Signal processing method, apparatus and system

Abstract

Provided in the present disclosure are a signal processing method, apparatus and system. One or more second nodes send a sensing signal to a target object on the basis of a configured signal transmission parameter, and a target node calculates a sensing parameter with respect to the target object on the basis of a sensing signal reflected from the target object, wherein the signal transmission parameter is used for instructing the second nodes to send the same sensing signal on the same time / frequency resource. By means of the solution, a sensing signal with a higher signal-to-noise ratio can be obtained, thereby improving the sensing performance, improving the precision of sensing a target object, and meeting the sensing requirements for the target object.

Description

Signal processing method, device and system

[0001] The present disclosure claims priority to a Chinese patent application No. 202410532245.2, filed on April 29, 2024, and entitled "Signal processing method, device and system", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

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

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

[0004] In related technologies, for the application of Integrated Sensing and Communication technology, single-base sensing or double-base sensing is often used for wireless sensing of target objects. In some scenarios, the target object cannot be sensed, making it difficult to meet the sensing needs of the target object. SUMMARY

[0005] The present disclosure provides a signal processing method, device and system to solve the technical problem that the target object cannot be sensed when single-base sensing or double-base sensing is used for wireless sensing of the target object.

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

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

[0008] The first sensing signal comprises one or more second sensing signals transmitted by one or more second nodes based on configured signal transmission parameters, the target node is a third node and / or other signal receiving node, and the first sensing signal is used to obtain the sensing parameter.

[0009] In some embodiments, the number of first nodes and / or the number of second nodes is greater than 1.

[0010] In some embodiments, the first node and the second node are the same communication device.

[0011] In some embodiments, the first sensing signal is obtained by at least one of the following: receiving the first sensing signal forwarded by another signal receiving node; receiving a second sensing signal sent by a signal sending node.

[0012] In some embodiments, the signal processing method further comprises: receiving signal transmission parameters, the signal transmission parameters comprising at least the transceiving mode information of the first node; and the transceiving mode information indicating at least one of the following: the first node as a signal receiving node, the first node as a target node for obtaining the sensing parameter, and the first node as a sending node for sending the sensing signal.

[0013] In some embodiments, the transceiving mode information further comprises a receiving mode of the first node; and the receiving mode comprises at least one of the following: the first node obtaining the sensing parameter according to the received first sensing signal; the first node obtaining the sensing parameter according to the first sensing signal received by itself and the first sensing signal forwarded by another signal receiving node; and the first node forwarding the received first sensing signal to a target node.

[0014] In some embodiments, the signal transmission parameters further comprise a detection threshold value; and the sensing parameter comprises a detection result comprising at least one of the following: whether a target object is currently detected, a probability of detecting the target object, and a probability of not detecting the target object.

[0015] Based on the first sensing signal, the sensing parameter is obtained by: obtaining frequency domain information corresponding to the first sensing signal; obtaining a received energy value of the first sensing signal on a frequency domain and / or time domain unit according to the frequency domain information corresponding to the first sensing signal; obtaining a probability of detecting the target object and / or a probability of not detecting the target object according to the received energy value; or determining whether the target object is currently detected according to the received energy value.

[0016] In some embodiments, the signal transmission parameters further comprise a detection threshold value; and determining whether the target object is currently detected according to the received energy value comprises: if the received energy value is greater than or equal to the detection threshold value, determining that the target object is detected; or if the received energy value is less than the detection threshold value, determining that the target object is not detected.

[0017] In some embodiments, the sensing parameter further comprises angle information; and the angle information comprises an included angle between the directions of arrival of the sensing signals received by adjacent antennas of the first node.

[0018] The sensing parameter is obtained based on the first sensing signal, including: obtaining distances between adjacent antennas on the first node and the sensing signals received by the antennas; and obtaining angle information of the target object according to the distances between the adjacent antennas and the sensing signals received by the adjacent antennas.

[0019] In some embodiments, the signal transmission parameter further includes at least one of: time domain resource information, frequency domain resource information, time offset, one or more scrambling code parameters, SCS, CP type, frequency point information.

[0020] In some embodiments, the signal processing method further includes: adjusting the second sensing signal according to the time offset, and sending the adjusted second sensing signal.

[0021] In some embodiments, adjusting the second sensing signal according to the time offset and sending the adjusted second sensing signal includes at least one of: adjusting the sending time of the second sensing signal according to the time offset, sending the second sensing signal in advance or in delay; shortening or lengthening the CP length before the second sensing signal according to the time offset, and sending the adjusted second sensing signal.

[0022] In a second aspect, the present disclosure provides a signal processing method applied to a second node; the signal processing method includes: receiving a signal transmission parameter; and sending a second sensing signal based on the signal transmission parameter; wherein the second sensing signal is included in a first sensing signal, the first sensing signal is used to obtain a sensing parameter, a target node is a first node and / or a third node, and the number of the first node and / or the second node is greater than 1.

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

[0024] In some embodiments, the signal transmission parameter at least includes transceiving mode information used to indicate the second node; the transceiving mode information is used to indicate at least one of: the second node as a signal sending node to send a sensing signal, the second node as a target node to obtain a sensing parameter, and the second node as a receiving node to receive a sensing signal.

[0025] In some embodiments, the signal transmission parameter further includes time domain resource information and / or frequency domain resource information; and sending the second sensing signal based on the signal transmission parameter includes: sending the second sensing signal based on the time domain resource information and / or the frequency domain resource information.

[0026] In some embodiments, the signal transmission parameter further includes a time offset; and sending the second sensing signal based on the time domain resource information includes: adjusting the second sensing signal according to the time offset, and sending the adjusted second sensing signal.

[0027] In some embodiments, the second sensing signal is adjusted according to the time offset, and the adjusted second sensing signal is transmitted, including at least one of the following: the transmission time of the second sensing signal is adjusted according to the time offset, and the second sensing signal is transmitted in advance or delayed; the CP length before the second sensing signal is shortened or lengthened according to the time offset, and the adjusted second sensing signal is transmitted.

[0028] In some embodiments, the signal transmission parameter further includes at least one of the following: a detection threshold, one or more scrambling code parameters, an SCS, a CP type, and frequency point information.

[0029] In a third aspect, the present disclosure provides a signal processing method applied to a third node, including: configuring signal transmission parameters for a first node and a second node, the number of first nodes and / or the number of second nodes being greater than 1; receiving a sensing parameter transmitted by the first node, or receiving a first sensing signal forwarded by the first node;

[0030] Or, receiving a sensing parameter transmitted by the first node and a first sensing signal forwarded by the first node;

[0031] The first sensing signal is used to obtain the sensing parameter, and the first sensing signal includes an echo signal of a second sensing signal, and the second sensing signal is transmitted by the second node based on the configured signal transmission parameter.

[0032] In some embodiments, the signal transmission parameters for the first node and the second node are configured, including: determining a signal transmission group in response to a sensing requirement, the signal transmission group including the first node and the second node; and transmitting the signal transmission parameters to the first node and the second node based on the sensing requirement.

[0033] In some embodiments, the signal transmission parameter further includes a time offset; and the signal transmission parameters for the first node and the second node are configured based on the sensing requirement, including: determining a time delay of a second sensing signal transmitted by the second node to the first node based on the sensing requirement; determining a time offset corresponding to each second node based on the LOS between the second nodes in response to a time delay difference corresponding to the second node being greater than a preset time length; and configuring the time offset for the second node, and the second node is used to transmit the second sensing signal based on the time offset.

[0034] In some embodiments, the signal transmission parameter includes at least one of the following: time domain resource information and frequency domain resource information of the sensing signal transmitted or received by each node in the signal transmission group;

[0035] One or more scrambling code parameters;

[0036] SCS;

[0037] CP type;

[0038] frequency point information;

[0039] transmission mode information.

[0040] In a fourth aspect, an embodiment of the present disclosure provides a signal processing system, comprising: a first node, a second node, and a third node, wherein the number of the first nodes and / or the number of the second nodes is greater than 1; the third node is configured to configure signal transmission parameters for the first nodes and the second nodes; the second node is configured to send a second sensing signal based on the signal transmission parameters; the first node is configured to obtain a sensing parameter based on a first sensing signal, and / or forward the first sensing signal to a target node; the first sensing signal comprises a back echo signal of the second sensing signal, the second sensing signal is used to obtain the sensing parameter, and the target node is the third node and / or another signal receiving node.

[0041] In some embodiments, the first node and the second node are the same communication device.

[0042] In a fourth aspect, an embodiment of the present disclosure provides a signal processing device, which is applied to a first node, and the signal processing device comprises: an obtaining module configured to obtain a first sensing signal, wherein the first sensing signal comprises a second sensing signal sent by one or more second nodes based on configured signal transmission parameters; a processing module or a sending module, wherein the processing module is configured to obtain a sensing parameter based on the first sensing signal, and the sending module is configured to forward the first sensing signal to a target node.

[0043] In a fourth aspect, an embodiment of the present disclosure provides a signal processing device, which is applied to a first node, and the signal processing device comprises:

[0044] an obtaining module configured to obtain a first sensing signal, wherein the first sensing signal comprises a second sensing signal sent by one or more second nodes based on configured signal transmission parameters;

[0045] a processing module configured to obtain a sensing parameter based on the first sensing signal;

[0046] a sending module configured to forward the first sensing signal to a target node.

[0047] In a fourth aspect, an embodiment of the present disclosure provides a signal processing device, which is applied to a first node, and the signal processing device comprises:

[0048] obtain a sensing parameter.

[0049] In a fifth aspect, an embodiment of the present disclosure provides a signal processing device, which is applied to a second node, and the signal processing device comprises:

[0050] a receiving module configured to receive signal transmission parameters; and a sending module configured to send a second sensing signal based on the signal transmission parameters.

[0051] The second sensing signal is included in the first sensing signal, the first sensing signal is used to obtain the sensing parameter, the target node is the first node and / or the third node, and the number of the first nodes and / or the number of the second nodes is greater than 1.

[0052] In a sixth aspect, the embodiments of the present disclosure provide a signal processing apparatus, which is applied to the third node and includes:

[0053] The configuration module is configured to configure signal transmission parameters for the first nodes and the second nodes, the number of the first nodes and / or the number of the second nodes is greater than 1; the receiving module is configured to receive the sensing parameter sent by the first nodes or the first sensing signal forwarded by the first nodes;

[0054] Or,

[0055] The receiving module is configured to receive the sensing parameter sent by the first nodes and the first sensing signal forwarded by the first nodes.

[0056] The first sensing signal is used to obtain the sensing parameter, the first sensing signal includes an echo signal of the second sensing signal, and the second sensing signal is sent by the second nodes based on the configured signal transmission parameters.

[0057] In an eighth aspect, the present disclosure provides a sensing device, the sensing device is the first node, and the sensing device includes:

[0058] The memory is configured to store a computer program;

[0059] The transceiver is configured to transceive data under control of the processor;

[0060] The processor is configured to read the computer program in the memory and perform the following operations:

[0061] Obtain the first sensing signal; based on the first sensing signal, obtain the sensing parameter or forward the first sensing signal to the target node;

[0062] Or, obtain the first sensing signal; based on the first sensing signal, obtain the sensing parameter; and forward the first sensing signal to the target node.

[0063] The first sensing signal includes one or more second sensing signals sent by the second nodes based on the configured signal transmission parameters respectively, the target node is the third node and / or another signal receiving node, and the first sensing signal is used to

[0064] Obtain the sensing parameter.

[0065] In some embodiments, the number of the first nodes and / or the number of the second nodes is greater than 1.

[0066] In some embodiments, the first node and the second node are the same communication device.

[0067] In some embodiments, the first sensing signal is obtained by at least one of the following: receiving the first sensing signal forwarded by another signal receiving node; receiving a second sensing signal sent by a signal sending node.

[0068] In some embodiments, the processor is further configured to receive signal transmission parameters, the signal transmission parameters comprising at least the transceiving mode information of the first node.

[0069] The transceiving mode information is used to indicate at least one of the following: the first node as a signal receiving node, the first node as a target node for obtaining a sensing parameter, and the first node as a sending node for sending a sensing signal.

[0070] In some embodiments, the transceiving mode information further comprises a receiving mode of the first node.

