Communication method, communication apparatus, and communication system

Abstract

Provided in the present application are a communication method, a communication apparatus, and a communication system. The method comprises: sending M pieces of first sensing information in M time sub-units of a first time unit by means of M analog beams, wherein M is an integer greater than 1, the M analog beams, the M time sub-units and the M pieces of first sensing information correspond to each other on a one-to-one basis, the M pieces of first sensing information are used for sensing objects within at least two vertical angle ranges, and an included angle between a transmission direction of the M analog beams and a horizontal plane on the ground is greater than or equal to 0°; and sending communication information in a second time unit. In the solution, it is possible to sense surrounding objects while achieving normal communication, especially objects higher than the position of an antenna array, helping to expand the sensing range and further improving the sensing performance.

Description

Communication method, communication device and communication system

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of the People's Republic of China on March 28, 2024, with application number 202410375486.0 and invention name "A communication method, communication device and communication system", the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of wireless communication technology, and in particular to a communication method, a communication device, and a communication system. Background Art

[0004] Synaesthesia is a technology that enables network devices to provide perception capabilities in addition to their existing communication functions. For example, network devices may be used for communication part of the time and detect objects by sending and receiving perception information during the rest of the time. Perception refers to the ability of network devices to detect information such as the position, speed, or altitude of objects, such as drones, birds, or balloons.

[0005] In the application scenario of integrated synaesthesia, how network equipment can accurately perceive objects in the air under normal communication conditions remains to be solved. Summary of the Invention

[0006] The embodiments of the present application provide a communication method, a communication device, and a communication system for accurately sensing surrounding objects while achieving normal communication.

[0007] In a first aspect, an embodiment of the present application provides a communication method, which can be executed by a network device, or by a module (such as a chip) in the network device. The network device can be a base station, a centralized unit (CU), a distributed unit (DU) or a radio unit (RU), etc. The method includes: sending M first perception information in M ​​sub-time units of a first time unit through M simulated beams, where M is an integer greater than 1, and the M simulated beams, the M sub-time units and the M first perception information correspond one to one, and the M first perception information is used to perceive objects within at least two vertical angle ranges, and the angle between the emission direction of the M simulated beams and the horizontal plane of the ground is greater than or equal to 0°; sending communication information in the second time unit.

[0008] The above solution can sense surrounding objects while achieving normal communication, especially objects that are higher than the antenna array, which helps to expand the perception range and thus improve perception performance.

[0009] In a possible implementation method, a starting position of at least one of the M sub-time units is set to a hybrid beamforming (HBF) beam switching time, and the HBF beam switching time is used to adjust the beam pointing direction of the analog beam.

[0010] The above scheme can accurately generate pulse wave perception information in the corresponding vertical angle range through the HBF beam switching time, which helps to expand the perception range.

[0011] In one possible implementation method, the M first perception information include M1 pulse wave perception information, where M1 is an integer greater than 1; M2 pulse wave perception information among the M1 pulse wave perception information are sent through part of the antenna arrays in the entire antenna array, and M2 is a positive integer.

[0012] The above solution can detect objects within a close range by sending pulse wave sensing information through part of the antenna array, thereby eliminating detection blind spots and helping to improve detection performance.

[0013] In a possible implementation method, another part of the antenna arrays in the entire antenna array is not used to send the at least one pulse wave perception information, but is used to receive reflection information of the at least one pulse wave perception information.

[0014] In the above scheme, since some antenna arrays do not send pulse wave sensing information, these antenna arrays can start receiving pulse wave sensing information in advance, so that they can accurately receive the pulse wave sensing information reflected back by close objects, which helps to detect objects at closer distances.

[0015] In a possible implementation method, the method also includes: sending N second perception information in N sub-time units of a third time unit through N simulated beams, where N is an integer greater than 1, and the N simulated beams, the N sub-time units and the N second perception information correspond one to one, and the N second perception information are used to perceive objects within at least two vertical angle ranges, and the angle between the emission direction of the N simulated beams and the horizontal plane of the ground is greater than or equal to 0°; wherein the N second perception information includes N1 pulse wave perception information, where N1 is an integer greater than 1; N2 pulse wave perception information among the N1 pulse wave perception information is sent through part of the antenna arrays in the entire antenna array, and N2 is a positive integer; the direction of the simulated beam corresponding to the N2 pulse wave perception information is not exactly the same as the direction of the simulated beam corresponding to the M2 pulse wave perception information.

[0016] The above solution can detect close-range objects within multiple vertical angle ranges, which helps to improve detection performance.

[0017] In a possible implementation method, the height of the object within the at least two vertical angle ranges is greater than or equal to the height of the antenna array.

[0018] The above solution can achieve accurate detection of objects that are higher than the antenna array.

[0019] In the second aspect, an embodiment of the present application provides a communication method, which can be executed by a CU or DU, or by a module (such as a chip) in the CU or DU. The method includes: sending a first signaling, wherein the first signaling is used to send M first perception information in M ​​sub-time units of a first time unit through M simulation beams, where M is an integer greater than 1, and the M simulation beams, the M sub-time units and the M first perception information correspond one to one, and the M first perception information is used to perceive objects within at least two vertical angle ranges, and the angle between the emission direction of the M simulation beams and the horizontal plane of the ground is greater than or equal to 0°; sending a second signaling, wherein the second signaling is used to send communication information in the second time unit.

[0020] The above solution can sense surrounding objects while achieving normal communication, especially objects that are higher than the antenna array, which helps to expand the perception range and thus improve perception performance.

[0021] In a possible implementation method, a starting position of at least one sub-time unit of the M sub-time units is set to an HBF beam switching time, and the HBF beam switching time is used to adjust the beam pointing direction of the analog beam.

[0022] The above scheme can accurately generate pulse wave perception information in the corresponding vertical angle range through the HBF beam switching time, which helps to expand the perception range.

[0023] In one possible implementation method, the M first perception information include M1 pulse wave perception information, where M1 is an integer greater than 1; M2 pulse wave perception information among the M1 pulse wave perception information are sent through part of the antenna arrays in the entire antenna array, and M2 is a positive integer.

[0024] The above solution can detect objects within a close range by sending pulse wave sensing information through part of the antenna array, thereby eliminating detection blind spots and helping to improve detection performance.

