Communication sensing method and apparatus, and storage medium

Abstract

The present disclosure relates to the technical field of communications. Provided are a communication sensing method and apparatus, and a storage medium. The method is applied to a first device, and the method comprises: transmitting a first sensing signal on a first time-domain resource by using a first transmission parameter; acquiring a second transmission parameter, wherein the second transmission parameter is related to the first transmission parameter, and / or the second transmission parameter is related to sensing data of a target object, which sensing data is obtained on the basis of the first sensing signal; and transmitting a second sensing signal on a second time-domain resource by using the second transmission parameter, wherein both the first sensing signal and the second sensing signal are used for sensing the target object. By means of the method disclosed in the present disclosure, a second transmission parameter can be adjusted during the sensing of a moving target object, and thus a sensing signal is adjusted.

Description

Communication sensing method, device and storage medium

[0001] This disclosure claims priority to the Chinese patent application filed with the China Patent Office on November 28, 2023, with application number 202311609172.4 and application name “Communication Perception Method, Device and Storage Medium,” the entire contents of which are incorporated by reference into this disclosure. Technical Field

[0002] The present disclosure relates to the field of communication technology, and in particular to a communication perception method, device, and storage medium. Background Art

[0003] Communication and perception convergence refers to the unified design of communication and perception functions through joint design of air interfaces and protocols, reuse of time-frequency-space resources, and sharing of hardware devices. This enables wireless networks to implement perception functions while conducting communication interactions, thereby improving the overall network performance and service capabilities.

[0004] Currently, communication sensing can acquire characteristic information about the environment and / or objects within it by analyzing the transmission, reflection, and scattering of wireless sensing signals, enabling tracking, monitoring, and surveillance of the perceived target. However, if the target object is mobile, current communication sensing systems lack a design that adjusts the transmission parameters of the sensing signal transmitter and receiver to continuously monitor the moving target.

[0005] Therefore, how to adjust the transmission parameters of the sensing signal transceiver under the condition of continuous sensing of moving targets is an urgent problem to be solved.

[0006] Summary of the Invention

[0007] The present disclosure provides a communication perception method, device, and storage medium, which solve the technical problems of low perception performance of communication perception and low accuracy of acquired perception data.

[0008] In a first aspect, an embodiment of the present disclosure provides a communication perception method, which is applied to a first device; the method includes:

[0009] Transmitting a first perception signal using a first transmission parameter on a first time domain resource;

[0010] Acquire a second transmission parameter, where the second transmission parameter is related to the first transmission parameter and / or the second transmission parameter is related to perception data of the target object acquired based on the first perception signal;

[0011] A second perception signal is transmitted using a second transmission parameter on a second time domain resource, and both the first perception signal and the second perception signal are used to perceive the target object.

[0012] Optionally, obtaining a second transmission parameter includes:

[0013] receiving indication information sent by the second device, where the indication information is used to indicate a second transmission parameter or perception data of a target object;

[0014] Acquire the second transmission parameter according to the instruction information.

[0015] Optionally, the first transmission parameter includes: a first sending parameter and / or a first receiving parameter; the second transmission parameter includes: a second sending parameter and / or a second receiving parameter; the indication information includes: first indication information and / or second indication information;

[0016] If the indication information is first indication information, the first device is a perception signal transmitter, the second device is a perception signal receiver, or the second device is a device other than the perception signal transmitter and the perception signal receiver, the first indication information is used to determine the second sending parameter;

[0017] If the indication information is second indication information, the first device is a perception signal receiving end, the second device is a perception signal sending end, or the second device is a device other than the perception signal sending end and the perception signal receiving end, the second indication information is used to determine the second receiving parameter.

[0018] Optionally, receiving indication information sent by the second device includes:

[0019] receiving first indication information sent by the second device on a third time domain resource; the start time of the third time domain resource is equal to or later than the end time of the first time domain resource, the end time of the third time domain resource is earlier than or equal to the start time of the second time domain resource minus T1, and T1 is greater than or equal to 0;

[0020] And / or, receiving the second indication information sent by the second device on the fourth time domain resource; the starting time of the fourth time domain resource is equal to or later than the ending time of the first time domain resource, and the ending time of the fourth time domain resource is earlier than or equal to the starting time of the second time domain resource minus T2, and T2 is greater than or equal to 0.

[0021] Optionally, the method further includes:

[0022] If the first indication information is not received on the third time domain resource, the second sending parameter is the same as the first sending parameter;

[0023] and / or,

[0024] If the second indication information is not received on the fourth time domain resource, the second reception parameter is the same as the first reception parameter.

[0025] Optionally, before receiving the indication information sent by the second device, the method further includes:

[0026] Acquiring perception data of the target object according to the first perception signal;

[0027] The sensing data is sent to the second device.

[0028] Optionally, sending the sensing data to the second device includes:

[0029] When it is determined that the perception data of the target object changes, the perception data is sent to the second device.

[0030] In a second aspect, an embodiment of the present disclosure provides a communication perception method, which is applied to a second device; the method includes:

[0031] Acquiring first perception data of the target object;

[0032] Generate indication information according to the first perception data of the target object, where the indication information is used to indicate a second transmission parameter or the second perception data of the target object, the second transmission parameter is used by the first device to transmit a second perception signal on the second time domain resource, and the second perception signal is used to perceive the target object;

[0033] Send indication information to the first device.

[0034] Optionally, the first transmission parameter includes: a first sending parameter and / or a first receiving parameter; the second transmission parameter includes: a second sending parameter and / or a second receiving parameter; the indication information includes: first indication information and / or second indication information;

[0035] If the indication information is first indication information, the first device is a perception signal transmitter, the second device is a perception signal receiver, or the second device is a device other than the perception signal transmitter and the perception signal receiver, the first indication information is used to determine the second sending parameter;

[0036] If the indication information is second indication information, the first device is a perception signal receiving end, the second device is a perception signal sending end, or the second device is a device other than the perception signal sending end and the perception signal receiving end, the second indication information is used to determine the second receiving parameter.

[0037] Optionally, if the second device is a device other than the perception signal transmitting end and the perception signal receiving end, obtaining the first perception data of the target object includes:

[0038] Receive first perception data of the target object sent by the perception signal receiving end.

[0039] Optionally, sending instruction information to the first device includes:

[0040] When it is determined that the second perception data of the target object or the change in the second perception data of the target object is greater than or equal to the first threshold, or the change in the second transmission parameter is greater than or equal to the second threshold, indication information is sent to the first device.

[0041] Optionally, the first perception data of the target object is obtained based on a first perception signal transmitted using a first transmission parameter on a first time domain resource, where the first perception signal is used to perceive the target object; the first transmission parameter includes: a first sending parameter and / or a first receiving parameter.

[0042] In a third aspect, an embodiment of the present disclosure provides a communication sensing device, which is applied to a first device and includes:

[0043] A first transmission unit, configured to transmit a first perception signal using a first transmission parameter on a first time domain resource;

[0044] an acquiring unit, configured to acquire a second transmission parameter, where the second transmission parameter is related to the first transmission parameter and / or the second transmission parameter is related to perception data of the target object acquired based on the first perception signal;

[0045] The second transmission unit is configured to transmit a second perception signal using a second transmission parameter on a second time domain resource, where both the first perception signal and the second perception signal are used to perceive a target object.

[0046] In a fourth aspect, an embodiment of the present disclosure provides a communication sensing device, which is applied to a second device; comprising:

[0047] an acquiring unit, configured to acquire first perception data of a target object;

[0048] a processing unit, configured to generate indication information based on the first perception data of the target object, where the indication information is used to indicate a second transmission parameter or the second perception data of the target object, the second transmission parameter being used by the first device to transmit a second perception signal on a second time domain resource, where the second perception signal is used to perceive the target object;

[0049] A sending unit, configured to send indication information to the first device.

[0050] In a fifth aspect, an embodiment of the present disclosure provides a communication sensing device, which is applied to a first device and includes a memory, a transceiver, and a processor:

[0051] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of a processor; and a processor for reading the computer program in the memory and performing the following operations:

[0052] Transmitting a first perception signal using a first transmission parameter on a first time domain resource;

[0053] Acquire a second transmission parameter, where the second transmission parameter is related to the first transmission parameter and / or the second transmission parameter is related to perception data of the target object acquired based on the first perception signal;

[0054] A second perception signal is transmitted using a second transmission parameter on a second time domain resource, and both the first perception signal and the second perception signal are used to perceive the target object.

[0055] Optionally, obtaining a second transmission parameter includes:

[0056] receiving indication information sent by the second device, where the indication information is used to indicate a second transmission parameter or perception data of a target object;

[0057] Acquire the second transmission parameter according to the instruction information.

[0058] Optionally, the first transmission parameter includes: a first sending parameter and / or a first receiving parameter; the second transmission parameter includes: a second sending parameter and / or a second receiving parameter; the indication information includes: first indication information and / or second indication information;

[0059] If the indication information is first indication information, the first device is a perception signal transmitter, the second device is a perception signal receiver, or the second device is a device other than the perception signal transmitter and the perception signal receiver, the first indication information is used to determine the second sending parameter;

[0060] If the indication information is second indication information, the first device is a perception signal receiving end, the second device is a perception signal sending end, or the second device is a device other than the perception signal sending end and the perception signal receiving end, the second indication information is used to determine the second receiving parameter.

[0061] Optionally, receiving indication information sent by the second device includes:

[0062] receiving first indication information sent by the second device on a third time domain resource; the start time of the third time domain resource is equal to or later than the end time of the first time domain resource, the end time of the third time domain resource is earlier than or equal to the start time of the second time domain resource minus T1, and T1 is greater than or equal to 0;

[0063] And / or, receiving the second indication information sent by the second device on the fourth time domain resource; the starting time of the fourth time domain resource is equal to or later than the ending time of the first time domain resource, and the ending time of the fourth time domain resource is earlier than or equal to the starting time of the second time domain resource minus T2, and T2 is greater than or equal to 0.

[0064] Optionally, the processor is further configured to perform the following operations:

[0065] If the first indication information is not received on the third time domain resource, the second sending parameter is the same as the first sending parameter;

[0066] and / or,

[0067] If the second indication information is not received on the fourth time domain resource, the second reception parameter is the same as the first reception parameter.

[0068] Optionally, before receiving the indication information sent by the second device, the processor is further configured to perform the following operations:

[0069] Acquiring perception data of the target object according to the first perception signal;

[0070] The sensing data is sent to the second device.

[0071] Optionally, sending the sensing data to the second device includes:

[0072] When it is determined that the perception data of the target object changes, the perception data is sent to the second device.

