Sensing communication method and apparatus

Abstract

A sensing communication method and apparatus. The sensing communication method comprises: receiving first information, which is used for indicating a sensing mode, wherein the sensing mode is used for determining a mode of sensing fusion of first sensing data; and generating the first sensing data, wherein there is a correspondence between the data format of the first sensing data and the sensing mode. In the present application, a first terminal apparatus can receive the first information indicating the sensing mode, so as to determine the sensing mode used, so that the first terminal apparatus generates sensing data corresponding to the sensing mode, so as to use the sensing data to perform sensing fusion, thereby enlarging the sensing range, improving the sensing precision, and increasing the detection success rate of target recognition, etc.

Description

Sensing communication method and apparatus

[0001] The present application claims priority to the Chinese Patent Application No. 202410564788.2, filed on April 30, 2024, and entitled "Sensing communication method and apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] Embodiments of the present application relate to the field of wireless communication, and in particular to a sensing communication method and apparatus. BACKGROUND

[0003] With the advancement of the 6th generation (6G) wireless access system, physical networks, artificial intelligence, big data and automation technologies are reshaping traditional industries and giving rise to intelligent applications such as smart cities and autonomous driving. As an important infrastructure to support these 6G emerging applications, mobile communication systems are gradually evolving into a unified infrastructure for integrated sensing and communication (ISAC). ISAC can be considered as one of the key potential technologies for 6G mobile communication systems.

[0004] For scenarios that adopt ISAC, if each node performs single-station sensing, some performance aspects can be limited. Therefore, data sensed by multiple nodes are considered for sensing fusion. However, how to implement sensing fusion of multiple nodes is a problem to be solved. SUMMARY

[0005] The present application provides a sensing communication method and apparatus, which indicates a sensing mode so as to perform sensing fusion of data by using sensing data corresponding to the sensing mode. Thus, the sensing range is improved, the sensing accuracy is improved, and the detection success rate of target identification is improved.

[0006] To achieve the above object, the present application adopts the following technical solutions:

[0007] In a first aspect, a sensing communication method is provided, which is applied to a first terminal apparatus. The first terminal apparatus can be a terminal, a component (such as a processor, a chip, or a chip system, etc.) of the terminal, or a logic module or software capable of realizing all or part of the terminal function. For ease of description, the following is described by way of example of being executed by the first terminal apparatus. The method can include: receiving first information. The first information is used to indicate a sensing mode. The sensing mode is used to determine a manner of sensing fusion of first sensing data. Generating the first sensing data. The data format of the first sensing data has a corresponding relationship with the sensing mode.

[0008] The first terminal device in the application can receive the first information indicating the sensing mode, so as to determine the sensing mode to be adopted. The first terminal device generates sensing data corresponding to the sensing mode, so as to perform sensing fusion by using the sensing data, so as to improve the sensing range, improve the sensing accuracy, and improve the detection success rate of target identification.

[0009] In a possible design, the first information includes a first field. The first field includes N first formats. Different first formats are used to represent different sensing modes. N is a positive integer.

[0010] The application can explicitly indicate the sensing mode through the first field in the first information, so that the first terminal device can quickly determine the sensing mode based on the first field.

[0011] In a possible design, the first information includes a second field. The second field includes M second formats. Different second formats are used to represent different data formats. M is a positive integer.

[0012] The application can implicitly indicate the sensing mode through the second field in the first information, so that the first information can indirectly indicate the sensing mode in the case of indicating the data format of the sensing data.

[0013] In a possible design, M is greater than or equal to N. N represents the number of first formats, any first format corresponds to at least one second format, different first formats are used to represent different sensing modes, and N is a positive integer.

[0014] In the application, there can be a corresponding relationship between the first format and the second format, so that the sensing mode and / or the data format of the sensing data can be more accurately indicated.

[0015] In a possible design, the sensing mode includes at least one of the following modes: a first sensing mode, the first sensing mode is used for performing sensing fusion on signal-level sensing data, the signal-level sensing data is data related to an orthogonal signal used for communication; a second sensing mode, the second sensing mode is used for performing sensing fusion on channel-level sensing data, the channel-level sensing data is data related to a channel matrix, or the channel-level data is data related to a channel feature; or a third sensing mode, the third sensing mode is used for performing sensing fusion on information-level sensing data, the information-level sensing data is data related to a spatial position of a scatterer.

[0016] The application provides a plurality of possible sensing modes, so that in different scenarios, a suitable sensing mode can be selected for fusion of sensing data, and the universality is improved.

[0017] In a possible design, the first function is deployed on any device other than the first terminal device, the first function is a function for implementing perception fusion, and the method further includes: sending the first perception data to the any device other than the first terminal device.

[0018] The application can implement perception fusion on perception data of multiple nodes on any device other than the first terminal device, so as to improve a perception range, improve perception accuracy, and improve a detection success rate such as target identification.

[0019] In a possible design, the first function is deployed on the first terminal device, the first function is a function for implementing perception fusion, and the method further includes: receiving second perception data. The second perception data has a corresponding relationship with a perception mode, and the second perception data is generated by a second terminal device. The first perception data and the second perception data are subjected to data fusion processing.

[0020] The application can implement perception fusion on perception data of multiple nodes on the first terminal device, so as to improve a perception range, improve perception accuracy, and improve a detection success rate such as target identification.

[0021] In a possible design, the first information is first downlink control information, or the first information is first sidelink control information.

[0022] The application can indicate a perception mode through the first downlink control information, so that the first terminal device can generate perception data corresponding to the perception mode. Perception fusion based on the perception data can improve a perception range, improve perception accuracy, and improve a detection success rate such as target identification.

[0023] In a second aspect, a perception communication method is provided, and the method is applied to a first terminal device. The first terminal device can be a terminal, a component (for example, a processor, a chip, or a chip system) of the terminal, or a logic module or software that can implement all or part of terminal functions. For ease of description, the method is described below by taking the first terminal device as an example. The method includes: sending first information. The first information is used to indicate a perception mode, and the perception mode is used to determine a manner of perception fusion of first perception data. Generating the first perception data. The first perception data has a corresponding relationship with the perception mode.

[0024] The first terminal device of the application can indicate the first information of the perception mode to instruct a perception node to adopt the perception mode, and the first terminal device can generate perception data corresponding to the perception mode and perform perception fusion by using the perception data. In this way, a perception range can be improved, perception accuracy can be improved, and a detection success rate such as target identification can be improved.

[0025] In one design, the first information includes a first field. The first field includes N first formats. Different first formats are used to represent different sensing modes. N is a positive integer.

[0026] In one design, the first information includes a second field. The second field includes M second formats. Different second formats are used to represent different data formats. M is a positive integer.

[0027] In one design, M is greater than or equal to N. N represents a number of first formats, any first format corresponds to at least one second format, different first formats are used to represent different sensing modes, and N is a positive integer.

[0028] In one design, the sensing mode includes at least one of the following: a first sensing mode for sensing fusion of signal-level sensing data, the signal-level sensing data being data related to an orthogonal signal used for communication; a second sensing mode for sensing fusion of channel-level sensing data, the channel-level sensing data being data related to a channel matrix or data related to a channel feature; or a third sensing mode for sensing fusion of information-level sensing data, the information-level sensing data being data related to a spatial position of a scatterer.

[0029] In one design, the first function is deployed at an arbitrary device other than the first terminal device, the first function is a function for implementing sensing fusion, and the method further includes sending the first sensing data to the arbitrary device other than the first terminal device.

[0030] In one design, the first function is deployed at the first terminal device, the first function is a function for implementing sensing fusion, and the method further includes receiving second sensing data. The second sensing data has a data format corresponding to a sensing mode, and the second sensing data is generated by a second terminal device. The first sensing data and the second sensing data are subjected to data fusion processing.

[0031] In one design, the method further includes determining the sensing mode.

[0032] In one design, the first information is first uplink control information or the first information is first sidelink control information.

[0033] The application can indicate the sensing mode through the first uplink control information or the first sidelink control information, and the first terminal device can generate sensing data corresponding to the sensing mode. Sensing fusion based on the sensing data can improve sensing range, improve sensing accuracy, and improve target recognition detection success rate.

[0034] In a third aspect, a method for sensing communication is provided. The method is applied to a first network device. The first network device can be a network device, a component (e.g., a processor, a chip, or a chip system) of a network device, or a logic module or software that can implement all or part of the function of a network device. For ease of description, the method is described below by way of example of being performed by a first network device. The method includes determining a sensing mode. The sensing mode is used to determine a manner of performing sensing fusion on first sensing data. The data format of the first sensing data has a corresponding relationship with the sensing mode. The method further includes sending first information. The first information is used to indicate the sensing mode. The method further includes performing a sensing operation based on the sensing mode.

[0035] The first network device can send the first information indicating the sensing mode, so that the first terminal device determines the sensing mode to be used. The first terminal device generates sensing data corresponding to the sensing mode, so as to perform sensing fusion using the sensing data, thereby improving the sensing range, improving the sensing accuracy, and improving the detection success rate of target identification.

[0036] In a possible design, the first information includes a first field. The first field includes N first formats. Different first formats are used to represent different sensing modes. N is a positive integer.

[0037] In a possible design, the first information includes a second field. The second field includes M second formats. Different second formats are used to represent different data formats. M is a positive integer.

[0038] In a possible design, M is greater than or equal to N. N represents the number of first formats. Any first format corresponds to at least one second format. Different first formats are used to represent different sensing modes. N is a positive integer.

[0039] In a possible design, the sensing mode includes at least one of the following modes: a first sensing mode, the first sensing mode is used to perform sensing fusion on signal-level sensing data, the signal-level sensing data is data related to an orthogonal signal used for communication; a second sensing mode, the second sensing mode is used to perform sensing fusion on channel-level sensing data, the channel-level sensing data is data related to a channel matrix, or the channel-level sensing data is data related to a channel feature; or a third sensing mode, the third sensing mode is used to perform sensing fusion on information-level sensing data, the information-level sensing data is data related to a spatial position of a scatterer.

[0040] In a possible design, the first function is deployed on the first network device, and the first function is a function for implementing perception fusion. The method further includes: receiving first perception data from the first terminal device; and receiving second perception data from the second terminal device. The second perception data has a data format corresponding to a perception mode, and the second perception data is generated by the second terminal device. The perception operation is performed based on the perception mode, and can include: performing data fusion processing on the first perception data and the second perception data.

[0041] In a possible design, the first function is deployed on the first terminal device, and the first function is a function for implementing perception fusion. The method further includes: receiving second perception data from the second terminal device. The second perception data has a data format corresponding to a perception mode, and the second perception data is generated by the second terminal device. The second perception data is sent.

[0042] In a possible design, the first information is first downlink control information.

[0043] In a fourth aspect, a perception communication method is provided. The method is applied to a first network device. The first network device can be a network device, a component (for example, a processor, a chip, or a chip system) of a network equipment device, or a logic module or software that can implement all or part of the function of the network device. For ease of description, the method is described below by taking the first network device as an example. The method includes: receiving first information. The first information is used to indicate a perception mode. The perception mode is used to determine the manner of perception fusion of first perception data. The first perception data has a data format corresponding to the perception mode. A perception operation is performed based on the perception mode.

[0044] The first network device can receive the first information indicating the perception mode, to determine the perception mode adopted by a perception node. In the case of performing perception fusion on the perception data corresponding to the perception mode, the perception range can be improved, the perception accuracy can be improved, and the detection success rate of target identification can be improved.

