Sensing method and apparatus, device, and storage medium

Abstract

The present application relates to the field of sensing, and discloses a sensing method and apparatus, a device, and a storage medium. The method is executed by a terminal device. The method comprises: on the basis of a difference between first sensing information and second sensing information, determining a first sensing result, the first sensing information corresponding to a first sensing resource, the second sensing information corresponding to a second sensing resource, and the first sensing resource being different from the second sensing resource. By means of removing the influence of clutter information in the environment, the accuracy of a sensing result can be improved, and the efficiency and success rate of a sensing service can be improved.

Description

Perception method, device, equipment and storage medium Technical Field

[0001] The present application relates to the field of perception, and in particular to a perception method, apparatus, device and storage medium. Background Art

[0002] In natural environments, clutter exists that interferes with target echoes. This clutter can affect the measurement of sensing signals, leading to inaccurate sensing results. Therefore, a sensing method that avoids the influence of clutter is needed to improve the accuracy of sensing results.

[0003] Summary of the Invention

[0004] The present application provides a sensing method, apparatus, device, and storage medium. The technical solution is as follows:

[0005] According to one aspect of an embodiment of the present application, a sensing method is provided, which is performed by a first node and includes:

[0006] determining a first perception result according to a difference between the first perception information and the second perception information;

[0007] The first perception information corresponds to a first perception resource, the second perception information corresponds to a second perception resource, and the first perception resource is different from the second perception resource.

[0008] According to one aspect of an embodiment of the present application, a sensing method is provided, where the method is performed by a second node and includes:

[0009] receiving a first perception result, where the first perception result is determined based on a difference between the first perception information and the second perception information;

[0010] The first perception information corresponds to a first perception resource, the second perception information corresponds to a second perception resource, and the first perception resource is different from the second perception resource.

[0011] According to one aspect of an embodiment of the present application, a sensing device is provided, the device comprising:

[0012] A processing module is used to determine a first perception result based on the difference between the first perception information and the second perception information; wherein, the first perception information corresponds to a first perception resource, the second perception information corresponds to a second perception resource, and the first perception resource is different from the second perception resource.

[0013] According to one aspect of an embodiment of the present application, a sensing device is provided, the device comprising:

[0014] A receiving module is used to receive a first perception result, which is determined based on the difference between the first perception information and the second perception information; wherein the first perception information corresponds to a first perception resource, the second perception information corresponds to a second perception resource, and the first perception resource is different from the second perception resource.

[0015] According to one aspect of the present application, a perception device is provided, wherein the communication device includes: a processor; a transceiver connected to the processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to load and execute the executable instructions to implement the perception method as described above.

[0016] According to one aspect of the present application, a computer-readable storage medium is provided, in which a computer program is stored. The computer program is configured to be executed by a processor to implement the above-mentioned perception method.

[0017] According to one aspect of the present application, a chip is provided, which includes a programmable logic circuit and / or program instructions, and when the chip is running, it is used to implement the above-mentioned perception method.

[0018] According to one aspect of the present application, a computer program product is provided, which includes computer instructions stored in a computer-readable storage medium. A processor reads and executes the computer instructions from the computer-readable storage medium to implement the above-mentioned perception method.

[0019] The technical solutions provided in the embodiments of the present application can bring the following beneficial effects:

[0020] The system supports obtaining a first perception result based on the difference between the first and second perception information. Because the influence of the common components between the first and second perception information, including environmental clutter, is removed when determining the first perception result, the impact of environmental clutter is also removed, which helps improve the accuracy of the perception result and enhance the efficiency and success rate of perception services. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] FIG1 shows a schematic diagram of a wireless sensing mode provided by an exemplary embodiment of the present application;

[0023] FIG2 shows a schematic diagram of a synaesthesia scenario provided by an exemplary embodiment of the present application;

[0024] FIG3 shows a schematic diagram of a communication system architecture provided by an exemplary embodiment of the present application;

[0025] FIG4 shows a schematic diagram of a communication system architecture provided by an exemplary embodiment of the present application;

[0026] FIG5 is a schematic diagram showing a flow chart of a sensing method provided by an exemplary embodiment of the present application;

[0027] FIG6 shows a schematic flow chart of a sensing method provided by an exemplary embodiment of the present application;

[0028] FIG7 shows a schematic flow chart of a sensing method provided by an exemplary embodiment of the present application;

[0029] FIG8 is a schematic diagram showing a sensing method provided by an exemplary embodiment of the present application;

[0030] FIG9 shows a schematic diagram of a sensing method provided by an exemplary embodiment of the present application;

[0031] FIG10 shows a schematic structural diagram of a sensing device provided by an exemplary embodiment of the present application;

[0032] FIG11 shows a schematic structural diagram of a sensing device provided by an exemplary embodiment of the present application;

[0033] FIG12 shows a structural block diagram of a sensing device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0034] To make the objectives, technical solutions, and advantages of the present application more clear, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings. Exemplary embodiments will be described in detail herein, with examples shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Instead, they are merely examples of devices and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0035] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms "a," "an," "the," and "the" used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.

[0036] It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to"

[0037] It should be understood that in various embodiments of the present application, the serial numbers of the above processes do not mean to limit the order of execution, and the order of execution of each process should be determined by its function and internal logic.

[0038] First, the communication technology involved in the embodiments of the present application is introduced. The following related technologies can be used as optional solutions and can be combined with the technical solutions of the embodiments of the present application in any way, and all fall within the protection scope of the embodiments of the present application.

[0039] Wireless communication and sensing are two key applications of modern radio frequency technology. Sensing utilizes direct, reflected, and scattered radio wave signals to obtain information about the environment and / or target objects within it (such as their attributes and status). This allows for positioning, ranging, speed measurement, imaging, detection, identification, and environmental reconstruction, enabling the perceptual exploration of the physical world. Traditionally, sensing and wireless communication have existed independently, and this separation wastes wireless spectrum and hardware resources. As the wireless communication spectrum evolves toward millimeter waves, terahertz frequencies, and visible light, the spectrum for wireless communication and sensing increasingly overlaps. Integrating these two functions, allowing the same signal to simultaneously perform both communication and sensing, can effectively improve spectrum utilization. Furthermore, wireless communication and wireless sensing share increasing similarities in system design, signal processing, and data processing. Using the same device to implement both communication and sensing functions can also help reduce equipment costs.

[0040] Integrated communication and perception technology combines wireless communication and perception. This technology can leverage wireless resources to implement perception. It can leverage widely deployed cellular networks to enable perception services over a wider range. It can achieve higher perception accuracy by combining base stations and multiple user equipment (UEs). Furthermore, it can reuse wireless communication hardware modules to implement perception functions, reducing costs. In short, integrated communication and perception technology will enable future wireless communication systems to have perception capabilities, providing a foundation for the development of smart transportation, smart cities, smart factories, drones, and other services.

[0041] The future network is expected to be a fusion of mobile communication networks, perception networks, and computing power networks. In a narrow sense, perception networks refer to systems with capabilities such as target positioning (including distance measurement, speed measurement, and angle measurement), target imaging, target detection, target tracking, and target recognition. In a broad sense, perception networks refer to systems that understand the attributes and status of all services, networks, users, and UEs, as well as environmental objects.

[0042] From the perspective of whether the sensing node emits electromagnetic waves, wireless sensing can be divided into passive sensing and active sensing. Passive sensing: The sensing node (such as a network device or terminal device) senses by acquiring electromagnetic waves (such as terahertz waves) emitted by the target object, or the sensing node senses by reflecting electromagnetic waves from sources other than the sensing node and the target object, such as passive imaging sensing technology. Active sensing: The sensing sending node (such as a network device or terminal device) sends electromagnetic waves, which are reflected by the target object, and the sensing receiving node receives the echo for sensing, such as active radar sensing technology that transmits detection signals. Among them, the sensing receiving node is not necessarily the same as the sensing sending node, that is, multiple nodes of the sensing party can achieve active sensing through some form of joint processing.

[0043] From the perspective of perception needs, wireless perception can be categorized into per-area scenarios, which primarily focus on sensing areas, and per-object scenarios, which primarily focus on sensing targets. Perception needs are ubiquitous across numerous industries. These scenarios require efficient real-time perception of roads, vehicles, and people within factories, roads, low altitudes, cities, and even larger spatial and temporal ranges. These scenarios are known as per-area scenarios. Per-object scenarios utilize perceptual technology to continuously sense and track objects for dynamic monitoring of their status.

[0044] From the perspective of whether the sensing target has the ability to receive or transmit signals, wireless sensing can be divided into device-based and device-free scenarios. For example, in flight path management, the sensing target is a drone, which has the ability to receive or transmit signals. In base station and terminal beam management, the sensing target is the terminal, which also has the ability to transmit or receive signals. Therefore, flight path management and base station and terminal beam management are device-based scenarios. For another example, in weather monitoring, the sensing target is rain, which does not have the ability to receive or transmit signals. In respiratory monitoring, the sensing target is a person, which also does not have the ability to transmit or receive signals. Therefore, weather monitoring and respiratory monitoring are device-free scenarios.

[0045] From the perspective of perception applications, perception can be classified into the following categories:

[0046] Outdoor / wide-area / local-area applications: including smart cities (e.g., weather monitoring), smart transportation / high-speed rail (e.g., high-precision map construction, road supervision, intrusion detection), and low-altitude applications (e.g., drone monitoring and obstacle avoidance, flight intrusion detection, flight path management).

[0047] Indoor / local applications: including smart home and health management (such as respiratory monitoring, intrusion detection, gesture / posture recognition, motion monitoring, and mobile trajectory tracking), smart factories (such as intrusion detection, material detection, and object defect detection), etc.

[0048] It can be understood that the above only provides some exemplary classifications of perception applications, and the application scope of perception is not limited to the above examples.

[0049] For example, in smart transportation scenarios, it supports the perception of road environments, effectively realizes the construction of high-precision maps, and provides beyond-line-of-sight assistance for the safe operation of autonomous vehicles; it supports the all-round, all-weather, and uninterrupted detection of the movement trajectory and speed of moving vehicles, and uploads the perception information to the processing center, comprehensively improving the intelligent perception capability of highway operation status, and providing data support for road supervision; it supports the perception of railway track environment and realizes all-weather detection of foreign object intrusion around high-speed railways.