[0073] In a sixth aspect, an embodiment of the present disclosure provides a communication sensing device, which is applied to a second device and includes a memory, a transceiver, and a processor:

[0074] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of a processor; and a processor for reading the computer program in the memory and performing the following operations:

[0075] Acquiring first perception data of the target object;

[0076] Generate indication information according to the first perception data of the target object, where the indication information is used to indicate a second transmission parameter or the second perception data of the target object, the second transmission parameter is used by the first device to transmit a second perception signal on the second time domain resource, and the second perception signal is used to perceive the target object;

[0077] Send indication information to the first device.

[0078] In the seventh aspect, an embodiment of the present disclosure provides a non-transitory readable storage medium, which stores a computer program, and the computer program is used to enable a processor to execute any method as in the first aspect; or, to execute any method as in the second aspect.

[0079] In an eighth aspect, an embodiment of the present disclosure provides a communication perception method, which is applied to a first device; the method includes:

[0080] Transmitting a first perception signal using a first transmission parameter on a first time domain resource;

[0081] receiving indication information sent by the second device, where the indication information is used to indicate a second transmission parameter or perception data of a target object;

[0082] Acquire a second transmission parameter according to the instruction information;

[0083] A second perception signal is transmitted using a second transmission parameter on a second time domain resource, and both the first perception signal and the second perception signal are used to perceive the target object.

[0084] Optionally, receiving indication information sent by the second device includes:

[0085] receiving first indication information sent by the second device on a third time domain resource; the start time of the third time domain resource is equal to or later than the end time of the first time domain resource, the end time of the third time domain resource is earlier than or equal to the start time of the second time domain resource minus T1, and T1 is greater than or equal to 0;

[0086] And / or, receiving the second indication information sent by the second device on the fourth time domain resource; the starting time of the fourth time domain resource is equal to or later than the ending time of the first time domain resource, and the ending time of the fourth time domain resource is earlier than or equal to the starting time of the second time domain resource minus T2, and T2 is greater than or equal to 0.

[0087] Optionally, the second transmission parameter is the first transmission parameter, or the second transmission parameter is determined based on the first transmission parameter, or the second transmission parameter is determined based on perception data of the target object.

[0088] Optionally, determining the second transmission parameter according to the indication information includes:

[0089] Determine the second transmission parameter according to the indication information and the second time domain resource.

[0090] Optionally, determining the second transmission parameter according to the indication information includes:

[0091] The second transmission parameter is determined according to the indication information and the first transmission parameter.

[0092] Optionally, determining the second transmission parameter according to the indication information includes:

[0093] The second transmission parameter is determined according to the indication information, the second time domain resource, and the first transmission parameter.

[0094] Optionally, the second transmission parameter or the perception data of the target object is acquired based on the first perception signal.

[0095] In a ninth aspect, an embodiment of the present disclosure provides a communication sensing device, which is applied to a first device and includes a memory, a transceiver, and a processor:

[0096] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of a processor; and a processor for reading the computer program in the memory and performing the following operations:

[0097] Transmitting a first perception signal using a first transmission parameter on a first time domain resource;

[0098] receiving indication information sent by the second device, where the indication information is used to indicate a second transmission parameter or perception data of a target object;

[0099] Acquire a second transmission parameter according to the instruction information;

[0100] A second perception signal is transmitted using a second transmission parameter on a second time domain resource, and both the first perception signal and the second perception signal are used to perceive the target object.

[0101] Optionally, the processor is specifically configured as follows:

[0102] receiving first indication information sent by the second device on a third time domain resource; the start time of the third time domain resource is equal to or later than the end time of the first time domain resource, the end time of the third time domain resource is earlier than or equal to the start time of the second time domain resource minus T1, and T1 is greater than or equal to 0;

[0103] And / or, receiving the second indication information sent by the second device on the fourth time domain resource; the starting time of the fourth time domain resource is equal to or later than the ending time of the first time domain resource, and the ending time of the fourth time domain resource is earlier than or equal to the starting time of the second time domain resource minus T2, and T2 is greater than or equal to 0.

[0104] Optionally, the second transmission parameter is the first transmission parameter, or the second transmission parameter is determined based on the first transmission parameter, or the second transmission parameter is determined based on perception data of the target object.

[0105] Optionally, the processor is specifically configured as follows:

[0106] Determine the second transmission parameter according to the indication information and the second time domain resource.

[0107] Optionally, the processor is specifically configured as follows:

[0108] The second transmission parameter is determined according to the indication information and the first transmission parameter.

[0109] Optionally, the processor is specifically configured as follows:

[0110] The second transmission parameter is determined according to the indication information, the second time domain resource, and the first transmission parameter.

[0111] Optionally, the second transmission parameter or the perception data of the target object is acquired based on the first perception signal.

[0112] The present disclosure provides a communication perception method, apparatus, and storage medium. After a first device transmits a first perception signal using a first transmission parameter on a first time domain resource to perceive a target object, a second transmission parameter related to the first transmission parameter and / or related to perception data of the target object obtained based on the first perception signal is obtained. The method adjusts the second transmission parameter used by the first device to transmit a second perception signal on a second time domain resource, thereby adjusting the second transmission parameter and, in turn, adjusting the perception signal when perceiving a moving target object.

[0113] It should be understood that the contents described in the above summary of the invention are not intended to limit the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0114] In order to more clearly illustrate the technical solutions in the present disclosure or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0115] FIG1 is a schematic diagram of a scenario of a communication perception method provided by an embodiment of the present disclosure;

[0116] FIG2 is a flow chart of a communication perception method provided by an embodiment of the present disclosure;

[0117] FIG3 is a flow chart of another communication perception method provided by an embodiment of the present disclosure;

[0118] FIG4 is a flow chart of another communication perception method provided by an embodiment of the present disclosure;

[0119] FIG5 is a flow chart of another communication perception method provided in an embodiment of the present disclosure;

[0120] FIG6 is a flow chart of another communication perception method provided by an embodiment of the present disclosure;

[0121] FIG7 is a flow chart of another communication perception method provided by an embodiment of the present disclosure;

[0122] FIG8 is a schematic structural diagram of a communication sensing device provided in an embodiment of the present disclosure;

[0123] FIG9 is a schematic structural diagram of another communication sensing device provided in an embodiment of the present disclosure;

[0124] FIG10 is a schematic structural diagram of another communication sensing device provided in an embodiment of the present disclosure;

[0125] FIG11 is a schematic structural diagram of another communication perception device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0126] In embodiments of the present invention, the term "and / or" describes the association relationship between associated objects, indicating that three possible relationships 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.

[0127] In the embodiments of the present disclosure, the term "plurality" refers to two or more than two, and other quantifiers are similar thereto.

[0128] The terms "first" and "second" in the embodiments of the present disclosure are used only to illustrate and distinguish the objects being described. There is no order, nor does it represent a specific limit on the number of objects in the embodiments of the present disclosure, and it does not constitute any limitation on the embodiments of the present disclosure. For example, the first device is a device whose second transmission parameters are adjusted based on the perception data, and the second device is the source device of the second transmission parameters obtained by the first device. The use of terms such as "first" and "second" is only to distinguish between different devices, and does not indicate a difference in priority or importance between the two devices.

[0129] 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.

[0130] Communication-perception fusion can be referred to as synaesthesia fusion, or communication-perception integration, or synaesthesia integration for short.

[0131] The implementation of synaesthesia fusion involved in the present disclosure is mainly based on the introduction of a sensing function (SF) in a wireless communication network that supports synaesthesia fusion. The sensing function can be an independent network function or can be merged into a network function with other network functions (for example, location management function (LMF), access and mobility management function (AMF)). The wireless communication network can be any communication network that can introduce a sensing function, such as wireless sensor networks (WSN), mobile ad hoc networks, vehicular networks, Internet of Things (IoT), 5G communication systems (abbreviated as 5G systems), future communication systems, or systems that integrate multiple communication systems, etc., which are not limited in the embodiments of the present disclosure. The communication system may also include a core network part, such as the core network of a communication system such as an evolved packet system (EPS) and a 5G system (5GS). The sensing function can implement at least one sensing-related function among sensing control, sensing data processing, and sensing authorization. Devices such as base stations and user equipment (UE) in wireless networks need to transmit and / or receive wireless sensing signals to sense the target object. Based on the reception of the wireless signals, the base station or UE can obtain the sensing data of the target object.

[0132] Wireless sensing capabilities, as part of the communication network, offer the potential to enhance the use of telecommunications infrastructure in areas such as object detection and tracking, environmental monitoring, and human motion monitoring. This sensory fusion provides input for various vertical sectors (e.g., drones, smart homes, connected vehicles, and factories). For example, it can be used for object and intruder detection within predefined security zones around smart homes, highways, railways, factories, and critical infrastructure. It can also be used for obstacle avoidance and trajectory tracking, autonomous maneuvering, and navigation in automated guided vehicles (AGVs) such as drones and vehicles. It can also be used for public safety search and rescue, rainfall and flood monitoring, and health and movement monitoring.

[0133] Currently, existing perception methods primarily rely on fixed, unchanging perception signals to acquire the state information of an object. In this manner, if the object is moving, the perception signal may not cover it or may not be aligned with it, resulting in inaccurate acquisition of the object's state information and poor perception performance.

[0134] In view of this, embodiments of the present disclosure provide a communication sensing method. When sensing a target object, based on the collected sensing data of the target object and / or the sensing signal transmission parameters used when collecting the sensing data, the method adjusts the transmission parameters of the sensing signal transmitted on the next time domain resource, so that the transmission parameters of the sensing signal (e.g., beam direction) correspond to the moving target object. This improves the sensing performance of the communication sensing service.

[0135] The following describes the scenario of the communication perception method provided by the present disclosure. Figure 1 is a schematic diagram of a scenario of the communication perception method provided by an embodiment of the present disclosure. As shown in Figure 1, the scenario may include: a perception signal transmitter, a perception signal receiver, and a target object.

[0136] The perception signal transmitter and receiver can be devices in a wireless network capable of transmitting and receiving perception signals, such as base stations, UEs, and other devices, as long as they can transmit perception signals. A perception signal refers to a wireless signal used for perception. A perception signal can be a wireless signal dedicated to perception, or it can be a wireless signal used for both perception and communication. The target object can be any object whose perception data can be detected by the perception signal, such as a vehicle, a living being, or a drone.

[0137] The perception signal transmitter is configured to transmit a perception signal, and the perception signal receiver is configured to receive the perception signal. The perception signal is used to sense a target object to obtain perception data of the target object. The perception signal is received to analyze the effect of the target object on the reflection and scattering of the perception signal, thereby obtaining the perception data of the target object. The state information of the target object represented by the perception data can be used to determine the historical motion trajectory of the target object. For example, the historical motion trajectory of the target object may include the target object's historical position, speed, direction, etc.

