiving TA information sent by a network side device, and determining a first TA of the perception signal based on the TA information; The TA information includes one or more of the following: the first TA; or, A second TA for sending messages or data; or A timing advance offset is an offset of the first TA relative to the second TA.

57. The device for transmitting a sensory signal according to any one of claims 53 to 56, wherein: In the case where the first communication device includes a terminal, the first determining module is used to: Receive resource configuration information of the perception signal sent by the network side device; Based on the resource configuration information, resource information of the perception signal is determined.

58. The apparatus for transmitting a sensory signal according to claim 57, wherein: The first determining module is used for: When it is determined based on the resource configuration information that the number of time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

59. The apparatus for transmitting a sensory signal according to claim 57, wherein: The first determining module is used for: When it is determined that the length of the first blank time unit is greater than 0 based on the resource configuration information, the number of time units of the perception signal is determined to be 1.

60. The apparatus for transmitting a sensory signal according to claim 55, wherein: The device also includes: The first judgment module is used to judge whether to send a message or data in the time unit of the perception signal when the first communication device includes a terminal.

61. The apparatus for transmitting a sensory signal according to claim 60, wherein: The first determination module is used for: Based on the first TA and the second TA, it is determined whether to send the message or data in the time unit of the sensing signal.

62. The apparatus for transmitting a sensory signal according to claim 61, wherein: The first determination module is used for one or more of the following: When the absolute value of the difference between the first TA and the second TA is less than or equal to a preset threshold, determining to send the message or data in the time unit of the sensing signal; or When an absolute value of a difference between the first TA and the first value is less than or equal to a preset threshold, determine to send the message or data in a time unit of the perception signal; wherein the first value is calculated based on the second TA.

63. The device for transmitting a sensory signal according to any one of claims 53 to 55, wherein: The device also includes: The third determination module is used to determine whether the time unit of the perception signal belongs to an uplink time unit or a downlink time unit before sending the perception signal when the first communication device includes a first network side device and the receiving node of the perception signal includes the first network side device or the second network side device.

64. The apparatus for transmitting a sensory signal according to claim 63, wherein: The third determination module is used for: Determining, based on protocol pre-definition, that the time unit of the sensing signal belongs to a downlink time unit; or, Based on the attribute indication information, it is determined that the time unit of the perception signal belongs to an uplink time unit and / or a downlink time unit.

65. The apparatus for transmitting a sensory signal according to claim 55, wherein: The length of the second blank time unit is an integer multiple of the length of a time unit; and / or, The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of a time unit length.

66. The transmission device of the sensory signal according to claim 55 or 65, wherein: In the case that the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

67. The apparatus for transmitting a sensory signal according to any one of claims 53 to 55, wherein the apparatus further comprises: The second sending module is used to send a message or data in the time unit of the perception signal when the first communication device includes a terminal.

68. The device for transmitting a sensory signal according to any one of claims 53 to 55, wherein: The device also includes: A second acquisition module is used to acquire characteristic parameters or model parameters of the sensed object; The third sending module is used to send the measurement quantity when the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object.

69. A transmission device for a perception signal, applied to a second communication device, comprising: A second determination module is configured to determine resource information of the perception signal, wherein the resource information includes at least one of the following: a starting time position of the perception signal, a number of time units of the perception signal, and a length of a first blank time unit after the time unit of the perception signal; The first receiving module is used to receive the perception signal based on the resource information.

70. The transmission device of the sensory signal according to claim 69, wherein: The device also includes: The third acquisition module is used to acquire the length of a second blank time unit before the time unit of the perception signal.

71. The apparatus for transmitting a sensory signal according to claim 69 or 70, wherein: The device also includes: The fourth receiving module is used to receive messages or data not in the first blank time unit or the second blank time unit.

72. The transmission device of the sensory signal according to claim 69 or 70, wherein: The device also includes: The third receiving module is used to receive a message or data in the time unit of the perception signal when the second communication device includes a terminal.

73. The apparatus for transmitting a sensory signal according to claim 69 or 70, wherein: The second determining module is used for: Receive resource configuration information of the perception signal sent by the network side device; Based on the resource configuration information, resource information of the perception signal is determined.

74. The transmission device of the sensory signal according to claim 73, wherein: The second determining module is used for: When it is determined based on the resource configuration information that the number of time units of the perception signal is greater than 1, the length of the first blank time unit is determined to be 0.

75. The transmission device of the sensory signal according to claim 73, wherein: The second determining module is used for: When it is determined that the length of the first blank time unit is greater than 0 based on the resource configuration information, the number of time units of the perception signal is determined to be 1.

76. The apparatus for transmitting a sensory signal according to claim 70, wherein: The length of the second blank time unit is an integer multiple of the length of a time unit; and / or, The sum of the length of the second blank time unit and the length of the first blank time unit is an integer multiple of a time unit length.

77. The transmission device of the sensory signal according to claim 76, wherein: In the case that the length of the second blank time unit is not an integer multiple of the length of a time unit, the time unit of the perception signal is not used for sending or receiving messages or data.

78. The apparatus for transmitting a sensory signal according to claim 69 or 70, wherein: The device also includes: A fourth acquisition module is used to acquire characteristic parameters or model parameters of the sensed object; The fourth sending module is used to send the measurement quantity when the measurement quantity included in the received perception signal matches the characteristic parameter or model parameter of the perceived object.

79. A processor-readable storage medium storing a computer program, wherein the computer program is used to cause the processor to execute the method according to any one of claims 1 to 26.

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