Sensing method and related product

Abstract

A sensing method and a related product. The method comprises: acquiring sensing area information, sensing performance requirements and node information, wherein the node information comprises at least one of the following: antenna panel configuration information of a transmitting node, antenna panel configuration information of a receiving node, trajectory information of the transmitting node and trajectory information of the receiving node; and sending sensing configuration information of the transmitting node, wherein the sensing configuration information of the transmitting node is determined on the basis of the sensing area information, the sensing performance requirements and the node information, and the sensing configuration information of the transmitting node comprises at least one of the following pieces of information: the positions of a plurality of transmitting ports participating in sensing, and a set of orthogonal transmitting signals corresponding to the plurality of transmitting ports. By means of the solution of the present application, a plurality of transmitting nodes (or a multi-port transmitting node) are used in conjunction with full-aperture receiving nodes for MIMO sensing, improving the sensing performance.

Description

Perception method and related products

[0001] The present application claims priority to the Chinese patent application No. 202410356869.3, filed on March 26, 2024, and entitled "Perception method and related products", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of communication perception, and in particular, to a perception method and related products. BACKGROUND

[0003] With the development and progress of communication technology, in future cellular networks, base stations will not only be able to realize the interconnection of people and things, but also will have the function of perception, and the enabling technology that realizes the coexistence, mutual assistance and mutual benefit of communication function and perception function is called integrated sensing and communication (ISAC).

[0004] According to the positional relationship of the transceiving nodes, the perception can be divided into single-base perception and double-base perception. In single-base perception, the transceiving nodes are located at the same position, and the resolution is limited by the size of the sky surface aperture of the measuring node, and the resolution in the azimuth direction and the elevation direction is low. In double-base perception, the transceiving nodes are located at different positions, and the resolution is related to the apertures of the transceiving nodes. For example, when the transmitting node is a single-antenna device moving in the azimuth direction and the receiving node is a fixed antenna surface array, double-base perception can achieve high resolution in the azimuth direction, but the resolution in the elevation direction is still limited by the size of the aperture of the receiving node in the elevation direction. In addition, when double-base perception is used, the transceiving nodes often use antenna linear array combination, such as the receiving node only uses an antenna linear array along the elevation direction, without utilizing the aperture resources in the azimuth direction.

[0005] In view of the above-mentioned limited resolution and insufficient utilization of aperture resources, how to improve the perception performance is a problem to be solved. SUMMARY

[0006] The present application provides a perception method and related products to improve the perception performance.

[0007] In a first aspect, a sensing method is provided. The method comprises: obtaining sensing area information, sensing performance requirement and node information, the node information comprising at least one of: antenna panel configuration information of a transmitting node, antenna panel configuration information of a receiving node, trajectory information of the transmitting node, and trajectory information of the receiving node; and sending sensing configuration information of the transmitting node, the sensing configuration information of the transmitting node being determined based on the sensing area information, the sensing performance requirement and the node information, the sensing configuration information of the transmitting node comprising at least one of: positions of a plurality of transmitting ports participating in sensing, or a set of orthogonal transmitting signals corresponding to the plurality of transmitting ports.

[0008] In this aspect, by obtaining the sensing area information, the sensing performance requirement and the node information, and sending the sensing configuration information of the transmitting node, the MIMO sensing is performed by using a plurality of transmitting nodes (or a multi-port transmitting node) in cooperation with a full-aperture receiving node, and the sensing performance is improved.

[0009] In combination with the first aspect, in a possible implementation, the method further comprises: sending sensing configuration information of the receiving node, the sensing configuration information of the receiving node being determined based on the sensing area information, the sensing performance requirement and the node information, the sensing configuration information of the receiving node comprising positions of a plurality of receiving ports participating in sensing.

[0010] In this implementation, after the sensing configuration information of the receiving node is determined based on the sensing area information, the sensing performance requirement and the node information, the sensing configuration information of the receiving node can be sent to the receiving node. The sensing configuration information of the receiving node determined based on the sensing area information, the sensing performance requirement and the node information can enable the receiving node to perform the MIMO sensing in cooperation with the full-aperture transmitting node, expand the aperture of the sensing in two-dimensional directions of azimuth and elevation, and simultaneously enhance the resolutions in the azimuth direction and the elevation direction, thereby improving the sensing performance.

[0011] In combination with the first aspect, in another possible implementation, the method further comprises: determining the plurality of transmitting ports corresponding to the positions of the plurality of transmitting ports based on the positions of the plurality of transmitting ports; and determining the set of orthogonal transmitting signals based on a functional mapping relationship between the plurality of transmitting ports and the set of orthogonal transmitting signals, a number of orthogonal signals in the set of orthogonal transmitting signals being not less than a number of the plurality of transmitting ports, the set of orthogonal transmitting signals being a subset of the set of orthogonal transmitting signals.

[0012] In this implementation, in order to improve the sensing performance, the transmitting node can orthogonally transmit sensing signals, and therefore, it is necessary to determine the set of orthogonal transmitting signals of each transmitting port, i.e., the set of orthogonal transmitting signals.

[0013] With reference to the first aspect, in a possible implementation of the first aspect, the function mapping relationship between the multiple transmitting ports and the set of orthogonal transmitting signals comprises: the multiple transmitting ports and the set of orthogonal transmitting signals are of the same number of orthogonal signals and in one-to-one correspondence.

[0014] With reference to the first aspect, in a possible implementation of the first aspect, the set of orthogonal transmitting signals comprises at least one or a combination of the following: a set of time-orthogonal transmitting signals, a set of frequency-orthogonal transmitting signals, a set of code-orthogonal transmitting signals, and a set of Doppler frequency-orthogonal transmitting signals.

[0015] With reference to the first aspect, in a possible implementation of the first aspect, the antenna panel configuration information comprises at least one of the following: a number of antennas, center position information of an antenna panel, operating wavelength information of an antenna, or interval distance information of an antenna.

[0016] With reference to the first aspect, in a possible implementation of the first aspect, the sensing area information comprises a center point coordinate of a sensing area and a size of the sensing area.

[0017] With reference to the first aspect, in a possible implementation of the first aspect, the sensing performance requirement comprises at least one of the following: a sensing resolution requirement, a no-ambiguity interval requirement, and a sensing signal-to-noise ratio requirement.

[0018] With reference to the first aspect, in a possible implementation of the first aspect, the method further comprises: determining, based on the sensing area information, the sensing performance requirement, and the node information, a position of a starting transmitting port in the multiple transmitting ports, a position of a starting receiving port in the multiple receiving ports, a first position interval, and a second position interval, wherein the first position interval is an interval between positions of any two of the multiple transmitting ports, and the second position interval is an interval between positions of any two of the multiple receiving ports; determining the positions of the multiple transmitting ports based on the position of the starting transmitting port and the first position interval; and determining the positions of the multiple receiving ports based on the position of the starting receiving port and the second position interval.

[0019] With reference to the first aspect, in a possible implementation of the first aspect, the position of the starting transmitting port and the position of the starting receiving port determined based on the sensing area information, the sensing performance requirement, and the node information satisfy the following respectively:

[0020] wherein the Loc a-Tx is the position of the starting transmitting port along the azimuth direction, the Loc a-Rx is the position of the starting receiving port along the azimuth direction, and the Loc e-Txis a position of the starting receiving port along the azimuth direction, and the k e-Rx is a position of the starting receiving port along the azimuth direction, and the k a is a constant, and the θ a is an azimuth angle corresponding to the sensing target, and the θ e is an elevation angle corresponding to the sensing target, and the δ a is a resolution along the azimuth direction, and the δ e is a resolution along the elevation direction.

[0021] With reference to the first aspect, in a further possible implementation, the first position interval and the second position interval determined based on the sensing area information, the sensing performance requirement and the node information satisfy respectively:

[0022] or

[0023] or

[0024] wherein the d a-Tx is a first position interval along the azimuth direction, the d a-Rx is a second position interval along the azimuth direction, the D a-Rx is an aperture size of an antenna panel of a receiving node along the azimuth direction, the D a-Tx is an aperture size of an antenna panel of a transmitting node along the azimuth direction, the D e-Rx is an aperture size of an antenna panel of a receiving node along the elevation direction, the D e-Tx is an aperture size of an antenna panel of a transmitting node along the elevation direction, the Δθ a is an azimuth direction ambiguity-free interval requirement, the Δθ e is an elevation direction ambiguity-free interval requirement.

[0025] With reference to the first aspect, in a further possible implementation, the method further includes: receiving a return signal based on positions of the plurality of receiving ports, the return signal corresponding to a sensing signal in the set of orthogonal transmitting signals; and performing sensing based on the return signal.

[0026] In a second aspect, a sensing method is provided, which includes: sending node information, the node information including at least one of: antenna panel configuration information of a transmitting node, trajectory information of the transmitting node; and receiving sensing configuration information of the transmitting node, the sensing configuration information of the transmitting node being determined based on sensing area information, sensing performance requirements and the node information, the sensing configuration information of the transmitting node including at least one of: positions of a plurality of transmitting ports participating in sensing, or a set of orthogonal transmitting signals corresponding to the plurality of transmitting ports.

[0027] In this aspect, by sending node information of a transmitting node, a receiving node or a center node can determine sensing configuration information of the transmitting node based on acquired sensing area information, sensing performance requirements, node information of the transmitting node and node information of the receiving node, and send the sensing configuration information of the transmitting node, so that multiple transmitting nodes (or multiple-port transmitting nodes) cooperate with a full-aperture receiving node to perform MIMO sensing, thereby improving sensing performance.

[0028] In combination with the second aspect, in a possible implementation, the plurality of transmitting ports is the same as and one-to-one corresponds to a number of orthogonal signals in the set of orthogonal transmitting signals, the number of orthogonal signals in the set of orthogonal transmitting signals is not less than the number of the plurality of transmitting ports, and the set of orthogonal transmitting signals is a subset of the set of orthogonal transmitting signals.

[0029] In combination with the second aspect, in another possible implementation, the set of orthogonal transmitting signals is a combination of at least one or more of: a set of time-orthogonal transmitting signals, a set of frequency-orthogonal transmitting signals, a set of encoding-orthogonal transmitting signals, and a set of Doppler frequency-orthogonal transmitting signals.

[0030] In combination with the second aspect, in yet another possible implementation, the antenna panel configuration information includes at least one of: a number of antennas, center position information of an antenna panel, operating wavelength information of an antenna, or interval distance information of antennas.

[0031] In combination with the second aspect, in yet another possible implementation, the sensing area information includes a center point coordinate of a sensing area and a size of the sensing area.

[0032] In combination with the second aspect, in yet another possible implementation, the sensing performance requirements include at least one of: a sensing resolution requirement, an ambiguity interval requirement, and a sensing signal-to-noise ratio requirement.

[0033] In combination with the second aspect, in yet another possible implementation, the method further includes: sending a sensing signal in the set of orthogonal transmitting signals based on the positions of the plurality of transmitting ports.

[0034] In a third aspect, a sensing method is provided, which includes: receiving first node information from a transmitting node, the first node information including at least one of: antenna panel configuration information of the transmitting node, trajectory information of the transmitting node; receiving second node information from a receiving node, the second node information including at least one of: antenna panel configuration information of the receiving node, trajectory information of the receiving node; and sending, to the transmitting node, sensing configuration information of the transmitting node, the sensing configuration information of the transmitting node being determined based on sensing area information, sensing performance requirement, the first node information and the second node information, the sensing configuration information of the transmitting node including at least one of: positions of a plurality of transmitting ports participating in sensing, or a set of orthogonal transmitting signals corresponding to the plurality of transmitting ports.

[0035] In a possible implementation of the third aspect, the method further includes: sending, to the receiving node, sensing configuration information of the receiving node, the sensing configuration information of the receiving node being determined based on the sensing area information, the sensing performance requirement, the first node information and the second node information, the sensing configuration information of the receiving node including positions of a plurality of receiving ports participating in sensing.

[0036] In a fourth aspect, a sensing apparatus is provided for implementing the sensing method in the first aspect or any implementation of the first aspect. The apparatus can be a receiving node, a module (e.g., a processor, a chip, or a chip system) applied to the receiving node, or a logic node, a logic module, or software capable of realizing all or part of the functions of the receiving node. The receiving node can be a terminal device, a network device, or the like.

[0037] In a fifth aspect, a sensing apparatus is provided for implementing the sensing method in the second aspect or any implementation of the second aspect. The apparatus can be a transmitting node, a module (e.g., a processor, a chip, or a chip system) applied to the transmitting node, or a logic node, a logic module, or software capable of realizing all or part of the functions of the transmitting node.