[0138] The function of obtaining the target object's state information based on the perception data can be provided by the perception signal receiving end, or the perception signal receiving end can transmit the perception data to another device with data processing capabilities, and the other device can process the perception information to obtain the target object's state information. After obtaining the target object's state information, the aforementioned detection, monitoring, and tracking functions can be implemented based on this state information.

[0139] Currently, communication perception can be divided into single-base perception and dual-base perception.

[0140] Among them, single-base perception means that the perception signal transmitter and the perception signal receiver are spatially identical, that is, the perception signal transmitter and the perception signal receiver can be deployed in the same hardware entity, or the perception signal transmitter and the perception signal receiver are both a hardware entity that can provide the functions of sending and receiving perception signals.

[0141] Dual-base sensing refers to the spatial separation of the sensing signal transmitter and receiver. This means the two can be deployed in different hardware entities, with data exchanged via a communication connection between the two hardware entities to achieve the function of transmitting sensing signals.

[0142] Based on the scenario shown in Figure 1, the following detailed description of the technical solution of the present disclosure and how the technical solution of the present disclosure solves the above-mentioned technical problems is provided through specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. The following embodiments of the present disclosure are described in conjunction with the accompanying drawings.

[0143] FIG2 is a flow chart of a communication perception method provided by an embodiment of the present disclosure. As shown in FIG2 , the method includes:

[0144] S201. A first device transmits a first perception signal using a first transmission parameter on a first time domain resource.

[0145] In which, the first device can be the perception signal sending end and / or the perception signal receiving end as described in Figure 1. The first device can be, for example, a base station, a UE, or other device. The first transmission parameter may include a sending parameter and / or a receiving parameter. The sending parameter is used by the perception signal sending end to send the first perception signal on the first time domain resource, and the receiving parameter is used by the perception signal receiving end to receive the first perception signal on the first time domain resource. The first perception signal is used to perceive the target object to obtain perception data of the target object. The method of perceiving the target object through the first perception signal to obtain perception data of the target object is the same as the method described in Figure 1 above and will not be repeated here. The state information of the target object can be obtained through the perception data, for example, the historical motion trajectory, shape, and other state information of the target object can be obtained. The historical motion trajectory of the target object can, for example, include the historical position, speed, direction, and the like of the target object.

[0146] When the first device is a perception signal transmitter, it transmits the first perception signal on a first time domain resource using first transmission parameters, where the first transmission parameters are the transmission parameters included in the aforementioned first transmission parameters. Accordingly, the perception signal receiver receives the first perception signal on the first time domain resource using first reception parameters, where the first reception parameters are the reception parameters included in the aforementioned first transmission parameters. When the first device is a perception signal receiver, it receives the first perception signal on the first time domain resource using the first reception parameters, where the perception signal transmitter transmits the first perception signal on the first time domain resource using the first transmission parameters.

[0147] In various embodiments of the present disclosure, transmission parameters are used to control the beam, power, and other parameters used to transmit the perception signal. For example, the transmission parameters may include at least one of a beam parameter and a power parameter for transmitting the perception signal. The beam parameter may include at least one of a beam direction and a beam width. By adjusting the transmission parameters, the beam, power, and other parameters used to transmit the perception signal can be adjusted. The first transmission parameter herein is used to control the beam, power, and other parameters used to transmit the first perception signal. By adjusting the first transmission parameter, the beam, power, and other parameters used to transmit the first perception signal can be adjusted.

[0148] The first sensing signal is the sensing signal mentioned in FIG. 1 .

[0149] For the first time domain resource, the present disclosure does not limit how to determine the first time domain resource. The first time domain resource can be, for example, determined by the first device itself according to actual needs, or determined according to resource indications of other devices, or received resource configurations, etc. The first time domain resource can be any time domain resource in the periodic time domain resource, or can be a non-periodic time domain resource. The time domain resource can include at least one time unit for transmitting the perception signal, and the time unit can be a frame, a time slot, a subframe, an orthogonal frequency division multiplexing (OFDM) symbol, etc.

[0150] S202: The first device obtains a second transmission parameter.

[0151] The second transmission parameter is a transmission parameter used by the first device to transmit the second perception signal on the second time domain resource. The start time of the second time domain resource is later than the end time of the first time domain resource. The present disclosure does not limit how to determine the second time domain resource. The second time domain resource can be, for example, determined by the first device itself according to actual needs, or determined based on resource indications from other devices, or received resource configurations. The second time domain resource can be any time domain resource among periodic time domain resources, or can be a non-periodic time domain resource.

[0152] In one possible implementation, the second transmission parameter is obtained by the first device by receiving indication information sent by a second device. The second device may be a device that transmits a perception signal with the first device (for example, if the first device is a perception signal transmitter, the second device is a perception signal receiver; or if the first device is a perception signal receiver, the second device is a perception signal transmitter). It may also be a device other than the perception signal transmitter and the perception signal receiver (referred to as "other device" in subsequent embodiments), for example, the device where the perception control terminal is located. The other device may generate indication information based on the perception data of the target object. The first device determines the second transmission parameter based on the indication information.

[0153] In another possible implementation, the second transmission parameter is determined by the first device based on the first transmission parameter. For example, the second transmission parameter may be the same as the first transmission parameter.

[0154] In another possible implementation, the second transmission parameter is determined by the first device according to perception data of the target object acquired based on the first perception signal.

[0155] The second transmission parameter is related to the first transmission parameter, and / or the second transmission parameter is related to the perception data of the target object obtained based on the first perception signal. For example, a mapping relationship may exist between the second transmission parameter and the first transmission parameter; or the second transmission parameter is calculated based on the first transmission parameter; or a mapping relationship may exist between the second transmission parameter and the perception data; or the second transmission parameter is calculated based on the perception data; or the second transmission parameter has a mapping relationship with both the first transmission parameter and the perception data; or the second transmission parameter is calculated based on the first transmission parameter and the perception data, etc.

[0156] In various embodiments of the present disclosure, the perception data of a target object may include, for example, at least one of the target object's speed, distance, direction, position, related perception measurement quantities, speed offset, distance offset, direction offset, perception measurement quantity offset, speed range, distance range, and direction range. The perception measurement quantities may include, for example, one or more of delay, Doppler shift, angle of arrival, perception signal reception strength, and channel state information.

[0157] S203: The first device transmits a second perception signal using a second transmission parameter on a second time domain resource.

[0158] The second perception signal is also used to perceive the target object.

[0159] The method provided by the embodiments of the present disclosure is to obtain, after a first device transmits a first perception signal using a first transmission parameter on a first time domain resource to perceive a target object, a second transmission parameter related to the first transmission parameter and / or related to the perception data of the target object obtained based on the first perception signal, so as to adjust the second transmission parameter used by the first device to transmit the second perception signal on the second time domain resource, thereby adjusting the second transmission parameter when perceiving a moving target object, thereby better perceiving the target object.

[0160] Below, taking the example of the first device acquiring the second transmission parameter by receiving the indication information sent by the second device in step S202, the communication perception method is introduced in detail.

[0161] FIG3 is a flow chart of another communication perception method provided by an embodiment of the present disclosure. As shown in FIG3 , the method may include:

[0162] S301. A first device transmits a first perception signal using a first transmission parameter in a first time domain resource.

[0163] The first device may be a perception signal sending end or a perception signal receiving end.

[0164] S302: The second device generates indication information.

[0165] The indication information is used to indicate a second transmission parameter, second perception data of the target object, a transmission parameter offset for determining the second transmission parameter, or a transmission parameter range for determining the second transmission parameter. The second perception data is, for example, perception data corresponding to when predicting the target object on the second time domain resource.

[0166] The indication information used to indicate the second transmission parameter includes, for example, the second transmission parameter or an identifier / index indicating the second transmission parameter.

[0167] The transmission parameter offset is, for example, a beam direction offset, a beam width offset, or a power offset.

[0168] The transmission parameter range is, for example, a beam direction range, a beam width range, or a power range.

[0169] The indication information for indicating the second perception data of the target object may include, for example, the second perception data of the target object or an identifier / index indicating the second perception data of the target object.

[0170] The second device may obtain first perception data of the target object and generate indication information according to the first perception data. The first perception data of the target object may be determined according to a first perception signal transmitted on a first time domain resource.

[0171] In one possible implementation, the second transmission parameter indicated by the indication information, the second perception data of the target object, the transmission parameter offset used to determine the second transmission parameter, or the transmission parameter range used to determine the second transmission parameter can be determined based on the first perception data of the target object. The second perception data of the target object is different from the first perception data of the target object. For example, the first perception data of the target object is a perception measurement quantity or a perception measurement quantity offset related to the target object, and the second perception data of the target object is one or more of the target object's speed, distance, direction, position, speed offset, distance offset, direction offset, speed range, distance range, and direction range. The second perception data of the target object can be determined based on the first perception data of the target object. For another example, the first perception data of the target object is the position of the target object, the second transmission parameter includes a second transmission beam direction, and the second transmission beam direction is determined to be a direction that can be aligned with the position of the target object. For another example, the first perception data of the target object is a directional range of the target object, the transmission parameter range used to determine the second transmission parameter includes a transmission beam direction range for determining the second transmission beam direction, and the transmission beam direction range is determined to be a directional range that can be aligned with the target object.

[0172] In another possible implementation, the second perception data of the target object indicated by the indication information is the first perception data of the target object.

[0173] If the first device is a perception signal transmitter, the second device may be a perception signal receiver or another device. When the second device is a perception signal receiver, the second device receives the first perception signal according to the first reception parameter, obtains first perception data of the target object based on the first perception signal, and generates indication information based on the first perception data. When the second device is another device, the second device receives the first perception data of the target object sent by the perception signal receiver and generates indication information based on the first perception data. The first perception data of the target object may be obtained by the perception signal receiver based on the first perception signal.

[0174] If the first device is a perception signal receiving end, the second device may be a perception signal transmitting end or another device. When the second device is a perception signal transmitting end, the second device obtains first perception data of the target object from the first device (perception signal receiving end) and generates indication information based on the first perception data. When the second device is another device, the other device obtains the first perception data of the target object from the perception signal receiving end and generates indication information based on the first perception data. The first perception data of the target object may be obtained by the perception signal receiving end based on the first perception signal.

[0175] Optionally, if the second device determines that the first perception data of the target object meets a criterion or a change in the first perception data of the target object meets a criterion, the second device generates indication information. Otherwise, the second device does not generate indication information.

[0176] S303: The second device sends the instruction information to the first device.

[0177] Correspondingly, the first device receives the indication information sent by the second device.