[0025] In a possible implementation method, another part of the antenna arrays in the entire antenna array is not used to send the at least one pulse wave perception information, but is used to receive reflection information of the at least one pulse wave perception information.

[0026] In the above scheme, since some antenna arrays do not send pulse wave sensing information, these antenna arrays can start receiving pulse wave sensing information in advance, so that they can accurately receive the pulse wave sensing information reflected back by close objects, which helps to detect objects at closer distances.

[0027] In a possible implementation method, the method also includes: sending a third signaling, the third signaling is used to send N second perception information through N simulated beams in N sub-time units of a third time unit, the N is an integer greater than 1, the N simulated beams, the N sub-time units and the N second perception information correspond one to one, the N second perception information are used to perceive objects within at least two vertical angle ranges, and the angle between the emission direction of the N simulated beams and the horizontal plane of the ground is greater than or equal to 0°; wherein the N second perception information includes N1 pulse wave perception information, the N1 is an integer greater than 1; the N2 pulse wave perception information among the N1 pulse wave perception information is sent through part of the antenna arrays in the entire antenna array, the N2 is a positive integer; the direction of the simulated beam corresponding to the N2 pulse wave perception information is not exactly the same as the direction of the simulated beam corresponding to the M2 pulse wave perception information.

[0028] The above solution can detect close-range objects within multiple vertical angle ranges, which helps to improve detection performance.

[0029] In a possible implementation method, the height of the object within the at least two vertical angle ranges is greater than or equal to the height of the antenna array.

[0030] The above solution can achieve accurate detection of objects that are higher than the antenna array.

[0031] In a third aspect, an embodiment of the present application provides a communication device, which may be a network device or a module (such as a chip) in a network device. The device has the function of implementing any implementation method of the first aspect described above. The function may be implemented by hardware or by hardware executing corresponding software implementations. The hardware or software includes one or more modules corresponding to the above functions.

[0032] In a fourth aspect, an embodiment of the present application provides a communication device, which may be a CU or DU, or a module (such as a chip) in the CU or DU. The device has the function of implementing any implementation method of the second aspect above. The function can be implemented by hardware or by executing corresponding software implementation by hardware. The hardware or software includes one or more modules corresponding to the above functions.

[0033] In a fifth aspect, an embodiment of the present application provides a communication device, comprising a unit or means for executing each step of any implementation method in the above-mentioned first to second aspects.

[0034] In a sixth aspect, an embodiment of the present application provides a communication device, comprising a processor and an interface circuit, wherein the processor is configured to communicate with other devices via the interface circuit and execute any of the implementation methods in the first to second aspects above. The processor comprises one or more.

[0035] Optionally, the communication device may further include a memory for storing computer instructions, the memory being coupled to a processor, and the processor executing the computer instructions stored in the memory so that the device executes any implementation method in the above-mentioned first to second aspects.

[0036] In the seventh aspect, an embodiment of the present application also provides a computer program product, which includes a computer program or instructions. When the computer program or instructions are run by a communication device, any implementation method in the above-mentioned first to second aspects is executed.

[0037] In an eighth aspect, an embodiment of the present application further provides a computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium, which, when executed on a communication device, enables any implementation method in the above-mentioned first to second aspects to be executed.

[0038] In a ninth aspect, an embodiment of the present application further provides a chip system, comprising: a processor for executing any implementation method in the above-mentioned first to second aspects.

[0039] In the tenth aspect, an embodiment of the present application also provides a communication system, comprising at least two communication devices, at least one of the at least two communication devices being used to execute any implementation method in the above-mentioned first aspect, or to execute any implementation method in the above-mentioned second aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] FIG1( a ) is a schematic diagram of the architecture of a communication system used in an embodiment of the present application;

[0041] Figure 1(b) shows a schematic diagram of a network device;

[0042] Figures 2 and 3 are example diagrams of application scenarios of synaesthesia integration;

[0043] FIG4 is an example diagram of antenna deployment;

[0044] FIG5( a ) is a flow chart of a communication method provided in an embodiment of the present application;

[0045] Figure 5(b) is a schematic diagram of the detection range;

[0046] Figures 6 to 9 are example diagrams of application scenarios of synaesthesia integration;

[0047] FIG10 is an example diagram of generating a simulated beam;

[0048] Figure 11 is an example diagram of synaesthesia;

[0049] FIG12 is an example diagram of sending and receiving perception information;

[0050] FIG13 is a schematic diagram of an antenna array;

[0051] Figure 14 is an example diagram of detection distance;

[0052] Figure 15 is an example diagram of synaesthesia;

[0053] Figure 16 is a perception example diagram;

[0054] 17 and 18 are schematic diagrams of the structure of the communication device provided in the embodiments of the present application. DETAILED DESCRIPTION

[0055] Figure 1(a) is a schematic diagram of the architecture of a communication system used in an embodiment of the present application. The communication system shown in Figure 1(a) includes a wireless access network 100 and a core network 200. Optionally, the communication system also includes the Internet 300. The wireless access network 100 may include at least one network device (such as 110a and 110b in Figure 1(a)) and may also include at least one terminal device (such as 120a-120j in Figure 1(a)). The terminal device is connected to the network device wirelessly, and the network device is connected to the core network wirelessly or by wire. The core network device and the network device may be independent and distinct physical devices, or the functions of the core network device and the logical functions of the network device may be integrated into the same physical device, or a physical device may integrate some of the functions of the core network device and some of the functions of the network device. Terminal devices and network devices may be connected to each other via wired or wireless connections. Figure 1(a) is merely a schematic diagram. The communication system may also include other network devices, such as wireless relay devices and wireless backhaul devices, which are not shown in Figure 1(a).

[0056] A network device is an access device that a terminal device uses to access a communication system via a wired or wireless method. A network device may be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next-generation NodeB (gNB) in a fifth-generation (5G) mobile communication system, a next-generation base station in a sixth-generation (6G) mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system; it may also be a module or unit that performs some of the functions of a base station, for example, a CU, a DU, or an RU. A network device may be a macro base station (such as 110a in FIG1(a)), a micro base station or an indoor station (such as 110b in FIG1(a)), a relay node or a donor node, etc. The embodiments of the present application do not limit the specific technology and specific device form adopted by the network device.