[0045] In a possible design, the first information includes a first field. The first field includes N first formats. Different first formats are used to represent different perception modes. N is a positive integer.

[0046] In a possible design, the first information includes a second field. The second field includes M second formats. Different second formats are used to represent different data formats. M is a positive integer.

[0047] In a possible design, M is greater than or equal to N. N represents the number of first formats, any first format corresponds to at least one second format, different first formats are used to represent different perception modes, and N is a positive integer.

[0048] In a possible design, the perception mode comprises at least one of the following modes: a first perception mode, the first perception mode being used for perception fusion of signal-level perception data, the signal-level perception data being data related to an orthogonal signal used for communication; a second perception mode, the second perception mode being used for perception fusion of channel-level perception data, the channel-level perception data being data related to a channel matrix, or the channel-level perception data being data related to a channel feature; or a third perception mode, the third perception mode being used for perception fusion of information-level perception data, the information-level perception data being data related to a spatial position of a scatterer.

[0049] In a possible design, the first function is deployed at the first network device, and the first function is a function used for implementing perception fusion; and the method further includes: receiving first perception data from the first terminal device; and receiving second perception data from a second terminal device, wherein a data format of the second perception data has a corresponding relationship with the perception mode, and the second perception data is generated by the second terminal device; and performing a perception operation based on the perception mode, which can include: performing data fusion processing on the first perception data and the second perception data.

[0050] In a possible design, the first function is deployed at the first terminal device, and the first function is a function used for implementing perception fusion; and the method further includes: receiving second perception data from a second terminal device, wherein a data format of the second perception data has a corresponding relationship with the perception mode, and the second perception data is generated by the second terminal device; and sending the second perception data.

[0051] In a possible design, the first information is first uplink control information.

[0052] In a fifth aspect, a perception communication device is provided, which is configured to a first terminal device, and can include: a transceiver, configured to receive first information; the first information is used to indicate a perception mode; wherein the perception mode is used to determine a manner in which first perception data is fused; and a processing unit, configured to generate the first perception data; and a data format of the first perception data has a corresponding relationship with the perception mode.

[0053] The first terminal device in the application can receive first information indicating a perception mode, so as to determine a perception mode to be used. The first terminal device generates perception data corresponding to the perception mode, so as to perform perception fusion by using the perception data, thereby improving a perception range, improving perception accuracy, and improving a detection success rate of target identification.

[0054] In a possible design, the first information includes a first field; and the first field includes N first formats; wherein different first formats are used to represent different perception modes; and N is a positive integer.

[0055] In one possible design, the first information includes a second field. The second field includes M second formats. Different second formats are used to represent different data formats. M is a positive integer.

[0056] In one possible design, M is greater than or equal to N. N represents a number of the first formats, any first format corresponds to at least one second format, different first formats are used to represent different perception modes, and N is a positive integer.

[0057] In one possible design, the perception mode includes at least one of the following: a first perception mode, the first perception mode is used for perception fusion of signal-level perception data, the signal-level perception data is data related to an orthogonal signal used for communication; a second perception mode, the second perception mode is used for perception fusion of channel-level perception data, the channel-level perception data is data related to a channel matrix, or the channel-level perception data is data related to a channel feature; or a third perception mode, the third perception mode is used for perception fusion of information-level perception data, the information-level perception data is data related to a spatial position of a scatterer.

[0058] In one possible design, the first function is deployed in any device other than the first terminal device, the first function is a function used to implement perception fusion, and the transceiver is further configured to send the first perception data to the any device other than the first terminal device.

[0059] In one possible design, the first function is deployed in the first terminal device, the first function is a function used to implement perception fusion, and the transceiver is further configured to receive second perception data. The second perception data has a data format corresponding to a perception mode, and the second perception data is generated by a second terminal device. The processing unit is further configured to perform data fusion processing on the first perception data and the second perception data.

[0060] In one possible design, the first information is first downlink control information, or the first information is first sidelink control information.

[0061] In a sixth aspect, a perception communication device is provided. The device is configured in a first terminal device, and includes: a transceiver configured to send first information. The first information is used to indicate a perception mode, and the perception mode is used to determine a manner of perception fusion of first perception data. A processing unit is configured to generate the first perception data. The first perception data has a data format corresponding to the perception mode.

[0062] The first terminal device can indicate the first information of the sensing mode to instruct the sensing node to adopt the sensing mode, and the first terminal device can generate sensing data corresponding to the sensing mode and perform sensing fusion by using the sensing data. Thus, the sensing range is improved, the sensing accuracy is improved, and the detection success rate of target identification is improved.

[0063] In a possible design, the first information includes a first field. The first field includes N first formats. Different first formats are used to represent different sensing modes. N is a positive integer.

[0064] In a possible design, the first information includes a second field. The second field includes M second formats. Different second formats are used to represent different data formats. M is a positive integer.

[0065] In a possible design, M is greater than or equal to N. N represents the number of first formats, any first format corresponds to at least one second format, different first formats are used to represent different sensing modes, and N is a positive integer.

[0066] In a possible design, the sensing mode includes at least one of the following modes: a first sensing mode, the first sensing mode is used for performing sensing fusion on signal-level sensing data, the signal-level sensing data is data related to an orthogonal signal used for communication; a second sensing mode, the second sensing mode is used for performing sensing fusion on channel-level sensing data, the channel-level sensing data is data related to a channel matrix, or the channel-level sensing data is data related to a channel feature; or a third sensing mode, the third sensing mode is used for performing sensing fusion on information-level sensing data, the information-level sensing data is data related to a spatial position of a scatterer.

[0067] In a possible design, the first function is deployed in any device other than the first terminal device, the first function is a function for implementing sensing fusion, and the transceiver is further configured to send the first sensing data to the any device other than the first terminal device.

[0068] In a possible design, the first function is deployed in the first terminal device, the first function is a function for implementing sensing fusion, and the transceiver is further configured to receive second sensing data. The data format of the second sensing data has a corresponding relationship with the sensing mode, and the second sensing data is generated by a second terminal device. The processing unit is further configured to perform data fusion processing on the first sensing data and the second sensing data.

[0069] In a possible design, the apparatus further includes a processing unit configured to determine the sensing mode.

[0070] In a possible design, the first information is first uplink control information, or the first information is first sidelink control information.

[0071] In a seventh aspect, a perception communication apparatus is provided. The apparatus is configured to a first network apparatus, and includes: a processing unit, configured to determine a perception mode. The perception mode is used to determine a manner of performing perception fusion on first perception data. A data format of the first perception data has a corresponding relationship with the perception mode. The apparatus further includes a transceiver, configured to send first information. The first information is used to indicate the perception mode. The processing unit is further configured to perform a perception operation based on the perception mode.

[0072] The first network apparatus can send the first information indicating the perception mode, so that the first terminal apparatus determines the perception mode to be used. The first terminal apparatus generates the perception data corresponding to the perception mode, and performs perception fusion using the perception data, so as to improve the perception range, improve the perception accuracy, and improve the detection success rate of target identification.

[0073] In a possible design, the first information includes a first field. The first field includes N first formats. Different first formats are used to represent different perception modes. N is a positive integer.

[0074] In a possible design, the first information includes a second field. The second field includes M second formats. Different second formats are used to represent different data formats. M is a positive integer.

[0075] In a possible design, M is greater than or equal to N. N represents the number of first formats. Any first format corresponds to at least one second format. Different first formats are used to represent different perception modes. N is a positive integer.

[0076] In a possible design, the perception mode includes at least one of the following modes: a first perception mode, the first perception mode is used to perform perception fusion on signal-level perception data. The signal-level perception data is data related to an orthogonal signal used for communication; a second perception mode, the second perception mode is used to perform perception fusion on channel-level perception data. The channel-level perception data is data related to a channel matrix, or the channel-level data is data related to a channel feature; or a third perception mode, the third perception mode is used to perform perception fusion on information-level perception data. The information-level perception data is data related to a spatial position of a scatterer.

[0077] In a possible design, the first function is deployed on the first network device, and the first function is a function for implementing perception fusion. The transceiver is further configured to receive first perception data from the first terminal device. The transceiver is further configured to receive second perception data from the second terminal device. The second perception data has a data format corresponding to a perception mode, and the second perception data is generated by the second terminal device. The processing unit is further configured to perform data fusion processing on the first perception data and the second perception data.

[0078] In a possible design, the first function is deployed on the first terminal device, and the first function is a function for implementing perception fusion. The transceiver is further configured to receive second perception data from the second terminal device. The second perception data has a data format corresponding to a perception mode, and the second perception data is generated by the second terminal device. The processing unit is further configured to send the second perception data.

[0079] In a possible design, the first information is first downlink control information.

[0080] In an eighth aspect, a perception communication device is provided. The device is configured on a first network device, and the device includes: a transceiver configured to receive first information. The first information is used to indicate a perception mode, and the perception mode is used to determine a manner of performing perception fusion on first perception data. The first perception data has a data format corresponding to the perception mode. A processing unit is configured to perform a perception operation based on the perception mode.

[0081] The first network device in the application can receive first information indicating a perception mode, to determine a perception mode adopted by a perception node. In a case where perception fusion is performed on perception data corresponding to the perception mode, the perception range can be improved, the perception accuracy can be improved, and the detection success rate of target identification can be improved.

[0082] In a possible design, the first information includes a first field. The first field includes N first formats. Different first formats are used to represent different perception modes. N is a positive integer.

[0083] In a possible design, the first information includes a second field. The second field includes M second formats. Different second formats are used to represent different data formats. M is a positive integer.

[0084] In a possible design, M is greater than or equal to N. N represents a number of first formats, any first format corresponds to at least one second format, different first formats are used to represent different perception modes, and N is a positive integer.

[0085] In a possible design, the perception mode includes at least one of the following modes: a first perception mode, the first perception mode is used for perception fusion of signal-level perception data, the signal-level perception data is data related to an orthogonal signal used for communication; a second perception mode, the second perception mode is used for perception fusion of channel-level perception data, the channel-level perception data is data related to a channel matrix, or the channel-level perception data is data related to a channel feature; or a third perception mode, the third perception mode is used for perception fusion of information-level perception data, the information-level perception data is data related to a spatial position of a scatterer.

[0086] In a possible design, the first function is deployed in the first network device, and the first function is a function used for implementing perception fusion. The transceiver is further configured to receive first perception data from the first terminal device. The transceiver is further configured to receive second perception data from a second terminal device. The second perception data has a data format corresponding to the perception mode, and the second perception data is generated by the second terminal device. The processor is further configured to perform data fusion processing on the first perception data and the second perception data.

[0087] In a possible design, the first function is deployed in the first terminal device, and the first function is a function used for implementing perception fusion. The transceiver is further configured to receive second perception data from a second terminal device. The second perception data has a data format corresponding to the perception mode, and the second perception data is generated by the second terminal device. The transceiver is further configured to send the second perception data.

[0088] In a possible design, the first information is first uplink control information.

[0089] In a ninth aspect, a perception communication device is provided. The device is configured in a first terminal device, and can include: a transceiver configured to receive first information. The first information is used to indicate a perception mode. The perception mode is used to determine a manner of perception fusion of first perception data. A processor configured to generate the first perception data. The first perception data has a data format corresponding to the perception mode.

[0090] The first terminal device in this application can receive first information indicating a perception mode, so as to determine an adopted perception mode. The first terminal device generates perception data corresponding to the perception mode, so as to perform perception fusion by using the perception data, so as to improve a perception range, improve perception accuracy, and improve a detection success rate of target identification.