[0178] Optionally, if the second device determines one of the following, it sends the indication information to the first device:

[0179] The second perception data of the target object meets a criterion; for example, the second perception data of the target object is greater than or equal to a first threshold;

[0180] The change of the second perception data of the target object meets a criterion; for example, the change of the second perception data of the target object is greater than or equal to a first threshold;

[0181] The change of the second transmission parameter satisfies a criterion; for example, the change of the second transmission parameter is greater than or equal to a second threshold;

[0182] The transmission parameter offset used to determine the second transmission parameter satisfies a criterion; for example, the transmission parameter offset used to determine the second transmission parameter is greater than or equal to a third threshold;

[0183] The change in the transmission parameter range used to determine the second transmission parameter satisfies a criterion. For example, the change in the transmission parameter range used to determine the second transmission parameter is greater than or equal to a fourth threshold.

[0184] On the contrary, if the second device determines that one of the above items does not occur, it may not send the indication information to the first device.

[0185] Optionally, the second device may generate indication information and send the indication information when determining one of the above conditions occurs. The second device may not generate indication information when determining one of the above conditions does not occur.

[0186] Optionally, the second device sends indication information on a third time domain resource, where the start time of the third time domain resource is equal to or later than the end time of the first time domain resource, and the end time of the third time domain resource is earlier than or equal to the start time of the second time domain resource minus T, where T is greater than or equal to 0. This implementation method can receive the indication information on a third time domain resource between the first time domain resource and the second time domain resource, and reserve a duration of T for the first device to process the indication information and / or configure the second transmission parameter for the second time domain resource. The third time domain resource and T can be determined according to actual needs if they meet the above requirements, and this disclosure does not impose any restrictions on this. For example, T is greater than or equal to the processing time. The processing time may include at least one of the following: processing time for the indication information, processing time for determining the second transmission parameter, and processing time for adjusting the transmission parameter.

[0187] S304. The first device obtains the second transmission parameter according to the instruction information.

[0188] In a possible implementation manner, if the indication information includes the second transmission parameter, the second transmission parameter is directly extracted from the indication information.

[0189] In another possible implementation, the indication information may include information indicating the second transmission parameter. For example, the indication information includes an identifier / index indicating the second transmission parameter. The first device determines, based on the identifier / index, the transmission parameter corresponding to the identifier from among multiple preset transmission parameters as the second transmission parameter. For example, the second transmission parameter may be determined based on the identifier / index and a mapping relationship between the identifier / index and the transmission parameter.

[0190] In another possible implementation, the indication information indicates a transmission parameter offset or a transmission parameter range used to determine the second transmission parameter, and the first device determines the second transmission parameter based on the transmission parameter offset or the transmission parameter range. For example, the first device determines the second transmission parameter based on the first transmission parameter and the transmission parameter offset. The second transmission parameter may be the first transmission parameter plus the transmission parameter offset. In another example, the second transmission parameter determined by the first device is within the transmission parameter range.

[0191] In another possible implementation, the indication information indicates second perception data of the target object, and the first device determines the second transmission parameter based on the second perception data of the target object. For example, the second perception data of the target object is the position of the target object, the second transmission parameter includes a second transmission beam direction, and the second transmission beam direction is determined to be a direction that can be aligned with the position of the target object.

[0192] In another possible implementation, the first device determines the second transmission parameter based on the first transmission parameter and indication information. For example, the indication information indicates a transmission parameter offset, and the first device determines the second transmission parameter as the first transmission parameter plus the transmission parameter offset.

[0193] In another possible implementation, the first device determines the second transmission parameter based on the second time domain resource and the indication information. For example, the second transmission parameter includes a second transmission beam direction, the indication information indicates second perception data of the target object, the first device predicts the position of the target object at the time of the second time domain resource based on the second perception data, and determines the second transmission beam direction to be a direction aligned with the predicted position of the target object.

[0194] In another possible implementation, the first device determines the second transmission parameter based on the first transmission parameter, the second time domain resource, and the indication information. For example, the second transmission parameter includes a second transmission beam direction, the indication information indicates a directional offset of the target object, and the first device predicts the direction of the target object at the time of the second time domain resource based on the first transmission beam direction and the directional offset of the target object, and determines the second transmission beam direction to be aligned with the predicted direction of the target object.

[0195] Optionally, if the first device does not receive the indication information on the third time domain resource, the first transmission parameter may be used as the second transmission parameter. If the first device does not receive the indication information on the third time domain resource, it may indicate that the first device cannot receive the indication information, or the second device cannot send the indication information to the first device on time, or the second device does not need to instruct the first device to adjust the second transmission parameter on the second time domain resource (for example, if the distance between the target object before and after movement is close, there is no need to adjust the beam direction of the perception signal). Therefore, the second perception signal can be transmitted using the same second transmission parameter as the first transmission parameter.

[0196] S305: The first device transmits a second perception signal using a second transmission parameter in a second time domain resource.

[0197] In the implementation method provided by the embodiment of the present disclosure, the second device sends indication information to the first device, so that the first device can obtain the second transmission parameter according to the indication information, and use the second transmission parameter to transmit the second perception signal on the second time domain resource. The second transmission parameter obtained by the first device through the indication information can be used to adjust the second transmission parameter when perceiving a moving target object, thereby better perceiving the target object. When the second device is a device other than the perception signal receiving end and the perception signal transmitting end, the step of processing the perception data or determining the second transmission parameter can be transferred to the other device, thereby eliminating the need for the perception signal receiving end and the perception signal transmitting end to process the perception data or determine the second transmission parameter, thereby reducing the data processing requirements of the perception signal receiving end and the perception signal transmitting end.

[0198] The following describes how to obtain the second transmission parameter based on the perception data of the target object, the transmission parameter offset for determining the second transmission parameter, or the transmission parameter range for determining the second transmission parameter in the aforementioned implementation manner.

[0199] One possible implementation method is to predict the position or position range of the target object in the second time domain resource relative to the direction of the first device based on the position of the target object in the perception data and the position of the target object in the historical perception signal before the first perception signal, and determine the beam direction in the second transmission parameter.

[0200] Another possible implementation method predicts the position or position range of the target object in the second time domain resource relative to the direction of the first device based on the position of the target object in the perception data and the position of the target object in historical perception signals prior to the first perception signal. A deviation range of the second transmission parameter is determined based on the difference between the direction in the predicted result and the direction determined based on the perception data of the target object obtained based on the first perception signal. Based on the deviation range and the first transmission parameter, the first transmission parameter, after integrating the deviation range, is used as the second transmission parameter.

[0201] Therefore, when the indication information includes calculation data for calculating the second transmission parameter, the calculation data may include the position of the target object in the perception data, as well as the position of the target object in the historical perception signal before the first perception signal, or the position of the target object in the second time domain resource or the predicted result of the position range relative to the direction of the first device, or the deviation range of the second transmission parameter and the first transmission parameter, etc.

[0202] The method provided by the embodiments of the present disclosure predicts the position or direction of the target object in the time range corresponding to the second time domain resource by obtaining the perception data of the target object based on the first perception signal, so as to generate a second transmission parameter that can indicate that the second perception signal can be aimed at the target object, so that the first device can also send the second perception signal on the second time domain resource through a beam aimed at the target object, thereby improving the perception capability of communication perception.

[0203] For ease of understanding, the specific implementation of the method described in the aforementioned FIG. 2 and FIG. 3 is introduced in conjunction with a scenario in which the first device and the second device respectively have different device roles.

[0204] Optionally, the first transmission parameter may include: a first transmission parameter and / or a first reception parameter, the second transmission parameter may include: a second transmission parameter and / or a second reception parameter, and the indication information may include: first indication information and / or second indication information, the first indication information being used to determine the second transmission parameter, and the second indication information being used to determine the second reception parameter. The first indication information is used to indicate the second transmission parameter, the second perception data of the target object, a transmission parameter offset for determining the second transmission parameter, or a transmission parameter range for determining the second transmission parameter. The second indication information is used to indicate the second reception parameter, the second perception data of the target object, a reception parameter offset for determining the second reception parameter, or a reception parameter range for determining the second reception parameter.

[0205] If the indication information is first indication information, and the first device is a perception signal transmitter, the second device may be a perception signal receiver, or the second device may be a device other than the perception signal transmitter and the perception signal receiver. If the indication information is second indication information, and the first device is a perception signal receiver, the second device may be a perception signal transmitter, or the second device may be a device other than the perception signal transmitter and the perception signal receiver.

[0206] It should be noted that whether the indication information is the first indication information or the second indication information can be determined based on whether the first device is a sensing signal sender or receiver, or it can be determined by an identifier contained in the indication information, or the first device does not need to determine or judge.

[0207] Scenario 1: The first device is a sensing signal transmitter, and the second device is a sensing signal receiver.

[0208] FIG4 is a flow chart of another communication perception method provided by an embodiment of the present disclosure. As shown in FIG4 , the aforementioned method may include:

[0209] S401: A perception signal transmitter sends a first perception signal using a first sending parameter on a first time domain resource.

[0210] Correspondingly, the perception signal receiving end receives the first perception signal using the first receiving parameter on the first time domain resource.

[0211] S402: The perception signal receiving end obtains perception data of the target object based on the first perception signal.

[0212] After the perception signal transmitting end sends the perception signal, the perception signal receiving end receives the perception signal after reflection, scattering, etc. caused by the target object, performs data processing on the perception signal, and then extracts the perception data of the target object.

[0213] S403: The perception signal receiving end generates first indication information according to the perception data of the target object.

[0214] The first indication information is used to indicate the second transmission parameter, the perception data of the target object, a transmission parameter offset for determining the second transmission parameter, or a transmission parameter range for determining the second transmission parameter. The method for generating the first indication information is similar to how the second device generates the indication information based on the first perception data of the target object in step S302, except that only the first indication information for determining the second transmission parameter is generated here, which is not further described here.

[0215] S404: The perception signal receiving end sends first indication information to the perception signal sending end.

[0216] Correspondingly, the perception signal sending end receives the first indication information sent by the perception signal receiving end.

[0217] Optionally, if it is determined that the target object's perception data satisfies a criterion, or that a change in the target object's perception data satisfies a criterion, or that a change in the second transmission parameter satisfies a criterion, the first indication information is sent to the perception signal sending end. If the above conditions are determined, indicating that the target object's position has changed significantly at this time, and the second transmission parameter needs to be adjusted, the first indication information is sent to the perception signal sending end. Conversely, indicating that the target object's position has changed slightly, the second transmission parameter does not need to be adjusted, that is, the first indication information is not sent to the perception signal sending end. The target object's perception data satisfies the criterion, for example, that the target object's perception data is greater than or equal to a first threshold. The target object's perception data change satisfies the criterion, for example, that the change in the target object's perception data is greater than or equal to the first threshold. The second transmission parameter change satisfies the criterion, for example, that the change in the second transmission parameter is greater than or equal to the second threshold.