[0050] For example, in smart low-altitude scenarios, it supports all-round and multi-angle perception of the airspace and provides the perception results to drones, which can provide redundancy for obstacle avoidance warning and improve the success rate of drone obstacle avoidance; it supports full airspace perception, positioning and tracking of drones that intrude into the regulatory range, thereby realizing drone intrusion monitoring for fixed areas.

[0051] For example, in smart life scenarios, it supports breathing monitoring, fitness monitoring, gesture / posture recognition, etc. by sensing changes in wireless channels; it supports measuring signal link attenuation in communication links, and then using the relationship between signal link attenuation and weather indicators to analyze and obtain corresponding weather indicators for weather monitoring.

[0052] For example, in a smart network scenario, it supports obtaining information such as the density and location of idle terminal devices in a cell, assisting in energy saving of base stations in the cell and optimizing base station resource scheduling.

[0053] For example, in smart transportation scenarios, it supports continuous tracking of vehicles and real-time dynamic monitoring of vehicle status. For vehicles with wireless communication capabilities, vehicle perception accuracy can also be improved through vehicle collaborative perception.

[0054] For example, in smart low-altitude scenarios, it supports locating and tracking drones that intrude into the regulatory area, and then taking action to drive away "illegally flying" drones. For networked drones with wireless communication capabilities, it can also provide auxiliary flight services by collaboratively sensing and identifying the flight status of drones, roadblocks in the flight route, etc.

[0055] For example, in smart life scenarios, by carrying a terminal device with communication capabilities, based on the collaboration between the base station and the terminal device, or the spontaneous transmission and reception of the terminal device, or the collaboration between terminal devices, breathing monitoring, fitness monitoring, gesture / posture recognition, etc. of a specific human body can be performed to achieve accurate real-time dynamic monitoring.

[0056] For example, in smart network scenarios, it supports auxiliary improvement of beam management and channel estimation accuracy, improves the timeliness of beam tracking of terminal devices, improves channel estimation accuracy and reduces feedback overhead.

[0057] The main wireless sensing modes of synaesthesia integration technology include 8 types, as shown in Figure 1:

[0058] 1) Base station autonomous sensing: The base station sends a sensing signal and receives a reflected signal;

[0059] 2) UE autonomous sensing: UE sends sensing signals and receives reflected signals;

[0060] 3) Base station cooperative sensing: Base station A sends a sensing signal, and base station B receives the reflected signal;

[0061] 4) UE cooperative sensing: UE A sends a sensing signal, and UE B receives the reflected signal;

[0062] 5) Base station-UE collaborative sensing: The base station sends a sensing signal, and the UE receives the reflected signal;

[0063] 6) UE-base station cooperative sensing: The UE sends a sensing signal and the base station receives the reflected signal;

[0064] 7) The sensing target is a sensing signal sending node, that is, the sensing target sends a sensing signal;

[0065] 8) The sensing target is a sensing signal receiving node, that is, the sensing target receives the sensing signal. Optionally, the sensing target also feeds back sensing information.

[0066] In the embodiment of the present application, the sensing mode (Sensing Mode) may also be referred to as the sensing method (Sensing Method).

[0067] In the embodiment of the present application, a sensing signal refers to a signal used to obtain a sensing result, and can also be understood as a signal used to perform a sensing service. A sensing signal can be a signal dedicated to a sensing service or a general signal. A sensing signal can be a data signal or a reference signal, such as a positioning reference signal (PRS), a demodulation reference signal (DMRS), a sounding reference signal (SRS), an enhanced-SRS (E-SRS), a carrier phase reference signal (CPRS), a channel state information reference signal (CSI-RS), and the like. Not all reference signals are listed here. A sensing signal can also be referred to as a sensing measurement signal or a sensing reference signal (Sensing Reference Signal, Sensing RS). In the embodiment of the present application, "sensing measurement signal", "sensing reference signal" and "sensing signal" are often used interchangeably, but those skilled in the art can understand their meanings, and "sensing measurement signal" and "sensing reference signal" can be replaced with "sensing signal".

[0068] The sending and receiving nodes of sensing signals can be collectively referred to as sensing nodes. In the eight sensing modes shown in Figure 1, there is only a single sensing node or a pair of sensing nodes. However, in wireless communication systems, there are a large number of UEs (such as mobile phones and IoT devices). When multiple sensing nodes (i.e., base stations, mobile phones, IoT devices, etc. that send and / or receive sensing signals) are located around a sensing target, the joint participation of multiple sensing nodes in sensing can improve the accuracy of sensing, meet the needs of more complex sensing services, and enable richer sensing services. When there are multiple sensing nodes in a communication system, a sensing control node may be present to control and manage the entire sensing service to improve efficiency. This sensing control node can be a base station, a UE, or a core network element.

[0069] In some embodiments, the perception control node is configured to perform at least one of the following: managing perception services, sending configuration information to a perception node, and sending configuration information to a perception target. The configuration information sent by the perception control node is configured to perform at least one of the following: configuring the sending of perception signals, configuring the receiving of perception signals, configuring a perception node to report measurement results, configuring a perception node to report perception results, configuring a perception target to report measurement results, configuring a perception node to report perception results, configuring perception measurement information to a perception node, and configuring perception measurement information to a perception target.

[0070] Optionally, the perception control node is a separate entity distinct from the perception node and the perception target. Optionally, the perception control node and the sending node of the perception signal are the same entity. Optionally, the perception control node and the receiving node of the perception signal are the same entity. Optionally, the perception control node and the perception target are the same entity.

[0071] Optionally, the sending node of the perception signal and the receiving node of the perception signal may be the same entity, refer to mode 1) and mode 2 shown in FIG1 . Optionally, the sending node of the perception signal and the receiving node of the perception signal may be different entities.

[0072] Figure 2 shows a schematic diagram of a synaesthesia scenario involving multiple sensing nodes. UE 101 or base station 102 can function as a sensing control node, controlling and managing sensing services via communication signals. UEs 103, 104, and 105 are sensing nodes, which transmit sensing signals to sensing target 106 to perform sensing services.

[0073] In natural environments, clutter exists that interferes with target echoes. This clutter can affect the measurement of sensing signals, leading to inaccurate sensing results. Therefore, a sensing method that avoids the influence of clutter is needed to improve the accuracy of sensing results.

[0074] Figure 3 shows a schematic diagram of the architecture of a communication system 300 provided by an exemplary embodiment of the present application. As shown in Figure 3, the communication system 300 may include at least one of the following: a user equipment (UE) 320, an access network device 340, a core network (CN) 360, and a data network (not shown). The terminal equipment 320, access network device 340, and core network 360 can be logically divided into two parts: a user plane and a control plane. The control plane is responsible for mobile network management, and the user plane is responsible for transmitting service data.

[0075] Terminal device 320 is the entry point for mobile users to interact with the network. It provides basic computing and storage capabilities, displays service windows to users, and accepts user input. Terminal device 320 uses certain air interface technologies to establish signal and data connections with access network equipment 340, thereby transmitting control signals and service data to the mobile network. Terminal device 320 may also be referred to as user equipment, access terminal, subscriber unit, subscriber station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent, or user device. The terminal device 320 can be deployed on land, on water, and in the air, and includes but is not limited to: handheld devices, wearable devices, vehicle-mounted devices, and Internet of Things devices, such as: electronic tags, mobile phones, tablet computers, e-book readers, laptop computers, desktop computers, televisions, game consoles, stations (STA), mobile Internet devices (MID), augmented reality (AR) terminals, virtual reality (VR) terminals, and mixed reality (MR) terminals, wearable devices, handles, controllers, wireless terminals in industrial control (Industrial Control), wireless terminals in self-driving (Self Driving), wireless terminals in remote medical care (Remote Medical), wireless terminals in smart grids (Smart Grid), wireless terminals in transportation safety (Transportation Safety), wireless terminals in smart cities (Smart City), wireless terminals in smart homes (Smart Home), wireless terminals in remote medical surgery (Remote Medical Surgery), cellular phones, cordless phones, Session Initiation Protocol (SIP), The terminal devices 320 are usually multiple, and one or more terminal devices 320 can be distributed in each cell managed by the access network device 340. In the embodiments of the present application, "terminal device" and "UE" are often used interchangeably, but those skilled in the art will understand their meanings.

[0076] The multiple terminal devices 320 can communicate with each other through a direct communication interface, such as a PC5 interface. In some embodiments, the communication between the multiple terminal devices 320 is called sideline communication.

[0077] The access network is used to implement access-related functions, and can provide network access functions for authorized users within the coverage area of ​​the cell, and can use transmission tunnels of different qualities to transmit user data according to the user's level, business requirements, etc. The access network can manage its own resources, make rational use of them, provide access services to the terminal device 320 on demand, and forward control signals and user data between the terminal device 320 and the core network 360. The access network device 340 is a device deployed in the access network to provide wireless communication functions for the terminal device 320, and can include a radio access network (RAN) device and / or an AN device. RAN devices are mainly wireless network devices in the 3GPP network, and AN devices can be access network devices that are not defined by 3GPP. In systems that use different wireless access technologies, the name of the "access network device" may be different. The access network device 340 includes, but is not limited to, an evolved Node B (eNB), a radio network controller (RNC), a node B (NB), a base station controller (BSC), a base transceiver station (BTS), a home base station (e.g., a home evolved Node B or a home node B, HNB), a baseband unit (BBU), an access point (AP) in a wireless fidelity (Wi-Fi) system, a wireless relay node, a wireless backhaul node, a transmission point (TP) or a transmission and reception point (TRP), etc. It can also be a next generation node B (Next Generation Node B) in a fifth generation (5G) mobile communication system. The term "access network device" refers to a base station (B, gNB) or a TRP or TP, or one or a group of antenna panels (including multiple antenna panels) of a base station in a 5G system, or a network node constituting a gNB or transmission point, such as a baseband unit (BBU) or a distributed unit (DU), or a base station in a Beyond Fifth Generation (B5G) or sixth generation (6G) mobile communication system, or a reader / writer in a radio frequency identification (RFID) system. In some embodiments, the access network device may also be referred to as a network device.