[0071] The receiving mode comprises at least one of the following: the first node obtaining a sensing parameter according to the received first sensing signal; the first node obtaining a sensing parameter according to the first sensing signal received by itself and the first sensing signal forwarded by another signal receiving node; and the first node forwarding the received first sensing signal to a target node.

[0072] In some embodiments, the signal transmission parameters further comprise a detection threshold value, and the sensing parameter comprises a detection result, which comprises at least one of the following: whether a target object is currently detected, a probability of detecting the target object, and a probability of not detecting the target object.

[0073] Based on the first sensing signal, the sensing parameter is obtained by: obtaining frequency domain information corresponding to the first sensing signal; obtaining a received energy value of the first sensing signal on a frequency domain and / or time domain unit according to the frequency domain information corresponding to the first sensing signal; obtaining a probability of detecting the target object and / or a probability of not detecting the target object according to the received energy value; or determining whether the target object is currently detected according to the received energy value.

[0074] In some embodiments, the signal transmission parameters further comprise a detection threshold value, and determining whether the target object is currently detected according to the received energy value comprises: if the received energy value is greater than or equal to the detection threshold value, determining that the target object is detected; and if the received energy value is less than the detection threshold value, determining that the target object is not detected.

[0075] In some embodiments, the perception parameter further comprises: angle information; the angle information comprises: an included angle between the directions of arrival of the perception signals received by the adjacent antennas of the first node; the obtaining of the perception parameter based on the first perception signal comprises: obtaining distances between the adjacent antennas on the first node and the perception signals received by the antennas; and obtaining the angle information of the target object according to the distances between the adjacent antennas and the perception signals received by the adjacent antennas.

[0076] In some embodiments, the signal transmission parameter further comprises at least one of: time domain resource information, frequency domain resource information, time offset, scrambling code parameter, SCS, CP type, frequency point information.

[0077] In some embodiments, the processor is further configured to: adjust the second perception signal according to the time offset, and send the adjusted second perception signal.

[0078] In some embodiments, the adjusting of the second perception signal according to the time offset and the sending of the adjusted second perception signal comprise at least one of: adjusting the sending time of the second perception signal, sending the second perception signal in advance or in lag according to the time offset; shortening or lengthening the length of the cyclic prefix CP before the second perception signal according to the time offset, and sending the adjusted second perception signal.

[0079] In a ninth aspect, the present disclosure provides a perception device, the perception device being a second node, the perception device comprising:

[0080] a memory configured to store a computer program;

[0081] a transceiver configured to transceive data under the control of the processor;

[0082] a processor configured to read the computer program in the memory and perform the following operations: receiving a signal transmission parameter; and sending a second perception signal based on the signal transmission parameter;

[0083] wherein the second perception signal is contained in a first perception signal, the first perception signal is used to obtain a perception parameter, the target node is a first node and / or a third node, and the number of the first nodes and / or the number of the second nodes is greater than 1.

[0084] In some embodiments, the first node and the second node are the same communication device.

[0085] In some embodiments, the signal transmission parameter comprises at least transceiver mode information used to indicate the second node; the transceiver mode information is used to indicate at least one of: the second node as a signal sending node to send a perception signal, the second node as a target node to obtain a perception parameter, and the second node as a receiving node to receive a perception signal.

[0086] In some embodiments, the signal transmission parameter further comprises time domain resource information and / or frequency domain resource information; and the sending the second sensing signal based on the signal transmission parameter comprises: sending the second sensing signal based on the time domain resource information and / or the frequency domain resource information.

[0087] In some embodiments, the signal transmission parameter further comprises a time offset; and the sending the second sensing signal based on the time domain resource information comprises: adjusting the second sensing signal according to the time offset, and sending the adjusted second sensing signal.

[0088] In some embodiments, the adjusting the second sensing signal according to the time offset and sending the adjusted second sensing signal comprises at least one of: adjusting the sending time of the second sensing signal, sending the second sensing signal in advance or in delay, according to the time offset; shortening or lengthening the CP length before the second sensing signal, and sending the adjusted second sensing signal, according to the time offset.

[0089] In some embodiments, the signal transmission parameter further comprises at least one of: a detection threshold, a scrambling code parameter, an SCS, a CP type, and frequency point information.

[0090] In a tenth aspect, the present disclosure provides a sensing device, the sensing device being a third node, the sensing device comprising:

[0091] a memory for storing a computer program;

[0092] a transceiver for transceiving data under the control of the processor;

[0093] a processor for reading the computer program in the memory and performing the following operations: configuring a signal transmission parameter for a first node and a second node, the number of the first nodes and / or the number of the second nodes being greater than 1;

[0094] receiving a sensing parameter sent by the first node, or receiving a first sensing signal forwarded by the first node;

[0095] or, receiving the sensing parameter sent by the first node and the first sensing signal forwarded by the first node;

[0096] wherein the first sensing signal is used to obtain the sensing parameter, the first sensing signal comprises an echo signal of a second sensing signal, and the second sensing signal is sent by the second node based on the configured signal transmission parameter.

[0097] In some embodiments, the configuring the signal transmission parameter for the first node and the second node comprises: in response to a sensing requirement, determining a signal transmission group, the signal transmission group comprising the first node and the second node; and sending the signal transmission parameter to the first node and the second node based on the sensing requirement.

[0098] In some embodiments, the signal transmission parameter further comprises a time offset; and the configuring the signal transmission parameter for the first node and the second node based on the sensing requirement comprises: determining a time delay of the second sensing signal transmitted by the second node to reach the first node based on the sensing requirement; and in response to the time delay difference corresponding to the second node being greater than a preset time length, determining the time offset corresponding to each second node according to the LOS between the second nodes; and configuring the time offset for the second node, and the second node is configured to transmit the second sensing signal based on the time offset.

[0099] In some embodiments, the signal transmission parameter comprises at least one of: time domain resource information and frequency domain resource information of the sensing signal transmitted or received by each node in the signal transmission group;

[0100] One or more scrambling code parameters;

[0101] SCS;

[0102] CP type;

[0103] Frequency point information;

[0104] Transmitting mode information.

[0105] In an eleventh aspect, the present disclosure provides a processor-readable storage medium, which stores a computer program, and the computer program is configured to cause a processor to execute the signal processing method provided in any one or more of the first aspect, the second aspect, and the third aspect.

[0106] In a twelfth aspect, the present disclosure provides a computer program product, which comprises a computer program, and the computer program is configured to implement the signal processing method provided in any one or more of the first aspect, the second aspect, and the third aspect when executed by a processor.

[0107] In the signal processing method, apparatus, and system provided by the present disclosure, one or more second nodes transmit sensing signals to a target object based on the configured signal transmission parameter, and a first node calculates a sensing parameter for the target object based on the sensing signals reflected by the target object. The signal transmission parameter is used to indicate that each second node transmits the same sensing signal on the same time / frequency resource. Through the present solution, a sensing signal with a higher signal-to-noise ratio can be obtained, thereby improving the sensing performance, enhancing the sensing accuracy of the target object, and meeting the sensing requirement of the target object.

[0108] It should be understood that the content described in the foregoing summary section is not intended to define key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0109] In order to more clearly illustrate the technical solutions in the present disclosure or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor.

[0110] FIG. 1 is a schematic diagram of single base perception and double base perception according to an embodiment of the present disclosure;

[0111] FIG. 2 is a curve of the relationship between detection probability and target echo signal-to-noise ratio according to an embodiment of the present disclosure;

[0112] FIG. 3 is a schematic diagram of a signal processing method according to an embodiment of the present disclosure;

[0113] FIG. 4(a) is a schematic diagram of signaling interaction of a data processing method according to an embodiment of the present disclosure;

[0114] FIG. 4(b) is a schematic diagram of sending a second perception signal according to an embodiment of the present disclosure;

[0115] FIG. 4(c) is a schematic diagram of a signal processing method according to an embodiment of the present disclosure;

[0116] FIG. 5(a) is a schematic diagram of a signal processing method according to an embodiment of the present disclosure;

[0117] FIG. 5(b) is a schematic diagram of adjusting a second perception signal according to an embodiment of the present disclosure;

[0118] FIG. 5(c) is a schematic diagram of adjusting a second perception signal according to an embodiment of the present disclosure;

[0119] FIG. 6(a) is a schematic diagram of a signal processing method according to an embodiment of the present disclosure;

[0120] FIG. 6(b) is a schematic diagram of a signal processing method according to an embodiment of the present disclosure;

[0121] FIG. 7 is a schematic diagram of a signal processing apparatus according to an embodiment of the present disclosure;

[0122] FIG. 8 is a schematic diagram of a signal processing apparatus according to an embodiment of the present disclosure;

[0123] FIG. 9 is a schematic diagram of a signal processing apparatus according to an embodiment of the present disclosure;

[0124] FIG. 10 is a schematic diagram of a first node according to an embodiment of the present disclosure;

[0125] FIG. 11 is a structural schematic diagram of a second node according to an embodiment of the present disclosure;

[0126] FIG. 12 is a structural schematic diagram of a third node according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0127] In the present disclosure, the term "and / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can mean that A exists alone, A and B exist together, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects. In the embodiments of the present disclosure, the term "multiple" means two or more, and other quantifiers are similar.

[0128] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below in conjunction with the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by those of ordinary skill in the art without creative labor are within the scope of protection of the present disclosure.

[0129] With the continuous development of communication technology, higher frequency bands, wider bandwidths, and larger-scale antenna arrays make high-precision and high-resolution sensing possible, and Integrated Sensing and Communication (ISAC) has emerged as the times require. In the communication sensing integration technology, the entire communication network can be used as a giant sensor, and by using radio signal transmission, multipath transmission, reflection, scattering, and other technologies, it can provide high-precision positioning, gesture capture, motion recognition, passive object detection and tracking, imaging, and environmental reconstruction, and other extensive new services.

[0130] The basic idea of ISAC is to introduce wireless sensing functions in wireless mobile communication. Wireless sensing refers to sensing information of the environment through wireless signals, where the environmental information includes the distribution, size, quantity, temperature of the environment, the action behavior of people, and even the breathing frequency, heart rate, etc. of people. The principle of wireless sensing is to transmit radio signals to the environment to be sensed, and at the same time, collect the radio signals that have undergone multi-path transmission such as reflection and scattering of the environment at the receiving end.

[0131] It should be noted that since the collected wireless signals are through the participation of the environment, these wireless signals carry information of the environment, and after receiving the signals, complex signal processing can be performed to discover the characteristics of the environment, thereby reconstructing the perceived environment, including identifying people and objects in the environment, detecting temperature, detecting the frequency of human breathing, the frequency of heartbeats, and the like in some embodiments. Thus, the communication and perception integration can be widely applied in the fields of personnel health detection and security.

[0132] In the related art, wireless perception is generally divided into monostatic and bistatic.

[0133] Among them, monostatic refers to a device that actively transmits a perception signal as a sending node and receives a perception signal reflected by a target object as a receiving node. In actual applications, monostatic includes base station monostatic and terminal monostatic.

[0134] Please refer to FIG. 1, which is a schematic diagram of the principle of monostatic and bistatic provided by an embodiment of the present disclosure. Among them, (a) and (b) of FIG. 1 are schematic diagrams of the principle of monostatic. As shown in (a) and (b), the node of monostatic can be a terminal or a base station.

[0135] Similarly, bistatic refers to actively transmitting a perception signal by a sending node, and receiving the perception signal by a receiving node through a wireless channel. (c)-(g) of FIG. 1 are schematic diagrams of the principle of bistatic. As shown, bistatic includes: terminal (UE)-terminal (UE), base station (gNB)-base station (gNB), terminal (UE)-base station (gNB), base station (gNB)-terminal (UE), etc.

[0136] The detection process of the target object in wireless perception refers to performing specific signal processing and threshold decision on the mixed signal composed of echo signal, noise and other interference, to find the echo signal of the unknown target with a specified detection probability (usually relatively high), while the noise and other interference are randomly false alarmed with a low probability (usually with a certain false alarm probability). The detection probability P d and the false alarm probability P fa are two commonly used indicators for measuring target detection performance. Among them, the detection probability P d is the correct probability that the target echo exists in the mixed signal and is judged to exist. The false alarm probability P fa is the error probability that there is no target echo in the mixed signal but it is judged to have a target echo. The detection probability P d depends on the amplitude distribution (probability density function) of the target echo signal, noise and interference signal and the selected false alarm probability.