[0057] A terminal device is a device with wireless transceiver capabilities that can send signals to or receive signals from a network device. Terminal devices include but are not limited to terminal devices, terminals, user equipment (UE), mobile stations, mobile terminals, etc. Terminal devices can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart furniture, smart office, smart wearable, smart transportation, smart city, etc. The terminal device can specifically be a mobile phone, tablet computer, computer with wireless transceiver capabilities, wearable device, vehicle, aircraft, ship, robot, robotic arm, smart home device, etc. The embodiments of this application do not limit the specific technology and specific device form adopted by the terminal device.

[0058] Network devices and terminal devices can be fixed or mobile. They can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; they can also be deployed on aircraft, balloons, and artificial satellites. The embodiments of this application do not limit the application scenarios of network devices and terminal devices.

[0059] The roles of network devices and terminal devices can be relative. For example, the helicopter or drone 120i in Figure 1(a) can be configured as a mobile network device. For terminal devices 120j that access the wireless access network 100 via 120i, terminal device 120i is a network device. However, for network device 110a, 120i is a terminal device, meaning that communication between 110a and 120i occurs via a wireless air interface protocol. Of course, communication between 110a and 120i can also occur via an interface protocol between network devices. In this case, relative to 110a, 120i is also a network device. Therefore, both network devices and terminal devices can be collectively referred to as communication devices. 110a and 110b in Figure 1(a) can be referred to as communication devices with network device functionality, and 120a-120j in Figure 1(a) can be referred to as communication devices with terminal device functionality.

[0060] Network devices and terminal devices, network devices and network devices, and terminal devices and terminal devices can communicate through authorized spectrum, unauthorized spectrum, or both; can communicate through spectrum below 6 gigahertz (GHz), spectrum above 6 GHz, or spectrum below 6 GHz and spectrum above 6 GHz simultaneously. The embodiments of the present application do not limit the spectrum resources used for wireless communications.

[0061] In the embodiments of the present application, the functions of the network device may also be performed by a module (such as a chip) in the network device, or by a control subsystem that includes the network device functions. The control subsystem that includes the network device functions here may be a control center in the above-mentioned application scenarios such as smart grid, industrial control, smart transportation, and smart city. The functions of the terminal device may also be performed by a module (such as a chip or a modem) in the terminal device, or by a device that includes the terminal device functions.

[0062] Figure 1(b) shows a schematic diagram of a network device. As shown in Figure 1(b), the network device includes one or more CUs, one or more DUs, and one or more RUs. For clarity, Figure 1(b) shows only one CU, DU, and RU. The CU is connected to the core network and one or more DUs. Optionally, the CU may have some of the core network's functionality. The CU may include a CU-control plane (CP) and a CU-user plane (UP).

[0063] The CU and DU can be configured according to the protocol layer functions of the wireless network they implement: for example, the CU is configured to implement the functions of the packet data convergence protocol (PDCP) layer and the protocol layers above it (such as the radio resource control (RRC) layer and / or the service data adaptation protocol (SDAP) layer, etc.); the DU is configured to implement the functions of the protocol layers below the PDCP layer (such as the radio link control (RLC) layer, the medium access control (MAC) layer, and / or the physical (PHY) layer, etc.). For another example, the CU is configured to implement the functions of the protocol layers above the PDCP layer (such as the RRC layer and / or the SDAP layer), and the DU is configured to implement the functions of the PDCP layer and the protocol layers below it (such as the RLC layer, the MAC layer, and / or the PHY layer, etc.).

[0064] The above configuration of CU and DU is only an example, and the functions of CU and DU can also be configured as needed. For example, the CU or DU can be configured to have the functions of more protocol layers, or the CU or DU can be configured to have partial processing functions of the protocol layer. For example, some functions of the RLC layer and the functions of the protocol layers above the RLC layer are set in the CU, and the remaining functions of the RLC layer and the functions of the protocol layers below the RLC layer are set in the DU. For another example, the functions of the CU or DU can be divided according to the service type or other system requirements, such as by delay, and the functions whose processing time needs to meet the smaller delay requirement are set in the DU, and the functions that do not need to meet the delay requirement are set in the CU.

[0065] The DU and RU can work together to implement the functions of the PHY layer. A DU can be connected to one or more RUs. The functions of the DU and RU can be configured in various ways according to the design. For example, the DU is configured to implement the baseband function, and the RU is configured to implement the mid-RF function. For another example, the DU is configured to implement the high-layer functions in the PHY layer, and the RU is configured to implement the low-layer functions in the PHY layer or to implement the low-layer functions and the RF functions. The high-layer functions in the physical layer may include a part of the functions of the physical layer, which is closer to the MAC layer, and the low-layer functions in the physical layer may include another part of the functions of the physical layer, which is closer to the mid-RF side.

[0066] The CU and DU may be set separately, or may be included in the same network element, such as a baseband unit (BBU). The RU may be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU) or a remote radio head (RRH). In different systems, CU, DU or RU may have different names, but those skilled in the art may understand their meanings. For example, in an ORAN system, CU may also be referred to as O-CU (open CU), DU may also be referred to as O-DU, and RU may also be referred to as O-RU. Any of the CU (or CU-CP, CU-UP), DU and RU in this application may be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0067] For ease of explanation, in the embodiments of the present application, UE and base station are used as examples of terminal equipment and network equipment respectively. UE and base station that appear in the embodiments of the present application can be replaced by terminal equipment and network equipment respectively.

[0068] Synaesthesia is a technology that enables network devices to provide perception capabilities in addition to their existing communication functions. For example, network devices may be used for communication part of the time and detect objects by sending and receiving perception information during the rest of the time. Perception refers to the ability of network devices to detect information such as the position, speed, or altitude of objects, such as drones, birds, or balloons.

[0069] Figures 2 and 3 are example diagrams of application scenarios for synaesthesia. The base station antenna is deployed high in the sky. The base station antenna can be deployed perpendicular to the ground (as shown in Figure 2), or the side of the antenna radiating the signal can be tilted toward the ground, forming a downtilt angle with the ground (as shown in Figure 3). The antenna beam is directed toward the ground, communicating with ground devices (such as UE) for part of the time, and detecting surrounding objects by sending and receiving perception information for another part of the time. As shown in Figures 2 and 3, the base station can detect the surrounding drone #1 and the car on the ground. However, the base station cannot detect objects higher than the antenna array. For example, the base station cannot detect drone #2 in Figures 2 and 3.