[0218] Optionally, the perception signal transmitting end receives first indication information sent by the perception signal receiving end on a third time domain resource, where the start time of the third time domain resource is equal to or later than the end time of the first time domain resource, and the end time of the third time domain resource is earlier than or equal to the start time of the second time domain resource minus T1, where T1 is greater than or equal to 0. This implementation method can receive the indication information on a third time domain resource between the first time domain resource and the second time domain resource, and reserve a duration of T1 for the perception signal transmitting end to process the first indication information and / or configure the second transmission parameter for the second time domain resource. The third time domain resource and T1 can be determined according to actual needs if they meet the above requirements, and this disclosure does not impose any restrictions on this. For example, T1 is greater than or equal to the processing time. The processing time may include at least one of the following: processing time for the first indication information, processing time for determining the second transmission parameter, and processing time for adjusting the transmission parameter.

[0219] Optionally, if the first indication information is not received on the third time domain resource, this may indicate that the first device cannot receive the indication information, or that the perception signal receiving end cannot send the indication information to the perception signal sending end on time, or that the perception signal receiving end does not need to instruct the perception signal sending end to adjust the second transmission parameter on the second time domain resource (for example, if the distance between the target object before and after movement is close, there is no need to adjust the beam direction of the perception signal). Therefore, the second perception signal can be sent using the same second transmission parameter as the first transmission parameter.

[0220] In a possible implementation, if the indication information is not received on the designated time domain resource, the second transmission parameter may be set to any preset transmission parameter to avoid the impact of the above situation on the perception function.

[0221] S405. The perception signal sending end obtains a second sending parameter according to the first indication information.

[0222] The method for the perception signal sending end to obtain the second transmission parameter according to the first indication information can refer to how the first device obtains the second transmission parameter according to the indication information in the aforementioned step S304, and will not be repeated here.

[0223] S406: The perception signal transmitter sends a second perception signal using a second sending parameter on a second time domain resource.

[0224] Correspondingly, the perception signal receiving end receives the second perception signal on the second time domain resource using the second receiving parameter. The perception signal receiving end may determine the second receiving parameter based on the first perception signal received on the first time domain resource.

[0225] In the method provided in the embodiments of the present disclosure, in addition to receiving the perception signal, the perception signal receiving end also has the function of generating, based on the perception data, a second transmission parameter to be used by the perception signal transmitting end on the second time domain resource. This allows the second transmission parameter to be adjusted when sensing a moving target object, thereby adjusting the perception signal, without adding additional hardware entities.

[0226] Scenario 2: The first device is a perception signal receiving end, and the second device is a perception signal sending end.

[0227] FIG5 is a flow chart of another communication perception method provided by an embodiment of the present disclosure. As shown in FIG5 , the aforementioned method may include:

[0228] S501: A perception signal transmitter transmits a first perception signal using a first transmission parameter on a first time domain resource. Correspondingly, a perception signal receiver receives the first perception signal using a first reception parameter on the first time domain resource.

[0229] S502: The perception signal receiving end obtains perception data of the target object according to the first perception signal.

[0230] After the perception signal transmitting end sends the perception signal, the perception signal receiving end receives the perception signal after reflection, scattering, etc. caused by the target object, performs data processing on the perception signal, and then extracts the perception data of the target object.

[0231] S503: The perception signal receiving end sends the perception data of the target object obtained based on the first perception signal to the perception signal sending end;

[0232] Optionally, when the perception signal receiving end determines that the change in the perception data of the target object satisfies the criteria or the perception data of the target object satisfies the criteria, the perception signal receiving end sends the perception data of the target object to the perception signal sending end. For example, when the difference value from the perception data obtained last time is greater than or equal to a preset threshold, it indicates that the position difference before and after the movement of the target object is large, and the second receiving parameter needs to be adjusted. Therefore, the perception data of this time needs to be sent to the perception signal sending end so that the perception signal sending end can generate second indication information, indicating the changed second receiving parameter. If the change in the perception data of the target object does not meet the criteria or the perception data of the target object does not meet the criteria, the perception signal receiving end does not send the perception data of the target object to the perception signal sending end. For example, if the difference value from the perception data obtained last time is less than the preset threshold, it indicates that the target object has not moved, or the position difference before and after the movement is small, and there is no need to adjust the second receiving parameter. Therefore, the perception data may not be sent, so that the perception signal receiving end receives the second perception signal on the second time domain resource with the second receiving parameter that is the same as the first receiving parameter.

[0233] Correspondingly, the perception signal sending end receives perception data of the target object obtained based on the first perception signal.

[0234] S504: The perception signal transmitter generates second indication information according to the perception data of the target object.

[0235] The second indication information is used to indicate the second reception parameter, the perception data of the target object, a reception parameter offset for determining the second reception parameter, or a reception parameter range for determining the second reception parameter. The method for generating the second indication information is similar to how the second device generates the indication information based on the first perception data of the target object in step S302, except that only the second indication information for determining the second reception parameter is generated here, which is not further described here.

[0236] S505: The perception signal sending end sends second indication information to the perception signal receiving end.

[0237] Correspondingly, the perception signal receiving end receives the second indication information sent by the perception signal sending end.

[0238] Optionally, if it is determined that the perception data of the target object meets the criteria, or the change in the perception data of the target object meets the criteria, or the change in the second receiving parameter meets the criteria, the second indication information is sent to the perception signal receiving end. If the above conditions are determined, it indicates that the position change of the target object is large at this time and the second receiving parameter needs to be adjusted, so the second indication information is sent to the perception signal receiving end. On the contrary, it indicates that the position change of the target object is small and the second receiving parameter does not need to be adjusted, that is, the second indication information may not be sent to the perception signal receiving end. The perception data of the target object meets the criteria, for example, that the perception data of the target object is greater than or equal to the first threshold. The change in the perception data of the target object meets the criteria, for example, that the change in the perception data of the target object is greater than or equal to the first threshold. The change in the second receiving parameter meets the criteria, for example, that the change in the second receiving parameter is greater than or equal to the second threshold.

[0239] Optionally, the perception signal receiving end receives second indication information sent by the perception signal transmitting end on a fourth time domain resource, where the start time of the fourth time domain resource is equal to or later than the end time of the first time domain resource, and the end time of the fourth time domain resource is earlier than or equal to the start time of the second time domain resource minus T2, where T2 is greater than or equal to 0. This implementation method can receive the indication information on a fourth time domain resource between the first time domain resource and the second time domain resource, and reserve a duration of T2 for the perception signal transmitting end to process the second indication information and / or configure the second reception parameter for the second time domain resource. If the fourth time domain resource and T2 meet the above requirements, they can be determined according to actual needs, and this disclosure does not impose any restrictions on this. For example, T2 is greater than or equal to the processing time. The processing time may include at least one of the following: processing time for the second indication information, processing time for determining the second reception parameter, and processing time for adjusting the reception parameter.

[0240] Optionally, if the second indication information is not received on the fourth time domain resource, this may indicate that the first device cannot receive the indication information, or that the perception signal transmitter cannot send the indication information to the perception signal receiver on time, or that the perception signal transmitter does not need to instruct the perception signal receiver to adjust the second transmission parameter on the second time domain resource (for example, if the distance between the target object before and after movement is close, there is no need to adjust the beam direction of the perception signal). Therefore, the second perception signal can be received using the same second reception parameter as the first reception parameter.

[0241] In a possible implementation, if the indication information is not received on the designated time domain resource, the second transmission parameter may be set to any preset transmission parameter to avoid the impact of the above situation on the perception function.

[0242] S506. The perception signal receiving end obtains a second receiving parameter according to the second indication information.

[0243] The method for the perception signal receiving end to obtain the second reception parameter according to the second indication information can refer to how the first device obtains the second transmission parameter according to the indication information in the aforementioned step S304, and will not be repeated here.

[0244] S507: The perception signal receiving end receives a second perception signal using a second receiving parameter on a second time domain resource.

[0245] Correspondingly, the perception signal transmitter transmits the second perception signal on the second time domain resource using the second transmission parameter. The perception signal transmitter may determine the second transmission parameter based on the perception data of the target object.

[0246] This embodiment differs from the embodiment shown in FIG. 5 in that the second transmission parameter to be adjusted in this embodiment is a second reception parameter of the second perception signal received by the perception signal receiving end on the second time domain resource. The perception signal receiving end sends the perception data to the perception signal transmitting end, and the perception signal transmitting end is responsible for the data processing function of obtaining the indication information based on the perception data.

[0247] Scenario 3: The first device is a perception signal transmitter, and the second device is a device other than the perception signal transmitter and the perception signal receiver (other device).

[0248] FIG6 is a flow chart of another communication perception method provided by an embodiment of the present disclosure. As shown in FIG6 , the aforementioned method may include:

[0249] S601: A perception signal transmitter transmits a first perception signal using a first transmission parameter on a first time domain resource. Correspondingly, a perception signal receiver receives the first perception signal using a first reception parameter on the first time domain resource.

[0250] S602: The perception signal receiving end obtains first perception data of the target object based on the first perception signal.

[0251] S603: The perception signal receiving end sends the first perception data of the target object to other devices.

[0252] Optionally, when the perception signal receiving end determines that the change in the first perception data of the target object satisfies the criteria or the first perception data of the target object satisfies the criteria, the first perception data of the target object is sent to other devices. For example, when the difference value from the first perception data obtained last time is greater than or equal to the preset threshold, it indicates that the position difference before and after the movement of the target object is large, and the second sending parameter needs to be adjusted. Therefore, the first perception data of this time needs to be sent to other devices so that the other devices can produce first indication information indicating the changed second sending parameter. If the change in the first perception data of the target object does not meet the criteria or the first perception data of the target object does not meet the criteria, the perception signal receiving end does not send the first perception data of the target object to other devices. For example, when the difference value from the first perception data obtained last time is less than the preset threshold, it indicates that the target object has not moved, or the position difference before and after the movement is small, and there is no need to adjust the second sending parameter. Therefore, the first perception data may not be sent, so that the perception signal sending end sends the second perception signal on the second time domain resource with the second sending parameter that is the same as the first sending parameter.

[0253] Correspondingly, other devices receive the first perception data of the target object.

[0254] S604. Other devices generate first indication information based on the first perception data of the target object.

[0255] The first indication information is used to indicate the second transmission parameter, the second perception data of the target object, a transmission parameter offset for determining the second transmission parameter, or a transmission parameter range for determining the second transmission parameter. The method for generating the first indication information is similar to how the second device generates the indication information based on the first perception data of the target object in step S302, except that only the first indication information for determining the second transmission parameter is generated here, which is not further described here.

[0256] S605. Other devices send first indication information to the perception signal sending end.

