Bistatic sensing method, communication device, apparatus, and storage medium

Abstract

The present disclosure provides a bistatic sensing method, a communication device, an apparatus, and a storage medium. The method comprises: taking turns with a peer device to send and receive sensing signals, for sensing a sensing target, wherein the taking turns with a peer device to send and receive sensing signals comprises: receiving a sensing signal from the peer device on a first time domain resource; determining a transmission parameter on the basis of the sensing signal received on the first time domain resource, the transmission parameter comprising a sending parameter used for sending the sensing signal; and using the sending parameter to send a sensing signal on a second time domain resource.

Description

Dual-base sensing method, communication equipment, device and storage medium

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application number 202410009326.4, filed on January 3, 2024, entitled “Dual-base sensing method, communication equipment, device and storage medium”, which is incorporated herein by reference in its entirety. Technical Field

[0003] The present disclosure relates to the field of wireless communication technology, and in particular to a dual-base sensing method, communication equipment, device and storage medium. Background Art

[0004] Communication-perception fusion (abbreviated as synaesthesia fusion, communication-perception integration, or simply synaesthesia integration) refers to the unified design of communication and perception functions through the joint design of air interfaces and protocols, the reuse of time-frequency-space resources, and the sharing of hardware devices. This enables wireless networks to realize perception functions while performing communication interactions, thereby improving the overall network performance and service capabilities.

[0005] Dual-base sensing refers to a sensing method in which the sensing signal transmitter and the sensing signal receiver are spatially separated. There is no clear solution for how to continuously perceive moving targets under dual-base sensing. Summary of the Invention

[0006] In response to the problems existing in the related art, the present disclosure provides a dual-base sensing method, communication equipment, device and storage medium.

[0007] In a first aspect, the present disclosure provides a dual-base sensing method, comprising:

[0008] Alternately send and receive sensing signals with the peer device to sense the sensing target;

[0009] Alternating the sending and receiving of sensing signals with the peer device includes:

[0010] Receiving a perception signal from a peer device on a first time domain resource;

[0011] Determine a transmission parameter based on the perception signal received on the first time domain resource, where the transmission parameter includes a transmission parameter for sending the perception signal;

[0012] The perception signal is sent using the sending parameter on the second time domain resource.

[0013] In some embodiments, determining a transmission parameter based on a perception signal received on a first time domain resource includes:

[0014] determining, based on the perception signal received on the first time domain resource, perception data related to the perception target;

[0015] Transmission parameters are determined based on the sensing data related to the sensing target.

[0016] In some embodiments, the transmission parameters further include reception parameters for receiving the perception signal, and the alternate transmission and reception of the perception signal with the peer device further includes:

[0017] The perception signal from the opposite-end device is received using the receiving parameter on the third time domain resource.

[0018] In some embodiments, the method further comprises:

[0019] receiving time domain resource indication information;

[0020] Based on the time domain resource indication information, a time domain resource for sending the perception signal and / or a time domain resource for receiving the perception signal is determined; the time domain resource for receiving the perception signal includes a first time domain resource, and the time domain resource for sending the perception signal includes a second time domain resource.

[0021] In some embodiments, the method further comprises:

[0022] receiving time domain resource indication information;

[0023] Based on the time domain resource indication information, a time domain resource for sending the perception signal and / or a time domain resource for receiving the perception signal is determined; the time domain resource for receiving the perception signal includes the first time domain resource and / or the third time domain resource, and the time domain resource for sending the perception signal includes the second time domain resource.

[0024] In some embodiments, the time domain resource indication information includes first time domain resource indication information, where the first time domain resource indication information is used to indicate a time domain resource for sending a perception signal and / or a time domain resource for receiving a perception signal.

[0025] In some embodiments, the time domain resource indication information includes second time domain resource indication information and / or third time domain resource indication information, the second time domain resource indication information is used to indicate the next or next group of time domain resources for receiving the perception signal, and the third time domain resource indication information is used to indicate the next or next group of time domain resources for sending the perception signal.

[0026] In some embodiments, the time domain resource indication information includes the resource configuration or resource identifier of the indicated time domain resource.

[0027] In some embodiments, the next or next group of time domain resources for receiving the perception signal is one or more time domain resources after the first time interval from the sending moment of the second time domain resource indication information, and the next or next group of time domain resources for sending the perception signal is one or more time domain resources after the second time interval from the sending moment of the third time domain resource indication information.

[0028] In some embodiments, receiving time domain resource indication information includes:

[0029] Receive time domain resource indication information sent by the opposite device.

[0030] In some embodiments, the method further comprises:

[0031] Based on the speed and / or perception performance of the perception target, start or end the alternating sending and receiving of the perception signal with the opposite end device.

[0032] In some embodiments, starting or ending alternating transmission and reception of sensing signals with a peer device based on the speed and / or sensing performance of the sensing target includes:

[0033] When the first condition is met, starting to alternately send and receive sensing signals with the opposite device;

[0034] The first condition includes one or more of the following:

[0035] The speed of the perceived target is lower than or equal to a first threshold;

[0036] It is perceived that the signal received power is greater than or equal to a second threshold.

[0037] In some embodiments, starting or ending alternating transmission and reception of sensing signals with a peer device based on the speed and / or sensing performance of the sensing target includes:

[0038] When the second condition is met, the alternating sending and receiving of the sensing signal with the opposite device is terminated;

[0039] The second condition includes one or more of the following:

[0040] The speed of the perceived target is higher than or equal to the third threshold;

[0041] The sensing signal received power is lower than or equal to a fourth threshold.

[0042] In some embodiments, the method further comprises:

[0043] Sending first indication information to the opposite device, where the first indication information is used to indicate starting or ending the alternating sending and receiving of the perception signal.

[0044] In some embodiments, the method further comprises:

[0045] receiving second indication information sent by the opposite device;

[0046] Based on the second indication information, start or end the alternating sending and receiving of the perception signal with the opposite device.

[0047] In some embodiments, the method further comprises:

[0048] receiving third indication information sent by the opposite device, where the third indication information is used to indicate the perception data related to the perception target and / or parameter information related to the transmission parameter;

[0049] Based on the third indication information, transmission parameters used for the next transmission of the perception signal or the next group of perception signals are determined.

[0050] In some embodiments, the method further comprises:

[0051] Send fourth indication information to the opposite device, where the fourth indication information is used to indicate the perception data related to the perception target and / or parameter information related to the transmission parameter.

[0052] In some embodiments, sending fourth indication information to the opposite device includes:

[0053] If the third condition is met, sending fourth indication information to the opposite device;

[0054] The third condition includes one or more of the following:

[0055] The speed of the perceived target is higher than or equal to the fifth threshold;

[0056] The sensing signal received power is lower than or equal to a sixth threshold.

[0057] In some embodiments, the time domain resource indication information is a radio resource control RRC message, an RRC information element, a medium access control layer control element MAC CE, or physical layer indication information.

[0058] In some embodiments, the transmission parameters include one or more of transmission beam parameters and transmission power.

[0059] In some embodiments, the receive parameters include receive beam parameters.

[0060] In some embodiments, the perception data related to the perception target includes one or more of the following:

[0061] The speed of the perceived target, the distance to the perceived target, the direction of the perceived target, the position of the perceived target, the perceived measurement quantity related to the perceived target, the speed offset of the perceived target, the distance offset of the perceived target, the direction offset of the perceived target, the perceived measurement quantity offset of the perceived target, the speed range of the perceived target, the distance range of the perceived target, and the direction range of the perceived target.

[0062] In a second aspect, the present disclosure further provides a communication device, including a memory, a transceiver, and a processor;

[0063] A memory for storing a computer program; a transceiver for transmitting and receiving data under the control of the processor; and a processor for reading the computer program in the memory and performing the following operations:

[0064] Alternately send and receive sensing signals with the peer device to sense the sensing target;

[0065] Alternating the sending and receiving of sensing signals with the peer device includes:

[0066] Receiving a perception signal from a peer device on a first time domain resource;

[0067] Determine a transmission parameter based on the perception signal received on the first time domain resource, where the transmission parameter includes a transmission parameter for sending the perception signal;

[0068] The perception signal is sent using the sending parameter on the second time domain resource.

[0069] In some embodiments, determining a transmission parameter based on a perception signal received on a first time domain resource includes:

[0070] determining, based on the perception signal received on the first time domain resource, perception data related to the perception target;

[0071] Transmission parameters are determined based on the sensing data related to the sensing target.

[0072] In some embodiments, the transmission parameters further include reception parameters for receiving the perception signal, and the alternate transmission and reception of the perception signal with the peer device further includes:

[0073] The perception signal from the opposite-end device is received using the receiving parameter on the third time domain resource.

[0074] In some embodiments, the operations further include:

[0075] receiving time domain resource indication information;

[0076] Based on the time domain resource indication information, a time domain resource for sending the perception signal and / or a time domain resource for receiving the perception signal is determined; the time domain resource for receiving the perception signal includes a first time domain resource, and the time domain resource for sending the perception signal includes a second time domain resource.

[0077] In some embodiments, the operations further include:

[0078] receiving time domain resource indication information;

[0079] Based on the time domain resource indication information, a time domain resource for sending the perception signal and / or a time domain resource for receiving the perception signal is determined; the time domain resource for receiving the perception signal includes the first time domain resource and / or the third time domain resource, and the time domain resource for sending the perception signal includes the second time domain resource.

[0080] In some embodiments, the time domain resource indication information includes first time domain resource indication information, where the first time domain resource indication information is used to indicate a time domain resource for sending a perception signal and / or a time domain resource for receiving a perception signal.

[0081] In some embodiments, the time domain resource indication information includes second time domain resource indication information and / or third time domain resource indication information, the second time domain resource indication information is used to indicate the next or next group of time domain resources for receiving the perception signal, and the third time domain resource indication information is used to indicate the next or next group of time domain resources for sending the perception signal.

[0082] In some embodiments, the time domain resource indication information includes the resource configuration or resource identifier of the indicated time domain resource.

[0083] In some embodiments, the next or next group of time domain resources for receiving the perception signal is one or more time domain resources after the first time interval from the sending moment of the second time domain resource indication information, and the next or next group of time domain resources for sending the perception signal is one or more time domain resources after the second time interval from the sending moment of the third time domain resource indication information.

[0084] In some embodiments, receiving time domain resource indication information includes:

[0085] Receive time domain resource indication information sent by the opposite device.

[0086] In some embodiments, the operations further include:

[0087] Based on the speed and / or perception performance of the perception target, start or end the alternating sending and receiving of the perception signal with the opposite end device.

[0088] In some embodiments, starting or ending alternating transmission and reception of sensing signals with a peer device based on the speed and / or sensing performance of the sensing target includes:

[0089] When the first condition is met, starting to alternately send and receive sensing signals with the opposite device;

[0090] The first condition includes one or more of the following:

[0091] The speed of the perceived target is lower than or equal to a first threshold;

[0092] It is perceived that the signal received power is greater than or equal to a second threshold.

[0093] In some embodiments, starting or ending alternating transmission and reception of sensing signals with a peer device based on the speed and / or sensing performance of the sensing target includes:

[0094] When the second condition is met, the alternating sending and receiving of the sensing signal with the opposite device is terminated;

[0095] The second condition includes one or more of the following:

[0096] The speed of the perceived target is higher than or equal to the third threshold;

[0097] The sensing signal received power is lower than or equal to a fourth threshold.

[0098] In some embodiments, the operations further include:

[0099] Sending first indication information to the opposite device, where the first indication information is used to indicate starting or ending the alternating sending and receiving of the perception signal.

[0100] In some embodiments, the operations further include:

[0101] receiving second indication information sent by the opposite device;

[0102] Based on the second indication information, start or end the alternating sending and receiving of the perception signal with the opposite device.