[0070] To detect objects higher than the antenna array, deploy the antennas as shown in Figure 4, radiating RF signals away from the ground or parallel to the ground. The base station can detect drone #2, but may not be able to communicate with ground devices (such as UEs) or detect objects lower than the antenna array (such as drone #1 and the car on the ground).

[0071] In the application scenario of integrated synaesthesia, how the base station can perceive objects at various heights in the surrounding area while achieving normal communication remains to be solved.

[0072] To solve this problem, this application provides corresponding embodiments, which are described in detail below.

[0073] Figure 5(a) is a flow chart of a communication method provided in an embodiment of the present application. The method is executed by a network device, or by a module (such as a chip) in the network device. The network device can be a base station, CU, DU, or RU. The following description uses the base station as an example to illustrate the method.

[0074] The method comprises the following steps:

[0075] Step 501: The base station sends M first perception information in M ​​sub-time units of a first time unit through M simulated beams, where M is an integer greater than 1.

[0076] The first time unit is a radio frame, and the sub-time unit of the first time unit is a sub-frame, a time slot, or a symbol. Alternatively, the first time unit is a sub-frame, and the sub-time unit of the first time unit is a time slot or a symbol. Alternatively, the first time unit is a time slot, and the sub-time unit of the first time unit is a symbol. Of course, there are other implementations of the first time unit and the sub-time unit of the first time unit, and this application is not limited thereto.

[0077] The first time unit includes time for sensing the service. Optionally, the first time unit may also include time for communication. For example, a portion of the first time unit is used for sensing the service, and another portion is used for communication.

[0078] Alternatively, the entire time of the first time unit is used for sensing the service. This application is not limited.

[0079] The base station sends a piece of perception information (called first perception information) through a simulated beam in each of the M sub-time units. Therefore, in the M sub-time units, M first perception information are sent through M simulated beams. The M simulated beams, the M sub-time units, and the M first perception information are in a one-to-one correspondence. For example, M=5, the first perception information #1 can be sent through simulated beam #1 in sub-time unit #1, the first perception information #2 can be sent through simulated beam #2 in sub-time unit #2, the first perception information #3 can be sent through simulated beam #3 in sub-time unit #3, the first perception information #4 can be sent through simulated beam #4 in sub-time unit #4, and the first perception information #5 can be sent through simulated beam #5 in sub-time unit #5.

[0080] In the embodiment of the present application, one piece of perception information is also called a piece of perception information, which is uniformly described here and will not be repeated later.

[0081] The M first perception information is used to detect objects within at least two vertical angle ranges. The angle between the emission direction of the M simulated beams and the horizontal plane of the ground is greater than or equal to 0°. The angle between the emission direction of the M simulated beams and the horizontal plane of the ground is greater than 0°, which can be understood as the direction of the M simulated beams is away from the ground (or away from the ground), or it can be understood as the M simulated beams are sent upward. The angle between the emission direction of the M simulated beams and the horizontal plane of the ground is equal to 0°, which can be understood as the emission direction of the simulated beam is parallel to the ground.

[0082] Exemplarily, the heights of objects within at least two vertical angle ranges are greater than or equal to the height of the antenna array.

[0083] In one implementation method, the first perception information is used to detect objects within at least two vertical angle ranges. For example, the first perception information can be used to detect objects at different orientations in a spatial coordinate system, and the height of the detected objects is greater than or equal to the height of the base station's antenna array, that is, to detect objects at various orientations at a first height, where the first height is greater than or equal to the height of the antenna array. Figure 5(b) is a schematic diagram of the detection range. It can be seen that by sending M first perception information, the base station can be used to detect objects at various orientations in the spatial coordinate system, and the height of the object is greater than or equal to the height of the antenna array.

[0084] Step 502: The base station sends communication information in the second time unit.

[0085] The second time unit is a time unit that follows the first time unit. For example, the second time unit may be adjacent to the first time unit or separated by a certain time length. For example, the second time unit may be the same size as the first time unit or may be different. For example, the first time unit may share a time slot, a subframe, or a frame with the second time unit, which is not limited in this application.

[0086] The base station sends communication information in the second time unit, for example, the base station sends communication information to a ground device (e.g., a UE) or receives communication information from the ground device via one or more analog beams in the second time unit. The direction of the one or more analog beams is tilted toward the ground, or it can be understood that the one or more analog beams are aligned with or toward the ground device.

[0087] Figures 6 and 7 illustrate example application scenarios for synaesthesia. In this example, the base station's antenna is deployed high in the air. The base station's antenna can be deployed perpendicular to the ground (as shown in Figure 6) or at a downtilt angle (as shown in Figure 7). The base station transmits simulated beams through the antenna, with the direction of the simulated beam facing away from the ground. This can be understood as the simulated beam being located within the quadrant of the coordinate system shown in the figure. Using a time-division approach, communication with ground devices (such as UEs) occurs during a portion of the time, while sensing information is transmitted during another portion of the time to detect surrounding objects. As shown in Figures 6 and 7, the base station can detect drone #2 in the vicinity, which is located at a higher altitude than the antenna. In the examples of Figures 6 and 7, the base station transmits sensing information in different directions using different simulated beams (e.g., simulated beams A, B, C, and D, as shown), enabling the detection of objects in different spatial coordinate systems.

[0088] Of course, the base station can also adjust the direction of the simulated beam to detect objects at the same height as the antenna or lower than the antenna array, such as detecting cars and drone #1 on the ground as shown in Figures 6 and 7.

[0089] Figures 8 and 9 illustrate an example of a synaesthesia application scenario. This example builds on the examples in Figures 6 and 7 by adding simulated ground-facing beams E and F. This allows for detecting objects at the same height as the antenna or lower than the antenna array, such as the car and drone #1 on the ground shown in the image.

[0090] With the above solution, the base station can sense surrounding objects while achieving normal communication, especially objects that are higher than the base station's antenna array, which helps to expand the perception range and thus improve the base station's perception performance.

[0091] Figure 10 is an example diagram of generating analog beams. The figure shows how the analog beams are transmitted. Among them, phase shifters can be used to generate analog beams in different directions, for example, analog beams to the air and to the ground. In the example of Figure 10, the base station transmits analog beams A, B, C, and D in a scanning mode, covering different altitude layers, thereby detecting surrounding objects. Of course, the base station can also transmit other analog beams, such as transmitting analog beams E and F toward the ground, etc., to detect objects in the air or on the ground that are lower than the antenna array position, or for communicating with ground equipment.