[0091] In a possible design, the first information includes a first field. The first field includes N first formats. Different first formats are used to represent different perception modes. N is a positive integer.

[0092] In one possible design, the first information includes a second field. The second field includes M second formats. Different second formats are used to represent different data formats. M is a positive integer.

[0093] In one possible design, M is greater than or equal to N. Here, N represents the number of first formats, where any first format corresponds to at least one second format, and different first formats are used to represent different perception modes, and N is a positive integer.

[0094] In one possible design, the sensing mode includes at least one of the following modes: a first sensing mode, which is used for sensing fusion of signal-level sensing data, wherein the signal-level sensing data is data related to orthogonal signals used for communication; a second sensing mode, which is used for sensing fusion of channel-level sensing data, wherein the channel-level sensing data is data related to a channel matrix, or the channel-level data is data related to channel characteristics; or, a third sensing mode, which is used for sensing fusion of information-level sensing data, wherein the information-level sensing data is data related to the spatial location of the scatterer.

[0095] In one possible design, the first function is deployed on any device other than the first terminal device. The first function is for realizing sensory fusion. The transceiver is also used to send the first sensory data to any device other than the first terminal device.

[0096] In one possible design, a first function is deployed in the first terminal device, which is a function for realizing sensor fusion. The transceiver is also used to receive second sensor data. The data format of the second sensor data corresponds to the sensory mode, and the second sensor data is generated by the second terminal device. The processor is also used to perform data fusion processing on the first and second sensor data.

[0097] In one possible design, the first information is either first downlink control information or first sidelink control information.

[0098] In a tenth aspect, a sensing communication device is provided, configured on a first terminal device. The device includes: a transceiver for transmitting first information, wherein the first information is used to indicate a sensing mode, and the sensing mode is used to determine a method for sensing fusion of first sensing data; and a processor for generating the first sensing data. The data format of the first sensing data corresponds to the sensing mode.

[0099] The first terminal device can indicate the first information of the sensing mode to instruct the sensing node to adopt the sensing mode, and the first terminal device can generate sensing data corresponding to the sensing mode and perform sensing fusion by using the sensing data. Thus, the sensing range is improved, the sensing accuracy is improved, and the detection success rate of target identification is improved.

[0100] In a possible design, the first information includes a first field. The first field includes N first formats. Different first formats are used to represent different sensing modes. N is a positive integer.

[0101] In a possible design, the first information includes a second field. The second field includes M second formats. Different second formats are used to represent different data formats. M is a positive integer.

[0102] In a possible design, M is greater than or equal to N. N represents the number of first formats, any first format corresponds to at least one second format, different first formats are used to represent different sensing modes, and N is a positive integer.

[0103] In a possible design, the sensing mode includes at least one of the following modes: a first sensing mode, the first sensing mode is used for performing sensing fusion on signal-level sensing data, the signal-level sensing data is data related to an orthogonal signal used for communication; a second sensing mode, the second sensing mode is used for performing sensing fusion on channel-level sensing data, the channel-level sensing data is data related to a channel matrix, or the channel-level sensing data is data related to a channel feature; or a third sensing mode, the third sensing mode is used for performing sensing fusion on information-level sensing data, the information-level sensing data is data related to a spatial position of a scatterer.

[0104] In a possible design, the first function is deployed in any device other than the first terminal device, the first function is a function for implementing sensing fusion, and the transceiver is further configured to send the first sensing data to the any device other than the first terminal device.

[0105] In a possible design, the first function is deployed in the first terminal device, the first function is a function for implementing sensing fusion, and the transceiver is further configured to receive second sensing data. The data format of the second sensing data has a corresponding relationship with the sensing mode, and the second sensing data is generated by a second terminal device. The processor is further configured to perform data fusion processing on the first sensing data and the second sensing data.

[0106] In a possible design, the apparatus further includes a processor configured to determine the sensing mode.

[0107] In a possible design, the first information is first uplink control information, or the first information is first sidelink control information.

[0108] In an eleventh aspect, a perception communication apparatus is provided. The apparatus is configured to a first network apparatus. The apparatus comprises: a processor configured to determine a perception mode. The perception mode is used to determine a manner of performing perception fusion on first perception data. A data format of the first perception data has a corresponding relationship with the perception mode. A transceiver configured to send first information. The first information is used to indicate the perception mode. The processor is further configured to perform a perception operation based on the perception mode.

[0109] The first network apparatus can send the first information indicating the perception mode, so that the first terminal apparatus determines the perception mode to be used. The first terminal apparatus generates perception data corresponding to the perception mode, so as to perform perception fusion using the perception data, thereby improving the perception range, improving the perception accuracy, and improving the detection success rate of target identification.

[0110] In a possible design, the first information comprises a first field. The first field comprises N first formats. Different first formats are used to represent different perception modes. N is a positive integer.

[0111] In a possible design, the first information comprises a second field. The second field comprises M second formats. Different second formats are used to represent different data formats. M is a positive integer.

[0112] In a possible design, M is greater than or equal to N. N represents the number of first formats. Any first format corresponds to at least one second format. Different first formats are used to represent different perception modes. N is a positive integer.

[0113] In a possible design, the perception mode comprises at least one of the following modes: a first perception mode, the first perception mode is used to perform perception fusion on signal-level perception data. The signal-level perception data is data related to an orthogonal signal used for communication. A second perception mode, the second perception mode is used to perform perception fusion on channel-level perception data. The channel-level perception data is data related to a channel matrix, or the channel-level data is data related to a channel feature. Or, a third perception mode, the third perception mode is used to perform perception fusion on information-level perception data. The information-level perception data is data related to a spatial position of a scatterer.

[0114] In a possible design, the first function is deployed on the first network device, and the first function is a function for implementing perception fusion. The transceiver is further configured to receive first perception data from the first terminal device. The transceiver is further configured to receive second perception data from the second terminal device. The second perception data has a data format corresponding to a perception mode, and the second perception data is generated by the second terminal device. The processor is further configured to perform data fusion processing on the first perception data and the second perception data.

[0115] In a possible design, the first function is deployed on the first terminal device, and the first function is a function for implementing perception fusion. The transceiver is further configured to receive second perception data from the second terminal device. The second perception data has a data format corresponding to a perception mode, and the second perception data is generated by the second terminal device. The processor is further configured to send the second perception data.

[0116] In a possible design, the first information is first downlink control information.

[0117] In a twelfth aspect, a perception communication device is provided. The device is configured on a first network device, and includes: a transceiver configured to receive first information. The first information is used to indicate a perception mode, and the perception mode is used to determine a manner of performing perception fusion on first perception data. The first perception data has a data format corresponding to the perception mode. A processor configured to perform a perception operation based on the perception mode.

[0118] The first network device in the application can receive first information indicating a perception mode, to determine a perception mode adopted by a perception node. In a case where perception fusion is performed on perception data corresponding to the perception mode, the perception range can be improved, the perception accuracy can be improved, and the detection success rate of target identification can be improved.

[0119] In a possible design, the first information includes a first field. The first field includes N first formats. Different first formats are used to represent different perception modes. N is a positive integer.

[0120] In a possible design, the first information includes a second field. The second field includes M second formats. Different second formats are used to represent different data formats. M is a positive integer.

[0121] In a possible design, M is greater than or equal to N. N represents a number of first formats, any first format corresponds to at least one second format, different first formats are used to represent different perception modes, and N is a positive integer.

[0122] In a possible design, the perception mode includes at least one of the following: a first perception mode, the first perception mode being used for perception fusion of signal-level perception data, the signal-level perception data being data related to an orthogonal signal used for communication; a second perception mode, the second perception mode being used for perception fusion of channel-level perception data, the channel-level perception data being data related to a channel matrix, or the channel-level perception data being data related to a channel feature; or a third perception mode, the third perception mode being used for perception fusion of information-level perception data, the information-level perception data being data related to a spatial position of a scatterer.

[0123] In a possible design, the first function is deployed on the first network device, and the first function is a function used for implementing perception fusion. The transceiver is further configured to receive first perception data from the first terminal device. The transceiver is further configured to receive second perception data from the second terminal device. The second perception data is in a data format corresponding to the perception mode, and the second perception data is generated by the second terminal device. The processor is further configured to perform data fusion processing on the first perception data and the second perception data.

[0124] In a possible design, the first function is deployed on the first terminal device, and the first function is a function used for implementing perception fusion. The transceiver is further configured to receive second perception data from the second terminal device. The second perception data is in a data format corresponding to the perception mode, and the second perception data is generated by the second terminal device. The transceiver is further configured to send the second perception data.

[0125] In a possible design, the first information is first uplink control information.

[0126] It can be understood that the processor involved in any of the aspects described above can be a hardware-implemented circuit such as an artificial intelligence (AI) processor, to improve the running speed. The present application does not limit the specific implementation manner of the processor.

[0127] Optionally, the perception communication device involved in any of the aspects described above can be a whole machine device, or a module in a device such as a chip.

[0128] A thirteenth aspect provides a perception communication system. The system includes a perception communication device (such as a first terminal device) performing any of the methods in the first aspect, and a perception communication device (such as a first network device or a second terminal device) performing any of the methods in the third aspect.

[0129] In a fourteenth aspect, a perception communication system is provided. The system includes a perception communication device (e.g., a first terminal device) configured to perform any of the methods of the second aspect, and a perception communication device (e.g., a first network device, a second terminal device) configured to perform any of the methods of the fourth aspect.

[0130] In a fifteenth aspect, a computer-readable storage medium is provided. The computer-readable storage medium stores computer instructions. When the computer instructions are executed on a computer, the computer is caused to perform the communication method according to any of the aspects described above.

[0131] In a sixteenth aspect, a computer program product is provided. The computer program product includes computer programs or instructions. When the computer programs or instructions are executed on a computer, the computer is caused to perform the communication method according to any of the aspects described above.

[0132] The beneficial effects of the methods of any of the second aspect to the sixteenth aspect correspond to the beneficial effects of the methods of the first aspect, which are not repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0133] FIG. 1 is a schematic diagram of an architecture of a mobile communication system to which embodiments of the present application are applied;

[0134] FIG. 2 is a schematic diagram of a perception communication scenario according to an embodiment of the present application;

[0135] FIG. 3 is a schematic diagram of a perception communication method according to an embodiment of the present application;

[0136] FIG. 4 is a schematic diagram of another perception communication method according to an embodiment of the present application;

[0137] FIG. 5 is a schematic diagram of a perception communication device according to an embodiment of the present application;

[0138] FIG. 6 is a schematic diagram of another perception communication device according to an embodiment of the present application. DETAILED DESCRIPTION

[0139] FIG. 1 is a schematic diagram of an architecture of a communication system 1000 according to an embodiment of the present application. As shown in FIG. 1, the communication system 1000 includes a radio access network (RAN) 100, wherein the RAN 100 includes at least one RAN node (e.g., 110a and 110b in FIG. 1, collectively referred to as 110), and can further include at least one terminal (e.g., 120a-120j in FIG. 1, collectively referred to as 120). The RAN 100 can further include other RAN nodes, such as wireless relay devices and / or wireless backhaul devices (not shown in FIG. 1). The terminals 120 are wirelessly connected to the RAN nodes 110. Terminals and terminals, and RAN nodes and RAN nodes can be connected to each other by wire or wirelessly. The communication system 1000 can further include a core network 200. The RAN nodes 110 are connected to the core network 200 by wire or wirelessly. The core network devices in the core network 200 and the RAN nodes 110 in the RAN 100 can be independent and different physical devices, or can be the same physical device integrated with the logical functions of the core network devices and the logical functions of the RAN nodes. The communication system 1000 can further include the Internet 300.

