Signal processing method and apparatus, and device

Abstract

Provided in the present disclosure are a signal processing method and apparatus, and a device. The method comprises: a plurality of second nodes sending sensing signals to a target object on the basis of configured signal transmission parameters; and the target node obtaining a velocity measurement parameter for the target object on the basis of an echo signal, so as to obtain the velocity of the target object, wherein the signal transmission parameters are used for instructing each second node to send the same sensing signal on the same time / frequency resource. By means of the present solution, a sensing signal with a higher signal-to-noise ratio can be obtained, thereby improving the sensing performance, improving the precision of sensing of the velocity of a target object, and meeting the requirements of high-precision and long-distance velocity measurement services.

Description

Signal processing method, device and equipment

[0001] The present disclosure claims priority to a Chinese patent application No. 202410532247.1, filed on April 29, 2024, entitled "Signal processing method, device and equipment", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present disclosure relates to the field of communication technology, and in particular to a signal processing method, device and equipment. BACKGROUND

[0003] With the continuous development of communication technology, higher frequency bands, wider bandwidths and larger-scale antenna arrays make high-precision and high-resolution sensing possible, and Integrated Sensing and Communication (ISAC) has emerged as the times require. In the Integrated Sensing and Communication technology, the entire communication network can be used as a huge sensor, and by using techniques such as radio signal transmission, multipath transmission, reflection and scattering, high-precision positioning, gesture capture, motion recognition, passive object detection and tracking, imaging and environment reconstruction, and other new services can be provided.

[0004] In related technologies, for the application of Integrated Sensing and Communication technology, single-base sensing or double-base sensing is often used to sense the speed of a target object. However, due to the limited sensing distance and sensing accuracy of the current single-base sensing and double-base sensing, there is a case that the moving speed of the target object cannot be accurately sensed, so that it is difficult to meet the speed measurement requirements of the target object. SUMMARY

[0005] The present disclosure provides a sensing signal processing method, device and equipment to solve the technical problem that the speed of a target object cannot be accurately sensed by using single-base sensing or double-base sensing.

[0006] In a first aspect, the present disclosure provides a signal processing method applied to a first node, the signal processing method comprising: obtaining a first sensing signal; obtaining a speed measurement parameter based on the first sensing signal, or forwarding the first sensing signal to a target node;

[0007] or, obtaining a first sensing signal; obtaining a speed measurement parameter based on the first sensing signal; forwarding the first sensing signal to a target node;

[0008] Wherein, the first sensing signal comprises a plurality of second sensing signals respectively transmitted by a plurality of second nodes based on configured signal transmission parameters, the target node is a third node and / or other signal receiving node, and the first sensing signal is used by the target node to obtain the speed measurement parameter.

[0009] In some embodiments, the first node and the second node are the same communication device.

[0010] In some embodiments, the velocity measurement parameter comprises at least one of a moving speed of the target object and a Doppler shift of the target object; the velocity measurement parameter is obtained based on the first sensing signal, comprising: obtaining the moving speed and / or the Doppler shift corresponding to the first sensing signal according to the first sensing signal; obtaining adjustment information corresponding to the first node; obtaining the moving speed of the target object based on the adjustment information and the moving speed corresponding to the first sensing signal, and / or obtaining the Doppler shift of the target object based on the adjustment information and the Doppler shift corresponding to the first sensing signal.

[0011] In some embodiments, the adjustment information corresponding to the first node is obtained in at least one of the following manners: obtaining the adjustment information based on the signal transmission parameter sent by the third node; obtaining a first velocity measurement parameter of the second node, obtaining the adjustment information according to the first velocity measurement parameter, the first velocity measurement parameter being obtained when the second node senses the target object; obtaining a sensing signal obtained when the second node senses the target object, obtaining a first velocity measurement parameter of the target object according to the sensing signal, and obtaining the adjustment information according to the first velocity measurement parameter.

[0012] In some embodiments, the signal transmission parameter comprises at least one of: transceiver mode information of the first node; the transceiver mode information is used to indicate at least one of: the first node as a signal receiving node receiving the first sensing signal, the first node as a target node for obtaining the velocity measurement parameter, and the first node as a signal sending node sending the second sensing signal.

[0013] In some embodiments, the transceiver mode information further comprises a receiving mode of the first node; the receiving mode is used to indicate at least one of: the first node obtaining the velocity measurement parameter according to the first sensing signal received by itself, the first node obtaining the velocity measurement parameter according to the first sensing signal received by itself and the first sensing signal forwarded by other signal receiving nodes, and the first node forwarding the received first sensing signal to the target node.

[0014] In some embodiments, the transceiver mode information further comprises a sending mode of the first node, and the sending mode comprises the adjustment information; the signal processing method provided by the embodiments of the present disclosure further comprises: adjusting the second sensing signal based on the adjustment information; and sending the adjusted second sensing signal.

[0015] In some embodiments, the adjustment of the second sensing signal based on the adjustment information comprises: obtaining an adjustment factor corresponding to each orthogonal frequency division multiplexing, OFDM, symbol of the second sensing signal based on the adjustment information; and adjusting the signal transmitted on the frequency domain resource of each OFDM symbol in the second sensing signal based on the adjustment factor corresponding to each OFDM symbol to obtain the adjusted second sensing signal.

[0016] In some embodiments, the first sensing signal is obtained by at least one of the following:

[0017] receiving the first sensing signal forwarded by the other signal receiving node;

[0018] receiving a back echo signal of the second sensing signal sent by the second node;

[0019] receiving a back echo signal of the second sensing signal sent by the first node.

[0020] In some embodiments, the signal transmission parameter further comprises at least one of the following: time domain resource information, frequency domain resource information, one or more scrambling code parameters, SCS, CP type, frequency point information.

[0021] In a second aspect, the present disclosure provides a signal processing method applied to a second node, the signal processing method comprising: receiving a signal transmission parameter; and sending a second sensing signal based on the signal transmission parameter.

[0022] The second sensing signal is contained in the first sensing signal, the first sensing signal is used for the target node to obtain a speed measurement parameter, the target node is the first node and / or the third node, and the number of the second nodes is greater than or equal to 2.

[0023] In some embodiments, the first node and the second node are the same communication device.

[0024] In some embodiments, the sending of the second sensing signal based on the signal transmission parameter comprises: obtaining adjustment information corresponding to the second sensing signal; adjusting the second sensing signal based on the adjustment information; and sending the adjusted second sensing signal based on the signal transmission parameter.

[0025] In some embodiments, the adjustment information corresponding to the second sensing signal is obtained by at least one of the following: obtaining the adjustment information based on the signal transmission parameter sent by the third node; obtaining a first speed measurement parameter of the target object by the other second node, and obtaining the adjustment information based on the first speed measurement parameter, the first speed measurement parameter being obtained by the other second node when sensing the target object; obtaining a sensing signal obtained by the other second node when sensing the target object, obtaining a first speed measurement parameter of the target object based on the sensing signal, and obtaining the adjustment information based on the first speed measurement parameter.

[0026] In some embodiments, the adjustment of the second sensing signal based on the adjustment information comprises: obtaining an adjustment factor corresponding to each orthogonal frequency division multiplexing, OFDM, symbol of the second sensing signal based on the adjustment information; and adjusting a signal transmitted on a frequency domain resource of each OFDM symbol in the second sensing signal based on the adjustment factor corresponding to each OFDM symbol, to obtain an adjusted second sensing signal.

[0027] In some embodiments, the signal transmission parameter at least comprises transceiving mode information of the second node; the transceiving mode information is used to indicate at least one of the following: the second node as a signal sending node for sending a sensing signal, the second node as a target node for obtaining a speed measurement parameter, the second node as a signal receiving node for receiving a sensing signal, and a sending mode of the second node, wherein the sending mode comprises adjustment information of the second node.

[0028] In a third aspect, the present disclosure provides a signal processing method applied to a third node, the signal processing method comprising: configuring a signal transmission parameter for a first node and a plurality of second nodes; receiving a speed measurement parameter sent by the first node or a first sensing signal forwarded by the first node;

[0029] or, receiving the speed measurement parameter sent by the first node and the first sensing signal forwarded by the first node;

[0030] The first sensing signal is used for the third node to obtain the speed measurement parameter, and the first sensing signal comprises a backwave signal of a second sensing signal, and the second sensing signal is sent by the second node based on the configured signal transmission parameter.

[0031] In some embodiments, the signal transmission parameter for the first node and the second node comprises: determining a signal transmission group in response to a speed measurement requirement, the signal transmission group comprising the first node and a plurality of second nodes; and sending the signal transmission parameter to the first node and the second node based on a sensing requirement.

[0032] In some embodiments, the signal transmission parameter at least comprises adjustment information corresponding to the second node, and the second node is used to adjust the second sensing signal based on the adjustment information.

[0033] The signal processing method provided by the embodiments of the present disclosure further comprises: obtaining a first speed measurement parameter of the plurality of second nodes, and obtaining adjustment information corresponding to each second node according to the first speed measurement parameter, wherein the first speed measurement parameter is obtained when the second node senses a target object; and / or obtaining a sensing signal obtained when the plurality of second nodes sense the target object, obtaining a first speed measurement parameter of the target object according to the sensing signal, and obtaining adjustment information corresponding to each second node according to the first speed measurement parameter.

[0034] In a fourth aspect, the present disclosure provides a signal processing system comprising: a first node, a plurality of second nodes, and a third node;

[0035] The third node is configured to configure a signal transmission parameter for the first node and the plurality of second nodes.

[0036] The second node is configured to send a second sensing signal based on the signal transmission parameter.

[0037] The first node is configured to obtain a speed measurement parameter based on the first sensing signal and / or forward the first sensing signal to a target node; wherein the first sensing signal comprises an echo signal of the second sensing signal, and the first sensing signal is used by the target node to obtain the speed measurement parameter, and the target node is the third node and / or another signal receiving node.

[0038] In a fifth aspect, the present disclosure provides a signal processing apparatus applied to a first node, and the signal processing apparatus comprises:

[0039] The obtaining module is configured to obtain a first sensing signal, and the first sensing signal comprises second sensing signals respectively transmitted by a plurality of second nodes based on configured signal transmission parameters;

[0040] The processing module or the sending module is configured to obtain a speed measurement parameter based on the first sensing signal, and the sending module is configured to forward the first sensing signal to a target node;

[0041] Or, the signal processing apparatus comprises:

[0042] The obtaining module is configured to obtain a first sensing signal;

[0043] The processing module is configured to obtain a speed measurement parameter based on the first sensing signal;

[0044] The sending module is configured to forward the first sensing signal to a target node;

[0045] The first sensing signal comprises second sensing signals respectively transmitted by a plurality of second nodes based on configured signal transmission parameters, the target node is a third node and / or another signal receiving node, and the first sensing signal is used by the target node to obtain the speed measurement parameter.

[0046] In a sixth aspect, the present disclosure provides a signal processing apparatus applied to a second node, and the signal processing apparatus comprises:

[0047] The sending module is configured to send a second sensing signal based on the signal transmission parameter;

[0048] The second sensing signal is contained in a first sensing signal, the first sensing signal is used by a target node to obtain a speed measurement parameter, the target node is a first node and / or a third node, and the number of the second nodes is greater than or equal to 2.

[0049] In a seventh aspect, the present disclosure provides a signal processing apparatus applied to a third node, and the signal processing apparatus comprises:

[0050] The configuration module is configured to configure signal transmission parameters for a first node and a plurality of second nodes;

[0051] receive the speed measurement parameter sent by the first node, or receive the first sensing signal forwarded by the first node;

[0052] receive the speed measurement parameter sent by the first node and the first sensing signal forwarded by the first node;

[0053] The first sensing signal is used for the third node to obtain the speed measurement parameter, and the first sensing signal comprises an echo signal of the second sensing signal, and the second sensing signal is sent by the second node based on the configured signal transmission parameter.

[0054] In an eighth aspect, the present disclosure provides a sensing device, the sensing device being a first node; the sensing device comprising: a memory configured to store a computer program;

[0055] a transceiver configured to transceive data under control of the processor;

[0056] a processor configured to read the computer program in the memory and perform the following operations:

[0057] obtain a first sensing signal; based on the first sensing signal, obtain a speed measurement parameter, or forward the first sensing signal to a target node;

[0058] obtain a first sensing signal; based on the first sensing signal, obtain a speed measurement parameter; forward the first sensing signal to a target node;

[0059] The first sensing signal comprises second sensing signals respectively sent by a plurality of second nodes based on configured signal transmission parameters, the target node is a third node and / or another signal receiving node, and the first sensing signal is used for the target node to obtain the speed measurement parameter.

[0060] In some embodiments, the first node and the second node are the same communication device.

[0061] In some embodiments, the speed measurement parameter comprises at least one of a moving speed of a target object and a Doppler shift of the target object; based on the first sensing signal, obtaining the speed measurement parameter comprises: obtaining the moving speed and / or the Doppler shift corresponding to the first sensing signal according to the first sensing signal; obtaining adjustment information corresponding to the first node; based on the adjustment information and the moving speed corresponding to the first sensing signal, obtaining the moving speed of the target object, and / or based on the adjustment information and the Doppler shift corresponding to the first sensing signal, obtaining the Doppler shift of the target object.