[0103] In some embodiments, the operations further include:

[0104] receiving third indication information sent by the opposite device, where the third indication information is used to indicate the perception data related to the perception target and / or parameter information related to the transmission parameter;

[0105] Based on the third indication information, transmission parameters used for the next transmission of the perception signal or the next group of perception signals are determined.

[0106] In some embodiments, the operations further include:

[0107] Send fourth indication information to the opposite device, where the fourth indication information is used to indicate perception data related to the perception target and / or parameter information related to the transmission parameter.

[0108] In some embodiments, sending fourth indication information to the opposite device includes:

[0109] If the third condition is met, sending fourth indication information to the opposite device;

[0110] The third condition includes one or more of the following:

[0111] The speed of the perceived target is higher than or equal to the fifth threshold;

[0112] The sensing signal received power is lower than or equal to a sixth threshold.

[0113] In some embodiments, the time domain resource indication information is a radio resource control RRC message, an RRC information element, a medium access control layer control element MAC CE, or physical layer indication information.

[0114] In some embodiments, the transmission parameters include one or more of transmission beam parameters and transmission power.

[0115] In some embodiments, the receive parameters include receive beam parameters.

[0116] In some embodiments, the perception data related to the perception target includes one or more of the following:

[0117] The speed of the perceived target, the distance to the perceived target, the direction of the perceived target, the position of the perceived target, the perceived measurement quantity related to the perceived target, the speed offset of the perceived target, the distance offset of the perceived target, the direction offset of the perceived target, the perceived measurement quantity offset of the perceived target, the speed range of the perceived target, the distance range of the perceived target, and the direction range of the perceived target.

[0118] In a third aspect, the present disclosure further provides a dual-base sensing device, comprising:

[0119] A transmission unit, configured to alternately send and receive sensing signals with a peer device to sense a sensing target;

[0120] Alternating the sending and receiving of sensing signals with the peer device includes:

[0121] Receiving a perception signal from a peer device on a first time domain resource;

[0122] Determine a transmission parameter based on the perception signal received on the first time domain resource, where the transmission parameter includes a transmission parameter for sending the perception signal;

[0123] The perception signal is sent using the sending parameter on the second time domain resource.

[0124] In a fourth aspect, the present disclosure further provides a non-transitory readable storage medium, wherein the non-transitory readable storage medium stores a computer program, and the computer program is used to enable a processor to execute the dual-base sensing method described in the first aspect.

[0125] In a fifth aspect, the present disclosure further provides a communication device, in which a computer program is stored, and the computer program is used to enable the communication device to execute the dual-base sensing method described in the first aspect above.

[0126] In a sixth aspect, the present disclosure further provides a processor-readable storage medium, wherein the processor-readable storage medium stores a computer program, and the computer program is used to enable the processor to execute the dual-base sensing method described in the first aspect above.

[0127] In a seventh aspect, the present disclosure further provides a chip product, wherein a computer program is stored in the chip product, and the computer program is used to enable the chip product to execute the dual-base sensing method described in the first aspect above.

[0128] The present disclosure provides a dual-base sensing method, communication equipment, apparatus, and storage medium. After receiving a sensing signal from a peer device on a first time domain resource, the sensing device determines a transmission parameter based on the sensing signal received on the first time domain resource, and then uses the transmission parameter to send the sensing signal on a second time domain resource. This allows the sensing device to adaptively adjust the transmission parameter during alternating transmission and reception to maintain continuous perception of the sensing target. This not only solves the problem of continuous perception of moving targets in a dual-base sensing mode, but also avoids signaling interaction and saves signaling overhead. BRIEF DESCRIPTION OF THE DRAWINGS

[0129] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or related technologies, the following is a brief introduction to the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0130] FIG1 is a schematic diagram of a flow chart of a dual-base sensing method provided by an embodiment of the present disclosure;

[0131] FIG2 is an example diagram of time domain resources including multiple transmissions of perception signals provided by an embodiment of the present disclosure;

[0132] FIG3 is an example diagram of a dual-base sensing process provided by an embodiment of the present disclosure;

[0133] FIG4 is a schematic structural diagram of a communication device provided in an embodiment of the present disclosure;

[0134] FIG5 is a schematic structural diagram of a dual-base sensing device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0135] In the embodiments of the present disclosure, the term "and / or" describes the association relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects are in an "or" relationship.

[0136] In the embodiments of the present disclosure, the term "plurality" refers to two or more than two, and other quantifiers are similar thereto.

[0137] In the embodiments of the present disclosure, the terms "first," "second," and the like are used to distinguish similar objects, and are not used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present disclosure can be implemented in an order other than that illustrated or described herein. Furthermore, the objects distinguished by "first" and "second" are generally of the same type, and do not limit the number of objects. For example, the first object can be one or more.

[0138] The following will be combined with the accompanying drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the embodiments described are only part of the embodiments of the present disclosure and not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present disclosure.

[0139] Communication and perception fusion (abbreviated as synaesthesia fusion, communication and perception integration, or synaesthesia integration) refers to the unified design of communication and perception functions through joint design of air interfaces and protocols, reuse of time-frequency-space resources, and sharing of hardware devices, so that wireless networks can realize perception functions while performing communication interactions, thereby improving the overall performance and service capabilities of the network. Wireless perception is a technology that uses wireless signals to obtain characteristic information of the environment and / or objects in the environment (such as shape, size, direction, speed, position, distance between objects or relative motion, etc.). Wireless perception services rely on the analysis of the transmission, reflection, and scattering of wireless perception signals. As part of the wireless communication network, wireless perception services provide the possibility of enhancing the use of telecommunications infrastructure in areas such as object detection and tracking, environmental monitoring, and human motion monitoring. Wireless perception services provide inputs for various vertical fields (including drones, smart homes, vehicle to everything (V2X), factories, etc.). For example, some specific use cases include:

[0140] (1) Used for object and intruder detection in predefined security areas around smart homes, highways, railways, factories, and critical infrastructure.

[0141] (2) Collision avoidance and trajectory tracking of drones, vehicles, and automated guided vehicles.

[0142] (3) Automatic control and navigation.

[0143] (4) Public safety search and rescue.

[0144] (5) Rainfall monitoring and flood monitoring.

[0145] (6) Health and exercise monitoring.

[0146] Base stations and terminals (also known as user equipment, UE) in a synaesthesia fusion system need to transmit and / or receive wireless signals. Based on the received wireless signals, the base station or terminal can obtain perception measurement data, and based on the perception measurement data, perception information can be obtained.

[0147] FIG1 is a flow chart of a dual-base sensing method provided by an embodiment of the present disclosure. As shown in FIG1 , the method includes the following steps:

[0148] Step 100: Alternately send and receive sensing signals with the opposite device to sense the sensing target.

[0149] The alternate sending and receiving of sensing signals with the peer device includes:

[0150] Receiving a perception signal from a peer device on a first time domain resource;

[0151] Determine a transmission parameter based on the perception signal received on the first time domain resource, where the transmission parameter includes a transmission parameter for sending the perception signal;

[0152] The perception signal is sent using the sending parameter on the second time domain resource.

[0153] Specifically, the method is performed by any one of the sensing devices in the dual-base sensing. For example, assuming that the sensing devices in the dual-base sensing are respectively called the first device and the second device, the method is performed by the first device (the opposite device is the second device) or the second device (the opposite device is the first device).

[0154] The first device and the second device can be two spatially separated devices, and both the first device and the second device can send and receive perception signals. The first device can be a network device (e.g., a base station) or a terminal, and the second device can also be a network device or a terminal. The first device or the second device is a logical device and may be composed of multiple modules, multiple functions, or multiple devices.

[0155] A sensing signal refers to a wireless signal used for sensing. A sensing signal can be a wireless signal dedicated to sensing, or a wireless signal used for both sensing and communication.

[0156] The second time domain resource is the time domain resource after the first time domain resource. In bistatic sensing, the process of alternating transmission and reception between the two sensing devices includes: a sensing device (taking the second device as an example, its counterpart is the first device) receives a sensing signal sent by the counterpart device on the first time domain resource. The second device then determines transmission parameters based on the sensing signal received on the first time domain resource. The transmission parameters include transmission parameters for sending the sensing signal. Next, the second device uses the transmission parameters to send the sensing signal on the second time domain resource. The first device receives the sensing signal sent by the second device on the second time domain resource. The first device can then determine transmission parameters based on the sensing signal received on the second time domain resource (the transmission parameters include transmission parameters for sending the sensing signal). The first device then uses the determined transmission parameters when sending the next or next set of sensing signals. In this way, the first and second devices alternately transmit and receive sensing signals. Both the first and second devices can adaptively adjust the transmission parameters to maintain continuous perception of the sensing target. The sensing target can be any object, such as a vehicle, a living thing, a drone, or the environment. The sensing target can include one or more sensing targets.

[0157] In some embodiments, the transmission parameters include one or more of a transmission beam parameter and a transmission power, wherein the transmission beam parameter may include at least one of the following: a transmission beam direction and a transmission beam width.

[0158] The first time domain resource may include a time domain resource for transmitting the perception signal once or multiple times. When the first time domain resource includes a time domain resource for transmitting the perception signal multiple times, the opposite device transmits the perception signal multiple times on the first time domain resource, and the perception device receives the perception signal sent by the opposite device multiple times on the first time domain resource.

[0159] The second time domain resources may include time domain resources for transmitting the perception signal once or multiple times. When the second time domain resources include time domain resources for transmitting the perception signal multiple times, the perception device sends the perception signal multiple times on the second time domain resources, and the opposite device receives the perception signal multiple times on the second time domain resources.

[0160] The third time domain resource described later is similar, and the subsequent sending or receiving situations are also similar.

[0161] The transmission parameters determined by the sensing device or the opposite device may be transmission parameters used for multiple transmissions of the sensing signal. The transmission parameters for each of the multiple transmissions may be the same or different.

[0162] An application scenario involving multiple transmissions of a sensing signal may be, for example, transmission in multiple directions to scan multiple directions.

[0163] FIG2 is an example diagram of time domain resources including multiple transmissions of perception signals provided by an embodiment of the present disclosure. As shown in part (a) of FIG2 , the second time domain resource follows the first time domain resource, and both the first time domain resource and the second time domain resource include time domain resources for multiple transmissions of perception signals. As shown in part (b) of FIG2 , the second time domain resource follows the first time domain resource, and the third time domain resource follows the second time domain resource, and the first time domain resource, the second time domain resource, and the third time domain resource all include time domain resources for multiple transmissions of perception signals. It should be understood that the figure is merely an example, and in practice, the first time domain resource, the second time domain resource, and the third time domain resource do not necessarily all include time domain resources for two transmissions of perception signals. For example, the first time domain resource may include time domain resources for three transmissions of perception signals, the second time domain resource may include time domain resources for four transmissions of perception signals, and so on.

[0164] In the present disclosure, the perception signals sent on different time domain resources may be the same signal or different signals. This applies to the case where the perception signal is transmitted multiple times in the first time domain resource, the second time domain resource, or the third time domain resource (for example, the perception signals transmitted multiple times may be the same signal or different signals), and also to the case where the perception signal is transmitted between the first time domain resource, the second time domain resource, or the third time domain resource (for example, the perception signals transmitted on different time domain resources may be the same signal or different signals).

[0165] It should be noted that during the process of alternately transmitting and receiving sensing signals between the sensing devices, the sensing devices may determine transmission parameters based on the sensing signals received on the first time domain resource. In some cases, the sensing devices may also determine the transmission parameters based on other means. That is, "determining the transmission parameters based on the sensing signals received on the first time domain resource" is an optional step. For example, if the sensing target is moving at high speed or the received sensing signal power is low, the sensing device may not be able to perceive the target well. In this case, the sensing device may not rely on the received sensing signal to determine the transmission parameters, but may use other means to determine the transmission parameters to maintain continuous perception of the sensing target.