[0257] Correspondingly, the perception signal sending end receives the first indication information sent by other devices.

[0258] Optionally, when the other device determines that the second perception data of the target object satisfies a criterion, or that a change in the second perception data of the target object satisfies a criterion, or that a change in the second transmission parameter satisfies a criterion, the other device sends the first indication information to the perception signal transmitter. For example, when the difference value from the last perception data obtained is greater than or equal to a preset threshold, it indicates that the position difference before and after the movement of the target object is large, and the second transmission parameter needs to be adjusted. Therefore, the first indication information indicating the changed second transmission parameter is generated. If the perception data of the target object has not changed, or the difference value from the last perception data obtained is less than the preset threshold, it indicates that the target object has not moved, or the position difference before and after the movement is small, and there is no need to adjust the second transmission parameter. Therefore, the first indication information may not be generated, so that the perception signal transmitter transmits the second perception signal on the second time domain resource using the second transmission parameter that is the same as the first transmission parameter.

[0259] Optionally, the perception signal transmitting end receives first indication information sent by other devices on a third time domain resource, where the starting time of the third time domain resource is equal to or later than the ending time of the first time domain resource, and the ending time of the third time domain resource is earlier than or equal to the starting time of the second time domain resource minus T1, and T1 is greater than or equal to 0. This implementation method can receive the indication information on a third time domain resource between the first time domain resource and the second time domain resource, and reserve a duration of T1 for the perception signal transmitting end to process the first indication information and / or configure the second transmission parameter for the second time domain resource. The third time domain resource and T1 can be determined according to actual needs if they meet the above requirements, and this disclosure does not impose any restrictions on this. For example, T1 is greater than or equal to the processing time. The processing time may include at least one of the following: the processing time of the first indication information, the processing time of determining the second transmission parameter, and the processing time of adjusting the transmission parameter.

[0260] Optionally, if the first indication information is not received on the third time domain resource, it may indicate that the first device cannot receive the indication information, or that other devices cannot send indication information to the perception signal transmitter on time, or that other devices do not need to instruct the perception signal transmitter to adjust the second transmission parameters on the second time domain resource (for example, if the distance between the target object before and after movement is close, there is no need to adjust the beam direction of the perception signal). Therefore, the second perception signal can be sent using the same second transmission parameters as the first transmission parameters.

[0261] S606. The perception signal sending end obtains a second sending parameter according to the first indication information.

[0262] The method for the perception signal sending end to obtain the second transmission parameter according to the first indication information can refer to how the first device obtains the second transmission parameter according to the indication information in the aforementioned step S304, and will not be repeated here.

[0263] S607: The perception signal transmitter sends a second perception signal using a second sending parameter on a second time domain resource.

[0264] Correspondingly, the perception signal receiving end receives the first perception signal on the second time domain resource using the second receiving parameter. The perception signal receiving end may determine the second receiving parameter based on the first perception signal received on the first time domain resource.

[0265] This embodiment differs from the embodiment shown in FIG. 4 in that, in this embodiment, the device responsible for the data processing function of obtaining indication information based on the perception data is a device other than the perception signal receiving end and the perception signal transmitting end. The perception signal receiving end transmits the perception data to the other device, which then obtains indication information based on the perception data and transmits the indication information to the perception signal transmitting end. Other similar parts are not repeated here.

[0266] The method provided in the embodiments of the present disclosure, by adding a third-party device that performs data processing functions for obtaining indication information based on perception data, achieves the function of adjusting the second transmission parameter when perceiving a moving target object, thereby adjusting the perception signal while avoiding increasing the data processing pressure on the perception signal transmitting end or the perception signal receiving end, thereby eliminating the need to adjust the hardware of the perception signal transmitting end or the perception signal receiving end.

[0267] Scenario 4: The first device is a sensing signal receiving end, and the second device is a device other than the sensing signal transmitting end and the sensing signal receiving end (other device)

[0268] FIG7 is a flow chart of another communication perception method provided by an embodiment of the present disclosure. As shown in FIG7 , the aforementioned method may include:

[0269] S701: A perception signal transmitter transmits a first perception signal using a first transmission parameter on a first time domain resource. Correspondingly, a perception signal receiver receives the first perception signal using a first reception parameter on the first time domain resource.

[0270] S702: The perception signal receiving end obtains first perception data of the target object according to the first perception signal.

[0271] After the perception signal transmitting end sends the perception signal, the perception signal receiving end receives the perception signal after reflection, scattering, etc. caused by the target object, performs data processing on the perception signal, and then extracts the first perception data of the target object.

[0272] S703: The perception signal receiving end sends the first perception data of the target object to other devices;

[0273] Correspondingly, other devices receive the first perception data of the target object.

[0274] Optionally, when the perception signal receiving end determines that the change in the first perception data of the target object satisfies the criteria or the first perception data of the target object satisfies the criteria, the first perception data of the target object is sent to other devices. For example, when the difference value from the first perception data obtained last time is greater than or equal to the preset threshold, it indicates that the position difference before and after the movement of the target object is large, and the second receiving parameter needs to be adjusted. Therefore, the first perception data of this time needs to be sent to other devices so that the other devices can produce second indication information, indicating the changed second receiving parameter. If the change in the first perception data of the target object does not meet the criteria or the first perception data of the target object does not meet the criteria, the perception signal receiving end does not send the first perception data of the target object to other devices. For example, when the difference value from the first perception data obtained last time is less than the preset threshold, it indicates that the target object has not moved, or the position difference before and after the movement is small, and there is no need to adjust the second receiving parameter. Therefore, the first perception data may not be sent, so that the perception signal receiving end sends the second perception signal on the second time domain resource with the second receiving parameter that is the same as the first receiving parameter.

[0275] S704. Other devices generate second indication information based on the first perception data of the target object.

[0276] The second indication information is used to indicate the second reception parameter, the second perception data of the target object, a reception parameter offset for determining the second reception parameter, or a reception parameter range for determining the second reception parameter. The method for generating the second indication information is similar to how the second device generates the indication information based on the first perception data of the target object in step S302, except that only the second indication information for determining the second reception parameter is generated here, which is not further described here.

[0277] S705. The other device sends second indication information to the perception signal receiving end.

[0278] Correspondingly, the perception signal receiving end receives the second indication information sent by other devices.

[0279] Optionally, when other devices determine that the second perception data of the target object meets the criteria, or the change in the second perception data of the target object meets the criteria, or the change in the second reception parameter meets the criteria, the second indication information is sent to the perception signal receiving end. For example, when the difference value from the second perception data obtained last time is greater than or equal to a preset threshold, it indicates that the position difference before and after the movement of the target object is large, and the second reception parameter needs to be adjusted, so the second indication information indicating the changed second reception parameter is generated. If the second perception data of the target object has not changed, or the difference value from the second perception data obtained last time is less than the preset threshold, it indicates that the target object has not moved, or the position difference before and after the movement is small, and there is no need to adjust the second reception parameter. Therefore, the second indication information may not be generated, so that the perception signal receiving end receives the second perception signal on the second time domain resource with the second reception parameter that is the same as the first reception parameter.

[0280] Optionally, the perception signal receiving end receives second indication information sent by other devices on a fourth time domain resource, where the start time of the fourth time domain resource is equal to or later than the end time of the first time domain resource, and the end time of the fourth time domain resource is earlier than or equal to the start time of the second time domain resource minus T2, and T2 is greater than or equal to 0. This implementation method can receive the indication information on a fourth time domain resource between the first time domain resource and the second time domain resource, and reserve a duration of T2 for the perception signal receiving end to process the second indication information and / or configure the second receiving parameter for the second time domain resource. The fourth time domain resource and T2 can be determined according to actual needs if they meet the above requirements, and this disclosure does not impose any restrictions on this. For example, T2 is greater than or equal to the processing time. The processing time may include at least one of the following: processing time for the second indication information, processing time for determining the second receiving parameter, and processing time for adjusting the receiving parameter.

[0281] Optionally, if the second indication information is not received on the fourth time domain resource, this may indicate that the first device is unable to receive the indication information, or that other devices are unable to send indication information to the perception signal receiving end on time, or that other devices do not need to instruct the perception signal receiving end to adjust the second transmission parameters on the second time domain resource (for example, if the distance between the target object before and after movement is close, there is no need to adjust the beam direction of the perception signal). Therefore, the second perception signal can be sent using the same second reception parameters as the first reception parameters.

[0282] S706. The perception signal receiving end obtains a second receiving parameter according to the second indication information.

[0283] The method for the perception signal receiving end to obtain the second reception parameter according to the second indication information can refer to how the first device obtains the second transmission parameter according to the indication information in the aforementioned step S304, and will not be repeated here.

[0284] S707: The perception signal receiving end receives a second perception signal using a second receiving parameter on a second time domain resource.

[0285] Correspondingly, the perception signal transmitter sends the second perception signal using the second sending parameter on the second time domain resource.

[0286] The difference between this embodiment and the embodiment shown in FIG6 is that the second transmission parameter to be adjusted in this embodiment is a second reception parameter of the perception signal receiving end receiving the second perception signal on the second time domain resource. Other similar parts are not repeated here.

[0287] It should be understood that the above four implementations can be integrated with each other according to actual needs. For example, the embodiment shown in FIG. 6 can be integrated with the embodiment shown in FIG. 7 , where the second device sends both the first indication information to the perception signal transmitting end and the second indication information to the perception signal receiving end, so that the perception signal transmitting end determines the second transmission parameter, and the perception signal receiving end determines the second reception parameter. Alternatively, if the perception signal receiving end and the perception signal transmitting end are the same device, the embodiment shown in FIG. 6 can be integrated with the embodiment shown in FIG. 7 , where another device determines the indication information based on the first perception data, and the other device sends the indication information to the perception signal receiving end and / or the perception signal transmitting end, so that the perception signal receiving end and / or the perception signal transmitting end determine the second transmission parameter. Alternatively, if the perception signal receiving end and the perception signal transmitting end are the same device, the embodiment shown in FIG. 4 can be integrated with the embodiment shown in FIG. 5 , where the device itself determines the second transmission parameter based on the perception data of the target object. In this implementation, there is no need to generate and send the first indication information and obtain the second transmission parameter based on the first indication information, nor is there any need to send the perception data of the target object, generate and send the second indication information, and obtain the second reception parameter based on the second indication information. The present disclosure does not elaborate on the embodiments obtained by integrating the above implementation methods.