[0062] In some embodiments, the adjustment information corresponding to the first node is obtained by at least one of the following manners: obtaining the adjustment information based on the signal transmission parameter sent by the third node; obtaining the first speed measurement parameter of the second node, and obtaining the adjustment information based on the first speed measurement parameter, the first speed measurement parameter being obtained when the second node senses the target object; obtaining a sensing signal obtained when the second node senses the target object, obtaining the first speed measurement parameter of the target object based on the sensing signal, and obtaining the adjustment information based on the first speed measurement parameter.

[0063] In some embodiments, the signal transmission parameter comprises at least the following: the transceiving mode information of the first node.

[0064] The transceiving mode information is used to indicate at least one of the following: the first node as a signal receiving node receiving the first sensing signal, the first node as a target node for obtaining the speed measurement parameter, and the first node as a signal sending node sending the second sensing signal.

[0065] In some embodiments, the transceiving mode information further comprises a receiving mode of the first node, and the receiving mode is used to indicate at least one of the following: the first node obtaining the speed measurement parameter based on the first sensing signal received by itself, the first node obtaining the speed measurement parameter based on the first sensing signal received by itself and the first sensing signal forwarded by other signal receiving nodes, and the first node forwarding the first sensing signal received to the target node.

[0066] In some embodiments, the transceiving mode information further comprises a sending mode of the first node, and the sending mode comprises the adjustment information; the processor is further configured to adjust the second sensing signal based on the adjustment information, and send the adjusted second sensing signal.

[0067] In some embodiments, the adjustment of the second sensing signal based on the adjustment information comprises: obtaining an adjustment factor corresponding to each orthogonal frequency division multiplexing (OFDM) symbol of the second sensing signal based on the adjustment information; and adjusting the signal transmitted on the frequency domain resource of each OFDM symbol of the second sensing signal based on the adjustment factor corresponding to each OFDM symbol, to obtain the adjusted second sensing signal.

[0068] In some embodiments, the first sensing signal is obtained by at least one of the following manners:

[0069] receiving the first sensing signal forwarded by other signal receiving nodes;

[0070] receiving the echo signal of the second sensing signal sent by the second node;

[0071] receiving the echo signal of the second sensing signal sent by the first node.

[0072] In some embodiments, the signal transmission parameter further comprises at least one of: time domain resource information, frequency domain resource information, one or more scrambling code parameters, SCS, CP type, frequency point information.

[0073] In a ninth aspect, the present disclosure provides a sensing device, the sensing device being a second node; the sensing device comprising: a memory, configured to store a computer program;

[0074] a transceiver, configured to transceive data under control of the processor;

[0075] the processor, configured to read the computer program in the memory and perform the following operations: receiving a signal transmission parameter; and transmitting a second sensing signal based on the signal transmission parameter.

[0076] The second sensing signal is contained in the first sensing signal, and the first sensing signal is used for the target node to obtain a speed measurement parameter, the target node being the first node and / or the third node, and the number of the second nodes being greater than or equal to 2.

[0077] In some embodiments, the first node and the second node are the same communication device.

[0078] In some embodiments, transmitting the second sensing signal based on the signal transmission parameter comprises: obtaining adjustment information corresponding to the second sensing signal; adjusting the second sensing signal based on the adjustment information; and transmitting the adjusted second sensing signal based on the signal transmission parameter.

[0079] In some embodiments, obtaining the adjustment information corresponding to the second sensing signal comprises at least one of: obtaining the adjustment information based on the signal transmission parameter transmitted by the third node; obtaining a first speed measurement parameter of the target object by another second node, and obtaining the adjustment information based on the first speed measurement parameter, the first speed measurement parameter being obtained by the other second node when sensing the target object; obtaining a sensing signal obtained by the other second node when sensing the target object, obtaining a first speed measurement parameter of the target object based on the sensing signal, and obtaining the adjustment information based on the first speed measurement parameter.

[0080] In some embodiments, adjusting the second sensing signal based on the adjustment information comprises: obtaining an adjustment factor corresponding to each orthogonal frequency division multiplexing (OFDM) symbol of the second sensing signal based on the adjustment information; and adjusting a signal transmitted on a frequency domain resource of each OFDM symbol in the second sensing signal based on the adjustment factor corresponding to each OFDM symbol, to obtain the adjusted second sensing signal.

[0081] In some embodiments, the signal transmission parameter at least includes transceiving mode information of the second node; the transceiving mode information is used to indicate at least one of the following: the second node as a signal sending node for sending a sensing signal, the second node as a target node for obtaining a speed measurement parameter, the second node as a signal receiving node for receiving a sensing signal, and a sending mode of the second node, the sending mode including adjustment information of the second node.

[0082] In a tenth aspect, the present disclosure provides a sensing device, the sensing device being a third node; the sensing device comprising: a memory for storing a computer program;

[0083] a transceiver for transceiving data under control of the processor;

[0084] a processor for reading the computer program in the memory and performing the following operations: configuring a signal transmission parameter for a first node and a plurality of second nodes; receiving a speed measurement parameter sent by the first node or a first sensing signal forwarded by the first node;

[0085] or, receiving the speed measurement parameter sent by the first node and the first sensing signal forwarded by the first node;

[0086] wherein the first sensing signal is used for the third node to obtain the speed measurement parameter, the first sensing signal includes an echo signal of a second sensing signal, and the second sensing signal is sent by the second node based on the configured signal transmission parameter.

[0087] In some embodiments, the signal transmission parameter for the first node and the second node includes: in response to a speed measurement requirement, determining a signal transmission group, the signal transmission group including the first node and a plurality of second nodes; and based on a sensing requirement, sending the signal transmission parameter to the first node and the second node.

[0088] In some embodiments, the signal transmission parameter at least includes adjustment information corresponding to the second node, and the second node is used to adjust the second sensing signal based on the adjustment information; the processor is further configured to: obtain a first speed measurement parameter of the plurality of second nodes, obtain the adjustment information corresponding to each second node according to the first speed measurement parameter, and the first speed measurement parameter is obtained when the second node senses a target object; and / or, obtain a sensing signal obtained when the plurality of second nodes sense the target object, obtain the first speed measurement parameter of the target object according to the sensing signal, and obtain the adjustment information corresponding to each second node according to the first speed measurement parameter.

[0089] In an eleventh aspect, the present disclosure provides a processor-readable storage medium, the processor-readable storage medium storing a computer program, the computer program being used to make the processor perform the signal processing method provided in any one or more of the first aspect, the second aspect, and the third aspect.

[0090] In a twelfth aspect, the present disclosure provides a computer program product, comprising a computer program which, when executed by a processor, implements the signal processing method provided in any one or more of the first aspect, the second aspect, and the third aspect.

[0091] In a signal processing method, apparatus, and device provided by the present disclosure, a plurality of second nodes transmit a sensing signal to a target object based on configured signal transmission parameters, and a first node obtains a velocity measurement parameter for the target object based on a return signal. The signal transmission parameters are configured to indicate that each second node transmits the same sensing signal on the same time / frequency resource. Through this solution, the signal-to-noise ratio of the sensing signal can be improved, and thus the sensing accuracy of the object can be improved, thereby meeting the demand of high-precision and long-distance velocity measurement services.

[0092] It should be understood that the content described in the foregoing summary section is not intended to define key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0093] In order to more clearly illustrate the technical solutions in the present disclosure or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art without creative labor.

[0094] FIG. 1 is a schematic diagram of single-base sensing and double-base sensing according to an embodiment of the present disclosure;

[0095] FIG. 2(a) is a schematic diagram of single-base sensing of object velocity according to an embodiment of the present disclosure;

[0096] FIG. 2(b) is a schematic diagram of double-base sensing of object velocity according to an embodiment of the present disclosure;

[0097] FIG. 3 is a schematic diagram of a scenario of a signal processing method according to an embodiment of the present disclosure;

[0098] FIG. 4(a) is a schematic diagram of signaling interaction of a signal processing method according to an embodiment of the present disclosure;

[0099] FIG. 4(b) is a schematic diagram of frequency domain data of a sensing signal according to an embodiment of the present disclosure;

[0100] FIG. 4(c) is a schematic diagram of a principle of a signal processing method according to an embodiment of the present disclosure;

[0101] FIG. 5(a) is a schematic diagram of a principle of a signal processing method according to an embodiment of the present disclosure;

[0102] Fig. 5(b) is a schematic diagram of a signal processing method according to an embodiment of the present disclosure;

[0103] Fig. 6(a) is a schematic diagram of adjusting a perception signal according to an embodiment of the present disclosure;

[0104] Fig. 6(b) is a schematic diagram of adjusting a perception signal according to an embodiment of the present disclosure;

[0105] Fig. 7 is a schematic diagram of a signal processing apparatus according to an embodiment of the present disclosure;

[0106] Fig. 8 is a schematic diagram of a signal processing apparatus according to an embodiment of the present disclosure;

[0107] Fig. 9 is a schematic diagram of a signal processing apparatus according to an embodiment of the present disclosure;

[0108] Fig. 10 is a schematic diagram of a first node according to an embodiment of the present disclosure;

[0109] Fig. 11 is a schematic diagram of a second node according to an embodiment of the present disclosure;

[0110] Fig. 12 is a schematic diagram of a third node according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0111] In the present disclosure, the term "and / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that there are three cases of A alone, A and B together, and B alone. The character " / " generally represents an "or" relationship between the associated objects. In the embodiments of the present disclosure, the term "multiple" means two or more, and other quantifiers are similar.

[0112] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present disclosure.

[0113] With the continuous development of communication technology, higher frequency bands, wider bandwidths, and larger antenna arrays make high-precision and high-resolution sensing possible, and Integrated Sensing and Communication (ISAC) has emerged as the times require. In the communication sensing integration technology, the entire communication network can be used as a giant sensor to provide high-precision positioning, gesture capture, motion recognition, passive object detection and tracking, imaging, and environmental reconstruction, and other extensive new services by using techniques such as radio signal transmission, multipath transmission, reflection, and scattering.

[0114] The basic idea of ISAC is to introduce wireless sensing functions in wireless mobile communication. Wireless sensing refers to sensing information about the environment through wireless signals, where the environmental information includes the distribution, size, quantity, temperature of the objects in the environment, the actions of people, and even the breathing rate and heart rate of people. The principle of wireless sensing is to transmit radio signals to the environment that needs to be sensed, and at the same time collect the radio signals that have undergone multipath transmission such as reflection and scattering at the receiving end.

[0115] It should be noted that since the collected wireless signals are involved in the environment, these wireless signals carry information about the environment. After receiving the signals, complex signal processing can be performed to discover the characteristics of the environment and reconstruct the sensed environment, including identifying people and objects in the environment, detecting temperature, detecting the frequency of human action, breathing, and heart rate, and the like. Thus, the communication sensing integration can be widely applied to personnel health detection and security fields.

[0116] In related technologies, wireless sensing is generally divided into monostatic sensing and bistatic sensing. Monostatic sensing refers to a device that both actively transmits sensing signals as a transmitting node and receives sensing signals reflected by a target object as a receiving node. In practical applications, monostatic sensing includes base station monostatic sensing and terminal monostatic sensing.

[0117] Please refer to FIG. 1, which is a schematic diagram of the principle of monostatic sensing and bistatic sensing provided by an embodiment of the present disclosure. Wherein, (a) and (b) are schematic diagrams of the principle of monostatic sensing. As shown in (a) and (b), the node of monostatic sensing can be a terminal or a base station.

[0118] Similarly, the double-base sensing refers to that a sensing signal is actively sent by a sending node, the sensing signal passes through a wireless channel, and the sensing signal is received by a receiving node. Figures (c)-(g) in FIG. 1 are schematic diagrams of principles of the double-base sensing. As shown in the figures, the double-base sensing includes the following cases: terminal (UE)-terminal (UE), base station (gNB)-base station (gNB), terminal (UE)-base station (gNB), base station (gNB)-terminal (UE), and the like.

[0119] The sensing of the object can be used to sense a parameter such as a speed of the target object. Next, a method for sensing the speed of the target object is briefly described in combination with FIG. 2(a) and FIG. 2(b).

[0120] Referring to FIG. 2(a), FIG. 2(a) is a schematic diagram of principles of single-base sensing of the speed of an object according to an embodiment of the present disclosure. As shown in FIG. 2(a), an angle between a speed direction of a target object and a transmission and receiving point (TRP) is taken as an example to illustrate an angle a1.

[0121] In the time domain, the speed Doppler shift causes a change in the phase, and the change amount changes with time. The expression is as follows:

[0122] wherein A1 is a channel coefficient, f c is a frequency of sending the sensing signal, and c0 is the speed of light.

