Communication method and apparatus, storage medium, and computer program product

Abstract

A communication method and apparatus, a storage medium, and a computer program product, relating to the technical field of communications, and for use in improving sensing performance. In the present application, a first communication apparatus sends a first sensing result, the first sensing result being determined on the basis of a first value of a first sensing parameter. The first communication apparatus receives first information, the first information being used for indicating a second value of the first sensing parameter. The first communication apparatus determines a second sensing result on the basis of the second value and a received first echo signal. Because the first information can be used for indicating the second value of the first sensing parameter, the first communication apparatus can perform sensing by taking a value of the first sensing parameter as the second value, so as to obtain the second sensing result better meeting requirements, thereby improving the sensing performance of a system.

Description

A communication method, apparatus, storage medium, and computer program product

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese Patent Application No. 202410504846.2, filed on April 25, 2024, entitled "A Communication Method, Apparatus, Storage Medium and Computer Program Product", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of communication technology, and in particular to a communication method, device, storage medium, and computer program product. Background Technology

[0004] In the evolution from 5G to 5G-Advanced (5G-A) technology, integrated communication and sensing technology is considered one of the key technologies for expanding the service capabilities of mobile communication networks. The core idea of ​​this technology is to add sensing capabilities to the mobile communication network, building capabilities for target detection, tracking, and imaging, thereby integrating communication and sensing capabilities into a single network for harmonious coexistence and mutual benefit. The principle of sensing technology is that the transmitting device sends radio waves (i.e., sensing signals) in a specific direction. When these radio waves illuminate the surface of the sensing target, they form reflected radio waves (i.e., the echo signal of the sensing signal). The receiving device receives and processes these reflected radio waves to obtain sensing data, such as the location, speed, or type of the sensing target. Currently, improving sensing performance is an important research direction. Summary of the Invention

[0005] This application provides a communication method, apparatus, storage medium, and computer program product for improving sensing performance.

[0006] In a first aspect, this application provides a communication method that can be executed by a first communication device. The first communication device may be, for example, a terminal device or a chip (or chip system, or circuit) inside a terminal device, or the first communication device may be a network device or a chip (or chip system, or circuit) inside a network device.

[0007] Taking a first communication device as the executing entity as an example, the method may include: the first communication device sending a first sensing result, the first sensing result being determined based on a first value of a first sensing parameter; the first communication device receiving first information, the first information indicating a second value of the first sensing parameter; and the first communication device determining a second sensing result based on the second value and a received first echo signal.

[0008] Since the first information can be used to indicate the second value of the first sensing parameter, the first communication device can use the value of the first sensing parameter as the second value to perform sensing, thereby obtaining a second sensing result that better meets the requirements, which can improve the system's sensing performance.

[0009] On the other hand, since the first communication device can transmit the first sensing result, the device receiving the first sensing result (e.g., the second communication device) can determine whether the value of the first sensing parameter currently used by the first communication device meets the requirements based on the first value. The first information can also be determined based on the first value of the first sensing parameter. Thus, the first sensing result can provide more assistance in determining the first information, thereby making the indication of the first information more reasonable. For example, the first information can instruct the first communication device not to change the value of the first sensing parameter (e.g., the second value is the first value), or it can instruct to change the value of the first sensing parameter (e.g., the second value is different from the first value).

[0010] Secondly, this application provides a communication method that can be executed by a first communication device. The first communication device may be, for example, a terminal device or a chip (or chip system, or circuit) inside a terminal device, or the first communication device may be a network device or a chip (or chip system, or circuit) inside a network device.

[0011] Taking a first communication device as the executing entity as an example, the method may include: the first communication device receiving first information, the first information indicating a second value of a first sensing parameter; the first sensing parameter includes a false alarm probability, a constant false alarm detection threshold, a point density of point cloud data, a resolution, and a sensing detection threshold. The first communication device determines a second sensing result based on the second value and the received echo signal.

[0012] Since the first information can be used to indicate the second value of the first sensing parameter, the first communication device can use the value of the first sensing parameter as the second value to perform sensing, thereby obtaining a second sensing result that better meets the requirements, which can improve the system's sensing performance.

[0013] In one possible implementation of the second aspect, the first communication device transmits a first sensing result. The first sensing result is determined based on a first value of a first sensing parameter.

[0014] Since the first communication device can transmit the first sensing result, the device receiving the first sensing result (e.g., the second communication device) can determine whether the value of the first sensing parameter currently used by the first communication device meets the requirements based on the first value. The first information can also be determined based on the first value of the first sensing parameter. Thus, the first sensing result can provide more assistance in determining the first information, thereby making the indication of the first information more reasonable. For example, the first information can instruct the first communication device not to change the value of the first sensing parameter (e.g., the second value is the first value), or it can instruct to change the value of the first sensing parameter (e.g., the second value is different from the first value).

[0015] In one possible implementation of the first aspect and / or the second aspect, the first sensing parameter is one of the following: false alarm probability; constant false alarm detection threshold; point density of point cloud data; resolution; sensing detection threshold. The sensing processing of the first communication device can be performed based on at least one of the above sensing parameters. Therefore, the sensing performance can be improved by adjusting at least one of the above sensing parameters. Furthermore, since the first sensing parameter is one of the above sensing parameters, the sensing performance of the system can be improved by controlling the value of the first sensing parameter.

[0016] In one possible implementation of the first aspect and / or the second aspect, the parameter value corresponding to the first sensing parameter may be one or more, and for distinction, this application refers to these values ​​as a set of parameter values. For example, the second value is one of the set of parameter values ​​corresponding to the first sensing parameter.

[0017] In one possible implementation of the first aspect and / or the second aspect, the first information may carry second value information, and the first communication device determines the second value based on the second value information. In this scheme, the first communication device can directly determine the second value from the first information. This scheme is relatively simple, easy to implement, and can reduce the operational complexity of the first communication device.

[0018] In another possible implementation of the first aspect and / or the second aspect, the first information indicates the second value through one of the following: an index in the set of parameter values ​​corresponding to the first sensing parameter; the amount of change in the index in the set of parameter values ​​corresponding to the first sensing parameter; and the magnitude relationship between the second value and a fourth value, where the fourth value is the first value or a specified value. In these implementations, the first communication device can determine the second value based on the information in the first information used to indicate the second value, as well as other information (e.g., the index of the parameter value in the set of parameter values, or information about the fourth value). In this approach, the information in the first information used to indicate the second value occupies fewer bits, thereby saving resource overhead.

[0019] In one possible implementation of the first and / or second aspects, the first communication device receives information indicating that the fourth value is a first value. Alternatively, the first communication device receives information indicating that the fourth value is a specified value. Thus, the first communication device can determine which value the fourth value is based on the received information, and then more accurately determine the second value based on the indication. Furthermore, the first communication device can determine the specific value of the fourth value through the received information, therefore the fourth value can have multiple options, thereby increasing the flexibility of the solution.

[0020] In one possible implementation of the first and / or second aspects, if the first and second values ​​satisfy the first condition, the second communication device sends first information, thereby ensuring that the value of the sensing parameter corresponding to the subsequent sensing result meets the requirements of the second communication device. In another possible implementation, the second communication device does not send first information if the first condition is not met, thereby reducing signaling overhead.

[0021] In one possible implementation of the first aspect and / or the second aspect, the first condition includes one of the following: the second value is less than the first value; or, the second value is greater than the first value.

[0022] In one possible implementation of the first aspect and / or the second aspect, the first condition includes one of the following: the second value is less than the first value, and the difference between the second value and the first value is greater than the first threshold; or, the second value is greater than the first value, and the difference between the second value and the first value is greater than the first threshold.

[0023] In one possible implementation of the first aspect and / or the second aspect, the relationship between the second value and the first value may satisfy the first condition. Alternatively, the second value may not satisfy the first condition: for example, the second value is equal to the first value, or the difference between the second value and the first value is less than or equal to the first threshold.

[0024] In one possible implementation of the first aspect and / or the second aspect, when the second communication device can instruct the first communication device to adjust the value of the first sensing parameter (e.g., the first value is not equal to the second value) through the first information, the first communication device adjusts the value of the first sensing parameter based on the first information.

[0025] In one possible implementation of the first and / or second aspects, when the second communication device can instruct the first communication device to adjust the value of the first sensing parameter (e.g., the first value and the second value are not equal) via first information, the first communication device can determine the relationship between the second value and the first value, and determine whether to adjust the value of the first sensing parameter based on the determination result. For example, if the first condition is not met, the first communication device may not adjust the value of the first sensing parameter, thus avoiding the first communication device adjusting the value of the first sensing parameter too frequently, thereby saving the power consumption of the first communication device.

[0026] In one possible implementation of the first aspect and / or the second aspect, the first communication device receives a second echo signal, and the first communication device determines a first sensing result based on the first value and the second echo signal.

[0027] In one possible implementation of the first aspect and / or the second aspect, the first communication device sends second information indicating a first value of the first sensing parameter. Sending the second information allows the second communication device to determine whether the current value of the sensing parameter of the first communication device meets the requirements. This approach enables the second communication device to obtain more accurate values ​​of the sensing parameters, thereby improving the accuracy of subsequently indicated sensing parameter values ​​and ultimately enhancing sensing performance.

[0028] In one possible implementation of the first aspect and / or the second aspect, the first communication device receives a first echo signal. The first communication device can then perform sensing processing based on the first echo signal to obtain a second sensing result.

[0029] In one possible implementation of the first and / or second aspect, the first communication device sends a second sensing result. When the first communication device sends the second sensing result to the second communication device, the second communication device can obtain the required information based on the second sensing result. In another possible implementation, the second communication device can also receive sensing results sent by multiple communication devices, and then perform sensing based on more sensing results, thereby improving the sensing performance.

[0030] Thirdly, this application provides a communication method that can be executed by a second communication device. The second communication device may be, for example, a terminal device or a chip (or chip system, or circuit) within a terminal device, or it may be a network device or a chip (or chip system, or circuit) within a network device.

[0031] Taking a second communication device as the executing entity as an example, the method may include: the second communication device receiving a first sensing result, the first sensing result being determined based on a first value of a first sensing parameter; the second communication device sending first information, the first information being used to indicate a second value of the first sensing parameter, the second value being used in conjunction with an echo signal to determine the sensing result.

[0032] Since the first information can be used to indicate the second value of the first sensing parameter, the second communication device can instruct other communication devices (such as the first communication device) to use the value of the first sensing parameter as the second value for sensing, thereby obtaining a sensing result that better meets the requirements and thus improving the system's sensing performance.

[0033] On the other hand, since the second communication device can receive the first sensing result, it can determine whether the value of the first sensing parameter currently used by the first communication device meets the requirements based on the first value. The first information can also be determined based on the first value of the first sensing parameter. Thus, the first sensing result can provide more assistance in determining the first information, thereby making the indication of the first information more reasonable. For example, the first information can instruct the first communication device not to change the value of the first sensing parameter (e.g., the second value is the first value), or it can instruct to change the value of the first sensing parameter (e.g., the second value is different from the first value).

[0034] Fourthly, this application provides a communication method that can be executed by a second communication device. The second communication device may be, for example, a terminal device or a chip (or chip system, or circuit) within a terminal device, or it may be a network device or a chip (or chip system, or circuit) within a network device.

[0035] Taking a second communication device as the executing entity as an example, the method may include: the second communication device acquiring first information; the second communication device sending the first information, which indicates a second value of a first sensing parameter, and the second value being combined with an echo signal to determine a sensing result.

[0036] Since the first information can be used to indicate the second value of the first sensing parameter, the second communication device can instruct other communication devices (such as the first communication device) to use the value of the first sensing parameter as the second value for sensing, thereby obtaining a sensing result that better meets the requirements and thus improving the system's sensing performance.

[0037] In one possible implementation of the fourth aspect, the second communication device receives a first sensing result, which is determined based on a first value of a first sensing parameter.

[0038] On the other hand, since the second communication device can receive the first sensing result, it can determine whether the value of the first sensing parameter currently used by the first communication device meets the requirements based on the first value. The first information can also be determined based on the first value of the first sensing parameter. Thus, the first sensing result can provide more assistance in determining the first information, thereby making the indication of the first information more reasonable. For example, the first information can instruct the first communication device not to change the value of the first sensing parameter (e.g., the second value is the first value), or it can instruct to change the value of the first sensing parameter (e.g., the second value is different from the first value).

[0039] In one possible implementation of the third and / or fourth aspect, the second communication device sends information indicating that the fourth value is a first value; or, the second communication device sends information indicating that the fourth value is a specified value.

[0040] In one possible implementation of the third and / or fourth aspect, the second communication device transmits and receives second information, the second information indicating a first value of the first sensing parameter.

[0041] In one possible implementation of the third and / or fourth aspect, the second communication device transmits the receipt of the second sensing result.

[0042] For a description of the first sensing parameter, the second value, the first information, and the first condition that the second value may or may not satisfy, as well as the beneficial effects, please refer to the relevant descriptions in the possible implementations of the first and / or second aspects above, which will not be repeated here.

[0043] Fifthly, a communication device is provided, which may be the aforementioned first or second communication device. The communication device may include a communication unit and a processing unit to perform any one of the first to fourth aspects, or any possible implementation thereof. The communication unit is used to perform functions related to transmission and reception. The communication unit may be referred to as a transceiver unit. Optionally, the communication unit includes a receiving unit and a transmitting unit. In one design, the communication device is a communication chip, the processing unit may be one or more processors or processor cores, and the communication unit may be the input / output circuit, input / output interface, or antenna port of the communication chip.

[0044] In another design, the communication unit can be a transmitter and a receiver, or the communication unit can be a transmitter and a receiver.

[0045] Optionally, the communication device may also include modules that can be used to perform any one of the first to fourth aspects described above, or to perform any possible implementation of the first to fourth aspects.