[0137] The inventors find that for a certain sensing service, a certain sensing accuracy (e.g., a target object detection probability P d is required to be at least greater than 90%, a false alarm probability P fa cannot exceed 5%), and a certain sensing accuracy requires a corresponding signal-to-noise ratio (SNR).

[0138] Generally, for the same target object, the farther the distance between the target object and the sensing node, the weaker the reflected sensing signal, the lower the corresponding SNR, and the more difficult it is to meet the sensing performance requirements, especially at the edge of the cell coverage, the sensing performance may become unacceptable. In view of this, the embodiments of the present disclosure propose a signal processing method for improving the SNR of the received sensing signal, especially when the target object is at the edge of the cell or in a scenario where the distance from the sensing signal sending end is relatively far (such as: detection of a high-altitude UAV exceeding 300 meters), so as to improve the detection performance and avoid the situation that the target object cannot be sensed.

[0139] Referring to FIG. 2, FIG. 2 is a curve showing the relationship between the detection probability P fa and the target echo SNR under different false alarm probabilities P d .

[0140] As shown in FIG. 2, when the false alarm probability P fa is 1%, the detection probability P d is 90%, and 10 dB of SNR is required.

[0141] Taking the sensing scenario of an unmanned aerial vehicle (UAV) as an example, from the preliminary performance evaluation, the current common single-base or double-base mode can support a distance of 300 meters. If higher altitudes or longer distances are supported, the SNR requirement will gradually increase:

[0142] If 500 meters are supported relative to a height of 300 meters, the SNR needs to be improved by 4.4 dB;

[0143] If 600 meters are supported relative to a height of 300 meters, the SNR needs to be improved by 6 dB;

[0144] If 1000 meters are supported relative to a height of 300 meters, the SNR needs to be improved by 9.5 dB.

[0145] In summary, the inventors find that when the target object to be sensed is at the edge of the cell or at a farther distance, based on the current single-base or double-base sensing mode, the received SNR cannot meet the detection performance requirements, that is, it is difficult to sense the target object, so as to make it difficult to meet the sensing requirements of the target object.

[0146] In summary, the embodiments of the present disclosure provide a signal processing method, apparatus and device, one or more second nodes are set to send a sensing signal to a target object based on configured signal transmission parameters. Correspondingly, the first node calculates the sensing parameter for the target object based on the sensing signal reflected by the target object, wherein the number of first nodes and / or the number of second nodes is greater than 1, or the number of first nodes and second nodes is not simultaneously 1. That is, when the number of first nodes is 1, the number of second nodes is multiple; or when the number of second nodes is 1, the number of first nodes is multiple; or when the number of first nodes and the number of second nodes are both multiple. Wherein, the signal transmission parameter is used to indicate the sending time / frequency resource of the sensing signal sent by one or more second nodes, the parameter of the generated sensing signal, so that the second node sends the sensing signal at the predetermined time / frequency, in order to improve the SNR of the sensing signal, and then improve the sensing performance, meet the sensing demand of the target object. It should be noted that the predetermined time / frequency here is preferably the same time / frequency.

[0147] In actual application, the first node and the second node described above can be nodes in the same transmission and receiving point (TRP), wherein the TRP is usually a node on the base station side, in the present application, the TRP can be a terminal or a base station, or a road side unit (RSU), wherein the terminal device refers to a device that provides voice and / or data connectivity to a user, a handheld device with wireless connection function, or other processing devices connected to a wireless modem, etc.

[0148] The name used for the terminal can also be different in different systems. For example, in a 5G system, the terminal can be referred to as a user equipment (UE), and the terminal can also be a wireless terminal. The wireless terminal can communicate with one or more core networks (CNs) via a radio access network (RAN). The wireless terminal can be a mobile terminal, such as a mobile telephone (also known as a "cellular" telephone) and a computer with a mobile termination, for example, which can be a portable, pocket, handheld, computer-embedded, or vehicle-mounted mobile device that exchanges voice and / or data with a radio access network. For example, personal communication service (PCS) phones, cordless phones, session initiated protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), and the like. The wireless terminal can also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile, a remote station, an access point, a remote terminal, an access terminal, a user terminal, a user agent, a user device, and the like, and is not limited in the embodiments of the present disclosure.

[0149] Embodiments of the present disclosure can be applied to various systems, especially 5G systems. For example, the applicable systems can be global system of mobile communication (GSM) systems, code division multiple access (CDMA) systems, wideband code division multiple access (WCDMA) general packet radio service (GPRS) systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, long term evolution advanced (LTE-A) systems, universal mobile systems (UMTS), worldwide interoperability for microwave access (WiMAX) systems, 5G new radio (NR) systems, and the like. The various systems include terminals and network devices. The systems also include core network parts, such as evolved packet systems (EPS), 5G systems (5GS), and the like.

[0150] In addition, it should be noted that the different nodes can be nodes in the same communication device, for example, the first node and the second node can be nodes in the same TRP, that is, the first node is a receiving device of the TRP and the second node is a sending device of the TRP.

[0151] Please refer to FIG. 3, which is a scene schematic diagram of a signal processing method according to an embodiment of the present disclosure. As shown in FIG. 3, the scene includes a first node, a second node, and a target object.

[0152] It should be noted that the specific number of the first node and the second node is not particularly limited in the embodiments of the present disclosure. For example, when the number of the first node is 1, the number of the second node is greater than or equal to 2; when the number of the second node is 1, the number of the first node is greater than or equal to 2, or the number of the first node and the second node is greater than or equal to 2, and the like. The embodiments of the present disclosure will not be listed here.

[0153] Example 1, the (a) diagram in FIG. 3 illustrates an example in which one first node TPR1 and two second nodes (TPR1 and TPR2) are included (TPR1 is both a first node and a second node, or in other words, the first node and the second node are both nodes in TPR1).

[0154] Example 2, the (b) diagram in FIG. 3 illustrates an example in which two first nodes (TPR1 and TPR3) and one second node (TPR2) are included (TPR1 is a target node for obtaining a sensing parameter).

[0155] Example 3, the (c) diagram in FIG. 3 illustrates an example in which two second nodes (TPR2 and TPR3) and one first node (TPR1) are included.

[0156] It should be noted that the TPRs in the above scenario diagrams are illustrated by taking base stations as examples, but in actual applications, the TPRs are not limited to this, for example, the TPRs can also be terminals, servers (for example, a server does not include a wireless transceiver device, and related data / information is transmitted through a wired transmission), and the like. In addition, the number of nodes in the above scenarios is also illustrative, and more TPRs can be included as first nodes and second nodes in each scenario, and each TPR performs a scheme when it is a first node or a second node, which is the same as the scheme corresponding to each node in the embodiments of the present disclosure.

[0157] For example 1, in the scenario illustrated in the (a) diagram in FIG. 3, TPR1 and TPR2 are second nodes, and respectively send second sensing signals s 1(t) to the target object. 1(t) Correspondingly, after the target object receives the second sensing signal s 1(t) , a reflected sensing signal is generated, and the signal received by the first node is r(t).

[0158] Correspondingly, the second sensing signal s 1(t) sent by TPR1 as a second node to the target object, after passing through the target object, the signal received by TPR1 is: 1(t) r = A1A1s1(t-τ1-τ1).

[0159] The second sensing signal s 1(t) sent by TPR2 as a second node to the target object, after passing through the target object, the signal received by TPR1 is: 2(t) r = A1A2s1(t-τ1-τ2).

[0160] Wherein, τ1 is the time delay (for short, time delay) from TPR1 to the target object, and A1 is the channel parameter (not including time delay) from TPR1 to the target object. τ2 is the time delay from TPR2 to the target object, and A2 is the channel parameter (not including time delay) from TPR2 to the target object.

[0161] In summary, the first sensing signal received by the TRP1 through the target object is r(t) = A1A2s1(t-τ1-τ2) + A1A1s1(t-τ1-τ1);

[0162] It should be noted that according to the principle of orthogonal frequency division multiplexing (OFDM), if the difference in multipath delay of two signals is less than the length of the cyclic prefix (CP), that is, the absolute value of (τ2-τ1) is less than CP, then after energy normalization, the signal energy received by the TRP1 is: |A1A1| 2 +|A1A2| 2 It can be seen that through the above scheme, signal gain is obtained, and when two TRPs participate in sensing, an expected gain of about 3dB is obtained.

[0163] As can be seen, through the present scheme, the sensing performance on the object can be improved. In addition, since in some embodiments, the first node and the second node are nodes in the same TPR, the deployment density of the sensing nodes can be reduced, and the deployment cost can be reduced.

[0164] It should be noted that the target object can be any object in the environment (such as a pedestrian or a drone), and in the embodiments of the present disclosure, the target object in FIG. 3 is illustrated by taking UVA as an example, but is not limited thereto. In addition, in actual applications, other devices can also be included in the above-mentioned scenario, such as wireless repeater devices and wireless backhaul devices.

[0165] It should be noted that the method and device provided by the embodiments of the present disclosure are based on the same application concept, and since the principles of the method and device for solving problems are similar, the implementation of the device and the method can be mutually referred to, and the repeated parts will not be described again.

[0166] The technical solutions of the embodiments of the present disclosure and how the technical solutions of the present disclosure solve the above technical problems will be described in detail below with specific embodiments. The following embodiments in some embodiments can be combined with each other, and for the same or similar concepts or processes, some embodiments can not be described again.

[0167] Embodiment one

[0168] Please refer to FIG. 4(a), which is a signaling interaction diagram of a data processing method provided by an embodiment of the present disclosure. As shown in the figure, the data processing method includes the following steps:

[0169] S401, the third node configures signal transmission parameters for the first node and the second node.

[0170] It should be noted that the specific types of the first node, the second node and the third node are not particularly limited in the embodiments of the present disclosure.

[0171] For example, when the third node is a perception server and a base station, the first node and the second node can be a base station or a terminal; when the third node is a UE (or a specific UE), the first node and the second node are UEs.

[0172] It should be noted that the purpose of configuring the signal transmission parameter for the second node is to coordinate the second nodes for sending the perception signal, so that the second nodes can send the predetermined perception signal on the predetermined time and / or frequency resources, thereby ensuring that the time delay of the perception signals sent by different second nodes after being reflected by the target object and reaching the first node is less than or equal to the CP length, avoiding inter-symbol interference, and thereby improving the reception performance.

[0173] As a preferred implementation, the predetermined time / frequency is preferably the same time / frequency, and the predetermined perception signal is preferably the same perception signal, that is, each second node sends the same perception signal at the same time / frequency.

[0174] For the specific manner of configuring the signal transmission parameter for the first node and the second node, the embodiments of the present disclosure do not make special limitations, for example, the third node can use the multicast / broadcast mode to send the signal transmission parameter to multiple nodes, or the third node can also use the unicast mode to send the signal transmission parameter to each node separately.

[0175] S402, one or more second nodes send a second perception signal based on the configured signal transmission parameter.

[0176] It should be noted that not all second nodes need to send the second perception signal, and whether to send the perception signal depends on the configured signal transmission parameter.

[0177] In some embodiments, one or more second nodes generate a second perception signal according to the configured signal transmission parameter, and send the second perception signal on the predetermined time domain resource and frequency domain resource.

[0178] For example, the second node includes TPR1, TPR2 and TPR3, and the manner in which the second node sends the second perception signal is shown in FIG. 4(b). FIG. 4(b) is a schematic diagram of the principle of sending the second perception signal according to an embodiment of the present disclosure.

[0179] As shown in the figure, TPR1, TPR2 and TPR3 all send the perception signal on OS#10 and OS#11 at the specified time t0 and t1, respectively.

[0180] It should be noted that in some embodiments, the third node can indicate the same time to each second node, so that the second nodes send the second sensing signals to the target object at the same time.

[0181] In other embodiments, the transmission time of each TRP can be the same or different, as long as the difference in transmission delay of the signals reaching the target object is within one CP, the above-mentioned gain effect can be achieved.

[0182] It should be noted that the specific manner in which the second node sends the second sensing signal according to the configured signal transmission parameters is shown in subsequent embodiments.

[0183] S403, the first node acquires the first sensing signal.

[0184] The first sensing signal acquired by the first node includes but is not limited to at least one of the following: receiving the echo signal of the second sensing signal sent by the first node itself and reflected by the target object; receiving the echo signal of the second sensing signal sent by other nodes and reflected by the target object; and the first sensing signal forwarded by other nodes to the first node.