[0092] The following describes the implementation method of the embodiment of FIG5(a) with reference to a specific example.

[0093] Figure 11 is an example diagram of synaesthesia. In this example, the time unit is a time slot, and the sub-time unit of the time unit is a symbol. Each time slot includes 14 symbols (represented by symbols 0 to 13). Among them, the downlink time slot (D) can be used for downlink communication or for perception, the uplink time slot (U) can be used for uplink communication, and the special time slot (S) can be used for downlink communication or uplink communication. The duration of each time slot can be 500 microseconds (us), and there are 4 time slots between two adjacent perception time slots, that is, there is a perception time slot every 5 time slots (that is, 2.5 milliseconds (ms)). For example, the perception time slot can be the first downlink time slot after the uplink time slot. Among them, the perception time slot refers to the time slot that can be used for perception. Of course, if only part of the time in the perception time slot is used for perception, the remaining time of the perception time slot can also be used for communication. For example, the first half of a perception time slot (that is, the first 7 symbols) is used for perception, and the second half of the time slot (that is, the last 7 symbols) is used for communication.

[0094] As shown in FIG11 , four sensing time slots are shown, and only the first half of the sensing time slot (i.e., symbols 0 to 6) is used for sensing, and the second half of the sensing time slot (i.e., symbols 7 to 13) can be used for downlink communication.

[0095] In one implementation method, in the embodiment of FIG5(a) above, the first perception information corresponding to the M1 sub-time units among the M sub-time units of the first time unit is pulse wave perception information, M1 is an integer greater than 1, and the first perception information corresponding to the M1 sub-time unit is used to detect objects within different vertical angle ranges. The first perception information corresponding to the other M-M1 sub-time units among the M sub-time units is continuous wave perception information, and the first perception information corresponding to the other M-M1 sub-time units is used to detect objects within different vertical angle ranges. With reference to the example of FIG11, M=7, M1=4, and M-M1=3. Specifically, the perception time slot includes 7 symbols for perception (i.e., symbols 0 to 6), 4 of the 7 symbols (i.e., symbols 0 to 3) are used to send pulse wave perception information, and 3 of the 7 symbols (i.e., symbols 4 to 6) are used to send continuous wave perception information.

[0096] In one implementation method, the sending of perception information (e.g., the time range indicated by "T" in symbols 0-3 shown in FIG11 is used for sending perception information) and the receiving of perception information (e.g., the time range indicated by "R" in symbols 0-3 shown in FIG11 is used for sending perception information) are time-divided, and the entire antenna array is used to send the perception information, and the entire antenna array is used to receive the perception information. The received perception information is the reflected information of the transmitted perception information reflected by surrounding objects. Because both the sending and receiving of perception information use the entire antenna array, the transmission power of the perception information is high, the coverage distance is long, and objects at a distance can be detected. In addition, there is a switching time between sending and receiving perception information. This switching time is used to switch the operating mode of the antenna array from transmitting mode to receiving mode. FIG12 is an example diagram of sending and receiving perception information. During the time of sending perception information, the base station can send pulse wave perception information through the entire antenna array. During the switching time, the base station turns off the antenna array for sending pulse wave perception information and turns on the reception of pulse wave perception information. During the time of receiving perception information, the base station receives pulse wave perception information through the entire antenna array. As can be seen, due to the switching time between sending and receiving pulse wave sensing information, if the object to be detected is relatively close, after the base station transmits the pulse wave sensing information, the reflected information of the pulse wave sensing information may reach the antenna array within the switching time. At this time, the antenna array has not yet started receiving the pulse wave sensing information, resulting in the inability to receive the reflected sensing information and failure to detect the object. Therefore, this detection method for pulse wave sensing information has a near-end detection blind spot.

[0097] In one implementation, the transmitting and receiving antennas are separated. For example, in the antenna array shown in Figure 13, antenna array #1 is used to transmit sensing information, while antenna arrays #3 and #4 are used to receive sensing information. Because only a portion of the antenna array is used to transmit or receive sensing information, and to avoid mutual interference between the transmitted and received sensing information, the transmit power of continuous wave sensing information is generally low, and therefore can only detect objects at a relatively close distance. Therefore, this continuous wave sensing information detection method has a far-end detection blind spot.

[0098] The above implementation method can detect objects at long and short distances by sending part of the pulse wave perception information and part of the continuous wave perception information in the M sub-time units of the first time unit, thereby improving the detection performance.

[0099] In the above implementation method, by sending a portion of the pulse wave sensing information and a portion of the continuous wave sensing information in the M sub-time units of the first time unit, it is possible to detect objects at both long and short distances, thereby improving the detection performance. However, in actual use, there may be a detection blind spot between long-distance detection and short-distance detection, resulting in a decrease in sensing performance. Figure 14 is an example diagram of the detection distance. Assuming that the detection distance of the continuous wave sensing information is 0 to 300 meters and the detection distance of the pulse wave sensing information is 400 to 600 meters, the base station can detect objects within the range of 0 to 300 meters and 400 to 600 meters, but objects within the range of 300 to 400 meters cannot be detected, that is, there is a detection blind spot. To solve this problem, in an embodiment of the present application, the base station can send pulse wave perception information on M1 sub-time units out of M sub-time units within the first time unit, where M1 is an integer greater than 1, and the pulse wave perception information corresponding to M2 sub-time units in the M1 sub-time unit is sent through part of the antenna arrays in the entire antenna array, where M2 is a positive integer. In addition, another part of the antenna arrays in the entire antenna array is not used to send pulse wave perception information, but is used to receive reflection information of the pulse wave perception information. The following is explained with reference to the example of Figure 15, which is an improvement on the example of Figure 11. Specifically, when sending pulse wave perception information on symbols 0 to 2, the pulse wave perception information is sent on all antenna arrays, and the pulse wave perception information is received on all antenna arrays. However, when sending pulse wave perception information on symbol 3, the pulse wave perception information is only sent on antenna array #1 and antenna array #2, and after the transmit-receive switching time, the pulse wave perception information (i.e., reflection information) is received, and the pulse wave perception information is not sent on antenna array #3 and antenna array #4. Since antenna arrays #3 and #4 do not transmit pulse wave sensing information, they can start receiving pulse wave sensing information in advance. This means they can receive pulse wave sensing information earlier than antenna arrays #1 and #2, enabling detection of objects at closer distances. For example, in the example of Figure 14 , the pulse wave sensing information transmitted on symbols 0 to 2 in Figure 15 can detect objects at a distance of 400 to 600 meters, while the pulse wave sensing information transmitted on symbol 3 in Figure 15 can detect objects at a distance of 250 to 450 meters. Combined with the continuous wave sensing information, objects at a distance of 0 to 300 meters can be detected. This allows full coverage of the detection range of 0 to 600 meters, eliminating detection blind spots and improving detection performance.