[0046] In a sixth aspect, a communication device is provided, which may be the aforementioned first communication device or the second communication device. The communication device may include a processor to execute any one of the first to fourth aspects, or to execute any possible implementation of the first to fourth aspects. Optionally, a memory is also included. Optionally, a transceiver is also included. The memory is used to store computer programs or instructions, and the processor is used to retrieve and execute the computer programs or instructions from the memory. When the processor executes the computer programs or instructions in the memory, the communication device is caused to execute any one of the first to fourth aspects, or to execute any possible implementation of the first to fourth aspects.

[0047] Optionally, there may be one or more processors and one or more memories.

[0048] Optionally, the memory can be integrated with the processor, or the memory can be set up separately from the processor.

[0049] Optionally, the transceiver may include a transmitter and a receiver.

[0050] A seventh aspect provides a communication device, which can be either the first or second communication device described above. The communication device may include a processor to execute any one of the first to fourth aspects, or any possible implementation thereof. For example, the processor executes any one of the first to fourth aspects, or any possible implementation thereof, via logic circuitry or by executing computer programs or instructions stored in memory. Optionally, the communication device further includes a memory. The processor is coupled to the memory. Optionally, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

[0051] In one implementation, when the communication device is a first communication device or a second communication device, the communication interface can be a transceiver or an input / output interface. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0052] In another implementation, when the communication device is a chip or chip system, the communication interface can be an input / output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip or chip system. The processor can also be manifested as a processing circuit or logic circuit.

[0053] Eighthly, a system is provided, the system including the aforementioned first communication device.

[0054] In one possible implementation, the system may further include the aforementioned second communication device. In yet another possible implementation, the system may further include means for transmitting a first signal and / or means for transmitting a second signal. The first echo signal is the echo signal of the first signal. The second echo signal is the echo signal of the second signal.

[0055] In a ninth aspect, a chip system is provided, the chip system including at least one processor and an interface circuit, the interface circuit and the at least one processor being interconnected via a line, the processor executing a computer program (also referred to as code or instructions) to cause any one of the first to fourth aspects and any possible implementation of the first to fourth aspects to be executed.

[0056] In a tenth aspect, a computer program product is provided, comprising: a computer program (also referred to as code or instructions) that, when executed, causes any one of the first to fourth aspects to be executed, or any possible implementation of the first to fourth aspects to be executed.

[0057] Eleventhly, a computer-readable storage medium is provided, which stores a computer program (also referred to as code or instructions) that, when run on a computer, causes any one of the first to fourth aspects described above to be executed, or any possible implementation of the first to fourth aspects to be executed.

[0058] In a twelfth aspect, a processing apparatus is provided, comprising: an interface circuit and a processing circuit. The interface circuit may include an input circuit and an output circuit. The processing circuit is configured to receive signals through the input circuit and transmit signals through the output circuit, thereby enabling any one of the first to fourth aspects, or any possible implementation thereof, to be implemented.

[0059] In specific implementation, the aforementioned processing device can be a chip, the input circuit can be an input pin, the output circuit can be an output pin, and the processing circuit can be a transistor, gate circuit, flip-flop, and various logic circuits, etc. The input signal received by the input circuit can be received and input by, for example, but not limited to, a receiver, and the signal output by the output circuit can be, for example, but not limited to, output to a transmitter and transmitted by the transmitter. Furthermore, the input circuit and the output circuit can be the same circuit, which is used as the input circuit and output circuit at different times. This application does not limit the specific implementation method of the processor and various circuits.

[0060] In one implementation, when the communication device is a first communication device or a second communication device, the interface circuit can be a radio frequency processing chip in the first communication device or the second communication device, and the processing circuit can be a baseband processing chip in the first communication device or the second communication device.

[0061] In another implementation, the communication device can be a component of the first or second communication device, such as an integrated circuit product like a system-on-a-chip (SoC) or communication chip. The interface circuit can be an input / output interface, interface circuit, output circuit, input circuit, pins, or related circuits on the chip or chip system. The processing circuit can be the logic circuit on the chip. Attached Figure Description

[0062] Figure 1 is a schematic diagram of a communication and sensing integrated scenario;

[0063] Figure 2 is a schematic diagram of a scene perception method;

[0064] Figure 3 is a schematic diagram of a sensing signal being transmitted through multiple transmission paths;

[0065] Figure 4 is a schematic diagram of the network architecture of a communication system;

[0066] Figure 5 is a flowchart illustrating a communication method provided in an embodiment of this application;

[0067] Figure 6 is a possible schematic diagram of the signal matrix provided in an embodiment of this application;

[0068] Figure 7 is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0069] Figure 8 is a schematic diagram of another communication device provided in an embodiment of this application. Detailed Implementation

[0070] The terms and nouns used in the embodiments of this application are described below.

[0071] (1) Perception.

[0072] Perception can be understood as a technology capable of acquiring information about the environment and / or the characteristics of objects within it. This information may include, for example, the shape, size, orientation, speed, position, distance between objects, or relative motion. Perception can also be considered the ability to detect, track, and image targets. Perception capabilities can be integrated with mobile communication networks. For example, the core idea of ​​the currently developing integrated communication and perception technology is to add perception capabilities to mobile communication networks, building capabilities for target detection, tracking, and imaging, thereby integrating communication and perception capabilities into a single network, achieving harmonious coexistence and mutual benefit.

[0073] The English term for perception can also be "sensing." Perception can also be replaced with: sensing process, sensing operation, sensing detection, and detection processing.

[0074] Sensing processing may include the process of processing the echo signal to obtain the sensing result. Specific details can be found in the embodiment described in Figure 5 below, and will not be elaborated here.

[0075] Please refer to Figure 1, which is a schematic diagram of an integrated communication and sensing scenario. In Figure 1, solid lines represent communication, and dashed lines represent sensing, illustrating an example. As shown in Figure 1, network devices can sense other objects through self-transmission and reception, or they can sense other objects while communicating with terminal devices. Figure 1 illustrates an example where the terminal device is a smartphone, and the sensing targets are drones, pedestrians, and vehicles.

[0076] (2) Single-station sensing and dual-station sensing.

[0077] Sensing technology can generally be divided into two modes: single-site sensing and dual-site sensing. Single-site sensing refers to a single device that transmits the sensing signal and receives the echo signal. In other words, in single-site sensing, the transmitting device both transmits the sensing signal and receives the echo signal reflected from the surface of the sensing target. Therefore, this single-site sensing mode can also be called a self-transmitting and self-receiving mode, without limitation. Dual-site sensing refers to two different devices that transmit the sensing signal and receive the echo signal. In other words, sensing station A transmits the sensing signal, and the echo signal reflected from the surface of the sensing target is received by sensing station B. Therefore, this dual-site sensing mode can also be called the A-transmitting and B-receiving mode. It should be noted that the echo signal is obtained by reflecting the sensing signal from the surface of the sensing target; therefore, this echo signal can still be called the sensing signal.

[0078] Figure 2 illustrates a schematic diagram of the sensing scenarios applicable to the embodiments of this application. Figure 2 provides six sensing scenarios applicable to the embodiments of this application: a scenario where network device A transmits and receives signals independently, i.e., network device A sends sensing signals and receives echo signals, as shown in (1) of Figure 2; a scenario where terminal device A transmits and receives signals independently, i.e., terminal device A sends sensing signals and receives echo signals, as shown in (2) of Figure 2; a scenario where network device A sends sensing signals and network device B receives echo signals, as shown in (3) of Figure 2; a scenario where terminal device A sends sensing signals and terminal device B receives echo signals, as shown in (4) of Figure 2; a scenario where network device A sends sensing signals and terminal device A receives echo signals, as shown in (5) of Figure 2; and a scenario where terminal device A sends sensing signals and network device A receives echo signals, as shown in (6) of Figure 2. Figure 2 uses a vehicle as the sensing target and a smartphone as the terminal device as an example.

[0079] (3) Sensing signal and echo signal.

[0080] In this embodiment, for distinction, the signal used for sensing can be referred to as a sensing signal. The sensing signal can be transmitted via the 3GPP radio interface. The sensing signal in this embodiment can also be replaced with a signal. The signal reflected from the surface of the sensing target can be called an echo signal.

[0081] For example, a first signal and a second signal can be used for sensing. These first and second signals can be considered as sensing signals. Taking the first signal as an example, the echo signal of the first signal can also be replaced with the echo signal of the sensing signal. This application does not limit the specific name of the first signal in its embodiments. "The first signal is used for sensing" can be replaced with "The first signal is used to perform sensing"; or it can also be replaced with "The first signal is used to conduct sensing," etc.

[0082] Optionally, the sensing signal can be a reference signal. For example, the reference signal may include (or be) a positioning reference signal (PRS), a sounding reference signal (SRS), a sidelink positioning reference signal (SL-PRS), and at least one of the following: a demodulation reference signal (DMRS), a channel state information reference signal (CSI) reference signal (RS), a synchronization signal block (SSB), a synchronization signal / physical broadcast channel block (SS / PBCH block), or a tracking reference signal (TRS), a phase tracking reference signal (PTRS), a beam manager reference signal (BMRS), and a cell reference signal (CRS).

[0083] In one possible implementation, the sensing signal can act as a communication signal, meaning it can be received by a terminal device in the environment as a communication signal; alternatively, a communication signal can also act as a sensing signal, meaning a communication signal (e.g., a reference signal) can be multiplexed for sensing. Taking a network device's self-transmission and self-reception as an example, the network device sends a sensing signal and receives the echo signal of the sensing signal; simultaneously, the sensing signal may reach the terminal device through multiple transmission paths, meaning the terminal device receives the sensing signal, as shown in Figure 3. Figure 3 illustrates an example where the sensing signal reaches the terminal device via transmission path 1 and transmission path 2, the terminal device is a mobile phone, and the sensing target is a vehicle.

[0084] (4) Perceiving the target.

[0085] A perceived target is a target that is perceived by extracting features of objects in the environment from sensor signals.

[0086] The target being sensed can also be called the target, the object being sensed, the object being detected, or the device being sensed, etc., without any restriction.

[0087] The sensing target can be any tangible object in the environment capable of reflecting electromagnetic waves. For example, the sensing target can be a stationary object such as a mountain, forest, or building. Alternatively, the sensing target can be a mobile object such as a vehicle, drone, pedestrian, or terminal device. This application does not limit the specific implementation of the sensing target.

[0088] The technical solutions of this application embodiment can be applied to various communication systems, such as Universal Mobile Telecommunications System (UMTS), Wireless Local Area Network (WLAN), short-range wireless communication systems (such as sidelink, wireless fidelity, Wi-Fi, Bluetooth, etc.), wired networks, vehicle-to-everything (V2X) communication systems, device-to-device (D2D) communication systems, vehicle-to-everything (V2X) communication systems, 4th generation (4G) mobile communication systems (such as Long Term Evolution (LTE) systems), LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Worldwide Interoperability for Microwave Access (WiMAX) communication systems, 5th generation (5G) mobile communication systems (such as New Radio (NR) systems), and future communication systems (such as 6th generation (6G) mobile communication systems). The invention is not limited to any particular generation (6G) mobile communication system or other similar communication systems. The embodiments of this application are described using the communication system shown in Figure 1 as an example. When applying the technical solutions of the embodiments of this application to other communication systems, the devices, components, modules, etc., in the embodiments can be replaced with corresponding devices, components, modules, etc., in other communication systems, without limitation.

[0089] Figure 4 illustrates an exemplary architecture diagram of a communication system 1000 applicable to an embodiment of this application. As shown in Figure 4, the communication system includes a wireless access network 100 and a core network 200. Optionally, the communication system 1000 may also include an Internet 300. The wireless access network 100 may include at least one wireless access network device (110a and 110b in Figure 4) and at least one terminal device (120a-120j in Figure 4). The terminal device is wirelessly connected to the wireless access network device, and the wireless access network device is wirelessly or wiredly connected to the core network. The core network device and the wireless access network device may be independent physical devices, or the functions of the core network device and the logical functions of the wireless access network device may be integrated on the same physical device, or a single physical device may integrate some of the functions of the core network device and some of the functions of the wireless access network device. Terminal devices and wireless access network devices may be interconnected via wired or wireless means. Figure 4 is just a schematic diagram. The communication system may also include other network devices, such as wireless relay devices and wireless backhaul devices, which are not shown in Figure 4.

[0090] The network devices involved in the embodiments of this application include, for example, radio access network (RAN) devices. RAN devices can be base stations, evolved NodeBs (eNodeBs), transmission reception points (TRPs), transmission points (TPs), next-generation NodeBs (gNBs) in 5th-generation (5G) mobile communication systems, next-generation base stations in 6th-generation (6G) mobile communication systems, base stations in future mobile communication systems, or access nodes in WiFi systems; they can also be modules or units that perform some of the functions of a base station, for example, they can be central units (CUs), distributed units (DUs), or radio units (RUs). The CU (Radio Control Unit) performs the functions of the radio resource control protocol and packet data convergence protocol (PDCP) of the base station, and can also perform the functions of the service data adaptation protocol (SDAP). The DU (Radio Link Control Unit) performs the functions of the radio link control layer and medium access control (MAC) layer of the base station, and can also perform some or all of the physical layer functions. For specific descriptions of the above-mentioned protocol layers, please refer to the relevant technical specifications of the 3rd Generation Partnership Project (3GPP). The CU and DU can be set up separately, or they can be included in the same network element, such as in the baseband unit (BBU). The RU (Radio Receiver Unit) can be included in radio frequency equipment or radio frequency units, such as in the remote radio unit (RRU), active antenna unit (AAU), or remote radio head (RRH). In different systems, CU, DU, or RU may also have different names, but those skilled in the art will understand their meaning.For example, in an open radio access network (ORAN) system, a CU can also be called an open CU (open-CU, O-CU), a DU can also be called an open DU (open-DU, O-DU), and a RU can also be called an open RU (open-RU, O-RU). In this application, any of the following units—the CU (or CU control plane (CU-CP), CU user plane (CU-UP), DU, and RU)—can be implemented through software modules, hardware modules, or a combination of software and hardware modules.

[0091] Wireless access network equipment can be a macro base station (as shown in Figure 4, 110a), a micro base station or an indoor station (as shown in Figure 4, 110b), or a relay node or donor node, etc. The embodiments of this application do not limit the specific technology or equipment form used in the wireless access network equipment. For ease of description, the following description uses a base station as an example of wireless access network equipment.