[0185] Example 1, please refer to FIG. 4(c), which is a schematic diagram of the principle of the signal processing method provided by an embodiment of the present disclosure.

[0186] As shown in the figure, TPR1, TPR2 and TPR3 as second nodes respectively send sensing signals s1(t) to the target object, and TPR1 as the first node receives the sensing signal returned by the target object.

[0187] Wherein, TRP1 sends s 1(t) , the signal passes through the target object, and the signal from the target object to TRP1 is:

[0188] TRP2 sends s 1(t) , the signal passes through the target object, and the signal from the target object to TRP1 is:

[0189] TRP3 sends s 1(t) , the signal passes through the target object, and the signal from the target object to TRP1 is:

[0190] The sensing signal received by TRP1 is:

[0191] Wherein, τ1 is the time delay from TRP1 to the target object, A1 is the channel parameter from TRP1 to the target object; τ2 is the time delay from TRP2 to the target object, A2 is the channel parameter from TRP2 to the target object; τ3 is the time delay from TRP3 to the target object, A3 is the channel parameter from TRP3 to the target object.

[0192] It should be noted that the above-mentioned channel parameters can also include: signal attenuation through the air interface, and target object reflection (or refraction) coefficient (referred to as RCS in the field of radar), etc.

[0193] S404, the first node obtains the sensing parameter based on the sensing signal.

[0194] In some embodiments, the first node performs Fourier transform on the obtained sensing signal to convert it into a frequency domain signal. Exemplarily, the converted frequency domain signal contains information represented as the following formula:

[0195] Wherein, X(f) is the frequency domain expression of the second sensing signal s 1(t) , and in the frequency domain, dividing by X(f) can obtain the frequency domain information passing through the target object as:

[0196] The signal energy received by TRP1 is expected to be a value: E r = |A1A1| 2 + |A1A2| 2 + |A3A1| 2 .

[0197] In some embodiments, the sensing parameter can include: a detection result of whether the target object is detected, a detection target probability, wherein the detection target probability includes: a probability of detecting the target object and / or a probability of not detecting the target object.

[0198] In some embodiments, for target object detection, the energy of the received first sensing signal is mainly counted, and when the detected energy (such as: the average energy on the sensing signal RE) exceeds a certain threshold (the corresponding threshold value is indicated by the third node or other configuration node), the energy of the OFDM system is counted in the frequency domain.

[0199] Exemplarily, if the calculated received energy of the entire channel bandwidth is: E r , the detection threshold value is T E (unit bandwidth), if Er≥T E *bandwidth, then the sensing parameter is: the target object is detected, wherein bandwidth is the effective bandwidth of the sensing signal.

[0200] If Er < TE bandwidth, the perception parameter is: no target object is detected.

[0201] In some embodiments, after obtaining the perception parameter, the perception parameter can also be reported to the perception server.

[0202] It should be noted that the method of obtaining the detection threshold and the specific scheme of calculating the perception parameter are shown in subsequent embodiments.

[0203] In the embodiments of the present disclosure, the probability of detecting a target object means statistical and feedback in a probabilistic manner. For simplicity, it is assumed that the received signal energy E ra of a unit bandwidth, the detection threshold of a unit bandwidth is T E , and the determination method of the detection probability P d is as follows: P d =1 / (1+e^(-k0z));

[0204] wherein, z=E ra -T E , k0 is an amplification coefficient (which can be agreed by a protocol or indicated by a third node, and the default value is 1, or equal to the bandwidth of the perception signal).

[0205] In the above calculation method:

[0206] When z is much greater than 0 (the received signal energy is much greater than the detection threshold), P d is close to 1;

[0207] When z is equal to 0 (the received signal energy is equal to the detection threshold), P d is 0.5;

[0208] When z is much less than 0 (the received signal energy is less than the detection threshold), P d is close to 0;

[0209] It should be noted that the detection probability P d calculated in the above process can be understood as the probability of detecting a target object. If the required detection result is the probability P nd of not detecting a target object, it can be obtained according to P nd =1-P d .

[0210] S404, the first node forwards the first perception signal to the target node.

[0211] The target node is another signal receiving node and / or a third node. Referring to FIG. 4(c), after TPR1 receives the first sensing signal returned by the target object as the first node, TPR1 forwards the first sensing signal to the third node, and the third node obtains the sensing parameter according to the first sensing signal. Alternatively, when there is another signal receiving node in addition to TPR1 in FIG. 4(c) (not shown in the figure), TPR1 can also forward the first sensing signal to this signal receiving node, and this node obtains the sensing parameter according to the first sensing signal as the target node.

[0212] It should be noted that the specific scheme in which the target node obtains the sensing parameter based on the first sensing signal is the scheme in which TPR1 obtains the sensing parameter in S403, which will not be described here.

[0213] As can be seen from the above embodiments, the present scheme can improve the sensing performance of the object and meet the sensing demand of the target object. In addition, in some embodiments, the first node and the second node are nodes in the same TPR, which can reduce the deployment density of the sensing nodes and reduce the deployment cost.

[0214] Next, the above steps will be described in more detail in combination with specific embodiments:

[0215] Embodiment Two

[0216] Before configuring the signal transmission parameters for the first node and the second node, the third node is further configured to: in response to the sensing demand, determine a signal transmission group, wherein the signal transmission group includes the first node and the second node, and the number of the first nodes and / or the number of the second nodes is greater than 1.

[0217] In some embodiments, after determining the signal transmission group, the first node and the second node in the signal transmission group need to be respectively configured with their own signal transmission parameters.

[0218] In some embodiments, the signal transmission parameters include but are not limited to one or more of the following information:

[0219] (1) Time domain resource information and frequency domain resource information of each node in the signal transmission group for sending or receiving the sensing signal;

[0220] The time domain resource information is used to indicate time domain information of the sensing signal containing one or more symbols, or a time domain pattern; for example: OFDM symbols 10 and 11 of time slot 0 of subframe 0 of radio frame 0. The frequency domain resource information is used to indicate frequency domain information of the sensing signal containing one or more REs, or a frequency domain pattern (the frequency domain resource information corresponding to different time domain symbols can be the same or different), for example: for symbol 10, RE=0, RE=2, and RE=4 are used for sensing signal transmission, and for symbol 11, RE=1, RE=3, and RE=5 can be used for sensing signal transmission.

[0221] (2) One or more scrambling parameters used to generate initial scrambling information of the sensing signal, where the value range of the scrambling parameter is, for example, 0-1023, or an integer of 31 bits.

[0222] For example, the transmitted sensing signal is a quadrature phase shift keying (QPSK) signal, and the random scrambling code is a Gold sequence code, and the use method of the one or more scrambling parameters is described.

[0223] The scrambling parameter in the above signal transmission parameter is: For example, the scrambling parameter use process in the embodiment of the disclosure includes the following steps:

[0224] Step 1, generating an initialization parameter c init .

[0225] In some embodiments, the initialization parameter c init includes but is not limited to the following ways:

[0226] Method 1: based on That is, the scrambling parameter is directly the initialization parameter c init .

[0227] Method 2: generating the initialization parameter c init based on the transmission time and position of the sensing signal.

[0228] Wherein, is a time slot, and l is a symbol position.

[0229] Step 2, generating a Gold sequence: c(0), c(1), c(2), … according to the initialization parameter c init .

[0230] It should be understood that the way of generating the Gold sequence according to the initialization parameter c init is not limited in the embodiment of the disclosure.

[0231] Step 3: Obtain the sending information from the sender based on the Gold sequence:

[0232] Step 4: Based on the transmission information from the transmitter, determine the channel information through which the sensing signal passes.

[0233] For example, the channel information through which the sensed signal passes can be determined using the following formula:

[0234] Among them, X r (f) is the received sensing signal, I r (f) represents the channel information through which the sensing signal passes.

[0235] It should be noted that when there are multiple scrambling parameters, multiple X(f) can be generated, thereby determining multiple I. r (f). Of course, multiple X(f) can also be merged into X(f), or multiple I... r (f) merge into one I r (f), and then perform the subsequent calculation of the sensing parameters.

[0236] (3) Reference sub-carrier spacing (SCS), such as any value such as 15KHz, 30KHz, 60KHz, 120KHz, 240KHz, 480KHz, 960KHz, 1920KHz, etc.

[0237] (4) Cyclic Prefix (CP) type, where CP type can be normal cyclic prefix (NCP) or extended cyclic prefix (ECP);

[0238] (5) Time offset, used by the second node to adjust the transmission time of the second sensing signal. The adjustment method and the calculation method of the time offset will be shown in subsequent embodiments.

[0239] (6) Frequency information, for example, 800MHz;

[0240] (7) Detection threshold, for example -95dBm / MHz; wherein the target node is used to obtain sensing parameters based on the detection threshold, and the specific scheme for obtaining sensing parameters based on the detection threshold is shown in the following embodiments.

[0241] (8) Transceiving mode information, wherein the transceiving mode information is used to indicate the role of the node in the signal transmission group. For example, the transceiving mode includes at least one of the following:

[0242] Transceiving mode 1: indicating that the node is a node receiving the sensing signal;

[0243] Transceiving mode 2: indicating that the node is a node transmitting the sensing signal

[0244] Transceiving mode 3: indicating that the node is a node receiving and transmitting the sensing signal;

[0245] Transceiving mode 4: indicating the receiving mode of the node receiving the sensing signal (i.e., the first node).

[0246] It should be noted that when indicating that a node receives the sensing signal, the node can also be indicated as a target node for obtaining the sensing parameter.

[0247] Among them, the receiving mode includes at least one of the following:

[0248] Receiving mode 1: obtaining the sensing parameter according to the received first sensing signal;

[0249] Receiving mode 2: obtaining the sensing parameter according to the first sensing signal received by itself and the first sensing signal forwarded by other signal receiving nodes;

[0250] Receiving mode 3: forwarding the received first sensing signal to the target node.

[0251] (9) Required reported sensing parameter, wherein the sensing parameter includes the detection result and / or angle information.

[0252] In the embodiments of the present disclosure, by configuring the signal transmission parameters for each node in the signal transmission group, it can be ensured that the sensing signals transmitted by each node reach the target object at the same time, thereby achieving the gain effect of improving the SNR of the sensing signal and improving the sensing performance.

[0253] Embodiment three

[0254] Please continue to refer to FIG. 4(c), as shown in FIG. 4(c), the third node can indicate by signal transmission parameters that TRP1, TPR2, TPR3 are all nodes receiving and transmitting sensing signals (i.e. configure the above-mentioned receiving and transmitting mode 3 for TRP1, TPR2, TPR3) respectively, at the same time, indicate by signal transmission parameters that TPR2, TPR3 transmit the sensing signals received by themselves to TPR1 (configure the above-mentioned receiving mode 3 for TPR2, TPR3), and indicate by signal transmission parameters that TPR1 combines the sensing signals transmitted by TPR2, TPR3 and calculates the sensing parameter (configure the above-mentioned receiving mode 2 for TPR1). That is, the above-mentioned TRP1, TPR2, TPR3 can all be the first node and the second node, and TRP1 is the target node.

[0255] In some embodiments, TRP2 and TRP3 forward the first sensing signals received by themselves to TRP1 (the sensing parameter is calculated by TRP1) based on the forwarding format content format and the forwarding time offset_slot;

[0256] It should be noted that the forwarding format content format can include: frequency domain resource information, time domain resource information, channel impulse response information, or other information capable of reflecting the content of the sensing signal.

[0257] In some embodiments, the forwarding time offset_slot can include: one or more time slots (unit: time slot number) after the second sensing signal is transmitted, one or more symbols or subframes (unit: symbol number, subframe number) after the second sensing signal is transmitted, or other units representing time. For example, when the forwarding time offset_slot is 10 time slots, it can represent that TRP2 and TRP3 forward the first sensing signal received by themselves to TRP1 after 10 time slots after the second sensing signal is transmitted.

[0258] In the above example, the first sensing signals received by the nodes receiving the sensing signals are as follows:

[0259] The first sensing signal received by TPR1 is:

[0260] The first sensing signal received by TPR2 is:

[0261] The first sensing signal received by TPR3 is:

[0262] Wherein, τ1 is the time delay from TRP1 to the target object, A1 is the channel parameter from TRP1 to the target object; τ2 is the time delay from TRP2 to the target object, A2 is the channel parameter from TRP2 to the target object; τ3 is the time delay from TRP3 to the target object, A3 is the channel parameter from TRP3 to the target object.