[0038] In a sixth aspect, a sensing apparatus is provided for implementing the sensing method in the third aspect or any implementation of the third aspect. The apparatus can be a center node, a module (e.g., a processor, a chip, or a chip system) applied to the center node, or a logic node, a logic module, or software capable of realizing all or part of the functions of the center node.

[0039] In a possible implementation, the perception apparatus in the fourth aspect to the sixth aspect comprises units, modules or means for performing the method in any one of the first aspect to the third aspect or any one of the implementations. The units, modules or means can be implemented by software, hardware or a combination of software and hardware.

[0040] Exemplarily, the perception apparatus comprises a transceiver unit and a processing unit; wherein:

[0041] When the perception apparatus is used to implement the method in the first aspect or any one of the implementations of the first aspect, the processing unit is configured to obtain perception area information, perception performance requirements and node information, the node information comprising at least one of the following: antenna panel configuration information of a transmitting node, antenna panel configuration information of a receiving node, trajectory information of the transmitting node, and trajectory information of the receiving node; the processing unit is further configured to generate perception configuration information of the transmitting node, the perception configuration information of the transmitting node being determined based on the perception area information, the perception performance requirements and the node information, the perception configuration information of the transmitting node comprising at least one of the following: positions of a plurality of transmitting ports participating in perception, or a set of orthogonal transmitting signals corresponding to the plurality of transmitting ports; and the transceiver unit is configured to transmit the perception configuration information of the transmitting node.

[0042] Optionally, the processing unit is further configured to generate perception configuration information of the receiving node, the perception configuration information of the receiving node being determined based on the perception area information, the perception performance requirements and the node information, the perception configuration information of the receiving node comprising positions of a plurality of receiving ports participating in perception; and the transceiver unit is further configured to transmit the perception configuration information of the receiving node.

[0043] Optionally, the processing unit is further configured to determine the plurality of transmitting ports corresponding to the positions of the plurality of transmitting ports based on the positions of the plurality of transmitting ports; and the processing unit is further configured to determine the set of orthogonal transmitting signals based on a functional mapping relationship between the plurality of transmitting ports and the set of orthogonal transmitting signals, the number of orthogonal signals in the set of orthogonal transmitting signals being not less than the number of the plurality of transmitting ports, the set of orthogonal transmitting signals being a subset of the set of orthogonal transmitting signals.

[0044] Optionally, the functional mapping relationship between the plurality of transmitting ports and the set of orthogonal transmitting signals comprises that the plurality of transmitting ports are identical in number to and one-to-one corresponding to the orthogonal signals in the set of orthogonal transmitting signals.

[0045] Optionally, the set of orthogonal transmission signals is a combination of at least one or more of: a set of time-orthogonal transmission signals, a set of frequency-orthogonal transmission signals, a set of code-orthogonal transmission signals, and a set of Doppler frequency-orthogonal transmission signals.

[0046] Optionally, the antenna panel configuration information comprises at least one of: a number of antennas, center position information of an antenna panel, operating wavelength information of an antenna, or interval distance information of an antenna.

[0047] Optionally, the sensing area information comprises a center point coordinate of a sensing area and a size of the sensing area.

[0048] Optionally, the sensing performance requirement comprises at least one of: a sensing resolution requirement, an ambiguity interval requirement, and a sensing signal-to-jamming noise ratio requirement.

[0049] Optionally, the processing unit is further configured to determine, based on the sensing area information, the sensing performance requirement, and the node information, a position of a starting transmission port in the plurality of transmission ports, a position of a starting reception port in the plurality of reception ports, a first position interval, and a second position interval, wherein the first position interval is an interval between positions of any two transmission ports in the plurality of transmission ports, and the second position interval is an interval between positions of any two reception ports in the plurality of reception ports; determine, based on the position of the starting transmission port and the first position interval, positions of the plurality of transmission ports; and determine, based on the position of the starting reception port and the second position interval, positions of the plurality of reception ports.

[0050] Optionally, the position of the starting transmission port and the position of the starting reception port determined based on the sensing area information, the sensing performance requirement, and the node information satisfy:

[0051] wherein the Loc a-Tx is the position of the starting transmission port along the azimuth direction, the Loc a-Rx is the position of the starting reception port along the azimuth direction, the Loc e-Tx is the position of the starting reception port along the elevation direction, the Loc e-Rx is the position of the starting reception port along the elevation direction, the k a is a constant, the θ a is an azimuth angle corresponding to a sensing target, the θ e is an elevation angle corresponding to the sensing target, the δ a is a resolution along the azimuth direction, and the δ e is a resolution along the elevation direction.

[0052] Optionally, the first position interval and the second position interval determined based on the sensing area information, the sensing performance requirement and the node information satisfy:

[0053] or

[0054] or

[0055] wherein, the d a-Tx is the first position interval along the azimuth direction, the d a-Rx is the second position interval along the azimuth direction, the D a-Rx is the aperture size of the antenna panel of the receiving node along the azimuth direction, the D a-Tx is the aperture size of the antenna panel of the transmitting node along the azimuth direction, the D e-Rx is the aperture size of the antenna panel of the receiving node along the elevation direction, the D e-Tx is the aperture size of the antenna panel of the transmitting node along the elevation direction, the Δθ a is the azimuth direction ambiguity-free interval requirement, and the Δθ e is the elevation direction ambiguity-free interval requirement.

[0056] Optionally, the transceiver is further configured to receive a back echo signal based on the positions of the plurality of receiving ports, the back echo signal corresponding to a sensing signal in the set of orthogonal transmitting signals; and the processing unit is further configured to perform sensing based on the back echo signal.

[0057] When the sensing device is used to implement the method in the second aspect or any of the implementations of the second aspect, the transceiver is configured to transmit node information, the node information including at least one of: antenna panel configuration information of a transmitting node, trajectory information of the transmitting node; and the transceiver is further configured to receive sensing configuration information of the transmitting node, the sensing configuration information of the transmitting node being determined based on sensing area information, sensing performance requirement and the node information, the sensing configuration information of the transmitting node including at least one of: positions of a plurality of transmitting ports participating in sensing, or a set of orthogonal transmitting signals corresponding to the plurality of transmitting ports.

[0058] Optionally, the plurality of transmitting ports are the same as and one-to-one correspond to the number of orthogonal signals in the set of orthogonal transmitting signals, the number of orthogonal signals in the set of orthogonal transmitting signals is not less than the number of the plurality of transmitting ports, and the set of orthogonal transmitting signals is a subset of the set of orthogonal transmitting signals.

[0059] Optionally, the set of orthogonal transmit signals is a combination of at least one or more of: a set of time orthogonal transmit signals, a set of frequency orthogonal transmit signals, a set of code orthogonal transmit signals, and a set of Doppler frequency orthogonal transmit signals.

[0060] Optionally, the antenna panel configuration information comprises at least one of: a number of antennas, a center position of the antenna panel, a working wavelength of the antennas, or a spacing distance of the antennas.

[0061] Optionally, the sensing area information comprises a center point coordinate of the sensing area and a size of the sensing area.

[0062] Optionally, the sensing performance requirement comprises at least one of: a sensing resolution requirement, an ambiguity interval requirement, and a sensing signal-to-jamming-and-noise ratio requirement.

[0063] Optionally, the transceiver is further configured to transmit a sensing signal in the set of orthogonal transmit signals based on a location of the plurality of transmit ports.

[0064] When the sensing device is configured to implement the method in the third aspect or any of the implementations of the third aspect, the transceiver is configured to receive first node information from a transmitting node, the first node information comprising at least one of: antenna panel configuration information of the transmitting node, and trajectory information of the transmitting node; the transceiver is further configured to receive second node information from a receiving node, the second node information comprising at least one of: antenna panel configuration information of the receiving node, and trajectory information of the receiving node; the processing unit is configured to generate sensing configuration information of the transmitting node, the sensing configuration information of the transmitting node being determined based on sensing area information, a sensing performance requirement, the first node information, and the second node information, the sensing configuration information of the transmitting node comprising at least one of: a location of a plurality of transmit ports participating in sensing, or a set of orthogonal transmit signals corresponding to the plurality of transmit ports; and the transceiver is further configured to transmit the sensing configuration information of the transmitting node to the transmitting node.

[0065] Optionally, the processing unit is further configured to generate sensing configuration information of the receiving node, the sensing configuration information of the receiving node being determined based on the sensing area information, the sensing performance requirement, the first node information, and the second node information, the sensing configuration information of the receiving node comprising a location of a plurality of receive ports participating in sensing; and the transceiver is further configured to transmit the sensing configuration information of the receiving node to the receiving node.

[0066] In another possible implementation, the sensing device in the fourth aspect to the sixth aspect above comprises a processor coupled with a memory; the processor is configured to enable the device to perform the corresponding functions in the sensing method above. The memory is used to be coupled with the processor, and stores the programs (instructions) and / or data necessary for the device. Optionally, the sensing device can further comprise a communication interface to enable the device to communicate with other network elements. Optionally, the memory can be located inside the sensing device, or located outside the sensing device.

[0067] In yet another possible implementation, the sensing device in the fourth aspect to the sixth aspect above comprises a processor and a transceiver, the processor is coupled with the transceiver, and the processor is used to execute computer programs or instructions to control the transceiver to receive and send information; when the processor executes the computer programs or instructions, the processor is further used to realize the method above through a logic circuit or an execution code instruction. The transceiver can be a transceiver, a transceiver circuit or an input / output interface, which is used to receive signals from other sensing devices outside the sensing device and transmit the signals to the processor, or send signals from the processor to other sensing devices outside the sensing device. When the sensing device is a chip, the transceiver is a transceiver circuit or an input / output interface.

[0068] When the sensing device in the fourth aspect to the sixth aspect above is a chip, the sending unit can be an output unit, such as an output circuit or a communication interface; the receiving unit can be an input unit, such as an input circuit or a communication interface. When the sensing device is a terminal device, the sending unit can be a transmitter or a transmitter; the receiving unit can be a receiver or a receiver.

[0069] In a seventh aspect, a computer readable storage medium is provided, and the computer readable storage medium stores computer programs or instructions, when the computer programs or instructions are executed, the method in the aspects above is realized.

[0070] In an eighth aspect, a computer program product containing instructions is provided, when the instructions are run on a sensing device, the sensing device is enabled to perform the method in the aspects above.

[0071] In a ninth aspect, a communication system is provided, and the communication system comprises the sensing device in the fourth aspect and the sensing device in the fifth aspect.

[0072] In a tenth aspect, a communication system is provided, and the communication system comprises the sensing device in the fourth aspect, the sensing device in the fifth aspect and the sensing device in the sixth aspect. BRIEF DESCRIPTION OF DRAWINGS

[0073] FIG. 1 is a schematic diagram of a communication system according to an embodiment of the present application;

[0074] FIG. 2 is a schematic diagram of equivalent aperture formation;

[0075] FIG. 3 is a schematic diagram of a sensing parameter;

[0076] FIG. 4 is a schematic diagram of a single-base sensing scenario;

[0077] FIG. 5 is a schematic diagram of a double-base sensing scenario between a base station and a UE;

[0078] FIG. 6 is a flow diagram of a sensing method according to an embodiment of the present application;

[0079] FIG. 7 is a flow diagram of another sensing method according to an embodiment of the present application;

[0080] FIG. 8 is a schematic diagram of a sensing principle according to an embodiment of the present application;

[0081] FIG. 9 is a schematic diagram of a simulation scenario according to an embodiment of the present application;

[0082] FIG. 10 is a schematic diagram of a single-base sensing result based on the simulation scenario shown in FIG. 9;

[0083] FIG. 11 is a schematic diagram of a double-base sensing result based on the simulation scenario shown in FIG. 9;

[0084] FIG. 12 is a schematic diagram of a sensing result using the scheme of the present application based on the simulation scenario shown in FIG. 9;

[0085] FIG. 13 is a flow diagram of yet another sensing method according to an embodiment of the present application;

[0086] FIG. 14 is a flow diagram of yet another sensing method according to an embodiment of the present application;

[0087] FIG. 15 is a flow diagram of yet another sensing method according to an embodiment of the present application;

[0088] FIG. 16 is a flow diagram of yet another sensing method according to an embodiment of the present application;

[0089] FIG. 17 is a flow diagram of yet another sensing method according to an embodiment of the present application;

[0090] FIG. 18 is a schematic diagram of a sensing apparatus according to an embodiment of the present application;

[0091] FIG. 19 is a schematic diagram of another sensing apparatus according to an embodiment of the present application. DETAILED DESCRIPTION

[0092] The scheme of the present application will be further described below with reference to the accompanying drawings.