[0092] Terminal devices can also be referred to as user equipment (UE), mobile stations, mobile terminal devices, etc. Terminal devices can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, etc. Terminal devices can be mobile phones, tablets, computers with wireless transceiver capabilities, wearable devices, vehicles, drones, helicopters, airplanes, ships, robots, robotic arms, smart home devices, sensors, etc. The embodiments of this application do not limit the specific technologies or device forms used in the terminal devices.

[0093] The aforementioned terminal devices can establish connections with the operator's network through interfaces provided by the operator's network (such as N1), and use data and / or voice services provided by the operator's network. The terminal devices can also access the Domain Name System (DNS) through the operator's network, and use operator services deployed on the DNS, and / or services provided by third parties. These third parties can be service providers outside of the operator's network and the terminal devices, and can provide other data and / or voice services to the terminal devices. The specific form of these third parties can be determined according to the actual application scenario and is not limited here.

[0094] Terminal devices can also be referred to as user equipment (UE), mobile stations, mobile terminal devices, etc. Terminal devices can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, etc. Terminal devices can be mobile phones, tablets, computers with wireless transceiver capabilities, wearable devices, vehicles, drones, helicopters, airplanes, ships, robots, robotic arms, smart home devices, roadside units (RSUs), etc. The embodiments of this application do not limit the specific technologies or device forms used in the terminal devices.

[0095] Base stations and terminal equipment can be fixed or mobile. They can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; on water; or in the air on aircraft, balloons, and satellites. The embodiments of this application do not limit the application scenarios of the base stations and terminal equipment.

[0096] The roles of base stations and terminal devices can be relative. For example, the helicopter or drone 120i in Figure 4 can be configured as a mobile base station. For terminal devices 120j that access the wireless access network 100 through 120i, terminal device 120i is a base station; however, for base station 110a, 120i is a terminal device, meaning that 110a and 120i communicate via a wireless air interface protocol. Of course, 110a and 120i can also communicate via a base station-to-base station interface protocol. In this case, relative to 110a, 120i is also a base station. Therefore, both base stations and terminal devices can be collectively referred to as communication devices. 110a and 110b in Figure 4 can be called communication devices with base station functions, and 120a-120j in Figure 4 can be called communication devices with terminal device functions.

[0097] Communication between base stations and terminal devices, between base stations, and between terminal devices can be conducted using licensed spectrum, unlicensed spectrum, or both simultaneously. Communication can be conducted using spectrum below 6 GHz, spectrum above 6 GHz, or both simultaneously. The embodiments of this application do not limit the spectrum resources used for wireless communication.

[0098] In the embodiments of this application, the functions of the base station can be executed by modules (such as chips) within the base station, or by a control subsystem that includes base station functions. This control subsystem, including base station functions, can be a control center in the aforementioned application scenarios such as smart grids, industrial control, intelligent transportation, and smart cities. Similarly, the functions of the terminal device can be executed by modules (such as chips or modems) within the terminal device, or by a device that includes terminal device functions.

[0099] In this application, the base station sends downlink signals or downlink information to the terminal device, with the downlink information carried on the downlink channel; the terminal device sends uplink signals or uplink information to the base station, with the uplink information carried on the uplink channel. In order to communicate with the base station, the terminal device needs to establish a radio connection with a cell controlled by the base station. The cell with which the terminal device has established a radio connection is called the serving cell of the terminal device. When the terminal device communicates with this serving cell, it is also subject to interference from signals from neighboring cells.

[0100] The core network involved in this application embodiment may include network devices that process and forward user signaling and data. For example, it includes core network devices such as access and mobility management functions (AMF), session management functions (SMF), user plane gateways, and location management devices. The user plane gateway can be a server with functions such as mobility management, routing, and forwarding of user plane data, generally located on the network side, such as a serving gateway (SGW), packet data network gateway (PGW), or user plane function (UPF). AMF and SMF are equivalent to the mobility management entity (MME) in a long-term evolution (LTE) system. AMF is mainly responsible for admission aspects, and SMF is mainly responsible for session management. Of course, the core network may also include other network elements, which are not listed here.

[0101] Figure 4 is just a schematic diagram. The wireless communication system may also include other devices, such as core network devices, wireless relay devices and / or wireless backhaul devices, which are not shown in 1A.

[0102] Based on the content shown in Figures 1, 2, 3, and 4 above, Figure 5 exemplarily illustrates a flowchart of a communication method provided by an embodiment of this application. Figure 5 describes the interaction of various communication devices as an example.

[0103] The first communication device can perform (or conduct) sensing. For example, the first communication device can be used to receive the echo signal of a first signal and to perform sensing processing based on the echo signal of the first signal. The first communication device can be a network device or a chip or chip system in a network device; or the first communication device can also be a terminal device or a chip or chip system in a terminal device. For example, the first communication device can be network device A shown in (1) or (6) of FIG2, or a chip or chip system in network device A; or the first communication device can also be terminal device A shown in (2) or (5) of FIG2, or a chip or chip system in terminal device A; or the first communication device can also be network device B shown in (3) of FIG2, or a chip or chip system in network device B; or the first communication device can also be terminal device B shown in (4) of FIG2, or a chip or chip system in terminal device B.

[0104] The third and fourth communication devices can transmit sensing signals. For example, the third communication device can transmit a second signal, and the fourth communication device can transmit a first signal. The first and second signals can be sensing signals. The third and fourth communication devices can be the same device or two different devices. The third and first communication devices can be the same device or two different devices. The fourth and first communication devices can be the same device or two different devices. The third and / or fourth communication devices can be network devices or chips or chip systems in network devices. The third and / or fourth communication devices can also be terminal devices or chips or chip systems in terminal devices. For example, the third and / or fourth communication devices can be: any of the network devices A shown in (1), (3), or (5) in Figure 2, or chips or chip systems in network device A. As another example, the third and / or fourth communication devices can also be: any of the terminal devices A shown in (2), (4), or (6) in Figure 2, or chips or chip systems in terminal device A.

[0105] The second communication device can transmit first information. The first information indicates the value of at least one sensing parameter. The second and third communication devices can be the same device or two different devices. The second and fourth communication devices can be the same device or two different devices. The second and first communication devices can be the same device or two different devices. The second communication device can be a network device or a chip or chip system within a network device. The second communication device can also be a terminal device or a chip or chip system within a terminal device. In one possible implementation, the second communication device can transmit sensing signals, in which case the third and / or fourth communication devices are the second communication device.

[0106] As shown in Figure 5, the communication method may include the following:

[0107] Step 501: The third communication device sends a second signal.

[0108] The first communication device receives the second echo signal. The second echo signal can be the echo signal of the second signal.

[0109] The second signal is used for sensing and can be a sensing signal, such as a reference signal. For example, the third communication device can transmit the second signal in one beam direction; this second signal first reaches the sensing target via wireless transmission, and then is reflected by the sensing target to reach the first communication device, i.e., the first communication device can receive the second echo signal (i.e., the echo signal of the second signal), as shown in steps 501a and 501b in Figure 5. In one possible example, step 501 may include steps 501a and 501b in Figure 5.

[0110] The second signal, the echo signal of the second signal (e.g., the second echo signal), the third communication device, and the first communication device are described in the foregoing and will not be repeated here.

[0111] Step 502: The first communication device determines the first sensing result based on the first value of the first sensing parameter and the second echo signal.

[0112] In this embodiment, the perception processing involves N parameters, where N is a positive integer. For clarity, these N parameters are referred to as N perception parameters. The N perception parameters can be replaced with: N parameters, N pieces of information, or N parameter items. The first perception parameter is one of the perception parameters. For example, the first perception parameter is one of the following: parameter A1 (false alarm probability), parameter A2 (constant false alarm detection threshold), parameter A3 (point density of point cloud data), parameter A4 (perception detection threshold), and parameter A5 (resolution).

[0113] The first sensing result may be determined based on the value of at least one of N sensing parameters. For example, the first sensing result may be determined based on the first value of the first sensing parameter. The first value of the first sensing parameter is one of the values ​​of the first sensing parameter. For example, the first sensing parameter is the false alarm probability, and the value of the first sensing parameter may have multiple values, such as 60%, 70%, 80%, etc. For example, the first value is 70%. The first communication device can obtain the first value of the first sensing parameter. For example, the first value of the first sensing parameter may be pre-configured, predefined by the protocol, negotiated by the first communication device with other devices, or configured (or determined, or indicated) by other devices (such as the second communication device or other communication devices), without limitation. For example, in step 502, the second communication device sends information indicating the first value of the first sensing parameter to the first communication device. Correspondingly, the first communication device receives the information indicating the first value of the first sensing parameter and determines the first value of the first sensing parameter based on the information indicating the first value of the first sensing parameter. The first sensing result can also be determined based on the values ​​of other sensing parameters, such as the value of the second sensing parameter (e.g., point cloud data) #21 (e.g., the point density of the point cloud data is 7 points / cubic meter), or the value of the third sensing parameter (e.g., the constant false alarm rate detection threshold) #31 (e.g., the constant false alarm rate detection threshold is 15 decibels (dB)). The scheme by which the first communication device acquires the values ​​of sensing parameters other than the first sensing parameter corresponding to the first sensing result can be found in the aforementioned process of the first communication device acquiring the first value of the first sensing parameter, and will not be repeated here.

[0114] Step 502 may further include / be replaced by: the first communication device performing sensing processing based on the value of at least one of the N sensing parameters (e.g., a first value of the first sensing parameter) and the second echo signal to determine a first sensing result. The first sensing result is determined based on the first value of the first sensing parameter. The first sensing result may also be determined based on the values ​​of other sensing parameters, such as the value of the second sensing parameter #21, the value of the third sensing parameter #31, etc.

[0115] In the embodiments of this application, the sensing processing can be replaced by sensing, etc. Sensing processing may include the process of processing the echo signal to obtain a sensing result (e.g., a first sensing result). The sensing result (e.g., the first sensing result) may include, for example, the presence or absence of a target, and at least one of the following: distance, angle, velocity, and energy amplitude of each target. The sensing result (e.g., the first sensing result) can be replaced by: feedback information, sensing result information, etc.

[0116] During the sensing process, the first communication device receives the second echo signal and performs sensing processing based on the condition that the first sensing parameter is a first value, thereby obtaining the first sensing result. For example, the first sensing parameter is the false alarm probability, and the first value of the first sensing parameter is 70%. The first communication device receives the second echo signal, and during the sensing process, the first communication device sets the false alarm probability to 70%, or the first communication device performs sensing processing with a false alarm probability of 70%, thereby obtaining the first sensing result.

[0117] During the sensing process, the first communication device can employ various detection methods to detect the second echo signal (e.g., constant false alarm rate detection) to obtain the first sensing result. These methods may include, but are not limited to: cell averaging-constant false alarm rate detector (CA-CFAR) algorithm, greagest of constant false alarm rate detector (GO-CFAR) algorithm, smallest of constant false alarm rate detector (SO-CFAR) algorithm, trimmed-mean-constant false alarm rate detector (TM-CFAR) algorithm, or other algorithms (e.g., other mean-based constant false alarm rate detection algorithms). This application embodiment uses CA-CFAR as an example to describe the sensing process of the first communication device.

[0118] The following describes the sensing process, using the first communication device sensing (or processing) the first echo signal as an example. The process by which the first communication device processes the first echo signal to obtain the first sensing result is as follows:

[0119] The first communication device performs Fourier processing and linear detection on the first echo signal to obtain a signal matrix. The signal matrix includes one or more units (these units can be called data units). The first communication device can use algorithms (such as the CA-CFAR algorithm) to sequentially detect each unit in the signal matrix (e.g., constant false alarm rate detection). This sequentially determines whether a target exists within each unit. Each unit in the signal matrix corresponds to a signal, and each unit contains information such as the distance, angle, energy amplitude, and velocity of that signal. The first communication device can acquire the measurement results corresponding to each unit, and then combine the measurement results of at least one unit to obtain the first sensing result corresponding to the first echo signal.

[0120] Figure 6 illustrates a schematic diagram of a signal matrix. Referring to Figure 6, the signal matrix corresponding to the first echo signal includes multiple units. When performing constant false alarm rate (CFAR) detection on each unit, for example, the first communication device can provide at least one protection unit P1 on each side of the unit to be detected Y1 to eliminate excess signal energy around the unit to be detected Y1. N (N is a positive integer, for example, 1 or 2) training units are arranged around the protection unit P1, forming a training unit-protection unit-unit to be detected-protection unit-training unit model. This model is an example; some units to be detected may not have protection units and / or training units around them. The unit to be detected, the protection unit, and the training unit all belong to the units in the signal matrix corresponding to the first echo signal. The unit to be detected Y1 is an undetected unit in the signal matrix, and the units in the signal matrix can take turns being detected.

[0121] Based on the example shown in Figure 6, the first communication device can detect a unit to be detected through various implementation methods. There are multiple possible implementation methods, and two possible implementation methods are exemplarily described below through implementation method A1 and implementation method A2. In implementation method A1, the first communication device compares the relationship between the value of the unit to be detected and the value corresponding to the training unit with a threshold, and obtains a first perception result based on the comparison result. In implementation method A2, the first communication device compares the value of the unit to be detected with a fourth threshold, and obtains a first perception result based on the comparison result. The "value of the unit to be detected" mentioned in this application embodiment can refer to the detected value of the unit to be detected (also called energy value or power value), the measured value (also called energy value or power value), or the actual value (also called energy value or power value). The "value corresponding to the training unit" involved in the embodiments of this application can be a value estimated based on the values ​​(also called energy value or power value) of the training units around the unit to be detected. For example, the value corresponding to the training unit can be the average value (also called energy value or power value) of the training units around the unit to be detected, or the value corresponding to the training unit can be the value (also called energy value or power value) of a certain training unit around the unit to be detected (e.g., the maximum or minimum value of the surrounding training units, etc.).