[0263] In some embodiments, the above-mentioned channel parameters can also include: the attenuation of the signal through the air interface, and the object reflection (or refraction) coefficient of the target object (referred to as RCS in the field of radar).

[0264] In the above formula, the second sensing signal s 1(t) , which is transmitted by TRP1, passes through the target object, and the first sensing signal when it reaches TRP1 from the target object is:

[0265] The second sensing signal s 1(t) , which is transmitted by TRP2, passes through the target object, and the sensing signal when it reaches TRP1 from the target object is: (same as from TRP1 to the target object to TRP2);

[0266] The second sensing signal s 1(t) , which is transmitted by TRP3, passes through the target object, and the sensing signal when it reaches TRP1 from the target object is: (same as from TRP1 to the target object to TRP3);

[0267] The second sensing signal s 1(t) , which is transmitted by TRP3, passes through the target object, and the sensing signal when it reaches TRP2 from the target object is: (same as from TRP2 to the target object to TRP3);

[0268] The second sensing signal s 1(t) , which is transmitted by TRP2, passes through the target object, and the sensing signal when it reaches TRP2 from the target object is:

[0269] The second sensing signal s 1(t) , which is transmitted by TRP3, passes through the target object, and the sensing signal when it reaches TRP3 from the target object is:

[0270] In some embodiments, each node, after receiving the above-mentioned sensing signal in the time domain, performs Fourier transform on the sensing signal, and converts the time domain into a frequency domain signal.

[0271] Taking TRP1 as an example, the conversion frequency domain expression is as follows:

[0272] Where X(f) is the transmitted second sensing signal s 1(t) The frequency domain expression of the distance R (such as R1, R2) is the conversion of the time delay τ (such as τ1, τ2) into distance according to the speed of light. The conversion relationship is: R = c * τ.

[0273] The above frequency domain information is divided by X(f). Then the frequency domain information passing through the target object can be obtained as:

[0274] Similarly: for TRP2, the frequency domain information passing through the target object obtained by TRP3 is respectively:

[0275] In some embodiments, TRP2 and TRP3 transmit I r2 (f) and I r3 (f) to TRP1 according to the configuration indication.

[0276] It should be noted that the above I r2 (f) and I r3 (f) are frequency domain expressions. For OFDM systems, the specific content of the forwarding is embodied on each frequency domain unit (RE) of the sensing signal. In some embodiments,

[0277] The information forwarded by TRP2: I r2 (sym#10, RE0), I r2 (sym#10, RE2), I r2 (sym#10, RE4) I r2 (sym#11, RE1), I r2 (sym#11, RE3), I r2 (sym#11, RE5)

[0278] The information forwarded by TRP3: I r3 (sym#10, RE0), I r3 (sym#10, RE2), I r3 (sym#10, RE4) I r3 (sym#11, RE1), I r3 (sym#11, RE3), I r3 (sym#11, RE5)

[0279] (sym#10, RE0) represents the frequency domain information on symbol 10, RE0 frequency domain unit RE0, and the others are sequentially deduced, and the embodiments of the present disclosure are not particularly limited.

[0280] Embodiment four

[0281] Fig. 5(a) is a schematic diagram of a second principle of a signal processing method according to an embodiment of the present disclosure. As shown in Fig. 5(a), TPR1, TPR2 and TPR3 as second nodes respectively send sensing signals s to the target object 1(t) TPR1 as a first node receives the sensing signals returned by the target object. Wherein, τ1 is the time delay of TPR1, τ2 is the time delay of TPR2, and τ3 is the time delay of TPR3.

[0282] The inventor finds that if τ2+τ1>CP duration, it will cause inter-symbol interference when the sensing signal sent by TPR2 and the sensing signal sent by TPR3 arrive at TPR1.

[0283] Therefore, TPR2 can send the signal in advance when sending the signal, and the advance amount can be τ0, so that τ2-τ0+τ1 is not greater than the CP duration.

[0284] Wherein, the advance amount τ0 is the time offset.

[0285] In summary, in some embodiments, for the second node, the signal transmission parameter can further include: a time offset.

[0286] In some embodiments, when calculating the time offset, the third node includes the following steps:

[0287] ① Based on the sensing requirement, determine the time delay of the second sensing signal sent by the second node to arrive at the first node;

[0288] ② In response to the time delay difference corresponding to the second node being greater than a preset duration, determine the time offset corresponding to each second node according to the line-of-sight (LOS) distance between the second nodes.

[0289] Wherein, the preset duration is the length of a CP.

[0290] In some embodiments, the time offset is the LOS divided by the speed of light.

[0291] Correspondingly, when the transceiving mode information of a certain second node is used to indicate that "the current node is a sending node for sending a sensing signal", the time offset of the second node can be indicated, so that the second node sends the second sensing signal based on the time offset, thereby avoiding inter-symbol interference and improving sensing performance.

[0292] Correspondingly, the second node receives the signal transmission parameter and sends the second sensing signal based on the signal transmission parameter. In some embodiments, the second node sends the second sensing signal based on the time domain resource information and / or the frequency domain resource information.

[0293] Correspondingly, when the signal transmission parameter further comprises a time offset, the second node is configured to: adjust the second sensing signal according to the time offset, and transmit the adjusted second sensing signal.

[0294] In some embodiments, the adjusting the second sensing signal according to the time offset and transmitting the adjusted second sensing signal comprises at least one of the following:

[0295] According to the time offset, the transmission time of the second sensing signal is adjusted to be advanced or delayed.

[0296] Alternatively, according to the time offset, the length of the cyclic prefix (CP) before the second sensing signal is shortened or lengthened, and the adjusted second sensing signal is transmitted.

[0297] For ease of understanding, please refer to FIG. 5(b), which is a schematic diagram of adjusting the second sensing signal according to an embodiment of the present disclosure. As shown in the figure, OS1, OS2 and OS3 are sensing signals to be transmitted by a certain second node. Taking OS2 as an example, OS2 may cause inter-symbol interference with the sensing signals transmitted by other nodes, and therefore needs to be adjusted.

[0298] In some embodiments, the following two methods of adjusting the second sensing signal are included:

[0299] Method 1 (CP remains unchanged): keep the CP of the sensing symbol unchanged, and transmit the sensing signal (OS2+CP) in advance by τ off , wherein τ off is the overlapping time length of OS2 and OS1. Correspondingly, OS1 is punctured, i.e., the tail of OS1 with a time length of τ off is not transmitted.

[0300] It should be noted that, due to the advance transmission of OS2, there is a blank space with a time length of τ off between OS2 and OS3. The advantage of this method is that the CP of the sensing symbol can be kept unchanged, avoiding inter-symbol interference of the sensing symbol.

[0301] Method 2 (CP is shortened): shorten the CP of the sensing symbol by a time length of τ off , and transmit the sensing signal (OS2+new_CP) in advance, wherein the time length of new_CP is the original CP time length minus the time length of τ off .

[0302] In some embodiments, method 1 can be modified. Please refer to FIG. 5(c), which is a schematic diagram of adjusting the second sensing signal according to another embodiment of the present disclosure. As shown in the figure, the punctured part of OS1 can be placed in the blank space at the tail of the sensing signal OS2 (with a time length of τ off) is sent, and correspondingly, when the OS1 is received at the first node, the shift recovery operation is performed.

[0303] In some embodiments, the second node can also convert the time into the time domain FFT sample n offset The sending is advanced. In some embodiments, n offset :

[0304] Wherein, n offset can be rounded.

[0305] Wherein, SCS is the subcarrier spacing (unit: Hz) of the OFDM symbol of the growth-aware signal, and N is the FFT length when the OFDM symbol is generated.

[0306] For example, when τ d = 0.000001 seconds (1 microsecond), SCS = 15 KHz, and N = 2048, n offset = 0.000001 * 15 * 1000 * 2048 = 30.72, and n offset can be rounded to 31.

[0307] In other embodiments, it can also be agreed that if τ off is positive, the sending is advanced, and if it is negative, the sending is delayed.

[0308] In the embodiments of the present disclosure, when the transmission delays of the nodes in the signal transmission group to the target object are different, by configuring a time offset for each node, the nodes can adjust and send the second awareness signal based on the time offset, and the transmission delay difference of the awareness signals sent by the nodes to the target object can still be ensured to be within one CP, thereby achieving the gain effect of improving the SNR of the awareness signal and improving the awareness performance. In addition, the embodiments of the present disclosure provide various methods for adjusting the second awareness signal, so that the present scheme can be flexibly applied to various nodes.

[0309] Embodiment five

[0310] For the first node, the signal transmission parameters at least include the transceiving mode information of the first node;

[0311] The transceiving mode information is used to indicate at least one of the following:

[0312] The first node as a signal receiving node, the first node as a target node for obtaining awareness parameters, and the first node as a sending node for sending awareness signals.

[0313] In some embodiments, the transceiving mode information further includes the receiving mode of the first node;

[0314] The receiving mode includes at least one of the following:

[0315] Receiving mode 1: the first node obtains the sensing parameter according to the received first sensing signal. In the following examples 1 and 2, the receiving mode 1 will be described in detail:

[0316] Example 1, please continue to refer to FIG. 4(c), as shown in the figure, taking the first node including TRP1 and the second node including TRP1, TRP2 and TRP3 as an example (i.e., only TRP1 receives the sensing signal, and TRP1, TRP2, TRP3 and TRP4 all transmit the sensing signal).

[0317] Wherein, the second sensing signal transmitted by TRP1, TRP2 and TRP3 is s 1(t) Then the sensing signal received by TRP1 is: Wherein, τ1 is the time delay from TRP1 to the target object, A1 is the channel parameter from TRP1 to the target object; τ2 is the time delay from TRP2 to the target object, A2 is the channel parameter from TRP2 to the target object; τ3 is the time delay from TRP3 to the target object, A3 is the channel parameter from TRP3 to the target object.

[0318] In the above formula, the sensing signal s 1(t) transmitted by TRP1, the signal passing through the target object and reaching TRP1 from the target object is:

[0319] The second sensing signal s 1(t) transmitted by TRP2, the signal passing through the target object and reaching TRP1 from the target object is:

[0320] The second sensing signal s 1(t) transmitted by TRP3, the signal passing through the target object and reaching TRP1 from the target object is:

[0321] Correspondingly, if TRP1 is configured to obtain the sensing parameter according to the received first sensing signal, the expected value of the signal energy received by TRP1 is: |A1A1| 2 +|A1A2| 2 +|A3A1| 2 By counting the expected value, a gain of about 4.77dB can be obtained.

[0322] Example 2, if the second node includes TRP1 and the first node includes TRP1, TRP2, TRP3 and TRP4 (i.e., only TRP1 transmits the sensing signal, and TRP1, TRP2, TRP3 and TRP4 all receive the sensing signal).

[0323] wherein the sensing signal s 1(t) , the signal passing through the target object, from the target object to TRP1, TRP2, TRP3 and TRP4 are respectively: wherein τ1 is the time delay from TRP1 to the target object, A1 is the channel parameter from TRP1 to the target object; τ2 is the time delay from TRP2 to the target object, A2 is the channel parameter from TRP2 to the target object; τ3 is the time delay from TRP3 to the target object, A3 is the channel parameter from TRP3 to the target object; τ4 is the time delay from TRP4 to the target object, A4 is the channel parameter from TRP4 to the target object.

[0324] In Example 2, based on the above receiving mode 1, if the target node is TRP1, that is, TRP2, TRP3, TRP4 are instructed to forward the received first sensing signal to TRP1, the sensing parameter is calculated by TRP1.

[0325] Then the sensing signal received by TRP1 is: At this time, the expected value of the signal energy received by TRP1 is: |A1A1| 2 +|A1A2| 2 +|A3A1| 2 ++|A4A1| 2 , the converted gain of SNR is about 6dB.

[0326] As for the specific scheme of TRP1 obtaining the sensing parameter based on the sensing signal, see the subsequent embodiments.