[0140] The RAN 100 can be an evolved universal terrestrial radio access (E-UTRA) system, a new radio (NR) system, a 6G radio access system, and a future radio access system defined in the 3rd generation partnership project (3GPP). The RAN 100 can also include two or more different radio access systems. The RAN 100 can also be an open RAN (O-RAN).

[0141] A RAN node, also referred to as a radio access network device, a RAN entity, or an access node, is configured to help a terminal to access to a communication system over the air. In one application scenario, the RAN node can be a base station (BS), an evolved NodeB (eNodeB), a transmission reception point (TRP), a next generation NodeB (gNB) in a 5th generation (5G) mobile communication system, a next generation NodeB in a 6G mobile communication system, or a base station in a future mobile communication system. The RAN node can be a macro base station (e.g., 110a in FIG. 1), or a micro base station or an indoor station (e.g., 110b in FIG. 1), or a relay node or a donor node.

[0142] In another application scenario, a terminal can access to a communication system over the air by cooperation of a plurality of RAN nodes, and different RAN nodes implement part of functions of a base station. For example, the RAN node can be a central unit (CU), a distributed unit (DU), or a radio unit (RU). Here, the CU implements functions of a radio resource control protocol and a packet data convergence protocol (PDCP) of a base station, and can also implement a function of a service data adaptation protocol (SDAP). The DU implements functions of a radio link control layer and a medium access control (MAC) layer of a base station, and can also implement part of functions or all functions of a physical layer. For details of the protocol layers, refer to relevant technical specifications of 3GPP. The RU can be configured to implement functions of transceiving a radio frequency signal. The CU and the DU can be two independent RAN nodes, or can be integrated in the same RAN node, for example, integrated in a baseband unit (BBU). The RU can be included in a radio frequency device, for example, included in a remote radio unit (RRU) or an active antenna unit (AAU). The CU can be further divided into two types of RAN nodes, i.e., a CU-control plane and a CU-user plane.

[0143] The RAN node can have different names in different systems, for example, in an O-RAN system, the CU can be referred to as an open CU (O-CU), the DU can be referred to as an open DU (O-DU), and the RU can be referred to as an open RU (O-RU). The RAN node in the embodiments of the present application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module, for example, the RAN node can be a server loaded with a corresponding software module. The embodiments of the present application do not limit the specific technology and specific equipment form adopted by the RAN node. For ease of description, a base station is described as an example of the RAN node in the following.

[0144] The terminal is a device with wireless transceiver function, which can send signals to the base station or receive signals from the base station. The terminal can also be referred to as a terminal device, user equipment (UE), mobile station, mobile terminal, etc. The terminal can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), internet of things (IOT), virtual reality, augmented reality, industrial control, autonomous driving, remote medical treatment, smart grid, smart furniture, smart office, smart wear, smart transportation, smart city, etc. The terminal can be a mobile phone, tablet computer, computer with wireless transceiver function, wearable device, vehicle, airplane, ship, robot, mechanical arm, smart home device, etc. The embodiments of the present application do not limit the specific technology and specific equipment form adopted by the terminal.

[0145] The base station and the terminal can be fixed in position or movable. The base station and the terminal can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; can also be deployed on water surface; can also be deployed on airplanes, balloons and artificial satellites. The embodiments of the present application do not limit the application scenarios of the base station and the terminal.

[0146] The roles of the base station and the terminal can be relative. For example, the helicopter or the drone 120i in FIG. 1 can be configured as a mobile base station, and for the terminal 120j that accesses the wireless access network 100 through the 120i, the terminal 120i is a base station; but for the base station 110a, the 120i is a terminal, that is, the 110a and the 120i communicate through a wireless air interface protocol. Of course, the 110a and the 120i can also communicate through a base station-to-base station interface protocol, and in this case, the 120i is also a base station relative to the 110a. Therefore, the base station and the terminal can be collectively referred to as a communication device, and the 110a and the 110b in FIG. 1 can be referred to as a communication device with a base station function, and the 120a-120j in FIG. 1 can be referred to as a communication device with a terminal function.

[0147] The base station and the terminal, the base station and the base station, and the terminal and the terminal can communicate through a licensed spectrum, an unlicensed spectrum, or both. They can communicate through a spectrum below 6 gigahertz (GHz), a spectrum above 6 GHz, or both. The embodiments of the present application do not limit the spectrum resources used for wireless communication.

[0148] In the embodiments of the present application, the functions of the base station can also be performed by a module (such as a chip) in the base station or a control subsystem containing base station functions. The control subsystem containing base station functions herein can be a control center in the above-mentioned application scenarios such as smart grids, industrial control, intelligent transportation, and smart cities. The functions of the terminal can also be performed by a module (such as a chip or a modem) in the terminal or a device containing terminal functions.

[0149] In the sensing scenario of ISAC, some sensing nodes use a self-generation and self-reception mode for sensing, which can be referred to as single-base sensing. Some other nodes use a self-generation and other-reception mode for sensing, which can be referred to as double-base sensing. Whether the nodes are single-base sensing nodes or double-base sensing nodes, if each node performs independent single-station sensing, the performance in many aspects will be limited, such as a small sensing range, a limited incident angle, and limited precision. Single-station sensing can represent that a node performs the above-mentioned single-base sensing or double-base sensing alone.

[0150] For example, point cloud acquisition modes based on radio frequency signals are gradually attracting attention. Among them, single-station sensing usually has the disadvantages of small sensing distance and limited field of view. Therefore, in some scenarios, a multi-node cooperative sensing scheme is proposed to expand the field of view of sensing. Through multi-node, multi-mode, and multi-frequency point cooperative sensing and sensing data fusion, the sensing capability of the ISAC network is enhanced, and the sensing performance is improved.

[0151] However, how to implement cooperative sensing and related data fusion is a problem that needs to be solved at present.

[0152] Therefore, the embodiment of the present application provides a sensing communication method, which can indicate a sensing mode so as to perform data sensing fusion by using sensing data corresponding to the sensing mode. Thus, the sensing range is improved, the sensing accuracy is improved, and the target recognition detection success rate is improved.

[0153] The sensing communication method and the sensing communication device will be further introduced below in combination with the drawings. It can be understood that the first device and the terminal device are taken as an example to illustrate the execution subject of the interaction in the present application, but the present application does not limit the execution subject of the interaction. For example, the method executed by the first device in the present application can also be implemented by a module (such as a circuit, a chip, or a chip system, etc.) in the first device, or a logic node, a logic module, or software capable of realizing all or part of the functions of the first device; the method executed by the terminal device in the present application can also be implemented by a communication module in the terminal device or a circuit or chip (such as a modem chip (also known as a baseband chip), or a SoC chip containing a modem core, or a SIP chip) responsible for communication functions in the terminal device. Among them, the first device can be a network device, a sensing management function entity (SMF), or other terminal devices. It can be understood that the network equipment in the following embodiments can also be referred to as an access network equipment or a base station. It can be understood that the sensing management function entity SMF is only an example of the name, and other names can also be used for units that can realize the sensing function, which are not limited to SMF, and the embodiments of the present application are not limited herein.

[0154] In the embodiments of the present application, the term "wireless communication" can also be referred to as "communication", and the term "communication" can also be described as "data transmission", "information transmission", or "transmission". In the embodiments of the present application, the terminal can also be referred to as a terminal device.

[0155] FIG. 2 shows a sensing communication scenario. The scenario can include a first network device 211, a second network device 212, a first terminal device 221, a second terminal device 222, and a third terminal device 223. It is assumed that the first network device 211 is configured to implement the related operations of sensing data fusion. Then, the first network device 211 can obtain sensing data of other sensing nodes. For example, the first network device 211 obtains sensing data from the second network device 212, the first terminal device 221, the second terminal device 222, and the third terminal device 223. The scenario can be considered as a multi-transmission and receiving point (TRP) sensing communication scenario, and each sensing node can be considered as a TRP in the embodiments of the present application. Of course, each device shown in FIG. 2 can be considered as a sensing node. That is, a sensing node can be a node that generates sensing data, or a node that is configured to implement sensing data fusion, which is not limited in the embodiments of the present application. The signals transmitted by the sensing nodes to the first network device 211 can include sensing data.

[0156] It can be understood that FIG. 2 only shows the case where the first network device 211 is configured to implement sensing data fusion. In other embodiments, the first network device 211 can be replaced by any device configured to implement sensing data fusion, such as a terminal device configured to implement sensing data fusion, or an SMF implemented independently.

[0157] In some embodiments, the first network device 211 and the second network device 212 can be base stations responsible for communication functions. The first network device 211 can also be responsible for sensing functions. In some examples, the first network device 211 and the second network device 212 can also be responsible for centralized storage, management, distribution, etc. of sensing data. The first network device 211 can also be responsible for computing and other related operations of sensing data. The first terminal device 221, the second terminal device 222, and the third terminal device 223 can be responsible for collecting single-base sensing and / or double-base sensing data. In some examples, the first terminal device 221, the second terminal device 222, and the third terminal device 223 can also be responsible for part of the computation of sensing data.

[0158] It can be understood that the first network device 211 and the second network device 212 shown in FIG. 2 can be base stations in FIG. 1, or core network devices in the core network 200, such as an SMF as a separate functional entity. The first terminal device 221, the second terminal device 222, and the third terminal device 223 can be any terminal in FIG. 1.

[0159] In some embodiments, each of the perception nodes in the scenario shown in FIG. 2 can have a perception function and can also have a perception module. For the nodes that implement perception data fusion, a perception algorithm for performing perception data fusion can also be included.

[0160] FIG. 3 is a schematic diagram of a perception communication method provided by an embodiment of the present application.

[0161] The communication process can be applicable to, but is not limited to, the communication scenarios shown in FIG. 1 and FIG. 2. The process is described below by way of example for downlink (DL) or sidelink (SL). The method can include the following steps:

[0162] S101, a first device determines a perception mode.

[0163] In some embodiments, the first device can be a first network device or a second terminal device. For example, the first network device can be an access network device, an independent SMF, etc. Among them, the access network device and the second terminal device can have a perception function, or the access network device and the second terminal device can include an SMF. That is, the SMF can be included in the network device and the terminal device, or can be an independent functional entity independent of the network device and the terminal device.

[0164] In some examples, the perception mode can include a first perception mode. Among them, the first perception mode can be used for perception fusion of signal-level perception data. The signal-level perception data can be considered as data related to an orthogonal signal used for communication. For example, the signal-level perception data can be data related to an orthogonal signal carrying phase information. For example, the signal-level perception data includes in-phase (I) quadrature (Q) baseband signals (or IQ baseband orthogonal signals) and / or zero intermediate frequency signals, etc. By performing perception fusion on such signals, the gain brought by phase accumulation can be obtained. In some examples, the first perception mode can also be referred to as signal-level fusion, signal-level perception fusion mechanism, etc., which is not limited herein by the embodiments of the present application.

[0165] For example, if the perception mode is the first perception mode, it means that the device for performing perception data fusion can perform coherent fusion on the signal-level perception data of multiple perception nodes.

