Sensing method, apparatus and system

Abstract

Provided in the present application are a sensing method, apparatus and system. In the method, resources which are occupied by a PRS in a time domain are constrained, such that three parameters, i.e., a cycle, a repetition factor and a time interval, which are used for configuring the resources occupied by the PRS in the time domain, satisfy a certain relationship; and time domain resources which are occupied by the PRS are configured on the basis of the three parameters, such that the time domain resources of the PRS are uniform during sensing. In this way, a speed measurement range, a speed measurement resolution, a refresh rate, etc. can be flexibly adjusted, which is conducive to better meeting sensing requirements for different sensing targets.

Description

A sensing method, apparatus and system

[0001] The present application claims priority from the Chinese patent application No. 202410454257.8 filed on April 12, 2024, and entitled "A sensing method, apparatus and system", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present application relates to the field of communication, and in particular to a sensing method, apparatus and system. BACKGROUND

[0003] With the continuous development of integrated sensing and communication (ISAC) technology, at present, based on the time-frequency resource configuration of the position reference signal (PRS), the positioning of different sensing targets can be realized, and the positioning needs to involve the speed measurement (hereinafter referred to as speed measurement) of the sensing target. Different sensing targets correspond to different speed measurement ranges, speed measurement resolutions or sensing result refresh rates (hereinafter referred to as refresh rates).

[0004] However, when using PRS for sensing at present, there is a problem that the sensing parameters cannot be flexibly adjusted. For example, the speed measurement range, speed measurement resolution and refresh rate cannot be flexibly adjusted. SUMMARY

[0005] The present application provides a sensing method, apparatus and system, so as to flexibly adjust the speed measurement range, speed measurement resolution or refresh rate in the sensing process, so as to better meet the sensing needs of different sensing targets.

[0006] In a first aspect, a sensing method is provided, which can be applied to a sensing apparatus. The apparatus may, for example, be a sending node, or a component (such as a chip, a chip system, a processor, etc.) configured in the sending node, or a logical module or software capable of realizing all or part of the functions of the sending node, etc. The present application does not limit this.

[0007] Exemplarily, the method comprises: generating a PRS; and sending the PRS, wherein the PRS occupies resources in the time domain, and the resources satisfy: The The period of a PRS resource on a PRS resource set is represented by T PRS, and the The repetition factor of the PRS resource is represented by R PRS, and the The time interval of the PRS resource is represented by T PRS.

[0008] For the convenience of distinction and description, the following denote condition one.

[0009] Based on the above scheme, the sending node can constrain the parameters for configuring the resources occupied by PRS in the time domain based on condition one, so that the PRS is uniform in the time domain resource when sensing. In this way, the speed measurement range, speed measurement resolution and refresh rate can be flexibly adjusted, which helps to better meet the sensing needs of different sensing targets.

[0010] In combination with the first aspect, in some possible implementation manners of the first aspect, the resources occupied by the PRS in the time domain further satisfy: The denote the number of slots offset by the PRS resource set relative to the reference point, and the denote the number of slots offset by the PRS resource relative to the starting slot of the PRS resource set.

[0011] For the convenience of distinguishing and description, the following will denote condition two.

[0012] The value of at least one or more parameters in the above parameter group can be determined by the sending node, can also be configured by the control node, and can also be predefined by the protocol, which is not limited in the present application. In other words, the value of each parameter in the above parameter group can be determined by the sending node, or configured by the control node, or predefined by the protocol, or obtained in combination of the foregoing manners, for example, the sending node determines a part of the parameters, and the control node determines another part of the parameters; for another example, the protocol predefines a part of the parameters, and the control node configures another part of the parameters, and the like, which will not be listed.

[0013] In a possible case, the sending node and the control node can be deployed separately, that is, the sending node and the control node are different devices. In this case, after the control node determines the value of one or more parameters in the above parameter group, the control node can indicate the value of each parameter through signaling. In the case where the control node configures the value of part of the parameters in the parameter group through signaling, the value of the remaining parameters can be determined by the sending node and / or predefined by the protocol.

[0014] Optionally, the method further includes: receiving first information, the first information being used to indicate the value of each parameter in a parameter group, the parameter group including one or more of the following: The The Or The denote the number of slots offset by the PRS resource set relative to the reference point, and the denote the number of slots offset by the PRS resource relative to the starting slot of the PRS resource set.

[0015] Thus, the sending node can generate the PRS based on the values of the parameters received, such that the PRS generated occupies resources in time domain uniformly.

[0016] Further, before the receiving the first information, the method further comprises: sending second information, the second information being used to indicate a requested perception service type, the perception service type being used for determination of the parameter group.

[0017] Different perception service types can correspond to different perception targets, and different perception targets can correspond to different speed measurement ranges. The values of the parameters in the parameter group can be determined based on the speed measurement range, and the speed measurement range can be determined based on the requested perception service type. Therefore, the perception service type can be indicated by sending the second information to the control node.

[0018] Another possible case is that the sending node and the control node are integrated together, i.e., the sending node and the control node are the same device. In this case, the sending node can determine (or the control node can configure) the values of at least one parameter in the parameter group; in the case where the sending node determines (or the control node configures) the values of part of the parameters in the parameter group, the values of the remaining parameters can be predefined by the protocol.

[0019] Optionally, the method further comprises: determining the values of one or more of the following parameters: the The The Or The indicates the number of slots by which the PRS resource set is offset from a reference point, the indicates the number of slots by which the PRS resource is offset from the starting slot of the PRS resource set.

[0020] Thus, the sending node can generate the PRS based on the values of the parameters received, such that the PRS generated occupies resources in time domain uniformly.

[0021] Further, the method further comprises: determining the values of one or more of the following parameters based on the requested perception service type: the The The Or

[0022] In the case where the sending node determines the parameter group, the sending node can further determine the parameter group based on the requested perception service type. Specifically, the sending node can determine the values of the parameters in the parameter group based on the requested perception service type and condition one (or condition one and condition two).

[0023] With reference to the first aspect, in some possible implementation forms of the first aspect, the method further includes: receiving the echo signal of the PRS, the echo signal of the PRS being a signal returned after the PRS acts on the sensing target.

[0024] The sending node and the receiving node can be transceivers, that is, the sending node and the receiving node are the same device. In this case, after the PRS sent by the sending node reaches the sensing target, the echo signal of the PRS can still return to the sending node (that is, the receiving node).

[0025] The second aspect provides a sensing method, which can be applied to a sensing device. The device can be, for example, a receiving node, a component (such as a chip, a chip system, a processor, etc.) configured in the receiving node, or a logic module or software capable of realizing all or part of the functions of the receiving node, and the like. The present application does not limit this.

[0026] Exemplarily, the method includes: receiving an echo signal of a PRS, the echo signal of the PRS occupying resources in the time domain that satisfy: The denotes a period of a PRS resource on a PRS resource set, the denotes a repetition factor of the PRS resource, the denotes a time interval of the PRS resource; and determining a sensing result based on the echo signal of the PRS.

[0027] Based on the above scheme, since the echo signal of the PRS received by the receiving node occupies resources in the time domain that satisfy condition one, the time domain resources occupied by the echo signal are uniform. In this way, the receiving node can flexibly adjust the speed measurement range, the speed measurement resolution, and the refresh rate, and the like, which helps to better meet the sensing requirements of different sensing targets.

[0028] With reference to the second aspect, in some possible implementation forms of the second aspect, the echo signal of the PRS occupies resources in the time domain that further satisfy: The denotes a number of time slots by which the PRS resource set is offset relative to a reference point, the denotes a number of time slots by which the PRS resource is offset relative to a starting time slot of the PRS resource set.

[0029] With reference to the second aspect, in some possible implementation forms of the second aspect, the method further includes: receiving first information, the first information being used to indicate values of parameters in a parameter group, the parameter group including one or more of the following: the The The The is a number of slots offsetting the PRS resource set relative to a reference point, the is a number of slots offsetting the PRS resource relative to a starting slot of the PRS resource set.

[0030] In a possible implementation form of the second aspect, the method further comprises, before the receiving the first information, transmitting second information, the second information being used for indicating a requested perception service type, the perception service type being used for the determination of the parameter group.

[0031] The possible implementation forms of the second aspect can be understood in relation to the description of the first aspect, which will not be repeated here.

[0032] In a third aspect, a perception method is provided, which can be applied to a perception apparatus. The apparatus can be a control node, a component (such as a chip, a chip system, a processor, etc.) configured in the control node, or a logic module or software capable of realizing all or part of the functions of the control node, etc. The present application does not limit this.

[0033] Exemplarily, the method comprises determining a parameter group, the parameter group comprising one or more of the following: Or The represents a periodicity of a PRS resource on a PRS resource set, the represents a repetition factor of the PRS resource, the represents a time interval of the PRS resource, the represents a number of slots offsetting the PRS resource set relative to a reference point, the represents a number of slots offsetting the PRS resource set relative to a reference point, and the The and the satisfy: transmitting first information, the first information being used for indicating values of parameters in the parameter group.

[0034] Based on the above scheme, the control node can determine the value of at least one parameter such that a certain relationship is satisfied among the three parameters of the period, the repetition factor and the time interval for configuring PRS time domain resources, and can indicate the value of the at least one parameter through signaling. The sending node can generate PRS based on the values of the parameters in the received parameter group, so that the generated PRS occupies resources uniformly in the time domain. In this way, when sensing using the PRS, the speed measurement range, speed measurement resolution and refresh rate can be flexibly adjusted, which helps to better meet the sensing needs of different sensing targets.

[0035] In conjunction with the third aspect, in some possible implementation manners of the third aspect, the method further includes: The method further includes: The method further includes: The method further includes: The method further includes: The method further includes:

[0036] In conjunction with the third aspect, in some possible implementation manners of the third aspect, the determining the parameter group includes: determining the parameter group according to a first mapping relationship and the requested sensing service type, the first mapping relationship indicating a correspondence between at least one sensing service type and at least one parameter group.

[0037] Different sensing service types correspond to different sensing targets, and different sensing targets correspond to different speed measurement ranges. The control node can determine the speed measurement range corresponding to the sensing target based on the received sensing service type, and then determine the parameter group based on the speed measurement range and the first mapping relationship.

[0038] Exemplarily, the first mapping relationship can include a correspondence between at least one sensing service type and at least one parameter group, or can include a correspondence between at least one sensing service type, at least one speed measurement range and at least one parameter group, which is not limited in the present application. Based on the same concept, those skilled in the art can also use other parameters corresponding to the sensing target to indicate the parameter group.

[0039] For example, the first mapping relationship can be predefined, such as protocol predefined.

[0040] The control node can determine the values of the parameters in the parameter group based on the received requested sensing service type, and the values of the parameters satisfy: Or, the values of the parameters satisfy: And

[0041] In conjunction with the third aspect, in some possible implementation manners of the third aspect, before the determining the parameter group, the method further includes: receiving second information, the second information being used to indicate the requested sensing service type.

[0042] The content of possible implementation manners of the third aspect can be referred to the related description in the first aspect, and will not be described here.

[0043] In combination with the first aspect to the third aspect, in some possible implementation manners, the value of the first parameter is from a first set, and the first set includes a plurality of optional values of the first parameter. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS.

[0044] The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS.

[0045] In combination with the first aspect to the third aspect, in some possible implementation manners, the value of the first parameter is from a second set, and the second set includes a plurality of optional values of the first parameter. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS.

[0046] The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS.

[0047] In combination with the first aspect to the third aspect, in some possible implementation manners, the value of the first parameter is from a third set, and the third set includes a plurality of optional values of the first parameter. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS.