[0078] The core network 360 is responsible for maintaining mobile network subscription data, managing mobile network elements, and providing functions such as session management, mobility management, policy management, and security authentication for terminal device 320. For example, when terminal device 320 is attached, it provides network access authentication for terminal device 320; when terminal device 320 has a service request, it allocates network resources for terminal device 320; when terminal device 320 moves, it updates network resources for terminal device 320; when terminal device 320 is idle, it provides a fast recovery mechanism for terminal device 320; when terminal device 320 is detached, it releases network resources for terminal device 320; when terminal device 320 has service data, it provides data routing functions for terminal device 320, such as forwarding uplink data to the data network (DN); or receiving downlink data from the data network for terminal device 320 and forwarding it to access network device 340, thereby sending the downlink data to terminal device 320. The core network 360 can be deployed in a private network or a public network. The network elements deployed in the core network are called core network elements. Core network elements can also be considered functional entities. One or more core network elements can be deployed on a physical device.

[0079] Data networks are used to provide business services to users. Data networks can be private networks, such as local area networks (LANs); external networks not controlled by the operator, such as the Internet; or proprietary networks jointly deployed by operators, such as the IP Multimedia Core Network Subsystem (IMS). Terminal device 320 can access the data network through established Protocol Data Unit (PDU) sessions.

[0080] In some embodiments, there are two communication scenarios in the communication system 300: uplink communication and downlink communication. Uplink communication refers to sending signals in the direction of the terminal device 320, access network device 340, core network 360, and data network; downlink communication refers to sending signals in the direction of the data network, core network 360, access network device 340, and terminal device 320.

[0081] Figure 4 shows the detailed architecture based on Figure 3. This architecture includes the UE, (R)AN, core network elements, and DN. Theoretically, this architecture can be divided into two parts: the user plane and the control plane. The control plane is responsible for mobile network management, while the user plane is responsible for service data transmission. In Figure 4, the NG2 reference point is located between the (R)AN control plane and the core network control plane, the NG3 reference point is located between the (R)AN user plane and the core network user plane, and the NG6 reference point is located between the core network user plane and the data network.

[0082] The core network user plane includes the following core network elements: User Plane Function (UPF).

[0083] The core network control plane includes at least one of the following core network elements: Location Management Function (LMF), Sensing Function (SF), Authentication Server Function (AUSF), Access and Mobility Management Function (AMF), Session Management Function (SMF), Network Slice Selection Function (NSSF), Network Exposure Function (NEF), Network Repository Function (NRF), Unified Data Management (UDM), Policy Control Function (PCF), and Application Function (AF).

[0084] Among them, UPF is responsible for forwarding and receiving user data and also has domain name query related functions. AMF is mainly responsible for mobility management in mobile networks, such as user location update, user registration network, user switching, etc. SMF is mainly responsible for session management in mobile networks, such as session establishment, modification, and release. PCF mainly supports providing a unified policy framework to control network behavior, provides policy rules to the control layer network functions, and is responsible for obtaining user subscription information related to policy decisions. AUSF is used to perform terminal security authentication. NEF is mainly used to support the opening of capabilities and events. NRF is used to provide storage and selection functions of network function entity information to other network elements. UDM is used to store user data, such as subscription data, authentication / authorization data, etc. AF interacts with the core network to provide application layer services, such as providing application layer data routing, providing access network capability exposure functions, interacting with the policy framework to provide policy control, interacting with the IMS, etc. LMF is responsible for UE location services, such as location calculation, location management, positioning, etc.

[0085] The SF is used to provide perception services to UEs and / or access network devices to support the perception function of the cellular network. For example, when an application sends a perception request for a perception target to the core network, the core network selects an appropriate access network device or perception node through the SF or AMF, triggers perception-related wireless measurements, and obtains the perception results based on the measured perception information.

[0086] In some embodiments, an SF can be set up in the core network to implement the perception function, or the LMF in the core network can implement the perception function without adding a new SF. In other words, the perception service involved in the embodiments of the present application can be implemented by the SF or by the LMF. In other words, the embodiments of the present application support the setting of an LMF dedicated to positioning services and an SF dedicated to perception services, and also support the assignment of positioning and perception functions to the LMF.

[0087] In the architecture shown in Figure 4, the N1 interface is the reference point between the UE and the AMF; the N2 interface is the reference point between the RAN and the AMF, used for sending Non-Access Stratum (NAS) messages, etc.; the N3 interface is the reference point between the RAN and the UPF, used for transmitting user plane data, etc.; the N4 interface is the reference point between the SMF and the UPF, used for transmitting information such as tunnel identification information of the N3 connection, data buffer indication information, and downlink data notification messages; the N6 interface is the reference point between the UPF and the DN, used for transmitting user plane data, etc. The NG interface is the interface between the RAN and the CN.

[0088] It should be noted that the names of the above-mentioned core network network elements (such as SF, LMF, SMF, AF, UPF, etc.) are only examples and do not limit the functions of the network elements themselves. In the networks in the relevant technology and other networks in the future, the above-mentioned network elements may also have other names, and the embodiments of the present application do not specifically limit this. For example, in B5G and 6G networks, some or all of the above-mentioned network elements may use the terminology in the 5G network, or may use other names, etc., which are uniformly explained here and will not be repeated below. In addition, it should be understood that in some embodiments of the present application, the names of the messages (or signaling) transmitted between the terminal devices, access network devices, and core network elements involved are only examples, and do not constitute any limitation on the functions of the messages (or signaling) themselves. Each message (or signaling) may also use other names.

[0089] FIG5 shows a flow chart of a sensing method provided by an exemplary embodiment of the present application. The method is executed by a first node and includes at least the following steps:

[0090] Step 510: Determine a first perception result based on the difference between the first perception information and the second perception information.

[0091] In some embodiments, the first node is a receiving node of the perception signal, or the first node is a perception control node.

[0092] In some embodiments, the first node can be a terminal device as shown in Figures 1 to 4, or an access network device (such as a base station) as shown in Figures 1 to 4, or a core network element (such as SF, LMF) as shown in Figures 3 and 4.

[0093] In some embodiments, the first perception information corresponds to a first perception resource, the second perception information corresponds to a second perception resource, and the first perception resource is different from the second perception resource.

[0094] In some embodiments, the perceived resources include at least one of the following: time domain resources, frequency domain resources, and spatial domain resources. Exemplarily, the first perceived resources include at least one of the following: first time domain resources, first frequency domain resources, and first spatial domain resources. Exemplarily, the second perceived resources include at least one of the following: second time domain resources, second frequency domain resources, and second spatial domain resources. Optionally, the perceived resources may also include code domain resources, and the code domain resources included in the first perceived resources and the second perceived resources may be the same or different.

[0095] Optionally, the first time domain resource is different from the second time domain resource, the first frequency domain resource is the same as or different from the second frequency domain resource, and the first spatial domain resource is the same as or different from the second spatial domain resource. Optionally, the first frequency domain resource is different from the second frequency domain resource, the first time domain resource is the same as or different from the second time domain resource, and the first spatial domain resource is the same as or different from the second spatial domain resource. Optionally, the first spatial domain resource is different from the second spatial domain resource, the first time domain resource is the same as or different from the second time domain resource, and the first frequency domain resource is the same as or different from the second frequency domain resource.

[0096] In some embodiments, the first perception information is determined based on a measurement result of the first signal on a first perception resource, which can also be understood as the first perception information including the measurement result of the first signal on the first perception resource. The second perception information is determined based on a measurement result of the first signal on a second perception resource, which can also be understood as the second perception information including the measurement result of the first signal on the second perception resource.

[0097] The difference between the first and second perception information can also be understood as the information that differs between the first and second perception information. Therefore, the first perception result can be considered to be determined based on the difference between the measurement result of the first signal on the first perception resource and the measurement result of the first signal on the second perception resource. Alternatively, the first perception result can be understood as being determined based on the different transmission conditions of the first signal within the first and second perception resources. By analyzing the different parts of the measurement results of the first signal on the first and second perception resources, information about the perception target can be obtained, i.e., the first perception result. The first perception result is the perception result corresponding to the perception target.

[0098] The common portions between the first and second perception information reflect environmental information, including clutter. Determining the first perception result based on the difference between the first and second perception information eliminates the common portions between the first and second perception information, thereby eliminating the negative impact of clutter. This can be considered a calibration of the perception information.

[0099] In some embodiments, as described above, the sensing target can be a device such as a drone, UE, etc. that has the ability to receive and / or send signals, or it can be an object such as a human body, animal, plant, rainwater, etc. that does not have the ability to send and receive signals.

[0100] In some embodiments, the first signal is used to obtain the first sensing result, which can also be understood as the first signal being used to perform a sensing service. The first signal can be called a sensing signal, a sensing measurement signal, a sensing reference signal, etc.

[0101] In some embodiments, the first perception result includes at least one of the following: speed, delay, Doppler frequency shift, angle, signal strength, distance, direction, acceleration, complex result of received signal or channel response, amplitude, phase, I-channel / Q-channel and related operation results, whether the target exists, spatial position, trajectory, movement, expression, vital signs, quantity, imaging results, weather, air quality, shape, material, composition, etc.

[0102] In some embodiments, perception can be equivalent to or replaced by at least one of the following: positioning, ranging, speed measurement, angle measurement, target imaging, target detection, target tracking, and target recognition.

[0103] In summary, the method provided in the embodiments of the present application supports obtaining a first perception result based on the difference between the first and second perception information. Because the influence of the common portions of the first and second perception information is removed when determining the first perception result, the influence of environmental clutter is also removed, which helps improve the accuracy of the perception result and enhance the efficiency and success rate of the perception service.

[0104] Furthermore, step 510 may also be implemented as step 610, as shown in FIG6 . Optionally, the sensing method may further include step 630 .