[0093] FIG. 1 shows a schematic diagram of a possible, non-limiting communication system. As shown in FIG. 1, the communication system 1000 includes a radio access network (RAN) 100 and a core network (CN) 200. The communication system 1000 can also include the Internet 300. The RAN 100 includes at least one RAN node (e.g., 110a and 110b in FIG. 1, collectively referred to as 110) and at least one terminal device (e.g., 120a-120j in FIG. 1, collectively referred to as 120). Other RAN nodes, such as wireless relay devices and / or wireless backhaul devices (not shown in FIG. 1), etc., can also be included in the RAN 100. The terminal devices 120 are wirelessly connected with the RAN nodes 110. The RAN nodes 110 are connected with the core network 200 through wireless or wired means. The core network devices in the core network 200 and the RAN nodes 110 in the RAN 100 can be different physical devices respectively, or can be the same physical device integrated with the logical functions of the core network and the radio access network respectively.

[0094] The RAN 100 can be a 3rd generation partnership project (3GPP) related cellular system, e.g., a 4G, 5G mobile communication system, or a future-oriented evolved system (e.g., a 6G mobile communication system). The RAN 100 can also be an open radio access network (O-RAN or ORAN), a cloud radio access network (CRAN), or a wireless fidelity (WiFi) system. The RAN 100 can also be a communication system that combines two or more of the above systems.

[0095] The RAN node 110, which can also be referred to as an access network device, a RAN entity, or an access node, etc., forms part of the communication system, and is configured to facilitate wireless access to the communication system for terminal devices. The RAN nodes 110 in the communication system 1000 can be of the same type or different types. In some scenarios, the roles of the RAN node 110 and the terminal device 120 are relative, e.g., the network element 120i in Figure 1 can be a helicopter or a drone, which can be configured to move as a mobile base station, and for those terminal devices 120j accessing the RAN 100 via the network element 120i, the network element 120i is a base station; but for the base station 110a, the network element 120i is a terminal device. The RAN nodes 110 and the terminal devices 120 are sometimes collectively referred to as sensing devices, e.g., the network elements 110a and 110b in Figure 1 can be understood as sensing devices with base station functionalities, and the network elements 120a-120j can be understood as sensing devices with terminal device functionalities.

[0096] In a possible scenario, the RAN node can be a base station (BS), an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next generation NodeB (gNB), a next generation NodeB in a 6th generation (6G) mobile communication system, a base station in a future mobile communication system, or an access node in a WiFi system, etc. The RAN node can be a macro base station (e.g., 110a in Figure 1), a micro base station or an indoor station (e.g., 110b in Figure 3), a relay node or a donor node, or a wireless controller in a CRAN scenario. Optionally, the RAN node can also be a server, a wearable device, a vehicle or a vehicle-mounted device, etc. For example, the access network device in a vehicle to everything (V2X) technology can be a road side unit (RSU).

[0097] In another possible scenario, a terminal device is assisted by multiple RAN nodes to implement wireless access, and different RAN nodes respectively implement part of functions of a base station. For example, a RAN node can be a central unit (CU), a distributed unit (DU), a central unit-control plane (CU-CP), a central unit-user plane (CU-UP), or a radio unit (RU), etc. The CU and the DU can be separately arranged, or can be included in the same network element, for example, in a baseband unit (BBU). The RU can be included in a radio frequency device or a radio frequency unit, for example, in a remote radio unit (RRU), an active antenna processing unit (AAU), or a remote radio head (RRH).

[0098] In different systems, the CU (or CU-CP and CU-UP), the DU, or the RU can also have different names, but those skilled in the art can understand their meanings. For example, in an ORAN system, the CU can also be referred to as an open-CU (O-CU), the DU can also be referred to as an open-distributed unit (O-DU), the CU-CP can also be referred to as an open-central unit-control plane (O-CU-CP), the CU-UP can also be referred to as an open-central unit-user plane (O-CU-UP), and the RU can also be referred to as an open-radio unit (O-RU). For the convenience of description, the CU, the CU-CP, the CU-UP, the DU, and the RU are taken as examples for description in this application. Any one of the CU (or the CU-CP, the CU-UP), the DU, and the RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0099] The terminal device can also be referred to as a terminal, a user equipment (UE), a mobile station, a mobile terminal device, etc. The terminal device can be widely applied to 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, automatic driving, remote medical treatment, smart power grid, smart furniture, smart office, smart wear, smart transportation, smart city, etc. The terminal device can be a mobile phone, a tablet computer, a computer with wireless transceiver function, a wearable device, a vehicle, a drone, a helicopter, an airplane, a ship, a robot, a mechanical arm, a smart home device, etc. Embodiments of the present application do not limit the device form of the terminal device.

[0100] The communication between the access network device and the terminal device complies with a certain protocol layer structure. The protocol layer can include a control plane protocol layer and a user plane protocol layer. The control plane protocol layer can include at least one of a radio resource control (RRC) layer, a packet data convergence protocol (PDCP) layer, a radio link control (RLC) layer, a media access control (MAC) layer, or a physical (PHY) layer, etc. The user plane protocol layer can include at least one of a service data adaptation protocol (SDAP) layer, a PDCP layer, an RLC layer, a MAC layer, or a physical layer, etc.

[0101] The base station and the terminal device can be fixed in position or mobile. The base station and the terminal device can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; can also be deployed on water surface; can also be deployed on an airplane, a balloon and a man-made satellite. Embodiments of the present application do not limit the application scenarios of the base station and the terminal device.

[0102] The roles of the base station and the terminal device can be relative, for example, the helicopter or the unmanned aerial vehicle 120i in FIG. 1 can be configured as a mobile base station, and for those terminal devices 120j that access the wireless access network 100 through 120i, the terminal device 120i is a base station; but for the base station 110a, 120i is a terminal device, that is, 110a communicates with 120i through a wireless air interface protocol. Of course, 110a and 120i can also communicate through a base station-to-base station interface protocol, at this time, 120i is also a base station relative to 110a. Therefore, the base station and the terminal device can be collectively referred to as a sensing device, 110a and 110b in FIG. 1 can be referred to as a sensing device with a base station function, and 120a-120j in FIG. 1 can be referred to as a sensing device with a terminal device function.

[0103] In the embodiments of the present application, the base station is also referred to as an access network device, and the device for implementing the function of the access network device can be an access network device; or can be a device capable of supporting the access network device to implement the function, such as a chip system, a hardware circuit, a software module, or a hardware circuit plus a software module. The device can be installed in the access network device or used in combination with the access network device. In the embodiments of the present application, only the device for implementing the function of the access network device is taken as an example to illustrate the access network device, and the scheme of the embodiments of the present application is not limited.

[0104] It can be understood that the present application can be applied between the access network device and the terminal device.

[0105] It should be understood that the number and type of devices in the communication system shown in FIG. 1 are only illustrative, and the present application is not limited thereto. In actual applications, more terminal devices, more access network devices, and other network elements, such as core network devices, and / or network elements for implementing artificial intelligence functions, can also be included in the communication system.

[0106] It can be understood that all or part of the functions implemented by one or more of the terminal device, the access network device, the core network device, or the network element for implementing the artificial intelligence function can be virtualized, that is, implemented by one or more of a special processor or a general processor and a corresponding software module. Among them, the terminal device and the access network device involve the interface of the air interface transmission, and the transceiving function of the interface can be implemented by hardware. The core network device, such as the operation administration and maintenance (OAM) network element, can be virtualized. Optionally, one or more functions of the virtualized terminal device, access network device, core network device, or network element for implementing the artificial intelligence function can be implemented by a cloud device, such as a cloud device in an over the top (OTT) system.

[0107] The radio frequency signals using the above communication system can be used for environment sensing, such as mobile target detection and environment imaging.

[0108] First, the concept of equivalent aperture involved in the embodiments of the present application is introduced:

[0109] For multi-input multi-output (MIMO) sensing, the sensing performance of the observation aperture formed by the combination of the transmitting node and the receiving node can be evaluated using the concept of equivalent aperture, especially in the far field condition. The sensing performance obtained by using the concept of equivalent aperture is basically consistent with the real situation, and it is a good simplified analysis method.

[0110] Figure 2 shows a schematic diagram of the formation of an equivalent aperture. Two groups of transceiving linear arrays perform MIMO sensing, and any pair of transceiving port combinations forms an observation channel, which can be replaced by a self-transmitting and self-receiving equivalent virtual port located at the midpoint of the transceiving port. The aperture formed by the equivalent virtual port can be referred to as an equivalent aperture. Further, the performance of MIMO sensing can be analyzed using the equivalent aperture, that is, the angular resolution of the azimuth and elevation of MIMO sensing satisfies: a = k a λ / (D Va *cos θ a ), δθ e = k e λ / (D Ve *cosθ e ) (1)

[0111] In the formula, λ is the carrier wavelength; D Va , D Ve are the sizes of the equivalent apertures along the azimuth and elevation, respectively; θ a , θe These represent the azimuth and elevation angles of the target, with the center of the equivalent aperture as the origin; δθ a δθ e These represent the azimuth and pitch angular resolutions corresponding to the equivalent aperture at the target location, respectively; k a k e These are constants, and the specific parameters depend on the radiation pattern of the transmit and receive antenna ports. When the antenna is an omnidirectional antenna, k a k e A value of 0.5 is generally acceptable.

[0112] Among them, the azimuth angle θ a Pitch angle θ e azimuth angular resolution δθ a Pitch angle resolution δθ e The sensing parameters are shown in Figure 3. Figure 3 also illustrates δ. r , represents; R represents.

[0113] The unambiguous angle for MIMO sensing satisfies: Δθ a =2*arcsin(λ / (2d) Va )), Δθ e =2*arcsin(λ / (2d) Ve (2)

[0114] In the formula, λ is the carrier wavelength; d Va d Ve The average spacing of the array elements is the equivalent aperture along the azimuth and elevation directions, respectively.

[0115] Currently, based on the location relationship between the transmitting and receiving nodes, sensing can be divided into single-base sensing and dual-base sensing. In single-base sensing, the transmitting and receiving nodes are located in the same location; in dual-base sensing, the transmitting and receiving nodes are located in different locations.

[0116] The following describes two schemes, single-base sensing and dual-base sensing, using the base station and UE as the transmitting and receiving nodes in a cellular network, respectively:

[0117] Figure 4 illustrates a scenario of single-base sensing, where a single node performs sensing independently. When the measuring node is a base station, the sensing results are less affected by non-ideal factors, such as the absence of motion errors and ease of signal coherence. However, the resolution of single-base sensing by the base station is limited by the size of its roof aperture, resulting in lower resolution in the azimuth and elevation directions.

[0118] As shown in FIG. 5, it is a schematic diagram of a scenario of base station and UE for double-baseline sensing. In the double-baseline sensing, the transmitting node and the receiving node are separated, and the sensing is performed in the manner of "A transmitting and B receiving". The transmitting node and the receiving node are located at different positions, and the resolution is related to the aperture of the transmitting node and the receiving node. For example, when the transmitting node is a single-antenna device moving along the azimuth direction and the receiving node is a fixed antenna array, the double-baseline sensing can achieve a high resolution in the azimuth direction, but the resolution in the elevation direction is still limited by the aperture size of the receiving node in the elevation direction. In addition, the transmitting node and the receiving node often use an antenna linear array combination in the double-baseline sensing, for example, the receiving node only uses an antenna linear array along the elevation direction, and does not use the aperture resources in the azimuth direction.

[0119] Therefore, in view of the problems of limited resolution and insufficient utilization of aperture resources in the above scheme, the application provides a sensing scheme. The sensing region information, the sensing performance requirement and the node information are obtained, and the sensing configuration information of the transmitting node is sent. The MIMO sensing is performed by using multiple transmitting nodes (or a multi-port transmitting node) in cooperation with a full-aperture receiving node, so that the sensing performance is improved.

[0120] Based on the above communication system, the sensing method provided by the embodiments of the application is described as follows:

[0121] As shown in FIG. 6, it is a flowchart of a sensing method provided by an embodiment of the application. The method involves a center node, a transmitting node and a receiving node. The method can include the following steps, for example:

[0122] S601a. The transmitting node sends first node information to the center node. Correspondingly, the center node receives the first node information.

[0123] The center node is a node independent of the transmitting node and the receiving node, and is a node responsible for managing the sensing task. The center node can obtain the sensing region information and the sensing performance requirement. The order of obtaining the sensing region information and the sensing performance requirement by the center node is not limited, for example, the order of steps S601a and S601b. The center node can receive the sensing region information and the sensing performance requirement from other nodes.

[0124] The sensing region information includes the center point coordinates of the sensing region and the size of the sensing region. For example, the center point coordinates of the sensing region are (R c ,θ ac ,θ ec ), R c ,θ ac ,θ ec are the distance, the azimuth angle and the elevation angle corresponding to the center point of the sensing region in the spherical coordinate system with the equivalent aperture center as the origin. For example, the size of the sensing region is [ΔR, Δθ a ,Δθ e ], ΔR, Δθa , Δθ e respectively.