[0166] In the dual-base sensing method provided by the embodiments of the present disclosure, after a sensing device receives a sensing signal from a peer device on a first time domain resource, it determines a transmission parameter based on the sensing signal received on the first time domain resource, and then uses the transmission parameter to send the sensing signal on a second time domain resource. This method can adaptively adjust the transmission parameter during the alternating transmission and reception process to maintain continuous perception of the sensing target. This not only solves the problem of continuous perception of moving targets in the dual-base sensing mode, but also avoids signaling interaction and saves signaling overhead.

[0167] In some embodiments, determining a transmission parameter based on a perception signal received on a first time domain resource includes:

[0168] determining, based on the perception signal received on the first time domain resource, perception data related to the perception target;

[0169] Transmission parameters are determined based on the sensing data related to the sensing target.

[0170] Specifically, in this embodiment, when the perception device determines the transmission parameters, it first determines the perception data related to the perception target based on the received perception signal, and then determines the transmission parameters based on the perception data.

[0171] In some embodiments, the perception data related to the perception target includes one or more of the following: the speed of the perception target, the distance between (the perception device that determines the transmission parameters) and the perception target, the direction of the perception target, the position of the perception target, the perception measurement quantity related to the perception target, the speed offset of the perception target, the distance offset of the perception target, the direction offset of the perception target, the perception measurement quantity offset of the perception target, the speed range of the perception target, the distance range of the perception target, and the direction range of the perception target.

[0172] In some embodiments, the perception measurement quantity includes one or more of time delay, Doppler frequency shift, angle of arrival, perceived signal reception strength, and channel state information.

[0173] For example, after the sensing device receives the sensing signal on the first time domain resource, it first determines the position of the sensing target based on the received sensing signal, and then determines the transmission beam direction based on the position of the sensing target. The transmission beam direction can be the direction aimed at the position of the sensing target.

[0174] In some embodiments, the transmission parameters further include reception parameters for receiving the perception signal, and the alternate transmission and reception of the perception signal with the peer device further includes:

[0175] The perception signal from the opposite-end device is received using the receiving parameter on the third time domain resource.

[0176] Specifically, the third time domain resource is after the second time domain resource. After the perception device receives the perception signal sent by the opposite device on the first time domain resource, it can determine the sending parameters and receiving parameters based on the perception signal received on the first time domain resource, and use the sending parameters to send the perception signal on the second time domain resource, and use the receiving parameters to receive the perception signal sent by the opposite device on the third time domain resource.

[0177] The third time domain resource may include a time domain resource for transmitting the perception signal once or multiple times. When the third time domain resource includes a time domain resource for transmitting the perception signal multiple times, the peer device transmits the perception signal multiple times on the third time domain resource, and the perception device receives the perception signal sent by the peer device multiple times on the third time domain resource. The example of the third time domain resource including the time domain resource for transmitting the perception signal multiple times can be found in the above description and is not further described here.

[0178] The peer device can determine transmission parameters (including transmit parameters and receive parameters) based on the perception signal received on the second time domain resource, then use the transmit parameters to transmit the perception signal on the third time domain resource, and use the determined receive parameters the next time or the next set of perception signals are received. In this way, the perception device and the peer device alternately transmit and receive perception signals, and both the perception device and the peer device can adaptively adjust the transmit and receive parameters to maintain continuous perception of the perception target.

[0179] In some embodiments, the receiving parameters include receiving beam parameters. The receiving beam parameters may include at least one of the following: receiving beam direction and receiving beam width.

[0180] In the dual-base sensing method provided by the embodiments of the present disclosure, after a sensing device receives a sensing signal from a peer device on a first time domain resource, it determines a sending parameter and a receiving parameter based on the sensing signal received on the first time domain resource, then uses the sending parameter to send the sensing signal on a second time domain resource, and uses the receiving parameter to receive the sensing signal on a third time domain resource. This method can adaptively adjust the sending parameter and the receiving parameter during the alternating transmission and reception process to maintain continuous perception of the sensing target, thereby solving the problem of continuous perception of moving targets in the dual-base sensing mode and avoiding signaling interaction, thereby saving signaling overhead.

[0181] In some embodiments, alternately sending and receiving sensing signals with a peer device further includes:

[0182] A perception signal is received from the opposite-end device on the third time domain resource.

[0183] Specifically, after the second time domain resource, the third time domain resource is received by the sensing device on the first time domain resource from the sensing signal sent by the peer device. The sensing device may determine a transmission parameter based on the sensing signal received on the first time domain resource, use the transmission parameter to send the sensing signal on the second time domain resource, and then receive the sensing signal sent by the peer device on the third time domain resource. When receiving the sensing signal sent by the peer device on the third time domain resource, the reception parameter used is not limited herein and may be, for example, a reception parameter determined based on the sensing signal received on the first time domain resource, or may be a reception parameter determined by other means independent of the received sensing signal.

[0184] The third time domain resource may include a time domain resource for transmitting the perception signal once or multiple times. When the third time domain resource includes a time domain resource for transmitting the perception signal multiple times, the peer device transmits the perception signal multiple times on the third time domain resource, and the perception device receives the perception signal sent by the peer device multiple times on the third time domain resource. The example of the third time domain resource including the time domain resource for transmitting the perception signal multiple times can be found in the above description and is not further described here.

[0185] FIG3 is a diagram illustrating an example of a dual-static sensing process according to an embodiment of the present disclosure. Referring to FIG3 , in this example, a first device transmits (Tx) a sensing signal on time domain resource 1. Correspondingly, a second device receives (Rx) the sensing signal on time domain resource 1. The second device determines transmission parameters, including transmit parameter 1 and receive parameter 1, based on the sensing signal received on time domain resource 1. In some implementations, before transmitting the sensing signal on time domain resource 1, the first device may discover the sensing target through beam scanning or other means, determine the location of the sensing target, and then begin tracking the sensing target, i.e., alternating transmission and reception starting from time domain resource 1.

[0186] Next, the second device sends a perception signal in time domain resource 2 using sending parameter 1. Correspondingly, the first device receives the perception signal in time domain resource 2. The first device determines transmission parameters based on the perception signal received in time domain resource 2, including sending parameter 2 and receiving parameter 2.

[0187] Next, the first device transmits a perception signal on time domain resource 3 using transmit parameter 2. At this point, the second device receives the perception signal on time domain resource 3 based on the previously determined receive parameter 1. The second device then determines transmission parameters, including transmit parameter 3 and receive parameter 3, based on the perception signal received on time domain resource 3. The second device then transmits the perception signal on time domain resource 4 using transmit parameter 3. The first device receives the perception signal on time domain resource 4 based on the previously determined receive parameter 2. In this way, the sensing devices alternately transmit and receive perception signals, achieving continuous tracking of the perception target.

[0188] In this disclosure, the first time domain resource, the second time domain resource, and the third time domain resource are simply different time domain resources that are sequential in time. This disclosure does not limit the specific time domain locations of these time domain resources. For example, referring to Figure 3, any one of time domain resource 1, time domain resource 2, time domain resource 3, and time domain resource 4 in Figure 3 can be the first time domain resource, and correspondingly, the subsequent time domain resources are the second time domain resource and the third time domain resource.

[0189] For example, if the second device receives a perception signal on time domain resource 1, time domain resource 1 is considered the first time domain resource for the second device, and time domain resource 2 and time domain resource 3 are considered the second time domain resource and the third time domain resource, respectively. For example, if the second device receives a perception signal on time domain resource 3, time domain resource 3 can also be considered the first time domain resource for the second device, time domain resource 4 is considered the second time domain resource, and the time domain resource used to transmit the perception signal after time domain resource 4 is considered the third time domain resource.

[0190] For example, the first device receives a perception signal on time domain resource 2. For the first device, time domain resource 2 is the first time domain resource, time domain resource 3 is the second time domain resource, and time domain resource 4 is the third time domain resource. For example, the first device receives a perception signal on time domain resource 4. For the first device, time domain resource 4 can also be considered the first time domain resource. The time domain resources used to transmit the perception signal after time domain resource 4 are the second time domain resource and the third time domain resource, respectively.

[0191] In some implementations, when a sensing device first receives a sensing signal, it may determine a receiving parameter (such as a receiving beam direction) based on the location of the initial sensing target. For example, referring to FIG3 , on time domain resource 2, the first device may determine a receiving beam direction based on the location of the initial sensing target.

[0192] Since there is a period of time between the received perception signal used to determine the transmission parameters and the next or next group of transmitted perception signals, the position of the perception target may have changed during this period. In some implementations, it is possible to consider using a wider transmit beam and / or receive beam, and it is also possible to consider combining historical trajectories to predict the transmit beam direction and / or receive beam direction, so as to be able to send and / or receive perception signals more accurately and maintain continuous perception of the perception target.

[0193] In some embodiments, the method further comprises:

[0194] receiving time domain resource indication information;

[0195] Based on the time domain resource indication information, a time domain resource for sending the perception signal and / or a time domain resource for receiving the perception signal is determined; the time domain resource for receiving the perception signal includes a first time domain resource, and the time domain resource for sending the perception signal includes a second time domain resource.

[0196] In some embodiments, the method further comprises:

[0197] receiving time domain resource indication information;

[0198] Based on the time domain resource indication information, a time domain resource for sending the perception signal and / or a time domain resource for receiving the perception signal is determined; the time domain resource for receiving the perception signal includes the first time domain resource and / or the third time domain resource, and the time domain resource for sending the perception signal includes the second time domain resource.

[0199] Specifically, the perception device can receive time domain resource indication information sent by other devices, and based on the time domain resource indication information, it can determine the time domain resources used to send the perception signal and / or the time domain resources used to receive the perception signal, such as the first time domain resources, the second time domain resources, the third time domain resources, etc.

[0200] The other device may be a peer device, or a device other than the sensing device and the peer device.

[0201] For example, the first device receives time domain resource indication information sent by the second device or a device other than the first device and the second device. Alternatively, the second device receives time domain resource indication information sent by the first device or a device other than the first device and the second device.

[0202] In some embodiments, the second device may send the time domain resource indication information to the first device after receiving the time domain resource indication information sent by devices other than the first device and the second device. The first device is similar and will not be described in detail here.

[0203] In some embodiments, the time domain resource indication information is a Radio Resource Control (RRC) message, an RRC Information Element (IE), a Media Access Control Control Element (MAC CE), or physical layer indication information.

[0204] It should be noted that the names of the various indication information in this disclosure (such as time domain resource indication information, first time domain resource indication information, second time domain resource indication information, third time domain resource indication information, first indication information, second indication information, third indication information, fourth indication information, etc.) do not limit their functions and contents. They are just named differently for the purpose of convenience of description and distinction, but do not constitute a limitation on the function or content of the indication information.

[0205] In some embodiments, the time domain resource indication information includes first time domain resource indication information, where the first time domain resource indication information is used to indicate a time domain resource for sending a perception signal and / or a time domain resource for receiving a perception signal.

[0206] In some implementations, the time domain resources used for sensing signal transmission may be indicated to the sensing device in a semi-static configuration manner.