[0105] FIG6 shows a flow chart of a sensing method provided by an exemplary embodiment of the present application. The method is executed by a first node and includes at least the following steps:

[0106] Step 610: Determine a first perception result based on the difference between the first perception information and the second perception information.

[0107] In some embodiments, the first perception result is determined based on the remaining perception information after subtracting the first perception information from the second perception information. The remaining perception information after subtracting the first perception information from the second perception information can be understood as the difference between the first perception information and the second perception information.

[0108] In some embodiments, the first perception result is determined based on the remaining result after the first processing result is removed from the second processing result. The second processing result includes the result of the first processing of the second perception information, and the first processing result includes the result of the first processing of the first perception information. The first processing includes at least one of the following: filtering, denoising, and noise reduction. That is, after performing one or more of the filtering, denoising, and noise reduction processes on the second perception information and the first perception information, the first perception result is determined based on the difference between the second perception information and the first perception information (i.e., the remaining processing result after the second processing result is removed from the first processing result). Since the negative impact of the noise has been reduced or even eliminated, it helps to further improve the accuracy of the first perception result.

[0109] In some embodiments, the first perception result is determined based on the remaining part after the first part is removed from the second part. The second part includes the part of the second perception information that exceeds the first threshold value, and the first part includes the part of the first perception information that exceeds the first threshold value. The remaining part after the first part is removed from the second part can be understood as the difference between the first perception information and the second perception information. In other words, when determining the first perception result, there is no need to consider the parts of the second perception information and the first perception information that are lower than the first threshold value. This is because considering the possible influence of the environment, noise, scattering, etc. during the signal transmission process, the detection significance of the part lower than the first threshold value is not great and is mostly noise interference. Removing the part lower than the first threshold value will help to further improve the accuracy of the first perception result and reduce the complexity of obtaining the first perception result.

[0110] In some embodiments, the first threshold value is determined by the first node, or configured by other nodes, or agreed upon by a communication protocol. The other nodes are nodes in the system other than the first node. Optionally, the other nodes include or do not include the second node.

[0111] In some embodiments, the first perception information is an instantaneous measurement result corresponding to the first perception resource; alternatively, the first perception information is an average measurement result corresponding to the first perception resource. The average measurement result refers to averaging the multiple measurement results of the first signal measured multiple times within the first perception resource to obtain the first perception information. The instantaneous measurement result can also be understood as a single measurement result obtained by measuring the first signal once within the first perception resource.

[0112] It should be noted that the first perception information may also be the median, minimum, maximum, etc. of multiple measurement results corresponding to the first perception resource. In other words, the processing of multiple measurement results is not limited to taking the average value; other mathematical processing methods are also applicable. For ease of explanation, the embodiment of the present application uses the first perception information as the average measurement result corresponding to the first perception resource as an example, which is not intended to be limiting.

[0113] The first signal is measured multiple times within the first perception resource, and the obtained multiple measurement results are mathematically processed, so that the result of the first perception information is more accurate and can more truthfully reflect the transmission status of the first signal within the first perception resource, thereby improving the accuracy of the perception result.

[0114] In some embodiments, the second perception information is an instantaneous measurement result corresponding to the second perception resource; alternatively, the second perception information is an average measurement result corresponding to the second perception resource. The average measurement result refers to averaging the multiple measurements of the first signal within the second perception resource to obtain the second perception information. The instantaneous measurement result can also be understood as a single measurement result obtained by measuring the first signal within the second perception resource.

[0115] Similarly, the second perception information may also be the median, minimum, maximum, etc., of multiple measurement results corresponding to the second perception resource. In other words, the processing of multiple measurement results is not limited to taking the average value; other mathematical processing methods are also applicable. For ease of explanation, the embodiments of this application use the second perception information as the average measurement result corresponding to the second perception resource as an example, which is not intended to be limiting.

[0116] The first signal is measured multiple times within the second perception resource, and the obtained multiple measurement results are mathematically processed, so that the result of the second perception information is more accurate and can more truthfully reflect the transmission status of the first signal within the second perception resource, thereby improving the accuracy of the perception result.

[0117] In some embodiments, the first perceptual resource is orthogonal to the second perceptual resource.

[0118] In some embodiments, the first sensing resource and the second sensing resource are orthogonal in the time domain. That is, the first time domain resource and the second time domain resource are orthogonal. Optionally, the first frequency domain resource and the second frequency domain resource are the same or different, and the first spatial domain resource and the second spatial domain resource are the same or different.

[0119] In some embodiments, the first time domain resource is orthogonal to the second time domain resource. It can be understood that any time domain unit occupied by the first time domain resource does not belong to the second time domain resource, and it can also be understood that any time domain unit occupied by the second time domain resource does not belong to the first time domain resource.

[0120] In some embodiments, the time domain resource includes one or more time domain units. In the embodiments of the present application, the time domain unit includes at least one of the following: a frame, a subframe, a slot, a mini-slot, a sub-slot, a symbol, a symbol group, or a time domain unit based on other time domain units.

[0121] In some embodiments, the frequency domain resources include one or more frequency domain units. In the embodiments of the present application, the frequency domain unit includes at least one of the following: bandwidth, carrier, physical resource block (PRB), resource block group (RBG), bandwidth part (BWP), subband, subchannel, subcarrier, and units based on other frequency domain units.

[0122] In some embodiments, the spatial resources include at least one of the following: an antenna, an antenna port, a beam, a panel, a TRP, and a power amplifier.

[0123] Exemplarily, the first perception resource and the second perception resource are orthogonal in the time domain, and the first perception resource and the second perception resource are identical in the frequency domain and the spatial domain, such as occupying the same frequency domain resources, corresponding to the same antenna port, and so on.

[0124] In some embodiments, the first sensing resource does not contain a sensing target. Therefore, the first sensing information corresponding to the first sensing resource does not include information about the sensing target, and the first sensing information includes information about clutter in the environment. Exemplarily, the first sensing resource includes a first time domain resource, and the sensing target does not appear in the first time domain resource.

[0125] In some embodiments, there is no perception target in the first perception resource. It can be understood that the first perception resource includes a perception resource that does not perceive the perception target.

[0126] In some embodiments, the second sensing resource may contain a sensing target. If the sensing target exists within the second sensing resource, information related to the sensing target, such as latency, speed, distance, and direction, can be obtained. If the sensing target does not exist within the second sensing resource, the second sensing information should be the same as or similar to the first sensing information, and both can reflect environmental information.

[0127] In some embodiments, the first time domain resource may also be referred to as a first measurement time window, indicating that the first signal is sampled and analyzed within the first measurement time window, and the first perception information obtained reflects the transmission status of the first signal within the first measurement time window. The second time domain resource may also be referred to as a second measurement time window, indicating that the first signal is sampled and analyzed within the second measurement time window, and the second perception information obtained reflects the transmission status of the first signal within the second measurement time window. Since there is no perception target within the first measurement time window, the perception target will not be perceived within the first measurement time window, and the first perception information naturally will not carry the information of the perception target. If there is a perception target within the second measurement time window, then the second perception information includes the information of the perception target. By analyzing the difference between the second perception information and the first perception information, the information of the perception target can naturally be obtained, that is, the first perception result is obtained, and the perception of the target is achieved.

[0128] In some embodiments, the first sensing resource is agreed upon by a communication protocol, or determined by the first node, or configured by other nodes. Exemplarily, the first node receives configuration information of the first sensing resource.

[0129] In some embodiments, the first sensing resource is artificially set to ensure that no sensing target exists in the first sensing resource, that is, to ensure that the sensing target is not sensed in the first sensing resource.

[0130] In some embodiments, the first sensing resource is a periodic sensing resource, or a semi-statically configured sensing resource, or an aperiodic sensing resource.

[0131] In some embodiments, the first perception resource is a periodic perception resource, and the first node or other nodes periodically measure the first signal within the first perception resource to obtain periodic first perception information, thereby periodically obtaining and updating environmental information, so as to improve the accuracy of the clutter information when determining the first perception result, and avoid the problem of inaccurate perception results caused by environmental changes.

[0132] In some embodiments, the second sensing resource is agreed upon by a communication protocol, or determined by the first node, or configured by other nodes. Exemplarily, the first node receives configuration information of the second sensing resource.

[0133] In some embodiments, the second sensing resource is a periodic sensing resource, or a semi-statically configured sensing resource, or an aperiodic sensing resource.

[0134] In some embodiments, the first perception information is obtained by the first node through measurement, that is, the first node measures the first signal within the first perception resource and obtains the first perception information. Alternatively, the first perception information is obtained by measurement by another node and notified to the first node by the other node.

[0135] In some embodiments, the second sensing information is obtained by measurement by the first node, that is, the first node measures the first signal within the second sensing resource and obtains the second sensing information. Alternatively, the second sensing information is obtained by measurement by another node and notified to the first node by the other node.

[0136] In some embodiments, the first perception information includes at least one of the following information: first frequency domain channel information, first time domain channel information, and first delay-Doppler domain information.

[0137] In some embodiments, the second perception information includes at least one of the following information: second frequency domain channel information, second time domain channel information, and second delay-Doppler domain information.

[0138] In some embodiments, the frequency domain channel information can be understood as the channel information reflected by N subcarrier points, or as the channel information on N subcarrier points. N subcarrier points can also be understood as N frequency domain sampling points. This application takes the first signal as an orthogonal frequency division multiplexing (OFDM) signal as an example, and the frequency domain channel information (S g ) n It can be expressed by the following formula (1).

[0139] Where n represents the nth subcarrier point among N subcarrier points, 0≤n≤N, n is an integer, and N is an integer greater than 0. Rx represents the first received signal, and Tx represents the first transmitted signal. H(n) represents the channel response corresponding to the nth subcarrier point. represents the first phase offset, Indicates the second phase offset.

[0140] In some embodiments, the first frequency domain channel information is determined based on at least one of the following: a channel response corresponding to N subcarrier points within the first perception resource, a first phase offset corresponding to N subcarrier points within the first perception resource, and a second phase offset corresponding to N subcarrier points within the first perception resource.