[0125] The perception performance requirement includes at least one of the following: a perception resolution requirement, and a no-ambiguity interval requirement. For example, the perception resolution requirement is (δr, δθ a , δθ e ), where δr is a resolution of an equivalent aperture in a distance direction corresponding to a position of a perception target, δθ a is a resolution of an equivalent aperture in an azimuth direction corresponding to the position of the perception target, and δθ e is a resolution of an equivalent aperture in an elevation direction corresponding to the position of the perception target. For example, the no-ambiguity interval requirement can be a requirement that there is no ambiguity in the perception region, and thus the no-ambiguity interval requirement can refer to the size of the perception region, i.e., also [ΔR, Δθ a , Δθ e ].

[0126] In addition, the center node also needs to obtain node information of the transmitting node. Illustratively, the center node can request the node information of the transmitting node from the transmitting node. The transmitting node sends first node information to the center node. The first node information includes at least one of the following: antenna panel configuration information of the transmitting node, and trajectory information of the transmitting node.

[0127] The transmitting node in this embodiment refers to a node that transmits a perception signal, and can be a network device, a UE, or the like. The transmitting node can be one or more. If the transmitting node is multiple, the first node information includes the antenna panel configuration information and / or the trajectory information of each of the multiple transmitting nodes.

[0128] The antenna panel configuration information includes at least one of the following information: a number of antennas, center position information of an antenna panel, wavelength information of an antenna, interval distance information (e.g., half wavelength) of an antenna, or a directional diagram used by an antenna. When the transmitting node is a network device, the number of antennas can comply with a format specified in a 3GPP specification: (M, N, P, Mg, Ng), where M and N are respectively a number of rows and a number of columns of sub-panels, P is a number of polarizations of an antenna, and Mg and Ng are respectively a number of rows and a number of columns of antenna ports in a sub-panel. When the transmitting node is a UE, the number of antennas is (M, N, P). The center position information of the antenna panel is a three-dimensional coordinate of a center point of the antenna panel, such as (x c , y c , z c ).

[0129] In addition, if the transmitting node is movable, the first node information can further include trajectory information of the transmitting node. The trajectory information includes start point coordinates, end point coordinates and motion equation information of the movement of the transmitting node, or is a set including multiple three-dimensional coordinate information.

[0130] S601b. The receiving node sends second node information to the center node. Correspondingly, the center node receives the second node information.

[0131] The center node also needs to obtain the node information of the receiving node. Illustratively, the center node can request the node information of the receiving node from the receiving node. The receiving node sends second node information to the center node. The second node information includes at least one of the following: antenna panel configuration information of the receiving node, trajectory information of the receiving node. The meanings of the antenna panel configuration information and the trajectory information of the receiving node can refer to the meanings of the antenna panel configuration information and the trajectory information of the transmitting node described above, and will not be repeated here.

[0132] The above sensing signal is reflected to the sensing target. The receiving node in this embodiment refers to a node that receives the echo signal of the sensing target, which can be a UE, a network device, etc. The receiving node can be one or more. If the receiving node is multiple, the second node information includes the antenna panel configuration information and / or trajectory information of each of the multiple receiving nodes.

[0133] S602. The center node sends the sensing configuration information of the transmitting node to the transmitting node. Correspondingly, the transmitting node receives the sensing configuration information of the transmitting node.

[0134] After the center node obtains the sensing area information, the sensing performance requirement, the first node information and the second node information, it can determine the sensing configuration information of the transmitting node based on the above information. The sensing configuration information of the transmitting node includes at least one of the following information: positions of multiple transmitting ports participating in sensing, or a set of orthogonal transmitting signals corresponding to multiple transmitting ports.

[0135] Optionally, the center node can also determine the sensing configuration information of the receiving node based on the sensing area information, the sensing performance requirement, the first node information and the second node information. The sensing configuration information of the receiving node includes the positions of multiple transmitting ports participating in sensing.

[0136] The center node determines the positions of multiple transmitting ports participating in sensing and the positions of multiple transmitting ports participating in sensing based on the above information, which can include the following steps:

[0137] Firstly, the central node determines a position of a starting transmission port in the plurality of transmission ports, a position of a starting reception port in the plurality of reception ports, a first position interval and a second position interval based on the sensing area information, the sensing performance requirement, the first node information and the second node information, wherein the first position interval is an interval between positions of any two transmission ports in the plurality of transmission ports, and the second position interval is an interval between positions of any two reception ports in the plurality of reception ports.

[0138] The central node can determine the position of the starting transmission port and the position of the starting reception port according to the sensing resolution requirement. The position of the starting transmission port and the position of the starting reception port determined based on the sensing area information, the sensing performance requirement and the node information satisfy:

[0139] wherein Loc a-Tx is the position of the starting transmission port along the azimuth direction, Loc a-Rx is the position of the starting reception port along the azimuth direction, Loc e-Tx is the position of the starting reception port along the elevation direction, Loc e-Rx is the position of the starting reception port along the elevation direction, k a is a constant, θ a is the azimuth angle corresponding to the sensing target, θ e is the elevation angle corresponding to the sensing target, δ a is the resolution along the azimuth direction, δ e is the resolution along the elevation direction.

[0140] The central node can determine the first position interval and the second position interval according to the ambiguity-free interval requirement. The first position interval and the second position interval determined based on the sensing area information, the sensing performance requirement and the node information satisfy:

[0141] or

[0142] or

[0143] wherein d a-Tx is the first position interval along the azimuth direction, d a-Rx is the second position interval along the azimuth direction, D a-Rx is the aperture size of the antenna panel of the reception node along the azimuth direction, D a-Tx is the aperture size of the antenna panel of the transmission node along the azimuth direction, D e-Rx is the aperture size of the antenna panel of the reception node along the elevation direction, D e-Tx is the aperture size of the antenna panel of the transmission node along the elevation direction, Δθa To ensure the ambiguity-free interval for the azimuth direction, Δθ e The requirement is for an unambiguous interval in the pitch direction.

[0144] Then, the central node determines the positions of multiple transmission ports based on the position of the initial transmission port and the first position interval, and determines the positions of multiple reception ports based on the position of the initial reception port and the second position interval. If the transmission node is a UE, and the UE is movable, the central node can further determine the average interval of the UE's movement, that is, the average intervals of the UE's movement in the azimuth and pitch directions are N respectively. a-Tx *d a-Tx and N e-Tx *d e-Tx , where N a-Tx N e-Tx These represent the number of transmission ports along the azimuth and elevation directions, respectively.

[0145] In this embodiment, to improve sensing performance, the transmitting nodes can orthogonally transmit sensing signals. Therefore, it is necessary to determine the set of orthogonally transmitted signals from each transmitting port, i.e., the orthogonal transmission signal set. After determining the positions of multiple transmitting ports, the central node can further determine multiple transmitting ports corresponding to the positions of the multiple transmitting ports. For example, the central node determines multiple transmitting ports based on the position set Loc = {Loc}. Tx-1 ,Loc Tx-2 ,…,Loc Tx-N Determine the set of transmission ports T = {T1, T2, ..., T} that correspond one-to-one with each other. N}, where N is the number of transmission ports. Then, the central node can determine the orthogonal transmission signal set based on the functional mapping relationship between multiple transmission ports and the orthogonal transmission signal set. Assume the candidate orthogonal transmission signal set is G = {G1, G2, ..., G...} M}, where M is the number of orthogonal signals, and the functional mapping relationship between multiple transmission ports and the set of orthogonal transmission signals can be that multiple transmission ports have the same number of orthogonal signals in the set of orthogonal transmission signals and there is a one-to-one correspondence, i.e., M≥N, f:G→T, that is, for an element G in the set G... m There exists a unique element T. n ∈T, such that (G m ,T n For each orthogonal reference signal element ∈ f, there exists a corresponding element in the transmission port set. Therefore, the mapped orthogonal transmission signal set G′={G m1 G m2 ,…,G mN}

[0146] Exemplarily, the above orthogonal transmit signal set is at least one or a combination of the following: a time orthogonal transmit signal set, a frequency orthogonal transmit signal set, a code orthogonal transmit signal set, and a Doppler frequency orthogonal transmit signal set.

[0147] In addition, for the perception of the moving target, the time span Δt of the mapped orthogonal transmit signal set G' is limited by the perception resolution capability and the target motion speed, i.e.:

[0148] wherein δr is the perception distance resolution requirement, V is the motion speed of the perceived target, and β is a constant.

[0149] The center node determines the perception configuration information of the transmitting node, and sends the perception configuration information of the transmitting node to the transmitting node.

[0150] If there are multiple transmitting nodes, the center node determines the perception configuration information of each transmitting node respectively, and sends the perception configuration information of each transmitting node to the corresponding transmitting node. The perception configuration information of the transmitting node includes at least one of the following information: the positions of the multiple transmitting ports participating in the perception, or the orthogonal transmit signal sets corresponding to the multiple transmitting ports.

[0151] After receiving the perception configuration information of the transmitting node, the transmitting node can send the perception signal based on the perception configuration information.

[0152] Further, the method can further include the following steps (indicated by dashed lines in the figure):

[0153] S603. The center node sends the perception configuration information of the receiving node to the receiving node. Correspondingly, the receiving node receives the perception configuration information of the receiving node.

[0154] After determining the perception configuration information of the receiving node, the center node can send the perception configuration information of the receiving node to the receiving node.

[0155] If there are multiple receiving nodes, the center node determines the perception configuration information of each receiving node respectively, and sends the perception configuration information of each receiving node to the corresponding receiving node. The perception configuration information of the receiving node includes the positions of the multiple receiving ports participating in the perception.

[0156] After receiving the perception configuration information of the receiving node, the receiving node can receive the echo signal based on the perception configuration information.

[0157] According to the sensing method provided in the embodiment of the present application, the center node obtains sensing area information, sensing performance requirements and node information, and sends sensing configuration information of the transmitting nodes, uses multiple transmitting nodes (or multiple-port transmitting nodes) to cooperate with a full-aperture receiving node to perform MIMO sensing, expands the aperture of sensing in the azimuth direction and the elevation direction, to simultaneously enhance the resolution in the azimuth direction and the elevation direction, and improves the sensing performance; and increases the interval of the transmitting signals, and reduces the resource occupation of the transmitting nodes.

[0158] The following describes the sensing method process by taking a UE as a transmitting node (the transmitting node can be one or more, and the following takes the transmitting node to include UE1 and UE2 as an example) and taking a network device as a receiving node (the receiving node can be one or more, and the following takes one receiving node as an example).

[0159] As shown in FIG. 7, it is a flowchart of another sensing method provided in the embodiment of the present application. The method can include the following steps:

[0160] S701. The center node obtains sensing area information and sensing performance requirements.

[0161] The specific implementation of this step can refer to the step S601a of the embodiment shown in FIG. 6, and will not be described here.

[0162] S702. The center node broadcasts a joint sensing request.

[0163] The center node also needs to obtain the node information of the transmitting nodes and the receiving nodes. Therefore, the center node can broadcast a joint sensing request, which is used to request the transmitting nodes and the receiving nodes in the sensing area to send respective node information.

[0164] S703a. After receiving the joint sensing request, the network device sends a first joint sensing response to the center node. Correspondingly, the center node receives the first joint sensing response.

[0165] After receiving the joint sensing request of the center node, the network device located in the sensing area obtains its first node information, and sends a first joint sensing response to the center node. The first joint sensing response includes the first node information, and the first node information includes at least one of the following: antenna panel configuration information of the network device, trajectory information of the network device. The meanings of the antenna panel configuration information of the network device and the trajectory information of the network device can refer to the meanings of the antenna panel configuration information of the receiving node and the trajectory information of the receiving node in the embodiment shown in FIG. 6, respectively.

[0166] S703b. After receiving the joint sensing request, UE1 and UE2 send a second joint sensing response to the center node. Correspondingly, the center node receives the second joint sensing response.

[0167] The UE1 and UE2 located in the sensing area receive the joint sensing request of the center node, obtain the second node information of the UE1 and UE2, and send the second joint sensing response to the center node. The second joint sensing response includes the second node information, and the second node information includes at least one of the antenna panel configuration information of the UE1 and UE2 and the trajectory information of the UE1 and UE2. The meanings of the antenna panel configuration information of the UE1 and UE2 and the trajectory information of the UE1 and UE2 can be referred to the meanings of the antenna panel configuration information and the trajectory information of the transmitting node in the embodiment shown in FIG. 6, respectively.

[0168] S704. The center node determines the sensing configuration information of the network device and the sensing configuration information of the UE1 and UE2 based on the sensing area information, the sensing performance requirement, the first node information, and the second node information.