[0122] In implementation method A1, the first communication device compares the relationship between the value of the unit to be detected and the value corresponding to the training unit with a threshold, and obtains a first perception result based on the comparison result.

[0123] For example, the first communication device compares the result of the operation between the value of the unit to be detected and the corresponding value of the training unit (e.g., difference, quotient, etc.) with a threshold, and obtains the first perception result based on the comparison result.

[0124] In one possible implementation, the value of the unit to be detected and the value corresponding to the training unit can be in dB units or linear values. A conversion relationship can exist between dB values ​​and linear unit values, for example, d1 = 10 × lg(y), where y is a linear value and d1 is the value in dB units. For example, if the linear value y is 1, the corresponding d1 value is 0 dB; or if the linear value y is 10, the corresponding d1 value is 10 dB. Based on this, in one possible implementation, when the value of the unit to be detected and the value corresponding to the training unit are in dB units, the first communication device can compare the difference between the value of the unit to be detected and the value corresponding to the training unit with a second threshold, and obtain a first perception result based on the comparison result. In another possible implementation, when the value of the unit to be detected and the value corresponding to the training unit are linear values, the first communication device can compare the quotient between the value of the unit to be detected and the value corresponding to the training unit with a third threshold, and obtain a first perception result based on the comparison result.

[0125] For example, the first communication device determines that a target exists at the detection unit when the difference between the value of the detection unit and the corresponding value of the training unit is greater than a second threshold. Alternatively, the first communication device determines that a target exists at the detection unit when the difference is less than the second threshold. There are various implementation methods for the first communication device when the difference between the value of the detection unit and the corresponding value of the training unit equals the second threshold. For example, the first communication device determines that a target exists at the detection unit when the difference is equal to the second threshold. Yet another example is that the first communication device determines that no target exists at the detection unit when the difference is equal to the second threshold.

[0126] For example, the first communication device determines that a target exists at the detection unit when the quotient of the value of the detection unit and the corresponding value of the training unit is greater than a third threshold. Alternatively, the first communication device determines that a target exists at the detection unit when the quotient of the value of the detection unit and the corresponding value of the training unit is less than the third threshold. There are various implementation methods for the first communication device to determine that the quotient of the value of the detection unit and the corresponding value of the training unit equals the third threshold. For example, the first communication device determines that a target exists at the detection unit when the quotient of the value of the detection unit and the corresponding value of the training unit equals a second threshold. Yet another example is that the first communication device determines that no target exists at the detection unit when the quotient of the value of the detection unit and the corresponding value of the training unit equals the second threshold.

[0127] In this application embodiment, the second threshold and the third threshold may be equal or unequal. The second threshold and the third threshold may be correlated or not. For example, the second threshold may be a value corresponding to dB units, and the third threshold may be a linear value corresponding to the second threshold.

[0128] The second or third threshold in the embodiments of this application can be obtained, for example, by formula (1) and formula (2).

[0129] For example, when the first communication device performs detection based on the CA-CFAR algorithm, it can calculate the current false alarm probability P using formula (1). FA And α for the number of training units N, for example:

[0130] In formula (1), P FA α represents the false alarm probability, N represents the number of training units, and α represents the second or third threshold.

[0131] In one possible implementation, the first communication device can calculate the value corresponding to the training unit based on the following formula (2):

[0132] In formula (2), P is the value corresponding to the training unit, N is the number of training units, and x i This refers to the value of the training unit (also known as the energy value or power value) in the unit corresponding to the signal matrix of the first echo signal.

[0133] Based on the above formula (2), in one possible implementation, when the first communication device can compare the quotient between the value of the unit to be detected and the value corresponding to the training unit with the third threshold, the first communication device can also compare the value of the unit to be detected with the product between the value corresponding to the training unit and the third threshold.

[0134] For example, the first communication device can also compare the value of the unit to be detected with... Comparison, It can be calculated using formula (3):

[0135] In formula (3), The product of the value corresponding to the training unit and the third threshold is given in formula (3), which uses α as the third threshold as an example. N is the number of training units, and x is the product of the value corresponding to the training unit and the third threshold. i This refers to the value of the training unit (also known as the energy value or power value) in the unit corresponding to the signal matrix of the first echo signal.

[0136] For example, the first communication device detects a value greater than [value missing] in the unit to be detected. When a target is detected, the first communication device determines that a target exists at the unit to be detected. For example, if the value of the unit to be detected is less than a certain value, the first communication device determines that a target exists at the unit to be detected. At that time, it is determined that a target exists at the unit to be detected. The value of the first communication device at the unit to be detected is equal to... In this case, there can be multiple implementation methods. For example, the first communication device can detect a value equal to... In this case, the first communication device determines that a target exists at the unit to be detected. For example, if the value of the unit to be detected is equal to... In this case, the first communication device determines that there is no target at the unit to be detected.

[0137] In implementation method A2, the first communication device compares the value of the unit to be detected with a fourth threshold and obtains a first sensing result based on the comparison result.

[0138] For example, the first communication device determines that a target exists at the detection unit when the value of the detection unit is greater than a fourth threshold. Alternatively, the first communication device determines that no target exists at the detection unit when the value of the detection unit is less than the fourth threshold. When the value of the detection unit is equal to the fourth threshold, the first communication device can have various implementations. For example, the first communication device determines that a target exists at the detection unit when the value of the detection unit is equal to the fourth threshold. Yet another example is that the first communication device determines that no target exists at the detection unit when the value of the detection unit is equal to the fourth threshold.

[0139] The fourth threshold in this application embodiment can be pre-configured, predefined by the protocol, negotiated between the first communication device and other devices, or configured (or determined, or indicated) by other devices (such as the second communication device or other communication devices), without limitation. The fourth threshold can also be determined by the first communication device based on some rules, such as calculating the fourth threshold based on parameters such as false alarm probability. The fourth threshold can also be equal to or unequal to the second threshold (or the third threshold). For example, after the first communication device calculates the second threshold (or the third threshold) based on the above formulas (1) and (2), it calculates the fourth threshold based on the second threshold (or the third threshold). For example, there may be a difference between the fourth threshold and the second threshold (or the third threshold).

[0140] Several possible sensing parameters are described below. For example, the N sensing parameters may include one or more of the following: parameter B1 (false alarm probability), parameter B2 (detection threshold), parameter B3 (point density of point cloud data), and parameter B4 (resolution). The first sensing parameter is one of the N sensing parameters. The sensing processing of the first communication device can be based on at least one of the above sensing parameters. Therefore, the sensing performance can be improved by adjusting at least one of the above sensing parameters. Furthermore, since the first sensing parameter is one of the above sensing parameters, the sensing performance of the system can be improved by controlling the value of the first sensing parameter.

[0141] Parameter B1, false alarm probability.

[0142] The false alarm probability can refer to the probability that a target object / environment is mistakenly detected when it does not exist. Alternatively, the false alarm probability can also be understood as the probability that a perceived target is detected when it does not exist.

[0143] For example, in a drone detection scenario, if a drone is not actually present in a certain area, but the first communication device confirms its presence through perception processing, the first communication device might mistakenly identify a non-existent event as present. This could be considered a false alarm. For predicting certain hazardous scenarios, such as collision detection during vehicle movement, some false alarms are permissible to minimize the probability of a collision.

[0144] The false alarm probability can be, for example, P involved in the aforementioned formula (1). FA The false alarm probability, as a key indicator in the perception processing (or perception detection) process, affects the threshold calculation in perception processing. Referring to Figure 6 above and the examples in Implementation A1 and Implementation A2, it can be seen that P... FA The value of the second (or third) threshold may also be affected by the value of the fourth threshold. Subsequently, when the first communication device detects the unit to be detected, it makes a judgment based on the second (or third) or fourth threshold associated with the false alarm probability.

[0145] Parameter B2, detection threshold.

[0146] The detection threshold can be replaced with: threshold, threshold used in the perception processing, threshold used in the perception detection process, etc.

[0147] For example, the detection threshold may include a constant false alarm rate (CFAR) detection threshold. The CFAR detection threshold can be replaced with a threshold or relative threshold in the CFAR detection method. For example, the detection threshold may include the aforementioned second threshold and / or third threshold.

[0148] For example, detection thresholds include: perception detection thresholds. Perception detection thresholds can be replaced with: thresholds used in the perception processing, thresholds used in the perception detection process, absolute thresholds, etc. For example, detection thresholds include the aforementioned fourth threshold, or thresholds involved or used in other detection schemes that are not part of the constant false alarm rate (CFAR) detection scheme.

[0149] Parameter B3 is the point density of the point cloud data.

[0150] Point cloud data is a dataset of points in space that can represent three-dimensional shapes or objects. The position of each point in a point cloud can be described by a set of Cartesian coordinates, and some may contain information such as the intensity of the object's reflective surface and its velocity.

[0151] For example, the point density of point cloud data can be reflected as the density of units identified as having a target in the signal matrix corresponding to the first echo signal. The point density of point cloud data is related to the detection threshold (e.g., inversely correlated). For example, lowering the constant false alarm rate (CFAR) detection threshold (or sensing detection threshold) may increase the number of units identified as having a target in the signal matrix corresponding to the first echo signal, thus increasing the point density of the point cloud data. Conversely, raising the CFAR detection threshold (or sensing detection threshold) may decrease the number of units identified as having a target in the signal matrix corresponding to the first echo signal, thus decreasing the point density of the point cloud data.

[0152] Parameter B4, resolution.

[0153] Resolution can be understood as the smallest permissible difference in the measurement magnitudes (such as distance and velocity) used to describe different target objects during the detection of objects of different magnitudes. Alternatively, resolution can be used to describe the minimum ability of perception to distinguish two different targets.

[0154] For example, in a drone detection scenario, suppose two drones gradually approach each other. When the distance is less than a distance threshold, the first communication device, through perception processing, determines that only one drone exists in the scene. Because the two drones are too close, the first communication device cannot identify both drones. This distance threshold can be understood as the distance resolution. Similarly, when the radial velocities of two drones are less than a velocity threshold, the first communication device, through perception processing, determines that only one drone exists in the scene. Because the two drones are too close in velocity, the first communication device cannot identify both drones. This velocity threshold can be considered as the velocity resolution.

[0155] Taking distance perception as an example, a distance resolution of 1 meter should be understood as follows: when the distance between two perceived targets is greater than or equal to 1 meter, the device performing the perception can distinguish between two targets; when the distance between two perceived targets is less than 1 meter, the device performing the perception cannot distinguish between two targets.

[0156] Steps 501 and 502 may also be omitted, or step 501 may be executed and step 502 may be omitted. In this case, when the second communication device sends the first information, it may not be necessary to consider the value of the sensing parameter corresponding to the first sensing result.

[0157] Step 503: The first communication device sends the first sensing result.

[0158] Correspondingly, the second communication device receives the first sensing result.

[0159] Since the first communication device can transmit the first sensing result, the device receiving the first sensing result (e.g., the second communication device) can determine whether the value of the first sensing parameter currently used by the first communication device meets the requirements based on the first value. The first information can also be determined based on the first value of the first sensing parameter. Thus, the first sensing result can provide more assistance in determining the first information, thereby making the indication of the first information more reasonable. For example, the first information can instruct the first communication device not to change the value of the first sensing parameter (e.g., the second value is the first value), or it can instruct to change the value of the first sensing parameter (e.g., the second value is different from the first value).

[0160] Step 503 may or may not be performed. For example, the first communication device may periodically or non-periodically send the sensing results to the second communication device. Alternatively, the first communication device may not send the first sensing results and may use the first sensing results itself. The first communication device may also send the first sensing results to other communication devices (devices other than the second communication device).

[0161] Step 504: The first communication device sends the second information.

[0162] Correspondingly, the second communication device receives the second information.

[0163] The second information can be used to indicate the value of the sensing parameter corresponding to the first sensing result. Alternatively, the second information can be used to indicate the value of at least one of the N sensing parameters used in obtaining the first sensing result. For example, the second information indicates the first value of the first sensing parameter. By sending the second information, the first communication device can enable the second communication device to determine whether the current value of the sensing parameter of the first communication device meets the requirements. This scheme allows the second communication device to obtain more accurate values ​​of the sensing parameters, thereby improving the accuracy of subsequently indicated values ​​of the sensing parameters and thus improving sensing performance.

[0164] The first perception result and the second information can be carried in one message, or they can be carried in two separate messages. Alternatively, in one possible implementation, the second information can be part of the first perception result information.

[0165] Step 504 can also be omitted, meaning the first communication device does not need to report the second information. Figure 5 illustrates the execution of step 504 as an example. When step 504 is not executed, step 504 may not be included in Figure 5.

[0166] Step 505: The second communication device sends the first information.

[0167] Correspondingly, the first communication device receives the first information.

[0168] The first information can be used to indicate the value of at least one of the N sensing parameters. For example, the first information is used to indicate the second value of the first sensing parameter. As another example, the first information may also indicate the values ​​of other sensing parameters, such as the value #22 of the second sensing parameter (e.g., point cloud data, where the point density of the point cloud data is 10 points / cubic meter), or the value #32 of the third sensing parameter (e.g., the constant false alarm rate detection threshold, where the constant false alarm rate detection threshold is 10), and so on.

[0169] The N sensing parameters may include one or more possible (or allowed, or usable) values, which can be referred to as the parameter value set or parameter value group corresponding to the sensing parameter. The following description uses the first sensing parameter as an example; the implementation methods for other sensing parameters are similar and will not be repeated. The first sensing parameter may have one or more possible (or allowed, or usable) values. For ease of understanding, in this embodiment, one or more values ​​of the first sensing parameter are referred to as the parameter value set corresponding to the first sensing parameter. The parameter value set corresponding to the first sensing parameter includes one or more values ​​of the first sensing parameter. The second value is one of the parameters in the parameter value set corresponding to the first sensing parameter. The parameter value set corresponding to the first sensing parameter can also be replaced by at least one value of the first sensing parameter, the parameter value group corresponding to the first sensing parameter, or at least one parameter value corresponding to the first sensing parameter, etc.