[0048] The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS. The value of the first parameter can be selected from the plurality of optional values, thereby facilitating more flexible configuration of the time domain resource of the PRS.

[0049] In a fourth aspect, the present application provides a sensing device, comprising a module or unit for implementing the method in the first aspect and any possible implementation of the first aspect. The module or unit or means can be implemented by software, or by hardware, or by a combination of software and hardware.

[0050] In a fifth aspect, the present application provides a sensing device, comprising one or more processors for executing a computer program (also referred to as code or instructions) in a memory, so that the sensing device implements the sensing method in the first aspect and any possible implementation of the first aspect.

[0051] Optionally, the device further comprises a memory for storing the computer program and data. The memory is coupled to the processor, and the processor executes the computer program stored in the memory, so as to implement the method described in the first aspect.

[0052] Optionally, the device further comprises a communication interface for enabling the device to communicate with other devices. The communication interface can be a transceiver, a circuit, a bus, a module or other types of communication interface.

[0053] The device in the fourth aspect or the fifth aspect is exemplarily a sending node, or a component in the sending node, such as a chip, a chip system, a processor, etc.

[0054] In a sixth aspect, the present application provides a chip system, comprising at least one processor for supporting the implementation of the functions involved in the first aspect and any possible implementation of the first aspect, for example, processing the information involved in the method.

[0055] In a possible design, the chip system further comprises a memory for storing the computer program and data, and the memory is located in the processor or outside the processor.

[0056] The chip system can be composed of a chip, or can include the chip and other discrete devices.

[0057] In a possible design, the chip system further comprises a power supply circuit for supplying power to the chip system.

[0058] In a seventh aspect, the present application provides a sensing device, comprising a module or unit for implementing the method in the second aspect and any possible implementation of the second aspect. The module or unit or means can be implemented by software, or by hardware, or by a combination of software and hardware.

[0059] In an eighth aspect, the present application provides a sensing device, comprising one or more processors configured to execute computer programs (also referred to as codes or instructions) in a memory, so that the sensing device implements the sensing method in the second aspect and any possible implementation of the second aspect.

[0060] Optionally, the device further comprises a memory configured to store the computer programs and data. The memory is coupled to the processor, and the processor executes the computer programs stored in the memory, so as to implement the method described in the second aspect.

[0061] Optionally, the device further comprises a communication interface configured to enable the device to communicate with other devices. For example, the communication interface can be a transceiver, a circuit, a bus, a module or other types of communication interfaces.

[0062] For example, the device in the seventh aspect or the eighth aspect is a receiving node, or a component in the receiving node, such as a chip, a chip system, a processor, etc.

[0063] In a ninth aspect, the present application provides a chip system, comprising at least one processor configured to support the functions involved in the second aspect and any possible implementation of the second aspect, for example, processing the information involved in the method.

[0064] In a possible design, the chip system further comprises a memory configured to store computer programs and data, and the memory is located in the processor or outside the processor.

[0065] The chip system can be composed of a chip, or can include the chip and other discrete devices.

[0066] In a possible design, the chip system further comprises a power supply circuit configured to supply power to the chip system.

[0067] In a tenth aspect, the present application provides a sensing device, comprising modules or units for implementing the method in the third aspect and any possible implementation of the third aspect. The modules or units or means can be implemented by software, or by hardware, or by a combination of software and hardware.

[0068] In an eleventh aspect, the present application provides a sensing device, comprising one or more processors configured to execute computer programs (also referred to as codes or instructions) in a memory, so that the sensing device implements the sensing method in the third aspect and any possible implementation of the third aspect.

[0069] Optionally, the apparatus further includes a memory for storing computer programs and data. The memory is coupled to the processor, and the processor, when executing the computer programs stored in the memory, can implement the method described in the third aspect.

[0070] Optionally, the apparatus further includes a communication interface for the apparatus to communicate with other devices. Exemplarily, the communication interface can be a transceiver, a circuit, a bus, a module or other types of communication interfaces.

[0071] Exemplarily, the apparatus in the tenth aspect or the eleventh aspect is a control node, or a component in the control node, such as a chip, a chip system, a processor, etc.

[0072] In the twelfth aspect, the present application provides a chip system, which includes at least one processor for supporting the functions involved in the third aspect and any possible implementation manner of the third aspect, for example, processing the information involved in the above method.

[0073] In a possible design, the chip system further includes a memory for storing computer programs and data, and the memory is located in or outside the processor.

[0074] The chip system can be composed of a chip, or can include a chip and other discrete devices.

[0075] In a possible design, the chip system further includes a power supply circuit for supplying power to the chip system.

[0076] In the thirteenth aspect, the present application provides a computer readable storage medium, which includes a computer program, and when the computer program is run on a computer, the computer program makes the computer implement the method in the first to third aspects and any possible implementation manner of the first to third aspects.

[0077] In the fourteenth aspect, the present application provides a computer program product, which includes a computer program, and when the computer program is run, the computer program makes the computer execute the method in the first to third aspects and any possible implementation manner of the first to third aspects.

[0078] In the fifteenth aspect, the present application provides a system, which includes one or more of the sending node, the receiving node or the control node described above.

[0079] The fourth aspect to the fifteenth aspect of the present application correspond to the technical solutions of the first aspect to the third aspect of the present application, and the beneficial effects obtained by each aspect and the corresponding possible implementation manners are similar, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0080] FIG. 1 is a schematic diagram of an architecture of a communication system suitable for the awareness method provided by the present application;

[0081] FIG. 2 is a schematic diagram of a possible configuration of PRS frequency domain resources;

[0082] FIG. 3 is a schematic diagram of a possible configuration of PRS time domain resources;

[0083] FIG. 4 is a schematic diagram of non-uniform resource occupation of PRS in time domain;

[0084] FIG. 5 is a schematic flowchart of the awareness method provided by the embodiments of the present application;

[0085] FIG. 6 is a schematic diagram of PRS time domain resource configuration provided by the embodiments of the present application;

[0086] FIG. 7 is a schematic diagram of signal processing of echo signals of PRS provided by the embodiments of the present application;

[0087] FIG. 8 is a schematic diagram of resource occupation of PRS in time domain;

[0088] FIG. 9 is another schematic flowchart of the awareness method provided by the embodiments of the present application;

[0089] FIG. 10 is another schematic flowchart of the awareness method provided by the embodiments of the present application;

[0090] FIG. 11 and FIG. 12 are schematic diagrams of apparatuses provided by the embodiments of the present application;

[0091] FIG. 13 is a schematic diagram of a structure of a terminal device provided by the embodiments of the present application;

[0092] FIG. 14 is a schematic diagram of a structure of a network device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0093] In order to facilitate understanding of the embodiments of the present application, the following points are first explained:

[0094] First, in the embodiments of the present application, "sending" and "receiving" represent the direction of signal transmission. The communication between different devices can refer to direct communication between different devices (i.e., without the need for other devices to relay or forward), or can refer to communication between different devices through other devices (i.e., with the need for other devices to relay or forward), or can refer to communication between functional units within a device through another functional unit and other devices. That is, in the present application, "sending information to a control node" can be understood as the destination of the information being the control node, which can include directly or indirectly sending information to the control node. "Receiving information from (a sending node)" can be understood as the source of the information being the sending node, and "receiving information from the sending node" can be understood as the source of the information being the sending node, which can include directly or indirectly receiving information from the sending node. The information between the source and the destination of the information transmission can be processed as necessary, such as format change, digital-to-analog conversion, etc., but the destination can understand the valid information from the source. Similar expressions in the present application can be similarly understood, and will not be repeated here.

[0095] Second, in the embodiments of the present application, "at least one" means one or more, and "multiple" means two or more. "And / or" describes the association between the associated objects, indicating that there can be three relationships, for example, A and / or B, which can represent the following cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after it. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent: a; b; c; a and b; a and c; b and c; or a and b and c. Where a, b, and c can be single or multiple.

[0096] Third, in the embodiments of the present application, "when", "if", and "if" all refer to the device making corresponding processing under certain objective circumstances, and are not limited to time, and do not require the device to have a judgment action when implemented, nor does it mean that there are other limitations.

[0097] Fourth, in the present application, the words "example", "exemplarily", "for example", or "such as" are used to represent an example, illustration, or explanation. Any embodiment or design scheme described as "example", "exemplarily", "for example", or "such as" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. Rather, the use of words such as "example", "exemplarily", "for example", or "such as" is intended to present the relevant concept in a specific manner.

[0098] Fifth, the correspondence relationship shown in each table in the present application is only an example and should not constitute any limitation on the present application. The content in each table is only an example and can be configured as other content, which is not limited in the present application. When configuring these correspondence relationships, it is not necessarily required to configure all the correspondence relationships shown in each table. For example, the correspondence relationship shown in some rows can also not be configured. For another example, some columns can also be replaced by other forms. For another example, appropriate modification, such as splitting, merging, etc., can be made based on the table shown herein.

[0099] In addition, the table is only one possible form of the correspondence relationship, and other data structures can also be used in specific implementation, for example, an array, a queue, a container, a stack, a linear table, a pointer, a linked list, a tree, a graph, a structure, a class, a heap, a hash table, or the like.

[0100] Sixth, in the present application, indication includes explicit indication (also referred to as direct indication) and implicit indication (also referred to as indirect indication). Among them, the explicit indication information A means to include the information A; the implicit indication information A means to indicate the information A through the correspondence relationship between the information A and the information B and the direct indication information B, and the correspondence relationship between the information A and the information B can be predefined, pre-stored, pre-burned, or pre-configured; or it can also be indicated through the information B and a preset rule.

[0101] In order to better understand the method provided by the embodiments of the present application, the terms involved in the present application will be briefly explained below.

[0102] 1, speed measurement range: can also be referred to as speed range. For example, the maximum relative motion speed at which the sensing target can be detected is v max , the speed measurement range of the sensing target is [-v max , v max ]. Relative to the sending node, when the relative speed of the sensing target is negative, it means that the sensing target is away from the sending node; when the relative speed of the sensing target is positive, it means that the sensing target is approaching the sending node. In the embodiments of the present application, if the resource occupied by the sensing signal in the time domain is uniform, the speed measurement range can be flexibly adjusted.

[0103] 2, resolution: indicates the closest distance of two adjacent targets that can be distinguished, including distance resolution, speed resolution, and angle resolution.

[0104] 3. Velocity resolution: can also be referred to as speed resolution, representing the ability to distinguish two different speed targets. For example, if the speed resolution is 0.1 m / s (metre / second), it means that the maximum measurement granularity is 0.1 m / s, and all objects within the range of 0.1 m / s will be considered as one object. In the embodiments of the present application, if the resources occupied by the perception signal in the time domain are uniform, the velocity resolution can be flexibly adjusted.

[0105] 4. Range resolution: can also be referred to as distance resolution, which refers to the minimum distance difference that can distinguish two targets under the same angle and speed. For example, if the distance resolution is 5 meters, it means that the maximum measurement granularity is 5 meters, and all objects within the range of 5 meters will be considered as one object.

[0106] 5. Refresh rate: refers to the rate at which the perception system generates perception results, which is the inverse of the time interval between two consecutive perception results. In the embodiments of the present application, if the resources occupied by the perception signal in the time domain are uniform, the refresh rate can be flexibly adjusted.

[0107] The technical solutions provided in the present application can be applied to various communication systems, such as: long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), sidelink (SL) communication system, universal mobile communication system (UMTS), worldwide interoperability for microwave access (WiMAX) communication system, 5th generation (5G) mobile communication system or new radio access technology (NR). Among them, the 5G mobile communication system can include non-standalone (NSA) and / or standalone (SA). The technical solutions provided in the present application can also be applied to future communication systems, such as 6th generation (6G) mobile communication system, etc. The present application does not make any limitation in this regard.