[0327] Receiving mode 2, the first node obtains the sensing parameter according to the first sensing signal received by itself and the first sensing signal forwarded by other signal receiving nodes. In the following Example 3, receiving mode 1 will be described in detail:

[0328] Example 3, referring to FIG. 6(a), FIG. 6(a) is a principle schematic diagram three of the signal processing method provided by an embodiment of the present disclosure. As shown in the figure, the second node for transmitting the sensing signal includes: TRP1, TRP2 and TRP3, the second node for receiving the sensing signal includes: TRP1, TRP2 and TRP3, and meanwhile, wherein the first node TRP2, TRP3 is configured to forward the sensing signal received by itself to the node TRP1 (that is, TRP2, TRP3 is configured as receiving mode 2).

[0329] wherein the expected signal energy received by TRP1 is: |A1A1| 2 +|A1A2| 2 +|A3A1| 2 ,

[0330] The signal energy expected to be received by TRP2 is: |A2A2| 2 +|A1A2| 2 +|A3A2| 2 ,

[0331] The signal energy expected to be received by TRP3 is: |A3A3| 2 +|A1A3| 2 +|A3A3| 2 .

[0332] Wherein, A1, A2, A3 are channel attenuation coefficients of TRP1, TRP2, TRP3 to the target object respectively. Statistically, each of the above power values is the same.

[0333] At the same time, TRP2 and TRP3 send the signals received by themselves to TRP1, and TRP1 can obtain 9 power resources, i.e. about 9.5dB gain.

[0334] Correspondingly, in order to realize the detection of a target object by a certain TRP (such as TRP1 in the above figure) using the received data of other TRPs, the third node needs to indicate one or more of the target node (such as TPR1 in the above example) for receiving the sensing signal, the transmission time, and the transmission format of the TRP participating in the sensing signal transmission.

[0335] Wherein, the target node can be a TRP participating in the sensing signal transmission, or other TRP, and can also be a third node, which is not limited here.

[0336] The receiving mode 3 is that the first node forwards the received first sensing signal to the target node.

[0337] Referring to the above example 3, the third node indicates one or more of the target node (such as TPR1 in the above example) for receiving the sensing signal, the transmission time, and the transmission format of the TRP participating in the sensing signal transmission. Correspondingly, when the first node is configured in the receiving mode 3, it will send the sensing signal received by the node to the target node. For example, for the first node TRP2 and TRP3, it is configured to send the signals received by itself to the target node.

[0338] Wherein, the transmission time refers to the latest time for transmitting the received data to the target TRP.

[0339] The transmission format includes a receiving resource label (such as a resource ID or a timestamp to indicate the same data for merging), and a type indication (such as source time domain data, channel impulse response, or frequency domain RE data).

[0340] Embodiment six

[0341] It should be noted that when a certain first node is a target node for calculating the sensing parameter, the third node also needs to configure a detection threshold value for the first node, and correspondingly, the target node is configured to obtain the sensing parameter based on the detection threshold value.

[0342] The sensing parameter includes: a detection result and angle information; the detection result includes at least one of the following: whether a target object is currently detected, a probability of detecting a target object, and a probability of not detecting a target object.

[0343] In some embodiments, the first node obtains the sensing parameter based on the first sensing signal, including the following steps:

[0344] (1) Obtain the frequency domain information corresponding to the first sensing signal;

[0345] In some embodiments, the first node performs Fourier transform on the obtained sensing signal to convert it into a frequency domain signal.

[0346] For example, the conversion can be performed according to the following formula:

[0347] Where X(f) is the frequency domain expression of the second sensing signal s 1(t) In the frequency domain, dividing by X(f) can obtain the frequency domain information of the target object as:

[0348] (2) Obtain the received energy value of the first sensing signal on the frequency domain and / or time domain unit according to the frequency domain information corresponding to the first sensing signal;

[0349] For target object detection, the energy of the received first sensing signal is mainly counted. When the detected energy (such as the average energy on the sensing signal RE) exceeds a certain threshold (the corresponding threshold value is indicated by the third node or other configuration nodes), the energy of the OFDM system is counted on the frequency domain.

[0350] Where the signal energy value received by TRP1 is E r = |A1A1| 2 + |A1A2| 2 + |A3A1| 2 .

[0351] (3) In response to the received energy value being greater than or equal to the detection threshold value, it is determined that the target object is detected, or in response to the received energy value being less than the detection threshold value, it is determined that the target object is not detected.

[0352] For example, if the calculated received energy is Er , the detection threshold is T E , if E r ≥ T E * bandwidth, the sensing parameter is that a target object is detected, wherein the bandwidth is the effective bandwidth of the transmission of the sensing signal.

[0353] , if E r < T E * bandwidth, the sensing parameter is that no target object is detected.

[0354] The above is the calculation method of the sensing parameter when the transceiving mode of the TRP1 is configured as the receiving mode 1 (i.e., the TPR1 obtains the sensing parameter according to the received first sensing signal).

[0355] Next, the specific calculation method of the sensing parameter when the receiving mode 2 is configured will be described in combination with the following examples.

[0356] Exemplarily, when the TRP1 is configured as the receiving mode 2, and the TRP2 and the TRP3 are configured as the receiving mode 3 (i.e., the TRP2 and the TRP3 forward the received first sensing signal to the target node TPR1, and obtain the sensing parameter according to the first sensing signal received by themselves and the first sensing signal forwarded by the TRP2 and the TRP3), the specific steps of the TRP1 to calculate the sensing parameter are as follows:

[0357] ① The TRP1 combines the frequency domain signals of the TRP11, the TRP2 and the TRP3: I r (f) = I r1 (f) + I r2 (f) + I r3 (f)

[0358] ② The TRP1 calculates the energy on the frequency domain and / or time domain unit RE: E r

[0359] ③ Obtain the sensing parameter:

[0360] If E r ≥ T E * bandwidth, it can be considered that the target object is detected, otherwise it can be considered that the target object is not detected.

[0361] Wherein, the bandwidth is the effective bandwidth (unit: MHz) of the transmission of the sensing signal. Exemplarily, there are 6 REs on two symbols, and the bandwidth of each RE is: SCS = 15KHz, bandwidth = 0.015*6 = 0.09MHz.

[0362] Embodiment Seven

[0363] In some embodiments, the perception parameter further comprises: angle information; the angle information comprises: an included angle between the directions of arrival of the perception signals received by the adjacent antennas of the first node;

[0364] In some embodiments, the first node (or target node) obtains the perception parameter based on the first perception signal, specifically comprising the following steps:

[0365] ①Obtain the distances between the adjacent antennas of the first node and the perception signals received by each antenna;

[0366] ②Obtain the angle information of the target object according to the distances between the adjacent antennas and the perception signals received by the adjacent antennas.

[0367] For example, the perception signal received by the node TRP2 is:

[0368] TRP2 sends the second perception signal s 1(t) The first perception signal when the signal passes through the target object and reaches TRP1 from the target object is:

[0369] TRP3 sends the second perception signal s 1(t) The first perception signal when the signal passes through the target object and reaches TRP1 from the target object is:

[0370] Wherein, τ1, τ2, τ3 and A1, A2, A3 are the time delay and channel parameters of TRP1, TRP2 and TRP3 to the target object, respectively.

[0371] It should be noted that the above channel parameters may also include: signal attenuation through the air interface, and reflection (or refraction) coefficient (referred to as RCS in the field of radar) of the target object.

[0372] Calculate the angle information of the perception signal of the target object; if TRP1 uses multiple antennas (more than 2), the signals received by different receiving antennas, please refer to FIG. 6(b). 6(b) is a schematic diagram of the principle of the signal processing method provided by an embodiment of the present disclosure. As shown in the figure,

[0373] Assuming that for antenna 0, the received signal S r (0) = s(t);

[0374] Then, antenna 1 receives the signal

[0375] Antenna 2 receives the signal

[0376] Antenna M-1 receives the signal

[0377] wherein d is the distance between antennas, a is the included angle of the direction of arrival, and c0 is the speed of light

[0378] The expression of the received signals of the different antennas can be expressed as: wherein μ = 0, …, M port -1, μ is the antenna (port) number.

[0379] In some embodiments, the time delay is expressed as frequency domain phase information, and normalized to obtain:

[0380] wherein μ = 0, …, M port -1, n corresponds to the RE position of the angle symbol.

[0381] In some embodiments, the vector I r (μ) carries a linear phase shift containing the angle information sin(a) of the target object, which can be easily obtained by DFT. In some embodiments:

[0382] wherein the DFT result has a maximum value at one of the M port sampling points, and the order number l peak and the following formula can be used to obtain the angle information of the target object.

[0383] wherein, is the wavelength of the incoming wave.

[0384] Through the scheme, the angle information of the target object can be accurately perceived, thereby improving the perception performance of the object and meeting the perception demand for the angle information of the object. In addition, in some embodiments, since the first node and the second node are nodes in the same TPR, the deployment density of the perception nodes can be reduced, and the deployment cost can be reduced.

[0385] An embodiment of the present disclosure provides a signal processing apparatus applied to a first node. FIG. 7 is a structural schematic diagram one of the signal processing apparatus provided by an embodiment of the present disclosure. As shown in FIG. 7, the signal processing apparatus 700 includes:

[0386] An acquisition module 701 is configured to acquire a first perception signal, wherein the first perception signal includes one or more second perception signals respectively transmitted by one or more second nodes based on configured signal transmission parameters;

[0387] The processing module 702 or the sending module 703, the processing module is configured to obtain the sensing parameter based on the first sensing signal; and the sending module is configured to forward the first sensing signal to the target node.

[0388] Alternatively, the signal processing apparatus 700 comprises:

[0389] The obtaining module 701 is configured to obtain the first sensing signal, the first sensing signal comprising one or more second sensing signals respectively sent by one or more second nodes based on configured signal transmission parameters;

[0390] The processing module 702 is configured to obtain the sensing parameter based on the first sensing signal.

[0391] The sending module 703 is configured to forward the first sensing signal to the target node.

[0392] The first sensing signal comprises one or more second sensing signals respectively sent by one or more second nodes based on configured signal transmission parameters, the target node is a third node and / or another signal receiving node, and the first sensing signal is used to obtain the sensing parameter.

[0393] In some embodiments, the number of first nodes and / or the number of second nodes is greater than 1.

[0394] In some embodiments, the first node and the second node are the same communication device.

[0395] In some embodiments, the obtaining module 701 is specifically configured to receive the first sensing signal forwarded by another signal receiving node, and receive the second sensing signal sent by a signal sending node.

[0396] In some embodiments, the obtaining module 701 is further configured to receive the signal transmission parameter, the signal transmission parameter comprising at least the transceiving mode information of the first node.

[0397] The transceiving mode information is used to indicate at least one of the following: the first node as a signal receiving node, the first node as a target node for obtaining the sensing parameter, and the first node as a sending node for sending the sensing signal.

[0398] In some embodiments, the transceiving mode information further comprises a receiving mode of the first node, and the receiving mode comprises at least one of the following: the first node obtaining the sensing parameter according to the received first sensing signal; the first node obtaining the sensing parameter according to the first sensing signal received by itself and the first sensing signal forwarded by another signal receiving node; and the first node forwarding the received first sensing signal to the target node.

[0399] In some embodiments, the signal transmission parameter further comprises a detection threshold, and the perception parameter comprises a detection result, and the detection result comprises at least one of the following: whether the target object is currently detected, a probability of detecting the target object, and a probability of not detecting the target object; and the processing module 702 is specifically configured to: acquire frequency domain information corresponding to the first perception signal; obtain a received energy value of the first perception signal on a frequency domain and / or time domain unit according to the frequency domain information corresponding to the first perception signal; obtain the probability of detecting the target object and / or the probability of not detecting the target object according to the received energy value; or determine whether the target object is currently detected according to the received energy value.

[0400] In some embodiments, the signal transmission parameter further comprises a detection threshold, and the processing module 702 is specifically configured to: if the received energy value is greater than or equal to the detection threshold, determine that the target object is detected; or if the received energy value is less than the detection threshold, determine that the target object is not detected.

[0401] In some embodiments, the perception parameter further comprises angle information, and the angle information comprises an included angle between the directions of arrival of the perception signals received by the adjacent antennas of the first node; and the processing module 702 is specifically configured to: acquire distances between the adjacent antennas of the first node and the perception signals received by the antennas; and obtain the angle information of the target object according to the distances between the adjacent antennas and the perception signals received by the adjacent antennas.

[0402] In some embodiments, the signal transmission parameter further comprises at least one of the following: time domain resource information, frequency domain resource information, a time offset, one or more scrambling code parameters, an SCS, a CP type, and frequency point information.