[0141] In some embodiments, the second frequency domain channel information is determined based on at least one of the following: the channel response corresponding to N subcarrier points in the second perception resource, the first phase offset corresponding to N subcarrier points in the second perception resource, and the second phase offset corresponding to N subcarrier points in the second perception resource.

[0142] In some embodiments, the first phase offset is determined according to the time delay of the first signal, or the first phase offset is determined according to the time delay of the first signal and the frequencies of the N subcarrier points. It can be expressed by the following formula (2).

[0143] in, represents the round-trip delay of the first signal. 2r represents the transmission distance of the first signal, that is, the distance between the receiving node of the first signal and the sending node of the first signal. Therefore, it can be understood that the delay of the first signal is determined according to the transmission distance of the first signal. c represents the propagation speed of the first signal. f n Indicates the frequency corresponding to the nth subcarrier point.

[0144] In some embodiments, the second phase offset is determined based on the Doppler frequency shift of the first signal, or the second phase offset is determined based on the Doppler frequency shift of the first signal and the first time domain length. Further, the second phase offset can be expressed using the following equation (3).

[0145] in, represents the Doppler frequency shift of the first signal, v represents the moving speed of the perceived target, and f c represents the frequency of the first signal, and c represents the propagation speed of the first signal. Therefore, it can be understood that the Doppler frequency shift of the first signal is determined according to the moving speed of the perceived target. T is the first time domain length, which represents the time domain length between the time when the first signal is measured and the time when the first signal is sent, and is the same as the length of a time domain unit T. S Related.

[0146] For example, if the first signal is sent in the first time domain unit and the first signal is measured in the fifth time domain unit to obtain the first perception information, then the first time domain length corresponding to the first perception information is T=5×T S If the first signal is measured in the 8th time domain unit to obtain the second perception information, then the length of the first time domain unit corresponding to the second perception information is T=8×T S .

[0147] In some embodiments, the time domain channel information can be understood as the channel information reflected by K time delay points. The K time delay points can also be understood as K time domain sampling points. The time domain channel information h g The frequency domain channel information S g The first time-domain channel information is obtained by performing a fast Fourier transform (FFT) or a discrete Fourier transform (DFT). It can also be understood that the first time-domain channel information is determined based on the result of performing an FFT or DFT on the first frequency-domain channel information, and the second time-domain channel information is determined based on the result of performing an FFT or DFT on the second frequency-domain channel information.

[0148] In some embodiments, the delay-Doppler domain information can be understood as the channel information reflected by the N subcarriers corresponding to the M time domain units. The N subcarrier points can also be understood as N frequency domain sampling points. Exemplarily, the first signal on the N subcarriers corresponding to the M symbols is measured to obtain the frequency domain channel information, and the delay-Doppler domain information is obtained by two-dimensional FFT (2D-FFT) transformation. The channel information in the delay-Doppler domain (S g ) m,n It can be expressed by the following formula (4).

[0149] Where n represents the nth subcarrier point among N subcarrier points, 0≤n≤N, and n is an integer. m represents the mth time domain unit among M time domain units, 0≤m≤M, and m is an integer, and M is an integer greater than 0.

[0150] Rx represents the first received signal, Tx represents the first transmitted signal, and H(m,n) represents the channel response of the nth subcarrier point corresponding to the mth time domain unit. represents the first phase shift, refer to formula (2). represents the second phase shift, refer to formula (3).

[0151] In some embodiments, the first delay-Doppler domain information is determined based on at least one of the following: the channel response corresponding to N subcarrier points and M time delay points within the first perception resource, the first phase offset corresponding to N subcarrier points and M time delay points within the first perception resource, and the second phase offset corresponding to N subcarrier points and M time delay points within the first perception resource.

[0152] In some embodiments, the second delay-Doppler domain information is determined based on at least one of the following: the channel response corresponding to N subcarrier points and M time delay points in the second perception resource, the first phase offset corresponding to N subcarrier points and M time delay points in the second perception resource, and the second phase offset corresponding to N subcarrier points and M time delay points in the second perception resource.

[0153] Through S g Perform DFT transformation on each row of S g By performing an inverse discrete Fourier transform (IDFT) on each column of , at least one of the following can be derived: the Doppler frequency shift of the sensing target, the moving speed of the sensing target, the time delay between the sensing node and the sensing target, and the distance between the sensing node and the sensing target.

[0154] The rest of the content involved in step 610 can be referred to step 510 and will not be repeated here.

[0155] Step 630: Report the first perception result.

[0156] In some embodiments, the first node reports the first perception result to the perception control node. The perception control node can be a UE, an access network device, or a core network element (such as SF, LMF).

[0157] In some embodiments, the first node includes a UE, and the first node may report the first perception result to the access network device and / or the core network element.

[0158] In some embodiments, the first node includes an access network device, and the first node may report the first perception result to a core network element.

[0159] In some embodiments, the first node includes a core network element, and the first node can feed back the first sensing result to a sensing client node. The sensing client node can be understood as a node that triggers a sensing service, a node that sends a sensing request, or a node that expects to obtain a sensing result. For example, the sensing client node is an AF of the core network, an access network device, a UE, etc.

[0160] In summary, the method provided in the embodiment of the present application supports obtaining a first perception result based on the difference between the first perception information and the second perception information. Since the influence of the common parts between the first perception information and the second perception information is removed when determining the first perception result, the influence of the noise information in the environment is also removed, which is conducive to improving the accuracy of the perception result. In addition, since the first perception result is obtained after analyzing and processing the first perception information and the second perception information, compared to reporting the first perception information and the second perception information, reporting the first perception result is conducive to reducing reporting overhead, avoiding redundant information and wasting transmission resources, and saving power consumption of the recipient of the first perception result, thereby improving the execution efficiency of the perception service.

[0161] FIG7 shows a flow chart of a sensing method provided by an exemplary embodiment of the present application. The method is executed by the second node and includes at least the following steps:

[0162] Step 710: Receive a first perception result, where the first perception result is determined based on a difference between the first perception information and the second perception information.

[0163] In some embodiments, the second node is an awareness control node, or an awareness client node.

[0164] In some embodiments, the second node can be a terminal device as shown in Figures 1 to 4, or an access network device (such as a base station) as shown in Figures 1 to 4, or a core network element (such as SF, LMF) as shown in Figures 3 and 4.

[0165] The relevant contents of step 710 can be referred to steps 510, 610 and 630, which will not be repeated here.

[0166] In summary, the method provided in the embodiments of the present application, because the received first perception result is determined based on the difference between the first and second perception information, removes the influence of the common portions between the first and second perception information, thereby removing the influence of environmental clutter information. This results in a higher accuracy of the first perception result, contributing to the overall efficiency and success rate of the perception service. Furthermore, receiving the first perception result, compared to receiving the first and second perception information, helps reduce reporting overhead, avoids wasting transmission resources due to redundant information, saves power consumption, and improves the execution efficiency of the perception service.

[0167] Figure 8 shows a schematic diagram of a sensing method provided by an exemplary embodiment of the present application. This embodiment of the present application is described by taking the first sensing information and the second sensing information measured by the first node as an example.

[0168] The first node performs perception within the first measurement time window, that is, measures the first signal within the first measurement time window to obtain first perception information. As can be seen from the foregoing, there is no perception target within the first measurement time window. For example, if the perception target is a drone, there is no drone within the first measurement time window; if the perception target is a pedestrian, there is no pedestrian within the first measurement time window; if the perception target is rain, there is no rain within the first measurement time window, and so on. Figure 8 shows a drone detection scenario, where (a) of Figure 8 corresponds to the first measurement time window, and (b) of Figure 8 corresponds to the second measurement time window, showing a scenario where a perception target appears within the second measurement time window.

[0169] Take the first perception information and the second perception information including frequency domain channel information as an example:

[0170] The first node processes the measurement results within the first measurement time window. For example, it combines the frequency domain channel information obtained from multiple measurements within the first measurement time window to obtain first perception information. Assume that the first perception information corresponds to three peak points: S(x1), S(x2), and S(x3).

[0171] The first node performs sensing within the second measurement time window, that is, measures the first signal within the second measurement time window to obtain second sensing information. The first node processes the measurement results within the second measurement time window. For example, the first node combines frequency domain channel information obtained from multiple measurements within the second measurement time window to obtain the second sensing information.

[0172] Assume that the second perception information corresponds to four peak points: S(x1), S(x2), S(x3), and S(x4). Subtract the first perception information from the second perception information to obtain the remaining peak point S(x4), indicating that a perceived target with a speed of x4, a perceived target with a Doppler shift of x4, or a perceived target with a micro-Doppler shift of x4 appears in the environment.

[0173] Assuming that the second perception information corresponds to three peak points: S(x1), S(x2), and S(x3), it means that the second perception information is the same as the first perception information, and no perception target appears in the environment.

[0174] Take the first perception information and the second perception information including time domain channel information as an example:

[0175] The first node processes the measurement results within the first measurement time window. For example, it combines the time domain channel information obtained from multiple measurements within the first measurement time window to obtain first perception information. Assume that the first perception information corresponds to four peak points: h0 (0.1 μs), h1 (0.5 μs), h2 (0.8 μs), and h3 (1 μs). h(t) represents the channel information at a delay of t.

[0176] The first node performs sensing within the second measurement time window, that is, measures the first signal within the second measurement time window to obtain second sensing information. The first node processes the measurement results within the second measurement time window. For example, the first node combines time domain channel information obtained from multiple measurements within the second measurement time window to obtain the second sensing information.

[0177] Assume that the second perception information corresponds to five peak points: h0 (0.1μs), h1 (0.5μs), h2 (0.8μs), h3 (0.9μs), and h4 (1μs). Subtracting the first perception information from the second perception information yields the remaining peak point h3 (0.9μs), indicating that there is a perception target with a delay of 0.9μs in the environment. Combined with the propagation speed of electromagnetic waves, c = 3×10 8 m / s, it can be calculated that the distance between the perceived target and the first node is 0.9×10 -6 ×3×10 8 ÷2=135m.

[0178] Assuming that the second perception information corresponds to four peak points, h0 (0.1 μs), h1 (0.5 μs), h2 (0.8 μs), and h3 (1 μs), it means that the second perception information is the same as the first perception information, and no perception target appears in the environment.