[0207] For example, referring to Figure 3 , using the four time domain resources in Figure 3 as an example, a first device receives first time domain resource indication information 1. Based on the first time domain resource indication information 1, the first device determines time domain resources 1 and 3 for sending perception signals, and time domain resources 2 and 4 for receiving perception signals. And / or, a second device receives first time domain resource indication information 2. Based on the first time domain resource indication information 2, the second device determines time domain resources 2 and 4 for sending perception signals, and time domain resources 1 and 3 for receiving perception signals. Thereafter, the first and second devices begin alternately transmitting and receiving perception signals on time domain resources 1, 2, 3, and 4. It should be understood that the first time domain resource indication information (first time domain resource indication information 1) received by the first device and the first time domain resource indication information (first time domain resource indication information 2) received by the second device, while both indicating time domain resources for sending perception signals and / or receiving perception signals, are not necessarily the same indication information.

[0208] In some embodiments, the time domain resource indication information includes the resource configuration or resource identifier of the indicated time domain resource.

[0209] In some implementations, when a time domain resource is indicated by a resource identifier, the sensing device obtains the resource configuration of the time domain resource corresponding to the resource identifier through other means (such as receiving other indication information).

[0210] For example, the first device receives first time domain resource indication information, where the first time domain resource indication information indicates the resource configuration of time domain resources (such as time domain resource 1 and time domain resource 3) used to send perception signals, and indicates the resource configuration of time domain resources (such as time domain resource 2 and time domain resource 4) used to receive perception signals.

[0211] In some implementations, the first time domain resource indication information is SensingResourceConfig (sensing resource configuration). ResourceElement (resource element) indicates the configuration information of the time domain resource, txResourceList indicates the time domain resource used to send the sensing signal, including one or more ResourceElements, and rxResourceList indicates the time domain resource used to receive the sensing signal, including one or more ResourceElements. The example information structure is as follows:

[0212] For another example, a first device receives first time domain resource indication information. The first time domain resource indication information indicates, through resource identifiers, that time domain resources 1 and time domain resources 3 are time domain resources for sending perception signals, and / or indicates that time domain resources 2 and time domain resources 4 are time domain resources for receiving perception signals. The first time domain resource indication information indicates resource identifiers of time domain resources (such as time domain resources 1 and time domain resources 3) for sending perception signals, and / or indicates resource identifiers of time domain resources (such as time domain resources 2 and time domain resources 4) for receiving perception signals. In this case, the first device also needs to receive resource configuration information indicating time domain resources 1, time domain resources 2, time domain resources 3, and time domain resources 4.

[0213] In some implementations, the first time domain resource indication information is SensingResourceConfig. ResourceElementId (resource element identifier) ​​indicates the identifier of the time domain resource, txResourceList indicates the time domain resources used to send sensing signals and includes one or more ResourceElementIds, and rxResourceList indicates the time domain resources used to receive sensing signals and includes one or more ResourceElementIds. The example information structure is as follows:

[0214] In some embodiments, the time domain resource indication information includes second time domain resource indication information and / or third time domain resource indication information, the second time domain resource indication information is used to indicate the next or next group of time domain resources for receiving the perception signal, and the third time domain resource indication information is used to indicate the next or next group of time domain resources for sending the perception signal.

[0215] In some implementations, the time domain resources used for sensing signal transmission may be indicated to the sensing device in a dynamic configuration manner. The sensing device receives the time domain resource indication information before the time domain resources indicated by the time domain resource indication information.

[0216] For example, the perception device (taking the second device as an example, its opposite device is the first device) receives the second time domain resource indication information 1, the second time domain resource indication information 1 indicates the first time domain resource for the second device to receive the perception signal (that is, the next or next group of time domain resources for receiving the perception signal, where "next group" refers to the case where the first time domain resource includes a time domain resource for receiving the perception signal multiple times), and the second device receives the perception signal sent by the first device on the first time domain resource; then, the second device receives the third time domain resource indication information 1, and the third time domain resource indication information 1 indicates the second time domain resource for the second device to send the perception signal (that is, the next The second device sends a perception signal on the second time domain resource; then, the second device receives second time domain resource indication information 2, and the second time domain resource indication information 2 indicates a third time domain resource for the second device to receive the perception signal (i.e., the next or next group of time domain resources for receiving the perception signal, where "the next group" refers to the case where the third time domain resource includes a time domain resource for receiving the perception signal multiple times), and the second device receives the perception signal sent by the first device on the third time domain resource.

[0217] For another example, for the opposite device of the perception device (still taking the perception device as the second device as an example, its opposite device is the first device), the first device receives third time domain resource indication information 2, and the third time domain resource indication information 2 indicates the first time domain resource for the first device to send the perception signal (that is, the next or next group of time domain resources for sending the perception signal, where "next group" refers to the case where the first time domain resource includes the time domain resource for sending the perception signal multiple times), and the first device sends the perception signal on the first time domain resource; then, the first device receives second time domain resource indication information 3, and the second time domain resource indication information 3 indicates the first time domain resource for the first device to receive the perception signal. The first device receives the perception signal sent by the second device on the second time domain resource (i.e., the next or next group of time domain resources for receiving the perception signal, where "next group" refers to the case where the second time domain resources include time domain resources for receiving the perception signal multiple times); then, the first device receives the third time domain resource indication information 3, and the third time domain resource indication information 3 indicates the third time domain resource for sending the perception signal (i.e., the next or next group of time domain resources for sending the perception signal, where "next group" refers to the case where the third time domain resources include time domain resources for sending the perception signal multiple times), and the first device sends the perception signal on the third time domain resource.

[0218] In some implementations, when the time domain resource indication information includes second time domain resource indication information and third time domain resource indication information, the sensing device may receive the second time domain resource indication information and the third time domain resource indication information twice. This can also be understood as the second time domain resource indication information and the third time domain resource indication information being sent via two messages.

[0219] For example, referring to Figure 3 , using the four time domain resources in Figure 3 as an example, a first device receives indication information 1 and, based on indication information 1, determines that time domain resource 1 is used for sending a perception signal. The first device then sends the perception signal on time domain resource 1. The first device then receives indication information 2 and, based on indication information 2, determines that time domain resource 2 is used for receiving a perception signal. The first device then receives indication information 3 and, based on indication information 3, determines that time domain resource 3 is used for sending a perception signal. The first device then sends the perception signal on time domain resource 3. The first device then receives indication information 4 and, based on indication information 4, determines that time domain resource 4 is used for receiving a perception signal. The first device then receives indication information 4. Both indication information 2 and 4 are second time domain resource indication information, while both indication information 1 and 3 are third time domain resource indication information. Dynamically configuring time domain resources during the alternating transmission and reception of perception signals by two sensing devices allows for more flexible time domain resource configuration. The second device operates similarly and will not be further described here.

[0220] In some embodiments, the time domain resource indication information includes the resource configuration or resource identifier of the indicated time domain resource.

[0221] In some implementations, when a time domain resource is indicated by a resource identifier, the sensing device obtains the resource configuration of the time domain resource corresponding to the resource identifier through other means (such as receiving other indication information).

[0222] For example, the first device receives second time domain resource indication information, where the second time domain resource indication information indicates a resource configuration of a time domain resource (such as time domain resource 2) for receiving the perception signal.

[0223] For another example, the first device receives second time domain resource indication information. The second time domain resource indication information indicates, through a resource identifier, that time domain resource 2 is a time domain resource for receiving the perception signal. The second time domain resource indication information indicates a resource identifier of the time domain resource (e.g., time domain resource 2) for receiving the perception signal. In this case, the first device also needs to receive resource configuration information indicating time domain resource 2.

[0224] For another example, the first device receives third time domain resource indication information, where the third time domain resource indication information indicates a resource configuration of a time domain resource (such as time domain resource 3) used to send a perception signal.

[0225] For another example, the first device receives third time domain resource indication information. The third time domain resource indication information indicates, through a resource identifier, that time domain resource 3 is a time domain resource for sending a perception signal. The third time domain resource indication information indicates a resource identifier of the time domain resource (e.g., time domain resource 3) for sending the perception signal. In this case, the first device also needs to receive resource configuration information indicating time domain resource 3.

[0226] In some embodiments, the next time domain resource or the next group of time domain resources for receiving the perception signal is one or more time domain resources that are separated by a first time interval from the sending time (which may be the sending start time or the sending end time, not limited in this disclosure) of the second time domain resource indication information. The one or more time domain resources here can be any time domain resources, or can be time domain resources capable of receiving signals, or can be time domain resources capable of receiving perception signals.

[0227] The next time domain resource or the next group of time domain resources for sending the perception signal is one or more time domain resources that are separated by a second time length from the sending time (which may be the sending start time or the sending end time, not limited in this disclosure) of the third time domain resource indication information. The one or more time domain resources here may be any time domain resources, or may be time domain resources capable of sending signals, or may be time domain resources capable of sending perception signals.

[0228] Specifically, the first duration and the second duration can be any duration, and are not specifically limited. The first duration and the second duration can be the same or different.

[0229] For example, the perception device receives the second time domain resource indication information, and determines the earliest one or more time domain resources after the sending time of the second time domain resource indication information by a time interval of T1 as the next or next group of time domain resources for receiving the perception signal, where T1 represents the first duration, and T1 is greater than or equal to 0.

[0230] For another example, after receiving the second time domain resource indication information, the perception device determines one or more time domain resources that are T1 time intervals from the time when the second time domain resource indication information is sent. These one or more time domain resources can be used by the perception device to receive the perception signal until the next third time domain resource indication information indicates the time domain resources for the perception device to send the perception signal. Taking indication information 2 and indication information 3 as examples, in some embodiments, after receiving indication information 2, the perception device determines one or more time domain resources starting from T1 time intervals from the time when indication information 2 is sent and ending at T1 time intervals from the time when indication information 3 is sent as time domain resources for the first device to receive the perception signal.

[0231] For another example, the perception device receives the third time domain resource indication information, and determines the earliest one or more time domain resources after the sending time of the third time domain resource indication information at an interval of T2 as the next or next group of time domain resources for sending the perception signal, where T2 represents the second duration, and T2 is greater than or equal to 0.

[0232] For another example, after receiving the third time domain resource indication information, the perception device determines one or more time domain resources that are T2 times later than the time when the third time domain resource indication information is sent. These one or more time domain resources can be used by the perception device to send a perception signal until the next second time domain resource indication information indicates a time domain resource for the perception device to receive the perception signal. Taking indication information 1 and indication information 2 as examples, in some embodiments, after receiving indication information 1, the perception device determines one or more time domain resources starting from T2 times later than the time when indication information 1 is sent and ending at T2 times later than the time when indication information 2 is sent as time domain resources for the first device to send a perception signal.

[0233] In some embodiments, the method further comprises:

[0234] Based on the speed and / or perception performance of the perception target, start or end the alternating sending and receiving of the perception signal with the opposite end device.

[0235] Specifically, in this embodiment, the start or end conditions of alternating transmission and reception can be set, and the sensing device can decide to start or end alternating transmission and reception based on the speed and / or sensing performance (such as the sensing signal receiving power) of the sensing target.

[0236] In some embodiments, starting or ending alternating transmission and reception of sensing signals with a peer device based on the speed and / or sensing performance of the sensing target includes:

[0237] When the first condition is met, starting to alternately send and receive sensing signals with the opposite device;

[0238] The first condition includes one or more of the following:

[0239] The speed of the perceived target is lower than or equal to a first threshold;

[0240] It is perceived that the signal received power is greater than or equal to a second threshold.

[0241] For example, when the speed of the perceived target meets a first criterion, the first device and the second device may alternately transmit and receive the perception signal. The perception target speed meeting the first criterion may specifically be that the speed of the perceived target is lower than or equal to a first threshold.

[0242] For another example, when the sensing performance satisfies a second criterion, the first device and the second device may alternately transmit and receive the sensing signal. The sensing performance satisfies the second criterion, which may specifically be that the received power of the sensing signal is greater than or equal to a second threshold.