[0170] The first information can indicate the value of at least one of the N sensing parameters in various ways. For example, the first information may include the value of at least one of the N sensing parameters. Alternatively, the first information may include information capable of determining the value of at least one of the N sensing parameters, based on which the first communication device determines the value of at least one of the N sensing parameters indicated by the first information. This saves signaling bits and reduces resource overhead.

[0171] The following example illustrates how first information indicates a second value of a first sensing parameter. For instance, the first information may include information indicating an index in the set of parameter values ​​corresponding to the first sensing parameter, which indicates the second value. Alternatively, the first information may include information indicating the amount of change in the index in the set of parameter values ​​corresponding to the first sensing parameter, allowing the first communication device to determine the second value based on this index change. Another example is that the first information may include information indicating the amount of change in the parameter value corresponding to the first sensing parameter, allowing the first communication device to change the current first value based on this change information, thereby obtaining the second value. Yet another example is that the first information may include information indicating the magnitude relationship between the second value and a fourth value, allowing the first communication device to determine the second value based on this magnitude relationship and the fourth value. The fourth value may be either the first value or a specified value. In yet another possible implementation, the second communication device sends information indicating that the fourth value is the first value, and the first communication device receives information indicating that the fourth value is the first value. The second communication device may also send information indicating that the fourth value is a specified value, and the first communication device receives information indicating that the fourth value is a specified value. In this way, the first communication device can determine which value the fourth value is based on the received information, and then more accurately determine the second value based on the indication. On the other hand, the first communication device can determine the specific value of the fourth value through the received information, so there are multiple choices for the fourth value, thereby improving the flexibility of the scheme.

[0172] The first information will also indicate the values ​​of other sensing parameters. The way the first information indicates the values ​​of other sensing parameters can be found in the relevant scheme of the first information indicating the second value, which will not be repeated here.

[0173] The following embodiments, namely, C, D, and E, respectively, exemplify several implementations of a second communication device that indicate N sensing parameters via first information, where the first sensing parameter is one of the N sensing parameters. Embodiment C uses the first information indicating the false alarm probability as an example; Embodiment D uses the first information indicating the detection threshold as an example; and Embodiment E uses the first information indicating the point density of point cloud data as an example.

[0174] In implementation method C, the first information indicates the value of the false alarm probability.

[0175] In one possible implementation, the second communication device can indicate a false alarm probability value to the first communication device based on the current scenario. For example, it can indicate the largest or second largest value in the set of parameter values ​​corresponding to the false alarm probability, or the smallest or second smallest value in the set of parameter values ​​corresponding to the false alarm probability, through the first information. In another possible implementation, the second communication device can determine whether the false alarm probability value currently used by the first communication device meets the requirements. The second communication device can instruct the first communication device, through the first information, to adjust (increase or decrease) or not adjust the currently used false alarm probability value. For example, if the first sensing parameter is a false alarm probability, the first value is the false alarm probability value currently used by the first communication device, and the second value is the false alarm probability value indicated by the second communication device through the first information.

[0176] In some scenarios, the second communication device may want the first communication device to use a slightly higher false alarm probability value. This would lower the corresponding detection threshold (as can be seen from formulas (1) and (2) above, the false alarm probability and the detection threshold can be inversely correlated), thereby increasing the likelihood that the first communication device will determine the presence of a target within the detection area, thus reducing the probability of missed detections. For example, in a vehicle-assisted driving scenario, the second communication device wants to detect as many objects in the surrounding environment as possible, minimizing missed detections, in order to better assist the user's driving and improve driving safety. In this scenario, when the false alarm probability value is low (e.g., less than a preset value), the second communication device can instruct the first communication device to increase the false alarm probability value through the first information. Subsequently, the first communication device obtains the perception result based on the increased false alarm probability value, which is more suitable for the use of vehicle-assisted driving scenarios.

[0177] In some scenarios, the second communication device might prefer the first communication device to use a slightly lower false alarm probability value. This would raise the corresponding detection threshold, reducing the likelihood that the first communication device would classify a region as containing a sensing target. This would improve the detection accuracy of regions where a sensing target is identified, meaning that when the first communication device determines a region contains a sensing target, that region is highly likely to contain a sensing target, leading to more accurate target identification. When the energy in some regions is below the detection threshold, the first communication device classifies them as not containing a sensing target, thus avoiding the identification of regions without sensing targets as containing them, thereby improving recognition accuracy. For example, in map-making scenarios, it's necessary to image larger objects in the surrounding environment (such as buildings). The second communication device wants to detect as many larger objects as possible, while omitting smaller objects, to create a clearer map that better suits user habits. In this scenario, when the false alarm probability value is high (e.g., greater than a preset value), the second communication device can instruct the first communication device to lower the false alarm probability value using the first information. The first communication device then obtains the perception result based on the reduced false alarm probability value, which is more suitable for the use of map drawing scenarios.

[0178] To reduce the number of bits used to indicate the false alarm probability and minimize overhead, the first communication device can acquire a set of parameter values ​​corresponding to the false alarm probability. For example, the set of parameter values ​​corresponding to the false alarm probability includes {1e} -7 ,1e -8 ,1e -9 ,1e -10 The first communication device can, based on the first information, find the false alarm probability value indicated by the first information from the set of parameter values. This scheme can reduce resource overhead.

[0179] The following examples, C1, C2, C3, C4, and C5, exemplify several ways in which the first information indicates the value of the false alarm probability. In example C1, the first information includes an index of the false alarm probability value. In example C2, the first information includes information indicating the amount of change in the index corresponding to the false alarm probability, based on which the first communication device determines the value of the false alarm probability. In example C3, the first information includes information indicating the magnitude relationship between two values ​​of the false alarm probability, based on which the first communication device determines the value of the false alarm probability. In example C4, the first information includes information indicating a change in the false alarm probability, based on which the first information adjusts the currently (or existing) false alarm probability. In example C5, the first information includes the value of the false alarm probability.

[0180] Example C1: The first piece of information includes the index of the false alarm probability value.

[0181] For example, the set of parameter values ​​corresponding to the false alarm probability includes {1e} -7 ,1e -8 ,1e -9 ,1e -10 These elements include indices. The first communication device can obtain the correspondence between the indices and the elements in the parameter value set, and then, based on the correspondence, look up the index in the first information, and then regard the element corresponding to the index as the value of the false alarm probability indicated by the first information.

[0182] For example, the indices of each element in the set are X001, X002, X003, and X004, respectively. For example, the first information may include a first field. This first field can be used to indicate the index of the false alarm probability, as shown in Table 1. Table 1 uses 2 bits for the first field as an example. Taking the second row of Table 1 (in this application, the table header is considered the first row; if the header is not considered the first row, the second row in the table can also be called the first row) as an example, the value carried by the first field is 00, then the index of the false alarm probability value indicated by the first field is X001. The first communication device searches for the correspondence between index X001 and the false alarm probability value, and sets the index X001 to 1e... -7 The first field indicates the probability of a false alarm. The other rows are similar and will not be described further.

[0183] Table 1

[0184] For example, the elements in the set may have a sorting relationship, such as sorting from smallest to largest or from largest to smallest, or the elements may be sorted according to a certain sorting relationship when stored in the memory of the first communication device. In this embodiment, the index of each element can be the sorting of these elements in the set, or the sequence number. For example, the index of the first element in the set of parameter values ​​corresponding to the false alarm probability is the sorting of the first element (i.e., first), or the index of the first element in the set of parameter values ​​corresponding to the false alarm probability is the sequence number of the first element (i.e., first); for example, the index of the second element in the set of parameter values ​​corresponding to the false alarm probability is the sorting of the second element (i.e., second), or the index of the second element in the set of parameter values ​​corresponding to the false alarm probability is the sequence number of the second element (i.e., second); and so on. For example, the first information may include a first field. This first field can be used to indicate the index of the false alarm probability, as shown in Table 2. In Table 2, the first field occupies 2 bits as an example. Taking the second row of Table 2 as an example, if the value carried by the first field is 00, then the index of the false alarm probability value indicated by the first field is first. The first communication device searches for the first value in the set of parameter values ​​corresponding to the false alarm probability, and then selects the first value, 1e. -7The first field indicates the probability of a false alarm. The other rows are similar and will not be described further.

[0185] Table 2

[0186] In this embodiment, the first communication device can determine the false alarm probability indicated by the first information based on the information in the first information used to indicate the false alarm probability, as well as other information (such as the index of the parameter value in the set of parameter values ​​for the false alarm probability). In this scheme, the information in the first information used to indicate the false alarm probability occupies fewer bits, thereby saving resource overhead.

[0187] Example C2, the first information includes information indicating the amount of change in the index corresponding to the false alarm probability, and the first communication device can determine the value of the false alarm probability based on the amount of change in the index.

[0188] For example, the set of parameter values ​​corresponding to the false alarm probability includes {1e} -7 ,1e -8 ,1e -9 ,1e -10 These elements include indices. For example, the indices of the elements in this set are X001, X002, X003, and X004, respectively. For example, the first information may include a first field. This first field can be used to indicate the amount of change in the index corresponding to the false alarm probability, as shown in Table 3. Table 3 shows an example where the first field occupies 2 bits.

[0189] Taking the second row of Table 3 as an example, if the value of the first field is 00, then the change in the index corresponding to the false alarm probability indicated by the first field is reduced by 1. The first communication device determines the index of the current (or present) false alarm probability value (e.g., the false alarm probability value used to determine the first sensing result, such as the first value if the first sensing parameter is a false alarm probability), for example, the current false alarm probability value is 1e. -8 The corresponding index is X002. Therefore, the first communication device subtracts one from X002 to obtain index X001. The first communication device looks up the correspondence between the index and the false alarm probability value, and sets the 1e corresponding to X001... -7 The value of the false alarm probability is indicated by the first field (for example, if the first sensing parameter is the false alarm probability, this value is the second value).

[0190] Taking the third row of Table 3 as an example, if the value of the first field is 01, then the index corresponding to the false alarm probability indicated by the first field remains unchanged. The first communication device determines the index of the current (or present) false alarm probability value (e.g., the false alarm probability value used to determine the first sensing result; for example, if the first sensing parameter is a false alarm probability, this value is the first value), for example, the current false alarm probability value is 1e. -8The corresponding index is X002. Therefore, the first communication device will send the 1e corresponding to X002. -8 The value of the false alarm probability is indicated by the first field (for example, if the first sensing parameter is the false alarm probability, this value is the second value). The contents of the other rows are similar and will not be described again.

[0191] Table 3

[0192] In this embodiment, the first communication device can determine the false alarm probability indicated by the first information based on the information in the first information used to indicate the false alarm probability, as well as other information (such as the index of the parameter value in the set of parameter values ​​for the false alarm probability). In this scheme, the information in the first information used to indicate the false alarm probability occupies fewer bits, thereby saving resource overhead.

[0193] Example C3: The first information includes information indicating the magnitude relationship between two values ​​for the false alarm probability, and the first communication device determines the value of the false alarm probability based on the magnitude relationship.

[0194] For example, the set of parameter values ​​corresponding to the false alarm probability includes {1e} -7 ,1e -8 ,1e -9 ,1e -10 These elements have a size relationship. For example, the first information may include a first field. The size relationship between the two values ​​of the false alarm probability indicated by this first field is shown in Table 4, which uses the first sensing parameter as an example of the false alarm probability. In Table 4, the first field occupies 2 bits as an example.

[0195] Taking the second row of Table 4 as an example, if the value of the first field is 00, then in the set of parameter values ​​indicating the probability of a false alarm in the first field, the second value is the minimum of at least one value greater than the fourth value. For example, if the fourth value is 1e... -8 The first communication device determines the second value to be 1e. -7 The first communication device will 1e -7 The first field indicates the probability of a false alarm. The other rows are similar and will not be described further.

[0196] Table 4

[0197] In this embodiment, the fourth value can be either the first value of the first sensing parameter or a specified value. The first value can be understood as the false alarm probability value determined by the first communication device. When the fourth value is the first value, it can also be understood that the first communication device can adjust based on the currently used false alarm probability value. The specified value can be replaced by: value, pre-configured value, preset value, default value, preset value, pre-stored value, or initial value, etc. This embodiment does not limit the name of the specified value.

[0198] In one possible implementation, the second communication device may send information to the first communication device indicating that the fourth value is the first value, and the first communication device receives the information indicating that the fourth value is the first value. Alternatively, the second communication device may send information to the first communication device indicating that the fourth value is a specified value, and the first communication device receives the information indicating that the fourth value is a specified value. The information indicating that the fourth value is the first value or a specified value may be carried in the same message as the first information, or it may be carried in two different messages.

[0199] Table 5 exemplifies a possible example of information indicating a fourth value as a first value and information indicating a fourth value as a specified value. For example, a second communication device sends a message (which may or may not be the aforementioned first message) including a second field. Referring to Table 5, when the second field is 0, it indicates that the fourth value is a specified value. This can also be understood as the first communication device not needing to accumulate changes in the false alarm probability values ​​previously indicated by the second communication device. When the second field is 1, it indicates that the fourth value is the first value, or that the fourth value is the current (or present) false alarm probability value. This can also be understood as the first communication device needing to accumulate changes in the false alarm probability values ​​previously indicated by the second communication device.

[0200] Table 5

[0201] In this embodiment, the first communication device can determine the false alarm probability indicated by the first information based on the information in the first information used to indicate the false alarm probability, as well as other information (e.g., a false alarm probability value (e.g., the first sensing parameter is a false alarm probability, and this value is the fourth value)). In this scheme, the information in the first information used to indicate the false alarm probability occupies fewer bits, thereby saving resource overhead.

[0202] Example C4: The first piece of information includes information on the change in the false alarm probability.

[0203] The first information includes information indicating the amount of change in the false alarm probability. The first information, which indicates the amount of change in the false alarm probability, is used to adjust the currently used false alarm probability. The amount by which the first communication device increases or decreases the false alarm probability can be a specified value, such as a change of e. -1 The specified false alarm probability can be preset, pre-configured, or indicated by other devices.