[0179] Figure 9 shows a schematic diagram of a sensing method provided by an exemplary embodiment of the present application. This embodiment of the present application uses the example of first sensing information and second sensing information measured by other nodes. It is assumed that the first sensing information and the second sensing information include delay-Doppler domain information.

[0180] Other nodes 901 perform sensing within the first measurement time window, that is, measure the first signal within the first measurement time window to obtain first sensing information. As previously mentioned, no sensing target exists within the first measurement time window. Figure 9 illustrates an indoor detection scenario. Figure 9(a) corresponds to the first measurement time window, and Figure 9(b) corresponds to the second measurement time window, showing a scenario where a sensing target appears within the second measurement time window.

[0181] Other nodes 901 process the measurement results within the first measurement time window. For example, they combine the time domain channel information obtained from multiple measurements within the first measurement time window to obtain first perception information, and notify the first node 902 of the first perception information. Assume that the first perception information corresponds to four peak points: (v0 = 0, d = 100 m), (v0 = 0, d = 150 m), (v0 = 0, d = 200 m), and (v0 = 0.01 m / s, d = 100 m).

[0182] The other nodes 901 perform sensing within the second measurement time window, that is, measure the first signal within the second measurement time window to obtain second sensing information. The first node processes the measurement results within the second measurement time window. For example, the node combines the delay-Doppler domain information obtained from multiple measurements within the second measurement time window to obtain second sensing information, and notifies the first node 902 of the second sensing information.

[0183] Assume that the second perception information corresponds to five peak points: (v0 = 0, d = 100m), (v0 = 0, d = 150m), (v0 = 0, d = 200m), (v0 = 0.01m / s, d = 100m), and (v0 = 60m / s, d = 50m). The first node subtracts the second perception information from the first perception information to obtain the remaining peak point (v0 = 60m / s, d = 50m). This indicates that there is a perception target in the environment that is 50 meters away from the other nodes and is moving at a speed of 60m / s.

[0184] Assuming that the second perception information corresponds to four peak points, (v0=0,d=100m), (v0=0,d=150m), (v0=0,d=200m), and (v0=0.01m / s,d=100m), it means that the second perception information is the same as the first perception information, and no perception target appears in the environment.

[0185] Figure 10 shows a block diagram of a sensing device according to an exemplary embodiment of the present application. This device can be implemented as a first node or a portion of a first node. The first node can be implemented as one or more of the UE, access network device, or core network element shown in Figures 1 and 2. The device includes a processing module 1110. Optionally, the device also includes at least some of the receiving module 1130 and the sending module 1150.

[0186] Processing module 1110 is used to determine a first perception result based on the difference between the first perception information and the second perception information; wherein, the first perception information corresponds to a first perception resource, the second perception information corresponds to a second perception resource, and the first perception resource is different from the second perception resource.

[0187] In some embodiments, the processing module 1110 is used to obtain the first perception information and / or the second perception information.

[0188] In some embodiments, the apparatus further includes a receiving module 1130 for receiving the first perception information and / or the second perception information.

[0189] In some embodiments, the processing module 1110 is configured to determine the first perception result based on remaining perception information after subtracting the first perception information from the second perception information.

[0190] In some embodiments, the processing module 1110 is configured to determine the first perception result based on a remaining processing result after subtracting the first processing result from the second processing result. The second processing result includes a result of performing a first processing on the second perception information, and the first processing result includes a result of performing the first processing on the first perception information, where the first processing includes at least one of filtering, denoising, and noise reduction.

[0191] In some embodiments, the processing module 1110 is configured to determine the first perception result based on a remaining portion after subtracting the first portion from the second portion, wherein the second portion includes a portion of the second perception information that exceeds a first threshold value, and the first portion includes a portion of the first perception information that exceeds the first threshold value.

[0192] In some embodiments, the first perception information is an instantaneous measurement result or an average measurement result corresponding to the first perception resource; and the second perception information is an instantaneous measurement result or an average measurement result corresponding to the second perception resource.

[0193] In some embodiments, the first sensing resource is orthogonal to the second sensing resource.

[0194] In some embodiments, the first sensing resource and the second sensing resource are orthogonal in the time domain.

[0195] In some embodiments, there is no perception target in the first perception resource, and the first perception result is a perception result corresponding to the perception target.

[0196] In some embodiments, the first perception information includes at least one of the following information: first frequency domain channel information, first time domain channel information, first delay-Doppler domain information; and / or, the second perception information includes at least one of the following information: second frequency domain channel information, second time domain channel information, second delay-Doppler domain information.

[0197] In some embodiments, the first frequency domain channel information is determined based on at least one of the following: the channel response corresponding to the N subcarrier points in the first perception resource, the first phase offset corresponding to the N subcarrier points in the first perception resource, and the second phase offset corresponding to the N subcarrier points in the first perception resource; the second frequency domain channel information is determined based on at least one of the following: the channel response corresponding to the N subcarrier points in the second perception resource, the first phase offset corresponding to the N subcarrier points in the second perception resource, and the second phase offset corresponding to the N subcarrier points in the second perception resource; wherein, the first phase offset is determined based on the time delay of the first signal, the second phase offset is determined based on the Doppler frequency shift of the first signal, the first signal is used to determine the first perception result, and N is an integer greater than 0.

[0198] In some embodiments, the first delay-Doppler domain information is determined based on at least one of the following: the channel response corresponding to the N subcarrier points and the M time delay points in the first perception resource, the first phase offset corresponding to the N subcarrier points and the M time delay points in the first perception resource, and the second phase offset corresponding to the N subcarrier points and the M time delay points in the first perception resource; the second delay-Doppler domain information is determined based on at least one of the following: the channel response corresponding to the N subcarrier points and the M time delay points in the second perception resource, the first phase offset corresponding to the N subcarrier points and the M time delay points in the second perception resource, and the second phase offset corresponding to the N subcarrier points and the M time delay points in the second perception resource; wherein the first phase offset is determined based on the time delay of the first signal, the second phase offset is determined based on the Doppler frequency shift of the first signal, the first signal is used to determine the first perception result, N is an integer greater than 0, and M is an integer greater than 0.

[0199] In some embodiments, the time delay of the first signal is determined according to the transmission distance of the first signal, and the first phase offset is determined according to the time delay of the first signal and the frequencies of the N subcarrier points.

[0200] In some embodiments, the Doppler frequency shift of the first signal is determined according to a moving speed of the perceived target, and the second phase offset is determined according to the Doppler frequency shift of the first signal and a first time domain length.

[0201] In some embodiments, the first time domain channel information is determined based on the result of fast Fourier transform FFT or discrete Fourier transform DFT performed on the first frequency domain channel information; the second time domain channel information is determined based on the result of FFT or DFT performed on the second frequency domain channel information.

[0202] In some embodiments, when the first perception information includes the first time domain channel information and the second perception information includes the second time domain channel information, the first perception result includes a first delay; wherein the first delay is used to determine the distance between the perception target and the device.

[0203] In some embodiments, when the first perception information includes the first delay-Doppler domain information and the second perception information includes the second delay-Doppler domain information, the first perception result includes a first distance and / or a first speed; wherein the first distance refers to the distance between the perception target and the device, and the first speed refers to the moving speed of the perception target.

[0204] In some embodiments, the first perception information is measured by the device, or the first perception information is measured by other nodes; the second perception information is measured by the device, or the second perception information is measured by other nodes; wherein the other nodes include nodes other than the device.

[0205] In some embodiments, the apparatus further includes a sending module 1150 for reporting the first perception result.

[0206] In some embodiments, the processing module 1110 is configured to execute at least one of the following steps: step 510 , step 610 .

[0207] In some embodiments, the sending module 1150 is used to perform: step 630.

[0208] In summary, the device provided in the embodiment of the present application supports obtaining a first perception result based on the difference between the first perception information and the second perception information. Since the influence of the common parts between the first perception information and the second perception information is removed when determining the first perception result, the influence of the noise information in the environment is also removed, which is conducive to improving the accuracy of the perception result. In addition, since the first perception result is obtained after analyzing and processing the first perception information and the second perception information, compared to reporting the first perception information and the second perception information, reporting the first perception result is conducive to reducing reporting overhead, avoiding redundant information and wasting transmission resources, and saving power consumption of the recipient of the first perception result, thereby improving the execution efficiency of the perception service.

[0209] Figure 11 shows a block diagram of a sensing device according to an exemplary embodiment of the present application. This device can be implemented as a second node or a portion of a second node. The second node can be implemented as one or more of the UE, access network device, and core network element shown in Figures 1 and 2. The device includes a receiving module 1210. Optionally, the device also includes at least some of the processing module 1230 and the sending module 1250.

[0210] Receiving module 1210 is used to receive a first perception result, which is determined based on the difference between the first perception information and the second perception information; wherein the first perception information corresponds to a first perception resource, the second perception information corresponds to a second perception resource, and the first perception resource is different from the second perception resource.

[0211] In some embodiments, the first perception result is determined based on remaining perception information after removing the first perception information from the second perception information.

[0212] In some embodiments, the first perception result is determined by the remaining processing result after removing the first processing result from the second processing result; wherein, the second processing result includes the result of the first processing of the second perception information, and the first processing result includes the result of the first processing of the first perception information, and the first processing includes at least one of the following: filtering, denoising, and noise reduction.

[0213] In some embodiments, the first perception result is determined based on the remaining part after removing the first part from the second part; wherein the second part includes the part of the second perception information that exceeds the first threshold value, and the first part includes the part of the first perception information that exceeds the first threshold value.

[0214] In some embodiments, the first perception information is an instantaneous measurement result or an average measurement result corresponding to the first perception resource; and the second perception information is an instantaneous measurement result or an average measurement result corresponding to the second perception resource.

[0215] In some embodiments, the first sensing resource is orthogonal to the second sensing resource.

[0216] In some embodiments, the first sensing resource and the second sensing resource are orthogonal in the time domain.

[0217] In some embodiments, there is no perception target in the first perception resource, and the first perception result is a perception result corresponding to the perception target.