[0243] The first threshold and the second threshold are arbitrary thresholds and can be set flexibly without any specific restrictions.

[0244] In some embodiments, starting or ending alternating transmission and reception of sensing signals with a peer device based on the speed and / or sensing performance of the sensing target includes:

[0245] When the second condition is met, the alternating sending and receiving of the sensing signal with the opposite device is terminated;

[0246] The second condition includes one or more of the following:

[0247] The speed of the perceived target is higher than or equal to the third threshold;

[0248] The sensing signal received power is lower than or equal to a fourth threshold.

[0249] For example, if the speed of the perceived target meets a third criterion, the method of alternately sending and receiving the perception signal using the first device and the second device may be terminated. Specifically, the speed of the perceived target meeting the third criterion may be: the speed of the perceived target is greater than or equal to a third threshold.

[0250] For another example, the method of alternately sending and receiving the sensing signal using the first device and the second device may be terminated when the sensing performance satisfies a fourth criterion. The sensing performance satisfies the fourth criterion, which may specifically be that the sensing signal received power is lower than or equal to a fourth threshold.

[0251] The third threshold and the fourth threshold are arbitrary thresholds and can be set flexibly without any specific restrictions.

[0252] In some embodiments, the method further comprises:

[0253] Sending first indication information to the opposite device, where the first indication information is used to indicate starting or ending the alternating sending and receiving of the perception signal.

[0254] For example, the first device determines to start or end alternately transmitting and receiving sensing signals based on the speed and / or sensing performance of the sensing target. The first device may send first indication information to the second device to instruct the second device to start or end alternately transmitting and receiving sensing signals. The second device is similar and will not be described in detail here.

[0255] In some embodiments, the method further comprises:

[0256] receiving second indication information sent by the opposite device;

[0257] Based on the second indication information, start or end the alternating sending and receiving of the perception signal with the opposite device.

[0258] For example, the second device determines to start or end the alternating transmission and reception of the perception signal based on the speed and / or perception performance of the perception target, and the second device sends second indication information to the first device, and the first device starts or ends the alternating transmission and reception of the perception signal according to the second indication information.

[0259] In some embodiments, the method further comprises:

[0260] receiving third indication information sent by the opposite device, where the third indication information is used to indicate the perception data related to the perception target and / or parameter information related to the transmission parameter;

[0261] Based on the third indication information, transmission parameters used for the next transmission of the perception signal or the next group of perception signals are determined.

[0262] Specifically, in order to prevent the sensing method of alternately transmitting and receiving sensing signals from failing to perceive the target well in certain circumstances, signaling may be used to assist in adjusting transmission parameters.

[0263] In some implementations, the parameter information related to the transmission parameter may be information about the transmission parameter itself, that is, the third indication information indicates the transmission parameter used for the perception signal transmission.

[0264] In some implementations, the parameter information related to the transmission parameter may be information used to determine related parameters of the transmission parameter (such as an offset of the transmission parameter, a value range of the transmission parameter, etc.).

[0265] In some embodiments, the method further comprises:

[0266] Send fourth indication information to the opposite device, where the fourth indication information is used to indicate the perception data related to the perception target and / or parameter information related to the transmission parameter.

[0267] Specifically, signaling can be used to assist in adjusting transmission parameters. Either of the two sensing devices can send indication information to the other device. For example, a first device sends fourth indication information to a second device, where the fourth indication information indicates sensing data related to a sensing target and / or parameter information related to transmission parameters. The second device determines the transmission parameters to be used for the next transmission or the next set of sensing signal transmissions based on the fourth indication information.

[0268] In some embodiments, sending fourth indication information to the opposite device includes:

[0269] If the third condition is met, sending fourth indication information to the opposite device;

[0270] The third condition includes one or more of the following:

[0271] The speed of the perceived target is higher than or equal to the fifth threshold;

[0272] The sensing signal received power is lower than or equal to a sixth threshold.

[0273] For example, the first device may send fourth indication information to the second device when the speed of the perceived target meets the fifth criterion. The speed of the perceived target meeting the fifth criterion may specifically be: the speed of the perceived target is higher than or equal to a fifth threshold.

[0274] For another example, the first device may send fourth indication information to the second device when the perceived performance meets a sixth criterion. The perceived performance meeting the sixth criterion may specifically be: the perceived signal received power is lower than or equal to a sixth threshold.

[0275] The fifth threshold and the sixth threshold are arbitrary thresholds and can be flexibly set without specific restrictions.

[0276] The following describes the methods provided by the above embodiments of the present disclosure by taking an example of a specific application scenario and combining it with FIG3 .

[0277] Example 1: The first device and the second device alternately send and receive sensing signals to sense the same or multiple sensing targets. The main process includes:

[0278] 1. A first device sends a perception signal in time domain resource 1; a second device receives the perception signal in time domain resource 2; the perception signal is sent or received in time domain resource 1 to perceive the perception target.

[0279] In some implementations, the second device determines sending parameter 1 according to the perception signal received in time domain resource 1.

[0280] In some implementations, the second device determines reception parameter 1 according to the perception signal received in time domain resource 1.

[0281] 2. The second device sends a perception signal using transmission parameter 1 in time domain resource 2; the first device receives the perception signal in time domain resource 2; the perception signal is sent or received in time domain resource 2 to perceive the perception target.

[0282] In some implementations, the first device determines sending parameter 2 according to the perception signal received in time domain resource 2.

[0283] In some implementations, the first device determines reception parameter 2 according to the perception signal received in time domain resource 2.

[0284] In some implementations, time domain resource 2 may include time domain resources used for transmitting or receiving a perception signal one or more times. Transmission parameter 1 may include parameters used for transmitting a perception signal one or more times. When time domain resource 2 includes time domain resources used for transmitting a perception signal multiple times, transmission parameter 1 for the multiple transmissions of the perception signal may be the same or different.

[0285] 3. The first device sends a perception signal using transmission parameter 2 in time domain resource 3; the second device receives the perception signal in time domain resource 3; the perception signal is sent or received in time domain resource 3 to perceive the perception target.

[0286] In some implementations, the second device receives the perception signal using reception parameter 1 in time domain resource 3 .

[0287] In some implementations, the second device determines the sending parameter 3 according to the perception signal received in the time domain resource 3.

[0288] In some implementations, the second device determines reception parameter 3 according to the perception signal received in time domain resource 3.

[0289] In some implementations, time domain resources 3 may include time domain resources for transmitting or receiving perception signals one or more times. Reception parameters 1 may include parameters for receiving perception signals one or more times. When time domain resources 3 include time domain resources for receiving perception signals multiple times, reception parameters 1 for the multiple times of receiving perception signals may be the same or different.

[0290] 4. The second device sends a perception signal using transmission parameter 3 in time domain resource 4; the first device receives the perception signal in time domain resource 4; the perception signal is sent or received in time domain resource 4 to perceive the perception target.

[0291] In some implementations, the first device receives the perception signal using reception parameter 2 in time domain resource 4 .

[0292] In some implementations, time domain resources 4 may include time domain resources for transmitting or receiving perception signals one or more times. Reception parameters 2 may include parameters for receiving perception signals one or more times. When time domain resources 4 include time domain resources for receiving perception signals multiple times, reception parameters 2 for the multiple receptions of perception signals may be the same or different.

[0293] Example 2: Determine the time domain resources for sending and receiving perception signals based on semi-static configuration. The main process includes:

[0294] 1. The first device receives first time domain resource indication information 1. The first device determines, based on the first time domain resource indication information 1, that time domain resources 1 and 3 are used for sending a perception signal, and that time domain resources 2 and 4 are used for receiving a perception signal.

[0295] and / or,

[0296] The second device receives the first time domain resource indication information 2, and determines, based on the first time domain resource indication information 2, that time domain resources 2 and 4 are used to send the perception signal, and that time domain resources 1 and 3 are used to receive the perception signal.

[0297] 2. The first device sends a perception signal in time domain resource 1; the second device receives the perception signal in time domain resource 2; the perception signal is sent or received in time domain resource 1 to perceive the perception target.

[0298] In some implementations, the second device determines sending parameter 1 according to the perception signal received in time domain resource 1.

[0299] In some implementations, the second device determines reception parameter 1 according to the perception signal received in time domain resource 1.

[0300] 3. The second device sends a perception signal using transmission parameter 1 in time domain resource 2; the first device receives the perception signal in time domain resource 2; and the perception signal is sent or received in time domain resource 2 to perceive the perception target.

[0301] In some implementations, the first device determines sending parameter 2 according to the perception signal received in time domain resource 2.

[0302] In some implementations, the first device determines reception parameter 2 according to the perception signal received in time domain resource 2.

[0303] 4. The first device sends a perception signal using transmission parameter 2 in time domain resource 3; the second device receives the perception signal in time domain resource 3; the perception signal is sent or received in time domain resource 3 to perceive the perception target.

[0304] In some implementations, the second device receives the perception signal using reception parameter 1 in time domain resource 3 .

[0305] In some implementations, the second device determines the sending parameter 3 according to the perception signal received in the time domain resource 3.

[0306] In some implementations, the second device determines reception parameter 3 according to the perception signal received in time domain resource 3.

[0307] 5. The second device sends a perception signal using transmission parameter 3 in time domain resource 4; the first device receives the perception signal in time domain resource 4; the perception signal is sent or received in time domain resource 4 to perceive the perception target.

[0308] In some implementations, the first device receives the perception signal using reception parameter 2 in time domain resource 4 .

[0309] Example 3: Determine the time domain resources for sending and receiving perception signals based on dynamic configuration. The main process includes:

[0310] 1. The first device receives third time domain resource indication information (indication information 1), and determines, according to the indication information 1, that time domain resource 1 is used to send the perception signal.

[0311] and / or,

[0312] The second device receives the second time domain resource indication information (indication information 5), and determines, according to the indication information 5, that the time domain resource 1 is used for receiving the perception signal.

[0313] 2. The first device sends a perception signal in time domain resource 1; the second device receives the perception signal in time domain resource 2; the perception signal is sent or received in time domain resource 1 to perceive the perception target.

[0314] In some implementations, the second device determines sending parameter 1 according to the perception signal received in time domain resource 1.

[0315] In some implementations, the second device determines reception parameter 1 according to the perception signal received in time domain resource 1.

[0316] 3. The first device receives second time domain resource indication information (indication information 2), and determines, according to indication information 2, that time domain resource 2 is used for receiving the perception signal.

[0317] and / or,

[0318] The second device receives the third time domain resource indication information (indication information 6), and determines, according to the indication information 6, that the time domain resource 2 is used to send the perception signal.

[0319] 4. The second device sends a perception signal using transmission parameter 1 in time domain resource 2; the first device receives the perception signal in time domain resource 2; the perception signal is sent or received in time domain resource 2 to perceive the perception target.

[0320] In some implementations, the first device determines sending parameter 2 according to the perception signal received in time domain resource 2.

[0321] In some implementations, the first device determines reception parameter 2 according to the perception signal received in time domain resource 2.

[0322] 5. The first device receives third time domain resource indication information (indication information 3), and determines, according to indication information 3, that time domain resource 3 is used to send the perception signal.

[0323] and / or,

[0324] The second device receives the second time domain resource indication information (indication information 7), and determines, according to the indication information 7, that the time domain resource 3 is used for receiving the perception signal.

[0325] 6. The first device sends a perception signal using transmission parameter 2 in time domain resource 3; the second device receives the perception signal in time domain resource 3; the perception signal is sent or received in time domain resource 3 to perceive the perception target.

[0326] In some implementations, the second device receives the perception signal using reception parameter 1 in time domain resource 3 .

[0327] In some implementations, the second device determines the sending parameter 3 according to the perception signal received in the time domain resource 3.