[0204] For example, the first information may include a first field. This first field indicates information used to indicate changes in the false alarm probability, as shown in Table 6, which uses the false alarm probability as an example for the first sensing parameter. Table 6 illustrates an example where the first field occupies 2 bits.

[0205] Taking the second row of Table 6 as an example, if the value of the first field is 00, then the first field indicates that the false alarm probability meets the requirements, and the first communication device determines that the currently used false alarm probability is 1e. -8 If this parameter remains unchanged, then the false alarm probability of the second information indication is determined to be 1e. -8 .

[0206] Taking the third row of Table 6 as an example, if the value of the first field is 01, then the first field indicates an increase in the false alarm probability, and the first communication device determines that the currently used false alarm probability is 1e. -8 This increases the false alarm probability, for example, by increasing e once. -1 The false alarm probability of the second information indication is determined to be 1e. -7 The content of the other lines is similar and will not be described in detail.

[0207] Table 6

[0208] In this embodiment, the first communication device can determine the false alarm probability indicated by the first information based on the information in the first information used to indicate the false alarm probability. In this scheme, the information in the first information used to indicate the false alarm probability occupies fewer bits, thereby saving resource overhead.

[0209] Example C5: The first piece of information includes the value of the false alarm probability.

[0210] The set of parameter values ​​corresponding to the false alarm probability includes {1e} -7 ,1e -8 ,1e -9 ,1e -10 As shown in Table 7, the first sensing parameter is used as an example to illustrate the false alarm probability. Table 7 uses the first field occupying 2 bits as an example. Taking the second row of Table 7 as an example, if the value of the first field is 00, then the value of the first field indicating the false alarm probability is 1e. -7The first communication device will 1e -7 The value of the false alarm probability is indicated by the first field (for example, if the first sensing parameter is the false alarm probability, this value is the second value). The contents of the other rows are similar and will not be described again.

[0211] Table 7

[0212] In this scheme, the first communication device can directly determine the second value from the first information without the help of other corresponding relationships. This scheme is relatively simple, easy to implement, and can reduce the working complexity of the first communication device.

[0213] In implementation method D, the first information indicates the value of the detection threshold. The detection threshold can be the aforementioned constant false alarm rate (CFAR) detection threshold or the sensing detection threshold.

[0214] In one possible implementation, the second communication device can indicate a detection threshold value to the first communication device based on the current scenario. For example, it can indicate the largest or second largest value in the set of parameter values ​​corresponding to the detection threshold through the first information, or it can indicate the smallest or second smallest value in the set of parameter values ​​corresponding to the detection threshold through the first information. In another possible implementation, the second communication device can determine whether the detection threshold value currently used by the first communication device meets the requirements. The second communication device can instruct the first communication device through the first information to adjust (increase or decrease) or not adjust the currently used detection threshold value. For example, when the first sensing parameter is the detection threshold, the first value is the detection threshold value currently used by the first communication device, and the second value is the detection threshold value indicated by the second communication device through the first information.

[0215] In some scenarios, the second communication device may want the first communication device to use a slightly lower detection threshold value. This would increase the likelihood that the first communication device will identify a target within the detection area, thereby reducing the probability of missed detections. For example, in vehicle-assisted driving scenarios, the second communication device aims to detect as many objects in the surrounding environment as possible to minimize missed detections, thus better assisting the user's driving and improving driving safety. In such scenarios, when the detection threshold value is low (e.g., less than a preset value), the second communication device can instruct the first communication device to increase the detection threshold value via the first information. Subsequently, the first communication device obtains the perception result based on the increased detection threshold value, which is more suitable for the use of vehicle-assisted driving scenarios.

[0216] In some scenarios, the second communication device may want the first communication device to use a slightly higher detection threshold. This increases the threshold, reducing the likelihood that the first communication device will identify a target within the detection area, thus improving the detection accuracy of areas where a target is identified. In other words, when the first communication device determines that a target exists in an area, that area is highly likely to contain a target, leading to more accurate target identification. When the energy in some areas is below the detection threshold, the first communication device classifies them as not containing a target, thus avoiding misidentifying areas without targets as containing them, thereby improving accuracy. For example, in map-making scenarios, it's necessary to image larger objects in the surrounding environment (e.g., buildings). The second communication device wants to detect as many larger objects as possible while omitting smaller ones to create a clearer map that better suits user habits. In this scenario, when the detection threshold is large (e.g., greater than a preset value), the second communication device can instruct the first communication device to lower the detection threshold using the first information. Subsequently, the first communication device obtains the perception result based on the reduced detection threshold value, which can better match the use of the map drawing scenario.

[0217] To reduce overhead by minimizing the number of bits used to indicate the detection threshold, the first communication device can acquire a set of parameter values ​​corresponding to the detection threshold. For example, the set of parameter values ​​corresponding to the detection threshold might include {0, 5, 10, 15, 20, 25, 30, 35}. Based on the first information, the first communication device can retrieve the value of the detection threshold indicated by the first information from this set of parameter values. This approach reduces resource overhead.

[0218] The following examples, D1, D2, D3, D4, and D5, exemplify several ways in which the first information indicates a detection threshold. In Example D1, the first information includes an index of the detection threshold. In Example D2, the first information includes information indicating the amount of change in the index corresponding to the detection threshold, based on which the first communication device determines the value of the detection threshold. In Example D3, the first information includes information indicating the magnitude relationship between two values ​​of the detection threshold, based on which the first communication device determines the value of the detection threshold. In Example D4, the first information includes information indicating a change in the detection threshold, based on which the currently (or existing) detection threshold is adjusted. In Example D5, the first information includes the value of the detection threshold.

[0219] Example D1: The first piece of information includes the index of the detection threshold.

[0220] For example, the set of parameter values ​​corresponding to the detection threshold includes {0, 5, 10, 15, 20, 25, 30, 35}. These elements include indices. The first communication device can obtain the correspondence between the indices and each element in the parameter value set, and then, based on this correspondence, look up the index in the first information, and then regard the element corresponding to that index as the value of the detection threshold indicated by the first information.

[0221] For example, the indices of the elements in this set are X001, X002, X003, X004, X005, X006, X007, and X008, respectively. For example, the first information may include a third field. This third field can be used to indicate the index of the detection threshold, as shown in Table 8. Table 8 uses a 3-bit third field as an example. Taking the second row of Table 8 as an example, if the value of the third field is 000, then the index of the detection threshold indicated by the third field is X001. The first communication device looks up the correspondence between index X001 and the detection threshold, and sets the 0 corresponding to X001 as the value of the detection threshold indicated by the third field. The contents of other rows are similar and will not be described again.

[0222] Table 8

[0223] For example, the elements in the set may have a sorting relationship, such as sorting from smallest to largest or from largest to smallest, or the elements may be sorted according to a certain sorting relationship when stored in the memory of the first communication device. In this embodiment, the index of each element can be the sorting of these elements in the set, or the sequence number. For example, the index of the first element in the parameter value set corresponding to the detection threshold is the sorting of the first element (i.e., first), or the index of the first element in the parameter value set corresponding to the detection threshold is the sequence number of the first element (i.e., first); for example, the index of the second element in the parameter value set corresponding to the detection threshold is the sorting of the second element (i.e., second), or the index of the second element in the parameter value set corresponding to the detection threshold is the sequence number of the second element (i.e., second); and so on. For example, the first information may include a third field. This third field can be used to indicate the index of the detection threshold, as shown in Table 9. Table 9 shows an example where the third field occupies 3 bits. Taking the second row of Table 9 as an example, if the value carried by the third field is 000, then the index of the detection threshold indicated by the third field is first. The first communication device searches for the first value in the set of parameter values ​​corresponding to the detection threshold, and uses the first value, 0, as the detection threshold value indicated by the third field. The contents of the other lines are similar and will not be described in detail.

[0224] Table 9

[0225] In this embodiment, the first communication device can determine the value of the detection threshold indicated by the first information based on the information in the first information used to indicate the detection threshold and other information (such as the index of the parameter value in the set of parameter values ​​for the detection threshold). In this scheme, the information in the first information used to indicate the detection threshold occupies fewer bits, thereby saving resource overhead.

[0226] Example D2: The first information includes information indicating the amount of change in the index corresponding to the detection threshold, and the first communication device can determine the value of the detection threshold based on the amount of change in the index.

[0227] For example, the set of parameter values ​​corresponding to the detection threshold includes {0, 5, 10, 15, 20, 25, 30, 35}. These elements include indices. For example, the indices of each element in this set are X001, X002, X003, X004, X005, X006, X007, and X008, respectively. For example, the first information may include a third field. This third field can be used to indicate the amount of change in the index corresponding to the detection threshold, as shown in Table 10. Table 10 shows an example where the third field occupies 2 bits.

[0228] Taking the second row of Table 10 as an example, if the value of the third field is 00, then the change in the index corresponding to the detection threshold indicated by the third field is minus 1. The first communication device determines the index of the current (or present) detection threshold value (e.g., the detection threshold value used to determine the first sensing result; for example, if the first sensing parameter is the detection threshold, this value is the first value). For example, if the current detection threshold value is 5, the corresponding index is index X002. Therefore, the first communication device subtracts one from X002 to obtain index X001. The first communication device looks up the correspondence between the index and the detection threshold, and takes the 0 corresponding to X001 as the value of the detection threshold indicated by the third field (e.g., if the first sensing parameter is the detection threshold, this value is the second value).

[0229] Taking the third row of Table 10 as an example, if the value of the third field is 01, then the index corresponding to the detection threshold indicated by the third field remains unchanged. The first communication device determines the index of the current (or current) detection threshold value (e.g., the detection threshold value used to determine the first sensing result; for example, if the first sensing parameter is the detection threshold, this value is the first value). For example, if the current detection threshold value is 5, the corresponding index is index X002. Therefore, the first communication device uses 5, corresponding to X002, as the value of the detection threshold indicated by the third field (e.g., if the first sensing parameter is the detection threshold, this value is the second value). The contents of other rows are similar and will not be described again.

[0230] Table 10

[0231] In this embodiment, the first communication device can determine the value of the detection threshold indicated by the first information based on the information in the first information used to indicate the detection threshold and other information (such as the index of the parameter value in the set of parameter values ​​for the detection threshold). In this scheme, the information in the first information used to indicate the detection threshold occupies fewer bits, thereby saving resource overhead.

[0232] Example D3: The first information includes information indicating the magnitude relationship between two values ​​for a detection threshold, and the first communication device determines the value of the detection threshold based on this magnitude relationship.

[0233] For example, the set of parameter values ​​corresponding to the detection threshold includes {0, 5, 10, 15, 20, 25, 30, 35}. These elements have a size relationship. For example, the first information may include a third field. The size relationship between the two values ​​of the detection threshold indicated by this third field is shown in Table 11, which uses the first sensing parameter as an example to illustrate the detection threshold. Table 11 shows an example where the third field occupies 2 bits.

[0234] Taking the second row of Table 11 as an example, if the value of the third field is 00, then the third field indicates that the second value is the minimum value among at least one value greater than the fourth value in the set of parameter values ​​for the detection threshold. For example, if the fourth value is 5, the first communication device determines that the second value is 10, and the first communication device uses 10 as the value of the detection threshold indicated by the third field. The contents of the other rows are similar and will not be described again.

[0235] Table 11

[0236] In this embodiment, the fourth value can be the first value of the first sensing parameter or a specified value. The relevant content of the fourth value is described in the aforementioned example C3, the difference being that: in example D3, the first sensing parameter is a detection threshold, while in example C3, the first sensing parameter is a false alarm threshold; other content is similar and will not be repeated. For example, the second communication device sends a message (this message can be the aforementioned first message, or it can be something other than the first message), which includes a fourth field. Taking Table 12 as an example, when the fourth field is 0, it indicates that the fourth value is a specified value. In example D3, this method can also be understood as the first communication device not needing to accumulate the changes in the detection threshold previously indicated by the second communication device. When the fourth field is 1, it indicates that the fourth value is the first value, or that the fourth value is the current (or present) detection threshold value; this method can also be understood as the first communication device needing to accumulate the changes in the detection threshold previously indicated by the second communication device.

[0237] Table 12

[0238] In this embodiment, the first communication device can determine the value of the detection threshold indicated by the first information based on the information in the first information used to indicate the detection threshold and other information (e.g., the value of a detection threshold (e.g., the first sensing parameter is the detection threshold, and this value is the fourth value)). In this scheme, the number of bits occupied by the information in the first information used to indicate the detection threshold is small, thereby saving resource overhead.

[0239] Example D4: The first piece of information includes information about the amount of change in the detection threshold.

[0240] The first information includes information indicating the amount of change in the detection threshold. Based on this information, the first information adjusts the currently (or existing) detection threshold. The amount by which the first communication device increases or decreases the detection threshold at one time can be a specified value, such as a change of 2 at a time. This specified detection threshold can be preset, pre-configured, or indicated by other devices.

[0241] For example, the first information may include a third field. This third field indicates information used to indicate changes in the detection threshold, as shown in Table 13, which uses the first sensing parameter as the detection threshold as an example. Table 13 illustrates an example where the third field occupies 2 bits.

[0242] Taking the second row of Table 13 as an example, if the value of the third field is 00, then the third field indicates that the detection threshold meets the requirements. If the first communication device determines that the currently used detection threshold is 10, then the parameter is kept unchanged, that is, the detection threshold indicated by the second information is determined to be 10.

[0243] Taking the third row of Table 13 as an example, if the value of the third field is 01, then the third field indicates that the detection threshold should be increased. If the first communication device determines that the currently used detection threshold is 10, then the detection threshold should be increased, for example, by 2. The detection threshold indicated by the second information should then be determined to be 12. The contents of the other rows are similar and will not be described in detail.

[0244] Table 13

[0245] In this embodiment, the first communication device can determine the value of the detection threshold indicated by the first information based on the information in the first information used to indicate the detection threshold. In this scheme, the information in the first information used to indicate the detection threshold occupies fewer bits, thereby saving resource overhead.

[0246] Example D5: The first piece of information includes the value of the detection threshold.