[0218] In some embodiments, the first perception information includes at least one of the following information: first frequency domain channel information, first time domain channel information, first delay-Doppler domain information; and / or, the second perception information includes at least one of the following information: second frequency domain channel information, second time domain channel information, second delay-Doppler domain information.

[0219] In some embodiments, the first frequency domain channel information is determined based on at least one of the following: the channel response corresponding to the N subcarrier points in the first perception resource, the first phase offset corresponding to the N subcarrier points in the first perception resource, and the second phase offset corresponding to the N subcarrier points in the first perception resource; the second frequency domain channel information is determined based on at least one of the following: the channel response corresponding to the N subcarrier points in the second perception resource, the first phase offset corresponding to the N subcarrier points in the second perception resource, and the second phase offset corresponding to the N subcarrier points in the second perception resource; wherein, the first phase offset is determined based on the time delay of the first signal, the second phase offset is determined based on the Doppler frequency shift of the first signal, the first signal is used to determine the first perception result, and N is an integer greater than 0.

[0220] In some embodiments, the first delay-Doppler domain information is determined based on at least one of the following: the channel response corresponding to the N subcarrier points and the M time delay points in the first perception resource, the first phase offset corresponding to the N subcarrier points and the M time delay points in the first perception resource, and the second phase offset corresponding to the N subcarrier points and the M time delay points in the first perception resource; the second delay-Doppler domain information is determined based on at least one of the following: the channel response corresponding to the N subcarrier points and the M time delay points in the second perception resource, the first phase offset corresponding to the N subcarrier points and the M time delay points in the second perception resource, and the second phase offset corresponding to the N subcarrier points and the M time delay points in the second perception resource; wherein the first phase offset is determined based on the time delay of the first signal, the second phase offset is determined based on the Doppler frequency shift of the first signal, the first signal is used to determine the first perception result, N is an integer greater than 0, and M is an integer greater than 0.

[0221] In some embodiments, the time delay of the first signal is determined according to the transmission distance of the first signal, and the first phase offset is determined according to the time delay of the first signal and the frequencies of the N subcarrier points.

[0222] In some embodiments, the Doppler frequency shift of the first signal is determined according to a moving speed of the perceived target, and the second phase offset is determined according to the Doppler frequency shift of the first signal and a first time domain length.

[0223] In some embodiments, the first time domain channel information is determined based on the result of fast Fourier transform FFT or discrete Fourier transform DFT performed on the first frequency domain channel information; the second time domain channel information is determined based on the result of FFT or DFT performed on the second frequency domain channel information.

[0224] In some embodiments, when the first perception information includes the first time domain channel information and the second perception information includes the second time domain channel information, the first perception result includes a first delay; wherein the first delay is used to determine the distance between the perception target and the device.

[0225] In some embodiments, when the first perception information includes the first delay-Doppler domain information and the second perception information includes the second delay-Doppler domain information, the first perception result includes a first distance and / or a first speed; wherein the first distance refers to the distance between the perception target and the device, and the first speed refers to the moving speed of the perception target.

[0226] In some embodiments, the first perception information is measured by the device, or the first perception information is measured by other nodes; the second perception information is measured by the device, or the second perception information is measured by other nodes; wherein the other nodes include nodes other than the device.

[0227] In some embodiments, the apparatus further includes a processing module 1230 configured to perform a sensing service according to the first sensing result.

[0228] In some embodiments, the sending module 1250 is used to send the first perception information and / or the second perception information to the first node.

[0229] In summary, the first perception result obtained by the device provided in the embodiment of the present application is determined based on the difference between the first perception information and the second perception information. Since the influence of the common parts between the first perception information and the second perception information is removed when determining the first perception result, the influence of the noise information in the environment is also removed, which is conducive to improving the accuracy of the perception result. In addition, since the first perception result is obtained after analyzing and processing the first perception information and the second perception information, compared to reporting the first perception information and the second perception information, reporting the first perception result is conducive to reducing reporting overhead, avoiding redundant information and wasting transmission resources, and saving power consumption of the recipient of the first perception result, thereby improving the execution efficiency of the perception service.

[0230] It should be noted that the apparatus provided in the above embodiments only uses the division of the above functional modules as an example to illustrate the implementation of its functions. In actual applications, the above functions can be distributed and completed by different functional modules as needed, that is, the internal structure of the terminal device can be divided into different functional modules to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments are based on the same concept.

[0231] Figure 12 shows a schematic diagram of the structure of a sensing device 1300 provided in an exemplary embodiment of the present application, which includes at least one of the following: a receiver 1301, a transmitter 1302, a processor 1303, a memory 1304, and a bus (not shown). Sensing device 1300 can be used to execute some or all of the steps performed by the first node described above.

[0232] The receiver 1301 is used to implement a receiving function, and the transmitter 1302 is used to implement a sending function.

[0233] In some embodiments, receiver 1301 and transmitter 1302 may be implemented as a communication component, which may be a communication chip and referred to as a transceiver. In some embodiments, receiver 1301 may be used to implement the functions and steps of receiving module 1130 and / or receiving module 1210 described above, and transmitter 1302 may be used to implement the functions and steps of transmitting module 1150 and / or transmitting module 1250 described above.

[0234] In some embodiments, the receiver 1301 and the transmitter 1302 may be implemented as a wireless communication component and / or a wired communication component.

[0235] The processor 1303 includes one or more processing cores, and the processor 1303 executes various functional applications and information processing by running software programs and modules. In some embodiments, the processor 1303 can be used to implement the functions and steps of the processing module 1110 and / or the processing module 1230 described above.

[0236] The memory 1304 may be used to store a computer program executed by the processor 1303 , and the processor 1401 may be used to execute the computer program to implement each step in the above method embodiment.

[0237] In some embodiments, the memory 1304 may be connected to the processor 1303 as well as the receiver 1301 and the transmitter 1302 .

[0238] In addition, the memory 1304 can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Volatile or non-volatile storage devices include but are not limited to: magnetic disks or optical disks, electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), read-only memory (ROM), magnetic memory, flash memory, and programmable read-only memory (PROM).

[0239] In some embodiments, the receiver 1301 receives signals / data independently, or the processor 1303 controls the receiver 1301 to receive signals / data, or the processor 1303 requests the receiver 1301 to receive signals / data, or the processor 1303 cooperates with the receiver 1301 to receive signals / data.

[0240] In some embodiments, the transmitter 1302 independently sends signals / data, or the processor 1303 controls the transmitter 1302 to send signals / data, or the processor 1303 requests the transmitter 1302 to send signals / data, or the processor 1303 cooperates with the transmitter 1302 to send signals / data.

[0241] For details not described in detail in this embodiment, please refer to the above embodiments and will not be described in detail here.

[0242] In an exemplary embodiment of the present application, a chip is also provided, which includes a programmable logic circuit and / or program instructions. When the chip runs on a communication device, it is used to implement the perception methods provided by the above-mentioned various method embodiments.

[0243] In some embodiments, the chip includes a processing module 1110. Optionally, the device also includes at least some modules of a receiving module 1130 and / or a sending module 1150. The relevant contents of the processing module 1110, the receiving module 1130, and the sending module 1150 can be referred to above and will not be repeated here.

[0244] In some embodiments, the chip includes a receiving module 1210. Optionally, the device further includes a processing module 1230 and / or a sending module 1250. The relevant contents of the receiving module 1210, the processing module 1230 and the sending module 1250 can be referred to above and will not be repeated here.

[0245] In an exemplary embodiment of the present application, a computer-readable storage medium is further provided, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the above-mentioned perception method is implemented.

[0246] In an exemplary embodiment of the present application, a computer program product is further provided. When the computer program product is executed by a processor, it is used to implement the above-mentioned perception method.

[0247] In an exemplary embodiment of the present application, a computer program is further provided. The computer program includes computer instructions. A processor of a computer device executes the computer instructions, so that the computer device executes the above-mentioned perception method.

[0248] Those skilled in the art will understand that all or part of the steps to implement the above embodiments may be accomplished by hardware, or may be accomplished by a program instructing the relevant hardware, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk, or an optical disk, etc.

[0249] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A perception method, characterized in that, The method is executed by a first node, and the method includes: Determine a first sensing result according to the difference between first sensing information and second sensing information; Wherein, the first sensing information corresponds to a first sensing resource, the second sensing information corresponds to a second sensing resource, and the first sensing resource is different from the second sensing resource.

2. The method according to claim 1, characterized in that, The first sensing result is determined according to the remaining sensing information after removing the first sensing information from the second sensing information.

3. The method according to claim 2, wherein The first sensing result is determined according to the remaining processing result after removing the first processing result from the second processing result; Wherein, the second processing result includes the result of performing a first processing on the second sensing information, the first processing result includes the result of performing the first processing on the first sensing information, and the first processing includes at least one of the following: filtering, denoising, noise reduction.

4. The method according to claim 2, wherein The first sensing result is determined according to the remaining part after removing the first part from the second part; Wherein, the second part includes the part of the second sensing information that exceeds a first threshold, and the first part includes the part of the first sensing information that exceeds the first threshold.

5. The method according to any one of claims 1 to 4, characterized in that, The first sensing information is an instantaneous measurement result or an average measurement result corresponding to the first sensing resource; the second sensing information is an instantaneous measurement result or an average measurement result corresponding to the second sensing resource.

6. The method according to any one of claims 1 to 5, characterized in that The first sensing resource is orthogonal to the second sensing resource.

7. The method according to claim 6, wherein The first sensing resource is orthogonal to the second sensing resource in the time domain.

8. The method according to any one of claims 1 to 7, characterized in that, There is no sensing target in the first sensing resource, and the first sensing result is the sensing result corresponding to the sensing target.

9. The method according to any one of claims 1 to 8, wherein The first sensing information includes at least one of the following information: first frequency domain channel information, first time domain channel information, first delay-Doppler domain information; and / or, The second sensing information includes at least one of the following information: second frequency domain channel information, second time domain channel information, second delay-Doppler domain information.