[0123] It should be noted that the speed v 测 measured by the single-base sensing is related to the actual speed v of the target object as follows: v 测 = v*cos(a1).

[0124] Referring to FIG. 2(b), FIG. 2(b) is a schematic diagram of principles of double-base sensing of the speed of an object according to an embodiment of the present disclosure. As shown in FIG. 2(b), a1 is an angle between a direction in which a signal sending node points to a target object and a moving direction of the target object; and a2 is an angle between a direction in which a signal receiving node points to the target object and the moving direction of the target object.

[0125] In the time domain, the speed Doppler shift causes a change in the phase, and the change amount changes with time. The expression is as follows:

[0126] wherein A1 and A2 are channel coefficients of TRP1 and TRP2 to the target object, f c is a frequency of sending the sensing signal, and c0 is the speed of light.

[0127] It should be noted that the speed v 测 measured by the double-base sensing is related to the actual speed v of the target object as follows: v测 = v*cos(a1) + v*cos(a2); or,

[0128] wherein β is the angle between the angle bisector and the velocity direction of the target object, and the angle bisector refers to the angle bisector between the directions of the perception signals sent by TRP1 and TRP2.

[0129] The inventors have found that, when a base station or a terminal performs a perception task, the perception accuracy, such as the velocity estimation accuracy, is generally required. Generally, the velocity estimation accuracy in wireless perception is usually described by the root mean square error (σ) of the velocity. On the one hand, the velocity estimation accuracy depends on the wireless perception waveform and the antenna parameters (signal time width, bandwidth, and beam width, etc.); on the other hand, the velocity estimation accuracy also depends on the signal-to-noise ratio of the echo signal.

[0130] In some embodiments, the calculation formula of the velocity estimation accuracy is as follows:

[0131] wherein C is the speed of light, f is the carrier, T0 is the OFDM symbol duration, SNR is the signal-to-noise ratio of the received signal, N sym is the number of OFDM symbols used for velocity evaluation. As can be seen from the formula, the velocity estimation accuracy is related to the carrier, and is also related to the signal-to-noise ratio (SNR) of the received signal.

[0132] In some embodiments, the greater the value of the signal-to-noise ratio, the higher the velocity estimation accuracy. As can be seen, under the condition of a certain bandwidth, in order to improve the velocity estimation accuracy, the transmission power P of the perception signal needs to be increased. However, in the current perception technology, the transmission power P of the perception signal is limited by the maximum power of the signal transmission node, and when the power is increased to the maximum value of the signal transmission node, it is not possible to increase the SNR.

[0133] On the one hand, for long-distance perception requirements (such as for the perception of low-altitude unmanned aerial vehicles), the maximum detection speed of the existing single-base or double-base technology is 300 meters (under the condition of using the maximum bandwidth and the maximum transmission power), and if it is desired to perceive an object at a height of 400 meters, in the related art, it is only possible to increase the height of the base station (for example, to erect a base station with a height of 100 meters), or to erect the base station at a high place. However, this kind of deployment is difficult.

[0134] On the other hand, for perception scenarios with high accuracy requirements, for example, in the perception scenario of the automated guided vehicle (AGV) commonly used in intelligent factories, the velocity perception accuracy requirement is relatively high for safety considerations, such as a perception accuracy of 0.02 meters / second, which requires a higher SNR.

[0135] Therefore, the embodiments of the present disclosure provide a signal processing method, device and equipment, a plurality of second nodes are provided, which are configured to send a sensing signal to a target object based on a configured signal transmission parameter. Correspondingly, the first node calculates a speed measurement parameter for the target object based on the sensing signal reflected by the target object.

[0136] The signal transmission parameter is used to indicate the sending time / frequency resource of the sensing signal sent by the plurality of second nodes, and the parameter for generating the sensing signal, so that the plurality of second nodes send the sensing signal at a predetermined time / frequency, so as to obtain a sensing signal with a higher signal-to-noise ratio, thereby improving the sensing performance and improving the sensing accuracy of the speed of the target object, and meeting the demand of high-precision and long-distance speed measurement service. It should be noted that the predetermined time / frequency is preferably the same time / frequency.

[0137] In actual application, the first node and the second node described above can be nodes in the same TRP, wherein the TRP is usually a node on the base station side. In the present disclosure, the TRP can be a terminal or a base station, or a road side unit (RSU). The terminal device, for example, refers to a device that provides voice and / or data connectivity to a user, a handheld device with wireless connection function, or other processing devices connected to a wireless modem, etc.

[0138] The name used for the terminal can also be different in different systems. For example, in a 5G system, the terminal can be referred to as a user equipment (UE), and the terminal can also be a wireless terminal. The wireless terminal can communicate with one or more core networks (CNs) via a radio access network (RAN). The wireless terminal can be a mobile terminal, such as a mobile telephone (also known as a "cellular" telephone) and a computer with a mobile termination, for example, which can be a portable, pocket, handheld, computer-embedded, or vehicle-mounted mobile device that exchanges voice and / or data with a radio access network. For example, personal communication service (PCS) phones, cordless phones, session initiated protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), and the like. The wireless terminal can also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile, a remote station, an access point, a remote terminal, an access terminal, a user terminal, a user agent, a user device, and the like, and is not limited in the embodiments of the present disclosure.

[0139] The technical solution provided by the embodiment of the present disclosure can be applied to various systems, especially 5G systems. For example, the applicable systems can be global system of mobile communication (GSM) systems, code division multiple access (CDMA) systems, wideband code division multiple access (WCDMA) general packet radio service (GPRS) systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, long term evolution advanced (LTE-A) systems, universal mobile systems (UMTS), worldwide interoperability for microwave access (WiMAX) systems, 5G new radio (NR) systems, and the like. The various systems include terminals and network devices. The system also includes a core network part, such as an evolved packet system (EPS), a 5G system (5GS), and the like.

[0140] In addition, it should be noted that the different nodes can be nodes in the same communication device, for example, the first node and the second node can be nodes in the same TRP, that is, the first node is a receiving device of the TRP and the second node is a sending device of the TRP.

[0141] Please refer to FIG. 3, which is a scene schematic diagram of a signal processing method provided by an embodiment of the present disclosure. As shown in FIG. 3, the scene includes a first node, a second node, and a target object.

[0142] It should be noted that the specific number of the first node and the second node is not particularly limited in the embodiment of the present disclosure, and preferably, the number of the first node is greater than or equal to 1, and the number of the second node is greater than or equal to 2.

[0143] Example 1, the (a) diagram in FIG. 3 illustrates an example in which one first node TPR1 and two second nodes (TPR1 and TPR2) are included (TPR1 is both a first node and a second node, or in other words, the first node and the second node are both nodes in TPR1).

[0144] Example 2, the (b) diagram in FIG. 3 illustrates an example in which two second nodes (TPR2 and TPR3) and one first node (TPR1) are included.

[0145] It should be noted that the TPR in the above-mentioned scenario diagrams is illustrated by taking a base station as an example, but in actual application, it is not limited thereto, for example, the TPR can also be a terminal, a server (for example, a server that does not include a wireless transceiver device, and related data / information is transmitted through a wired transmission), and the like. In addition, the number of nodes in the above-mentioned scenarios is also illustrated by way of example, and more TPRs can be included as first nodes and second nodes in each scenario, and each TPR performs the scheme when it is a first node or a second node, which is the same as the scheme corresponding to each node in the embodiments of the present disclosure.

[0146] For example 1, in the scenario illustrated in the (a) diagram in FIG. 3, TPR1 and TPR2 are second nodes, and respectively send a second sensing signal s1(t) to the target object. Correspondingly, after the target object receives the second sensing signal s1(t), a reflected sensing signal (which can also be referred to as a second sensing signal echo signal) is generated, and the signal is received by the first node as r trp(t) .

[0147] In some embodiments, the second sensing signal s1(t) sent by TPR1 as a second node to the target object, after passing through the target object, the signal received by TRP1 is:

[0148] The second sensing signal s1(t) sent by TPR2 as a second node to the target object, after passing through the target object, the signal received by TRP1 is:

[0149] Wherein, τ1 is the time delay (for short, time delay) from TRP1 to the target object, A1 is the channel parameter (not including time delay) from TRP1 to the target object. τ2 is the time delay from TRP2 to the target object, A2 is the channel parameter (not including time delay) from TRP2 to the target object, α1 is the angle between the direction in which TRP1 points to the target object and the moving direction of the target object; α2 is the angle between the direction in which TRP2 points to the target object and the moving direction of the target object.

[0150] In summary, if α1=α2, the first sensing signal received by TRP1 after passing through the target object is:

[0151] It should be noted that, according to the principle of orthogonal frequency-division multiplexing (OFDM), if the multipath time delay difference of two signals is less than the length of the cyclic prefix (CP), that is, the absolute value of (τ2-τ1) is less than CP, after energy normalization, the signal energy received by TRP1 is: |A2| 2 +|A1A2| 2 In summary, through the above scheme, signal gain can be obtained, and when two TRPs participate in sensing, about 3dB gain is expected.

[0152] It should be noted that the target object can be any object in the environment (such as a pedestrian or a drone), and in the embodiments of the present disclosure, the target object in FIG. 3 is illustrated by taking UVA as an example, but is not limited thereto. In addition, in actual applications, other devices can also be included in the above-mentioned scenario, such as wireless repeater devices and wireless backhaul devices.

[0153] It should be noted that the method and device provided by the embodiments of the present disclosure are based on the same application concept, and since the principles of the methods and devices for solving problems are similar, the implementation of the device and the method can be mutually referred to, and the repeated parts will not be described again.

[0154] The technical solutions of the embodiments of the present disclosure and how the technical solutions of the present disclosure solve the above technical problems will be described in detail below with specific embodiments. The following several embodiments in some embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments.

[0155] Embodiment one

[0156] Please refer to FIG. 4(a), which is a signaling interaction diagram of a signal processing method provided by an embodiment of the present disclosure. As shown in the figure, the signal processing method includes the following steps:

[0157] S401, the third node configures signal transmission parameters for the first node and the second node.

[0158] It should be noted that the specific types of the first node, the second node and the third node are not particularly limited in the embodiments of the present disclosure.

[0159] For example, when the third node is a sensing server and a base station, the first node and the second node can be a base station or a terminal; when the third node is a UE (or a specific UE), the first node and the second node are a UE.

[0160] It should be noted that the purpose of configuring the signal transmission parameter for the second node is to coordinate the second node for sending the sensing signal, so that the second node can send the predetermined sensing signal on the predetermined time and / or frequency resource, thereby ensuring that the time delay difference of the sensing signals sent by different second nodes after being reflected by the target object to the first node is less than or equal to the CP length, avoiding inter-symbol interference, and thereby improving the receiving performance.

[0161] As a preferred implementation, the predetermined time / frequency is preferably the same time / frequency, and the predetermined sensing signal is preferably the same sensing signal, that is, each second node sends the same sensing signal at the same time / frequency.

[0162] The specific manner of configuring the signal transmission parameter for the first node and the second node is not particularly limited in the embodiments of the present disclosure, for example, the third node can use the multicast / broadcast mode to send the signal transmission parameter to multiple nodes at the same time, or the third node can also use the unicast mode to send the signal transmission parameter to each node separately.

[0163] S402, the multiple second nodes send the second sensing signal based on the configured signal transmission parameter.

[0164] It should be noted that not all second nodes need to send the second sensing signal, and whether to send the sensing signal depends on the configured signal transmission parameter.

[0165] In some embodiments, the multiple second nodes generate the second sensing signal according to the configured signal transmission parameter, and send the second sensing signal on the predetermined time domain resource and frequency domain resource.

[0166] For example, the second node includes TPR1 and TPR2, and the sending manner of the second sensing signal of the second node is shown in FIG. 4(b). FIG. 4(b) is a schematic diagram of frequency domain data of a sensing signal provided by an embodiment of the present disclosure.

[0167] As shown in the figure, TPR1 and TPR2 both send the sensing signal on OS#10 at the specified time t0 (the time corresponding to the sensing symbol). It should be noted that the frequency domain information of the sensing signal is shown in FIG. 4(b), and in fact the frequency domain needs to be converted to the time domain when sending the sensing signal.

[0168] In some embodiments, the third node can indicate the same time to each second node, so that the second node sends the second sensing signal to the target object at the same time.

[0169] In other embodiments, the sending time of each TRP can be the same or different, as long as the transmission time delay difference of the signal to the target object is within one CP, the above-mentioned gain effect can be achieved.

[0170] It should be noted that the specific manner in which the second node transmits the second sensing signal in accordance with the configured signal transmission parameters is shown in subsequent embodiments.

[0171] S403, the first node acquires the first sensing signal.

[0172] The first sensing signal acquired by the first node includes but is not limited to at least one of the following: receiving the echo signal of the second sensing signal transmitted by the first node itself and reflected by the target object; receiving the echo signal of the second sensing signal transmitted by other nodes and reflected by the target object; and the first sensing signal forwarded by other nodes to the first node.