[0403] In some embodiments, the processing module 702 is further configured to: adjust the second perception signal according to the time offset, and send the adjusted second perception signal.

[0404] In some embodiments, the processing module 702 is specifically configured to: adjust a sending time of the second perception signal according to the time offset, and send the second perception signal in advance or in arrears; or shorten or lengthen a cyclic prefix CP length before the second perception signal according to the time offset, and send the adjusted second perception signal.

[0405] An embodiment of the present disclosure provides a signal processing apparatus applied to a second node, and FIG. 8 is a structural schematic diagram two of the signal processing apparatus provided by an embodiment of the present disclosure. As shown in FIG. 8, the signal processing apparatus 800 comprises:

[0406] a receiving module 801 configured to receive a signal transmission parameter;

[0407] The sending module 802 is configured to send the second sensing signal based on the signal transmission parameter; the second sensing signal is contained in the first sensing signal, the first sensing signal is used to obtain the sensing parameter, the target node is the first node and / or the third node, and the number of the first nodes and / or the number of the second nodes is greater than 1.

[0408] In some embodiments, the first node and the second node are the same communication device.

[0409] In some embodiments, the signal transmission parameter at least includes the transceiving mode information used to indicate the second node; the transceiving mode information is used to indicate at least one of the following: the second node sends the sensing signal as a signal sending node, the second node is the target node for obtaining the sensing parameter, and the second node is a receiving node for receiving the sensing signal.

[0410] In some embodiments, the signal transmission parameter further includes time domain resource information and / or frequency domain resource information; and the sending of the second sensing signal based on the signal transmission parameter includes: sending the second sensing signal based on the time domain resource information and / or the frequency domain resource information.

[0411] In some embodiments, the signal transmission parameter further includes a time offset; and the processing module 702 is specifically configured to: adjust the second sensing signal according to the time offset, and send the adjusted second sensing signal.

[0412] In some embodiments, the processing module 702 is specifically configured to: adjust the sending time of the second sensing signal according to the time offset, and send the second sensing signal in advance or in lag; and adjust the length of the cyclic prefix (CP) before the second sensing signal according to the time offset, and send the adjusted second sensing signal.

[0413] In some embodiments, the signal transmission parameter further includes at least one of the following: a detection threshold, one or more scrambling code parameters, an SCS, a CP type, and frequency point information.

[0414] An embodiment of the present disclosure provides a signal processing apparatus applied to a third node, and FIG. 9 is a structural schematic diagram three of the signal processing apparatus provided by an embodiment of the present disclosure. As shown in FIG. 9, the signal processing apparatus 900 includes a configuration module 901 configured to configure a signal transmission parameter for a first node and a second node, the number of the first nodes and / or the number of the second nodes is greater than 1.

[0415] The receiving module 902 is configured to receive the sensing parameter sent by the first node, or receive the first sensing signal forwarded by the first node.

[0416] Or, the receiving module 902 is configured to receive the sensing parameter sent by the first node and the first sensing signal forwarded by the first node.

[0417] The first sensing signal is used to obtain a sensing parameter, the first sensing signal includes an echo signal of a second sensing signal, and the second sensing signal is transmitted by the second node based on the configured signal transmission parameter.

[0418] In some embodiments, the configuration module 901 is specifically configured to: in response to the sensing requirement, determine a signal transmission group, the signal transmission group including the first node and the second node; and based on the sensing requirement, transmit the signal transmission parameter to the first node and the second node.

[0419] In some embodiments, the signal transmission parameter further includes: a time offset; and the configuration module 901 is specifically configured to: based on the sensing requirement, determine a time delay of the second sensing signal transmitted by the second node to the first node; and in response to the time delay difference corresponding to the second node being greater than a preset time length, determine the time offset corresponding to each second node according to the LOS between the second nodes; and configure the time offset for the second node, and the second node is configured to transmit the second sensing signal based on the time offset.

[0420] In some embodiments, the signal transmission parameter includes at least one of: time domain resource information, frequency domain resource information, one or more scrambling code parameters, SCS, CP type, frequency point information, and transceiving mode information.

[0421] one or more scrambling code parameters;

[0422] SCS;

[0423] CP type;

[0424] frequency point information;

[0425] transceiving mode information.

[0426] It should be noted that the above device provided by the present disclosure can correspondingly implement all method steps implemented by the corresponding nodes in the above method embodiments, and achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiments will not be described in detail.

[0427] The present disclosure also provides a sensing device, wherein the sensing device is a first node, and FIG. 10 is a structural schematic diagram of the first node according to an embodiment of the present disclosure. As shown in FIG. 10, the first node 1000 includes:

[0428] a transceiver 1001 configured to transceive data under the control of the processor 1002;

[0429] a transceiver 1001 configured to transceive data under the control of the processor 1002;

[0430] a memory 1003 configured to store a computer program;

[0431] In FIG. 10, the bus architecture can include any number of interconnected buses and bridges, specifically, various circuitry of one or more processors represented by the processor 1002 and memory represented by the memory 1003 linked together. The bus architecture can also link various other circuitry such as peripheral devices, voltage regulators, and power management circuitry, which are well known in the art and thus, not described herein. The bus interface provides an interface. The transceiver 1001 can be a plurality of elements, i.e., including a transmitter and a receiver, providing a means for communicating with various other apparatuses over transmission media, including wireless channels, wired channels, optical cables, and the like. The processor 1002 is responsible for managing the bus architecture and general processing, and the memory 1003 can store data used by the processor 1002 in executing operations.

[0432] The processor 1002 is responsible for managing the bus architecture and general processing, and the memory 1003 can store data used by the processor 1002 in executing operations.

[0433] The processor 1002 can be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD), and the processor can also adopt a multi-core architecture.

[0434] The processor 1002 is responsible for managing the bus architecture and general processing, and the memory 1003 can store data used by the processor 1002 in executing operations.

[0435] In some embodiments, the processor 1002 is configured to read a computer program stored in the memory and perform the following operations: obtaining a first sensing signal; obtaining a sensing parameter based on the first sensing signal, or forwarding the first sensing signal to a target node;

[0436] Or, the processor 1002 is configured to read a computer program stored in the memory and perform the following operations: obtaining a first sensing signal; obtaining a sensing parameter based on the first sensing signal; forwarding the first sensing signal to a target node;

[0437] The first perception signal includes one or more second perception signals respectively transmitted by the one or more second nodes based on the configured signal transmission parameter, and the target node is a third node and / or another signal receiving node, and the first perception signal is used to obtain the perception parameter.

[0438] In some embodiments, the number of first nodes and / or the number of second nodes is greater than 1.

[0439] In some embodiments, the first node and the second node are the same communication device.

[0440] In some embodiments, the first perception signal is obtained by at least one of the following: receiving the first perception signal forwarded by another signal receiving node; and receiving the second perception signal transmitted by the signal transmitting node.

[0441] In some embodiments, the processor is further configured to: receive the signal transmission parameter, the signal transmission parameter including at least transceiving mode information of the first node; and the transceiving mode information is used to indicate at least one of the following: the first node as a signal receiving node, the first node as a target node for obtaining the perception parameter, and the first node as a signal transmitting node for transmitting the perception signal.

[0442] In some embodiments, the transceiving mode information further includes a receiving mode of the first node, and the receiving mode includes at least one of the following: the first node obtaining the perception parameter according to the received first perception signal; the first node obtaining the perception parameter according to the first perception signal received by the first node and the first perception signal forwarded by another signal receiving node; and the first node forwarding the received first perception signal to the target node.

[0443] In some embodiments, the signal transmission parameter further includes a detection threshold value, and the perception parameter includes a detection result, and the detection result includes at least one of the following: whether the target object is currently detected, a probability of detecting the target object, and a probability of not detecting the target object.

[0444] The perception parameter is obtained based on the first perception signal, including: obtaining frequency domain information corresponding to the first perception signal; obtaining a received energy value of the first perception signal on a frequency domain and / or time domain unit according to the frequency domain information corresponding to the first perception signal; obtaining a probability of detecting the target object and / or a probability of not detecting the target object according to the received energy value; or determining whether the target object is currently detected according to the received energy value.

[0445] In some embodiments, the signal transmission parameter further includes a detection threshold value, and the determination of whether the target object is currently detected according to the received energy value includes: if the received energy value is greater than or equal to the detection threshold value, determining that the target object is detected; and if the received energy value is less than the detection threshold value, determining that the target object is not detected.

[0446] In some embodiments, the perception parameter further comprises: angle information; the angle information comprises: an included angle between the directions of arrival of the perception signals received by the adjacent antennas of the first node;

[0447] Based on the first perception signal, the perception parameter is obtained, comprising: obtaining distances between adjacent antennas on the first node and the perception signals received by each antenna; and obtaining angle information of the target object according to the distances between the adjacent antennas and the perception signals received by the adjacent antennas.

[0448] In some embodiments, the signal transmission parameter further comprises at least one of: time domain resource information, frequency domain resource information, a time offset, one or more scrambling code parameters, an SCS, a CP type, and frequency point information.

[0449] In some embodiments, the processor 1002 is further configured to adjust the second perception signal according to the time offset, and transmit the adjusted second perception signal.

[0450] In some embodiments, adjusting the second perception signal according to the time offset and transmitting the adjusted second perception signal comprises at least one of: adjusting a transmission time of the second perception signal according to the time offset, and transmitting the second perception signal in advance or in delay; and adjusting a cyclic prefix (CP) length before the second perception signal according to the time offset, and transmitting the adjusted second perception signal.

[0451] It should be noted that the above first node provided by the present disclosure can implement all method steps implemented by the first node in the above method embodiments, and achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiments will not be described in detail.

[0452] The present disclosure also provides a perception device, wherein the perception device is a second node, and FIG. 11 is a structural schematic diagram of the second node according to an embodiment of the present disclosure. As shown in FIG. 11, the second node 1100 comprises:

[0453] The transceiver 1101 is configured to transceive data under the control of the processor 1102.

[0454] In FIG. 11, the bus architecture can include any number of interconnected buses and bridges, specifically, various circuitry of one or more processors represented by the processor 1102 and the memory represented by the memory 1103. The bus architecture can also link various other circuitry, such as peripheral devices, voltage stabilizers, and power management circuitry, which are well known in the art, and thus, are not described herein. The bus interface provides an interface. The transceiver 1101 can be a plurality of elements, i.e., including a transmitter and a receiver, providing a unit for communicating with various other devices on transmission media, including wireless channels, wired channels, optical cables, and the like. The processor 1102 is responsible for managing the bus architecture and general processing, and the memory 1103 can store data used by the processor 1102 in performing operations.

[0455] The processor 1102 can be a CPU, an ASIC, an FPGA, or a CPLD, and the processor can also adopt a multi-core architecture.

[0456] The processor 1102 is configured to execute any method provided by the second node according to the embodiments of the present disclosure by invoking a computer program stored in the memory 1103. The processor and the memory can also be physically arranged separately.

[0457] In some embodiments, the processor 1102 is configured to read a computer program in the memory and perform the following operations: receiving a signal transmission parameter; and transmitting a second sensing signal based on the signal transmission parameter.

[0458] The second sensing signal is contained in a first sensing signal, the first sensing signal is used to obtain a sensing parameter, the target node is a first node and / or a third node, and the number of the first nodes and / or the number of the second nodes is greater than 1.

[0459] In some embodiments, the first node and the second node are the same communication device.

[0460] In some embodiments, the signal transmission parameter at least includes transceiver mode information used to indicate the second node; and the transceiver mode information is used to indicate at least one of the following: the second node as a signal sending node to transmit a sensing signal, the second node as a target node to obtain a sensing parameter, and the second node as a receiving node to receive a sensing signal.

[0461] In some embodiments, the signal transmission parameter further includes time domain resource information and / or frequency domain resource information; and transmitting the second sensing signal based on the signal transmission parameter includes transmitting the second sensing signal based on the time domain resource information and / or the frequency domain resource information.

[0462] In some embodiments, the signal transmission parameter further comprises a time offset; and the sending the second sensing signal based on the time domain resource information comprises: adjusting the second sensing signal according to the time offset, and sending the adjusted second sensing signal.