[0328] In some implementations, the second device determines reception parameter 3 according to the perception signal received in time domain resource 3.

[0329] 7. The first device receives the second time domain resource indication information (indication information 4), and determines, based on the fourth indication information, that time domain resource 4 is used for receiving the perception signal.

[0330] and / or,

[0331] The second device receives the third time domain resource indication information (indication information 8), and determines, according to the indication information 8, that the time domain resource 4 is used to send the perception signal.

[0332] 8. The second device sends a perception signal using transmission parameter 3 in time domain resource 4; the first device receives the perception signal in time domain resource 4; the perception signal is sent or received in time domain resource 4 to perceive the perception target.

[0333] In some implementations, the first device receives the perception signal using reception parameter 2 in time domain resource 4 .

[0334] In some implementations, the indication information received by the first device or the second device may be sent by the other device.

[0335] Example 4: Determine whether to start or end alternating transmission and reception. The main process includes:

[0336] 1. The first device or the second device determines that a criterion is met and sends an instruction message to the other device to instruct the other device to start alternately sending and receiving a sensing signal.

[0337] Among them, the specific method for the first device or the second device to determine whether the criterion is met can be to start alternating sending and receiving of perception signals based on the speed and / or perception performance of the perception target as described above, which will not be repeated here.

[0338] 2. The first device sends a perception signal in time domain resource 1; the second device receives the perception signal in time domain resource 2; the perception signal is sent or received in time domain resource 1 to perceive the perception target.

[0339] In some implementations, the second device determines sending parameter 1 according to the perception signal received in time domain resource 1.

[0340] In some implementations, the second device determines reception parameter 1 according to the perception signal received in time domain resource 1.

[0341] 3. The second device sends a perception signal using transmission parameter 1 in time domain resource 2; the first device receives the perception signal in time domain resource 2; and the perception signal is sent or received in time domain resource 2 to perceive the perception target.

[0342] In some implementations, the first device determines sending parameter 2 according to the perception signal received in time domain resource 2.

[0343] In some implementations, the first device determines reception parameter 2 according to the perception signal received in time domain resource 2.

[0344] 4. In some implementations, the first device determines that a criterion is met and sends an indication message to the second device to indicate the end of the alternating transmission and reception of the sensing signal.

[0345] The specific method for the first device to determine whether the criterion is met may be to end the alternating sending and receiving of the perception signal based on the speed and / or perception performance of the perception target as described above, which will not be repeated here.

[0346] or,

[0347] 1. The first device or the second device determines that a criterion is met and sends an instruction message to the other device to instruct the other device to start alternately sending and receiving a sensing signal.

[0348] Among them, the specific method for the first device or the second device to determine whether the criterion is met can be to start alternating sending and receiving of perception signals based on the speed and / or perception performance of the perception target as described above, which will not be repeated here.

[0349] 2. The first device sends a perception signal in time domain resource 1; the second device receives the perception signal in time domain resource 2; the perception signal is sent or received in time domain resource 1 to perceive the perception target.

[0350] In some implementations, the second device determines sending parameter 1 according to the perception signal received in time domain resource 1.

[0351] In some implementations, the second device determines reception parameter 1 according to the perception signal received in time domain resource 1.

[0352] 3. The second device sends a perception signal using transmission parameter 1 in time domain resource 2; the first device receives the perception signal in time domain resource 2; and the perception signal is sent or received in time domain resource 2 to perceive the perception target.

[0353] In some implementations, the first device determines sending parameter 2 according to the perception signal received in time domain resource 2.

[0354] In some implementations, the first device determines reception parameter 2 according to the perception signal received in time domain resource 2.

[0355] 4. The first device sends a perception signal using transmission parameter 2 in time domain resource 3; the second device receives the perception signal in time domain resource 3; the perception signal is sent or received in time domain resource 3 to perceive the perception target.

[0356] In some implementations, the second device receives the perception signal using reception parameter 1 in time domain resource 3 .

[0357] In some implementations, the second device determines the sending parameter 3 according to the perception signal received in the time domain resource 3.

[0358] In some implementations, the second device determines reception parameter 3 according to the perception signal received in time domain resource 3.

[0359] 5. In some implementations, the second device determines that a criterion is met and sends an indication message to the first device to indicate the end of the alternating transmission and reception of the sensing signal.

[0360] The specific method for the second device to determine whether the criterion is met may be to end the alternating sending and receiving of the perception signal based on the speed and / or perception performance of the perception target as described above, which will not be repeated here.

[0361] Example 5: Adjusting transmission parameters with the aid of signaling. The main process includes:

[0362] 1. A first device sends a perception signal in time domain resource 1; a second device receives the perception signal in time domain resource 2; the perception signal is sent or received in time domain resource 1 to perceive the perception target.

[0363] In some implementations, the second device determines sending parameter 1 according to the perception signal received in time domain resource 1.

[0364] In some implementations, the second device determines reception parameter 1 according to the perception signal received in time domain resource 1.

[0365] 2. The second device sends a perception signal using transmission parameter 1 in time domain resource 2; the first device receives the perception signal in time domain resource 2; the perception signal is sent or received in time domain resource 2 to perceive the perception target.

[0366] In some implementations, the first device determines sending parameter 2 according to the perception signal received in time domain resource 2.

[0367] In some implementations, the first device determines reception parameter 2 according to the perception signal received in time domain resource 2.

[0368] 3. The first device sends indication information to the second device, which is used to indicate the perception data related to the perception target or parameter information related to the transmission parameter; the second device receives the indication information and determines the receiving parameter 1′ according to the indication information.

[0369] In some implementations, the first device determines that a criterion is satisfied and then sends an indication message to the second device.

[0370] 4. The first device sends a perception signal using the sending parameter 2 in the time domain resource 3; the second device receives the perception signal using the receiving parameter 1′ in the time domain resource 3; the perception signal is sent or received in the time domain resource 3 to perceive the perception target.

[0371] In some implementations, the second device determines the sending parameter 3 according to the perception signal received in the time domain resource 3.

[0372] In some implementations, the second device determines reception parameter 3 according to the perception signal received in time domain resource 3.

[0373] 5. In some implementations, the second device sends indication information to the first device, which is used to indicate perception data related to the perception target or parameter information related to the transmission parameter; the first device receives the indication information and determines the receiving parameter 2' according to the indication information.

[0374] In some implementations, the second device determines that the criterion is satisfied, and then sends an indication message to the first device. The specific method for the second device to determine that the criterion is satisfied can be the same as the method for the second device to determine that the third condition is satisfied, and will not be repeated here.

[0375] 6. The second device sends a perception signal using the sending parameter 3 in the time domain resource 4; the first device receives the perception signal using the receiving parameter 2′ in the time domain resource 4; and the perception signal is sent or received in the time domain resource 4 to perceive the perception target.

[0376] It should be noted that Example 1, Example 2, Example 3, Example 4, and Example 5 can be combined with each other. Each step in each example is not mandatory, and other steps can be included between the steps. The steps in each example are not restricted to be executed in the order written. Some steps in each example can be executed in parallel.

[0377] The methods and devices provided in the various embodiments of the present disclosure are based on the same application concept. Since the methods and devices solve problems based on similar principles, the implementation of the devices and methods can refer to each other, and the repeated parts will not be repeated.

[0378] FIG4 is a schematic structural diagram of a communication device provided in an embodiment of the present disclosure. As shown in FIG4 , the communication device includes a memory 420 , a transceiver 410 , and a processor 400 ; wherein the processor 400 and the memory 420 may also be physically arranged separately.

[0379] The memory 420 is used to store computer programs; the transceiver 410 is used to send and receive data under the control of the processor 400.

[0380] Specifically, the transceiver 410 is configured to receive and send data under the control of the processor 400 .

[0381] In FIG4 , the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 400 and memory represented by memory 420. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described in this disclosure. The bus interface provides an interface. The transceiver 410 may be a plurality of components, namely, a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium, such as a wireless channel, a wired channel, an optical cable, or the like.

[0382] The processor 400 is responsible for managing the bus architecture and general processing, and the memory 420 can store data used by the processor 400 when performing operations.

[0383] The processor 400 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or a complex programmable logic device (CPLD). The processor may also adopt a multi-core architecture.

[0384] The processor 400, by calling the computer program stored in the memory 420, is configured to execute any of the methods provided by the embodiments of the present disclosure according to the obtained executable instructions, for example: alternately sending and receiving a perception signal with the peer device to perceive a perception target; the alternately sending and receiving a perception signal with the peer device includes: receiving a perception signal from the peer device on a first time domain resource; determining a transmission parameter based on the perception signal received on the first time domain resource, the transmission parameter including a transmission parameter for sending the perception signal; and sending the perception signal using the transmission parameter on a second time domain resource.

[0385] In some embodiments, determining a transmission parameter based on a perception signal received on a first time domain resource includes:

[0386] determining, based on the perception signal received on the first time domain resource, perception data related to the perception target;

[0387] Transmission parameters are determined based on the sensing data related to the sensing target.

[0388] In some embodiments, the transmission parameters further include reception parameters for receiving the perception signal, and the alternate transmission and reception of the perception signal with the peer device further includes:

[0389] The perception signal from the opposite-end device is received using the receiving parameter on the third time domain resource.

[0390] In some embodiments, the method further comprises:

[0391] receiving time domain resource indication information;

[0392] Based on the time domain resource indication information, a time domain resource for sending the perception signal and / or a time domain resource for receiving the perception signal is determined; the time domain resource for receiving the perception signal includes a first time domain resource, and the time domain resource for sending the perception signal includes a second time domain resource.

[0393] In some embodiments, the method further comprises:

[0394] receiving time domain resource indication information;

[0395] Based on the time domain resource indication information, a time domain resource for sending the perception signal and / or a time domain resource for receiving the perception signal is determined; the time domain resource for receiving the perception signal includes the first time domain resource and / or the third time domain resource, and the time domain resource for sending the perception signal includes the second time domain resource.

[0396] In some embodiments, the time domain resource indication information includes first time domain resource indication information, where the first time domain resource indication information is used to indicate a time domain resource for sending a perception signal and / or a time domain resource for receiving a perception signal.

[0397] In some embodiments, the time domain resource indication information includes second time domain resource indication information and / or third time domain resource indication information, the second time domain resource indication information is used to indicate the next or next group of time domain resources for receiving the perception signal, and the third time domain resource indication information is used to indicate the next or next group of time domain resources for sending the perception signal.

[0398] In some embodiments, the time domain resource indication information includes the resource configuration or resource identifier of the indicated time domain resource.

[0399] In some embodiments, the next or next group of time domain resources for receiving the perception signal is one or more time domain resources after the first time interval from the sending moment of the second time domain resource indication information, and the next or next group of time domain resources for sending the perception signal is one or more time domain resources after the second time interval from the sending moment of the third time domain resource indication information.

[0400] In some embodiments, receiving time domain resource indication information includes:

[0401] Receive time domain resource indication information sent by the opposite device.

[0402] In some embodiments, the method further comprises:

[0403] Based on the speed and / or perception performance of the perception target, start or end the alternating sending and receiving of the perception signal with the opposite end device.

[0404] In some embodiments, starting or ending alternating transmission and reception of sensing signals with a peer device based on the speed and / or sensing performance of the sensing target includes:

[0405] When the first condition is met, starting to alternately send and receive sensing signals with the opposite device;

[0406] The first condition includes one or more of the following:

[0407] The speed of the perceived target is lower than or equal to a first threshold;

[0408] It is perceived that the signal received power is greater than or equal to a second threshold.