[0173] Please refer to FIG. 4(c), which is a schematic diagram of the principle of the signal processing method provided by an embodiment of the present disclosure. Next, FIG. 4(c) will be described in detail in combination with specific examples:

[0174] Example one, TPR1 and TPR2 act as second nodes to transmit sensing signals s1(t) to the target object respectively, and TPR1 and TPR2 act as first nodes to receive the sensing signals reflected by the target object.

[0175] Wherein, TRP1 transmits s1(t), and the signal reaches TRP1 from the target object as follows:

[0176] TRP1 transmits s1(t), and the signal reaches TRP2 from the target object as follows:

[0177] TRP2 transmits s1(t), and the signal reaches TRP1 from the target object as follows:

[0178] TRP2 transmits s1(t), and the signal reaches TRP2 from the target object as follows:

[0179] Wherein, component A2A1 represents the sensing signal from TRP2 to the target object and then to TRP1; component A1A1 represents the sensing signal (or in reverse) from TRP1 to the target object and then to TRP1; and component A2A2 represents the sensing signal from TRP2 to the target object and then to TRP2.

[0180] Correspondingly, the first sensing signal received by TRP1 is:

[0181] The first sensing signal received by TRP2 is:

[0182] It should be noted that in the above formula, if α1=α2, then:

[0183] The received signal of TRP1 is: The expected value of the received signal energy is: |A2A1+A1A1| 2 ;

[0184] The received signal of TRP2 is: The expected value of the received signal energy is: |A2A1+A2A2| 2 .

[0185] In summary, compared with the traditional single base or dual base sensing mode, the method of the embodiment of the present disclosure can obtain a gain of 3dB.

[0186] Example two, on the basis of the above example one, if TPR2 forwards the received first sensing signal to TRP1, and TRP1 performs signal combination processing, then:

[0187] The first sensing signal received by TRP1 is:

[0188] Then, for the component A2A1 (for calculating (vcosα1+vcosα2)), the expected value of the energy is: |2A2A1| 2 Compared with the traditional single base or dual base mode, the method of the embodiment of the present disclosure can obtain a gain of 3dB.

[0189] Further, if α1=α2, for calculating (vcosα1+vcosα1), the expected value of the energy is: |2A2A1| 2 +|A1A1| 2 +|A2A2| 2 Compared with the traditional single base or dual base sensing mode, the method of the embodiment of the present disclosure can obtain a gain of 6dB.

[0190] In summary, if the α corresponding to different TRPs (the angle between the TPR pointing to the target object and the moving direction of the object) is the same, a larger gain can be obtained. Correspondingly, through the present solution, a sensing signal with a higher signal-to-noise ratio can be obtained, and thus the sensing accuracy of the object can be improved, and the demand of high-precision and long-distance speed measurement service can be met. In addition, since in some embodiments, the first node and the second node are nodes in the same TPR, the deployment density of the sensing nodes can be reduced, and the deployment cost can be reduced.

[0191] S404. The first node obtains a velocity measurement parameter based on the sensing signal.

[0192] The velocity measurement parameter comprises at least one of a moving speed of the target object and a Doppler shift of the target object.

[0193] Still taking the above example two as an example, if the time domain expression of the second sensing signal is s(t), then the time domain expression of the first sensing signal received by the first node (TRP1) is:

[0194] wherein v is the speed of the target object, c0 is the speed of light, τ1+τ2 is the time delay of the sensing signal of the dual-base TRP passing through the target object, and τ1 is the transmission time delay of the sensing signal of the single-base TRP between the signal sending node and the target object.

[0195] On one hand, if α1=α2, or the difference between α1 and α2 is within a preset resolution, then TRP1 can perceive a speed value of (vcosα1+vcosα1), i.e., 2vcosα1, and at this time, the velocity measurement parameter is a value of 2vcosα1, or two identical values of vcosα1 and vcosα1.

[0196] On the other hand, if α1≠α2, or the difference between α1 and α2 is not within a preset resolution, then TRP1 can perceive two speed values of 2vcosα1 and vcosα1+vcosα2, and at this time, the velocity measurement parameter is the two different speed values. Or, the speed values can be converted into Doppler shifts.

[0197] S404. The first node forwards the first sensing signal to a target node.

[0198] The target node is another signal receiving node and / or a third node. Referring to FIG. 4(c), after receiving the first sensing signal returned by the target object, TPR1 as the first node can forward the first sensing signal to the third node, and the third node obtains the velocity measurement parameter based on the first sensing signal. Or, when FIG. 4(c) further includes another signal receiving node in addition to TPR1 (not shown in the figure), TPR1 can also forward the first sensing signal to this signal receiving node, and the node obtains the velocity measurement parameter based on the first sensing signal as the target node.

[0199] It should be noted that the specific scheme of obtaining the velocity measurement parameter by the target node based on the first sensing signal is the same as the scheme of obtaining the velocity measurement parameter by TPR1 in S403, which will not be described here.

[0200] Next, the above steps will be described in more detail in combination with specific embodiments:

[0201] Embodiment Two

[0202] Before configuring the signal transmission parameters for the first node and the second node, the third node is further configured to: in response to the speed measurement requirement, determine a signal transmission group, wherein the signal transmission group includes the first node and the second node, and the number of the second nodes (i.e., the nodes sending the sensing signal) is greater than or equal to 2.

[0203] Further, after determining the signal transmission group, the first node and the second node in the signal transmission group need to be respectively configured with respective signal transmission parameters.

[0204] In some embodiments, the signal transmission parameters include one or more of the following information:

[0205] (1) identification information (ID) of the signal transmission group, wherein the value range of the ID can be 0-1023, such as ID=5.

[0206] (2) time domain resource information and frequency domain resource information of the sensing signal sent or received by each node in the signal transmission group,

[0207] wherein the time domain resource information is used to indicate the time domain information of the sensing signal containing one or more symbols, or a time domain pattern (pattern); for example: for the OFDM symbols 0, 2, 4, 6, 8, 10, 12 of the radio frame 0, subframe 0, time slot 0.

[0208] The frequency domain resource information is used to indicate the frequency domain information of the sensing signal containing one or more REs, or a frequency domain pattern (the frequency domain resource information corresponding to different time domain symbols can be the same or different), for example: for the symbols 0, 2, 4, 6, 8, 10, 12, the RE=0 and RE=2 are used for sending the sensing signal.

[0209] (3) one or more scrambling parameters, used to generate the scrambling initial information of the sensing signal, wherein the value range of the scrambling parameter is, for example, 0-1023, or an integer of 31 bits;

[0210] For example, taking the transmitted sensing signal as a Quadrature Phase Shift Keying (QPSK) signal and the random scrambling code as a Gold sequence code, the use method of the one or more scrambling parameters in the above signal transmission parameters is described.

[0211] Taking the scrambling parameter in the above signal transmission parameters as an example: the scrambling parameter use process in the embodiment of the disclosure includes the following steps:

[0212] Step 1, generate an initialization parameter c init ;

[0213] In some embodiments, the initialization parameter c init including but not limited to the following ways:

[0214] Method 1: based on the scrambling parameter directly as the initialization parameter c init ;

[0215] Method 2: based on the transmission time and location of the sensing signal to generate the initialization parameter c init ;

[0216] wherein, is the time slot, and l is the symbol position.

[0217] Step 2, generate the Gold sequence: c(0), c(1), c(2), … according to the initialization parameter c init ;

[0218] It should be understood that the present disclosure embodiments are not limited to the way of generating the Gold sequence according to the initialization parameter c init .

[0219] Step 3, obtain the transmission information of the sending end based on the Gold sequence:

[0220] Step 4, determine the channel information of the sensing signal based on the transmission information of the sending end.

[0221] Exemplarily, the channel information of the sensing signal can be determined by the following formula:

[0222] wherein, X r (f) is the received sensing signal, I r (f) is the channel information of the sensing signal.

[0223] It should be noted that when there are multiple scrambling parameters, multiple X(f) can be generated, thereby determining multiple I r (f). Of course, multiple X(f) can also be combined into X(f), or multiple I r (f) can be combined into one I r (f), and subsequent sensing parameter calculation process is performed.

[0224] (4) Reference sub-carrier spacing (Sub-Carrier Spacing, SCS), for example, any value of 15KHz, 30KHz, 60KHz, 120KHz, 240KHz, 480KHz, 960KHz, 1920KHz, etc.

[0225] (5) Cyclic Prefix (CP) type, wherein the CP type can be Normal Cyclic Prefix (NCP) or Extended Cyclic Prefix (ECP);

[0226] (6) Frequency information, for example, 1.8 GHz;

[0227] (7) Transceiver mode information, wherein the transceiver mode information is used to indicate the role of the node in the transmission group. For example, the transceiver mode information includes at least one of the following:

[0228] Transceiver mode 1: indicating that the node is a node receiving a sensing signal;

[0229] Transceiver mode 2: indicating that the node is a node transmitting a sensing signal;

[0230] Transceiver mode 3: indicating that the node is a node receiving and transmitting a sensing signal;

[0231] Transceiver mode 4: indicating the receiving mode of the node receiving the sensing signal (i.e. the first node).

[0232] It should be noted that when indicating that a node receives a sensing signal, the node can be further indicated as a target node for obtaining a speed measurement parameter.

[0233] Wherein the receiving mode includes at least one of the following:

[0234] Receiving mode 1: obtaining a speed measurement parameter according to a first sensing signal received by itself;

[0235] Receiving mode 2: obtaining a speed measurement parameter according to a first sensing signal received by itself and a first sensing signal forwarded by other signal receiving nodes;

[0236] Receiving mode 3: forwarding the received first sensing signal to a target node.

[0237] (8) Required reporting speed measurement parameter type, wherein the speed measurement parameter includes but is not limited to one or more of the following: the moving speed of the target object, the Doppler shift of the target object, etc.

[0238] Embodiment three

[0239] Please continue to refer to FIG. 4(c), the third node can indicate by signal transmission parameters that TRP1 and TPR2 are both nodes receiving and transmitting sensing signals (i.e. configure the above-mentioned transceiving mode 3 for TRP1 and TPR2), at the same time indicate by signal transmission parameters that TPR2 transmits the sensing signal received by itself to TPR1 (configure the above-mentioned receiving mode 3 for TPR2), and indicate by signal transmission parameters that TPR1 combines the sensing signal transmitted by TPR2 and calculates the speed measurement parameter (configure the above-mentioned receiving mode 2 for TPR1). That is, the above-mentioned TRP1 and TPR2 can both be the first node and the second node, and TRP1 is the target node.

[0240] In some embodiments, TRP2 forwards the received first sensing signal to TRP1 (the speed measurement parameter is calculated by TRP1) based on the forwarding format content format and the forwarding time offset_slot;

[0241] It should be noted that the forwarding format content format can include: frequency domain resource information, time domain resource information, channel impulse response information, or other information capable of reflecting the content of the sensing signal.

[0242] In some embodiments, the forwarding time offset_slot can include: one or more time slots (unit: number of time slots) after the second sensing signal is transmitted, one or more symbols or subframes (unit: number of symbols, number of subframes) after the second sensing signal is transmitted, or other units representing time. For example, when the forwarding time offset_slot is 10 time slots, it can represent that TRP2 forwards the received first sensing signal to TRP1 after 10 time slots after the second sensing signal is transmitted.

[0243] In the above example, taking TRP1 as an example, the received first sensing signal is converted into a frequency domain expression as follows:

[0244] Wherein, X(f) is the frequency domain expression of the transmitted second sensing signal s 1(t) .

[0245] μ represents the OFDM symbol number of the sensing signal, the value is from 0 to N sym -1, (N sym The value is configured by the third node); T sym is the distance between two adjacent sensing resource symbols (determined according to the subcarrier spacing and the sensing symbol spacing number in the signal transmission parameters configured by the third node).

[0246] f represents the carrier, wherein the resource f values on different REs are different. For example, assuming that for RE=0, f=f c , then for RE=2, f=fc + 2Δf (when the subcarrier spacing of OFDM is 15KHz, 2Δf = 30KHz);

[0247] R1, R2 represent the distance between TRP1, TRP2 and the target object;

[0248] The specific RE (such as RE = 0, or RE = 2) in the above frequency domain information is divided by X (μ, f), that is, the frequency domain information of the perceived signal passing through the target object can be obtained as:

[0249] Similarly: for TRP2, the frequency domain information of the perceived signal passing through the target object can be obtained as:

[0250] Further, TRP2 transmits I r2 (f) to TRP1.

[0251] It should be noted that the above I r2 (f) is a frequency domain expression, for an OFDM system, the specific content of the forwarding is embodied on each frequency domain unit (RE) of the perceived signal, in some embodiments,

[0252] The information forwarded by TRP2 is: I r2 (sym#10, RE0), I r2 (sym#10, RE2), I r2 (sym#10, RE4) I r2 (sym#11, RE1), I r2 (sym#11, RE3), I r2 (sym#11, RE5)

[0253] Wherein, (sym#0, RE0) represents the frequency domain information (generally complex information) on symbol 0 in frequency domain unit RE0, and the others are sequentially similar, and the embodiments of the present disclosure are not particularly limited.