[0166] In some examples, the perception mode can include a second perception mode. The second perception mode can be configured to perform perception fusion on channel-level perception data. The channel-level perception data can be data related to a channel matrix, or the channel-level data can be data related to a first parameter. For example, the first parameter can be a parameter related to a channel feature. For example, the first parameter can include a delay parameter, an angle parameter, a velocity parameter, and / or a power parameter, etc. In some examples, the second perception mode can also be referred to as a channel-level fusion, a channel-level perception fusion mechanism, etc., which are not limited herein.

[0167] For example, the channel-level perception data can describe channel feature parameters corresponding to different paths. For example, between a device that transmits a signal for perception and a device that receives a signal for perception, there can be a line of sight (LoS) path, one or more non line of sight (NLoS) paths, etc. The LoS path can also be referred to as a direct path, and the NLoS path can also be referred to as a reflection path, a scattering path, etc. The LoS path represents a straight-line path between the device that transmits a signal for perception and the device that receives a signal for perception, which can be considered as an unobstructed path. The NLoS path represents a path that reflects through an obstacle between the device that transmits a signal for perception and the device that receives a signal for perception, which can include 1-time reflection, 2-time reflection, multiple-time reflection, etc. The 1-time reflection can be considered as a one-time reflection path in double-base perception. The 2-time reflection can be considered as a two-time reflection path in double-base perception. The channel feature parameters corresponding to different paths constitute multipath components (MPCs). It can be considered that the second perception mode utilizes the rich environmental scattering information contained in the MPCs to perform perception data fusion, so as to obtain the gain of improving the perception range, improving the perception accuracy, and improving the target recognition detection success rate brought by multipath accumulation.

[0168] In yet some examples, the perception mode can comprise a third perception mode. The third perception mode can be used for perception fusion of information-level perception data. The information-level perception data can be data related to spatial position of a scatterer. The scatterer can be considered as an object that reflects or scatters signals in the perception process. The perception node can determine the related information of the scatterer, such as position, size, material, etc., by analyzing the perception signals of the multipath. For example, the information-level perception data can comprise feature-based perception fusion data and / or grid-based perception fusion data. The feature-based perception fusion data can be data describing the spatial coordinate position of the scatterer, for example. The grid-based perception fusion data can be data describing which grid the scatterer is located in. It should be understood that the specific forms of the feature-based perception fusion data and / or the grid-based perception fusion data can refer to related technologies, and the embodiments of the present application will not be described here. In some examples, the feature-based perception fusion data can also be referred to as feature-based scatterer information data, and the grid-based perception fusion data can also be referred to as grid-based scatterer information data, which are not limited in the embodiments of the present application. By performing perception fusion on the information-level perception data, low-data collaborative perception fusion can be achieved due to low communication capacity requirements.

[0169] In some examples, the space can be rasterized to obtain a plurality of grids. For example, the space can be divided by a grid, and each grid can be considered as a grid. The grid-based perception fusion data can be considered as perception fusion data corresponding to a grid. For example, a grid can be assigned a value to indicate the probability of the existence of a scatterer in the grid. The value assigned to the grid can be considered as the perception fusion data corresponding to the grid. The perception fusion data can be considered as grid-based perception fusion data.

[0170] In other examples, the perception mode can comprise the first perception mode and the second perception mode, or the first perception mode and the third perception mode, or the second perception mode and the third perception mode, or the first perception mode, the second perception mode and the third perception mode.

[0171] The embodiments of the present application provide a plurality of possible perception modes, so that appropriate perception modes can be selected for fusion of perception data in different scenarios, improving the universality.

[0172] In S102, the first device sends first information to the first terminal device.

[0173] In some embodiments, the first device can generate the first information based on the sensing mode determined in S101. The first device can send the first information to the first terminal device. Accordingly, the first terminal device receives the first information from the first device. The first information can be used to indicate the sensing mode determined in S101. The sensing mode can determine the way of sensing fusion of the first sensing data. That is, based on the above-mentioned multiple sensing modes, it can be determined which type of sensing data is used for sensing fusion.

[0174] For example, the sensing mode is the first sensing mode, which means that the first sensing data can be signal-level sensing data, that is, it is determined to use signal-level sensing data for sensing fusion. For another example, the sensing mode is the second sensing mode, which means that the second sensing data can be channel-level sensing data, that is, it is determined to use channel-level sensing data for sensing fusion. For another example, the sensing mode is the third sensing mode, which means that the third sensing data can be information-level sensing data, that is, it is determined to use information-level sensing data for sensing fusion.

[0175] In some embodiments, the first information can be a first downlink control information.

[0176] For example, the first downlink control information can be a downlink control information (DCI). For another example, the first downlink control information can be control information sent on a DL for indicating the sensing mode, which can be referred to as a downlink sensing control information (DSCI). It can be understood that the control information sent on the DL for indicating the sensing mode can also be referred to as sensing control information, sensing indication information, etc., which is not limited in the embodiments of the present application.

[0177] The embodiments of the present application can indicate the sensing mode through the first downlink control information, so that the first terminal device can generate sensing data corresponding to the sensing mode. Based on the sensing data for sensing fusion, the sensing range can be improved, the sensing accuracy can be improved, and the detection success rate of target identification can be improved.

[0178] In some examples, the first downlink control information can be carried on a physical downlink control channel (PDCCH).

[0179] S103, the first terminal device generates the first sensing data.

[0180] In some embodiments, the data format of the first sensing data generated by the first terminal device can have a corresponding relationship with the sensing mode indicated in the first information. That is, the first terminal device can generate the first sensing data corresponding to the sensing mode according to the sensing mode indicated in the first information.

[0181] For example, the sensing mode indicated in the first information is the first sensing mode, and the first terminal device can generate sensing data at a signal level. For another example, the sensing mode indicated in the first information is the second sensing mode, and the first terminal device can generate sensing data at a channel level. For another example, the sensing mode indicated in the first information is the third sensing mode, and the first terminal device can generate sensing data at an information level.

[0182] The first network device or the second terminal device provided in the embodiments of the present application can indicate the sensing node to adopt the sensing mode through the first information indicating the sensing mode, so that the first terminal device generates sensing data corresponding to the sensing mode. In order to utilize the sensing data for sensing fusion, so as to improve the sensing range, improve the sensing accuracy, and improve the detection success rate of target identification.

[0183] In the sensing communication method provided in the embodiments of the present application, the first information can include a first field. The first field can include N first formats. Different first formats can represent different sensing modes. For example, different first formats can represent different sensing modes described above. N is a positive integer.

[0184] For example, the first field can also be referred to as a first domain or a first information domain, which can indicate which sensing mode is used for sensing fusion of sensing data. For example, the first field can be referred to as a sensing fusion mechanism indication domain. Of course, the first field can also be referred to as a sensing mode indication domain, a sensing mode configuration domain, etc., which is not limited in the embodiments of the present application.

[0185] In some examples, the N first formats included in the first field can include a first format for representing the first sensing mode, a first format for representing the second sensing mode, and a first format for representing the third sensing mode. In some examples, the corresponding relationship between different first formats and sensing modes can be referred to Table 1.

[0186] Table 1

[0187] It can be understood that the above Table 1 is only an exemplary description, and the specific first format, the number of first formats, and the corresponding meaning of each first format can be adaptively adjusted according to actual conditions, and the embodiments of the present application are not limited herein. In some examples, the distance parameter can include time of flight (ToF) and the like. In other examples, the angle parameter can include angle of arrival (AoA), angle of departure (AoD), and the like.

[0188] In some embodiments, the first field can explicitly indicate the sensing mode, and the first terminal device can directly determine the sensing mode according to the first field in the first information. For example, the first terminal device can determine the first format in the first field, and determine the sensing mode indicated by the first format according to the first format and its meaning shown in Table 1. For example, if the first field is format 0_0, it means that the sensing mode is the first sensing mode, and if the first field is format 2_1, it means that the sensing mode is the third sensing mode, and the like.

[0189] The embodiments of the present application can explicitly indicate the sensing mode through the first field in the first information, so that the first terminal device can quickly determine the sensing mode based on the first field.

[0190] In the sensing communication method provided by the embodiments of the present application, the first information can include a second field. The second field can include M second formats. Different second formats can be used to represent different data formats. M is a positive integer.

[0191] For example, the second field can also be referred to as a second domain or a second information domain, which can indicate the data format of the sensing data. For example, the second field can be referred to as a sensing data format indication domain. Of course, the second field can also be referred to as a data format indication domain, a sensing data format configuration domain, and the like, which are not limited by the embodiments of the present application.

[0192] In some examples, the correspondence between different second formats and the data format of the sensing data can be referred to Table 2.

[0193] Table 2

[0194] As can be seen, the second formats 0 to 1 shown in Table 2 can indicate the data format of the signal-level sensing data, the second formats 2 to 10 can indicate the data format of the channel-level sensing data, the second formats 11 to 14 can indicate the data format of the information-level sensing data, and the second format 15 can be reserved for extension to other possible data formats of the sensing data.

[0195] It can be understood that the above Table 2 is only an exemplary description, and the specific second format, the number of second formats, and the data format of the perception data indicated by each second format can be adaptively adjusted according to actual conditions, and the embodiments of the present application are not limited herein.

[0196] In some embodiments, the second field can implicitly indicate the perception mode, and the first terminal device can indirectly determine the perception mode according to the second field in the first information. For example, the first terminal device can determine the second format in the first field, and the first terminal device can determine the data format of the perception data indicated by the second format according to the corresponding relationship between each second format shown in Table 2 and the perception format of the perception data. Considering that the perception mode has a corresponding relationship with the data format of the perception data, the first terminal device can determine the perception mode corresponding to the data format of the perception data indicated by the second format based on the corresponding relationship between the perception mode and the data format of the perception data. For example, taking Table 2 as an example, if the second field is format 0, it indicates that the data format of the perception data is an IQ baseband signal, and the perception mode can be determined to be the first perception mode; for another example, if the first field is format 12, it indicates that the data format of the perception data is three-dimensional scatterer information based on a grid, and the perception mode can be determined to be the third perception mode, and so on.

[0197] The embodiments of the present application can implicitly indicate the perception mode through the second field in the first information, so that the first information can indirectly indicate the perception mode in the case of indicating the data format of the perception data.

[0198] In the perception communication method provided by the embodiments of the present application, the first information can further include a first field and a second field. The first terminal device can determine the perception mode according to the first field, and the first terminal device can determine the data format of the perception data according to the second field. In this case, the perception mode indicated by the first field and the data format of the perception data indicated by the second field should satisfy the corresponding relationship between the perception mode and the data format of the perception data.

[0199] In some embodiments, it is assumed that the first field includes N first formats, and the second field includes M second formats. Then each first format can correspond to at least one second format. That is, M can be greater than or equal to N.

[0200] In some examples, a possible corresponding relationship between the first format and the second format is provided with reference to Table 3.

[0201] Table 3

[0202] It can be understood that the above Table 3 is only an exemplary description, and the correspondence between the specific first format and the second format can be adaptively adjusted according to actual conditions, and the embodiments of the present application are not limited herein.

[0203] In the embodiments of the present application, the correspondence between the first format and the second format can exist, so that the perception mode and / or the data format of the perception data can be more accurately indicated.

[0204] In the perception communication method provided by the embodiments of the present application, it is considered that the device for implementing data fusion of the perception data can be the first terminal device, or can be other terminal devices than the first terminal device. For the case that the first function is deployed in any device other than the first terminal device, the method can further include: the first terminal device sends the first perception data to any device other than the first terminal device. Wherein, the first function is a function for implementing perception fusion.