[0169] The specific implementation of this step can be referred to the step S602 of the embodiment shown in FIG. 6.

[0170] S705a. The center node sends the sensing configuration information of the network device to the network device. Correspondingly, the network device receives the sensing configuration information of the network device.

[0171] Exemplarily, if there are multiple network devices participating in sensing, the center node sends the sensing configuration information of each network device to the network device, respectively.

[0172] The specific implementation of this step can be referred to the step S602 of the embodiment shown in FIG. 6.

[0173] S705b. The center node sends the sensing configuration information of the UE1 and UE2 to the UE1 and UE2. Correspondingly, the UE1 and UE2 receive the sensing configuration information of the UE1 and UE2.

[0174] The specific implementation of this step can be referred to the step S603 of the embodiment shown in FIG. 6.

[0175] S706. The UE1 and UE2 send the sensing signal in the set of orthogonal transmitting signals based on the positions of the multiple transmitting ports. Correspondingly, the sensing signal is reflected to the sensing target, and the sensing target sends the echo signal.

[0176] The UE1 and UE2 orthogonally transmit the sensing signal through each port. That is, the UE1 and UE2 transmit the corresponding orthogonal reference signal (i.e., the port T n Transmitting orthogonal reference signal G m ).

[0177] S707. The network device receives the echo signal based on the positions of the multiple receiving ports. The echo signal corresponds to the perceived signal in the set of orthogonal transmitted signals.

[0178] S708. The network device performs perception based on the echo signal.

[0179] Alternatively, the above-mentioned transmitting node can also be a network device, and the receiving node can also be a UE1 / UE2.

[0180] As shown in FIG. 8, it is a perception principle diagram of an embodiment of the present application. In this perception scenario, as shown in the left diagram of FIG. 8, there is one BS node and two UE nodes (UE1 and UE2), wherein the number of ports of the BS node is 3x3, and the interval between the ports is λ; the UE1 node is a multi-port UE, including 3 ports; the UE2 is a single-port UE, including 1 antenna port. The UE1 and UE2 are both movable UEs, and are uniformly moved along the horizontal direction with an interval of 3λ to form a virtual aperture.

[0181] As shown in the middle diagram of FIG. 8, the MIMO perception (such as UE2 transmitting signals and BS receiving signals) between the UE2 and the BS can form an equivalent aperture with a size of 3x9 ports and an interval of λ / 2 (as shown by the upper 3x9 circular dots in the right diagram of FIG. 8); and the selection of 2 appropriate ports from the 3 antenna ports of the UE1 can also form an equivalent aperture with a size of 3x9 ports and an interval of λ / 2 (as shown by the middle and lower 3x9 circular dots in the right diagram of FIG. 8, respectively). Therefore, the full-aperture BS and the multi-UE combination for MIMO perception form an equivalent aperture with a size of 9x9 ports and an interval of λ / 2, and the resolution in the azimuth direction and the elevation direction is simultaneously enhanced. At the same time, since the aperture in the azimuth direction of the BS is utilized, the moving interval of the UE in the azimuth direction is further relaxed from λ to 3λ, and the resource occupation is reduced.

[0182] The beneficial effects of the scheme of the present application are further described below through simulation effects:

[0183] As shown in FIG. 9, it is a simulation scenario diagram of an embodiment of the present application, wherein the BS includes 32x32 antenna ports, the port interval is λ / 2, the carrier wavelength is 0.01m, the angle between the BS array surface and the horizontal direction is 120°, the downtilt angle is 0°, the height is 10m, UE#1 and UE#2 are both single-antenna ports, and are located directly below the BS ports. The spatial coordinates of the BS center point are (0, 0, 10), the spatial coordinates of UE#1 and UE#2 are (-0.16, 0.277, 1.34) and (0.16, -0.277, 1.66) respectively, and the available bandwidth of the BS and the UE is 400MHz.

[0184] Assuming that the UE moves in the horizontal plane, i.e., the height of the UE does not change when the UE moves, the moving direction is parallel to the BS array direction, and the end points of UE#1 and UE#2 are (0.16, -0.277, 1.34) and (-0.16, 0.277, 1.66), respectively. FIG. 10, FIG. 11, and FIG. 12 show the BS single-base sensing result, the UE#1 and BS linear array double-base sensing result, and the MIMO sensing result of the multi-UE cooperating with the full-aperture BS according to the present application, respectively. It should be noted that the interval of the signal transmitted by UE#1 is 0.005 m, and the starting positions of the transmission are (-0.16, 0.277, 1.34) and (0.16, -0.277, 1.34). In the scheme according to the present application, the intervals of the signals transmitted by UE#1 and UE#2 are both 0.16 m, and the starting positions of the transmission are (-0.12, 0.208, 1.34) and (0.12, -0.208, 1.34), (0.12, 0.208, 1.66) and (0.12, -0.208, 1.66), respectively. As can be seen from the figures, the sensing effect of the scheme according to the present application is the best, and the resolution is the highest. The interval of the signal transmission is increased from 0.005 m to 0.16 m, and the distance between the starting points of the signals transmitted by the UEs is reduced from 0.64 m to 0.48 m.

[0185] In the simulation described above, the scheme according to the present application uses multi-UE-full-aperture BS MIMO sensing, i.e., UE#1 and UE#2 as the transmitting nodes and the full-aperture BS as the receiving node. Since UE#1 and UE#2 are distributed at different elevation heights and move along the azimuth direction, respectively, the combination of the UEs and the BS can expand the elevation aperture and the azimuth aperture during sensing, and can improve the azimuth and elevation resolutions of the sensing. In addition, the combination of the full-aperture BS and the UEs increases the interval of the signals transmitted by the UEs, reduces the requirement for the transmitting ports, and saves the transmitting resources. The two existing schemes for comparison are the BS single-base sensing, and the BS-UE#1 double-base combination. The azimuth and elevation apertures of the BS single-base sensing are limited by the size of the BS antenna surface, and the azimuth and elevation resolutions are limited. The BS-UE#1 double-base combination uses the movement of UE#1 along the azimuth direction to expand the azimuth aperture and improve the azimuth resolution, but the elevation aperture is still limited. Therefore, in the simulation comparison of the three schemes described above, the scheme according to the present application has the best resolution.

[0186] Table 1 below further quantitatively compares the sensing performance of the three schemes according to the CD distance and the F-score as evaluation criteria. The CD distance reflects the distance between the true point cloud and the reconstructed point cloud, and the lower the CD distance, the better the sensing performance. The F-score reflects the coverage of the reconstructed point cloud and the true point cloud, and the larger the F-score, the better the sensing performance. As can be seen from Table 1, the scheme according to the present application has better sensing performance in quantitative comparison.

[0187] Table 1 Sensing performance evaluation table

[0188] The sensing method described in the above embodiments involves a center node, a transmitting node and a receiving node. In the following embodiments, a first node and a second node are involved, and the second node includes the functions of the center node and the transmitting / receiving node. When the second node is a transmitting node, the first node is a receiving node; when the second node is a receiving node, the first node is a transmitting node.

[0189] As shown in FIG. 13, a flowchart of another sensing method provided by the embodiments of the present application is shown. The method involves a first node and a second node. Exemplarily, the method can include the following steps:

[0190] S1301. The first node sends first node information to the second node. Correspondingly, the second node receives the first node information.

[0191] In the embodiment, the second node is a node responsible for managing the sensing task. The second node can obtain sensing area information and sensing performance requirements.

[0192] In addition, the second node also needs to obtain first node information of the first node. The first node information includes at least one of the following: antenna panel configuration information of the first node, trajectory information of the first node.

[0193] In addition, the second node also needs to obtain second node information of itself. The second node information includes at least one of the following: antenna panel configuration information of the second node, trajectory information of the second node.

[0194] For specific implementation of this step, reference can be made to step S601a or S601b of the embodiment shown in FIG. 6.

[0195] S1302. The second node sends sensing configuration information of the first node to the first node. Correspondingly, the first node receives the sensing configuration information of the first node.

[0196] After the second node obtains the sensing area information, the sensing performance requirements, the first node information and the second node information, the second node can determine the sensing configuration information of the first node and the sensing configuration information of the second node based on the above information, and send the sensing configuration information of the first node to the first node.

[0197] In one example, the first node can be a transmitting node, and the second node can be a receiving node. The sensing configuration information of the first node is determined based on the sensing area information, the sensing performance requirements, the first node information and the second node information. The sensing configuration information of the first node includes at least one of the following information: positions of a plurality of transmitting ports participating in sensing, or a set of orthogonal transmitting signals corresponding to the plurality of transmitting ports.

[0198] In another example, the first node can be a receiving node, and the second node can be a transmitting node. The sensing configuration information of the first node is determined based on the sensing area information, the sensing performance requirement, the first node information and the second node information. The sensing configuration information of the first node comprises the positions of the multiple receiving ports participating in sensing.

[0199] The specific implementation of this step can refer to step S602 of the embodiment shown in FIG. 6.

[0200] According to the sensing method provided in the embodiment of the present application, the second node acquires the sensing area information, the sensing performance requirement, the first node information and the second node information, and transmits the sensing configuration information of the transmitting node, so that the multiple transmitting nodes (or the multiple-port transmitting node) cooperate with the full-aperture receiving node to perform MIMO sensing, the aperture of sensing is expanded in the azimuth direction and the elevation direction, so as to simultaneously enhance the resolution in the azimuth direction and the elevation direction, and improve the sensing performance. In addition, the interval of the transmitting signal is increased, and the resource occupation of the transmitting node is reduced.

[0201] Hereinafter, the sensing method process is described by taking the UE as the transmitting node (the transmitting node can be one or more, and hereinafter, the transmitting node is taken as an example of including UE1 and UE2), and taking the network device as the receiving node (the receiving node can be one or more, and hereinafter, an example of the receiving node is shown).

[0202] As shown in FIG. 14, it is a flow diagram of another sensing method provided in the embodiment of the present application. Exemplarily, the method can comprise the following steps:

[0203] S1401. The network device acquires the sensing area information, the sensing performance requirement and the first node information.

[0204] In this embodiment, the network device is a receiving node, and is responsible for managing the sensing task. The network device acquires the sensing area information, the sensing performance requirement and the first node information of the network device. The first node information comprises the antenna panel configuration information of the network device and the trajectory information of the network device.

[0205] The specific implementation of this step can refer to the operation of the second node in step S1301 of the embodiment shown in FIG. 13.

[0206] S1402. The network device broadcasts a joint sensing request. Correspondingly, UE1 and UE2 receive the joint sensing request.

[0207] The network device also needs to acquire the node information of the transmitting node. Therefore, the network device can broadcast a joint sensing request, and the joint sensing request is used to request the transmitting nodes in the sensing area to transmit the respective second node information.

[0208] S1403. UE1 and UE2 respectively send joint sensing response to the network device. Correspondingly, the network device receives the joint sensing response from UE1 and UE2.

[0209] After UE1 and UE2 located in the sensing area receive the joint sensing request from the network device, UE1 and UE2 obtain the second node information of UE1 and UE2, and send the second joint sensing response to the network device. The second joint sensing response includes the second node information. The second node information includes the antenna panel configuration information of UE1 and UE2. Optionally, if UE1 and UE2 are movable, the second node information can further include the trajectory information of UE1 and UE2.

[0210] S1404. The network device determines the sensing configuration information of UE1 and UE2 and the sensing configuration information of the network device based on the sensing area information, the sensing performance requirement, the first node information and the second node information.

[0211] The sensing configuration information of UE1 and UE2 includes at least one of the following information: the position of the plurality of transmitting ports participating in sensing, and the set of orthogonal transmitting signals corresponding to the plurality of transmitting ports; or the sensing configuration information of the network device includes the position of the plurality of receiving ports participating in sensing.

[0212] The specific implementation of this step can refer to step S602 of the embodiment shown in FIG. 6.

[0213] S1405. The network device sends the sensing configuration information of UE1 and UE2 to UE1 and UE2 respectively. Correspondingly, UE1 and UE2 respectively receive the sensing configuration information of UE1 and UE2.

[0214] After the network device determines the sensing configuration information of UE1 and UE2, the network device sends the sensing configuration information of UE1 and UE2 to UE1 and UE2 respectively.

[0215] Exemplarily, the receiving node can include a plurality of network devices, and one of the network devices determines the sensing configuration information of each receiving node, and then sends the sensing configuration information of the other network devices to the other network devices.

[0216] S1406. UE1 and UE2 respectively send the sensing signal in the set of orthogonal transmitting signals based on the position of the plurality of transmitting ports. Correspondingly, the sensing signal is reflected to the sensing target, and the sensing target sends the echo signal.