[0254] Embodiment four

[0255] Next, when the second nodes for sending the second perceived signal correspond to different α (or, the difference between α1 and α2 is not within the preset resolution), the third node can send adjustment information to the second nodes, so that the second nodes adjust the phase of the second perceived signal according to the adjustment information, so that in the view of the first node, the combination effect of the perceived signals corresponding to multiple second nodes is equivalent to: α1 = α2.

[0256] Next, the present scheme will be described in detail in combination with specific embodiments.

[0257] Please refer to FIG. 5(a), which is a schematic diagram of a principle of a signal processing method according to an embodiment of the present disclosure. As shown in FIG. 5(a), assuming that the angle between TRP1 and the velocity direction of the target object is α1, the angle between TRP2 and the velocity direction of the target object is α2 = α1 + v d2 , and the angle between TRP3 and the velocity direction of the target object is α3 = α1 + v d3 , then TRP2 can adjust the phase of the transmitted signal s 1(t) by v d2 , and TRP3 can adjust the phase of the transmitted signal s 1(t) by v d3 .

[0258] Please refer to FIG. 5(b), which is a schematic diagram of a principle of a signal processing method according to an embodiment of the present disclosure. As shown in FIG. 5(b), taking TRP2 as an example, the angle between TRP2 and the velocity direction of the target object is α2, and through the above adjustment, the signal combination effect can be equivalent to α1 = α2 from the perspective of TRP1.

[0259] In some embodiments, each node obtains the adjustment information in at least one of the following ways:

[0260] Method one: obtaining the adjustment information based on the signal transmission parameters transmitted by the third node.

[0261] In some embodiments, when the third node detects the target object of interest, the target object can be tracked, and the basic method of tracking is as follows (taking two dimensions as an example): assuming that at t0: the position of the target object is P0(x, y), the moving speed of the target object at t0 is v0(x, y), and the position of the target object at t1 is estimated to be P1(x, y) = P0(x, y) + v0(x, y)*(t1-t0).

[0262] It should be noted that the moving speed v0(x, y) of the target object at t0 is calculated based on the data reported by the nodes in the signal transmission group.

[0263] For example, the nodes in the signal transmission group perceive the predicted position P1(x, y), and the reported data includes at least one of the following:

[0264] ① TRP1 performs single-base perception on the target object, obtains a perception signal, and reports a first speed measurement parameter of the target object based on the perception signal to the third node: v 测 = vcos(α1);

[0265] ②TRP2 performs single-base sensing on the target object, obtains a sensing signal, and reports a first speed parameter of the target object measured based on the sensing signal to the third node: v 测 = vcos(a2);

[0266] ③TRP3 performs single-base sensing on the target object, obtains a sensing signal, and reports a first speed parameter of the target object measured based on the sensing signal to the third node: v 测 = vcos(a3);

[0267] ④TRP1+TRP2, and / or, TRP1+TRP3 respectively perform double-base sensing on the target object, obtain a sensing signal, and report a first speed parameter of the target object measured based on the sensing signal to the third node: v 测 = vcos(a1)+vcos(a2), and / or, vcos(a1)+vcos(a3).

[0268] Wherein, "v" can be the moving speed of the target object determined by each TPR when performing the last single-base detection.

[0269] It should be noted that considering that the speed of the target object can change in the (t0-t1) time, the second node can send the second sensing signal to multiple possible moving positions of the target object and multiple speed adjustment amounts while sending the second sensing signal.

[0270] Further, when it is necessary to indicate the adjustment information of TRP2, the adjustment information v d2 corresponding to TRP2 can be obtained according to the information reported by TRP1 and TRP2. d2 = vcos(a1)-vcos(a2); when it is necessary to indicate the adjustment information of TRP3, the adjustment information v d3 corresponding to TRP3 can be obtained according to the information reported by TRP1 and TRP3. d3 = vcos(a1)-vcos(a3).

[0271] Correspondingly, the third node can carry the adjustment information in the signal transmission parameter and send it to the second node that needs to be adjusted, for example, TRP2 and TRP3 shown in FIG. 5(a).

[0272] Embodiment Five

[0273] Correspondingly, in the above-mentioned embodiment four, each TPR participating in sensing can adjust the second sensing signal based on the respective adjustment information after receiving the respective adjustment information, and send the adjusted second sensing signal to the target object.

[0274] In some embodiments, the TPR includes but is not limited to the following steps when adjusting the second sensing signal based on the adjustment information:

[0275] ① Based on the adjustment information, obtain the adjustment factor corresponding to each OFDM symbol of the second sensing signal.

[0276] Please refer to FIG. 6(a), which is a schematic diagram of adjusting a sensing signal according to an embodiment of the present disclosure. As shown in FIG. 6(a), I s (0), I s (1), I s (2), …I s (N sym -1) is the frequency domain data corresponding to the second sensing signal generated by the TRP based on the sensing signal resource, wherein the frequency domain data corresponding to the second sensing signal includes N sym OFDM symbols.

[0277] Please refer to FIG. 6(b), which is a schematic diagram of adjusting a sensing signal according to an embodiment of the present disclosure. As shown in FIG. 6(b), the adjustment factor corresponding to each OFDM symbol is:

[0278] In the above steps, the output frequency domain information is:

[0279] Wherein, μ is the number of OFDM symbols, N sym is the total number of sensing resource OFDM symbols, f RE is the frequency of the RE corresponding to the sensing resource frequency domain (such as RE = 0), v d is the adjustment information corresponding to TPR2, T sym is the distance between two adjacent sensing resource symbols, and T sym = 2*T_ofmd in this example, that is, the length of two OFDM symbols, wherein the OFDM symbol length includes the CP length and the time domain length after Fourier transform.

[0280] It should be understood that the present example takes SCS = 15KHz and CP type NCP as an example, but is not limited thereto.

[0281] ② Based on the adjustment factor corresponding to each OFDM symbol, adjust the signal transmitted on the frequency domain resource of each OFDM symbol in the second sensing signal to obtain the adjusted second sensing signal.

[0282] Correspondingly, in this example, when TRP1 receives the sensing signal as the first node, the first sensing signal received by TRP1 is (frequency domain information):

[0283] Therefore, for the TRP1 receiving end, the expected energy containing the information vcos(a1) is: |A2A1+A1A1| 2

[0284] It should be noted that if the TRP2 receives the first sensing signal as the first node, the first sensing signal received by the TRP2 is:

[0285] It should be noted that, in order to eliminate the influence of the direct path on the velocity measurement parameter, the above I div (μ) is averaged to obtain the direct current component of the direct path, and I div (μ) is subtracted from the direct current component.

[0286] Embodiment six

[0287] In the embodiments of the present disclosure, the specific way of calculating the velocity measurement parameter is described in detail:

[0288] Still taking Fig. 4(c) as an example, the first sensing signal received by the TRP1 from the air interface is:

[0289] Among them, the first sensing signal contains vcos(a1)+vcos(a2), and vcos(a1)+vcos(a1) (the information can be solved by a sensing algorithm (such as a DFT algorithm), which is not described here).

[0290] Further, according to the first sensing signal received by the TRP2 from the air interface, vcos(a1)+vcos(a2), and vcos(a2)+vcos(a2) are determined.

[0291] In some embodiments, the first sensing signal received by the TRP2 from the air interface is:

[0292] Among them, the first sensing signal contains vcos(a1)+vcos(a2), and vcos(a2)+vcos(a2) (the information can be solved by a sensing algorithm (such as a DFT algorithm), which is not described here).

[0293] Further, I r1 (μ, f) and I r2 (μ, f) are combined, that is, the values of vcos(a1)+vcos(a2), vcos(a2)+vcos(a2), and vcos(a1)+vcos(a2) are determined.

[0294] In some embodiments,

[0295] wherein the information includes vcos(a1)+vcos(a2), vcos(a2)+vcos(a2), vcos(a1)+vcos(a1) (which can be solved by a sensing algorithm such as DFT algorithm, which is not described herein).

[0296] It should be noted that, from I r The information included in (μ, f) can be known that the value of vcos(a1)+vcos(a2) is between vcos(a2)+vcos(a2) and vcos(a1)+vcos(a1), that is, by I r Among the three values obtained by (μ, f), the value based on the middle value is vcos(a1)+vcos(a2).

[0297] Further, I r2 (μ, f) includes vcos(a1)+vcos(a2), vcos(a2)+vcos(a2), and by removing vcos(a1)+vcos(a2) identified from I r (μ, f), vcos(a2)+vcos(a2) can be obtained.

[0298] Similarly, I r1 (μ, f) includes vcos(a1)+vcos(a2), vcos(a1)+vcos(a1), and by removing vcos(a1)+vcos(a2) identified from I r (μ, f), vcos(a1)+vcos(a1) can be obtained.

[0299] In summary, 2vcos(a1), 2vcos(a2), or vcos(a1)+vcos(a2) obtained by TPR1 through the above steps are the velocity measurement parameters (the moving speed of the target object) sought in the embodiments of the present disclosure.

[0300] It should be understood that TPR1 can also convert the moving speed of the target object into a Doppler shift value.

[0301] Further, after obtaining the velocity measurement parameter, TPR1 can report the velocity measurement parameter to a third node.

[0302] In some embodiments, the velocity measurement parameter reported by TPR1 to the third node includes the following three values:

[0303] The first value: vcos(a1)+vcos(a2);

[0304] The third value: 2vcos(a1);

[0305] Third value: 2vcos(a2).

[0306] It should be understood that the sum of the second value and the third value is twice the first value.

[0307] It should be understood that TPR1 obtains the first perception signal I r1 (μ, f) from the target object, and calculates the speed measurement parameter based on the above scheme. r2 (μ, f) from the target object, and calculates the speed measurement parameter based on the above scheme.

[0308] It should be noted that if the signal transmission group contains more TPRs (for example, TPR3 in FIG. 5(a)), 2vcos(a3) or vcos(a1)+vcos(a3) can be obtained according to the above scheme.

[0309] In some embodiments, when the second node sends the perception signal to the target object, the second perception signal sent is adjusted based on the adjustment information (for example, in the embodiment shown in FIG. 5(a), the adjustment amount of TPR2 is v d2 , and the adjustment amount of TPR3 is v d3 ), that is, in this perception process, for TPR1, the actual vcos(a1)+vcos(a1) is equivalent to (vcos(a1)+vcos(a2)-50), or the actual vcos(a1)+vcos(a1) is equivalent to (vcos(a1)+vcos(a2)-34.202).

[0310] Through the scheme, a perception signal with higher signal-to-noise ratio can be obtained, and the perception accuracy of the object is improved, thereby meeting the demand of high-precision and long-distance speed measurement services. In addition, in some embodiments, since the first node and the second node are nodes in the same TPR, the deployment density of the perception nodes can be reduced, and the deployment cost is reduced.

[0311] An embodiment of the present disclosure provides a signal processing apparatus applied to a first node. FIG. 7 is a structural schematic diagram of the signal processing apparatus according to an embodiment of the present disclosure. As shown in FIG. 7, the signal processing apparatus 700 comprises: an acquisition module 701 configured to acquire a first perception signal, wherein the first perception signal comprises a plurality of second perception signals respectively sent by a plurality of second nodes based on configured signal transmission parameters;

[0312] a processing module 702 or a sending module 703, wherein the processing module is configured to obtain a speed measurement parameter based on the first perception signal, and the sending module is configured to forward the first perception signal to a target node;

[0313] Alternatively, the signal processing apparatus 700 comprises:

[0314] The acquisition module 701 is configured to acquire a first sensing signal.

[0315] The processing module 702 is configured to obtain a speed measurement parameter based on the first sensing signal.

[0316] The sending module 703 is configured to forward the first sensing signal to a target node.

[0317] The first sensing signal includes second sensing signals respectively sent by a plurality of second nodes based on configured signal transmission parameters, the target node is a third node and / or another signal receiving node, and the first sensing signal is used by the target node to obtain the speed measurement parameter.

[0318] In some embodiments, the first node and the second node are the same communication device.

[0319] In some embodiments, the speed measurement parameter includes at least one of a moving speed of the target object and a Doppler shift of the target object, and the processing module 702 is specifically configured to: obtain the moving speed and / or the Doppler shift corresponding to the first sensing signal according to the first sensing signal; acquire adjustment information corresponding to the first node; and obtain the moving speed of the target object based on the adjustment information and the moving speed corresponding to the first sensing signal, and / or obtain the Doppler shift of the target object based on the adjustment information and the Doppler shift corresponding to the first sensing signal.

[0320] In some embodiments, when the adjustment information is obtained, the processing module 702 is specifically configured to perform at least one of the following: acquire the adjustment information based on the signal transmission parameter sent by the third node; acquire a first speed measurement parameter of the second node, obtain the adjustment information according to the first speed measurement parameter, the first speed measurement parameter being obtained by the second node when the target object is sensed; acquire a sensing signal obtained by the second node when the target object is sensed, obtain a first speed measurement parameter of the target object according to the sensing signal, and obtain the adjustment information according to the first speed measurement parameter.