[0205] In some embodiments, the first function can be a virtual function module, which can be implemented by deploying software on a certain device, so that the device has the first function, i.e. has the function of implementing perception fusion. In other embodiments, the first function can also be a function entity with entity. For example, the first function entity can be a device or a chip, which can implement the function of perception fusion. The first function entity can also be deployed in a certain device as a component in the device. The embodiments of the present application do not limit the form of the first function.

[0206] In some examples, any device other than the first terminal device can be the first device mentioned above, such as the first network device or the second terminal device. The first terminal device can send the first perception data generated in S103 to the first network device or the second terminal device. For the first network device or the second terminal device, perception data sent by different terminal devices can be received. The first network device or the second terminal device can use a pre-configured algorithm for implementing perception data fusion to perform data fusion on the received multiple perception data. For the first network device or the second terminal device, the received multiple perception data can include the first perception data.

[0207] For example, the first network device or the second terminal device can be preconfigured with an algorithm for implementing perception data fusion. Assuming that the first network device or the second terminal device needs to perform data fusion on signal-level perception data, an algorithm for performing data fusion on perception data, such as a carrier phase method, can be preconfigured. For another example, the first network device or the second terminal device needs to perform data fusion on channel-level perception data, an algorithm for performing data fusion on perception data, such as a time reversal algorithm, can be preconfigured. For another example, the first network device or the second terminal device needs to perform data fusion on information-level perception data, an algorithm for performing data fusion on perception data, such as a spatial registration algorithm, a point cloud clustering algorithm, a point cloud segmentation algorithm, and a target recognition algorithm, can be preconfigured.

[0208] Of course, the processes of various algorithms in the above examples for performing data fusion on perception data can refer to related technologies, and the embodiments of the present application will not be described here.

[0209] In some examples, for the manner of performing data fusion on signal-level perception data, the gain of phase accumulation can be obtained by using wireless radio frequency of scent information. For the manner of performing data fusion on channel-level perception data, the fusion of channels and multipaths at different levels and types of sensing channels of multiple nodes can be performed. For example, the operations of splitting, reorganizing, and fusing the multipath channels can fully utilize the rich environmental scattering information contained in MPC to obtain the gain of multipath accumulation. For the manner of performing data fusion on information-level perception data, the low-data collaborative perception fusion can be implemented.

[0210] In some examples, the first perception data sent by the first terminal device to the first network device can be carried in a physical uplink shared channel (PUSCH). In other examples, the first perception data sent by the first terminal device to the second terminal device can be carried in a physical sidelink shared channel (PSSCH).

[0211] The embodiments of the present application can implement perception fusion on perception data of multiple nodes on any device other than the first terminal device to improve the perception range, improve the perception accuracy, and improve the detection success rate of target recognition.

[0212] In the perception communication method provided by the embodiments of the present application, for the case that the first function is deployed in the first terminal device, the method can further include: receiving, by the first terminal device, second perception data. The data format of the second perception data has a corresponding relationship with the perception mode, and the second perception data is generated by a second terminal device. The first terminal device performs data fusion processing on the first perception data and the second perception data.

[0213] In some embodiments, for the DL scenario, the first terminal device can receive second sensing data sent by the first network device. The second sensing data can be sent by the second terminal device to the first network device. That is, the second sensing data is generated by the second terminal device, sent by the second terminal device to the first network device, and then forwarded to the first terminal device by the first network device. Wherein, the first network device can directly forward the second sensing data to the first terminal device upon receiving the second sensing data. The first network device can also temporarily store the second sensing data in the first network device upon receiving the second sensing data. And then forward the second sensing data to the first terminal device at a suitable opportunity. In some examples, the suitable opportunity can be a pre-set fixed time, or a time when the first terminal device requests the first network device to obtain the second sensing data, etc. The embodiments of the present application do not limit this.

[0214] In some examples, in the process of forwarding the second sensing data by the first network device to the first terminal device, the sensing data can be filtered based on the sensing mode. For example, the first network device can receive sensing data sent by different terminal devices, for example, including third sensing data generated by the second terminal device. Wherein, the third sensing data does not match the sensing mode determined by the first network device. Or it can be considered that the sensing mode corresponding to the third sensing data is not the sensing mode determined by the first network device. In this case, the first network device will not forward the third sensing data to the first terminal device.

[0215] In other embodiments, for the SL scenario, the first terminal device can receive second sensing data sent by the second terminal device. The second sensing data can be sent directly by the second terminal device to the first terminal device through the sidelink. Wherein, the second terminal device can directly forward the second sensing data to the first terminal device upon generating the second sensing data. The second terminal device can also temporarily store the second sensing data in the second terminal device upon generating the second sensing data. And then send the second sensing data to the first terminal device at a suitable opportunity. For the suitable opportunity, please refer to the above example description, and the embodiments of the present application will not be repeated here.

[0216] It can be understood that the process of generating the second sensing data by the second terminal device can refer to the process of generating the first sensing data by the first terminal device, and the embodiments of the present application will not be repeated here.

[0217] In some examples, the first terminal device can employ a pre-configured algorithm for implementing perception data fusion to perform data fusion on the received second perception data and the first perception data, in a case that the second perception data sent by the second terminal device is received. Of course, in some examples, the first terminal device can receive second perception data sent by multiple second terminal devices. It can be understood that the second terminal device can be a terminal device other than the first terminal device and can generate perception data. The second perception data is similar to the first perception data, except that the second perception data is generated by the second terminal device, while the first perception data is generated by the first terminal device.

[0218] In some examples, the process of generating the second perception data by the second terminal device is similar to the process of generating the first perception data by the first terminal device, and is also based on generating the second perception data corresponding to the perception mode. Therefore, it can be considered that the perception modes corresponding to the first perception data and the second perception data are the same. For example, the data format of the first perception data is the same as the data format of the second perception data. For example, the data format of the first perception data and the data format of the second perception data are both three-dimensional scatterer information based on features. Alternatively, the data format of the first perception data and the data format of the second perception data correspond to the same perception mode. For example, taking Table 3 as an example, the data format of the first perception data is a channel matrix H, and the data format of the second perception data is a first parameter (including a distance parameter, an SNR parameter, etc.). It can be seen that the data format of the first perception data and the data format of the second perception data correspond to the second perception mode.

[0219] It can be understood that the manner in which the first terminal device performs perception fusion on the perception data is similar to the manner in which the first network device performs perception fusion on the perception data, and specific reference is made to the corresponding description in the foregoing embodiments, which will not be described herein again.

[0220] In some examples, the first terminal device receives the second perception data sent by the first network device, which can be carried in a physical uplink shared channel (PDSCH). In other examples, the first terminal device receives the second perception data sent by the second terminal device, which can be carried in a PSSCH.

[0221] The embodiments of the present application can implement perception fusion on perception data of multiple nodes on the first terminal device to improve the perception range, improve the perception accuracy, and improve the detection success rate of target identification.

[0222] Compared with the method shown in FIG. 3, the application also considers that the device for determining the sensing mode can also be a terminal device. That is, the first terminal device can inform the first network device of the sensing mode adopted by the first terminal device through uplink, or the first terminal device can inform the second terminal device of the sensing mode adopted by the first terminal device through sidelink. Therefore, the embodiments of the application also provide a sensing communication method suitable for uplink or sidelink.

[0223] FIG. 4 is a schematic diagram of another sensing communication method provided by the embodiments of the application.

[0224] The communication process can be applied to, but is not limited to, the communication scenarios shown in FIG. 1 and FIG. 2. The process is described by taking uplink (UL) or sidelink (SL) as an example. The method can include the following steps:

[0225] S201, the first terminal device determines a sensing mode.

[0226] It can be understood that S201 is similar to S101, and the difference is that the device for determining the sensing mode is replaced by the first terminal device. The specific implementation process can be referred to the description of S101, and the embodiments of the application will not be described here again.

[0227] S202, the first terminal device sends first information to the first device.

[0228] Correspondingly, the first device receives the first information sent by the first terminal device. Wherein, S202 is similar to S102, and the difference is that the devices for sending and receiving the first information are replaced. The specific implementation process can be referred to the description of S102, and the embodiments of the application will not be described here again.

[0229] It can be understood that the purpose of the first terminal device sending the first information to the first device is to inform the first device of the sensing mode adopted by the first device. For example, if the first device is the second terminal device, the second terminal device can generate sensing data corresponding to the sensing mode based on the sensing mode. For another example, if the first device is the first network device, the first network device can inform other terminal devices of the sensing mode based on the sensing mode indicated by the first information. Alternatively, when the first network device needs to perform data fusion of sensing data, the first network device can determine to adopt a fusion algorithm matched with the sensing mode. Alternatively, in the process of forwarding the sensing data to the first terminal device, the first network device can forward the second sensing data based on the sensing mode indicated by the first information, so that the first terminal device performs data fusion based on multiple sensing data under the same sensing mode.

[0230] In some embodiments, the first information can be first uplink control information. For example, the first uplink control information can be uplink control information (UCI). For another example, the first uplink control information can be control information transmitted on the UL for indicating the sensing mode, which can be referred to as uplink sensing control information (USCI) for example. It can be understood that the control information transmitted on the UL for indicating the sensing mode can also be referred to as sensing control information, sensing indication information, etc., which are not limited in the embodiments of the present application.

[0231] In some examples, the first uplink control information can be carried on a physical uplink control channel (PUCCH).

[0232] In some other embodiments, the first information can be first sidelink control information. For example, the first sidelink control information can be sidelink control information (SCI). For another example, the first sidelink control information can be control information transmitted on the SL for indicating the sensing mode, which can be referred to as sidelink sensing control information (SSCI) for example. It can be understood that the control information transmitted on the SL for indicating the sensing mode can also be referred to as sensing control information, sensing indication information, etc., which are not limited in the embodiments of the present application.

[0233] In some examples, the first sidelink control information can be carried on a physical sidelink control channel (PSCCH).

[0234] The embodiments of the present application can indicate the sensing mode through the first uplink control information or the first sidelink control information, and the first terminal device can generate sensing data corresponding to the sensing mode. Sensing fusion based on the sensing data can improve the sensing range, improve the sensing accuracy, and improve the detection success rate of target identification.

[0235] S203, the first terminal device generates first sensing data.

[0236] It can be understood that S203 is similar to S103, and the specific implementation process can refer to the description of S103, which will not be described here again in the embodiments of the present application.

[0237] Those skilled in the art should understand that the first terminal device in the SL scenario shown in FIG. 4 is equivalent to the second terminal device in the SL scenario shown in FIG. 3. If the first device is the second terminal device, the second terminal device in the SL scenario shown in FIG. 4 is equivalent to the first terminal device in the SL scenario shown in FIG. 3. It can be understood that for the first terminal device, other terminal devices can be considered as the second terminal device.

[0238] The first terminal device in the embodiments of the present application can indicate a perception mode, and the first terminal device can generate perception data corresponding to the perception mode, and perform perception fusion by using the perception data. Thereby, the perception range is improved, the perception accuracy is improved, and the detection success rate of target identification is improved.

[0239] In the embodiments of the present application, "perception fusion", "data fusion", "perception data fusion", and the like can be understood as having the same meaning. "Perception data", "perception fusion data", and the like can be understood as having the same meaning.

[0240] The above embodiments of the present application provide control information for controlling perception fusion, and provide a "perception fusion mechanism indication" field and a "perception data format indication" field. And a cooperative perception process and signal transmission mode based on the perception fusion mechanism are designed. The problem of imperfect perception fusion data format, unclear physical layer control process and data fusion process in the current ISAC scenario is solved. The effect of expanding the perception range, improving the perception accuracy, and improving the detection success probability is achieved.