[0217] UE1 and UE2 orthogonally transmit the sensing signal through each port. That is, UE1 and UE2 transmit the corresponding orthogonal reference signal (i.e., port T n Transmitting orthogonal reference signal G m ).

[0218] S1407. The network device receives the echo signal based on the positions of the multiple receiving ports. The echo signal corresponds to the perceived signal in the set of orthogonal transmitted signals.

[0219] S1408. The network device performs perception based on the echo signal.

[0220] The following describes the above perception method process by taking a UE as a receiving node (the receiving node can be one or more, and the following example takes the receiving node to include UE1 and UE2) and taking a network device as a transmitting node (the transmitting node can be one or more, and the following example takes one transmitting node).

[0221] As shown in FIG. 15, it is a flow diagram of another perception method provided by an embodiment of the present application. Illustratively, the method can include the following steps:

[0222] S1501. The network device obtains perception area information, perception performance requirements, and first node information.

[0223] In this embodiment, the network device is a transmitting node and is responsible for managing the perception task. The network device obtains perception area information, perception performance requirements, and first node information of itself. The first node information includes antenna panel configuration information of the network device and trajectory information of the network device.

[0224] The specific implementation of this step can refer to the operation of the second node in step S1301 of the embodiment shown in FIG. 13.

[0225] S1502. The network device broadcasts a joint perception request. Correspondingly, UE1 and UE2 receive the joint perception request.

[0226] The network device also needs to obtain node information of the receiving node. Therefore, the network device can broadcast a joint perception request, which is used to request the receiving node in the perception area to send its own second node information.

[0227] S1503. UE1 and UE2 respectively send a joint perception response to the network device. Correspondingly, the network device receives the joint perception response from UE1 and UE2.

[0228] After UE1 and UE2 located in the perception area receive the joint perception request of the network device, they obtain their own second node information and send a second joint perception response to the network device. The joint perception response includes the second node information. The second node information includes the antenna panel configuration information of UE1 and UE2. Optionally, if UE1 and UE2 are movable, the second node information can also include the trajectory information of UE1 and UE2.

[0229] S1504. The network device determines the sensing configuration information of the network device and the sensing configuration information of UE1 / UE2 based on the sensing area information, the sensing performance requirement, the first node information and the second node information.

[0230] The sensing configuration information of the network device includes at least one of the following information: the positions of the multiple transmitting ports participating in sensing, or the set of orthogonal transmitting signals corresponding to the multiple transmitting ports; and the sensing configuration information of UE1 / UE2 includes the positions of the multiple receiving ports participating in sensing.

[0231] The specific implementation of this step can refer to step S602 of the embodiment shown in FIG. 6.

[0232] S1505. The network device sends the sensing configuration information of UE1 / UE2 to UE1 and UE2 respectively. Correspondingly, UE1 and UE2 receive the sensing configuration information of UE1 / UE2 respectively.

[0233] After determining the sensing configuration information of UE1 / UE2, the network device sends the sensing configuration information of UE1 / UE2 to UE1 and UE2 respectively.

[0234] Exemplarily, the transmitting nodes can include multiple network devices, and one of the network devices determines the sensing configuration information of each transmitting node, and then sends the sensing configuration information of other network devices to other network devices.

[0235] S1506. The network device sends the sensing signal in the set of orthogonal transmitting signals based on the positions of the multiple transmitting ports. Correspondingly, the sensing signal is reflected to the sensing target, and the sensing target sends the echo signal.

[0236] The network device transmits the sensing signal orthogonally through each port. That is, the network device transmits the corresponding orthogonal reference signal (i.e., port T n Transmitting orthogonal reference signal G m ) according to the mapping relationship f between the port and the orthogonal signal.

[0237] S1507. UE1 and UE2 receive the echo signal based on the positions of the multiple receiving ports. The echo signal corresponds to the sensing signal in the set of orthogonal transmitting signals.

[0238] S1508. UE1 and UE2 perform sensing based on the echo signal.

[0239] The following describes the above sensing method process by taking network device 2 and network device 3 as the transmitting nodes (the transmitting nodes can be one or more, and the following takes the transmitting nodes as network device 2 and network device 3 as an example) and taking network device 1 as the receiving node (the receiving node can be one or more, and the following takes one receiving node as an example).

[0240] As shown in FIG. 16, a flowchart of another sensing method provided by the embodiments of the present application is shown. The method can include the following steps:

[0241] S1601. The network device 1 acquires sensing area information, sensing performance requirement and first node information.

[0242] In this embodiment, the network device 1 is a receiving node and is responsible for managing the sensing task. The network device 1 acquires sensing area information, sensing performance requirement and first node information of itself. The first node information includes antenna panel configuration information of the network device 1 and trajectory information of the network device 1.

[0243] The specific implementation of this step can refer to the operation of the second node in step S1301 of the embodiment shown in FIG. 13.

[0244] S1602. The network device 1 broadcasts a joint sensing request. Correspondingly, the network device 2 and the network device 3 receive the joint sensing request.

[0245] The network device 1 also needs to acquire node information of the transmitting node. Therefore, the network device 1 can broadcast a joint sensing request, which is used to request the transmitting node in the sensing area to send respective second node information.

[0246] S1603. The network device 2 and the network device 3 respectively send joint sensing responses to the network device 1. Correspondingly, the network device 1 receives the joint sensing responses from the network device 2 and the network device 3.

[0247] After receiving the joint sensing request of the network device 1, the network device 2 and the network device 3 located in the sensing area acquire their own second node information and send the second joint sensing response to the network device 1. The joint sensing response includes the second node information. The second node information includes antenna panel configuration information of the network device 2 and the network device 3.

[0248] S1604. The network device 1 determines sensing configuration information of the network device 2 / network device 3 and sensing configuration information of the network device 1 based on the sensing area information, the sensing performance requirement, the first node information and the second node information.

[0249] The sensing configuration information of the network device 2 / network device 3 includes at least one of the following information: positions of a plurality of transmitting ports participating in sensing, or a set of orthogonal transmitting signals corresponding to the plurality of transmitting ports; and the sensing configuration information of the network device 1 includes positions of a plurality of receiving ports participating in sensing.

[0250] The specific implementation of this step can refer to step S602 of the embodiment shown in FIG. 6.

[0251] S1605. The network device 1 sends the sensing configuration information of the network device 2 / network device 3 to the network device 2 and the network device 3 respectively. Correspondingly, the network device 2 and the network device 3 receive the sensing configuration information of the network device 2 / network device 3 respectively.

[0252] After determining the sensing configuration information of the network device 2 and the network device 3, the network device 1 sends the sensing configuration information of the UE1 / UE2 to the UE1 / UE2 respectively.

[0253] S1606. The network device 2 and the network device 3 respectively send the sensing signals in the set of orthogonal transmitted signals based on the positions of the multiple transmitting ports. Correspondingly, the sensing signals are reflected to the sensing target, and the sensing target sends the echo signals.

[0254] The network device 2 and the network device 3 orthogonally transmit the sensing signals through the ports. That is, the network device 2 and the network device 3 transmit the corresponding orthogonal reference signals (i.e., the ports T n Transmitting the orthogonal reference signals G m ).

[0255] S1607. The network device 1 receives the echo signals based on the positions of the multiple receiving ports. The echo signals correspond to the sensing signals in the set of orthogonal transmitted signals.

[0256] S1608. The network device 1 performs sensing based on the echo signals.

[0257] The following describes the above sensing method process by taking the UE2 and the UE3 as the transmitting nodes (the transmitting nodes can be one or more, and the following example takes the transmitting nodes as including the UE2 and the UE3) and taking the UE1 as the receiving node (the receiving node can be one or more, and the following example takes one receiving node).

[0258] As shown in FIG. 17, it is a flow diagram of another sensing method provided by an embodiment of the present application. Illustratively, the method can include the following steps:

[0259] S1701. The UE1 acquires sensing area information, sensing performance requirements, and first node information.

[0260] In this embodiment, the UE1 is a receiving node and is responsible for managing the sensing task. The UE1 acquires sensing area information, sensing performance requirements, and its own first node information. The first node information includes antenna panel configuration information of the UE1 and trajectory information of the UE1.

[0261] The specific implementation of this step can refer to the operation of the second node in step S1301 of the embodiment shown in FIG. 13.

[0262] S1702. UE1 broadcasts a joint sensing request. Correspondingly, UE2 and UE3 receive the joint sensing request.

[0263] UE1 also needs to obtain the node information of the transmitting node. Therefore, UE1 can broadcast a joint sensing request, which is used to request the transmitting nodes in the sensing area to send respective second node information.

[0264] S1703. UE2 and UE3 respectively send joint sensing responses to UE1. Correspondingly, UE1 receives the joint sensing responses from UE2 and UE3.

[0265] After receiving the joint sensing request of UE1, UE2 and UE3 located in the sensing area obtain their own second node information and send second joint sensing responses to UE1. The joint sensing response includes the second node information. The second node information includes the antenna panel configuration information of UE2 and UE3.

[0266] S1704. UE1 determines the sensing configuration information of UE2 / UE3 and the sensing configuration information of UE1 based on the sensing area information, the sensing performance requirement, the first node information and the second node information.

[0267] The sensing configuration information of UE2 / UE3 includes at least one of the following information: the positions of the multiple transmitting ports participating in sensing, or the orthogonal transmitting signal set corresponding to the multiple transmitting ports; the sensing configuration information of UE1 includes the positions of the multiple receiving ports participating in sensing.

[0268] The specific implementation of this step can refer to step S602 of the embodiment shown in FIG. 6.

[0269] S1705. UE1 respectively sends the sensing configuration information of UE2 / UE3 to UE2 and UE3. Correspondingly, UE2 and UE3 respectively receive the sensing configuration information of UE2 / UE3.

[0270] After determining the sensing configuration information of UE2 and UE3, UE1 respectively sends the sensing configuration information of UE1 / UE2 to UE1 / UE2.

[0271] S1706. UE2 and UE3 respectively send the sensing signals in the orthogonal transmitting signal set based on the positions of the multiple transmitting ports. Correspondingly, the sensing signals are reflected to the sensing target, and the sensing target sends back the echo signals.

[0272] UE2 and UE3 orthogonally transmit the sensing signals of each port. That is, UE2 and UE3 transmit the corresponding orthogonal reference signals (i.e., port T n Transmitting orthogonal reference signal G m ).

[0273] S1707. UE1 receives the echo signal based on the positions of the multiple receiving ports. The echo signal corresponds to the perceived signal in the set of orthogonal transmitted signals.

[0274] S1708. UE1 performs perception based on the echo signal.

[0275] It can be understood that, in each of the above embodiments, the method and / or steps implemented by the center node can also be implemented by a component (such as a chip or circuit) that can be used for the center node; the method and / or steps implemented by the transmitting node can also be implemented by a component (such as a chip or circuit) that can be used for the transmitting node; and the method and / or steps implemented by the receiving node can also be implemented by a component (such as a chip or circuit) that can be used for the receiving node.

[0276] The above mainly introduces the scheme provided by the embodiments of the present application from the perspective of interaction between nodes. Accordingly, the embodiments of the present application also provide a perception device for implementing the above methods. The perception device can be the center node in the above method embodiments, or a component that can be used for the center node; or the perception device can be the transmitting node in the above method embodiments, or a component that can be used for the transmitting node; or the perception device can be the receiving node in the above method embodiments, or a component that can be used for the receiving node. It can be understood that, in order to implement the above functions, the perception device contains the corresponding hardware structure and / or software modules for executing each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of the examples described in the embodiments disclosed herein, the present application can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is driven by hardware or computer software to drive hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0277] The embodiments of the present application can divide the functions of the perception device according to the above method embodiments, for example, each function module can be divided according to each function, or two or more functions can be integrated in one processing unit. The above integrated module can be realized in the form of hardware or software function module. It should be noted that the division of modules in the embodiments of the present application is illustrative, and is only a logical function division. There can be another division method when actually implemented.

[0278] Based on the same concept of the above perception method, the present application also provides a perception device as follows:

[0279] As shown in FIG. 18, FIG. 18 is a structure diagram of a sensing device provided by an embodiment of the present application. The sensing device 1800 includes a transceiver unit 1801 and a processing unit 1802. Wherein:

[0280] Exemplarily, the transceiver unit 1801 can include a receiving unit and a sending unit, which can be an integral or independent unit.