[0409] In some embodiments, starting or ending alternating transmission and reception of sensing signals with a peer device based on the speed and / or sensing performance of the sensing target includes:

[0410] When the second condition is met, the alternating sending and receiving of the sensing signal with the opposite device is terminated;

[0411] The second condition includes one or more of the following:

[0412] The speed of the perceived target is higher than or equal to the third threshold;

[0413] The sensing signal received power is lower than or equal to a fourth threshold.

[0414] In some embodiments, the method further comprises:

[0415] Sending first indication information to the opposite device, where the first indication information is used to indicate starting or ending the alternating sending and receiving of the perception signal.

[0416] In some embodiments, the method further comprises:

[0417] receiving second indication information sent by the opposite device;

[0418] Based on the second indication information, start or end the alternating sending and receiving of the perception signal with the opposite device.

[0419] In some embodiments, the method further comprises:

[0420] receiving third indication information sent by the opposite device, where the third indication information is used to indicate the perception data related to the perception target and / or parameter information related to the transmission parameter;

[0421] Based on the third indication information, transmission parameters used for the next transmission of the perception signal or the next group of perception signals are determined.

[0422] In some embodiments, the method further comprises:

[0423] Send fourth indication information to the opposite device, where the fourth indication information is used to indicate the perception data related to the perception target and / or parameter information related to the transmission parameter.

[0424] In some embodiments, sending fourth indication information to the opposite device includes:

[0425] If the third condition is met, sending fourth indication information to the opposite device;

[0426] The third condition includes one or more of the following:

[0427] The speed of the perceived target is higher than or equal to the fifth threshold;

[0428] The sensing signal received power is lower than or equal to a sixth threshold.

[0429] In some embodiments, the time domain resource indication information is a radio resource control RRC message, an RRC information element, a medium access control layer control element MAC CE, or physical layer indication information.

[0430] In some embodiments, the transmission parameters include one or more of transmission beam parameters and transmission power.

[0431] In some embodiments, the receive parameters include receive beam parameters.

[0432] In some embodiments, the perception data related to the perception target includes one or more of the following:

[0433] The speed of the perceived target, the distance to the perceived target, the direction of the perceived target, the position of the perceived target, the perceived measurement quantity related to the perceived target, the speed offset of the perceived target, the distance offset of the perceived target, the direction offset of the perceived target, the perceived measurement quantity offset of the perceived target, the speed range of the perceived target, the distance range of the perceived target, and the direction range of the perceived target.

[0434] It should be noted here that the above-mentioned communication equipment provided by the embodiment of the present disclosure can implement all the method steps implemented by the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those of the method embodiment will not be described in detail here.

[0435] FIG5 is a schematic diagram of the structure of a dual-base sensing device provided in an embodiment of the present disclosure. As shown in FIG5 , the device includes:

[0436] The transmission unit 500 is used to alternately send and receive sensing signals with the peer device to sense the sensing target;

[0437] Alternating the sending and receiving of sensing signals with the peer device includes:

[0438] Receiving a perception signal from a peer device on a first time domain resource;

[0439] Determine a transmission parameter based on the perception signal received on the first time domain resource, where the transmission parameter includes a transmission parameter for sending the perception signal;

[0440] The perception signal is sent using the sending parameter on the second time domain resource.

[0441] In some embodiments, determining a transmission parameter based on a perception signal received on a first time domain resource includes:

[0442] determining, based on the perception signal received on the first time domain resource, perception data related to the perception target;

[0443] Transmission parameters are determined based on the sensing data related to the sensing target.

[0444] In some embodiments, the transmission parameters further include reception parameters for receiving the perception signal, and the alternate transmission and reception of the perception signal with the peer device further includes:

[0445] The perception signal from the opposite-end device is received using the receiving parameter on the third time domain resource.

[0446] In some embodiments, the apparatus further comprises:

[0447] A first receiving unit, configured to receive time domain resource indication information;

[0448] The first determining unit is configured to determine, based on the time domain resource indication information, a time domain resource for sending the perception signal and / or a time domain resource for receiving the perception signal; the time domain resource for receiving the perception signal includes a first time domain resource, and the time domain resource for sending the perception signal includes a second time domain resource.

[0449] In some embodiments, the apparatus further comprises:

[0450] A second receiving unit, configured to receive time domain resource indication information;

[0451] The second determining unit is configured to determine, based on the time domain resource indication information, a time domain resource for sending the perception signal and / or a time domain resource for receiving the perception signal; the time domain resource for receiving the perception signal includes the first time domain resource and / or the third time domain resource, and the time domain resource for sending the perception signal includes the second time domain resource.

[0452] In some embodiments, the time domain resource indication information includes first time domain resource indication information, where the first time domain resource indication information is used to indicate a time domain resource for sending a perception signal and / or a time domain resource for receiving a perception signal.

[0453] In some embodiments, the time domain resource indication information includes second time domain resource indication information and / or third time domain resource indication information, the second time domain resource indication information is used to indicate the next or next group of time domain resources for receiving the perception signal, and the third time domain resource indication information is used to indicate the next or next group of time domain resources for sending the perception signal.

[0454] In some embodiments, the time domain resource indication information includes the resource configuration or resource identifier of the indicated time domain resource.

[0455] In some embodiments, the next or next group of time domain resources for receiving the perception signal is one or more time domain resources after the first time interval from the sending moment of the second time domain resource indication information, and the next or next group of time domain resources for sending the perception signal is one or more time domain resources after the second time interval from the sending moment of the third time domain resource indication information.

[0456] In some embodiments, receiving time domain resource indication information includes:

[0457] Receive time domain resource indication information sent by the opposite device.

[0458] In some embodiments, the apparatus further comprises:

[0459] The first control unit is used to start or end the alternating sending and receiving of the perception signal with the opposite device based on the speed and / or perception performance of the perception target.

[0460] In some embodiments, starting or ending alternating transmission and reception of sensing signals with a peer device based on the speed and / or sensing performance of the sensing target includes:

[0461] When the first condition is met, starting to alternately send and receive sensing signals with the opposite device;

[0462] The first condition includes one or more of the following:

[0463] The speed of the perceived target is lower than or equal to a first threshold;

[0464] It is perceived that the signal received power is greater than or equal to a second threshold.

[0465] In some embodiments, starting or ending alternating transmission and reception of sensing signals with a peer device based on the speed and / or sensing performance of the sensing target includes:

[0466] When the second condition is met, the alternating sending and receiving of the sensing signal with the opposite device is terminated;

[0467] The second condition includes one or more of the following:

[0468] The speed of the perceived target is higher than or equal to the third threshold;

[0469] The sensing signal received power is lower than or equal to a fourth threshold.

[0470] In some embodiments, the apparatus further comprises:

[0471] The first sending unit is used to send first indication information to the opposite device, where the first indication information is used to indicate starting or ending the alternating sending and receiving of the perception signal.

[0472] In some embodiments, the apparatus further comprises:

[0473] A third receiving unit, configured to receive second indication information sent by the opposite device;

[0474] The second control unit is used to start or end the alternating sending and receiving of the perception signal with the opposite device based on the second indication information.

[0475] In some embodiments, the apparatus further comprises:

[0476] a fourth receiving unit, configured to receive third indication information sent by the opposite device, where the third indication information is used to indicate parameter information related to the perception target and / or the transmission parameter;

[0477] The third determining unit is configured to determine, based on the third indication information, a transmission parameter used for the next transmission of the perception signal or the next group of perception signals.

[0478] In some embodiments, the apparatus further comprises:

[0479] The second sending unit is used to send fourth indication information to the opposite device, where the fourth indication information is used to indicate the perception data related to the perception target and / or parameter information related to the transmission parameter.

[0480] In some embodiments, sending fourth indication information to the opposite device includes:

[0481] If the third condition is met, sending fourth indication information to the opposite device;

[0482] The third condition includes one or more of the following:

[0483] The speed of the perceived target is higher than or equal to the fifth threshold;

[0484] The sensing signal received power is lower than or equal to a sixth threshold.

[0485] In some embodiments, the time domain resource indication information is a radio resource control RRC message, an RRC information element, a medium access control layer control element MAC CE, or physical layer indication information.

[0486] In some embodiments, the transmission parameters include one or more of transmission beam parameters and transmission power.

[0487] In some embodiments, the receive parameters include receive beam parameters.

[0488] In some embodiments, the perception data related to the perception target includes one or more of the following:

[0489] The speed of the perceived target, the distance to the perceived target, the direction of the perceived target, the position of the perceived target, the perceived measurement quantity related to the perceived target, the speed offset of the perceived target, the distance offset of the perceived target, the direction offset of the perceived target, the perceived measurement quantity offset of the perceived target, the speed range of the perceived target, the distance range of the perceived target, and the direction range of the perceived target.

[0490] It should be noted that the division of units in the embodiments of the present disclosure is schematic and is merely a logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of the present disclosure may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0491] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present disclosure is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0492] It should be noted here that the above-mentioned device provided in the embodiment of the present disclosure can implement all the method steps implemented in the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0493] On the other hand, an embodiment of the present disclosure further provides a non-transitory readable storage medium, which stores a computer program, and the computer program is used to enable a processor to execute the dual-base sensing method provided by the above embodiments.

[0494] It should be noted here that the non-transitory readable storage medium provided in the embodiment of the present disclosure can implement all the method steps implemented in the above-mentioned method embodiment and can achieve the same technical effect. The parts and beneficial effects of this embodiment that are the same as those in the method embodiment will not be described in detail here.

[0495] The non-transitory readable storage medium can be any available medium or data storage device that can be accessed by a computer, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (such as ROMs, EPROMs, EEPROMs, non-volatile memories (NAND FLASH), solid-state drives (SSDs)), etc.

[0496] The technical solution provided by the embodiment of the present disclosure can be applicable to a variety of systems, especially 5G systems. For example, the applicable system can be a global system of mobile communication (GSM) system, a code division multiple access (CDMA) system, a wideband code division multiple access (WCDMA) general packet radio service (GPRS) system, a long term evolution (LTE) system, a LTE frequency division duplex (FDD) system, a LTE time division duplex (TDD) system, an advanced long term evolution (LTE-A) system, a universal mobile telecommunication system (UMTS), a world-wide interoperability for microwave access (WiMAX) system, a 5G new air interface (NR) system, etc. These various systems include terminal equipment and network equipment. The system may also include a core network part, such as an evolved packet system (EPS), a 5G system (5GS), etc.

[0497] The terminal involved in the embodiments of the present disclosure may be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connection function, or other processing devices connected to a wireless modem. In different systems, the name of the terminal may also be different. For example, in a 5G system, the terminal may be called User Equipment (UE). A wireless terminal device can communicate with one or more core networks (CN) via a radio access network (RAN). The wireless terminal device may be a mobile terminal device, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal device. For example, it may be a portable, pocket-sized, handheld, computer-built-in or vehicle-mounted mobile device that exchanges voice and / or data with a radio access network. For example, personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), and other devices. The wireless terminal device may also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile station, a remote station, an access point, a remote terminal device, an access terminal device, a user terminal device, a user agent, or a user device, but is not limited in the embodiments of the present disclosure.

[0498] The network device involved in the embodiments of the present disclosure may be a base station, which may include multiple cells providing services to terminals. Depending on the specific application scenario, the base station may also be called an access point, or may be a device in an access network that communicates with a wireless terminal device through one or more sectors on an air interface, or may be called another name. The network device may be used to interchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, wherein the rest of the access network may include an Internet Protocol (IP) communication network. The network device may also coordinate the attribute management of the air interface. For example, the network device involved in the embodiments of the present disclosure may be a base transceiver station (BTS) in the Global System for Mobile communications (GSM) or code division multiple access (CDMA), a network device (NodeB) in wide-band code division multiple access (WCDMA), an evolutionary Node B (eNB or e-NodeB) in the long term evolution (LTE) system, a 5G base station (gNB) in the 5G network architecture (next generation system), a home evolved Node B (HeNB), a relay node, a femto, a pico, etc., and is not limited in the embodiments of the present disclosure. In some network structures, the network device may include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit may also be geographically separated.