[0247] The set of parameter values ​​corresponding to the detection threshold includes {0, 5, 10, 15, 20, 25, 30, 35}. As shown in Table 14, Table 14 uses the first sensing parameter as the detection threshold as an example. Table 14 also illustrates an example where the third field occupies 3 bits. Taking the second row of Table 14 as an example, if the value carried by the third field is 0000, then the value of the third field indicating the detection threshold is 0. The first communication device uses 0 as the value of the detection threshold indicated by the third field (for example, if the first sensing parameter is the detection threshold, this value is the second value). The contents of other rows are similar and will not be repeated.

[0248] Table 14

[0249] In this scheme, the first communication device can directly determine the second value from the first information without the help of other corresponding relationships. This scheme is relatively simple, easy to implement, and can reduce the working complexity of the first communication device.

[0250] In implementation method E, the first information indicates the value of the point density of the point cloud data.

[0251] In one possible implementation, the second communication device can indicate a point density value to the first communication device based on the current scene. For example, it can indicate the largest or second largest value in the set of parameter values ​​corresponding to the point density, or the smallest or second smallest value in the set of parameter values ​​corresponding to the point density, through the first information. In another possible implementation, the first communication device sends a first sensing result to the second communication device, which can exist in the form of a point cloud. The point density corresponding to the first sensing result affects the sensing performance (e.g., accuracy, resolution, etc.). The second communication device can determine whether the point density value currently used by the first communication device meets the requirements. The second communication device can instruct the first communication device to adjust (increase or decrease) or not adjust the currently used point density value through the first information. For example, when the first sensing parameter is point density, the first value is the point density value currently used by the first communication device, and the second value is the point density value indicated by the second communication device through the first information.

[0252] In some scenarios, the second communication device may want the first communication device to use a slightly higher dot density value. A higher dot density means more units will be identified as having a target. The first communication device can increase the dot density by lowering the detection threshold and / or increasing the false alarm probability. This increases the likelihood that the first communication device will identify a target within the detection area, thus reducing the probability of missed detections. For example, in a stationary object detection scenario, if the first communication device obtains a first perception result with a dot density of 10 dots per cubic meter, and the second communication device, after obtaining the first perception result, determines that the dot density is still insufficient and needs to be further increased, the second communication device can instruct the first communication device to increase the dot density value via the first information. For example, in a vehicle-assisted driving scenario, the second communication device wants to detect as many objects in the surrounding environment as possible to minimize missed detections, thereby better assisting the user's driving and improving driving safety. In this scenario, when the dot density value is low (e.g., less than a preset value), the second communication device can instruct the first communication device to increase the dot density value via the first information. Subsequently, the first communication device obtains the perception results based on the increased point density value, which can better match the use of vehicle assisted driving scenarios.

[0253] In some scenarios, the second communication device may want the first communication device to use a slightly lower point density value. A lower point density means fewer units will be identified as having a target. The first communication device can increase the point density by raising the detection threshold and / or reducing the false alarm probability. This raises the corresponding detection threshold, reducing the likelihood that the first communication device will classify a region as having a target, thus improving the detection accuracy of regions identified as having targets. In other words, when the first communication device determines that a target exists in a region, that region is highly likely to have a target, resulting in more accurate target identification. When the energy of some regions is less than the detection threshold, the first communication device classifies them as not having targets, thus avoiding the identification of non-target regions as having targets, thereby improving recognition accuracy. For example, in map-making scenarios, it is necessary to image larger objects in the surrounding environment (such as buildings). The second communication device wants to detect as many larger objects as possible while omitting smaller objects to create a clearer map that better suits user habits. In this scenario, when the point density value is large (e.g., greater than a preset value), the second communication device can instruct the first communication device to reduce the point density value using the first information. Subsequently, the first communication device obtains a perception result based on the reduced point density value, which is more suitable for the use of map drawing scenarios.

[0254] The first information can carry point density information, and the first communication device can determine the point density indicated by the first signal from the first information. This scheme allows the first communication device to obtain the point density value without relying on other correspondences, thus reducing the operational complexity of the first communication device.

[0255] To reduce the number of bits used to indicate the value of the point density and decrease overhead, the first communication device can acquire a set of parameter values ​​corresponding to the point density. For example, the set of parameter values ​​corresponding to the point density includes {0, 5, 10, 15, 20, 25, 30, 35}. Based on the first information, the first communication device can find the value of the point density indicated by the first information from this set of parameter values. This scheme can reduce resource overhead.

[0256] For example, the first information includes an index of the point density value. As another example, the first information includes information indicating the amount of change in the index corresponding to the point density, based on which the first communication device can determine the point density value. As another example, the first information includes information indicating the magnitude relationship between two point density values, based on which the first communication device determines the point density value. As another example, the first information includes information indicating a change in point density, based on which the currently used point density is adjusted. As yet another example, the first information includes a point density value, for example, the first information includes information indicating a point density value of 10 points / cubic meter.

[0257] For example, the first information includes information indicating the amount of change in point density. The first information, based on this information, adjusts the currently (or existing) point density. The amount by which the first communication device increases or decreases the point density at one time can be a specified value, such as a change of 2 points / cubic meter at a time. This specified point density can be preset, pre-configured, or indicated by other devices.

[0258] For example, the first information may include a fifth field. This fifth field indicates information used to indicate changes in point density, as shown in Table 15, which uses point density as an example for the first sensing parameter. Table 15 illustrates an example where the fifth field occupies 2 bits.

[0259] Taking the second row of Table 15 as an example, if the value of the fifth field is 00, then the point density indicated by the fifth field meets the requirements. If the first communication device determines that the current point density is 10 points / cubic meter, then the parameter is kept unchanged, that is, the point density indicated by the second information is determined to be 10 points / cubic meter.

[0260] Taking the third row of Table 15 as an example, if the value of the fifth field is 01, then the fifth field indicates an increase in point density. If the first communication device determines that the currently used point density is 10 points / cubic meter, then it increases the point density, for example, by 2 points / cubic meter (the specified point density). The second information indicates that the point density is 12 points / cubic meter. The contents of other rows are similar and will not be described in detail.

[0261] Table 15

[0262] Other relevant examples of the density of the first information indicator points can be found in the aforementioned implementation methods C and D, and will not be repeated here.

[0263] The tables involved in the embodiments of this application, such as Table 1, Table 2, Table 3, Table 4, Table 5, Table 7, etc., are merely examples. More rows may be added or removed from these tables, or the content of the tables may change, and the meaning of the values ​​of the fields in the tables may also change. The embodiments of this application are not limited to these.

[0264] The second communication device can obtain a first value of a first sensing parameter currently used by the first communication device. The second communication device can send first information based on the first value of the first sensing parameter currently used by the first communication device. There are multiple ways for the second communication device to obtain the first value, such as obtaining it through step 504, or it can be a preset value, a pre-configured value, or it can be inferred from the value of the first sensing parameter used by other communication devices.

[0265] The second communication device may also choose not to acquire the first value (for example, step 504 may not be executed). The second communication device does not need to know (or need not consider) the first value of the first sensing parameter currently used by the first communication device during the transmission of the first information. For example, the second communication device may determine the second value of the first sensing parameter based on the current usage scenario, and then indicate the second value of the first sensing parameter to the first communication device through the first information.

[0266] There are various ways to implement the second communication device sending the first information. For example, in the example of implementation F1 below, the second communication device sends the first information when the first condition is met. Another example is in implementation F2 below, where the second communication device does not need to consider whether the first condition is met when sending the first information; the first information can be sent even if the first condition is not met.

[0267] In implementation F1, the second communication device sends first information when the first condition is met.

[0268] The first condition includes, for example, at least one of the following:

[0269] The second value is less than the first value;

[0270] The second value is less than the first value, and the difference between the second value and the first value is greater than the first threshold.

[0271] The second value is greater than the first value;

[0272] The second value is greater than the first value, and the difference between the second value and the first value is greater than the first threshold.

[0273] In this embodiment, the second value can be regarded as the value that the second communication device needs the first sensing parameter to reach. When the second communication device determines that the first value of the first sensing parameter currently used by the first communication device cannot meet the requirements of the second communication device, that is, the first value and the second value meet the above-mentioned first condition, the second communication device sends a first message to instruct the first communication device to adjust the value of the first sensing parameter so that the value of the sensing parameter corresponding to the subsequent sensing result meets the requirements of the second communication device.

[0274] In another possible implementation, the second communication device does not send the first information if the first condition is not met. The failure to meet the first condition can be considered as the first value of the first sensing parameter currently used by the first communication device meeting the requirements of the second communication device. In this case, the first communication device does not need to adjust the value of the first sensing parameter, and the second communication device may also avoid sending signaling to instruct the first communication device to adjust the value of the first sensing parameter, thereby reducing signaling overhead.

[0275] In implementation method F2, the second communication device sends the first information. It is not necessary to consider whether the first condition is met.

[0276] The second communication device sends first information. The relationship between the second value indicated by the first information and the first value may satisfy a first condition. Alternatively, the second value may not satisfy the first condition: for example, the second value is equal to the first value, or the difference between the second value and the first value is less than or equal to a first threshold.

[0277] In this implementation, the second communication device may instruct the first communication device to adjust the value of the first sensing parameter (e.g., the first value and the second value are not equal) via the first information, or it may instruct the first communication device not to adjust the value of the first sensing parameter (e.g., the first value and the second value are equal) via the first information.

[0278] In one possible implementation, when the second communication device can instruct the first communication device to adjust the value of the first sensing parameter (e.g., the first value is not equal to the second value) through the first information, the first communication device adjusts the value of the first sensing parameter based on the first information.

[0279] In another possible implementation, when the second communication device can instruct the first communication device to adjust the value of the first sensing parameter via the first information (e.g., the first value and the second value are not equal), the first communication device can determine the relationship between the second value and the first value, and determine whether to adjust the value of the first sensing parameter based on the determination result. For example, if the first condition is not met, the first communication device may not adjust the value of the first sensing parameter, thus avoiding the first communication device adjusting the value of the first sensing parameter too frequently, thereby saving the power consumption of the first communication device.

[0280] In this embodiment, when the second communication device is a network device, such as a base station, the information sent by the second communication device (e.g., the first information) can be carried in RRC signaling or DCI signaling. For example, the information sent by the second communication device (e.g., the first information) can be carried in RRC signaling, with the CU in the second communication device sending information (e.g., the first information) to the DU, then the DU sending information (e.g., the first information) to the RU, and finally the RU sending information (e.g., the first information) to the first communication device. Alternatively, the information sent by the second communication device (e.g., the first information) can be carried in DCI signaling, with the DU sending information (e.g., the first information) to the RU, and finally the RU sending information (e.g., the first information) to the first communication device.

[0281] Step 506: The fourth communication device sends the first signal.

[0282] The first communication device receives the first echo signal. The first echo signal may be the echo signal of the first signal.

[0283] The first signal is used for sensing and can be a sensing signal, such as a reference signal. For example, the fourth communication device can transmit the first signal in one beam direction; the first signal first reaches the sensing target via wireless transmission, and then is reflected by the sensing target to reach the first communication device, i.e., the first communication device can receive the first echo signal (i.e., the echo signal of the first signal), as shown in steps 506a and 506b in Figure 5. In one possible example, step 506 may include steps 506a and 506b in Figure 5.

[0284] The first signal, the echo signal of the first signal (e.g., the first echo signal), the fourth communication device, and the first communication device are described in the foregoing and will not be repeated here.

[0285] Step 507: The first communication device determines the second sensing result based on the first information and the first echo signal.

[0286] The first information can be used to indicate the value of at least one of N sensing parameters, wherein the first sensing parameter belongs to one of the at least one sensing parameters indicated by the first information. For an introduction to the sensing parameters, please refer to the foregoing description, which will not be repeated here. Step 507 can also be replaced by: the first communication device determining the second sensing result based on the value (e.g., a second value) of the at least one sensing parameter indicated by the first information and the first echo signal.

[0287] The second sensing result may be determined based on the value of at least one of the N sensing parameters indicated by the first information. For example, the second sensing result may be determined based on a second value of the first sensing parameter. It can also be understood that the first communication device uses a second value (or a value close to the second value) for the first sensing parameter during the sensing processing of the first echo signal.

[0288] For example, if the first sensing parameter is the false alarm probability, the first communication device sets the false alarm probability to a second value, and then performs sensing processing on the first echo signal (e.g., the aforementioned step 502 and the related sensing processing process described in Figure 6), thereby obtaining the second sensing result. Alternatively, if the first sensing parameter is a detection threshold, the first communication device sets the detection threshold to a second value, and then performs sensing processing on the first echo signal (e.g., the aforementioned step 502 and the related sensing processing process described in Figure 6), thereby obtaining the second sensing result.

[0289] For example, if the first sensing parameter is point density, the first communication device can adjust the point density by adjusting the false alarm probability and / or the detection threshold to achieve a second value. Then, it performs sensing processing on the first echo signal (e.g., the aforementioned step 502 and the related sensing processing process described in Figure 6) to obtain the second sensing result. For example, the first communication device can increase the point density by increasing the false alarm probability and / or decreasing the detection threshold. Conversely, the first communication device can decrease the point density by decreasing the false alarm probability and / or increasing the detection threshold. The adjusted point density value of the first communication device may be the same as the point density value indicated by the first information, or it may be different but similar (e.g., the difference between the two values ​​is less than the point density threshold).

[0290] In another possible implementation, if the value of the first sensing parameter indicated by the first information does not need to be changed (or the second value of the first sensing parameter indicated by the first information is equal to the first value of the first sensing parameter currently used by the first communication device), then the first communication device may not adjust the value of the first sensing parameter.

[0291] In another possible implementation, if the value of the first sensing parameter indicated by the first information needs to be changed (or the second value of the first sensing parameter indicated by the first information is not equal to the first value of the first sensing parameter currently used by the first communication device), then the first communication device can adjust the value of the first sensing parameter.