[0288] FIG8 is a schematic diagram of the structure of a communication sensing device provided by an embodiment of the present disclosure. As shown in FIG8 , the device 800 is applied to a first device, and the device 800 includes: a memory 810, a transceiver 820, and a processor 830;

[0289] The memory 810 is used to store computer programs; the transceiver 820 is used to send and receive data under the control of the processor 830; the processor 830 is used to read the computer program stored in the memory 810 and perform the following operations:

[0290] Transmitting a first perception signal using a first transmission parameter on a first time domain resource;

[0291] Acquire a second transmission parameter, where the second transmission parameter is related to the first transmission parameter and / or the second transmission parameter is related to perception data of the target object acquired based on the first perception signal;

[0292] A second perception signal is transmitted using a second transmission parameter on a second time domain resource, and both the first perception signal and the second perception signal are used to perceive the target object.

[0293] Optionally, the processor is specifically configured to perform the following operations:

[0294] receiving indication information sent by the second device, where the indication information is used to indicate a second transmission parameter or perception data of a target object;

[0295] Acquire the second transmission parameter according to the instruction information.

[0296] Optionally, the first transmission parameter includes: a first sending parameter and / or a first receiving parameter; the second transmission parameter includes: a second sending parameter and / or a second receiving parameter; the indication information includes: first indication information and / or second indication information;

[0297] If the indication information is first indication information, the first device is a perception signal transmitter, the second device is a perception signal receiver, or the second device is a device other than the perception signal transmitter and the perception signal receiver, the first indication information is used to determine the second sending parameter;

[0298] If the indication information is second indication information, the first device is a perception signal receiving end, the second device is a perception signal sending end, or the second device is a device other than the perception signal sending end and the perception signal receiving end, the second indication information is used to determine the second receiving parameter.

[0299] Optionally, the processor is specifically configured to perform the following operations:

[0300] receiving first indication information sent by the second device on a third time domain resource; the start time of the third time domain resource is equal to or later than the end time of the first time domain resource, the end time of the third time domain resource is earlier than or equal to the start time of the second time domain resource minus T1, and T1 is greater than or equal to 0;

[0301] And / or, receiving the second indication information sent by the second device on the fourth time domain resource; the starting time of the fourth time domain resource is equal to or later than the ending time of the first time domain resource, and the ending time of the fourth time domain resource is earlier than or equal to the starting time of the second time domain resource minus T2, and T2 is greater than or equal to 0.

[0302] Optionally, the processor is further configured to perform the following operations:

[0303] If the first indication information is not received on the third time domain resource, the second sending parameter is the same as the first sending parameter;

[0304] and / or,

[0305] If the second indication information is not received on the fourth time domain resource, the second reception parameter is the same as the first reception parameter.

[0306] Optionally, before receiving the indication information sent by the second device, the processor is further configured to perform the following operations:

[0307] Acquiring perception data of the target object according to the first perception signal;

[0308] The sensing data is sent to the second device.

[0309] Optionally, the processor is specifically configured to perform the following operations:

[0310] When it is determined that the perception data of the target object changes, the perception data is sent to the second device.

[0311] The apparatus 800 may further include a user interface 880. For different terminal devices, the user interface 880 may also be an interface capable of connecting to required external or internal devices. The connected devices include but are not limited to a keypad, display, speaker, microphone, joystick, etc.

[0312] The bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by the processor 830 and various circuits of the memory represented by the memory 810. 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 820 may be a plurality of components, i.e., a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, such as a wireless channel, a wired channel, an optical cable, and the like. The processor 830 is responsible for managing the bus architecture and general processing, and the memory 810 may store data used by the processor 830 when performing operations.

[0313] Optionally, the processor 830 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), and the processor may also adopt a multi-core architecture.

[0314] The processor 830 is configured to execute all method steps of the terminal device in the embodiment of the present disclosure according to the obtained executable instructions by calling the computer program stored in the memory 810. The processor 830 and the memory 810 can also be arranged physically separately.

[0315] It should be noted here that the device 800 provided by the present disclosure can implement all the method steps implemented by the first device in the above method embodiment, 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.

[0316] FIG9 is a schematic diagram of the structure of another communication sensing device provided by an embodiment of the present disclosure. As shown in FIG9 , the device 900 is applied to a second device and includes: a memory 99 , a transceiver 920 , and a processor 930 .

[0317] The memory 99 is used to store computer programs; the transceiver 920 is used to send and receive data under the control of the processor 930; the processor 930 is used to read the computer program stored in the memory 99 and perform the following operations:

[0318] Acquiring first perception data of the target object;

[0319] Generate indication information according to the first perception data of the target object, where the indication information is used to indicate a second transmission parameter or the second perception data of the target object, the second transmission parameter is used by the first device to transmit a second perception signal on the second time domain resource, and the second perception signal is used to perceive the target object;

[0320] Send indication information to the first device.

[0321] Optionally, the first transmission parameter includes: a first sending parameter and / or a first receiving parameter; the second transmission parameter includes: a second sending parameter and / or a second receiving parameter; the indication information includes: first indication information and / or second indication information;

[0322] If the indication information is first indication information, the first device is a perception signal transmitter, the second device is a perception signal receiver, or the second device is a device other than the perception signal transmitter and the perception signal receiver, the first indication information is used to determine the second sending parameter;

[0323] If the indication information is second indication information, the first device is a perception signal receiving end, the second device is a perception signal sending end, or the second device is a device other than the perception signal sending end and the perception signal receiving end, the second indication information is used to determine the second receiving parameter.

[0324] Optionally, if the second device is a device other than the perception signal transmitting end and the perception signal receiving end, the processor is specifically configured to perform the following operations:

[0325] Receive first perception data of the target object sent by the perception signal receiving end.

[0326] Optionally, the processor is specifically configured to perform the following operations:

[0327] When it is determined that the second perception data of the target object or the change in the second perception data of the target object is greater than or equal to the first threshold, or the change in the second transmission parameter is greater than or equal to the second threshold, indication information is sent to the first device.

[0328] Optionally, the first perception data of the target object is obtained based on a first perception signal transmitted using a first transmission parameter on a first time domain resource, where the first perception signal is used to perceive the target object; the first transmission parameter includes: a first sending parameter and / or a first receiving parameter.

[0329] In FIG9 , the bus architecture may include any number of interconnected buses and bridges, specifically one or more processors represented by processor 930 and various circuits of memory represented by memory 99. 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 920 may be a plurality of components, i.e., a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, such as a wireless channel, a wired channel, an optical cable, and the like. The processor 930 is responsible for managing the bus architecture and general processing, and the memory 99 may store data used by the processor 930 when performing operations.

[0330] Optionally, the processor 930 may be a CPU, an ASIC, an FPGA, or a CPLD, and the processor may also adopt a multi-core architecture.

[0331] It should be noted here that the above-mentioned device 900 provided by the present disclosure can implement all the method steps implemented by the second device in the above-mentioned method embodiment, 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.

[0332] FIG10 is a schematic diagram of the structure of another communication sensing device provided by an embodiment of the present disclosure. As shown in FIG10 , the device 1000 is applied to a first device and includes: a first transmission unit 1010 , an acquisition unit 1020 , and a second transmission unit 1030 .

[0333] The first transmission unit 1010 is configured to transmit a first perception signal on a first time domain resource using a first transmission parameter.

[0334] The acquiring unit 1020 is configured to acquire a second transmission parameter, where the second transmission parameter is related to the first transmission parameter and / or the second transmission parameter is related to the perception data of the target object acquired based on the first perception signal.

[0335] The second transmission unit 1030 is configured to transmit a second perception signal using the second transmission parameter on a second time domain resource, where both the first perception signal and the second perception signal are used to perceive the target object.

[0336] Optionally, the acquiring unit 1020 is specifically configured to receive indication information sent by a second device, where the indication information is used to indicate the second transmission parameter or the perception data of the target object, and acquire the second transmission parameter according to the indication information.

[0337] Optionally, the first transmission parameter includes: a first transmission parameter and / or a first reception parameter, and the second transmission parameter includes: a second transmission parameter and / or a second reception parameter. The indication information includes: first indication information and / or second indication information. If the indication information is the first indication information, the first device is a perception signal transmitter, the second device is a perception signal receiver, or the second device is a device other than the perception signal transmitter and the perception signal receiver, the first indication information is used to determine the second transmission parameter. If the indication information is the second indication information, the first device is a perception signal receiver, the second device is a perception signal transmitter, or the second device is a device other than the perception signal transmitter and the perception signal receiver, the second indication information is used to determine the second reception parameter.

[0338] Optionally, the acquisition unit 1020 is specifically configured to receive first indication information sent by the second device on a third time domain resource. The start time of the third time domain resource is equal to or later than the end time of the first time domain resource, and the end time of the third time domain resource is earlier than or equal to the start time of the second time domain resource minus T1, where T1 is greater than or equal to 0. And / or, receive the second indication information sent by the second device on a fourth time domain resource. The start time of the fourth time domain resource is equal to or later than the end time of the first time domain resource, and the end time of the fourth time domain resource is earlier than or equal to the start time of the second time domain resource minus T2, where T2 is greater than or equal to 0.

[0339] Optionally, if the first indication information is not received on the third time domain resource, the second sending parameter is the same as the first sending parameter. And / or, if the second indication information is not received on the fourth time domain resource, the second receiving parameter is the same as the first receiving parameter.

[0340] Optionally, the acquiring unit 1020 is further configured to acquire the perception data of the target object according to the first perception signal before receiving the indication information sent by the second device. The second transmitting unit 1030 is further configured to send the perception data to the second device.

[0341] Optionally, when it is determined that the perception data of the target object changes, the second transmission unit 1030 is further configured to send the perception data to the second device.

[0342] It should be noted here that the device 1000 provided by the present disclosure can implement all the method steps implemented by the first device in the above method embodiment, 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.

[0343] FIG11 is a schematic diagram of the structure of another communication sensing device provided by an embodiment of the present disclosure. As shown in FIG11 , the device 1100 is applied to a second device and includes: an acquiring unit 1110 , a processing unit 1120 , and a sending unit 1130 .

[0344] The acquisition unit 1110 is used to acquire first perception data of the target object.

[0345] The processing unit 1120 is used to generate indication information based on the first perception data of the target object, where the indication information is used to indicate a second transmission parameter or the second perception data of the target object. The second transmission parameter is used for the first device to transmit a second perception signal on a second time domain resource, and the second perception signal is used to perceive the target object.

[0346] The sending unit 1130 is configured to send the indication information to the first device.

[0347] Optionally, the second transmission parameter includes: a second transmission parameter and / or a second reception parameter. The indication information includes: first indication information and / or second indication information. If the indication information is the first indication information, the first device is a perception signal transmitter, the second device is a perception signal receiver, or the second device is a device other than the perception signal transmitter and the perception signal receiver, the first indication information is used to determine the second transmission parameter. If the indication information is the second indication information, the first device is a perception signal receiver, the second device is a perception signal transmitter, or the second device is a device other than the perception signal transmitter and the perception signal receiver, the second indication information is used to determine the second reception parameter.