10. The method according to claim 9, wherein The first frequency domain channel information is determined according to at least one of the following: the channel response corresponding to N subcarrier points in the first sensing resource, the first phase offset corresponding to the N subcarrier points in the first sensing resource, the second phase offset corresponding to the N subcarrier points in the first sensing resource; The second frequency domain channel information is determined according to at least one of the following: the channel response corresponding to the N subcarrier points in the second sensing resource, the first phase offset corresponding to the N subcarrier points in the second sensing resource, the second phase offset corresponding to the N subcarrier points in the second sensing resource; Wherein, the first phase offset is determined according to the time delay of a first signal, the second phase offset is determined according to the Doppler frequency shift of the first signal, the first signal is used to determine the first sensing result, and N is an integer greater than 0.

11. The method according to claim 9 or 10, wherein The first delay-Doppler domain information is determined according to at least one of the following: the channel response corresponding to N subcarrier points and M delay points within the first sensing resource, the first phase offset corresponding to the N subcarrier points and M delay points within the first sensing resource, and the second phase offset corresponding to the N subcarrier points and M delay points within the first sensing resource; The second delay-Doppler domain information is determined according to at least one of the following: the channel response corresponding to the N subcarrier points and M delay points within the second sensing resource, the first phase offset corresponding to the N subcarrier points and M delay points within the second sensing resource, and the second phase offset corresponding to the N subcarrier points and M delay points within the second sensing resource; Wherein, the first phase offset is determined according to the delay of the first signal, the second phase offset is determined according to the Doppler shift of the first signal, the first signal is used to determine the first sensing result, N is an integer greater than 0, and M is an integer greater than 0.

12. The method according to claim 10 or 11, characterized in that, The delay of the first signal is determined according to the transmission distance of the first signal, and the first phase offset is determined according to the delay of the first signal and the frequencies of the N subcarrier points.

13. The method according to claim 10 or 11, characterized in that, The Doppler shift of the first signal is determined according to the moving speed of the sensing target, and the second phase offset is determined according to the Doppler shift of the first signal and the first time domain length.

14. The method according to any one of claims 9 to 13, characterized in that The first time domain channel information is determined according to the result of performing a fast Fourier transform (FFT) or a discrete Fourier transform (DFT) on the first frequency domain channel information; the second time domain channel information is determined according to the result of performing an FFT or a DFT on the second frequency domain channel information.

15. The method according to any one of claims 9 to 14, characterized in that In the case where the first sensing information includes the first time domain channel information and the second sensing information includes the second time domain channel information, the first sensing result includes a first delay; Wherein, the first delay is used to determine the distance between the sensing target and the first node.

16. The method according to any one of claims 9 to 14, characterized in that In the case where the first sensing information includes the first delay-Doppler domain information and the second sensing information includes the second delay-Doppler domain information, the first sensing result includes a first distance and / or a first speed; Wherein, the first distance refers to the distance between the sensing target and the first node, and the first speed refers to the moving speed of the sensing target.

17. The method according to any one of claims 1 to 16, characterized in that the first sensing information is measured by the first node, or the first sensing information is measured by other nodes; the second sensing information is measured by the first node, or the second sensing information is measured by other nodes; wherein, the other nodes include nodes other than the first node.

18. The method according to any one of claims 1 to 17, characterized in that, The method further includes: reporting the first sensing result.

19. A sensing method, characterized in that, The method is executed by a second node, and the method includes: receiving a first sensing result, the first sensing result being determined according to the difference between the first sensing information and the second sensing information; Among them, the first sensing information corresponds to a first sensing resource, the second sensing information corresponds to a second sensing resource, and the first sensing resource is different from the second sensing resource.

20. The method according to claim 19, characterized in that, The first sensing result is determined based on the remaining sensing information after removing the first sensing information from the second sensing information.

21. The method according to claim 20, wherein The first sensing result is determined based on the remaining processing result after removing the first processing result from the second processing result; Among them, the second processing result includes the result of performing a first process on the second sensing information, the first processing result includes the result of performing the first process on the first sensing information, and the first process includes at least one of the following: filtering, denoising, noise reduction.

22. The method according to claim 20, wherein The first sensing result is determined based on the remaining part after removing the first part from the second part; Among them, the second part includes the part of the second sensing information that exceeds a first threshold, and the first part includes the part of the first sensing information that exceeds the first threshold.

23. The method according to any one of claims 19 to 22, characterized in that The first sensing information is an instantaneous measurement result or an average measurement result corresponding to the first sensing resource; The second sensing information is an instantaneous measurement result or an average measurement result corresponding to the second sensing resource.

24. The method according to any one of claims 19 to 23, characterized in that The first sensing resource is orthogonal to the second sensing resource.

25. The method according to claim 24, wherein The first sensing resource is orthogonal to the second sensing resource in the time domain.

26. The method according to any one of claims 19 to 25, characterized in that There is no sensing target in the first sensing resource, and the first sensing result is the sensing result corresponding to the sensing target.

27. The method according to any one of claims 19 to 26, characterized in that The first sensing information includes at least one of the following information: first frequency-domain channel information, first time-domain channel information, first delay-Doppler domain information; and / or, The second sensing information includes at least one of the following information: second frequency-domain channel information, second time-domain channel information, second delay-Doppler domain information.

28. The method according to claim 27, characterized in that The first frequency-domain channel information is determined based on at least one of the following: the channel response corresponding to N subcarrier points in the first sensing resource, the first phase offset corresponding to the N subcarrier points in the first sensing resource, the second phase offset corresponding to the N subcarrier points in the first sensing resource; The second frequency-domain channel information is determined based on at least one of the following: the channel response corresponding to the N subcarrier points in the second sensing resource, the first phase offset corresponding to the N subcarrier points in the second sensing resource, the second phase offset corresponding to the N subcarrier points in the second sensing resource; Among them, the first phase offset is determined based on the time delay of the first signal, the second phase offset is determined based on the Doppler frequency shift of the first signal, the first signal is used to determine the first sensing result, and N is an integer greater than 0.

29. The method according to claim 27 or 28, characterized in that The first delay-Doppler domain information is determined according to at least one of the following: the channel responses corresponding to N subcarrier points and M delay points within the first sensing resource, the first phase offset corresponding to the N subcarrier points and M delay points within the first sensing resource, and the second phase offset corresponding to the N subcarrier points and M delay points within the first sensing resource; The second delay-Doppler domain information is determined according to at least one of the following: the channel responses corresponding to the N subcarrier points and M delay points within the second sensing resource, the first phase offset corresponding to the N subcarrier points and M delay points within the second sensing resource, and the second phase offset corresponding to the N subcarrier points and M delay points within the second sensing resource; Wherein, the first phase offset is determined according to the delay of the first signal, the second phase offset is determined according to the Doppler shift of the first signal, the first signal is used to determine the first sensing result, N is an integer greater than 0, and M is an integer greater than 0.

30. The method according to claim 28 or 29, characterized in that, The delay of the first signal is determined according to the transmission distance of the first signal, and the first phase offset is determined according to the delay of the first signal and the frequencies of the N subcarrier points.

31. The method according to claim 28 or 29, characterized in that, The Doppler shift of the first signal is determined according to the moving speed of the sensing target, and the second phase offset is determined according to the Doppler shift of the first signal and the first time domain length.

32. The method according to any one of claims 27 to 31, characterized in that, The first time domain channel information is determined according to the result of performing a fast Fourier transform (FFT) or a discrete Fourier transform (DFT) on the first frequency domain channel information; the second time domain channel information is determined according to the result of performing an FFT or a DFT on the second frequency domain channel information.

33. The method according to any one of claims 27 to 32, characterized in that, In the case where the first sensing information includes the first time domain channel information and the second sensing information includes the second time domain channel information, the first sensing result includes a first delay; Wherein, the first delay is used to determine the distance between the sensing target and the first node.

34. The method according to any one of claims 27 to 32, characterized in that, In the case where the first sensing information includes the first delay-Doppler domain information and the second sensing information includes the second delay-Doppler domain information, the first sensing result includes a first distance and / or a first speed; Wherein, the first distance refers to the distance between the sensing target and the first node, and the first speed refers to the moving speed of the sensing target.

35. The method according to any one of claims 19 to 34, characterized in that, The first sensing information is measured by the first node, or the first sensing information is measured by other nodes; The second sensing information is measured by the first node, or the second sensing information is measured by other nodes; Wherein, the other nodes include nodes other than the first node.

36. A sensing device, characterized in that, The apparatus includes: A processing module, configured to determine a first sensing result according to the difference between the first sensing information and the second sensing information; Wherein, the first sensing information corresponds to a first sensing resource, the second sensing information corresponds to a second sensing resource, and the first sensing resource is different from the second sensing resource.

37. A sensing device, characterized in that, The apparatus includes: A receiving module, configured to receive a first perception result, where the first perception result is determined based on a difference between first perception information and second perception information; Wherein, the first perception information corresponds to a first perception resource, the second perception information corresponds to a second perception resource, and the first perception resource is different from the second perception resource.

38. A sensing device, characterized in that, The perception device includes: a processor; a transceiver connected to the processor; a memory for storing executable instructions of the processor; wherein, the processor is configured to load and execute the executable instructions to implement the perception method according to any one of claims 1 to 18.

39. A sensing device, characterized in that, The perception device includes: a processor; a transceiver connected to the processor; a memory for storing executable instructions of the processor; wherein, the processor is configured to load and execute the executable instructions to implement the perception method according to any one of claims 19 to 35.

40. A computer-readable storage medium, characterized in that, A computer program is stored in the storage medium, and the computer program is used to be executed by a processor to implement the perception method according to any one of claims 1 to 18, or to implement the perception method according to any one of claims 19 to 35.

41. A chip, characterized in that, The chip includes programmable logic circuits and / or program instructions, which are used to implement the perception method according to any one of claims 1 to 18, or to implement the perception method according to any one of claims 19 to 35 when the chip runs.

42. A computer program product, characterized in that, The computer program product includes computer instructions, the computer instructions are stored in a computer-readable storage medium, and a processor reads and executes the computer instructions from the computer-readable storage medium to implement the perception method according to any one of claims 1 to 18, or to implement the perception method according to any one of claims 19 to 35.

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