[0281] When the sensing device 1800 is used to implement the function of the receiving node, the transceiver unit 1801 is configured to perform one or more operations of the receiving node in steps S601b and S603 in the embodiment shown in FIG. 6; or the transceiver unit 1801 is configured to perform one or more operations of the network device in steps S702, S703a, S705a and S706 in the embodiment shown in FIG. 7, and the processing unit 1802 is configured to perform one or more operations in steps S707 and S708 in the embodiment shown in FIG. 7; or the transceiver unit 1801 is configured to perform one or more operations of the first node in steps S1301 and S1302 in the embodiment shown in FIG. 13; or the transceiver unit 1801 is configured to perform one or more operations of the network device in steps S1402, S1403, S1405 and S1406 in the embodiment shown in FIG. 14, and the processing unit 1802 is configured to perform one or more operations in steps S1401, S1404, S1407 and S1408 in the embodiment shown in FIG. 14; or the transceiver unit 1801 is configured to perform one or more operations of the UE1 and UE2 in steps S1502, S1503, S1505 and S1506 in the embodiment shown in FIG. 15, and the processing unit 1802 is configured to perform one or more operations in steps S1507 and S1508 in the embodiment shown in FIG. 15; or the transceiver unit 1802 is configured to perform one or more operations of the network device 1 in steps S1602, S1603, S1605 and S1606 in the embodiment shown in FIG. 16, and the processing unit 1802 is configured to perform one or more operations in steps S1601, S1604, S1607 and S1608 in the embodiment shown in FIG. 16; or the transceiver unit 1801 is configured to perform one or more operations of the UE1 in steps S1702, S1703, S1705 and S1706 in the embodiment shown in FIG. 17, and the processing unit 1802 is configured to perform one or more operations in steps S1701, S1704, S1707 and S1708 in the embodiment shown in FIG. 17.

[0282] The perception device 1800 is configured to implement the function of the transmitting node, the transceiver unit 1801 is configured to perform one or more operations of the transmitting node in steps S601a, S602 in the embodiment shown in FIG. 6; or the transceiver unit 1801 is configured to perform one or more operations of the UE1, UE2 in steps S702, S703b, S705b, S706 in the embodiment shown in FIG. 7; or the transceiver unit 1801 is configured to perform one or more operations of the second node in steps S1301, S1302 in the embodiment shown in FIG. 13; or the transceiver unit 1801 is configured to perform one or more operations of the UE1, UE2 in steps S1402, S1403, S1405, S1406 in the embodiment shown in FIG. 14; or the transceiver unit 1801 is configured to perform one or more operations of the network device in steps S1502, S1503, S1505, S1506 in the embodiment shown in FIG. 15, and the processing unit 1802 is configured to perform one or more operations in steps S1501, S1504 in the embodiment shown in FIG. 15; or the transceiver unit 1801 is configured to perform one or more operations of the network device 2, network device 3 in steps S1602, S1603, S1605, S1606 in the embodiment shown in FIG. 16; or the transceiver unit 1801 is configured to perform one or more operations of the UE2, UE3 in steps S1702, S1703, S1705, S1706 in the embodiment shown in FIG. 17.

[0283] The perception device 1800 is configured to implement the function of the center node, the transceiver unit 1801 is configured to perform one or more operations of the center node in steps S601a, S601b, S602, S603 in the embodiment shown in FIG. 6; or the transceiver unit 1801 is configured to perform one or more operations of the center node in steps S702, S703a, S703b, S705a, S705b in the embodiment shown in FIG. 7, and the processing unit 1802 is configured to perform one or more operations in steps S701, S704 in the embodiment shown in FIG. 7.

[0284] For specific implementation of the transceiver unit 1801 and the processing unit 1802, refer to the related description in the embodiments shown in FIG. 6 and FIG. 7.

[0285] The division of modules in the present application is illustrative, and is only a logical functional division. In actual implementation, another division mode can be used. In addition, each functional module in each example in the present application can be integrated in one processor, or can be physically separated, or two or more modules can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software functional module.

[0286] As shown in FIG. 19, FIG. 19 is a structure diagram of another sensing device provided by the embodiments of the present application, the sensing device 1900 comprises a processor 1901. Optionally, the sensing device 1900 can further comprise an interface circuit 1902 (indicated by a dashed line in the figure), and the processor 1901 and the interface circuit 1902 are coupled with each other. It can be understood that the interface circuit 1902 can be a transceiver or an input / output interface. Optionally, the sensing device 1900 can further comprise a memory 1903 (indicated by a dashed line in the figure), the memory 1903 is used to store instructions executed by the processor 1901, or store input data required by the processor 1901 to run instructions, or store data generated after the processor 1901 runs instructions.

[0287] When the sensing device 1900 is used to implement the function of the receiving node, the interface circuit 1902 is configured to perform one or more operations of the receiving node in steps S601b, S603 in the embodiment shown in FIG. 6; or the interface circuit 1902 is configured to perform one or more operations of the network device in steps S702, S703a, S705a, S706 in the embodiment shown in FIG. 7, and the processor 1901 is configured to perform one or more operations in steps S707, S708 in the embodiment shown in FIG. 7; or the interface circuit 1902 is configured to perform one or more operations of the first node in steps S1301, S1302 in the embodiment shown in FIG. 13; or the interface circuit 1902 is configured to perform one or more operations of the network device in steps S1402, S1403, S1405, S1406 in the embodiment shown in FIG. 14, and the processor 1901 is configured to perform one or more operations in steps S1401, S1404, S1407, S1408 in the embodiment shown in FIG. 14; or the interface circuit 1902 is configured to perform one or more operations of the UE1, UE2 in steps S1502, S1503, S1505, S1506 in the embodiment shown in FIG. 15, and the processor 1901 is configured to perform one or more operations in steps S1507, S1508 in the embodiment shown in FIG. 15; or the interface circuit 1902 is configured to perform one or more operations of the network device 1 in steps S1602, S1603, S1605, S1606 in the embodiment shown in FIG. 16, and the processor 1901 is configured to perform one or more operations in steps S1601, S1604, S1607, S1608 in the embodiment shown in FIG. 16; or the interface circuit 1902 is configured to perform one or more operations of the UE1 in steps S1702, S1703, S1705, S1706 in the embodiment shown in FIG. 17, and the processor 1901 is configured to perform one or more operations in steps S1701, S1704, S1707, S1708 in the embodiment shown in FIG. 17.

[0288] The perception device 1900 is used to implement the function of the transmitting node, the interface circuit 1902 is configured to perform one or more operations of the transmitting node in steps S601a, S602 in the embodiment shown in FIG. 6; or the interface circuit 1902 is configured to perform one or more operations of the UE1, UE2 in steps S702, S703b, S705b, S706 in the embodiment shown in FIG. 7; or the interface circuit 1902 is configured to perform one or more operations of the second node in steps S1301, S1302 in the embodiment shown in FIG. 13; or the interface circuit 1902 is configured to perform one or more operations of the UE1, UE2 in steps S1402, S1403, S1405, S1406 in the embodiment shown in FIG. 14; or the interface circuit 1902 is configured to perform one or more operations of the network device in steps S1502, S1503, S1505, S1506 in the embodiment shown in FIG. 15, and the processor 1901 is configured to perform one or more operations in steps S1501, S1504 in the embodiment shown in FIG. 15; or the interface circuit 1902 is configured to perform one or more operations of the network device 2, network device 3 in steps S1602, S1603, S1605, S1606 in the embodiment shown in FIG. 16; or the interface circuit 1902 is configured to perform one or more operations of the UE2, UE3 in steps S1702, S1703, S1705, S1706 in the embodiment shown in FIG. 17.

[0289] The perception device 1900 is used to implement the function of the center node, the interface circuit 1902 is configured to perform one or more operations of the center node in steps S601a, S601b, S602, S603 in the embodiment shown in FIG. 6; or the interface circuit 1902 is configured to perform one or more operations of the center node in steps S702, S703a, S703b, S705a, S705b in the embodiment shown in FIG. 7, and the processor 1901 is configured to perform one or more operations in steps S701, S704 in the embodiment shown in FIG. 7.

[0290] When the perception device is a chip applied to the center node, the chip implements the function of the center node in the above method embodiments. The chip receives information from other modules (such as a radio frequency module or an antenna) in the center node, and the information is sent by the transmitting node or the receiving node to the center node; or the chip sends information to other modules (such as a radio frequency module or an antenna) in the center node, and the information is sent by the center node to the transmitting node or the receiving node.

[0291] When the sensing device is a chip applied to the transmitting node, the chip implements the function of the transmitting node in the method embodiments. The chip receives information from other modules (such as a radio frequency module or an antenna) in the transmitting node, and the information is sent by the central node or the receiving node to the transmitting node; or the chip sends information to other modules (such as a radio frequency module or an antenna) in the transmitting node, and the information is sent by the transmitting node to the central node or the receiving node.

[0292] When the sensing device is a chip applied to the receiving node, the chip implements the function of the receiving node in the method embodiments. The chip receives information from other modules (such as a radio frequency module or an antenna) in the receiving node, and the information is sent by the transmitting node to the central node or the receiving node; or the chip sends information to other modules (such as a radio frequency module or an antenna) in the receiving node, and the information is sent by the central node or the receiving node to the transmitting node.

[0293] In addition, it needs to be explained that the aforementioned transceiver unit and / or processing unit can be implemented by a virtual module, for example, the processing unit can be implemented by a software function unit or a virtual device, and the transceiver unit can be implemented by a software function or a virtual device. Alternatively, the processing unit or the transceiver unit can also be implemented by an entity device, for example, if the device is implemented by a chip / chip circuit, the transceiver unit can be an input / output circuit and / or a communication interface, which performs an input operation (corresponding to the aforementioned receiving operation) and an output operation (corresponding to the aforementioned sending operation); and the processing unit is an integrated processor or a microprocessor or an integrated circuit.

[0294] It can be understood that the processor in the embodiments of the present application can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The general-purpose processor can be a microprocessor or any conventional processor.

[0295] The embodiments of the present application also provide a computer readable storage medium, which stores a computer program or instructions, and when the computer program or instructions are executed, the method in the above embodiments is implemented.

[0296] The embodiment of the present application further provides a computer program product comprising instructions which, when executed on a computer, cause the computer to carry out the method in the above embodiment.

[0297] The embodiment of the present application further provides a communication system comprising the sensing device.

[0298] The embodiment of the present application further provides a circuit coupled with the memory, and the circuit is used to execute the method shown in the above embodiment. The circuit can comprise a chip circuit.

[0299] The embodiment of the present application further provides a chip device comprising a processor, which is used to invoke the computer degree or computer instruction stored in the memory, so that the processor executes the method provided in any one of the embodiments shown in FIG. 6 and FIG. 7.

[0300] In a possible implementation manner, the input of the chip device corresponds to the receiving operation in any one of the embodiments shown in FIG. 6 and FIG. 7, and the output of the chip device corresponds to the sending operation in any one of the embodiments shown in FIG. 6 and FIG. 7.

[0301] Optionally, the processor is coupled with the memory through an interface.

[0302] Optionally, the chip device further comprises a memory, and the memory stores the computer degree or computer instruction.

[0303] When the sensing device is a module applied to a transmitting node, the transmitting node module implements the function of the transmitting node in the above method embodiment. The transmitting node module receives information from other modules (such as a radio frequency module or an antenna) in the transmitting node, and the information is sent by a receiving node to the transmitting node; or the transmitting node module sends information to other modules (such as a radio frequency module or an antenna) in the transmitting node, and the information is sent by the transmitting node to the receiving node. The transmitting node module can be a baseband chip of the transmitting node, or a CU, a DU or other modules, or an apparatus under the O-RAN architecture, such as an open CU, an open DU and the like.

[0304] It should be noted that the above unit or one or more of the units can be realized by software, hardware or combination of both. When any one of the above units or units is realized by software, the software exists in the form of computer program instructions and is stored in the memory, and the processor can be used to execute the program instructions and realize the above method flow.

[0305] In this application, the processor can be a general purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, which can realize or execute the methods, steps and logic block diagrams disclosed in this application. The general purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in this application can be directly embodied as hardware processor execution, or executed by a combination of hardware and software modules in the processor.

[0306] When the above units or units are implemented in hardware, the hardware can be any one or any combination of a CPU, a microprocessor, a digital signal processing (DSP) chip, a microcontroller unit (MCU), an artificial intelligence processor, an ASIC, a SoC, a FPGA, a PLD, a dedicated digital circuit, a hardware accelerator or a non-integrated discrete device, which can run necessary software or not rely on software to perform the above method flows.

[0307] Optionally, the embodiments of the present application further provide a chip system, comprising: at least one processor and an interface, the at least one processor is coupled with a memory through the interface, when the at least one processor runs a computer program or instructions in the memory, the chip system executes the method in any of the above method embodiments. Optionally, the chip system can be composed of a chip, or can contain a chip and other discrete devices, the embodiments of the present application do not make specific limitations hereon.