[0108] The network system architecture provided in the embodiments of the present application mainly includes: a terminal device and a radio access network (RAN) device.

[0109] The terminal device can be a device or module with corresponding communication functions for accessing the above communication system. The terminal device can also be referred to as user equipment (UE), terminal, user device, access terminal, subscriber unit, subscriber station, mobile station, mobile station (MS), remote station, remote terminal, mobile device, user terminal, terminal unit, terminal station, terminal device, wireless communication device, user agent, or user apparatus. The terminal device is usually provided with a communication module, circuit or chip for performing corresponding communication functions. The terminal device can also be configured with program instructions for performing corresponding communication functions.

[0110] For example, the terminal in the embodiments of the present application can be a mobile phone, a personal digital assistant (PDA) computer, a laptop computer, a tablet computer (Pad), a drone, a computer with wireless transceiver function, a machine type communication (MTC) terminal, a virtual reality (VR) terminal, an augmented reality (AR) terminal, an internet of things (IoT) terminal, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home (such as game console, smart TV, smart speaker, smart refrigerator and fitness equipment, etc.), a transport vehicle with wireless communication function, a communication module, a roadside unit (RSU) with terminal function.

[0111] The wireless access network device can also be referred to as a radio access network (RAN) node, an access network device or a network device. The wireless access network device is a device or module with corresponding communication functions for helping the terminal to realize wireless access, which is a part of the communication system. The wireless access network device is usually provided with a communication module, circuit or chip for performing corresponding communication functions. The wireless access network device can also be configured with program instructions for performing corresponding communication functions and corresponding program instructions.

[0112] In one possible scenario, the RAN node can be a base station, an evolved Node B (eNodeB), an access point (AP), a transmission reception point (TRP), a next generation NodeB (gNB), a base station in a 6G mobile communication system, a base station in a future mobile communication system, or an access node in a wireless local area network (WLAN), etc. The RAN node can be a macro base station, a micro base station or an indoor station, a relay node or a donor node, or a radio 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 roadside unit (RSU).

[0113] In another possible scenario, a terminal is assisted by multiple RAN nodes to implement wireless access, and different RAN nodes respectively implement part of the functions of a base station. For example, the RAN node can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (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, such as a baseband unit (BBU). The RU can be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna processing unit (AAU), or a remote radio head (RRH).

[0114] In different systems, the CU (or CU-CP and CU-UP), DU or RU can also have different names, but those skilled in the art can understand their meanings. For example, in an open radio access network (openRAN, ORAN) system, the CU can also be referred to as an O-CU (open CU), the DU can also be referred to as an O-DU, the CU-CP can also be referred to as an O-CU-CP, the CU-UP can also be referred to as an O-CU-UP, and the RU can also be referred to as an O-RU. For the convenience of description, the CU, CU-CP, CU-UP, DU and RU are taken as examples for description in this application. Any one of the CU (or CU-CP, CU-UP), DU and 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.

[0115] In the embodiments of the present application, the terminal device and the network device can be hardware devices, or software functions running on special hardware, software functions running on general hardware, such as virtualized functions instantiated on a platform (e.g., a cloud platform), or entities including special or general hardware devices and software functions. The specific form of the terminal device and the network device is not limited in the present application.

[0116] FIG. 1 is a schematic diagram of an architecture of a communication system suitable for the sensing method provided in the present application. The communication system includes a sending node, a receiving node, and a control node. The control node is mainly responsible for scheduling of sensing functions, for example, the control node can send a sensing service request to the sending node and the receiving node. The control node can be a third-party device, or a base station or a terminal, for example, the control node can be a sensing management unit (SMF) and the like; the sending node can be a base station or a terminal, and the receiving node can also be a base station or a terminal, and the like, which are not limited in the present application.

[0117] After any one of the sending node, the receiving node or the control node initiates a sensing service request, the sending node can transmit a sensing signal in a sensing area based on the sensing service request. After the sensing signal is reflected by a vehicle (which can also be a pedestrian, a bicycle, a drone or other targets), the receiving node can receive the reflected signal and process the received signal, thereby obtaining a sensing result. The sensing result can include, for example, distance, speed, angle, intensity and the like. Further, the receiving node can feed back the sensing result to the control node.

[0118] The transmitting node and the receiving node can be transceiver-separated. Transceiver-separation means that the device for transmitting signals and the device for receiving signals are different devices, i.e. the transmitting node and the receiving node are different devices. For example, in (a) of FIG. 1, the base station is the transmitting node and the control node, and the terminal is the receiving node; in (b) of FIG. 1, the base station is the receiving node and the control node, and the terminal is the transmitting node; in (c) of FIG. 1, the base station 1 is the transmitting node and the control node, and the base station 2 is the receiving node; in (d) of FIG. 1, the terminal 1 is the transmitting node and the control node, and the terminal 2 is the receiving node; in (e) of FIG. 1, the base station is the control node, the terminal 1 is the transmitting node, and the terminal 2 is the receiving node; in (f) of FIG. 1, the base station 1 is the transmitting node, the base station 2 is the receiving node, and the base station 3 is the control node.

[0119] The transmitting node and the receiving node can also be transceiver-integrated. Transceiver-integration means that the device for transmitting signals and the device for receiving signals are the same device, i.e. the transmitting node and the receiving node are the same device. For example, in (g) of FIG. 1, the base station can be the transmitting node, the receiving node, and the control node; in (h) of FIG. 1, the terminal can be the transmitting node, the receiving node, and the control node.

[0120] The transmitting node and the control node can be integrated together, for example, the base station in (a) of FIG. 1, the base station 1 in (c) of FIG. 1, or the terminal 1 in (d) of FIG. 1; the transmitting node and the control node can also be deployed separately, for example, the base station and the terminal 1 in (e) of FIG. 1, or the base station 1 and the base station 2 in (f) of FIG. 1.

[0121] The receiving node and the control node can be integrated together, for example, the base station in (b) of FIG. 1; the receiving node and the control node can also be deployed separately, for example, the base station and the terminal in (a) of FIG. 1, the base station 1 and the base station 2 in (c) of FIG. 1, the terminal 1 and the terminal 2 in (d) of FIG. 1, the base station and the terminal 2 in (e) of FIG. 1, or the base station 2 and the base station 3 in (f) of FIG. 1.

[0122] The transmitting node, the receiving node, and the control node can be integrated together, for example, in (g) of FIG. 1, the transmitting node, the receiving node, and the control node are all the same base station; in (h) of FIG. 1, the transmitting node, the receiving node, and the control node are all the same terminal.

[0123] The transmitting node, the receiving node, and the control node can also be deployed separately, for example, in (e) of FIG. 1, the transmitting node is the terminal 1, the receiving node is the terminal 2, and the control node is the base station; in (f) of FIG. 1, the transmitting node is the base station 1, the receiving node is the base station 2, and the control node is the base station 3.

[0124] The scenarios shown in the above examples in conjunction with the drawings should not constitute any limitation on the scenarios to which the present application is applicable.

[0125] Currently, there are solutions that propose using PRS as a sensing signal. In the third generation partnership project (3 rd In the third generation partnership project (3 generationi partnership project,3GPP) technical specification (technical specification,TS) 38.211, the configuration of PRS resources includes frequency domain resource configuration and time domain resource configuration.

[0126] In the prior art, PRS can be mapped to different resource elements (resource element,RE). The value of PRS mapped to RE(k, l) satisfies:

[0127] wherein r(m) represents a PRS sequence, represents the value in the PRS sequence with port number p and subcarrier spacing configuration μ mapped to RE(k, l), k represents the subcarrier index of PRS mapped to the time-frequency resource relative to the frequency domain reference point, and l represents the symbol index of PRS mapped to the time-frequency resource relative to the time domain reference point; β PRS is a scaling factor for PRS (i.e., β PRS indicates the ratio of the energy per resource element (energy per resource element,EPRE) of the physical downlink shared channel (physical downlinkshared channel,PDSCH) to the EPRE of PRS), mod represents the remainder of the division of two numbers, for example, a mod b = c, which represents the remainder c of a divided by b.

[0128] The value of k' can refer to Table 1 below, represents the comb size (also referred to as comb density) used in the frequency domain, which can be used to represent the subcarrier spacing of PRS within each symbol in the time-frequency resource, represents the offset of the resource unit, given by the high-layer parameter "dl-PRS-CombSizeN-AndReOffset"; represents the first symbol in the slot where the downlink PRS is located, given by the high-layer parameter "dl-PRS-ResourceSymbolOffset"; L PRS represents the size of the downlink PRS resource in the time domain, which can be represented by the number of included symbols, LPRS ∈{2,4,6,12}.

[0129] In PRS frequency domain resource configuration, the PRS occupies four comb types of 2 / 4 / 6 / 12 can be supported. The combination of the four different comb types supported by PRS and the time domain PRS symbol number supported configuration is shown in Table 1. Table 1 shows the function relationship between the frequency offset k' and the downlink PRS resource symbol number n under different comb types.

[0130] Table 1

[0131] For more detailed description of Table 1, please refer to the related description in the prior art, such as 3GPP TS 38.211, which will not be described in detail herein.

[0132] Figure 2 is a schematic diagram of a possible configuration of PRS frequency domain resources. Exemplarily, when the comb density is 6 and the symbol number is 6, the distribution of the frequency domain resources occupied by PRS can be determined based on the frequency offset shown in Table 1. As shown in Figure 2: when l = 3 and the symbol number is 0 (3-3 = 0), the frequency domain offset k' corresponding to is 0, so the frequency domain starting position of PRS on symbol 3 in the figure is subcarrier 0; and as another example, when l = 4 and the symbol number is 1 (4-3 = 1), the frequency domain offset k' corresponding to is 3, so the frequency domain starting position of PRS on symbol 4 in the figure is subcarrier 3.

[0133] In PRS time domain resource allocation, the configuration of PRS time domain resources is in the form of time slots as the minimum unit. For a PRS resource in a PRS resource set, the transmitting node can assume that the transmission PRS resource satisfies the following conditions when the time slot and frame number satisfy the following conditions:

[0134] wherein indicates the number of time slots per frame when the subcarrier spacing configuration is μ, n f indicates the system frame number, indicates the number of time slots within a frame when the subcarrier spacing configuration is μ, indicates the period of a PRS resource on a PRS resource set, indicates the number of time slots offset from the reference point for the PRS resource set, and can be given by the high-level parameter "dl-PRS-Periodicity-and-ResourceSetSlotOffset", The number of slots representing the starting slot offset of the PRS resource relative to the PRS resource set can be given by the higher layer parameter "dl-PRS-ResourceSlotOffset"; The time interval representing the PRS resource can be given by the higher layer parameter "dl-PRS-ResourceTimeGap", The repetition factor representing the PRS resource can be given by the higher layer parameter "dl-PRS-ResourceRepetitionFactor",

[0135] Figure 3 is a schematic diagram of one possible configuration of PRS time domain resources. In Figure 3, subcarrier spacing μ = 0 is set as the minimum unit of time slot, The number of slots representing the starting slot offset of PRS resource #1 relative to the PRS resource set is 1, that is The number of slots representing the starting slot offset of PRS resource #2 relative to the PRS resource set is 4, that is In one In, For example, in the same period, PRS resource #1 and PRS resource #2 are repeated twice respectively, the time interval between the twice repeated PRS resource #1 is 2 slots, and the time interval between the twice repeated PRS resource #2 is 2 slots.

[0136] Currently, the sensing target needs to be measured for speed when positioning. Different sensing targets correspond to different speed measurement ranges, speed measurement resolutions and refresh rates, which requires that the speed measurement range, speed measurement resolution and refresh rate can be flexibly adjusted. Different sensing targets correspond to different scenes, and Table 2 shows the key performance requirements listed for each scene.