[0100] It should be noted that for symbol 3 in the example of Figure 15, the vertical angle range of the object detected by it can be the same as the vertical angle range of the object detected by other symbols (that is, the same analog beam is sent), or it can be different (that is, different analog beams are sent). For example, in Figure 15, when analog beam A is sent on symbol 3, the analog beam sent on symbol 3 is the same as the analog beam sent on symbol 0; when analog beam B is sent on symbol 3, the analog beam sent on symbol 3 is the same as the analog beam sent on symbol 1; when analog beam C is sent on symbol 3, the analog beam sent on symbol 3 is the same as the analog beam sent on symbol 2; when analog beam D is sent on symbol 3, the analog beam sent on symbol 3 is different from the analog beams sent on symbols 0, 1, and 2.

[0101] As an implementation method, for a method of using only part of the antenna array to send pulse wave sensing information for detection, different vertical angle ranges can be polled periodically. For example, one symbol (e.g., symbol 3) can be used to poll four analog beams (i.e., analog beams A, B, C, and D) within the sensing period. Refer to Figure 16 for a sensing example diagram. The sensing period is 640ms, which means that a complete analog beam scan and point cloud computing of the object is performed every 640ms, or it can be understood that the sensed surrounding objects are determined every 640ms. Among them, in each perception cycle, analog beam A is sent on symbol 3 of each perception time slot in the first 160ms (i.e. 0~160ms), analog beam B is sent on symbol 3 of each perception time slot in the second 160ms (i.e. 160~320ms), analog beam C is sent on symbol 3 of each perception time slot in the third 160ms (i.e. 320~480ms), and analog beam D is sent on symbol 3 of each perception time slot in the fourth 160ms (i.e. 480~640ms).

[0102] Based on the above implementation method, after the above step 502, the base station can send N second perception information in N sub-time units of the third time unit through N simulated beams, where N is an integer greater than 1, and the N simulated beams, N sub-time units, and N second perception information correspond one to one. The second perception information corresponding to the N sub-time units is used to detect objects within at least two vertical angle ranges, and the angle between the emission direction of the N simulated beams and the horizontal plane of the ground is greater than or equal to 0°, or it can be understood that the direction of the N simulated beams is a direction away from the ground. Among them, the second perception information corresponding to N1 sub-time units in the N sub-time units is pulse wave perception information, and N1 is an integer greater than 1. The pulse wave perception information corresponding to N2 sub-time units in the N1 sub-time units is sent through part of the antenna arrays in the entire antenna array, and N2 is a positive integer. The simulated beam direction of the pulse wave perception information corresponding to the N2 sub-time units is different from the simulated beam direction of the pulse wave perception information corresponding to the aforementioned M2 sub-time units. Among them, N and M can be equal or different. N1 and M1 may be equal or different. N2 and M2 may be equal or different.

[0103] In one implementation method, among the M sub-time units of the first time unit, the starting position of the M1 sub-time units used to send pulse wave sensing information is set to the HBF beam switching time. The HBF beam switching time is used to adjust the beam pointing of the analog beam, and M1 is an integer greater than 1. For example, referring to Figure 11, pulse wave sensing information is sent in symbols 0 to 3, and the starting position of each symbol is set to the HBF beam switching time. The base station adjusts the beam pointing of the analog beam during this time to generate an analog beam within the corresponding vertical angle range. For example, the beam pointing of the analog beam is adjusted during the HBF beam switching time of symbol 0, so that analog beam A can be generated within symbol 0; the beam pointing of the analog beam is adjusted during the HBF beam switching time of symbol 1, so that analog beam B can be generated within symbol 1; the beam pointing of the analog beam is adjusted during the HBF beam switching time of symbol 2, so that analog beam A can be generated within symbol 2; and the beam pointing of the analog beam is adjusted during the HBF beam switching time of symbol 3, so that analog beam D can be generated within symbol 3. The simulated beams A, B, C, and D correspond to different vertical angle ranges. This implementation method accurately generates pulse wave sensing information for the corresponding vertical angle range by adjusting the HBF beam switching time, helping to expand the sensing range.

[0104] In one implementation, the starting position of each sub-unit of the first time unit for sending continuous wave perception information can also be set to the HBF beam switching time, which is used to adjust the beam pointing of the analog beam. For the function of the HBF beam switching time, refer to the above description.

[0105] In one implementation, the starting position of each sub-unit of the communication time unit (e.g., the aforementioned second time unit) can also be set to the HBF beam switching time. The HBF beam switching time is used to adjust the beam pointing direction of the analog beam. For details about the function of the HBF beam switching time, refer to the aforementioned description.

[0106] It should be noted that the various implementation methods described above are also applicable to simultaneous implementation in multiple cells. For example, referring to the examples in Figures 11 or 15, the three cells of a base station can transmit pulse wave sensing information in a time-division manner within the same symbol to detect distant objects, and simultaneously transmit continuous wave sensing information within the same symbol to detect close objects. This method can simultaneously sense objects in multiple locations, helping to improve sensing performance.

[0107] In one implementation method, if the embodiment of Figure 5(a) above is executed by the RU, the CU or DU can send a first signaling to the RU, and the first signaling triggers the RU to execute the above step 501, that is, the first signaling is used to send M first perception information through M simulated beams in M ​​sub-time units of the first time unit; and the CU or DU can send a second signaling to the RU, and the second signaling triggers the RU to execute the above step 502, that is, the second signaling is used to send communication information in the second time unit.

[0108] It is understandable that in order to implement the functions in the above embodiments, the network device (which may be a base station, CU, DU or RU, etc.) includes a hardware structure and / or software module corresponding to each function. It should be easy for those skilled in the art to realize that, in combination with the units and method steps of each example described in the embodiments disclosed in this application, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in a hardware or computer software driven hardware manner depends on the specific application scenario and design constraints of the technical solution.