[0321] In some embodiments, the signal transmission parameter at least includes transceiver mode information used for indicating the first node, and the transceiver mode information is used for indicating at least one of the following: the first node receives the first sensing signal as a signal receiving node, the first node is the target node for obtaining the speed measurement parameter, and the first node is a signal sending node for sending the second sensing signal.

[0322] In some embodiments, the transceiver mode information further includes a receiving mode of the first node, and the receiving mode is used for indicating at least one of the following: the first node obtains the speed measurement parameter according to the first sensing signal received by itself, the first node obtains the speed measurement parameter according to the first sensing signal received by itself and the first sensing signal forwarded by another signal receiving node, and the first node forwards the received first sensing signal to the target node.

[0323] In some embodiments, the transceiving mode information further comprises a transmission mode of the first node, the transmission mode comprising the adjustment information; and the signal processing apparatus further comprises a transmission module 703 configured to adjust the second sensing signal based on the adjustment information, and transmit the adjusted second sensing signal.

[0324] In some embodiments, the transmission module 703 is specifically configured to: based on the adjustment information, obtain an adjustment factor corresponding to each orthogonal frequency division multiplexing, OFDM, symbol of the second sensing signal; and based on the adjustment factor corresponding to each OFDM symbol, adjust a signal transmitted on a frequency domain resource of each OFDM symbol in the second sensing signal to obtain the adjusted second sensing signal.

[0325] In some embodiments, the reception module 701 is specifically configured to: receive the first sensing signal forwarded by the other signal receiving node; receive an echo signal of the second sensing signal transmitted by the second node; and receive an echo signal of the second sensing signal transmitted by the first node.

[0326] In some embodiments, the signal transmission parameter further comprises at least one of: time domain resource information, frequency domain resource information, one or more scrambling code parameters, SCS, CP type, and frequency point information.

[0327] An embodiment of the present disclosure provides a signal processing apparatus applied to a second node. FIG. 8 is a structural schematic diagram two of the signal processing apparatus provided by an embodiment of the present disclosure. As shown in FIG. 8, the signal processing apparatus 800 comprises:

[0328] a reception module 801 configured to receive a signal transmission parameter;

[0329] a transmission module 802 configured to transmit a second sensing signal based on the signal transmission parameter;

[0330] The second sensing signal is contained in the first sensing signal, and the first sensing signal is used to obtain a speed measurement parameter by a target node, the target node is the first node and / or the third node, and the number of the second nodes is greater than or equal to 2.

[0331] In some embodiments, the first node and the second node are the same communication device.

[0332] In some embodiments, the transmission module 802 is specifically configured to: obtain adjustment information corresponding to the second sensing signal; adjust the second sensing signal based on the adjustment information; and transmit the adjusted second sensing signal based on the signal transmission parameter.

[0333] In some embodiments, the signal processing apparatus 800 further comprises a processing module 803 configured to perform at least one of the following: obtaining the adjustment information based on the signal transmission parameter sent by the third node; obtaining the first speed measurement parameter of the other second node, and obtaining the adjustment information according to the first speed measurement parameter, the first speed measurement parameter being obtained when the other second node senses the target object; obtaining the sensing signal obtained when the other second node senses the target object, and obtaining the first speed measurement parameter of the target object according to the sensing signal, and obtaining the adjustment information according to the first speed measurement parameter.

[0334] In some embodiments, the processing module 803 is specifically configured to: obtain an adjustment factor corresponding to each orthogonal frequency division multiplexing (OFDM) symbol of the second sensing signal based on the adjustment information; and adjust the signal transmitted on the frequency domain resource of each OFDM symbol in the second sensing signal based on the adjustment factor corresponding to each OFDM symbol, to obtain the adjusted second sensing signal.

[0335] In some embodiments, the signal transmission parameter at least comprises transceiving mode information of the second node; and the transceiving mode information is used to indicate at least one of the following: the second node as a signal sending node for sending the sensing signal, the second node as a target node for obtaining the speed measurement parameter, the second node as a signal receiving node for receiving the sensing signal, and a sending mode of the second node, the sending mode comprising the adjustment information of the second node.

[0336] An embodiment of the present disclosure provides a signal processing apparatus applied to a third node. FIG. 9 is a structural schematic diagram III of the signal processing apparatus provided by an embodiment of the present disclosure. As shown in FIG. 9, the signal processing apparatus 900 comprises:

[0337] a configuration module 901 configured to configure a signal transmission parameter for a first node and a plurality of second nodes;

[0338] a receiving module 902 configured to receive a speed measurement parameter sent by the first node, or receive a first sensing signal forwarded by the first node;

[0339] or receive the speed measurement parameter sent by the first node and the first sensing signal forwarded by the first node;

[0340] The first sensing signal is used for the third node to obtain the speed measurement parameter, the first sensing signal comprises an echo signal of a second sensing signal, and the second sensing signal is sent by the second node based on the configured signal transmission parameter.

[0341] In some embodiments, the configuration module 901 is specifically configured to: in response to a speed measurement requirement, determine a signal transmission group, the signal transmission group comprising the first node and the plurality of second nodes; and based on a sensing requirement, send the signal transmission parameter to the first node and the second node.

[0342] In some embodiments, the signal transmission parameter at least includes: adjustment information corresponding to the second node, and the second node is configured to adjust the second sensing signal based on the adjustment information; in some embodiments, the signal processing apparatus 900 further includes a processing module 903 configured to: obtain first speed measurement parameters of the plurality of second nodes, and obtain the adjustment information corresponding to each second node according to the first speed measurement parameters, the first speed measurement parameters being obtained when the second node senses the target object; and / or, obtain sensing signals obtained when the plurality of second nodes sense the target object, obtain the first speed measurement parameters of the target object according to the sensing signals, and obtain the adjustment information corresponding to each second node according to the first speed measurement parameters.

[0343] It should be noted that the above device provided by the present disclosure can correspondingly implement all method steps implemented by the corresponding node in the above method embodiments, and achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiments will not be described in detail.

[0344] The present disclosure further provides a sensing device, wherein the sensing device is a first node, and FIG. 10 is a structural schematic diagram of the first node according to an embodiment of the present disclosure. As shown in FIG. 10, the first node 1000 includes:

[0345] a transceiver 1001 configured to transceive data under the control of the processor 1002;

[0346] a memory 1003 configured to store a computer program;

[0347] In FIG. 10, the bus architecture can include any number of interconnected buses and bridges, and various circuit links of one or more processors represented by the processor 1002 and the memory represented by the memory 1003. The bus architecture can also link various other circuits such as peripheral devices, voltage stabilizers and power management circuits, which are well known in the art, and thus, will not be further described herein. The bus interface provides an interface. The transceiver 1001 can be a plurality of elements, i.e., including a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, including wireless channels, wired channels, optical cables and other transmission media. The processor 1002 is responsible for managing the bus architecture and general processing, and the memory 1003 can store data used by the processor 1002 when performing operations.

[0348] The processor 1002 is responsible for managing the bus architecture and general processing, and the memory 1003 can store data used by the processor 1002 when performing operations.

[0349] The processor 1002 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or a complex programmable logic device (CPLD). The processor can also be a multi-core architecture.

[0350] The processor 1002 can execute any method related to the first node provided by an embodiment of the present disclosure by invoking a computer program stored in the memory 1003 according to executable instructions obtained. The processor and the memory can also be physically arranged separately.

[0351] In some embodiments, the processor 1002 is configured to read a computer program in the memory and perform the following operations: obtaining a first sensing signal, the first sensing signal including a plurality of second sensing signals respectively transmitted by a plurality of second nodes based on configured signal transmission parameters; obtaining a speed measurement parameter based on the first sensing signal; and / or forwarding the first sensing signal to a target node, the target node being another signal receiving node and / or a third node, the target node being configured to obtain a speed measurement parameter based on the first sensing signal.

[0352] In some embodiments, the first node and the second node are the same communication device.

[0353] In some embodiments, the speed measurement parameter includes at least one of a moving speed of the target object and a Doppler shift of the target object. Obtaining the speed measurement parameter based on the first sensing signal includes: obtaining the moving speed and / or the Doppler shift corresponding to the first sensing signal according to the first sensing signal; obtaining adjustment information corresponding to the first node; obtaining the moving speed of the target object based on the adjustment information and the moving speed corresponding to the first sensing signal; and / or obtaining the Doppler shift of the target object based on the adjustment information and the Doppler shift corresponding to the first sensing signal.

[0354] In some embodiments, obtaining the adjustment information corresponding to the first node includes at least one of the following: obtaining the adjustment information based on signal transmission parameters transmitted by the third node; obtaining a first speed measurement parameter of the second node, obtaining the adjustment information according to the first speed measurement parameter, the first speed measurement parameter being obtained when the second node senses the target object; obtaining a sensing signal obtained when the second node senses the target object, obtaining a first speed measurement parameter of the target object according to the sensing signal, and obtaining the adjustment information according to the first speed measurement parameter.

[0355] In some embodiments, the signal transmission parameter comprises at least: transceiving mode information of the first node; the transceiving mode information is used to indicate at least one of: the first node receiving the first sensing signal as a signal receiving node, the first node being a target node for obtaining the speed measurement parameter, and the first node being a signal transmitting node for transmitting the second sensing signal.

[0356] In some embodiments, the transceiving mode information further comprises a receiving mode of the first node; the receiving mode is used to indicate at least one of: the first node obtaining the speed measurement parameter according to the first sensing signal received by itself, the first node obtaining the speed measurement parameter according to the first sensing signal received by itself and the first sensing signal forwarded by other signal receiving nodes, and the first node forwarding the received first sensing signal to the target node.

[0357] In some embodiments, the transceiving mode information further comprises a transmitting mode of the first node, and the transmitting mode comprises adjustment information; the processor is further configured to: adjust the second sensing signal based on the adjustment information; and transmit the adjusted second sensing signal.

[0358] In some embodiments, adjusting the second sensing signal based on the adjustment information comprises: obtaining an adjustment factor corresponding to each orthogonal frequency division multiplexing, OFDM, symbol of the second sensing signal based on the adjustment information; adjusting a signal transmitted on a frequency domain resource of each OFDM symbol based on the adjustment factor corresponding to the OFDM symbol; and obtaining the adjusted second sensing signal based on the adjusted OFDM symbol.

[0359] In some embodiments, obtaining the first sensing signal comprises at least one of: receiving the first sensing signal forwarded by other signal receiving nodes; receiving a back echo signal of the second sensing signal transmitted by the second node; and receiving a back echo signal of the second sensing signal transmitted by the first node.

[0360] In some embodiments, the signal transmission parameter further comprises at least one of: time domain resource information, frequency domain resource information, one or more scrambling code parameters, SCS, CP type, and frequency point information.

[0361] It should be noted that the sensing device provided by the present disclosure can implement all the method steps implemented by the first node in the above method embodiments, and achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiments will not be described in detail.

[0362] The present disclosure further provides a sensing device, wherein the sensing device is a second node, and FIG. 11 is a structural schematic diagram of the second node according to an embodiment of the present disclosure. As shown in FIG. 11, the second node 1100 comprises:

[0363] The transceiver 1101 is configured to transceive data under the control of the processor 1102.

[0364] The memory 1103 is configured to store a computer program.

[0365] In FIG. 11, the bus architecture can include any number of interconnected buses and bridges, which are the various circuitry that links the one or more processors, represented by the processor 1102, and the memory, represented by the memory 1103. The bus architecture can also link various other circuitry such as peripheral devices, voltage regulators, and power management circuitry, which are well known in the art and thus, are not further described herein. The bus interface provides an interface. The transceiver 1101 can be a plurality of elements, i.e., including a transmitter and a receiver, which provide a means for communicating with various other apparatus over a transmission medium, including a wireless channel, a wired channel, optical cable, etc. The processor 1102 is responsible for managing the bus architecture and general processing, and the memory 1103 can store data used by the processor 1102 in executing operations.

[0366] The processor 1102 is responsible for managing the bus architecture and general processing, and the memory 1103 can store data used by the processor 1102 in executing operations.

[0367] The processor 1102 can be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or a complex programmable logic device (CPLD), and the processor can also adopt a multi-core architecture.

[0368] The processor 1102 is configured to execute any method related to the first node provided by an embodiment of the disclosure according to executable instructions obtained by invoking a computer program stored in the memory 1103. The processor and the memory can also be physically arranged separately.

[0369] In some embodiments, the processor 1102 is configured to read a computer program in the memory and perform the following operations: receiving a signal transmission parameter; and transmitting a second sensing signal based on the signal transmission parameter.

[0370] The second sensing signal is contained in the first sensing signal, and the first sensing signal is used to obtain a speed measurement parameter by a target node, the target node being the first node and / or the third node, and the number of second nodes is greater than or equal to 2.

[0371] In some embodiments, the first node and the second node are the same communication device.