[0499] Network devices and terminals can each use one or more antennas for Multiple Input Multiple Output (MIMO) transmission. MIMO transmission can be single-user MIMO (SU-MIMO) or multi-user MIMO (MU-MIMO). Depending on the form and number of antenna combinations, MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO, or massive-MIMO. It can also use diversity transmission, precoding transmission, or beamforming transmission.

[0500] Those skilled in the art will appreciate that the embodiments of the present disclosure may be provided as methods, systems, or computer program products. Therefore, the present disclosure may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer-usable program code.

[0501] The present disclosure is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present disclosure. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0502] These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the processor-readable memory produce a product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0503] These processor-executable instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0504] Obviously, those skilled in the art may make various changes and modifications to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is intended to include these modifications and variations.

Claims

1. A dual - base sensing method, comprising: Alternately sending and receiving sensing signals with a peer device for sensing a sensing target; The alternately sending and receiving sensing signals with the peer device includes: Receiving a sensing signal from the peer device on a first time - domain resource; Determining transmission parameters based on the sensing signal received on the first time - domain resource, where the transmission parameters include transmission parameters for sending sensing signals; Sending a sensing signal on a second time - domain resource using the transmission parameters.

2. The dual-sensing method according to claim 1, wherein The determining transmission parameters based on the sensing signal received on the first time - domain resource includes: Determining sensing data related to the sensing target based on the sensing signal received on the first time - domain resource; Determining the transmission parameters based on the sensing data related to the sensing target.

3. The dual-mode sensing method according to claim 1 or 2, wherein, The transmission parameters further include receiving parameters for receiving sensing signals, and the alternately sending and receiving sensing signals with the peer device further includes: Receiving a sensing signal from the peer device on a third time - domain resource using the receiving parameters.

4. The dual-base sensing method according to claim 1, wherein, The method further includes: Receiving time - domain resource indication information; Based on the time - domain resource indication information, determining the time - domain resource for sending a sensing signal and / or the time - domain resource for receiving a sensing signal; the time - domain resource for receiving a sensing signal includes the first time - domain resource, and the time - domain resource for sending a sensing signal includes the second time - domain resource.

5. The dual-base sensing method according to claim 3, wherein The method further includes: Receiving time - domain resource indication information; Based on the time - domain resource indication information, determining the time - domain resource for sending a sensing signal and / or the time - domain resource for receiving a sensing signal; the time - domain resource for receiving a sensing signal includes the first time - domain resource and / or the third time - domain resource, and the time - domain resource for sending a sensing signal includes the second time - domain resource.

6. The dual - base sensing method according to claim 4 or 5, wherein, The time - domain resource indication information includes first time - domain resource indication information for indicating the time - domain resource for sending a sensing signal and / or the time - domain resource for receiving a sensing signal; or, The time - domain resource indication information includes second time - domain resource indication information and / or third time - domain resource indication information, where the second time - domain resource indication information is used to indicate the next or next group of time - domain resources for receiving a sensing signal, and the third time - domain resource indication information is used to indicate the next or next group of time - domain resources for sending a sensing signal.

7. The dual - base sensing method according to claim 4 or 5, wherein, The time - domain resource indication information contains the resource configuration or resource identifier of the indicated time - domain resource.

8. The dual-sensing method according to claim 7, wherein, The next or next group of time - domain resources for receiving a sensing signal is one or more time - domain resources at a first time interval after the sending time of the second time - domain resource indication information, and the next or next group of time - domain resources for sending a sensing signal is one or more time - domain resources at a second time interval after the sending time of the third time - domain resource indication information.

9. The dual-base sensing method according to claim 4 or 5, wherein, The receiving time - domain resource indication information includes: Receiving the time - domain resource indication information sent by the peer device.

10. The dual - base sensing method according to claim 1, wherein, The method further includes: When the first condition is met, start alternately sending and receiving sensing signals with the peer device; or, when the second condition is met, end alternately sending and receiving sensing signals with the peer device; The first condition includes one or more of the following: the speed of the sensing target is lower than or equal to a first threshold; the received power of the sensing signal is higher than or equal to a second threshold; The second condition includes one or more of the following: the speed of the sensing target is higher than or equal to a third threshold; the received power of the sensing signal is lower than or equal to a fourth threshold.

11. The dual - base sensing method according to claim 1, wherein, The method further includes: Sending first indication information to the peer device, where the first indication information is used to indicate starting or ending alternate sending and receiving of sensing signals; or, Receiving second indication information sent by the peer device; based on the second indication information, starting or ending alternately sending and receiving sensing signals with the peer device.

12. The dual-base sensing method according to claim 1, wherein, The method further includes: Receiving third indication information sent by the peer device, where the third indication information is used to indicate parameter information related to sensing data and / or transmission parameters related to the sensing target; based on the third indication information, determining transmission parameters to be used for the next or next set of sensing signal transmissions; or, When a third condition is met, sending fourth indication information to the peer device, where the fourth indication information is used to indicate parameter information related to sensing data and / or transmission parameters related to the sensing target; the third condition includes one or more of the following: the speed of the sensing target is higher than or equal to a fifth threshold; the received power of the sensing signal is lower than or equal to a sixth threshold.

13. The dual - base sensing method according to claim 1, wherein, The transmission parameters include one or more of transmission beam parameters and transmission power.

14. The dual-sensing method according to claim 3, wherein, The receiving parameters include receiving beam parameters.

15. The dual - base sensing method according to claim 2, wherein, The sensing data related to the sensing target includes one or more of the following: The speed of the sensing target, the distance from the sensing target, the direction of the sensing target, the position of the sensing target, the sensing measurement quantity related to the sensing target, the speed offset of the sensing target, the distance offset of the sensing target, the direction offset of the sensing target, the sensing measurement quantity offset of the sensing target, the speed range of the sensing target, the distance range of the sensing target, the direction range of the sensing target.

16. A communication device, including a memory, a transceiver, and a processor; The memory is used to store a computer program; The transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer program in the memory and perform the following operations: Alternately sending and receiving sensing signals with the peer device for sensing a sensing target; The alternately sending and receiving sensing signals with the peer device includes: Receiving a sensing signal from the peer device on a first time-domain resource; Determining transmission parameters based on the sensing signal received on the first time-domain resource, where the transmission parameters include transmission parameters for sending sensing signals; Sending a sensing signal using the transmission parameters on a second time-domain resource.

17. The communication device according to claim 16, wherein, The determining transmission parameters based on the sensing signal received on the first time-domain resource includes: Determine the sensing data related to the sensing target based on the sensing signal received on the first time-domain resource; Determine the transmission parameter based on the sensing data related to the sensing target.

18. The communication device according to claim 16 or 17, wherein, The transmission parameter further includes a reception parameter for receiving the sensing signal. Alternately sending and receiving the sensing signal with the peer device further includes: Receive the sensing signal from the peer device on the third time-domain resource using the reception parameter.

19. The communication device according to claim 16, wherein, The operation further includes: Receive time-domain resource indication information; Based on the time-domain resource indication information, determine the time-domain resource for sending the sensing signal and / or the time-domain resource for receiving the sensing signal; the time-domain resource for receiving the sensing signal includes the first time-domain resource, and the time-domain resource for sending the sensing signal includes the second time-domain resource.

20. The communication device according to claim 18, wherein, The operation further includes: Receive time-domain resource indication information; Based on the time-domain resource indication information, determine the time-domain resource for sending the sensing signal and / or the time-domain resource for receiving the sensing signal; the time-domain resource for receiving the sensing signal includes the first time-domain resource and / or the third time-domain resource, and the time-domain resource for sending the sensing signal includes the second time-domain resource.

21. The communication device according to claim 19 or 20, wherein, The time-domain resource indication information includes first time-domain resource indication information, and the first time-domain resource indication information is used to indicate the time-domain resource for sending the sensing signal and / or the time-domain resource for receiving the sensing signal; or, The time-domain resource indication information includes second time-domain resource indication information and / or third time-domain resource indication information. The second time-domain resource indication information is used to indicate the next or next group of time-domain resources for receiving the sensing signal, and the third time-domain resource indication information is used to indicate the next or next group of time-domain resources for sending the sensing signal.

22. The communication device according to claim 19 or 20, wherein, The time-domain resource indication information contains the resource configuration or resource identifier of the indicated time-domain resource.

23. The communication device according to claim 22, wherein, The next or next group of time-domain resources for receiving the sensing signal are one or more time-domain resources after a first duration from the sending time of the second time-domain resource indication information, and the next or next group of time-domain resources for sending the sensing signal are one or more time-domain resources after a second duration from the sending time of the third time-domain resource indication information.

24. The communication device according to claim 19 or 20, wherein, Receiving the time-domain resource indication information includes: Receive the time-domain resource indication information sent by the peer device.

25. The communication device according to claim 16, wherein, The operation further includes: When the first condition is met, start alternately sending and receiving the sensing signal with the peer device; or, when the second condition is met, end alternately sending and receiving the sensing signal with the peer device; The first condition includes one or more of the following: the speed of the sensing target is lower than or equal to a first threshold; the reception power of the sensing signal is higher than or equal to a second threshold; The second condition includes one or more of the following: the speed of the sensing target is higher than or equal to a third threshold; the reception power of the sensing signal is lower than or equal to a fourth threshold.

26. The communication device according to claim 16, wherein, The operation further includes: Send first indication information to the peer device, where the first indication information is used to indicate starting or ending the alternating transmission and reception of sensing signals; or, Receive second indication information sent by the peer device; based on the second indication information, start or end the alternating transmission and reception of sensing signals with the peer device.

27. The communication device according to claim 16, wherein, The operation further includes: Receive third indication information sent by the peer device, where the third indication information is used to indicate parameter information related to sensing data and / or transmission parameters related to the sensing target; based on the third indication information, determine the transmission parameters to be used for the next or next set of sensing signal transmissions; or, Under the condition of meeting the third condition, send fourth indication information to the peer device, where the fourth indication information is used to indicate parameter information related to sensing data and / or transmission parameters related to the sensing target; the third condition includes one or more of the following: the speed of the sensing target is higher than or equal to a fifth threshold; the received power of the sensing signal is lower than or equal to a sixth threshold.

28. The communication device according to claim 16, wherein, The transmission parameters include one or more of transmission beam parameters and transmission power.

29. The communication device according to claim 18, wherein, The reception parameters include reception beam parameters.

30. The communication device according to claim 17, wherein, The sensing data related to the sensing target includes one or more of the following: The speed of the sensing target, the distance from the sensing target, the direction of the sensing target, the position of the sensing target, the sensing measurement quantity related to the sensing target, the speed offset of the sensing target, the distance offset of the sensing target, the direction offset of the sensing target, the sensing measurement quantity offset of the sensing target, the speed range of the sensing target, the distance range of the sensing target, the direction range of the sensing target.

31. A bistatic sensing device, comprising: A transmission unit, configured to alternately transmit and receive sensing signals with a peer device and sense a sensing target; The alternating transmission and reception of sensing signals with the peer device includes: Receiving a sensing signal from the peer device on a first time-domain resource; Determining transmission parameters based on the sensing signal received on the first time-domain resource, where the transmission parameters include transmission parameters for transmitting sensing signals; Transmitting a sensing signal using the transmission parameters on a second time-domain resource.

32. A non-transitory readable storage medium storing a computer program for causing a processor to execute the method according to any one of claims 1 to 15.

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