[0109] Figures 17 and 18 are schematic diagrams of the structures of possible communication devices provided in embodiments of the present application. These communication devices can be used to implement the functions of the network devices in the above-mentioned method embodiments, thereby also achieving the beneficial effects of the above-mentioned method embodiments. In the embodiments of the present application, the communication device can be a network device or a module (such as a chip) applied to the network device.

[0110] The communication device 1700 shown in Figure 17 includes a processing unit 1710 and a transceiver unit 1720. The communication device 1700 is used to implement the functions of the network device in the above method embodiment.

[0111] When the communication device 1700 is used to implement the function of the network device in the above method embodiment, the processing unit 1710 is used to control the transceiver unit 1720 to send M first perception information in M ​​sub-time units of the first time unit through M simulated beams, where M is an integer greater than 1, and the M simulated beams, the M sub-time units and the M first perception information correspond one to one, and the M first perception information is used to perceive objects within at least two vertical angle ranges, and the angle between the emission direction of the M simulated beams and the horizontal plane of the ground is greater than or equal to 0°; and to send communication information in the second time unit.

[0112] In a possible implementation method, a starting position of at least one sub-time unit of the M sub-time units is set to an HBF beam switching time, and the HBF beam switching time is used to adjust the beam pointing direction of the analog beam.

[0113] In one possible implementation method, the M first perception information include M1 pulse wave perception information, where M1 is an integer greater than 1; M2 pulse wave perception information among the M1 pulse wave perception information are sent through part of the antenna arrays in the entire antenna array, and M2 is a positive integer.

[0114] In a possible implementation method, another part of the antenna arrays in the entire antenna array is not used to send the at least one pulse wave perception information, but is used to receive reflection information of the at least one pulse wave perception information.

[0115] In one possible implementation method, the processing unit 1710 is also used to control the transceiver unit 1720 to send N second perception information in N sub-time units of the third time unit through N simulated beams, where N is an integer greater than 1, and the N simulated beams, the N sub-time units and the N second perception information correspond one to one, and the N second perception information are used to perceive objects within at least two vertical angle ranges, and the angle between the emission direction of the N simulated beams and the horizontal plane of the ground is greater than or equal to 0°; wherein the N second perception information includes N1 pulse wave perception information, where N1 is an integer greater than 1; N2 pulse wave perception information among the N1 pulse wave perception information is sent through part of the antenna arrays in the entire antenna array, and N2 is a positive integer; the direction of the simulated beam corresponding to the N2 pulse wave perception information is not exactly the same as the direction of the simulated beam corresponding to the M2 pulse wave perception information.

[0116] In a possible implementation method, the height of the object within the at least two vertical angle ranges is greater than or equal to the height of the antenna array.

[0117] When the communication device 1700 is used to implement the function of CU or DU in the above method embodiment, the processing unit 1710 is used to control the transceiver unit 1720 to send a first signaling, and the first signaling is used to send M first perception information through M simulated beams in M ​​sub-time units of the first time unit, where M is an integer greater than 1, and the M simulated beams, the M sub-time units and the M first perception information correspond one to one, and the M first perception information are used to perceive objects within at least two vertical angle ranges, and the angle between the emission direction of the M simulated beams and the horizontal plane of the ground is greater than or equal to 0°; and send a second signaling, and the second signaling is used to send communication information in the second time unit.

[0118] In a possible implementation method, a starting position of at least one sub-time unit of the M sub-time units is set to an HBF beam switching time, and the HBF beam switching time is used to adjust the beam pointing direction of the analog beam.

[0119] In one possible implementation method, the M first perception information include M1 pulse wave perception information, where M1 is an integer greater than 1; M2 pulse wave perception information among the M1 pulse wave perception information are sent through part of the antenna arrays in the entire antenna array, and M2 is a positive integer.

[0120] In a possible implementation method, another part of the antenna arrays in the entire antenna array is not used to send the at least one pulse wave perception information, but is used to receive reflection information of the at least one pulse wave perception information.

[0121] In one possible implementation method, the processing unit 1710 is also used to control the transceiver unit 1720 to send a third signaling, wherein the third signaling is used to send N second perception information through N simulated beams in N sub-time units of a third time unit, wherein N is an integer greater than 1, and the N simulated beams, the N sub-time units and the N second perception information correspond one to one, and the N second perception information are used to perceive objects within at least two vertical angle ranges, and the angle between the emission direction of the N simulated beams and the horizontal plane of the ground is greater than or equal to 0°; wherein the N second perception information includes N1 pulse wave perception information, wherein N1 is an integer greater than 1; N2 pulse wave perception information among the N1 pulse wave perception information is sent through part of the antenna arrays in the entire antenna array, and N2 is a positive integer; the direction of the simulated beam corresponding to the N2 pulse wave perception information is not exactly the same as the direction of the simulated beam corresponding to the M2 pulse wave perception information.

[0122] In a possible implementation method, the height of the object within the at least two vertical angle ranges is greater than or equal to the height of the antenna array.

[0123] For a more detailed description of the processing unit 1710 and the transceiver unit 1720, reference can be made to the relevant description in the above method embodiment, which will not be repeated here.

[0124] The communication device 1800 shown in FIG18 includes a processor 1810 and an interface circuit 1820. The processor 1810 and the interface circuit 1820 are coupled to each other. It is understood that the interface circuit 1820 may be a transceiver or an input / output interface. Optionally, the communication device 1800 may further include a memory 1830 for storing instructions executed by the processor 1810, or storing input data required by the processor 1810 to execute instructions, or storing data generated after the processor 1810 executes instructions.

[0125] When the communication device 1800 is used to implement the above method embodiment, the processor 1810 is used to implement the functions of the above processing unit 1710 , and the interface circuit 1820 is used to implement the functions of the above transceiver unit 1720 .

[0126] It is understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0127] The method steps in the embodiments of the present application can be implemented by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, and the software modules can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disks, mobile hard disks, compact disc read-only memory (CD-ROM) or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and storage medium can be located in an ASIC. In addition, the ASIC can be located in a network device. Of course, the processor and storage medium can also exist as discrete components in an access network device or terminal.