[0372] In some embodiments, the sending of the second sensing signal based on the signal transmission parameter comprises: obtaining adjustment information corresponding to the second sensing signal; adjusting the second sensing signal based on the adjustment information; and sending the adjusted second sensing signal based on the signal transmission parameter.

[0373] In some embodiments, the obtaining of the adjustment information corresponding to the second sensing signal comprises at least one of: obtaining the adjustment information based on the signal transmission parameter sent by the third node; obtaining a first speed measurement parameter of the target object from another second node, and obtaining the adjustment information based on the first speed measurement parameter, the first speed measurement parameter being obtained by the another second node when sensing the target object; obtaining a sensing signal obtained by the another second node when sensing the target object, obtaining a first speed measurement parameter of the target object based on the sensing signal, and obtaining the adjustment information based on the first speed measurement parameter.

[0374] In some embodiments, the adjusting of the second sensing signal based on the adjustment information comprises: obtaining an adjustment factor corresponding to each orthogonal frequency division multiplexing (OFDM) symbol of the second sensing signal based on the adjustment information; and adjusting a signal transmitted on a frequency domain resource of each OFDM symbol in the second sensing signal based on the adjustment factor corresponding to each OFDM symbol, to obtain the adjusted second sensing signal.

[0375] In some embodiments, the signal transmission parameter comprises at least transceiver mode information of the second node; and the transceiver mode information is used to indicate at least one of: the second node as a signal sending node for sending the sensing signal, the second node as a target node for obtaining the speed measurement parameter, the second node as a signal receiving node for receiving the sensing signal, and a sending mode of the second node, the sending mode comprising the adjustment information of the second node.

[0376] It should be noted that the sensing device provided by the present disclosure can implement all the method steps implemented by the second node in the above method embodiments, and achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiments will not be described in detail.

[0377] The present disclosure further provides a sensing device, wherein the sensing device is a third node, and FIG. 12 is a structural schematic diagram of the third node according to an embodiment of the present disclosure. As shown in FIG. 12, the third node 1200 comprises:

[0378] a transceiver 1201, configured to transceive data under control of the processor 1202;

[0379] a memory 1203, configured to store a computer program;

[0380] In FIG. 12, the bus architecture can include any number of interconnected buses and bridges, which are used to link various circuits together, including the various circuits that represent one or more processors, represented by processor 1202, and memory, represented by memory 1203. The bus architecture can also link various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and thus, not further described herein. The bus interface provides an interface. The transceiver 1201 can be a plurality of elements, including a transmitter and a receiver, which provide a means for communicating with various other apparatus over a transmission medium, including a wireless channel, a wired channel, optical cable, and the like. The processor 1202 is responsible for managing the bus architecture and general processing, and the memory 1203 can store data used by the processor 1202 in executing its operations.

[0381] The processor 1202 can be a CPU, an ASIC, an FPGA, or a CPLD, and the processor can also adopt a multi-core architecture.

[0382] The processor 1202 is configured to execute any method provided by the second node according to the embodiments of the present disclosure by invoking the computer program stored in the memory 1203. The processor and the memory can also be physically arranged separately.

[0383] In some embodiments, the processor 1202 is configured to read the computer program in the memory and perform the following operations: configuring signal transmission parameters for the first node and the plurality of second nodes; receiving the speed measurement parameter sent by the first node; and / or receiving the first sensing signal forwarded by the first node, and obtaining the speed measurement parameter based on the first sensing signal, the second node is configured to send the second sensing signal, and the first sensing signal includes the second sensing signal.

[0384] In some embodiments, configuring the signal transmission parameters for the first node and the second node includes: determining a signal transmission group in response to a speed measurement requirement, the signal transmission group including the first node and the plurality of second nodes; and sending the signal transmission parameters to the first node and the second node based on a sensing requirement.

[0385] In some embodiments, the signal transmission parameters at least include: adjustment information corresponding to the second node, the second node being configured to adjust the second sensing signal based on the adjustment information; and the processor is further configured to: obtain the first speed measurement parameter of the plurality of second nodes, obtain the adjustment information corresponding to each second node according to the first speed measurement parameter, the first speed measurement parameter being obtained when the second node senses the target object; and / or obtain the sensing signal obtained when the plurality of second nodes sense the target object, obtain the first speed measurement parameter of the target object according to the sensing signal, and obtain the adjustment information corresponding to each second node according to the first speed measurement parameter.

[0386] It should be noted that the above perception device provided by the present disclosure can implement all the method steps implemented by the third node in the above method embodiment, and achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiment will not be described in detail.

[0387] In some embodiments, the signal processing system provided by the present disclosure also includes the first node 1000 shown in FIG. 10, the second node 1100 shown in FIG. 11, and the third node 1200 shown in FIG. 12. It should be noted that the architecture of the signal processing system can refer to the scenario embodiment shown in FIG. 3, and will not be described here.

[0388] It should be noted that in the signal processing system provided by an embodiment of the present disclosure, the number of second nodes 1100 is greater than or equal to 2.

[0389] In some embodiments, the first node 1000 and the second node 1100 are nodes in the same communication device.

[0390] It should be noted that the above first node, second node and third node provided by an embodiment of the present disclosure can implement all the method steps implemented by the nodes in the above method embodiment, and achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiment will not be described in detail.

[0391] It should be noted that the division of units in the embodiments of the present disclosure is illustrative, and is only a logical function division. In actual implementation, another division mode can be used. In addition, each functional unit in each embodiment of the present disclosure can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0392] The integrated unit described above, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a processor-readable storage medium. Based on such understanding, the technical solutions of the present disclosure, essentially or in other words, the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for making a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor execute all or part of the steps of the methods in the various embodiments of the present disclosure. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various other media that can store program codes.

[0393] The embodiment of the present disclosure provides a processor-readable storage medium, which stores a computer program. The computer program is used for making a processor execute the signal processing method provided by the embodiment of the present disclosure, so that the processor can implement all the method steps in the above method embodiments and achieve the same technical effects. Here, the same parts and beneficial effects in the method embodiments will not be described in detail.

[0394] The processor-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to a magnetic memory (such as a floppy disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical memory (such as a CD, a DVD, a BD, a HVD, etc.), a semiconductor memory (such as a ROM, an EPROM, an EEPROM, a non-volatile memory (NAND FLASH), a solid state disk (SSD)), etc.

[0395] The embodiment of the present disclosure also provides a computer program product containing instructions. The computer program is stored in a storage medium. At least one processor can read the computer program from the storage medium. When the at least one processor executes the computer program, all the method steps of the signal processing method in the above method embodiments can be implemented, and the same technical effects can be achieved. Here, the same parts and beneficial effects in the method embodiments will not be described in detail.

[0396] Those skilled in the art will appreciate that embodiments of the disclosure can be devised for a variety of other systems which are currently developed or later developed. Those skilled in the art will appreciate that the disclosure can provide for a variety of wireless communication systems or telecommunication systems. Accordingly, the disclosure is intended to embrace all such alterations, modifications, and variations that fall within the scope of the present disclosure. Other embodiments will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. Therefore, the specification and examples should be construed as merely illustrative, and not limiting of the scope of the disclosure. It is intended that the specification and examples be considered as exemplary uses thereof with the true scope and spirit of the disclosure being indicated by the following claims.

[0397] The present disclosure is described in reference to signaling interaction diagrams and / or block diagrams of methods, apparatuses, and computer program products according to embodiments of the present disclosure. It should be understood that each flow and / or block in the signaling interaction diagrams and / or block diagrams, combinations of flows and / or blocks in the signaling interaction diagrams and / or block diagrams can be implemented by computer executable instructions. These computer executable instructions can be provided to a processor of a general purpose computer, a special purpose computer, an embedded processor, or other programmable signal processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable signal processing apparatus, create means for implementing the functions specified in the flow(s) or block(s) of the signaling interaction diagrams.

[0398] These processor executable instructions can also be stored in a processor readable memory that can direct the computer or other programmable signal processing apparatus to function in a particular manner, such that the instructions stored in the processor readable memory produce an article of manufacture including instruction means which implement the function specified in the flow(s) or block(s) of the signaling interaction diagrams.

[0399] These processor executable instructions can also be loaded onto a computer or other programmable signal processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flow(s) or block(s) of the signaling interaction diagrams.

[0400] It will be apparent to those skilled in the art that various modifications and variations can be made to the present disclosure without departing from the spirit or scope of the disclosure. Thus, it is intended that the present disclosure cover the modifications and variations of this disclosure provided they come within the scope of the appended claims and their equivalents.

Claims

1. A signal processing method, wherein, The method is applied to a first node, and the method comprises: obtaining a first sensing signal; obtaining a speed measurement parameter based on the first sensing signal, or forwarding the first sensing signal to a target node; or, obtaining a first sensing signal; obtaining a speed measurement parameter based on the first sensing signal; forwarding the first sensing signal to a target node; wherein the first sensing signal comprises a plurality of second sensing signals respectively sent by a plurality of second nodes based on configured signal transmission parameters, the target node is a third node and / or another signal receiving node, and the first sensing signal is used to obtain a speed measurement parameter.

2. The signal processing method of claim 1, wherein, The first node and the second node are the same communication device.

3. The signal processing method of claim 1, wherein, The speed measurement parameter comprises at least one of a moving speed of a target object and a Doppler shift of the target object. The obtaining of the speed measurement parameter based on the first sensing signal comprises: obtaining a moving speed and / or a Doppler shift corresponding to the first sensing signal according to the first sensing signal; obtaining adjustment information corresponding to the first node; obtaining a moving speed of the target object based on the adjustment information and the moving speed corresponding to the first sensing signal, and / or obtaining a Doppler shift of the target object based on the adjustment information and the Doppler shift corresponding to the first sensing signal.

4. The signal processing method of claim 3, wherein, The obtaining of the adjustment information corresponding to the first node comprises at least one of: obtaining the adjustment information based on signal transmission parameters sent by the third node; obtaining a first speed measurement parameter of the second node, obtaining the adjustment information according to the first speed measurement parameter, the first speed measurement parameter being obtained by the second node when the second node senses a target object; obtaining a sensing signal obtained by the second node when the second node senses the target object, obtaining a first speed measurement parameter of the target object according to the sensing signal, and obtaining the adjustment information according to the first speed measurement parameter.

5. The signal processing method according to any one of claims 1 to 4, wherein, The signal transmission parameters at least comprise transceiver mode information used to indicate the first node; The transceiver mode information is used to indicate at least one of the following: the first node as a signal receiving node receiving a first sensing signal, the first node as the target node obtaining the speed measurement parameter, and the first node as a signal sending node sending a second sensing signal.

6. The signal processing method of claim 5, wherein, The transceiver mode information further comprises a receiving mode of the first node. The receiving mode is used to indicate at least one of the following: the first node obtaining the speed measurement parameter according to a first sensing signal received by the first node itself; the first node obtaining the speed measurement parameter according to a first sensing signal received by the first node itself and a first sensing signal forwarded by another signal receiving node; the first node forwarding the received first sensing signal to the target node.

7. The signal processing method of claim 6, wherein, The transceiver mode information further comprises a sending mode of the first node, and the sending mode comprises adjustment information. The signal processing method further comprises adjusting the second sensing signal based on the adjustment information and sending the adjusted second sensing signal.

8. The signal processing method of claim 7, wherein, The adjusting the second sensing signal based on the adjustment information comprises: obtaining, based on the adjustment information, adjustment factors corresponding to each orthogonal frequency division multiplexing (OFDM) symbol of the second sensing signal; and adjusting, based on the adjustment factors corresponding to each OFDM symbol, signals transmitted on frequency domain resources of each OFDM symbol in the second sensing signal to obtain an adjusted second sensing signal.

9. The signal processing method according to any one of claims 1 to 4, wherein, The obtaining the first sensing signal comprises at least one of the following: receiving the first sensing signal forwarded by another signal receiving node; receiving a back echo signal of the second sensing signal sent by the second node; receiving a back echo signal of the second sensing signal sent by the first node.

10. The signal processing method according to any one of claims 1 to 4, wherein, The signal transmission parameter further comprises at least one of the following: time domain resource information, frequency domain resource information, one or more scrambling code parameters, reference subcarrier spacing (SCS), cyclic prefix (CP) type, frequency point information.

11. A signal processing method, wherein, The signal processing method is applied to a second node, and the signal processing method comprises: receiving a signal transmission parameter; and sending a second sensing signal based on the signal transmission parameter; The second sensing signal is contained in a first sensing signal, and the first sensing signal is used to obtain a speed measurement parameter by a target node, the target node is a first node and / or a third node, and the number of second nodes is greater than or equal to 2.

12. The signal processing method of claim 11, wherein, The first node and the second node are the same communication device.

13. The signal processing method of claim 11, wherein, The sending the second sensing signal based on the signal transmission parameter comprises: obtaining adjustment information corresponding to the second sensing signal; adjusting the second sensing signal based on the adjustment information; sending the adjusted second sensing signal based on the signal transmission parameter.