[0137] Table 2

[0138] Among them, "N / A" means not applicable (not applicable).

[0139] However, when using PRS as a sensing signal for sensing, there is a problem that the speed measurement range, speed measurement resolution and refresh rate cannot be flexibly adjusted.

[0140] For example, when the speed is measured according to the period of PRS, the speed measurement range supported by PRS is too small to be flexibly adjusted based on the period of PRS defined in the current protocol; or the absolute time of the period of PRS defined in the current protocol is fixed, which results in a small speed measurement range corresponding to a high frequency. Table 3 shows the maximum speed measurement range supported by different subcarrier spacings. For convenience of description, the mono-static is denoted as Mono in Table 3, and the bi-static is denoted as Bi.

[0141] Table 3

[0142] As shown in Table 3, when the period of PRS in time domain is fixed, the maximum speed measurement range of mono-static is 10.7 m / s and the maximum speed measurement range of bi-static is 5.4 m / s when the frequency of PRS is 3.5 GHz; the maximum speed measurement range of mono-static is 1.3 m / s and the maximum speed measurement range of bi-static is 0.7 m / s when the frequency of PRS is 28 GHz; the maximum speed measurement range of mono-static is 3.8 m / s and the maximum speed measurement range of bi-static is 1.9 m / s when the frequency of PRS is 10 GHz. Among them, “N / A” means not applicable.

[0143] For another example, when the speed is measured according to the time interval of PRS, the speed measurement range and the speed measurement resolution cannot be flexibly adjusted due to the non-uniform time domain resources, or the refresh rate cannot be flexibly adjusted.

[0144] FIG. 4 is a schematic diagram of non-uniform time domain resources occupied by PRS. In FIG. 4, It can be seen that the time domain resources occupied by the PRS are non-uniform based on the parameter group.

[0145] Therefore, the present application provides a method for flexibly adjusting the speed measurement range, the speed measurement resolution and the refresh rate by constraining the time domain resources occupied by PRS, so as to better meet the perception requirements of different perception targets.

[0146] The method provided by the embodiments of the present application will be described in detail below with reference to the accompanying drawings. The following embodiments shown below respectively show the flow of the sensing method from the perspective of the interaction of the sending node, the receiving node, and the control node. Among them, the sending node and the receiving node are named according to the sending and receiving of the sensing signal (such as PRS), and do not mean that the sending node cannot be used for receiving, nor does it limit that the receiving node cannot be used for sending. The sending node and the receiving node can be the same device (i.e., transceiver integration), or can be different devices (i.e., transceiver separation).

[0147] FIG. 5 is a schematic flowchart of the sensing method provided by the embodiments of the present application. FIG. 5 describes the method provided by the present application by taking the perspective of the interaction of the sending node, the receiving node, and the control node, but this should not constitute any limitation on the present application. As described above, the sending node and the control node can be integrated or separated, and the sending node and the receiving node can be transceiver integrated or transceiver separated. Hereinafter, FIG. 5 only shows each node separately for the convenience of distinguishing the functions of different nodes, but should not constitute any limitation on the specific form of each node. In addition, the sending node in FIG. 5 can also be replaced by a component in the sending node, such as a chip, a chip system, a processor, etc., and can also be replaced by a logic module or software capable of realizing part or all of its functions; the receiving node in FIG. 5 can also be replaced by a component in the receiving node, such as a chip, a chip system, a processor, etc., and can also be replaced by a logic module or software capable of realizing part or all of its functions; the control node in FIG. 5 can also be replaced by a component in the control node, such as a chip, a chip system, a processor, etc., and can also be replaced by a logic module or software capable of realizing part or all of its functions. The present application does not limit this.

[0148] Referring to FIG. 5, the sensing method 500 shown in FIG. 5 can include steps 510 to 580. Each step in the method 500 will be described in detail below.

[0149] In step 510, the sending node generates PRS.

[0150] The sending node can generate PRS based on the existing technology, and the specific method can refer to the relevant chapters in TS 38.211 about PRS sequence generation, which will not be described in detail.

[0151] In step 520, the sending node sends PRS.

[0152] The sending node can map the PRS to a time-frequency resource after generating the PRS, and then transmit the PRS through the time-frequency resource. The sending node can send the PRS within the sensing range, and the PRS is used for sensing the target for sensing speed measurement. Correspondingly, the sensing target can receive the PRS, and the echo signal of the PRS is returned after the PRS acts on the sensing target. For example, the PRS can return the echo signal after reflection, diffraction or scattering after reaching the sensing target.

[0153] The sending node can map the PRS to a time-frequency resource based on the values of the parameters in the parameter set. The parameter set includes: and Wherein, represents the period of a PRS resource on a PRS resource set, represents the repetition factor of the PRS resource, represents the time interval of the PRS resource. The resources occupied by the PRS in the time domain satisfy: denoted as condition one.

[0154] Optionally, when the time domain reference point is within a certain , the parameter set further includes: and The resources occupied by the PRS in the time domain can also satisfy: denoted as condition two. Wherein, represents the number of slots offset by the PRS resource set relative to the reference point, represents the number of slots offset by the PRS resource relative to the starting slot of the PRS resource set.

[0155] FIG. 6 is a schematic diagram of PRS time domain resource configuration provided by an embodiment of the present application. As shown in (a) of FIG. 6, The resources occupied by the PRS in the time domain satisfy: and As shown in (b) of FIG. 6, The resources occupied by the PRS in the time domain satisfy: and

[0156] The values of the parameter set can be determined by the sending node, or can be configured by the control node, or can be predefined by the protocol, and the present application does not limit this. In other words, the values of each parameter in the above parameter set can be determined by the sending node, or can be configured by the control node, or can be predefined by the protocol, or can be obtained by a combination of the above, such as the sending node determining a part of them and the control node determining another part of them; or such as the protocol predefining a part of them and the control node configuring another part of them; and the like, which will not be listed.

[0157] One possible case is that the sending node and the control node are deployed separately, that is, the sending node and the control node are different devices. In this case, the control node can determine the values of one or more parameters in the above parameter set, and the control node can indicate the values of each parameter in the parameter set to the sending node and the receiving node through signaling. The parameter set can include one or more of the following: Or The values of the parameter set can be determined by the control node and configured through signaling, or the control node can configure the values of part of the parameters in the parameter set through signaling, and the values of the remaining parameters can be determined by the sending node and / or predefined by the protocol, and the present application does not limit this.

[0158] One example is that when the resources occupied by the PRS in the time domain satisfy condition one, the control node can determine the values of each parameter in the parameter set based on condition one, and the values of each parameter in the parameter set include the values of the following three parameters: The value of The value of The value of; or when the sending node preconfigures or the protocol predefines the values of any one or two of the three parameters, the control node can determine the values of the remaining parameters in the three parameters based on condition one and the values of the parameters that have been determined.

[0159] Another example is that when the resources occupied by the PRS in the time domain satisfy condition one and condition two, the control node can determine the values of each parameter in the parameter set based on condition one and condition two, and the values of each parameter in the parameter set include the values of the following five parameters: The value of The value of The value of The value of and The value of; or when the sending node preconfigures or the protocol predefines the values of any one or more of the five parameters, the control node can determine the values of the remaining parameters in the five parameters based on condition one, condition two and the values of the parameters that have been determined.

[0160] Optionally, after the control node determines the values of the parameters in the parameter set, the method further comprises: the control node sending first information to the sending node and the receiving node, the first information being used to indicate the values of the parameters in the parameter set. Correspondingly, the sending node and the receiving node respectively receive the first information from the control node.

[0161] Exemplarily, the parameter set determined by the control node comprises the following three parameters: and Then, the first information sent by the control node is used to indicate the value of , the value of and the value of . The sending node can send the PRS based on the received first information, the resource occupied by the PRS in the time domain satisfying:

[0162] Another possible case is that the sending node and the control node are integrated together, i.e., the sending node and the control node are the same device. In this case, the sending node (or the control node) can determine the parameter set, the parameter set comprising one or more of the following parameters: or The values of the parameters in the parameter set can be determined by the sending node, or the values of some of the parameters in the parameter set can be predefined by the protocol, and the values of the remaining parameters can be determined by the sending node or configured by the control node, etc., which are not limited by the present application.

[0163] An example is that when the resource occupied by the PRS in the time domain satisfies condition one, the sending node can determine the values of the parameters in the parameter set based on condition one, the values of the parameters in the parameter set comprising the values of the following three parameters: the value of the value of the value of; or when the sending node pre-configures or the protocol predefines the values of some of the parameters in the parameter set, the sending node can determine the values of the remaining parameters in the parameter set based on condition one and the values of the parameters that have been determined.

[0164] Another example is that when the resource occupied by the PRS in the time domain satisfies condition one and condition two, the sending node can determine the values of the parameters in the parameter set based on condition one and condition two, the values of the parameters in the parameter set comprising the values of the following five parameters: the value of the value of the value of the value of the value of; or when the sending node pre-configures the values of some of the parameters in the parameter set, the sending node can determine the values of the remaining parameters in the parameter set based on condition one, condition two and the values of the parameters pre-configured by the sending node.

[0165] Optionally, after determining the values of the parameters in the parameter set, the sending node can send third information to the receiving node, the third information being used to indicate the values of the parameters in the parameter set. Correspondingly, the receiving node receives the third information from the sending node.

[0166] Exemplarily, the parameter set determined by the sending node includes the following five parameters: and Then, the third information sent by the sending node is used to indicate the value of, the value of, the value of, the value of, and the value of.

[0167] In step 530, the receiving node receives the echo signal of the PRS.

[0168] The receiving node can receive the echo signal of the PRS returned by the sensing target, the echo signal of the PRS occupying the resources in the time domain satisfying the same condition as the PRS. Therefore, the description of the condition satisfied by the resources occupied by the echo signal in the time domain can refer to the detailed description of step 520, and will not be repeated here.

[0169] The sending node and the receiving node can be integrated or separated, and the present application does not limit the same.

[0170] One possible case is that the sending node and the receiving node are separated, in which case the receiving node receives the echo signal of the PRS; another possible case is that the sending node and the receiving node are integrated, in which case the receiving node receives the echo signal, i.e., the sending node receives the echo signal of the PRS.

[0171] In step 540, the receiving node determines the sensing result based on the echo signal of the PRS.

[0172] For the convenience of understanding and description, first, the pulse repetition interval (PRI) and the coherent processing interval (CPI) are explained and described.

[0173] The pulse repetition interval refers to the time interval between one pulse and the next pulse, and the length of the signal within the PRI can be denoted as T1. The sensing signal usually needs to have a large span in the time domain, and the time span of the sensing signal corresponding to one sensing signal processing is called the coherent processing interval, and the length of the signal processed within the CPI can be denoted as T2.

[0174] After receiving the echo signal of the PRS, the receiving node can perform signal processing on the echo signal to obtain a sensing result. FIG. 7 is a schematic diagram of signal processing of the echo signal of the PRS according to an embodiment of the present application.

[0175] Suppose that the receiving node receives the echo signal of the PRS with a length of T2, and rearranges the echo signal with the length of T2 into a two-dimensional matrix according to rows, each row of the two-dimensional matrix has a length of T1, and the dimension of the two-dimensional matrix is Since the position and sequence of the time domain resource occupied by the PRS are known, the receiving node can perform processing on the received echo signal and the PRS sent by the sending node according to rows, such as matched filtering or multi-carrier distance estimation, to obtain N one-dimensional range images, The dimension of the two-dimensional matrix composed of the N one-dimensional range images is N x T1, that is, The two-dimensional matrix composed of the N one-dimensional range images is subjected to Fourier transform (FT) according to columns, the row of the obtained two-dimensional matrix represents distance information, and the column represents Doppler information, thereby constructing a range-Doppler map (RD map). The ordinate of the range-Doppler map represents the Doppler information of the sensing target, which may, for example, include the Doppler frequency f d of the relative motion of the sensing target relative to the sending node, the Doppler frequency is related to the carrier frequency f c of the signal and the relative motion speed v of the sensing target.