[0241] It can be understood that in order to realize the functions in the above embodiments, the base station and the terminal include the corresponding hardware structure and / or software modules for executing each function. Those skilled in the art should easily realize that, in combination with the units and method steps of the examples described in the embodiments disclosed in the present application, the present application can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in hardware or computer software driven hardware depends on the specific application scenario and design constraints of the technical solution.

[0242] FIGS. 5 and 6 are structural schematic diagrams of possible perception communication devices provided by the embodiments of the present application. These perception communication devices can be used to realize the functions of the terminal device or the network device in the above method embodiments, and thus can also achieve the beneficial effects possessed by the above method embodiments. In the embodiments of the present application, the perception communication device can be a terminal as shown in FIG. 1, can be a base station as shown in FIG. 1, or can be a network element in the core network in FIG. 1, or can be a module (such as a chip) applied to a terminal, a base station, or a network element.

[0243] As shown in FIG. 5, the sensing communication apparatus 500 includes a processing unit 510 and a transceiving unit 520. The sensing communication apparatus 500 is configured to implement the functions of the terminal device or the network device in the method embodiments shown in FIG. 3 or FIG. 4. In some embodiments, the sensing communication apparatus 500 can further include a storage unit.

[0244] When the sensing communication apparatus 500 is configured to implement the functions of the first terminal device in the method embodiment shown in FIG. 3, the transceiving unit 520 is configured to receive the first information; and the processing unit 510 is configured to generate the first sensing data.

[0245] When the sensing communication apparatus 500 is configured to implement the functions of the first network device or the second terminal device in the method embodiment shown in FIG. 3, the processing unit 510 is configured to determine the sensing mode; and the transceiving unit 520 is configured to transmit the first information.

[0246] When the sensing communication apparatus 500 is configured to implement the functions of the first terminal device in the method embodiment shown in FIG. 4, the processing unit 510 is configured to determine the sensing mode; the transceiving unit 520 is configured to transmit the first information; and the processing unit 510 is further configured to generate the first sensing data.

[0247] When the sensing communication apparatus 500 is configured to implement the functions of the first network device or the second terminal device in the method embodiment shown in FIG. 4, the transceiving unit 520 is configured to receive the first information.

[0248] The processing unit 510 is further configured to perform all operations performed by the sensing communication apparatus 500 in the embodiments shown in FIG. 3 or FIG. 4 except the transceiving operations, and / or other processes for supporting the techniques described herein. The storage unit is configured to store any data, computer instructions and / or computer programs that can be involved in the embodiments of the present application.

[0249] For more detailed description of the processing unit 510 and the transceiving unit 520, please refer to the related description of the method embodiments shown in FIG. 3 or FIG. 4.

[0250] As shown in FIG. 6, the sensing communication apparatus 600 includes a processor 610 and an interface circuit 620. The processor 610 and the interface circuit 620 are coupled with each other. It can be understood that the interface circuit 620 can be a transceiver or an input / output interface. Optionally, the sensing communication apparatus 600 can further include a memory 630 configured to store instructions executed by the processor 610 or store input data required by the processor 610 for running instructions or store data generated after the processor 610 runs instructions. Sometimes, the interface circuit 620 can also be understood as a part of the processor 610, and in this case, the sensing communication apparatus 600 includes the processor 610.

[0251] When the sensing communication apparatus 600 is used to implement the method shown in FIG. 3 or FIG. 4, the processor 610 is configured to implement the functions of the processing unit 510, and the interface circuit 620 is configured to implement the functions of the transceiver unit 520.

[0252] When the sensing communication apparatus is a terminal chip, the terminal chip implements the functions of the terminal in the method embodiments. The terminal chip receives information from a base station, which can be understood as that the information is first received by other modules (such as a radio frequency module or an antenna) in the terminal, and then transmitted to the terminal chip by the modules. The terminal chip transmits information to the base station, which can be understood as that the information is first transmitted to other modules (such as a radio frequency module or an antenna) in the terminal, and then transmitted to the base station by the modules.

[0253] When the sensing communication apparatus is a base station chip, the base station chip implements the functions of the base station in the method embodiments. The base station chip receives information from a terminal, which can be understood as that the information is first received by other modules (such as a radio frequency module or an antenna) in the base station, and then transmitted to the base station chip by the modules. The base station chip transmits information to the terminal, which can be understood as that the information is first transmitted to other modules (such as a radio frequency module or an antenna) in the base station, and then transmitted to the terminal by the modules.

[0254] When the sensing communication apparatus is a core network element chip, the network element chip implements the functions of the SMF in the method embodiments. The network element chip receives information from a terminal, which can be understood as that the information is first received by other modules (such as a radio frequency module or an antenna) in the network element, and then transmitted to the network element chip by the modules. The network element chip transmits information to the terminal, which can be understood as that the information is first transmitted to other modules (such as a radio frequency module or an antenna) in the network element, and then transmitted to the terminal by the modules. Of course, the core network element can first transmit information to an access network device (such as a base station), and then forward the information to the terminal by the access network device, which is not limited in the embodiments of the present application.

[0255] In the present application, the sending of information from entity A to entity B can be directly from A to B, or indirectly from A to B via other entities. Similarly, the receiving of information from entity A by entity B can be directly from A by B, or indirectly from A by B via other entities. The entities A and B can be RAN nodes or terminals, or modules within RAN nodes or terminals. The sending and receiving of information can be the information exchange between RAN nodes and terminals, e.g., the information exchange between base stations and terminals; the sending and receiving of information can also be the information exchange between two RAN nodes, e.g., the information exchange between a CU and a DU; the sending and receiving of information can also be the information exchange between different modules within one apparatus, e.g., the information exchange between a terminal chip and other modules of the terminal, or the information exchange between a base station chip and other modules of the base station.

[0256] It is understood that the processor in the embodiments of the present application can be a central processing unit, and can also be other general-purpose processors, digital signal processors, application-specific integrated circuits, field programmable gate arrays or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor can be a microprocessor, or any conventional processor.

[0257] The method steps in the embodiments of the present application can be implemented in hardware, or in software instructions executable by a processor. The software instructions can be composed of corresponding software modules, which can be stored in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, a register, a hard disk, a mobile hard disk, a CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor, so that the processor can read information from, and write information to, the storage medium. The storage medium can also be a component of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a base station or a terminal. The processor and the storage medium can also exist as discrete components in a base station or a terminal.

[0258] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer programs or instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments are performed. The computer can be a general purpose computer, a special purpose computer, a computer network, a network device, a user equipment or other programmable apparatus. The computer programs or instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another computer readable storage medium, for example, the computer programs or instructions can be transferred from one website site, computer, server or data center to another website site, computer, server or data center through wired or wireless manner. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center and the like integrated with one or more available media. The available media can be a magnetic medium, such as a floppy disk, a hard disk, a magnetic tape; or an optical medium, such as a digital video disc; or a semiconductor medium, such as a solid state disk. The computer readable storage medium can be a volatile or non-volatile storage medium, or can include both volatile and non-volatile storage media.

[0259] In various embodiments of the present application, the terms and / or descriptions of different embodiments are consistent and can be referred to each other if there is no special description and logical conflict. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0260] In the present application, "at least one" means one or more, and "multiple" means two or more. The association relationship between the associated objects is described, which means that there can be three kinds of relationships, for example, A and / or B, which can represent the following cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. In the literal description of the present application, the character " / ", generally represents that the associated objects before and after are in an "or" relationship; in the formula of the present application, the character " / ", represents that the associated objects before and after are in a "division" relationship. "Including at least one of A, B and C" can mean: including A; including B; including C; including A and B; including A and C; including B and C; including A, B and C.

[0261] It can be understood that various numbers involved in the embodiments of the present application are only distinguished for convenience of description, and are not used to limit the scope of the embodiments of the present application. The size of the serial number of the above processes does not mean the execution order, and the execution order of the processes should be determined according to its function and inherent logic.

[0262] In the embodiments of the present application, a base station transmits a downlink signal or downlink information to a terminal device, and the downlink information is carried on a downlink channel; the terminal device transmits an uplink signal or uplink information to the base station, and the uplink information is carried on an uplink channel. In order to communicate with the base station, the terminal device needs to establish a wireless connection on a cell controlled by the base station. The cell with which the terminal device establishes the wireless connection is referred to as a serving cell of the terminal device. When the terminal device communicates with the serving cell, the terminal device is also interfered by signals from a neighbor cell. In other embodiments, the terminal device and another terminal device can transmit a sidelink signal or sidelink information, and the sidelink information is carried on a sidelink channel.

[0263] The network architecture and service scenarios described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of network architecture and the appearance of new service scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0264] The terms "first" and "second" and the like in the specification of the embodiments of the present application and the drawings are used to distinguish different objects or different processing of the same object. The terms "first", "second", and the like can distinguish the same items or similar items with basically the same function and effect. For example, the first device and the second device are only used to distinguish different devices, and do not limit the sequence. Those skilled in the art can understand that the terms "first", "second", and the like do not limit the quantity and execution sequence, and the terms "first", "second", and the like do not necessarily mean different.

[0265] In addition, the terms "include" and "have" and any variations thereof mentioned in the description of the embodiments of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but can optionally include other steps or units not listed, or can optionally include other steps or units inherent to the process, method, product, or device.

[0266] In the embodiments of the present application, the words "exemplary" or "for example" are used to mean serving as an example or illustration. Any embodiment or design presented as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or advantageous than other embodiments or design solutions. Rather, the use of the words "exemplary" or "for example" is intended to present related concepts in a specific way, which is convenient for understanding.

[0267] It can be understood that the "embodiments" mentioned in the specification throughout mean that the specific features, structures or characteristics related to the embodiments are included in at least one of the embodiments of the present application. Therefore, the various embodiments throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It can be understood that in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined according to its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0268] It can be understood that in the embodiments of the present application, "…", "if" and "when" all refer to the corresponding processing under certain objective circumstances, not the time limit, and do not require judgment action when implementing, nor does it mean that there are other limitations.

[0269] It can be understood that some optional features in the embodiments of the present application can be implemented independently in some scenarios without relying on other features, such as the scheme currently based on, to solve the corresponding technical problems and achieve the corresponding effects. Also, in some scenarios, it can be combined with other features according to the demand. Correspondingly, the devices given in the embodiments of the present application can also realize these features or functions, which will not be described here.

[0270] In the embodiments of the present application, the same or similar parts between various embodiments can be mutually referred to, unless otherwise specified. In the various embodiments of the present application, and the various implementation manners / implementation methods / implementation methods in each embodiment, if there is no special specification and logical conflict, the terms and / or descriptions between different embodiments, and the various implementation manners / implementation methods / implementation methods in each embodiment have consistency and can be mutually referred to. The technical features in different embodiments, and the various implementation manners / implementation methods / implementation methods in each embodiment can be combined to form new embodiments, implementation manners, implementation methods, or implementation methods according to their inherent logical relationship. The implementation manners of the embodiments of the present application described below do not constitute a limitation on the protection scope of the embodiments of the present application.

Claims

1. A method of cognitive communication, the method comprising: The method is applied to a first terminal device, and the method comprises: receiving or sending first information, the first information being used for indicating a sensing mode, wherein the sensing mode is used for determining a manner of sensing fusion of first sensing data; generating the first sensing data, a data format of the first sensing data having a corresponding relationship with the sensing mode.