[0348] Optionally, if the second device is a device other than the perception signal sending end and the perception signal receiving end, the acquiring unit 1110 is specifically configured to receive the first perception data of the target object sent by the perception signal receiving end.

[0349] The sending unit 1130 is specifically used to send the indication information to the first device when it is determined that the second perception data of the target object or the change in the second perception data of the target object is greater than or equal to the first threshold, or the change in the second transmission parameter is greater than or equal to the second threshold.

[0350] Optionally, the first perception data of the target object is obtained based on a first perception signal transmitted on a first time domain resource using a first transmission parameter, where the first perception signal is used to perceive the target object. The first transmission parameter includes: a first sending parameter and / or a first receiving parameter.

[0351] It should be noted here that the above-mentioned device 1100 provided by the present disclosure can implement all the method steps implemented by the second device in the above-mentioned method embodiment, 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.

[0352] 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.

[0353] 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 prior art or all or part of the technical solution can be embodied in the form of a software product, and 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 execute all or part of the steps of the various embodiments 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.

[0354] An embodiment of the present disclosure further provides a non-transitory readable storage medium, which stores a computer program. The computer program is used to enable a processor to execute the method steps of the first device in the above method embodiment.

[0355] An embodiment of the present disclosure further provides a non-transitory readable storage medium, which stores a computer program. The computer program is used to enable a processor to execute the method steps of the second device in the above method embodiment.

[0356] The non-transitory 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.

[0357] The embodiment of the present disclosure further provides a computer program product, including a computer program, which implements the method steps of the first device in the above method embodiment when the computer program is executed by a processor.

[0358] The embodiment of the present disclosure further provides a computer program product, including a computer program, which implements the method steps of the second device in the above method embodiment when the computer program is executed by a processor.

[0359] The embodiment of the present disclosure further provides a communication system, which may include, for example, the aforementioned first device and second device, for implementing the aforementioned method embodiment.

[0360] 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.

[0361] 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.

[0362] 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.

[0363] 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.

[0364] 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 communication perception method, characterized in that: The method is applied to a first device; the method comprises: Transmitting a first perception signal using a first transmission parameter on a first time domain resource; Acquire a second transmission parameter, where the second transmission parameter is related to the first transmission parameter, and / or the second transmission parameter is related to perception data of the target object acquired based on the first perception signal; A second perception signal is transmitted on a second time domain resource using the second transmission parameter, and both the first perception signal and the second perception signal are used to perceive the target object.

2. The method according to claim 1, characterized in that The obtaining of the second transmission parameter comprises: receiving indication information sent by a second device, where the indication information is used to indicate the second transmission parameter or the perception data of the target object; The second transmission parameter is acquired according to the indication information.

3. The method according to claim 2, characterized in that The first transmission parameter includes: a first transmission parameter and / or a first reception parameter, the second transmission parameter includes: a second transmission parameter and / or a second reception parameter; the indication information includes: first indication information and / or second indication information; If the indication information is the first indication information, the first device is a perception signal sending end, and the second device is a perception signal receiving end, or the second device is a device other than the perception signal sending end and the perception signal receiving end, the first indication information is used to determine the second sending parameter; If the indication information is the second indication information, the first device is a perception signal receiving end, the second device is a perception signal sending end, or the second device is a device other than the perception signal sending end and the perception signal receiving end, the second indication information is used to determine the second receiving parameter.

4. The method according to claim 3, characterized in that The receiving the indication information sent by the second device includes: receiving first indication information sent by the second device on a third time domain resource; the start time of the third time domain resource is equal to or later than the end time of the first time domain resource, the end time of the third time domain resource is earlier than or equal to the start time of the second time domain resource minus T1, and T1 is greater than or equal to 0; And / or, receiving the second indication information sent by the second device on a fourth time domain resource; the starting time of the fourth time domain resource is equal to or later than the ending time of the first time domain resource, and the ending time of the fourth time domain resource is earlier than or equal to the starting time of the second time domain resource minus T2, and T2 is greater than or equal to 0.

5. The method according to claim 4, characterized in that The method further comprises: If the first indication information is not received on the third time domain resource, the second sending parameter is the same as the first sending parameter; and / or, If the second indication information is not received on the fourth time domain resource, the second receiving parameter is the same as the first receiving parameter.

6. The method according to any one of claims 2 to 5, characterized in that: Before receiving the indication information sent by the second device, the method further includes: Acquire perception data of the target object according to the first perception signal; The sensing data is sent to the second device.

7. The method according to claim 6, characterized in that The sending the sensing data to the second device includes: When it is determined that the perception data of the target object changes, the perception data is sent to the second device.

8. A communication perception method, characterized in that: The method is applied to a second device; the method comprises: Acquire first perception data of the target object; generating indication information according to the first perception data of the target object, where the indication information is used to indicate a second transmission parameter or second perception data of the target object, where the second transmission parameter is used for the first device to transmit a second perception signal on a second time domain resource, where the second perception signal is used to perceive the target object; Send the indication information to the first device.

9. The method according to claim 8, characterized in that The second transmission parameter includes: a second sending parameter and / or a second receiving parameter; the indication information includes: first indication information and / or second indication information; If the indication information is the first indication information, the first device is a perception signal sending end, and the second device is a perception signal receiving end, or the second device is a device other than the perception signal sending end and the perception signal receiving end, the first indication information is used to determine the second sending parameter; If the indication information is the second indication information, the first device is a perception signal receiving end, the second device is a perception signal sending end, or the second device is a device other than the perception signal sending end and the perception signal receiving end, the second indication information is used to determine the second receiving parameter.

10. The method according to claim 9, characterized in that If the second device is a device other than the perception signal sending end and the perception signal receiving end, the acquiring first perception data of the target object includes: Receive the first perception data of the target object sent by the perception signal receiving end.

11. The method according to any one of claims 8 to 10, characterized in that: The sending the indication information to the first device includes: When it is determined that the second perception data of the target object or a change in the second perception data of the target object is greater than or equal to a first threshold, or a change in the second transmission parameter is greater than or equal to a second threshold, the indication information is sent to the first device.

12. The method according to claim 8, characterized in that The first perception data of the target object is obtained based on a first perception signal transmitted using a first transmission parameter on a first time domain resource, where the first perception signal is used to perceive the target object; The first transmission parameter includes: a first sending parameter and / or a first receiving parameter.

13. A communication sensing device, characterized in that: The device is applied to a first device; and comprises: A first transmission unit, configured to transmit a first perception signal using a first transmission parameter on a first time domain resource; an acquiring unit, configured to acquire a second transmission parameter, where the second transmission parameter is related to the first transmission parameter, and / or the second transmission parameter is related to perception data of the target object acquired based on the first perception signal; A second transmission unit is configured to transmit a second perception signal using the second transmission parameter on a second time domain resource. The first perception signal and the second perception signal are both used to perceive the target object.

14. A communication sensing device, characterized in that: The device is applied to a second device; comprising: An acquisition unit, used to acquire first perception data of a target object; a processing unit, configured to generate indication information according to the first perception data of the target object, where the indication information is used to indicate a second transmission parameter or second perception data of the target object, where the second transmission parameter is used for the first device to transmit a second perception signal on a second time domain resource, where the second perception signal is used to perceive the target object; A sending unit is used to send the indication information to the first device.

15. A communication sensing device, characterized in that: The device is applied to a first device, and includes a memory, a transceiver, and a processor: The memory is used to store a computer program; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations: Transmitting a first perception signal using a first transmission parameter on a first time domain resource; Acquire a second transmission parameter, where the second transmission parameter is related to the first transmission parameter, and / or the second transmission parameter is related to perception data of the target object acquired based on the first perception signal; A second perception signal is transmitted on a second time domain resource using the second transmission parameter, and both the first perception signal and the second perception signal are used to perceive the target object.

16. The device according to claim 15, characterized in that The processor is specifically configured to perform the following operations: receiving indication information sent by a second device, where the indication information is used to indicate the second transmission parameter or the perception data of the target object; The second transmission parameter is acquired according to the indication information.

17. The device according to claim 16, characterized in that The first transmission parameter includes: a first transmission parameter and / or a first reception parameter, the second transmission parameter includes: a second transmission parameter and / or a second reception parameter; the indication information includes: first indication information and / or second indication information; If the indication information is the first indication information, the first device is a perception signal sending end, and the second device is a perception signal receiving end, or the second device is a device other than the perception signal sending end and the perception signal receiving end, the first indication information is used to determine the second sending parameter; If the indication information is the second indication information, the first device is a perception signal receiving end, the second device is a perception signal sending end, or the second device is a device other than the perception signal sending end and the perception signal receiving end, the second indication information is used to determine the second receiving parameter.

18. The device according to claim 17, characterized in that The processor is specifically configured to perform the following operations: receiving first indication information sent by the second device on a third time domain resource; the start time of the third time domain resource is equal to or later than the end time of the first time domain resource, the end time of the third time domain resource is earlier than or equal to the start time of the second time domain resource minus T1, and T1 is greater than or equal to 0; and / or, receiving the second indication information sent by the second device on a fourth time domain resource; the start time of the fourth time domain resource is equal to or later than the end time of the first time domain resource, the end time of the fourth time domain resource The end time is earlier than or equal to the start time of the second time domain resource minus T2, and T2 is greater than or equal to 0.

19. The device according to claim 18, characterized in that The processor is further configured to perform the following operations: If the first indication information is not received on the third time domain resource, the second sending parameter is the same as the first sending parameter; and / or, If the second indication information is not received on the fourth time domain resource, the second receiving parameter is the same as the first receiving parameter.

20. The device according to claims 16-19, characterized in that Before receiving the indication information sent by the second device, the processor is further configured to perform the following operations: Acquire perception data of the target object according to the first perception signal; The sensing data is sent to the second device.

21. The device according to claim 20, characterized in that The processor is specifically configured to perform the following operations: When it is determined that the perception data of the target object changes, the perception data is sent to the second device.

22. A communication sensing device, characterized in that: The device is applied to a second device, and includes a memory, a transceiver, and a processor: The memory is used to store a computer program; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations: Acquire first perception data of the target object; generating indication information according to the first perception data of the target object, where the indication information is used to indicate a second transmission parameter or second perception data of the target object, where the second transmission parameter is used for the first device to transmit a second perception signal on a second time domain resource, where the second perception signal is used to perceive the target object; Send the indication information to the first device.

23. A non-transitory readable storage medium, characterized in that: The non-transitory readable storage medium stores a computer program, and the computer program is used to enable a processor to execute the method according to any one of claims 1 to 7; or, to execute the method according to any one of claims 8 to 12.

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