[0308] The memory in the present application can also be a circuit or other any device capable of realizing a storage function, used for storing program instructions and / or data. The memory can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures and capable of being accessed by a computer, but is not limited to this. For example, the memory can be a non-volatile memory such as a digital versatile disc (DVD), a hard disk drive (HDD) or a solid-state drive (SSD), etc., and can also be a volatile memory such as a random-access memory (RAM).

[0309] It should be understood that, in the present application, "indication" can include direct indication, indirect indication, display indication, and implicit indication. When it is described that certain indication information is used to indicate A, it can be understood that the indication information carries A, directly indicates A, or indirectly indicates A. In the present application, the information indicated by the indication information is referred to as to-be-indicated information. In the specific implementation process, there are many ways to indicate the to-be-indicated information, for example, but not limited to, the to-be-indicated information can be directly indicated, such as the to-be-indicated information itself or an index of the to-be-indicated information, or the to-be-indicated information can be indirectly indicated by indicating other information, where the other information and the to-be-indicated information have an association relationship. It can also be indicated only a part of the to-be-indicated information, and the other part of the to-be-indicated information is known or agreed in advance. For example, the indication of a specific information can also be achieved by means of the arrangement order of each information agreed in advance (for example, specified by a protocol), thereby reducing the indication overhead to a certain extent. The to-be-indicated information can be sent together as a whole, or can be sent separately into multiple sub-information, and the sending period and / or sending occasion of the sub-information can be the same or different. The specific sending method is not limited in the present application. The sending period and / or sending occasion of the sub-information can be predefined, for example, predefined according to a protocol, or configured by a transmitting end device through sending configuration information to a receiving end device.

[0310] At least one (item) referred to in the present application indicates one (item) or multiple (items). Multiple (items) refers to two (items) or more than two (items). "And / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone. The character " / " generally represents an "or" relationship between the front and rear associated objects. In addition, it should be understood that although the terms first, second, etc. can be used to describe various objects in the present application, these objects should not be limited by these terms. These terms are only used to distinguish the objects from each other.

[0311] The terms "include" and "have" mentioned above and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include other steps or units not listed, or can optionally include other steps or units inherent to the process, method, product, or device. It should be noted that in the present application, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any method or design scheme described as "exemplary" or "for example" in the present application should not be interpreted as more preferred or more advantageous than other methods or design schemes. Rather, the use of "exemplary" or "for example" is intended to present the relevant concept in a specific manner.

[0312] A network element in a communication system can send a signal to another network element or receive a signal from another network element. The signal can include information, signaling, data, and the like. The network element can also be replaced by an entity, a network entity, a device, a terminal device, a communication module, a node, a communication node, and the like. In this application, the network element is taken as an example for description. For example, the communication system can include at least one terminal device and at least one network device. The network device can send a downlink signal to the terminal device, and / or the terminal device can send an uplink signal to the network device. In addition, it can be understood that if the communication system includes multiple terminal devices, the multiple terminal devices can also send signals to each other, that is, the sending network element and the receiving network element of the signal can be terminal devices.

[0313] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions 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 instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode.

[0314] Although the present application is described herein in conjunction with various embodiments, other variations of the disclosed embodiments can be understood and implemented by those skilled in the art through viewing the described embodiments, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "one" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. Some measures described in mutually different dependent claims can be combined and produce a good result.

[0315] It can be understood that various digital numbers involved in the embodiments of the present application are only distinguished for the convenience of description, and are not used to limit the scope of the embodiments of the present application. The size of the serial number of the above processes does not mean the order of execution, and the execution order of the processes should be determined according to its function and inherent logic.

[0316] In the above embodiments, the description of each embodiment is focused on, and the part not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0317] The components in the device of the embodiments of the present application can be combined, divided and deleted according to actual needs. Those skilled in the art can combine or combine the features of different embodiments and different embodiments described in the specification.

[0318] In the present application, each example can be mutually quoted without logical contradiction, for example, the methods and / or terms between the method embodiments can be mutually quoted, for example, the functions and / or terms between the device embodiments can be mutually quoted, for example, the functions and / or terms between the device examples and the method examples can be mutually quoted.

Claims

1. A sensing method, characterized in that, The method includes: Acquire sensing area information, sensing performance requirements, and node information, wherein the node information includes at least one of the following: antenna panel configuration information of the transmitting node, antenna panel configuration information of the receiving node, trajectory information of the transmitting node, and trajectory information of the receiving node; The sensing configuration information of the transmitting node is sent. The sensing configuration information of the transmitting node is determined based on the sensing area information, the sensing performance requirements, and the node information. The sensing configuration information of the transmitting node includes at least one of the following: the location of multiple transmitting ports participating in the sensing, or the set of orthogonal transmission signals corresponding to the multiple transmitting ports.

2. The method as described in claim 1, characterized in that, The method further includes: The sensing configuration information of the receiving node is sent. The sensing configuration information of the receiving node is determined based on the sensing area information, the sensing performance requirements, and the node information. The sensing configuration information of the receiving node includes the locations of multiple receiving ports participating in the sensing.

3. The method as described in claim 1 or 2, characterized in that, The method further includes: Based on the locations of the plurality of transmission ports, determine the plurality of transmission ports corresponding to the locations of the plurality of transmission ports; Based on the functional mapping relationship between the plurality of transmission ports and the orthogonal transmission signal set, the orthogonal transmission signal set is determined, wherein the number of orthogonal signals in the orthogonal transmission signal set is not less than the number of the plurality of transmission ports, and the orthogonal transmission signal set is a subset of the orthogonal transmission signal set.

4. The method as described in claim 3, characterized in that, The functional mapping relationship between the plurality of transmission ports and the set of orthogonal transmission signals includes: the plurality of transmission ports and the set of orthogonal transmission signals have the same number of orthogonal signals and correspond one-to-one.

5. The method according to any one of claims 1-4, characterized in that, The set of orthogonal transmitted signals is a combination of at least one or more of the following: a set of time-orthogonal transmitted signals, a set of frequency-orthogonal transmitted signals, a set of coded orthogonal transmitted signals, and a set of Doppler frequency-orthogonal transmitted signals.

6. The method according to any one of claims 1-5, characterized in that, The antenna panel configuration information includes at least one of the following: the number of antennas, the center position information of the antenna panel, the operating wavelength information of the antennas, or the spacing information of the antennas.

7. The method according to any one of claims 1-6, characterized in that, The perception performance requirements include at least one of the following: perception resolution requirements, ambiguity-free range requirements, and perception signal-to-interference-plus-noise ratio requirements.

8. The method according to any one of claims 1-7, characterized in that, The sensing area information includes the coordinates of the center point of the sensing area and the size of the sensing area.

9. The method according to any one of claims 2-8, characterized in that, The method further includes: Based on the sensing area information, the sensing performance requirements, and the node information, the position of the starting transmitting port among the plurality of transmitting ports, the position of the starting receiving port among the plurality of receiving ports, a first position interval, and a second position interval are determined, wherein the first position interval is the interval between the positions of any two transmitting ports among the plurality of transmitting ports, and the second position interval is the interval between the positions of any two receiving ports among the plurality of receiving ports; The positions of the plurality of transmission ports are determined based on the position of the starting transmission port and the first position interval; The positions of the plurality of receiving ports are determined based on the position of the starting receiving port and the second position interval.

10. The method as described in claim 9, characterized in that, The positions of the starting transmission port and the starting reception port, determined based on the sensing area information, the sensing performance requirements, and the node information, respectively satisfy the following: Wherein, the Loc a-Tx The Loc is the position of the starting transmission port along the azimuth direction. a-Rx The Loc is the position of the starting receiving port along the azimuth direction. e-Tx The Loc is the position of the starting receiving port along the pitch direction. e-Rx The position of k towards the starting receiving port along the pitch direction. a θ is a constant. a To sense the azimuth angle corresponding to the target, the θ e To sense the pitch angle corresponding to the target, the δ a For the azimuth resolution, the δ e This refers to the resolution in the pitch direction.

11. The method as described in claim 9 or 10, characterized in that, The first location interval and the second location interval, determined based on the sensing area information, the sensing performance requirements, and the node information, respectively satisfy the following: or or Wherein, the d a-Tx The first position interval along the azimuth direction, d a-Rx The second position interval along the azimuth direction, the D a-Rx D represents the aperture size of the antenna panel of the receiving node along the azimuth direction. a-Tx D represents the aperture size of the antenna panel of the transmitting node along the azimuth direction. e-Rx D represents the aperture size of the antenna panel at the receiving node along the elevation direction. e-Tx The aperture size of the antenna panel at the transmitting node along the elevation direction, Δθ a To meet the requirement of an unambiguous azimuth range, the Δθ e The requirement is for an unambiguous interval in the pitch direction.

12. The method according to any one of claims 1-11, characterized in that, The method further includes: Based on the location of the plurality of receiving ports, echo signals are received, and the echo signals correspond to sensing signals in the set of orthogonal transmitted signals. Sensing is performed based on the echo signal.

13. A sensing method, characterized in that, The method includes: Transmitting node information, the node information including at least one of the following: antenna panel configuration information of the transmitting node, and trajectory information of the transmitting node; The sensing configuration information of the transmitting node is received. The sensing configuration information of the transmitting node is determined based on the sensing area information, sensing performance requirements and the node information. The sensing configuration information of the transmitting node includes at least one of the following: the location of multiple transmitting ports participating in the sensing, or the set of orthogonal transmission signals corresponding to the multiple transmitting ports.

14. The method as described in claim 13, characterized in that, The plurality of transmitting ports have the same number of orthogonal signals as the set of orthogonal transmitting signals and correspond one-to-one. The number of orthogonal signals in the set of orthogonal transmitting signals is not less than the number of the plurality of transmitting ports. The set of orthogonal transmitting signals is a subset of the set of orthogonal transmitting signals.

15. The method as described in claim 13 or 14, characterized in that, The set of orthogonal transmitted signals is a combination of at least one or more of the following: a set of time-orthogonal transmitted signals, a set of frequency-orthogonal transmitted signals, a set of coded orthogonal transmitted signals, and a set of Doppler frequency-orthogonal transmitted signals.

16. The method according to any one of claims 13-15, characterized in that, The antenna panel configuration information includes at least one of the following: the number of antennas, the center position information of the antenna panel, the operating wavelength information of the antennas, or the spacing information of the antennas.

17. The method according to any one of claims 13-16, characterized in that, The perception performance requirements include at least one of the following: perception resolution requirements, ambiguity-free range requirements, and perception signal-to-interference-plus-noise ratio requirements.

18. The method according to any one of claims 13-17, characterized in that, The sensing area information includes the coordinates of the center point of the sensing area and the size of the sensing area.

19. The method according to any one of claims 13-18, characterized in that, The method further includes: Based on the location of the multiple transmission ports, the sensing signal from the orthogonal transmission signal set is transmitted.

20. A sensing method, characterized in that, The method includes: Receive first node information from the transmitting node, the first node information including at least one of the following: antenna panel configuration information of the transmitting node, and trajectory information of the transmitting node; Receive second node information from the receiving node, the second node information including at least one of the following: antenna panel configuration information of the receiving node, and trajectory information of the receiving node; The sensing configuration information of the transmitting node is sent to the transmitting node. The sensing configuration information of the transmitting node is determined based on sensing area information, sensing performance requirements, the first node information and the second node information. The sensing configuration information of the transmitting node includes at least one of the following: the location of multiple transmitting ports participating in sensing, or the set of orthogonal transmission signals corresponding to the multiple transmitting ports.

21. The method as described in claim 20, characterized in that, The method further includes: The receiving node's perception configuration information is sent to the receiving node. The receiving node's perception configuration information is determined based on the perception area information, the perception performance requirements, the first node information, and the second node information. The receiving node's perception configuration information includes the locations of multiple receiving ports participating in the perception.

22. A sensing device, characterized in that, It includes units for implementing the method as described in any one of claims 1-12, or units for implementing the method as described in any one of claims 13-19, or units for implementing the method as described in claim 20 or 21.

23. A sensing device, characterized in that, Includes a processor for executing a computer program to cause the sensing device to implement the method as claimed in any one of claims 1-12, or the method as claimed in any one of claims 13-19, or the method as claimed in claim 20 or 21.

24. The sensing device as claimed in claim 23, characterized in that, It also includes a memory for storing the computer program.

25. A chip, characterized in that, The chip is configured to perform the method as described in any one of claims 1-12, or the method as described in any one of claims 13-19, or the method as described in claim 20 or 21.

26. A computer-readable storage medium, characterized in that, The storage medium stores a computer program or instructions, which, when executed by the sensing device, implement the method as described in any one of claims 1-21.

27. A computer program product, characterized in that, The computer program product includes relevant program instructions, which, when executed, implement the method as described in any one of claims 1-21.

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