[0176] From the perspective of signal-to-noise ratio, the longer the CPI (or T2), the longer the time of signal coherent accumulation. In this way, the signal-to-noise ratio can be effectively improved, and the longer the CPI, the higher the resolution. The increase of the CPI needs to meet the following two constraints:

[0177] Constraint one: within one CPI, the motion distance of the sensing target cannot exceed one range resolution unit, or the motion distance of the sensing target is less than or equal to one range resolution unit.

[0178] Constraint two: within one CPI time, the change in the relative motion speed of the sensing target cannot exceed one speed resolution unit, or the change in the relative motion speed of the sensing target can be less than or equal to one speed resolution unit.

[0179] Satisfying the above constraint one can achieve effective accumulation of signal-to-noise ratio, and satisfying constraint two can preserve the information of speed change. Therefore, the receiving node needs to consider the motion speed of the sensing target, the range resolution, the speed resolution, etc. when selecting the CPI.

[0180] When the receiving node determines the CPI (i.e., T2), the smaller the PRI (or T1) is, the larger the maximum Doppler frequency measurement range is from the perspective of the Doppler frequency measurement range. Therefore, when determining the value of T1, the receiving node needs to consider the Doppler frequency range of the sensing target, so that the Doppler frequency measurement range of the sensing target does not exceed the maximum Doppler frequency measurement range supported by the PRI.

[0181] The maximum Doppler frequency measurement value of the sensing target (or the maximum value of the center frequency of the sensing target) is That is, the Doppler frequency measurement range is The corresponding maximum relative motion speed is That is, the velocity measurement range of the sensing target is [-v max , v max ]. Wherein, the parameter k is related to the working mode of sensing. When the working mode is double station or multi-station, k = 1; when the working mode is single station, k = 0.5.

[0182] Since T1 is divided by rows, in order to ensure that the receiving node can perform Fourier transform on the columns to obtain the velocity information, each row needs to be periodically changed relative to the next row. Therefore, the value of T1 is an integer multiple of the value of , for example,

[0183] It can be understood that the sending node can feed back the information of T1 to the receiving node. For example, the sending node can explicitly feed back the information of T1 by sending the value of T1 to the receiving node; or the sending node can implicitly feed back the information of T1 by sending the maximum velocity measurement range of the sensing target to the receiving node, etc. The present application does not limit this.

[0184] The specific implementation of processing the echo signal to obtain the sensing result can refer to the prior art and will not be described in detail.

[0185] Optionally, the method further includes the step 550: the receiving node sends the sensing result to the control node. Correspondingly, the control node receives the sensing result from the receiving node.

[0186] The sensing result may, for example, include the distance, velocity, angle and intensity of the sensing target relative to the sending node, etc.

[0187] Based on the above technical solution, by constraining the values of each parameter in the parameter group used to configure the time domain resource of the PRS, the resource occupied by the PRS in the time domain is uniform. In this way, when using the PRS for sensing, the velocity measurement range, velocity measurement resolution and refresh rate, etc. can be flexibly adjusted, thereby helping to better meet the sensing needs of different sensing targets.

[0188] Optionally, before the control node determines the parameter set, the method further comprises a step 560: the sending node or the receiving node sends second information to the control node, the second information being used to indicate the requested perception service type. Accordingly, the control node receives the second information.

[0189] The control node can determine the parameter set based on the received requested perception service type.

[0190] Exemplarily, the requested perception service type can include one or more of the following: a person, a vehicle, an unmanned aerial vehicle (UAV). Wherein the person can include a pedestrian or a human action, and the vehicle can include a car or an automated guided cart (AGC) and the like.

[0191] Different perception service types can be represented by different values. For example, when the perception service type is 1, it indicates that the perception target of the requested perception is a pedestrian; when the perception service type is 2, it indicates that the perception target of the requested perception is a vehicle; and when the perception service type is 3, it indicates that the perception target of the requested perception is an unmanned aerial vehicle.

[0192] After receiving the second information, the control node can determine the parameter set according to the first mapping relationship and the requested perception service type. The first mapping relationship indicates a correspondence between at least one perception service type and at least one parameter set, and each parameter in the at least one parameter set satisfies condition one.

[0193] It should be understood that different perception service types correspond to different perception targets of the requested perception, and different perception targets correspond to different speed measurement ranges. Therefore, the first mapping relationship can explicitly indicate the correspondence between the at least one perception service type and the at least one parameter set, that is, the control node can determine the parameter set corresponding to the requested perception service type based on the received requested perception service type and the first mapping relationship; or, the first mapping relationship can also implicitly indicate the correspondence between the at least one perception service type, at least one speed measurement range, and at least one parameter set, that is, the control node can determine the perception target of the requested perception based on the received requested perception service type, and then determine the corresponding speed measurement range based on the perception target of the requested perception, and further determine the values of each parameter in the parameter set based on the speed measurement range.

[0194] For example, the first mapping relationship can be predefined, such as a protocol predefined.

[0195] Table 4 shows an example of the first mapping relationship.

[0196] Table 4

[0197] In Table 4, the parameters in the parameter set corresponding to the different types of sensing services satisfy Condition One. and For example, when the type of sensing service is 1 and the frequency is 3.5 GHz, M≥0. It can be seen that and satisfy Condition Two.

[0198] The parameters in the parameter set and may or may not satisfy Condition Two, which is not limited in the present application.

[0199] For example, when the type of sensing service is 1 and the frequency is 3.5 GHz, wherein the value of the parameter set μ can be 0, 1, 2. It can be seen that no matter what value μ takes, and satisfy Condition Two, that is,

[0200] For another example, when the type of sensing service is 3 and the frequency is 3.5 GHz, wherein the value of the parameter set μ can be 1, 2. It can be seen that when μ = 1, that is and do not satisfy Condition Two; when μ = 2, that is and satisfy Condition Two.

[0201] Table 4 is only an example and should not constitute any limitation on the present application. For example, the correspondence between the types of sensing services and the parameter sets can be different from that shown in Table 1. For another example, multiple correspondence relationships between the types of sensing services and the parameter sets similar to Table 1 can be obtained, such as the types of sensing services can be more or less, and the values of the parameters in each parameter set can be more or less. For another example, the values representing the types of sensing services in Table 4 can be converted into values of a higher or lower base to indicate, and each value can correspond to a type of sensing service. For the sake of brevity, no further examples are given here.

[0202] It should be understood that the sending node, the receiving node and the control node can pre-store the first mapping relationship, so that the sending node, the receiving node and the control node can determine and interpret the values of the parameters in the parameter set corresponding to the different types of sensing services based on the same correspondence relationship.

[0203] Optionally, the second information can also be used to indicate a sensing capability requirement. The sensing capability requirement can include one or more of a velocity measurement range, a velocity measurement resolution (i.e., velocity resolution), a refresh rate, a range measurement resolution (i.e., range resolution), or a range measurement range.

[0204] The control node can determine the values of the parameters in the parameter set based on the sensing capability requirement indicated by the received second information and the condition (e.g., condition one, or, condition one and condition two) satisfied by the resources occupied by the PRS in the time domain; or, the control node can determine the values of the parameters in the parameter set based on the sensing capability requirement indicated by the received second information, the requested sensing service type, and the condition (e.g., condition one, or, condition one and condition two) satisfied by the resources occupied by the PRS in the time domain.

[0205] Exemplarily, for the velocity measurement range received by the control node, since the maximum relative velocity the time interval of the PRS in the time domain resources is less than or equal to T1. Therefore, the control node can determine the values of the parameters in the parameter set based on the velocity measurement range

[0206] For the refresh rate, the parameters in the parameter set satisfy condition one, or, condition one and condition two, so that the resources occupied by the PRS in the time domain are uniform. After receiving the echo signal of the PRS, the receiving node can perform sliding window processing on the echo signal when performing signal processing on the echo signal, thereby obtaining a range-Doppler map. In this way, the refresh rate of the sensing result can be flexibly adjusted.

[0207] FIG. 8 is a schematic diagram of the resources occupied by the PRS in the time domain. In FIG. 8, the length T2 of the PRS within the CPI is 22, and the values of the parameters in the parameter set are respectively: Based on the values of the parameters in the parameter set, the time domain resources of the PRS are configured, and the resources occupied by the PRS in the time domain satisfy condition one and condition two. After receiving the echo signal of the PRS, the receiving node can perform sliding window processing on the echo signal of the PRS, thereby obtaining a range-Doppler map. For example, range-Doppler map #1, range-Doppler map #2, and range-Doppler map #3.

[0208] It can be seen that the resources occupied by the PRS in the time domain shown in FIG. 8 are uniformly distributed. Thanks to the uniform distribution of the PRS in the time domain, the receiving node can flexibly select the sliding window length after receiving the echo signal of the PRS, and / or the sliding window can slide arbitrarily within the time domain range covered by the PRS. Therefore, the sensing parameters can be flexibly adjusted, for example, the measurement range, the velocity measurement resolution, and the refresh rate can be flexibly adjusted.

[0209] The foregoing method does not limit the value range of each parameter in the parameter group. The following describes the method in which the values of and are within a certain range.

[0210] Optionally, the value of the is from a first set, and the first set includes multiple optional values of the .

[0211] For example, the first set can be a value set of the predefined in the protocol. By determining the value of the from the value set of the predefined in the protocol, the current protocol can be better compatible. For example, the first set represents a set including multiple optional values of the in the prior art, denoted as set A, A = {4, 5, 8, 10, 16, 20, 32, 40, 64, 80, 160, 320, 640, 1280, 2560, 5120, 10240}, and the value of the

[0212] When the , the control node or the sending node can determine the value of the and the value of the based on condition one and the multiple optional values of the in the first set A, so that the values of the three parameters satisfy condition one. Wherein, the values of the and the are positive integers. The values of the can be as shown in Table 5.

[0213] It should be understood that Table 5 is only an example and should not constitute any limitation on the present application. For example, multiple corresponding relationships between the and the and the can be obtained, such as the value of the can be more, and the values of the corresponding and the can be more. For the sake of brevity, they are not illustrated one by one here.

[0214] Table 5

[0215] Optionally, the value of the is from a second set, and the second set includes multiple optional values of the .

[0216] Exemplarily, the second set may be, for example, predefined in the protocol. The value set of The value set of The value of can be more compatible with the current protocol. For example, the second set represents the existing technology including The set of multiple optional values ​​of is recorded as set B, B={1,2,4,8,16,32}, then

[0217] An example, when When the control node or the sending node can be based on the conditions 1 and the second set B Multiple optional values ​​​​of The value and The value of makes the values ​​of the three parameters meet condition 1. Among them, and The values ​​of are all positive integers. and The values ​​of can be shown in Table 6.

[0218] Table 6

[0219] Table 6 is only an example and should not be construed as limiting the present application. The value of , N is a positive integer.

[0220] Another example, when When the control node or the sending node can be based on condition 1, The value of The value of The values ​​of the three parameters satisfy condition one. and The value of can be as shown in Table 7.

[0221] Table 7

[0222] Table 7 is only an example and should not constitute any limitation to this application.

[0223] Optionally, The value of comes from a third set, which includes the Multiple optional values.