2. The method of claim 1, wherein, The first information comprises a first field, the first field comprising N first formats, different first formats being used for representing different sensing modes, and N being a positive integer.

3. The method according to claim 1 or 2, characterized in that, The first information comprises a second field, the second field comprising M second formats, different second formats being used for representing different data formats, and M being a positive integer.

4. The method of claim 3, wherein, M is greater than or equal to N, wherein N represents a number of first formats, any first format corresponding to at least one second format, different first formats being used for representing different sensing modes, and N being a positive integer.

5. The method according to any one of claims 1 to 4, characterized in that, The sensing mode comprises at least one of the following modes: a first sensing mode, the first sensing mode being used for sensing fusion of signal-level sensing data, the signal-level sensing data being data related to an orthogonal signal used for communication; a second sensing mode, the second sensing mode being used for sensing fusion of channel-level sensing data, the channel-level sensing data being data related to a channel matrix, or the channel-level data being data related to a channel feature; or, a third sensing mode, the third sensing mode being used for sensing fusion of information-level sensing data, the information-level sensing data being data related to a spatial position of a scatterer.

6. The method according to any one of claims 1-5, characterized in that, A first function is deployed in any device other than the first terminal device, the first function being a function used for implementing sensing fusion, and the method further comprises: sending the first sensing data to any device other than the first terminal device.

7. The method according to any one of claims 1 to 5, characterized in that, A first function is deployed in the first terminal device, the first function being a function used for implementing sensing fusion, and the method further comprises: receiving second sensing data, a data format of the second sensing data having a corresponding relationship with the sensing mode, the second sensing data being generated by a second terminal device; performing data fusion processing on the first sensing data and the second sensing data.

8. The method of claim 1, wherein, The receiving or sending first information comprises receiving the first information, wherein the first information is first downlink control information, or the first information is first sidelink control information.

9. The method of claim 1, wherein, The receiving or sending first information comprises: determining the sensing mode; sending the first information, wherein the first information is first uplink control information, or the first information is first sidelink control information.

10. A method of cognitive communication, the method comprising: The method is applied to a first network device, and the method comprises: determining a sensing mode, wherein the sensing mode is used for determining a manner of sensing fusion of first sensing data, a data format of the first sensing data having a corresponding relationship with the sensing mode; sending first information, the first information being used for indicating the sensing mode; or, receiving the first information; performing a sensing operation based on the sensing mode.

11. The method of claim 10, wherein, The first information comprises a first field, the first field comprises N first formats, different first formats are used to represent different perception modes, and N is a positive integer.

12. The method according to claim 10 or 11, characterized in that, The first information comprises a second field, the second field comprises M second formats, different second formats are used to represent different data formats, and M is a positive integer.

13. The method of claim 12, wherein, M is greater than or equal to N, wherein N represents the number of first formats, any first format corresponds to at least one second format, different first formats are used to represent different perception modes, and N is a positive integer.

14. The method according to any one of claims 10-13, characterized in that, The perception mode comprises at least one of the following modes: A first perception mode is used for perception fusion of signal-level perception data, the signal-level perception data is data related to an orthogonal signal used for communication; A second perception mode is used for perception fusion of channel-level perception data, the channel-level perception data is data related to a channel matrix, or the channel-level data is data related to a channel feature; Or, A third perception mode is used for perception fusion of information-level perception data, the information-level perception data is data related to a spatial position of a scatterer.

15. The method according to any one of claims 10-14, characterized in that, A first function is deployed in the first network device, the first function is a function for realizing perception fusion, and the method further comprises: Receiving the first perception data from the first terminal device; Receiving second perception data from a second terminal device, the data format of the second perception data has a corresponding relationship with the perception mode, and the second perception data is generated by the second terminal device; The perception operation based on the perception mode comprises: Performing data fusion processing on the first perception data and the second perception data.

16. The method according to any one of claims 10-15, characterized in that, A first function is deployed in the first terminal device, the first function is a function for realizing perception fusion, and the method further comprises: Receiving second perception data from a second terminal device, the data format of the second perception data has a corresponding relationship with the perception mode, and the second perception data is generated by the second terminal device; Sending the second perception data.

17. The method of claim 10, wherein, For sending the first information, the first information is first downlink control information.

18. The method of claim 10, wherein, For receiving the first information, the first information is first uplink control information.

19. A perception communication device, comprising: The device is a first terminal device, and the device comprises: A transceiver unit is configured to receive or send first information, the first information is used to indicate a perception mode, wherein the perception mode is used to determine a manner of perception fusion of first perception data; A processing unit is configured to generate the first perception data, and the data format of the first perception data has a corresponding relationship with the perception mode.

20. The apparatus of claim 19, wherein, The first information comprises a first field, the first field comprises N first formats, different first formats are used to represent different perception modes, and N is a positive integer.

21. The apparatus of claim 19 or 20, wherein, The first information comprises a second field, the second field comprises M second formats, different second formats are used to represent different data formats, and M is a positive integer. M is greater than or equal to N, wherein N represents the number of first formats, any first format corresponds to at least one second format, different first formats are used to represent different perception modes, and N is a positive integer. The perception mode comprises at least one of the following modes: A first perception mode is used for perception fusion of signal-level perception data, the signal-level perception data is data related to an orthogonal signal used for communication; A second perception mode is used for perception fusion of channel-level perception data, the channel-level perception data is data related to a channel matrix, or the channel-level data is data related to a channel feature; Or, A third perception mode is used for perception fusion of information-level perception data, the information-level perception data is data related to a spatial position of a scatterer. A first function is deployed in the first network device, the first function is a function for realizing perception fusion, and the method further comprises: Receiving the first perception data from the first terminal device; Receiving second perception data from a second terminal device, the data format of the second perception data has a corresponding relationship with the perception mode, and the second perception data is generated by the second terminal device; The perception operation based on the perception mode comprises: Performing data fusion processing on the first perception data and the second perception data. A first function is deployed in the first terminal device, the first function is a function for realizing perception fusion, and the method further comprises: Receiving second perception data from a second terminal device, the data format of the second perception data has a corresponding relationship with the perception mode, and the second perception data is generated by the second terminal device; Sending the second perception data. For sending the first information, the first information is first downlink control information. For receiving the first information, the first information is first uplink control information. The device is a first terminal device, and the device comprises: A transceiver unit is configured to receive or send first information, the first information is used to indicate a perception mode, wherein the perception mode is used to determine a manner of perception fusion of first perception data; A processing unit is configured to generate the first perception data, and the data format of the first perception data has a corresponding relationship with the perception mode.

22. The apparatus of claim 21, wherein, The M is greater than or equal to N, wherein the N represents a number of first formats, any first format corresponds to at least one second format, different first formats are used to represent different perception modes, and the N is a positive integer.

23. The apparatus of any of claims 19-22, wherein, The perception mode includes at least one of the following modes: A first perception mode is used for perception fusion of signal-level perception data, the signal-level perception data is data related to an orthogonal signal used for communication; A second perception mode is used for perception fusion of channel-level perception data, the channel-level perception data is data related to a channel matrix, or the channel-level data is data related to a channel feature; Or, A third perception mode is used for perception fusion of information-level perception data, the information-level perception data is data related to a spatial position of a scatterer.

24. The apparatus of any of claims 19-23, wherein, A first function is deployed in any device other than the first terminal device, the first function is a function for realizing perception fusion, and the transceiver is further configured to: Send the first perception data to any device other than the first terminal device.

25. The apparatus of any of claims 19-23, wherein, A first function is deployed in the first terminal device, the first function is a function for realizing perception fusion; The transceiver is further configured to receive second perception data, the data format of the second perception data has a corresponding relationship with the perception mode, and the second perception data is generated by a second terminal device; The processing unit is further configured to perform data fusion processing on the first perception data and the second perception data.

26. The apparatus of claim 19, wherein, The transceiver is further configured to receive the first information, wherein the first information is first downlink control information, or the first information is first sidelink control information.

27. The apparatus of claim 19, wherein: The processing unit is further configured to determine the perception mode; The transceiver is further configured to send the first information, wherein the first information is first uplink control information, or the first information is first sidelink control information.

28. A cognitive communication device, comprising: The apparatus is a first network apparatus, and the apparatus includes: A processing unit configured to determine a perception mode, wherein the perception mode is used to determine a manner of perception fusion of first perception data, and a data format of the first perception data has a corresponding relationship with the perception mode; A transceiver configured to send first information, the first information being used to indicate the perception mode; or, The transceiver is further configured to receive the first information; The processing unit is further configured to perform a perception operation based on the perception mode.

29. The apparatus of claim 28, wherein, The first information includes a first field, the first field includes N first formats, different first formats are used to represent different perception modes, and the N is a positive integer.

30. The apparatus of claim 28 or 29, wherein, The first information includes a second field, the second field includes M second formats, different second formats are used to represent different data formats, and the M is a positive integer.

31. The apparatus of claim 30, wherein, The M is greater than or equal to N, wherein the N represents a number of first formats, any of the first formats corresponds to at least one of the second formats, different first formats are used to represent different perception modes, and the N is a positive integer.

32. The apparatus of any of claims 28-31, wherein, The perception mode includes at least one of the following modes: A first perception mode, which is used for perception fusion of signal-level perception data, the signal-level perception data being data related to an orthogonal signal used for communication; A second perception mode, which is used for perception fusion of channel-level perception data, the channel-level perception data being data related to a channel matrix, or the channel-level data being data related to a channel feature; Or, A third perception mode, which is used for perception fusion of information-level perception data, the information-level perception data being data related to a spatial position of a scatterer.

33. The apparatus of any of claims 28-32, wherein, A first function is deployed in the first network device, and the first function is a function used for implementing perception fusion; The transceiver is further configured to: receive the first perception data from the first terminal device; receive second perception data from a second terminal device, the second perception data having a data format corresponding to the perception mode, and the second perception data being generated by the second terminal device; The processing unit is further configured to: perform data fusion processing on the first perception data and the second perception data.

34. The apparatus of any of claims 28-33, wherein, A first function is deployed in the first terminal device, and the first function is a function used for implementing perception fusion, and the transceiver is further configured to: receive second perception data from a second terminal device, the second perception data having a data format corresponding to the perception mode, and the second perception data being generated by the second terminal device; send the second perception data.

35. The apparatus of claim 28, wherein, For sending the first information, the first information is first downlink control information.

36. The apparatus of claim 28, wherein, For receiving the first information, the first information is first uplink control information.

37. A perception communication device, comprising: Comprise: at least one processor coupled to a memory, the memory being configured to store programs or instructions, and the processor being configured to execute the programs or instructions to enable the perception communication device to perform the method of any one of claims 1 to 9, or to enable the perception communication device to perform the method of any one of claims 10 to 18.

38. A chip, comprising: Comprise: at least one processor coupled to a memory, the memory being configured to store programs or instructions, and the processor being configured to execute the programs or instructions to enable the chip to perform the method of any one of claims 1 to 9, or to enable the chip to perform the method of any one of claims 10 to 18.

39. A computer-readable storage medium, characterized in that, The storage medium stores computer programs or instructions, and when the computer programs or instructions are executed by a communication device, the method of any one of claims 1 to 9 is implemented, or the method of any one of claims 10 to 18 is implemented.

40. A computer program product comprising computer programs or instructions, characterized in that, The computer program or instructions implement the method of any one of claims 1 to 9, or implement the method of any one of claims 10 to 18, when executed by the communication device.

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