[0292] In another possible implementation, if the value of the first sensing parameter indicated by the first information needs to be changed (or the second value of the first sensing parameter indicated by the first information is not equal to the first value of the first sensing parameter currently used by the first communication device), the first communication device can determine whether the difference between the second value and the first value is significant (e.g., whether it is greater than a fifth threshold). If it is greater than the fifth threshold, the first communication device adjusts the value of the first sensing parameter to the second value; if it is less than the fifth threshold, the first communication device can continue to perform sensing processing with the value of the first sensing parameter as the first value without adjusting the value to the second value. This avoids the first communication device adjusting the value of the first parameter too frequently, thereby saving power consumption.

[0293] Step 508: The first communication device sends the second sensing result.

[0294] Correspondingly, the second communication device receives the second sensing result.

[0295] Step 508 may or may not be executed. For example, the first communication device may periodically or non-periodically send the sensing results to the second communication device. Alternatively, the first communication device may not send the first sensing results and may use them on its own. The first communication device may also send the first sensing results to other communication devices (devices other than the second communication device). When the first communication device sends the second sensing results to the second communication device, the second communication device can obtain the required information based on the second sensing results. In another possible implementation, the second communication device may also receive sensing results sent by multiple communication devices, and then perform sensing based on more sensing results, thereby improving the sensing performance.

[0296] Step 509: The first communication device sends the third information.

[0297] Correspondingly, the second communication device receives third information. The third information indicates that the value of the first sensing parameter corresponding to the second sensing result is the second value.

[0298] The third information can be used to indicate the value of the sensing parameter corresponding to the second sensing result. Alternatively, the third information can be used to indicate the value of at least one of the N sensing parameters used in obtaining the second sensing result. For example, the third information indicates the second value of the first sensing parameter.

[0299] The second perception result and the third information can be carried in one message, or they can be carried in two separate messages. Alternatively, in one possible implementation, the third information can be part of the second perception result information.

[0300] Step 509 can also be omitted, meaning the first communication device does not need to report the third information. Figure 5 illustrates the execution of step 509 as an example. When step 509 is not executed, step 509 may not be included in Figure 5.

[0301] Step 509 may or may not be executed. Upon receiving the third information, the second communication device may continue to determine whether the value of the sensing parameter corresponding to the second sensing result meets the requirements based on the third information. If it does not meet the requirements, it may continue to issue instructions to instruct the first communication device to continue adjusting the value of the sensing parameter. The relevant scheme is similar to the scheme provided in the embodiments of this application and will not be described again.

[0302] In the embodiment shown in Figure 5, the second communication device indicates the value of the sensing parameter to the first communication device so that the sensing result obtained by the first communication device is more in line with the requirements, thereby improving the system's sensing performance.

[0303] It is understood that, in order to achieve the functions in the above embodiments, the first communication device and the second communication device may include hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and method steps of the various examples described in conjunction with the embodiments disclosed in this application, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0304] Based on the same concept, Figures 7 and 8 are schematic diagrams of possible communication devices provided in embodiments of this application. These communication devices can be used to implement the functions of the first communication device in the above method embodiments, and thus can also achieve the beneficial effects of the above method embodiments. In the embodiments of this application, the communication device may be the terminal device shown in Figure 4 above, a chip (system) inside the terminal device, a network device, or a chip (system) inside a network device.

[0305] As shown in Figure 7, the communication device 1300 includes a processing unit 1310 and a transceiver unit 1320. The communication device 1300 is used to implement the functions of the first or second communication device in the method embodiment shown in Figure 5 above. The transceiver unit 1320 can also be referred to as a communication unit. The transceiver unit 1320 may include a sending unit and a receiving unit.

[0306] When the communication device 1300 is used to implement the function of the first communication device in the method embodiment shown in FIG5, in one possible implementation, the receiving unit is used to receive first information. The processing unit 1310 is used to determine a second sensing result based on a second value and the received first echo signal.

[0307] When the communication device 1300 is used to implement the function of the first communication device in the method embodiment shown in FIG5, in one possible implementation, the transmitting unit is used to transmit the first sensing result.

[0308] When the communication device 1300 is used to implement the function of the first communication device in the method embodiment shown in FIG5, in one possible implementation, the receiving unit is used to receive information indicating that the fourth value is the first value; or, to receive information indicating that the fourth value is a specified value.

[0309] When the communication device 1300 is used to implement the function of the first communication device in the method embodiment shown in FIG5, in one possible implementation, the receiving unit is used to receive the second echo signal. The processing unit 1310 is used to determine the first sensing result based on the first value and the second echo signal.

[0310] When the communication device 1300 is used to implement the function of the first communication device in the method embodiment shown in FIG5, in one possible implementation, the sending unit is used to send second information.

[0311] When the communication device 1300 is used to implement the function of the first communication device in the method embodiment shown in FIG5, in one possible implementation, the receiving unit is used to receive the first echo signal.

[0312] When the communication device 1300 is used to implement the function of the first communication device in the method embodiment shown in FIG5, in one possible implementation, the transmitting unit is used to transmit the second sensing result.

[0313] When the communication device 1300 is used to implement the function of the second communication device in the method embodiment shown in FIG5, in one possible implementation, the sending unit is used to send first information.

[0314] When the communication device 1300 is used to implement the function of the second communication device in the method embodiment shown in FIG5, in one possible implementation, the receiving unit is used to receive the first sensing result.

[0315] When the communication device 1300 is used to implement the function of the second communication device in the method embodiment shown in FIG5, in one possible implementation, the sending unit is used to send information indicating that the fourth value is the first value; or, to send information indicating that the fourth value is a specified value.

[0316] When the communication device 1300 is used to implement the function of the second communication device in the method embodiment shown in FIG5, in one possible implementation, the receiving unit is used to receive the second information.

[0317] When the communication device 1300 is used to implement the function of the second communication device in the method embodiment shown in FIG5, in one possible implementation, the receiving unit is used to receive the second sensing result.

[0318] For a more detailed description of the processing unit 1310 and the transceiver unit 1320, please refer to the relevant description in the method embodiment shown in FIG5.

[0319] As shown in Figure 8, the communication device 1400 includes a processor 1410. Optionally, the communication device 1400 also includes an interface circuit 1420. The processor 1410 and the interface circuit 1420 are coupled to each other. It is understood that the interface circuit 1420 can be a transceiver or an input / output interface. The transceiver includes a transmitter and a receiver; the transmitter can be used to send information, and the receiver can be used to receive information. Other functions can be implemented by the processor. The input / output interface is used to input and / or output information; output can be understood as sending, and input can be understood as receiving. Other functions can be implemented by the processor. Optionally, the communication device 1400 may also include a memory 1430 for storing instructions executed by the processor 1410, or storing input data required by the processor 1410 to execute instructions, or storing data generated after the processor 1410 executes instructions.

[0320] When the communication device 1400 is used to implement the method shown in FIG5, the processor 1410 is used to implement the function of the processing unit 1310, and the interface circuit 1420 is used to implement the function of the transceiver unit 1320.

[0321] When the aforementioned communication device is a chip applied to a terminal, the terminal chip implements the functions of the terminal device in the above method embodiments. The terminal chip receives information from the base station, which can be understood as the information being first received by other modules in the terminal (such as an RF module or antenna), and then sent to the terminal chip by these modules. The terminal chip sends information to the base station, which can be understood as the information being first sent to other modules in the terminal (such as an RF module or antenna), and then sent to the base station by these modules.

[0322] When the aforementioned communication device is a chip applied to a base station, the base station chip implements the functions of the network device in the above method embodiments. The base station chip receives information from the terminal, which can be understood as the information being first received by other modules in the base station (such as an RF module or antenna), and then sent to the base station chip by these modules. The base station chip sends information to the terminal, which can be understood as the information being sent down to other modules in the base station (such as an RF module or antenna), and then sent to the terminal by these modules.

[0323] In this application, entity A sends information to entity B, either directly or indirectly through other entities. Similarly, entity B receives information from entity A, either directly or indirectly through other entities. Entities A and B can be RAN nodes or terminals, or modules within RAN nodes or terminals. Information transmission and reception can be between RAN nodes and terminals, such as between a base station and a terminal; between two RAN nodes, such as between a CU and a DU; or between different modules within a single device, such as between a terminal chip and other modules of the terminal, or between a base station chip and other modules of the base station.

[0324] It is understood that the processor in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor can be a microprocessor or any conventional processor.

[0325] The method steps in the embodiments of this application can be implemented in hardware or in software instructions executable by a processor. The software instructions can consist of corresponding software modules, which can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disks, portable hard disks, compact disc read-only memory (CD-ROM), or any other form of storage medium well known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. The storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Alternatively, the ASIC can reside in a base station or terminal. The processor and storage medium can also exist as discrete components in a base station or terminal.

[0326] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented, in whole or in part, as a computer program product. A computer program product includes one or more computer programs or instructions. When a computer program or instruction is loaded and executed on a computer, all or part of the processes or functions of the embodiments of this application are performed. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, a computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video optical disc; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both types of storage media.

[0327] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0328] In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. In the textual description of this application, the character " / " generally indicates an "or" relationship between the preceding and following related objects; in the formulas of this application, the character " / " indicates a "division" relationship between the preceding and following related objects. "Including at least one of A, B, and C" can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B, and C.

[0329] It is understood that the various numbers involved in the embodiments of this application (such as the numerical numbers "first" and "second", and the letter numbers "A1, A2", "B1, B2", "C1, C2", etc.) are only for the convenience of description and are not intended to limit the scope of the embodiments of this application. The order of the above-mentioned process numbers does not imply the order of execution; the execution order of each process should be determined by its function and internal logic.

Claims

1. A communication method, characterized in that, The method includes: Send a first perception result, which is determined based on a first value of a first perception parameter; Receive first information, the first information being used to indicate a second value of the first sensing parameter; Based on the second value and the received first echo signal, the second sensing result is determined.

2. The method as described in claim 1, characterized in that, The first sensing parameter is one of the following: False alarm probability; Constant false alarm rate (CFAR) detection threshold; Point density of point cloud data; Resolution; Perception detection threshold.

3. The method according to any one of claims 1-2, characterized in that, The second value is one of the parameter values ​​in the set corresponding to the first sensing parameter.

4. The method according to any one of claims 1-3, characterized in that, The first information indicates the second value through one of the following: The index in the set of parameter values ​​corresponding to the first sensing parameter; The amount of change in the index of the set of parameter values ​​corresponding to the first sensing parameter; The amount of change in the parameter value corresponding to the first sensing parameter; The relationship between the second value and the fourth value, wherein the fourth value is the first value or a specified value.

5. The method as described in claim 4, characterized in that, The method further includes: Receive information indicating that the fourth value is the first value; or, Receive information indicating that the fourth value is the specified value.

6. The method according to any one of claims 1-5, characterized in that, The second value satisfies the first condition, which includes one of the following: The second value is less than the first value; The second value is greater than the first value.

7. The method as described in claim 6, characterized in that, The first condition also includes: The difference between the second value and the first value is greater than the first threshold.

8. The method according to any one of claims 1-5, characterized in that, The second value is equal to the first value; or the difference between the second value and the first value is less than or equal to the first threshold.

9. The method according to any one of claims 1-5, characterized in that, The method further includes: Send a second message, which indicates the first value of the first sensing parameter.

10. The method according to any one of claims 1-9, characterized in that, The method further includes: Send the second sensing result.

11. A communication method, characterized in that, The method includes: Receive a first perception result, which is determined based on a first value of a first perception parameter; Send a first message, which indicates a second value of the first sensing parameter, and the second value is combined with the echo signal to determine the sensing result.

12. The method as described in claim 11, characterized in that, The first sensing parameter is one of the following: False alarm probability; Constant false alarm rate (CFAR) detection threshold; Point density of point cloud data; Resolution; Perception detection threshold.

13. The method according to any one of claims 11-12, characterized in that, The second value is one of the parameter values ​​in the set corresponding to the first sensing parameter.

14. The method according to any one of claims 12-13, characterized in that, The first information indicates the second value through one of the following: The index in the set of parameter values ​​corresponding to the first sensing parameter; The amount of change in the index of the set of parameter values ​​corresponding to the first sensing parameter; The amount of change in the parameter value corresponding to the first sensing parameter; The relationship between the second value and the fourth value, wherein the fourth value is the first value or a specified value.

15. The method as described in claim 14, characterized in that, The method further includes: Send information indicating that the fourth value is the first value; or, Send information indicating that the fourth value is the specified value.

16. The method according to any one of claims 11-15, characterized in that, The second value satisfies the first condition, which includes one of the following: The second value is less than the first value; The second value is greater than the first value.

17. The method as described in claim 16, characterized in that, The first condition also includes: The difference between the second value and the first value is greater than the first threshold.

18. The method as described in claim 16 or 17, characterized in that, The sending of the first information includes: If the second value satisfies the first condition, the first information is sent.

19. The method according to any one of claims 11-15, characterized in that, The second value is equal to the first value; or the difference between the second value and the first value is less than or equal to the first threshold.

20. The method according to any one of claims 11-19, characterized in that, The method further includes: Receive second information, which indicates the first value of the first sensing parameter.

21. The method according to any one of claims 11-20, characterized in that, The method further includes: Receive the second sensing result.

22. A communication device, characterized in that, It includes modules for performing the method as described in any one of claims 1 to 10, or modules for performing the method as described in any one of claims 11 to 21.

23. A communication device, characterized in that, Includes a processor that implements the method as claimed in any one of claims 1 to 10, or the method as claimed in any one of claims 11 to 21, by means of logic circuits or by executing computer programs or instructions.

24. A computer-readable storage medium, characterized in that, The storage medium stores a computer program or instructions, which, when executed by a communication device, implement the method as described in any one of claims 1 to 10, or the method as described in any one of claims 11 to 21.

25. A computer program product, characterized in that, The computer program product stores a computer program, the computer program including program instructions, which, when executed by a computer, cause the method as described in any one of claims 1 to 10, or the method as described in any one of claims 11 to 21, to be implemented.

26. A chip or chip system, characterized in that, The chip or chip system includes at least one processor and one or more interface circuits, the interface circuits and the at least one processor being interconnected via lines, the processor executing instructions to perform the method according to any one of claims 1 to 10, or the method according to any one of claims 11 to 21.

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