[0224] The third set may be, for example, predefined in the protocol. The value set of The value set of The values of the three parameters can be better compatible with the current protocol. For example, the third set represents a set of multiple optional values in the prior art, denoted as set C, C = {1, 2, 4, 8, 16, 32}, and

[0225] An example is that when , the control node or the sending node can determine the value of , the value of and the value of based on condition one and the multiple optional values of in the third set C, so that the values of the three parameters satisfy condition one. Wherein, are positive integers. The values of may be as shown in Table 8.

[0226] Table 8

[0227] Table 8 is only an example and should not constitute any limitation on the present application. Wherein, R represents the value of , and R is a positive integer.

[0228] Another example is that when , the control node or the sending node can determine the value of based on condition one, the value of and the value of , so that the values of the three parameters satisfy condition one. The values of may be as shown in Table 9.

[0229] Table 9

[0230] Table 9 is only an example and should not constitute any limitation on the present application.

[0231] Still another example is that when , the control node or the sending node can determine the value of based on condition one, the value of and the value of , so that the values of the three parameters satisfy condition one.

[0232] Still another example is that when , the control node or the sending node can determine the values of the parameters in the parameter group based on condition one and the optional values of the parameters in the first set A, the second set B and the third set C. The values of the parameters in the parameter group are as shown in Table 10.

[0233] Table 10​

[0234] Optionally, when the parameter group includes the following five parameters: and each parameter in the parameter group satisfies condition one and condition two.

[0235] The values of each parameter in the parameter group are shown in Table 11.

[0236] Table 11

[0237] Optionally, before sending the second information, the method further includes: step 570, the sending node and / or the receiving node sends a perception service request.

[0238] Any one or more of the sending node, the receiving node or the control node can send a perception service request to the other nodes, and the perception service request is used to request the speed, angle, accuracy, etc. of the perception target.

[0239] For example, the sending node and the receiving node can respectively send a perception service request to the control node.

[0240] Optionally, the method further includes: step 580, the sending node, the receiving node and the control node exchange capability information.

[0241] The sending node, the receiving node and the control node can exchange their own capability information with each other, and the capability information may, for example, include the frequency band, bandwidth, etc. supported by itself.

[0242] For example, the capability information exchanged between the sending node and the receiving node includes the frequency band information and the maximum supported bandwidth of each other. The sending node and the receiving node can ensure that the sending node and the receiving node configured to send signals can normally transmit and receive based on the received frequency band and the maximum bandwidth that can be sent by the other party. In this way, it can be avoided that the capability information possessed by a certain node is insufficient to support the configured signal, and resource waste is reduced.

[0243] Based on the above technical solution, by constraining the values of each parameter in the parameter group for configuring the time domain resource of the PRS, the resources occupied by the PRS in the time domain are uniform. In this way, when the PRS is used as a perception signal, the speed measurement range, speed measurement resolution and refresh rate, etc. can be flexibly adjusted, thereby helping to better meet the perception needs of different perception targets.

[0244] The method 400 is described by way of example with the sending node and the control node being deployed separately. The following detailed description is given by way of example with the sending node and the control node being integrated together, i.e., the sending node and the control node are the same device, which can be a base station or a terminal, etc., and the present application does not limit this.

[0245] Fig. 9 is another schematic flowchart of the sensing method according to an embodiment of the present application. The method 900 shown in Fig. 9 is based on the method 500 shown in Fig. 5, and shows another processing logic of the sensing method. The method 900 is based on the method 500, and is described in detail by way of example with the sending node and the control node being integrated in the same device, and the sending node and the receiving node being transceiving separately. In the following, the steps different from the method 500 are mainly described, the same steps as in the method 500 are not described again, and the same terms are described in the above and will not be described again. The sensing method 900 shown in Fig. 9 can include steps 910 to 980. The following describes each step in the method 900 in detail.

[0246] In step 910, the receiving node sends a sensing service request. Accordingly, the sending node (i.e., the control node) receives the sensing service request from the receiving node.

[0247] In the embodiment of the present application, the receiving node can send the sensing service request to the sending node and the control node, for requesting to obtain the information of the sensing target.

[0248] In step 920, the sending node, the control node and the receiving node exchange capability information with each other.

[0249] In step 930, the receiving node sends second information, which is used to indicate the sensing capability requirement. Accordingly, the control node receives the second information from the receiving node.

[0250] Optionally, the second information can also be used to indicate the requested sensing service type.

[0251] In step 940, the sending node generates a PRS.

[0252] In step 950, the sending node sends the PRS.

[0253] Exemplarily, the sending node determines the values of the parameters in the parameter group based on the received second information and the condition one, and then sends the PRS based on the values of the parameters; or the sending node can also determine the values of the parameters in the parameter group based on the received second information and the condition one and the condition two, and then sends the PRS based on the values of the parameters.

[0254] In step 960, the receiving node receives the echo signal of the PRS.

[0255] In step 970, the receiving node determines the sensing result based on the echo signal of the PRS.

[0256] In step 980, the receiving node sends the sensing result. Accordingly, the control node receives the sensing result from the receiving node.

[0257] The specific content of each step in the method 900 is the same as that of each step in the method 500. Please refer to the foregoing method 500, and no further description is given here.

[0258] Based on the foregoing technical solution, by constraining the values of each parameter in the parameter group used to configure the time domain resource of the PRS, the resource occupied by the PRS in the time domain is uniform. In this way, when the PRS is used as a sensing signal, the speed measurement range, speed measurement resolution, and refresh rate can be flexibly adjusted, thereby helping to better meet the sensing requirements of different sensing targets.

[0259] FIG. 10 is another schematic flowchart of a sensing method provided by an embodiment of the present application. The method 1000 shown in FIG. 10 is another processing logic of a sensing method based on the method 500 provided in FIG. 5. The method 1000 is based on the method 500 and takes an example in which the sending node, the receiving node, and the control node are integrated in the same device, i.e., the sending node, the receiving node, and the control node are the same device, which can be a base station or a terminal, etc. The present application does not limit this. Hereinafter, the steps different from the method 500 are mainly described, and the steps the same as those in the method 500 can refer to the related description in the method 500, and no further description is given here. The sensing method 1000 shown in FIG. 10 can include steps 1010 to 1040. Each step in the method 1000 is described in detail as follows.

[0260] In step 1010, the sending node generates the PRS.

[0261] In step 1020, the sending node sends the PRS.

[0262] Exemplarily, the sending node can determine the values of each parameter in the parameter group based on the sensing capability requirement, the sensing service type, and the condition one, and then send the PRS based on the values of each parameter; or the sending node can also determine the values of each parameter in the parameter group based on the sensing capability requirement, the sensing service type, and the condition one and the condition two, and then send the PRS based on the values of each parameter.

[0263] In step 1030, the receiving node receives the echo signal of the PRS.

[0264] In step 1040, the receiving node determines the sensing result based on the echo signal of the PRS.

[0265] The specific content of each step in the method 1000 is the same as or similar to that of the method 500. Refer to the foregoing method 500, and details are not repeated here.

[0266] Based on the foregoing technical solution, by constraining the values of each parameter in the parameter group used to configure the time domain resource of the PRS, the resources occupied by the PRS in the time domain are uniform. In this way, when the PRS is used as a sensing signal, the speed measurement range, speed measurement resolution, and refresh rate can be flexibly adjusted, thereby helping to better meet the sensing needs of different sensing targets.

[0267] The above, in conjunction with multiple drawings, the method provided by the embodiment of the application is described in detail. In the following, the device provided by the embodiment of the application is described in conjunction with the drawings.

[0268] FIGS. 11-14 are schematic block diagrams of possible devices provided by embodiments of the application. These devices can be used to implement the functions of the sending node, the receiving node, or the control node in the above-described method embodiments, and thus can also achieve the beneficial effects possessed by the above-described method embodiments. In embodiments of the application, the device can be the sending node, the receiving node, or the control node in the method embodiments shown in FIGS. 5, 9, or 10, or can be a component (such as a chip, a chip system, a processor, etc.) configured in the sending node, the receiving node, or the control node, or can be a logic module or software capable of implementing part or all of the functions of the sending node, the receiving node, or the control node.

[0269] One device provided by the application is shown in FIG. 11. The device 1100 includes a transceiver unit 1110 and a processing unit 1120.

[0270] One possible design is that the device 1100 is used to implement the functions of the sending node in the above-described method embodiments shown in FIGS. 5, 9, or 10. For example, the device 1100 can correspond to the sending node in FIGS. 5, 9, or 10.

[0271] Exemplarily, the processing unit 1120 is configured to generate a positioning reference signal (PRS), and the transceiver unit 1110 is configured to send the PRS, the resources occupied by the PRS in the time domain satisfying: denotes a period of a PRS resource on a PRS resource set, denotes a repetition factor of the PRS resource, denotes a time interval of the PRS resource.

[0272] Optionally, the resources occupied by the PRS in the time domain further satisfy: denotes a number of time slots offset relative to a reference point, a number of slots indicating a starting slot offset of the PRS resource relative to the PRS resource set.

[0273] Optionally, the transceiver 1110 is further configured to receive first information, the first information being used to indicate values of parameters in a parameter group, the parameter group comprising one or more of: or a number of slots indicating a starting slot offset of the PRS resource relative to the PRS resource set, a number of slots indicating a starting slot offset of the PRS resource relative to the PRS resource set.

[0274] Optionally, the transceiver 1110 is further configured to send second information, the second information being used to indicate a requested perception service type, the perception service type being used for determination of the parameter group.

[0275] Optionally, the processing unit 1120 is further configured to determine values of one or more of: or a number of slots indicating a starting slot offset of the PRS resource relative to the PRS resource set, a number of slots indicating a starting slot offset of the PRS resource relative to the PRS resource set.

[0276] Optionally, a value of the is from a first set, the first set comprising a plurality of optional values of the.

[0277] Optionally, a value of the is from a second set, the second set comprising a plurality of optional values of the.

[0278] Optionally, a value of the is from a third set, the third set comprising a plurality of optional values of the.

[0279] Optionally, the transceiver 1110 is further configured to receive an echo signal of the PRS, the echo signal of the PRS being a signal returned after the PRS is affected by a perception target.

[0280] One possible design is that the apparatus 1100 is configured to implement the functions of a receiving node in the method embodiments shown in FIG. 5, FIG. 9, or FIG. 10. For example, the apparatus 1100 can correspond to the receiving node in FIG. 5, FIG. 9, or FIG. 10.

[0281] Exemplarily, the transceiver 1110 is configured to receive an echo signal of a positioning reference signal (PRS), the echo signal of the PRS occupying resources in a time domain that satisfy: Indicates the period of a PRS resource on a PRS resource set, Indicates the repetition factor of the PRS resource, Represents the time interval of the PRS resource; the processing unit 1120 is used to determine the perception result based on the echo signal of the PRS.

[0282] Optionally, the resources occupied by the PRS echo signal in the time domain further satisfy: Indicates the number of time slots that the PRS resource set is offset from the reference point. Indicates the number of time slots that the PRS resource is offset from the starting time slot of the PRS resource set.

[0283] Optionally, the transceiver unit 1110 is further configured to receive first information, where the first information is used to indicate values ​​of parameters in a parameter group, where the parameter group includes one or more of the following: or is the number of time slots that the PRS resource set is offset from the reference point, is the number of time slots that the PRS resource is offset from the starting time slot of the PRS resource set.

[0284] Optionally, the transceiver unit 1110 is further used to send second information, where the second information is used to indicate a requested perception service type, and the perception service type is used to determine the parameter group.

[0285] Optionally, The value of comes from the first set, which includes Multiple optional values.