[0128] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. A computer program refers to a set of instructions that instruct an electronic computer or other device with message processing capabilities to perform each step of the action, usually written in a certain programming language and running on a certain target architecture. When the computer program or instruction is loaded and executed on a computer, the process or function described in the embodiment of the present application is executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer program or instruction can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instruction can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired or wireless means. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; an optical medium, such as a digital video disk; or a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both volatile and non-volatile types of storage media.

[0129] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0130] In this application, "at least one" means one or more, and "more" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural. In the text description of this application, the character " / " generally indicates that the previous and next related objects are in an "or" relationship; in the formulas of this application, the character " / " indicates that the previous and next related objects are in a "division" relationship.

[0131] It is understood that the various numbers used in the embodiments of this application are merely for ease of description and are not intended to limit the scope of the embodiments of this application. The order of the sequence numbers of the above-mentioned processes does not necessarily imply a specific order of execution; the order of execution of the processes should be determined by their functions and inherent logic.

Claims

1. A communication method, characterized in that: The method comprises: M pieces of first perception information are sent in M ​​sub-time units of a first time unit through M simulated beams, where M is an integer greater than 1, and there is a one-to-one correspondence between the M simulated beams, the M sub-time units, and the M pieces of first perception information. The M pieces of first perception information are used to perceive objects within at least two vertical angle ranges, and an angle between the emission direction of the M simulated beams and the horizontal plane of the ground is greater than or equal to 0°. The communication information is sent at the second time unit.

2. The method according to claim 1, wherein A starting position of at least one of the M sub-time units is set to a hybrid beamforming (HBF) beam switching time, where the HBF beam switching time is used to adjust the beam pointing direction of the analog beam.

3. The method according to claim 1 or 2, wherein: The M first perception information includes M1 pulse wave perception information, where M1 is an integer greater than 1; The M2 pieces of pulse wave perception information in the M1 pieces of pulse wave perception information are sent through some antenna arrays in the entire antenna array, and the M2 is a positive integer.

4. The method according to claim 3, wherein Another part of the antenna arrays in the entire antenna array is not used to send the at least one pulse wave perception information, but is used to receive reflection information of the at least one pulse wave perception information.

5. The method according to claim 3 or 4, wherein: The method further comprises: N pieces of second perception information are sent in N sub-time units of a third time unit through N simulated beams, where N is an integer greater than 1, and there is a one-to-one correspondence between the N simulated beams, the N sub-time units, and the N pieces of second perception information. The N pieces of second perception information are used to perceive objects within at least two vertical angle ranges, and an angle between the emission direction of the N simulated beams and the horizontal plane of the ground is greater than or equal to 0°. Among them, the N second perception information include N1 pulse wave perception information, and the N1 is an integer greater than 1; the N2 pulse wave perception information among the N1 pulse wave perception information are sent through part of the antenna arrays in the entire antenna array, and the N2 is a positive integer; the direction of the simulated beam corresponding to the N2 pulse wave perception information is not exactly the same as the direction of the simulated beam corresponding to the M2 pulse wave perception information.

6. The method according to any one of claims 1 to 5, characterized in that The height of the object within the at least two vertical angle ranges is greater than or equal to the height of the antenna array.

7. A communication method, characterized in that: The method comprises: Sending first signaling, where the first signaling is used to send M pieces of first perception information through M simulated beams in M ​​sub-time units of a first time unit, where M is an integer greater than 1, and there is a one-to-one correspondence between the M simulated beams, the M sub-time units, and the M pieces of first perception information, the M first perception information being used to perceive objects within at least two vertical angle ranges, and an angle between the emission directions of the M simulated beams and the horizontal plane of the ground being greater than or equal to 0°; Sending a second signaling, where the second signaling is used to send communication information in a second time unit.

8. The method according to claim 7, wherein A starting position of at least one of the M sub-time units is set to a hybrid beamforming (HBF) beam switching time, where the HBF beam switching time is used to adjust the beam pointing direction of the analog beam.

9. The method according to claim 7 or 8, wherein The M first perception information includes M1 pulse wave perception information, where M1 is an integer greater than 1; The M2 pieces of pulse wave perception information in the M1 pieces of pulse wave perception information are sent through some antenna arrays in the entire antenna array, and the M2 is a positive integer.

10. The method according to claim 9, wherein Another part of the antenna arrays in the entire antenna array is not used to send the at least one pulse wave perception information, but is used to receive reflection information of the at least one pulse wave perception information.

11. The method according to claim 9 or 10, wherein: The method further comprises: Sending third signaling, where the third signaling is used to send N second perception information through N simulated beams in N sub-time units of a third time unit, where N is an integer greater than 1, and there is a one-to-one correspondence between the N simulated beams, the N sub-time units, and the N second perception information, the N second perception information being used to perceive objects within at least two vertical angle ranges, and an angle between the emission directions of the N simulated beams and the horizontal plane of the ground is greater than or equal to 0°; Among them, the N second perception information include N1 pulse wave perception information, and the N1 is an integer greater than 1; the N2 pulse wave perception information among the N1 pulse wave perception information are sent through part of the antenna arrays in the entire antenna array, and the N2 is a positive integer; the direction of the simulated beam corresponding to the N2 pulse wave perception information is not exactly the same as the direction of the simulated beam corresponding to the M2 pulse wave perception information.

12. The method according to any one of claims 7 to 11, characterized in that The height of the object within the at least two vertical angle ranges is greater than or equal to the height of the antenna array.

13. A communication device, characterized in that: The method comprises a unit for performing the method according to any one of claims 1 to 6 or the method according to any one of claims 7 to 12.

14. A communication device, characterized in that: The device comprises a processor and an interface circuit, wherein the processor is configured to communicate with other devices via the interface circuit and execute the method according to any one of claims 1 to 6 or the method according to any one of claims 7 to 12.

15. A computer program product, characterized in that The computer program product comprises instructions, which, when executed on a processor, cause the processor to perform the method according to any one of claims 1 to 6 or the method according to any one of claims 7 to 12.

16. A computer-readable storage medium, characterized in that The storage medium stores a computer program or instruction, and when the computer program or instruction is executed by the communication device, the method described in any one of claims 1 to 6 or the method described in any one of claims 7 to 12 is implemented.

17. A communication system, characterized in that: The system comprises at least two communication devices, wherein at least one of the at least two communication devices is configured to execute the method according to any one of claims 1 to 6 or the method according to any one of claims 7 to 12.

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