14. The signal processing method of claim 13, wherein, The obtaining the adjustment information corresponding to the second sensing signal comprises at least one of the following: obtaining the adjustment information based on a signal transmission parameter sent by the third node; obtaining a first speed measurement parameter of another second node, and obtaining the adjustment information based on the first speed measurement parameter, the first speed measurement parameter being obtained by the other second node when the other second node senses a target object; obtaining a sensing signal obtained by another second node when the other second node senses the target object, obtaining a first speed measurement parameter of the target object based on the sensing signal, and obtaining the adjustment information based on the first speed measurement parameter.

15. The signal processing method of claim 13, wherein, The adjusting the second sensing signal based on the adjustment information comprises: obtaining, based on the adjustment information, adjustment factors corresponding to each orthogonal frequency division multiplexing (OFDM) symbol of the second sensing signal; and adjusting, based on the adjustment factors corresponding to each OFDM symbol, signals transmitted on frequency domain resources of each OFDM symbol in the second sensing signal to obtain an adjusted second sensing signal.

16. The signal processing method according to any one of claims 11 to 15, wherein, The signal transmission parameter at least comprises transceiving mode information used to indicate the second node; The transceiving mode information is used to indicate at least one of the following: the second node as a signal sending node sending a sensing signal, the second node as the target node obtaining the speed measurement parameter, the second node as a signal receiving node receiving a sensing signal, and a sending mode of the second node, the sending mode comprising adjustment information of the second node.

17. A signal processing method, wherein, The signal processing method is applied to a third node, and the signal processing method comprises: configuring signal transmission parameters for a first node and a plurality of second nodes; receiving speed measurement parameters sent by the first node, or receiving the first sensing signal forwarded by the first node; or, receiving speed measurement parameters sent by the first node and the first sensing signal forwarded by the first node; The first sensing signal is used for the third node to obtain the speed measurement parameters, and the first sensing signal comprises an echo signal of a second sensing signal, and the second sensing signal is sent by the second node based on the configured signal transmission parameters.

18. The signal processing method of claim 17, wherein, The signal transmission parameters for the first node and the second node comprise: in response to a speed measurement requirement, determining a signal transmission group comprising the first node and a plurality of second nodes; and sending the signal transmission parameters to the first node and the second node based on the sensing requirement.

19. The signal processing method of claim 17 or 18, wherein, The signal transmission parameters at least comprise adjustment information corresponding to the second node, and the second node is used for adjusting the second sensing signal based on the adjustment information. The method further comprises: obtaining first speed measurement parameters of the plurality of second nodes, obtaining adjustment information corresponding to each of the second nodes based on the first speed measurement parameters, and the first speed measurement parameters are obtained by the second node when sensing a target object; and / or, obtaining sensing signals obtained by the plurality of second nodes when sensing the target object, obtaining first speed measurement parameters of the target object based on the sensing signals, and obtaining adjustment information corresponding to each of the second nodes based on the first speed measurement parameters.

20. A signal processing system, wherein, comprise: a first node, a plurality of second nodes and a third node; The third node is configured to configure signal transmission parameters for the first node and the plurality of second nodes; The second node is configured to send a second sensing signal based on the signal transmission parameters; The first node is configured to obtain speed measurement parameters based on a first sensing signal, and / or forward the first sensing signal to a target node; The first sensing signal comprises an echo signal of the second sensing signal, and the first sensing signal is used for the target node to obtain the speed measurement parameters, and the target node is the third node and / or other signal receiving nodes.

21. A signal processing device, wherein, The signal processing device is applied to a first node, and the signal processing device comprises: an obtaining module configured to obtain a first sensing signal, the first sensing signal comprising a plurality of second nodes sending second sensing signals based on configured signal transmission parameters; a processing module or a sending module, the processing module being configured to obtain speed measurement parameters based on the first sensing signal, and the sending module being configured to forward the first sensing signal to a target node; or, the signal processing device comprises: an obtaining module configured to obtain a first sensing signal; a processing module configured to obtain speed measurement parameters based on the first sensing signal; a sending module configured to forward the first sensing signal to a target node; The first sensing signal comprises second sensing signals respectively transmitted by a plurality of second nodes based on configured signal transmission parameters, and the target node is a third node and / or another signal receiving node, and the first sensing signal is used to obtain a speed measurement parameter.

22. A signal processing device, wherein, The signal processing apparatus applied to a second node comprises: a receiving module configured to receive a signal transmission parameter; a sending module configured to send a second sensing signal based on the signal transmission parameter; The second sensing signal is included in a first sensing signal, the first sensing signal is used to obtain a speed measurement parameter by a target node, the target node is a first node and / or a third node, and the number of second nodes is greater than or equal to 2.

23. A signal processing device, wherein, The signal processing apparatus applied to a third node comprises: a configuration module configured to configure a signal transmission parameter for a first node and a plurality of second nodes; a receiving module configured to receive a speed measurement parameter sent by the first node, or receive a first sensing signal forwarded by the first node; or, receive a speed measurement parameter sent by the first node and a first sensing signal forwarded by the first node; The first sensing signal is used to obtain the speed measurement parameter by the third node, the first sensing signal comprises an echo signal of a second sensing signal, and the second sensing signal is sent by the second node based on the configured signal transmission parameter.

24. A sensing device, wherein, The sensing device is a first node; the sensing device comprises a memory configured to store a computer program; a transceiver configured to transceive data under control of a processor; a processor configured to read the computer program in the memory and perform the following operations: obtaining a first sensing signal; obtaining a speed measurement parameter based on the first sensing signal, or forwarding the first sensing signal to a target node; or, obtaining a first sensing signal; obtaining a speed measurement parameter based on the first sensing signal; forwarding the first sensing signal to a target node; The first sensing signal comprises second sensing signals respectively transmitted by a plurality of second nodes based on configured signal transmission parameters, and the target node is a third node and / or another signal receiving node, and the first sensing signal is used to obtain a speed measurement parameter.

25. The perception device of claim 24, wherein, The first node and the second node are the same communication device.

26. The perception device of claim 24, wherein, The speed measurement parameter comprises at least one of a moving speed of a target object and a Doppler shift of the target object: The obtaining of the speed measurement parameter based on the first sensing signal comprises: obtaining a moving speed and / or a Doppler shift corresponding to the first sensing signal according to the first sensing signal; obtaining adjustment information corresponding to the first node; obtaining a moving speed of the target object based on the adjustment information and the moving speed corresponding to the first sensing signal, and / or obtaining a Doppler shift of the target object based on the adjustment information and the Doppler shift corresponding to the first sensing signal.

27. The perception device of claim 26, wherein, The obtaining of the adjustment information corresponding to the first node comprises at least one of the following: obtaining the adjustment information based on a signal transmission parameter sent by the third node; obtaining the first speed measurement parameter of the second node, and obtaining the adjustment information according to the first speed measurement parameter, wherein the first speed measurement parameter is obtained when the second node senses the target object; obtaining a sensing signal obtained when the second node senses the target object, obtaining the first speed measurement parameter of the target object according to the sensing signal, and obtaining the adjustment information according to the first speed measurement parameter.

28. The perception device of any one of claims 24-27, wherein, The signal transmission parameter at least includes: transceiver mode information of the first node. The transceiver mode information is used to indicate at least one of the following: The first node receives a first sensing signal as a signal receiving node, the first node is the target node for obtaining the speed measurement parameter, and the first node is a signal sending node for sending a second sensing signal.

29. The perception device of claim 28, wherein, The transceiver mode information further includes a receiving mode of the first node. The receiving mode is used to indicate at least one of the following: The first node obtains the speed measurement parameter according to the first sensing signal received by itself; The first node obtains the speed measurement parameter according to the first sensing signal received by itself and the first sensing signal forwarded by other signal receiving nodes; The first node forwards the received first sensing signal to the target node.

30. The perception device of claim 29, wherein, The transceiver mode information further includes a sending mode of the first node, and the sending mode includes adjustment information. The processor is further configured to adjust the second sensing signal based on the adjustment information, and send the adjusted second sensing signal.

31. The perception device of claim 30, wherein, The adjustment of the second sensing signal based on the adjustment information includes: obtaining an adjustment factor corresponding to each orthogonal frequency division multiplexing (OFDM) symbol of the second sensing signal based on the adjustment information, and adjusting a signal transmitted on a frequency domain resource of each OFDM symbol in the second sensing signal based on the adjustment factor corresponding to each OFDM symbol to obtain an adjusted second sensing signal.

32. The perception device of any one of claims 24-27, wherein, The obtaining of the first sensing signal includes at least one of the following: receiving the first sensing signal forwarded by other signal receiving nodes; receiving a back echo signal of the second sensing signal sent by the second node; receiving a back echo signal of the second sensing signal sent by the first node.

33. The perception device of any one of claims 24-27, wherein, The signal transmission parameter further includes at least one of the following: time domain resource information, frequency domain resource information, one or more scrambling code parameters, SCS, CP type, and frequency point information.

34. A sensing device, wherein, The sensing device is a second node, and the sensing device includes a memory configured to store a computer program, a transceiver configured to transceive data under control of a processor, and the processor configured to read the computer program in the memory and perform the following operations: receiving a signal transmission parameter, and sending a second sensing signal based on the signal transmission parameter. The second sensing signal is included in a first sensing signal, the first sensing signal is used to obtain a speed measurement parameter by a target node, the target node is a first node and / or a third node, and the number of second nodes is greater than or equal to 2. The first node and the second node are the same communication device. ​ 35. The perception device of claim 34, wherein, ​ 36. The perception device of claim 34, wherein, The sending of the second sensing signal based on the signal transmission parameter comprises: obtaining adjustment information corresponding to the second sensing signal; adjusting the second sensing signal based on the adjustment information; and sending the adjusted second sensing signal based on the signal transmission parameter.

37. The perception device of claim 36, wherein, The obtaining of the adjustment information corresponding to the second sensing signal comprises at least one of the following: The adjustment information is obtained based on the signal transmission parameter sent by the third node. The first speed measurement parameter of the target object is obtained based on the first speed measurement parameter of another second node, and the adjustment information is obtained based on the first speed measurement parameter. The first speed measurement parameter of the target object is obtained based on the sensing signal obtained by another second node when the target object is sensed, and the adjustment information is obtained based on the first speed measurement parameter.

38. The perception device of claim 36, wherein, The adjusting of the second sensing signal based on the adjustment information comprises: obtaining an adjustment factor corresponding to each orthogonal frequency division multiplexing (OFDM) symbol of the second sensing signal based on the adjustment information; and adjusting a signal transmitted on a frequency domain resource of each OFDM symbol in the second sensing signal based on the adjustment factor corresponding to each OFDM symbol, to obtain an adjusted second sensing signal.

39. The perception device of any one of claims 34-38, wherein, The signal transmission parameter at least comprises transceiving mode information of the second node. The transceiving mode information is used to indicate at least one of the following: the second node as a signal sending node for sending a sensing signal, the second node as the target node for obtaining the speed measurement parameter, the second node as a signal receiving node for receiving a sensing signal, and a sending mode of the second node, wherein the sending mode comprises adjustment information of the second node.

40. A sensing device, wherein, The sensing device is a third node, and the sensing device comprises: a memory for storing a computer program; a transceiver for transceiving data under control of the processor; a processor for reading the computer program in the memory and performing the following operations: configuring a signal transmission parameter for a first node and a plurality of second nodes; receiving a speed measurement parameter sent by the first node, or a first sensing signal forwarded by the first node; or, receiving a speed measurement parameter sent by the first node and a first sensing signal forwarded by the first node; The first sensing signal is used for the third node to obtain the speed measurement parameter, and the first sensing signal comprises an echo signal of a second sensing signal sent by the second node based on the configured signal transmission parameter.

41. The perception device of claim 40, wherein, The configuring of the signal transmission parameter for the first node and the second node comprises: in response to a speed measurement requirement, determining a signal transmission group comprising the first node and a plurality of second nodes; and based on the sensing requirement, sending the signal transmission parameter to the first node and the second node.

42. The perception device of claim 40 or 41, wherein, The signal transmission parameter at least comprises adjustment information corresponding to a second node, and the second node is used to adjust a second sensing signal based on the adjustment information. The processor is further configured to: obtain first speed measurement parameters of the plurality of second nodes, and obtain adjustment information corresponding to each of the second nodes according to the first speed measurement parameters, wherein the first speed measurement parameters are obtained when the second nodes sense the target object; and / or, obtain sensing signals obtained when the plurality of second nodes sense the target object, obtain first speed measurement parameters of the target object according to the sensing signals, and obtain adjustment information corresponding to each of the second nodes according to the first speed measurement parameters.

43. A processor-readable storage medium, wherein, The processor readable storage medium stores a computer program, and the computer program is configured to enable the processor to perform the signal processing method in any one of claims 1-19.

44. A computer program product, wherein, including: A computer program, which, when executed by a processor, implements the signal processing method in any one of claims 1-19.

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