[0286] Optionally, The value of comes from the second set, which includes Multiple optional values.

[0287] Optionally, The value of comes from a third set, which includes Multiple optional values.

[0288] In one possible design, the apparatus 1100 is used to implement the functions of the control node in the method embodiments shown in Figure 5, Figure 9, or Figure 10. For example, the apparatus 1100 may correspond to the control node in Figure 5, Figure 9, or Figure 10.

[0289] Exemplarily, the processing unit 1120 is configured to determine a parameter group, where the parameter group includes one or more of the following: or Indicates the period of a PRS resource on a PRS resource set, represents a repetition factor of the PRS resource, represents a time interval of the PRS resource, represents a number of slots offset of the PRS resource set relative to a reference point, represents a number of slots offset of the PRS resource set relative to a reference point, and and satisfies: The transceiver 1110 is configured to send first information, the first information being used for indicating values of parameters in the parameter group.

[0290] Optionally, and satisfies:

[0291] Optionally, the processing unit 1120 is further configured to determine the parameter group according to a first mapping relationship and the requested type of the perception service, the first mapping relationship indicating a correspondence between at least one type of the perception service and at least one parameter group.

[0292] Optionally, the transceiver 1110 is further configured to receive second information, the second information being used for indicating the requested type of the perception service.

[0293] Optionally, the value of the parameter is from a first set, the first set including a plurality of optional values of the parameter.

[0294] Optionally, the value of the parameter is from a second set, the second set including a plurality of optional values of the parameter. Optionally, the value of the parameter is from a third set, the third set including a plurality of optional values of the parameter.

[0295] More detailed description about the transceiver 1110 and the processing unit 1120 can be directly obtained by referring to the relevant description in any one of the embodiments shown in FIG. 5, FIG. 9 or FIG. 10, which will not be repeated here.

[0296] In a possible design, when the apparatus 1100 is a communication module in a sending node, a receiving node or a control node, the function of the processing unit 1120 can be implemented by one or more processors. Specifically, the processor can include a Modem chip, or a System on Chip (SoC) chip or a SIP chip containing a Modem core. The function of the transceiver 1110 can be implemented by a transceiver circuit.

[0297] In one possible design, when the apparatus 1100 is a circuit or a chip responsible for communication functions in a sending node, a receiving node, or a control node, such as a Modem chip or a System on Chip (SoC) chip including a Modem core or a SIP chip, the function of the processing unit 1120 can be implemented by circuitry including one or more processors or processor cores in the chip. The function of the transceiver unit 1110 can be implemented by interface circuitry or data transceiver circuitry on the chip.

[0298] It should also be understood that the transceiver unit in the apparatus 1100 can also be referred to as a communication unit. The transceiver unit 1110 can include a sending unit but not a receiving unit. Alternatively, the transceiver unit 1110 can include a receiving unit but not a sending unit. This can depend on whether the sending action and the receiving action in the above-described schemes are included in the implementation of the apparatus 1100. The receiving unit can be used to perform the receiving action in the above-described schemes, and the sending unit can be used to perform the sending action in the above-described schemes.

[0299] It can be understood that the division of units in the above-described apparatus is only a logical functional division, one function unit can be used for each function, or two or more functions can be integrated into one function unit. In actual implementation, all or part of the units can be integrated into one physical entity, or distributed on different physical entities. In addition, the function units can be implemented in the form of hardware, software, or a combination of hardware and software. Whether a function is implemented in the form of hardware or software 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.

[0300] FIG. 12 is another schematic block diagram of an apparatus provided by embodiments of the present application. As shown in FIG. 12, the apparatus 1200 includes one or more processors 1210. The processor 1210 can be a general purpose processor or a special purpose processor, etc. For example, it can be a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, and the central processing unit can be used to control the apparatus (e.g., a vehicle or a chip, etc.), execute software programs, and process data of the software programs.

[0301] Optionally, in one design, the processor 1210 can include a computer program (also can be referred to as code or instructions) that can be run on the processor 1210, so that the apparatus 1200 performs the method performed by the sending node, the receiving node or the control node in the above method embodiments. In yet another possible design, the apparatus 1200 includes a circuit (not shown in FIG. 12) for implementing the functions of the sending node, the receiving node or the control node in the above method embodiments.

[0302] For example, the processor 1210 can be configured to execute the computer program stored in the memory, so as to implement the steps performed by the sending node, the receiving node or the control node in the method embodiments shown in FIG. 5, FIG. 9 or FIG. 10.

[0303] Optionally, the apparatus 1200 can include one or more memories 1220, on which a computer program (also can be referred to as code or instructions) is stored, which can be run on the processor 1210, so that the apparatus 1200 performs the method performed by the sending node, the receiving node or the control node in the above embodiments.

[0304] Optionally, the processor 1210 and / or the memory 1220 can also store data. The processor and the memory can be separately arranged, or can be integrated together.

[0305] Optionally, the apparatus 1200 can further include a communication interface 1230. The processor 1210 can also be referred to as a processing unit, and controls the apparatus (for example, the sending node, the receiving node or the control node). The communication interface 1230 can also be referred to as a transceiver unit, a transceiver, a transceiving circuit, or a transceiver, etc., and is configured to implement the transceiving function of the apparatus, for example, the communication interface 1230 can be configured to receive the first information.

[0306] Optionally, the apparatus 1200 further includes a communication interface 1230. The processor 1210 and the communication interface 1230 are coupled with each other. It can be understood that the communication interface 1230 can be a transceiver or an input / output interface.

[0307] When the apparatus 1200 is configured to implement the method shown in FIG. 5, FIG. 9 or FIG. 10, the processor 1210 can be configured to perform the functions of the above-mentioned processing unit 1120, and the communication interface 1230 can be configured to perform the functions of the above-mentioned transceiver unit 1110. Whether the communication interface 1230 is configured to transmit or receive can depend on whether the apparatus 1200 is configured to perform a transmitting action or a receiving action in the scheme.

[0308] When the apparatus 1200 is a chip applied to the sending node, the chip implements the functions of the sending node in the method embodiments. The chip of the sending node receives signals from other modules (such as a radio frequency module or an antenna) in the sending node, and the signals can be sent by the receiving node to the sending node; or the chip of the sending node sends signals to other modules (such as a radio frequency module or an antenna) in the sending node, and the signals can be sent by the sending node to the receiving node.

[0309] When the apparatus 1200 is a chip applied to the receiving node, the chip implements the functions of the receiving node in the method embodiments. The chip of the receiving node receives signals from other modules in the receiving node, and the signals can be sent by the sending node to the receiving node; or the chip of the receiving node sends signals to other modules in the receiving node, and the signals can be sent by the receiving node to the sending node.

[0310] When the apparatus 1200 is a chip applied to the control node, the chip implements the functions of the control node in the method embodiments. The chip of the control node receives signals from other modules in the control node, and the signals can be sent by the sending node to the control node; or the chip of the control node sends signals to other modules in the control node, and the signals can be sent by the control node to the sending node.

[0311] It can be understood that when the apparatus 1200 is the sending node, the receiving node or the control node, the communication interface 1230 can be a transceiver, and specifically can include a transmitter and a receiver, the transmitter is used to send signals, and the receiver is used to receive signals. When the apparatus 1200 is a chip applied to the sending node, the receiving node or the control node, the communication interface 1230 can be an input and output circuit, wherein the input circuit can be used for receiving, and the output interface can be used for sending.

[0312] Optionally, the apparatus 1200 further includes a power supply circuit, which can be used to supply power for the apparatus 1200.

[0313] FIG. 13 is a structural schematic diagram of a terminal device provided in the embodiments of the present application. As shown in FIG. 13, the terminal device 1300 can be applied in the system shown in FIG. 1 to perform the functions of the sending node, the receiving node or the control node in the method embodiments shown in FIG. 5, FIG. 9 or FIG. 10. As shown, the terminal device 1300 includes a processor 1301 and a transceiver 1302. Optionally, the terminal device 1300 further includes a memory 1303. The processor 1301, the transceiver 1302 and the memory 1303 can communicate with each other through internal connection paths to transfer control and / or data signals. The memory 1303 is configured to store a computer program, and the processor 1301 is configured to invoke and run the computer program stored in the memory 1303 to control the transceiver 1302 to transceive signals. Optionally, the terminal device 1300 can further include an antenna 1304 configured to send the uplink data or uplink control signaling output by the transceiver 1302 through wireless signals.

[0314] The processor 1301 and the memory 1303 can be combined into one processing device, and the processor 1301 is configured to execute the program code stored in the memory 1303 to implement the above functions. Specifically, the memory 1303 can be integrated in the processor 1301 or independent of the processor 1301. The processor 1301 can correspond to the processing unit in FIG. 11 or the processor in FIG. 12.

[0315] The transceiver 1302 can correspond to the transceiving unit in FIG. 11 or the communication interface in FIG. 12. The transceiver 1302 can include a receiver (or receiver circuit) and a transmitter (or transmitter circuit). The receiver is configured to receive signals, and the transmitter is configured to transmit signals.

[0316] It should be understood that the terminal device 1300 shown in FIG. 13 can implement each process involving the sending node, the receiving node or the control node in the method embodiments shown in FIG. 5, FIG. 9 or FIG. 10. The operations and / or functions of each module in the terminal device 1300 are respectively used to implement the corresponding processes in the above method embodiments. For details, refer to the descriptions in the above method embodiments, and the detailed descriptions are appropriately omitted here.

[0317] The processor 1301 can be used to perform the actions described in the above method embodiments and implemented internally by the sending node, the receiving node or the control node, and the transceiver 1302 can be used to perform the actions described in the above method embodiments and performed by the sending node to the receiving node or the receiving node to the sending node, etc. For details, refer to the descriptions in the above method embodiments, and the detailed descriptions are not repeated here.

[0318] Optionally, the terminal device 1300 can further include a power supply 1305, configured to supply power to various devices or circuits in the sending node, the receiving node or the control node.

[0319] In addition, in order to make the function of the sending node, the receiving node or the control node more perfect, the terminal device 1300 can further include one or more of an input unit 1306, a display unit 1307, an audio circuit 1308, a camera 1309 and a sensor 1310. The audio circuit can further include a speaker 1308a, a microphone 1308b, etc.

[0320] FIG. 14 is a structural schematic diagram of a network device provided by an embodiment of the present application, for example, a structural schematic diagram of a base station. The base station 1400 can be applied to the system as shown in FIG. 1, and perform the function of the sending node, the receiving node or the control node in the method embodiment as shown in FIG. 5, FIG. 9 or FIG. 10. As shown in the figure, the base station 1400 can include one or more of the following: one or more (DU+RU) 1410, one or more CUs 1420. The CU 1420 can communicate with a next generation core (NG core). The DU can include at least one antenna 1411, at least one radio frequency unit 1412, at least one processor 1413 and at least one memory 1414. The DU part is mainly used for the transceiving of radio frequency signals and the conversion between radio frequency signals and baseband signals, and part of baseband processing. The CU 1420 can include at least one processor 1422 and at least one memory 1421. The CU 1420 and the DU can communicate through an interface. The control plane (CP) interface can be Fs-C, such as F1-C, and the user plane (UP) interface can be Fs-U, such as F1-U. The DU and the RU can cooperate to realize the function of the physical (PHY) layer. One DU can be connected with one or more RUs. The functions of the DU and the RU can be configured in multiple ways according to design. For example, the DU is configured to realize baseband functions, and the RU is configured to realize medium frequency functions. For another example, the DU is configured to realize high-layer functions in the PHY layer, and the RU is configured to realize low-layer functions in the PHY layer and radio frequency functions. The high-layer functions in the PHY layer can include part of the functions of the PHY layer, which are closer to the medium access control (MAC) layer, and the low-layer functions in the PHY layer can include another part of the functions of the PHY layer, which are closer to the medium frequency side.

[0321] The CU 1420 is mainly used for baseband processing, controlling the base station, etc. The DU and the CU 1420 can be physically arranged together or physically separated, that is, a distributed base station. The CU 1420 is the control center of the base station, can correspond to the processing unit in FIG. 11 or the processor in FIG. 12, also can be called a processing unit, and is mainly used for completing the baseband processing function. For example, the CU 1420 can be used to control the base station to perform the operation process of the sending node, the receiving node or the control node in the above method embodiment.

[0322] Specifically, the baseband processing on the CU and the DU can be divided according to the protocol layer of the wireless network. For example, the functions of the protocol layer above the packet data convergence protocol (PDCP) layer are arranged on the CU, and the functions of the protocol layer below the PDCP, such as the radio link control (RLC) layer and the MAC layer, are arranged on the DU. For another example, the CU implements the functions of the RRC layer and the PDCP layer, and the DU implements the functions of the RLC layer, the MAC layer and the PHY layer.

[0323] In addition, the base station 1400 can optionally include one or more radio units (RUs), one or more DUs and one or more CUs. The DU can include at least one processor 1413 and at least one memory 1414, the RU can include at least one antenna 1411 and at least one radio frequency unit 1412, and the CU can include at least one processor 1422 and at least one memory 1421.

[0324] In an example, the CU 1420 can be composed of one or more single boards, and the multiple single boards can jointly support a single access indicated wireless access network (such as a 5G network) or respectively support wireless access networks of different access modes (such as an LTE network, a 5G network or other networks). The memory 1421 and the processor 1422 can serve one or more single boards. That is, the memory and the processor can be separately arranged on each single board. Alternatively, the multiple single boards can share the same memory and processor. In addition, necessary circuits can also be arranged on each single board. The DU can be composed of one or more single boards, and the multiple single boards can jointly support a single access indicated wireless access network (such as a 5G network) or respectively support wireless access networks of different access modes (such as an LTE network, a 5G network or other networks). The memory 1414 and the processor 1413 can serve one or more single boards. That is, the memory and the processor can be separately arranged on each single board. Alternatively, the multiple single boards can share the same memory and processor. In addition, necessary circuits can also be arranged on each single board.

[0325] It should be understood that the base station 1400 shown in Figure 14 is capable of implementing each process in the method embodiments shown in Figures 5, 9 or 10 involving a sending node, a receiving node or a control node. The operations and / or functions of each module in the base station 1400 are respectively for implementing the corresponding flow in the above method embodiments. For details, please refer to the description in the above method embodiments, and the detailed description is appropriately omitted here.

[0326] It should be understood that the base station 1400 shown in Figure 14 is only one possible architecture of a network device, and should not constitute any limitation to the present application. The methods provided by the present application can be applied to network devices of other architectures. For example, network devices containing CUs, DUs and AAUs, etc. The present application does not limit the specific architecture of the network device.

[0327] It should be understood that Figure 14 is only an example and not a limitation, and the network device can not rely on the structure shown in Figure 14. For example, the network device can also include an AAU, and can also include a CU and / or a DU, or the network device can also include a BBU, and can also include an adaptive radio unit (ARU). The present application does not limit this.

[0328] The above CU and / or DU can be used to perform the actions described in the foregoing method embodiments and implemented internally by the sending node, the receiving node or the control node, and the AAU can be used to perform the actions described in the foregoing method embodiments and sent by the sending node to the receiving node or received by the receiving node from the sending node, etc. For details, please refer to the description in the foregoing method embodiments, which will not be repeated here.

[0329] It should be noted that the above method embodiments can be applied to a processor or implemented by a processor. The processor can be an integrated circuit chip with processing capability. In the implementation process, each step of the above method embodiments can be completed by integrated logic circuits or instructions in the form of software in the processor.

[0330] The above processor can be a general purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or any combination thereof. The general purpose processor can be a microprocessor, or any conventional processor, etc.

[0331] The steps of the method disclosed in the embodiments of the present application can be directly embodied as hardware code processing executed by a processor, or a combination of hardware and software modules in the code processing processor. The software module can be located in a storage medium in the art, such as random storage, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, register, etc. The storage medium is located in the memory, and the processor reads the information in the memory, and combines the hardware to complete the steps of the above method.

[0332] The memory in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically EPROM (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM) used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink dynamic random access memory (SLDRAM) and direct memory bus random access memory (DR RAM). It should be noted that the memory of the system and method described herein is intended to include but not limited to these and any other suitable types of memory.

[0333] The present application also provides a chip system, which includes at least one processor for supporting the functions of the sending node, receiving node or control node involved in any of the above method embodiments, such as receiving or processing the information involved in the above method.

[0334] In a possible design, the chip system further includes a memory for storing computer program instructions and data, and the memory is located in the processor or outside the processor.

[0335] The chip system can be composed of chips, or can include chips and other discrete devices.

[0336] The present application also provides a computer program product, which comprises a computer program (also referred to as code or instructions), when the computer program is executed, the method executed by the sending node, the method executed by the receiving node, or the method executed by the control node in the embodiments shown in FIG. 5, FIG. 9 or FIG. 10 is executed.

[0337] The present application also provides a computer readable storage medium, which stores a computer program (also referred to as code or instructions). When the computer program is executed, the method executed by the sending node, the method executed by the receiving node, or the method executed by the control node in the embodiments shown in FIG. 5, FIG. 9 or FIG. 10 is executed.

[0338] The present application also provides a system, which comprises one or more of the sending node, the receiving node and the control node described above.

[0339] The method provided by the above embodiments can be implemented by software, hardware, firmware or any combination thereof, in whole or in part. When implemented by software, the method can be implemented in the form of a computer program product, in whole or in part. The computer program product can include one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the flow or function according to the embodiments of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another, for example, the computer instructions can be transferred 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 (DSL)) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic disk), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)) and the like.

[0340] Those skilled in the art can clearly understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art 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.

[0341] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0342] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. In actual implementation, another division mode can be used. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0343] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, i.e. they can be located in one place or distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0344] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically, or two or more units can be integrated into one unit.

[0345] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application can be embodied in the form of software products in essence or part of the technical solutions. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method of each embodiment of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk, and various program code storage media.

Claims

1. A perception method, characterized in that: include: Generate a positioning reference signal PRS; The PRS is sent, where resources occupied by the PRS in the time domain satisfy: described represents a period of a PRS resource on a PRS resource set, represents the repetition factor of the PRS resource, Indicates the time interval of the PRS resource.

2. The method according to claim 1, wherein The resources occupied by the PRS in the time domain also meet the following requirements: described represents the number of time slots that the PRS resource set is offset from the reference point, The number of time slots representing the offset of the PRS resource relative to the starting time slot of the PRS resource set.

3. The method according to claim 1 or 2, wherein: The method further comprises: Receive first information, where the first information is used to indicate the value of each parameter in a parameter group, where the parameter group includes one or more of the following: described described or described represents the number of time slots that the PRS resource set is offset from the reference point, The number of time slots representing the offset of the PRS resource relative to the starting time slot of the PRS resource set.

4. The method according to claim 3, wherein Before receiving the first information, the method further includes: Second information is sent, where the second information is used to indicate a requested perception service type, and the perception service type is used to determine the parameter group.

5. The method according to claim 1 or 2, wherein: The method further comprises: Determine the value of one or more of the following parameters: described described or described represents the number of time slots that the PRS resource set is offset from the reference point, The number of time slots representing the offset of the PRS resource relative to the starting time slot of the PRS resource set.

6. The method according to any one of claims 1 to 5, characterized in that described The value of is from a first set, which includes the Multiple optional values.

7. The method according to any one of claims 1 to 6, characterized in that described The value of is from a second set, which includes the Multiple optional values.

8. The method according to any one of claims 1 to 7, characterized in that described The value of is from a third set, the third set including the Multiple optional values.

9. The method according to any one of claims 1 to 8, characterized in that The method further comprises: An echo signal of the PRS is received, where the echo signal of the PRS is a signal returned by the PRS after sensing a target.

10. A sensing method, characterized in that: include: An echo signal of a positioning reference signal (PRS) is received, where resources occupied by the echo signal of the PRS in the time domain satisfy: described represents a period of a PRS resource on a PRS resource set, represents the repetition factor of the PRS resource, represents the time interval of the PRS resource; A sensing result is determined based on the echo signal of the PRS.

11. The method according to claim 10, wherein The resources occupied by the PRS echo signal in the time domain also meet the following requirements: described represents the number of time slots that the PRS resource set is offset from the reference point, The number of time slots representing the offset of the PRS resource relative to the starting time slot of the PRS resource set.

12. The method according to claim 10 or 11, wherein: The method further comprises: Receive first information, where the first information is used to indicate the value of each parameter in a parameter group, where the parameter group includes one or more of the following: described described or described is the number of time slots that the PRS resource set is offset from the reference point, is the number of time slots by which the PRS resource is offset from the starting time slot of the PRS resource set.

13. The method according to claim 12, wherein: Before receiving the first information, the method further includes: Second information is sent, where the second information is used to indicate a requested perception service type, and the perception service type is used to determine the parameter group.

14. The method according to any one of claims 10 to 13, characterized in that described The value of is from a first set, which includes the Multiple optional values.

15. The method according to any one of claims 10 to 14, characterized in that described The value of is from a second set, which includes the Multiple optional values.

16. The method according to any one of claims 10 to 15, characterized in that described The value of is from a third set, the third set including the Multiple optional values.

17. A sensing method, characterized in that: include: Determine a parameter group, the parameter group including one or more of the following: or described represents a period of a PRS resource on a PRS resource set, represents the repetition factor of the PRS resource, Indicates the time interval of the PRS resource, the represents the number of time slots that the PRS resource set is offset from the reference point, represents the number of time slots that the PRS resource set is offset from the reference point, and described Japanese statement satisfy: First information is sent, where the first information is used to indicate a value of each parameter in the parameter group.

18. The method according to any one of claims 17, wherein: described described and stated satisfy:

19. The method according to any one of claims 17 or 18, wherein The determining parameter group includes: The parameter group is determined according to a first mapping relationship and the requested perception service type, where the first mapping relationship indicates a correspondence between at least one perception service type and at least one parameter group.

20. The method according to claim 19, wherein Before determining the parameter group, the method further includes: Second information is received, where the second information is used to indicate the requested perception service type.

21. The method according to any one of claims 17 to 20, characterized in that described The value of is from a first set, which includes the Multiple optional values.

22. The method according to any one of claims 17 to 21, characterized in that described The value of is from a second set, which includes the Multiple optional values.

23. The method according to any one of claims 17 to 22, characterized in that described The value of is from a third set, the third set including the Multiple optional values.

24. A device, characterized in that The method comprises a module for executing the method according to any one of claims 1 to 9, or a module for executing the method according to any one of claims 10 to 16, or a module for executing the method according to any one of claims 17 to 23.

25. A device, characterized in that The device comprises one or more processors for executing computer programs or instructions in a memory so that the sensing device performs the method as described in any one of claims 1 to 9, or the method as described in any one of claims 10 to 16, or the method as described in any one of claims 17 to 23.

26. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 9 is executed, or the method according to any one of claims 10 to 16 is executed, or the method according to any one of claims 17 to 23 is executed.

27. A computer program product, characterized in that The invention comprises a computer program, which, when being executed, causes the method according to any one of claims 1 to 9 to be performed, or causes the method according to any one of claims 10 to 16 to be performed, or causes the method according to any one of claims 17 to 23 to be performed.

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