[0463] In some embodiments, the adjusting the second sensing signal according to the time offset, and sending the adjusted second sensing signal comprises at least one of: adjusting a sending time of the second sensing signal according to the time offset, sending the second sensing signal in advance or in delay; shortening or lengthening a cyclic prefix (CP) length before the second sensing signal according to the time offset, and sending the adjusted second sensing signal.

[0464] In some embodiments, the signal transmission parameter further comprises at least one of: a detection threshold, one or more scrambling code parameters, a SCS, a CP type, frequency point information.

[0465] It should be noted that the above-mentioned second node provided by the present disclosure can realize all the method steps implemented by the second node in the above-mentioned method embodiments, and achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiments will not be described in detail herein.

[0466] The present disclosure further provides a sensing device, wherein the sensing device is a third node, and FIG. 12 is a structural schematic diagram of the third node according to an embodiment of the present disclosure. As shown in FIG. 12, the third node 1200 comprises:

[0467] a transceiver 1201, configured to transceive data under the control of the processor 1202;

[0468] a memory 1203, configured to store a computer program;

[0469] In FIG. 12, the bus architecture can comprise any number of interconnected buses and bridges, which are linked together by various circuits of the processor 1202 representing one or more processors and the memory 1203 representing a memory. The bus architecture can also link various other circuits such as peripheral devices, voltage stabilizers and power management circuits, which are well known in the art, and thus will not be described herein. The bus interface provides an interface. The transceiver 1201 can be a plurality of elements, i.e., comprising a transmitter and a receiver, which provide units for communicating with various other devices on transmission media, including wireless channels, wired channels, optical cables, etc. The processor 1202 is responsible for managing the bus architecture and general processing, and the memory 1203 can store data used by the processor 1202 in performing operations.

[0470] The processor 1202 can be a CPU, an ASIC, an FPGA, or a CPLD. The processor can also adopt a multi-core architecture.

[0471] The processor 1202 is configured to execute any method of the third node provided by an embodiment of the present disclosure by invoking a computer program stored in the memory 1203. The processor and the memory can also be physically arranged separately.

[0472] In some embodiments, the processor 1202 is configured to read a computer program in the memory and perform the following operations: configuring signal transmission parameters for the first node and the second node, the number of the first nodes and / or the number of the second nodes being greater than 1; receiving the sensing parameter sent by the first node, or receiving the first sensing signal forwarded by the first node;

[0473] Or, receiving the sensing parameter sent by the first node and the first sensing signal forwarded by the first node;

[0474] The first sensing signal is used to obtain the sensing parameter, and the first sensing signal includes an echo signal of the second sensing signal, and the second sensing signal is sent by the second node based on the configured signal transmission parameters.

[0475] In some embodiments, configuring the signal transmission parameters for the first node and the second node includes: determining a signal transmission group in response to the sensing requirement, the signal transmission group including the first node and the second node; and sending the signal transmission parameters to the first node and the second node based on the sensing requirement.

[0476] In some embodiments, the signal transmission parameters further include a time offset, and configuring the signal transmission parameters for the first node and the second node based on the sensing requirement includes: determining a time delay of the second sensing signal sent by the second node to arrive at the first node based on the sensing requirement; and determining a time offset corresponding to each second node based on the LOS between the second nodes in response to a time delay difference corresponding to the second node being greater than a preset time length; and configuring the time offset for the second node, and the second node is configured to send the second sensing signal based on the time offset.

[0477] In some embodiments, the signal transmission parameters include at least one of the following:

[0478] Time domain resource information and frequency domain resource information of the sensing signal sent or received by each node in the signal transmission group;

[0479] One or more scrambling code parameters;

[0480] SCS;

[0481] CP type;

[0482] Frequency point information;

[0483] Transmitting and receiving mode information.

[0484] It should be noted that the above-mentioned sensing device provided by the present disclosure can implement all the method steps implemented by the third node in the above-mentioned method embodiment, and can achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiment will not be described in detail.

[0485] In some embodiments, the signal processing system provided by the present disclosure further comprises: the first node 1000 shown in FIG. 10, the second node 1100 shown in FIG. 11, and the third node 1200 shown in FIG. 12. It should be noted that the architecture of the signal processing system can refer to the scenario embodiment shown in FIG. 3, and will not be described here.

[0486] It should be noted that in the signal processing system provided by an embodiment of the present disclosure, the number of first nodes 1000 and / or the number of second nodes 1100 is greater than 1.

[0487] In some embodiments, the first node 1000 and the second node 1100 are nodes in the same communication device.

[0488] It should be noted that the above-mentioned first node, second node and third node provided by an embodiment of the present disclosure can implement all the method steps implemented by each node in the above-mentioned method embodiment, and can achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiment will not be described in detail.

[0489] It should be noted that the division of units in the embodiments of the present disclosure is illustrative, and is only a logical function division. In actual implementation, another division mode can be used. In addition, each functional unit in each embodiment of the present disclosure can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0490] The integrated unit described above, if realized in the form of a software function unit and sold or used as an independent product, can be stored in a processor-readable storage medium. Based on such understanding, the technical solutions of the present disclosure, essentially or in other words, the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform all or part of the steps of the methods in the various embodiments of the present disclosure. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various other media that can store program codes.

[0491] The embodiment of the present disclosure provides a processor-readable storage medium, which stores a computer program. The computer program is used for causing a processor to execute the signal processing method provided by the embodiment of the present disclosure, so that the processor can implement all method steps in the above method embodiments and achieve the same technical effects. Here, the same parts and beneficial effects in the method embodiments will not be described in detail.

[0492] The processor-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to a magnetic memory (such as a floppy disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical memory (such as a CD, a DVD, a BD, a HVD, etc.), a semiconductor memory (such as a ROM, an EPROM, an EEPROM, a non-volatile memory (NAND FLASH), a solid state disk (SSD)), etc.

[0493] The embodiment of the present disclosure also provides a computer program product containing instructions. The computer program is stored in a storage medium. At least one processor can read the computer program from the storage medium. When the at least one processor executes the computer program, all method steps of the signal processing method in the above method embodiments can be implemented, and the same technical effects can be achieved. Here, the same parts and beneficial effects in the method embodiments will not be described in detail.

[0494] Those skilled in the art will appreciate that embodiments of the disclosure can be devised for a system, a method, or a computer program product. Accordingly, the disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the disclosure can take the form of a computer program product on one or more computer readable storage media (including, but not limited to, disk storage, CD-ROM, optical storage etc.) having computer readable program code embodied in the medium.

[0495] The disclosure is described in reference to flow diagrams and / or block diagrams of the method, apparatus, and computer program product according to embodiments of the disclosure. It will be understood that each flow and / or block in the flow diagrams and / or block diagrams, a combination of flows and / or blocks in the flow diagrams and / or block diagrams, can be implemented by computer executable instructions. The computer executable instructions can be provided to a processor of a general purpose computer, a special purpose computer, an embedded processor, or a processor of other programmable data processing equipment to produce a machine so that the instructions, which executed via the processor of the computer or other programmable data processing equipment, generate means for implementing the functions specified in the flow diagrams one flow or multiple flows and / or block diagrams one block or multiple blocks.

[0496] These processor executable instructions can also be stored in a processor readable memory that can direct the computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the processor readable memory produce a manufactured product including instruction means, which implements the functions specified in the flow diagrams one flow or multiple flows and / or block diagrams one block or multiple blocks.

[0497] These processor executable instructions can also be loaded to the computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce a computer implemented process, so that the instructions executed on the computer or other programmable equipment provide steps for implementing the functions specified in the flow diagrams one flow or multiple flows and / or block diagrams one block or multiple blocks.

[0498] Obviously, those skilled in the art can make various modifications and variations to the disclosure without departing from the spirit and scope of the disclosure. Thus, if these modifications and variations of the disclosure fall within the scope of the claims of the disclosure and their equivalent technologies, the disclosure also intends to include these modifications and variations.

Claims

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

2. The signal processing method of claim 1, wherein, The number of the first nodes and / or the number of the second nodes is greater than 1.

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

4. The signal processing method of claim 1, wherein, The obtaining of the first sensing signal comprises at least one of the following: receiving the first sensing signal forwarded by another signal receiving node; receiving the second sensing signal sent by a signal sending node.

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

6. The signal processing method of claim 5, wherein, The transceiving mode information further comprises a receiving mode of the first node. The receiving mode comprises at least one of the following: the first node obtains the sensing parameter according to the received first sensing signal; the first node obtains the sensing parameter according to the received first sensing signal and the first sensing signal forwarded by another signal receiving node; the first node forwards the received first sensing signal to the target node.

7. The signal processing method of claim 5, wherein, The signal transmission parameters further comprise a detection threshold value. The sensing parameter comprises a detection result, and the detection result comprises at least one of the following: whether a target object is currently detected, a probability of detecting the target object, and a probability of not detecting the target object. The obtaining of the sensing parameter based on the first sensing signal comprises: obtaining frequency domain information corresponding to the first sensing signal; obtaining a received energy value of the first sensing signal on a frequency domain and / or time domain unit according to the frequency domain information corresponding to the first sensing signal; obtaining a probability of detecting the target object and / or a probability of not detecting the target object according to the received energy value, or determining whether the target object is currently detected according to the received energy value.

8. The signal processing method of claim 7, wherein, The signal transmission parameters further comprise a detection threshold value. The determination of whether the target object is currently detected according to the received energy value comprises: if the received energy value is greater than or equal to the detection threshold value, it is determined that the target object is detected; if the received energy value is less than the detection threshold value, it is determined that the target object is not detected.

9. The signal processing method of claim 5, wherein, The sensing parameter further comprises angle information, and the angle information comprises an included angle between directions of arrival of sensing signals received by adjacent antennas of the first node. The obtaining of the perception parameter based on the first perception signal comprises: acquiring distances between adjacent antennas on the first node and perception signals received by each antenna; and obtaining angle information of the target object according to the distances between the adjacent antennas and the perception signals received by the adjacent antennas.

10. The signal processing method of claim 5, wherein, The signal transmission parameter further comprises at least one of: time domain resource information, frequency domain resource information, a time offset, one or more scrambling code parameters, a reference subcarrier spacing (SCS), a cyclic prefix (CP) type, and frequency point information.

11. The signal processing method of claim 10, wherein, Further comprising: adjusting the second perception signal according to the time offset, and transmitting the adjusted second perception signal.

12. The signal processing method of claim 11, wherein, The adjusting of the second perception signal according to the time offset, and the transmitting of the adjusted second perception signal, comprises at least one of: adjusting a transmission time of the second perception signal according to the time offset, and transmitting the second perception signal in advance or in delay; shortening or lengthening a CP length before the second perception signal according to the time offset, and transmitting the adjusted second perception signal.

13. A signal processing method, wherein, The method applied to the second node comprises: receiving a signal transmission parameter; transmitting a second perception signal based on the signal transmission parameter; wherein the second perception signal is contained in a first perception signal, the first perception signal is used to obtain a perception parameter, the target node is a first node and / or a third node, and the number of the first nodes and / or the number of the second nodes is greater than 1.

14. The signal processing method of claim 13, wherein, The first node and the second node are the same communication device.

15. The signal processing method of claim 13, wherein, The signal transmission parameter at least comprises transceiving mode information used for indicating the second node; and the transceiving mode information is used for indicating at least one of: the second node as a signal transmission node transmitting a perception signal, the second node as a target node obtaining the perception parameter, and the second node as a receiving node receiving the perception signal.

16. The signal processing method of claim 13, wherein, The signal transmission parameter further comprises time domain resource information and / or frequency domain resource information. The transmitting of the second perception signal based on the signal transmission parameter comprises: transmitting the second perception signal based on the time domain resource information and / or the frequency domain resource information.

17. The signal processing method of claim 16, wherein, The signal transmission parameter further comprises a time offset. The transmitting of the second perception signal based on the time domain resource information comprises: adjusting the second perception signal according to the time offset, and transmitting the adjusted second perception signal.

18. The signal processing method of claim 17, wherein, The adjusting of the second perception signal according to the time offset, and the transmitting of the adjusted second perception signal, comprises at least one of: adjusting a transmission time of the second perception signal according to the time offset, and transmitting the second perception signal in advance or in delay; shortening or lengthening a CP length before the second perception signal according to the time offset, and transmitting the adjusted second perception signal.

19. The signal processing method according to any one of claims 13 to 18, wherein, The signal transmission parameter further comprises at least one of: a detection threshold, one or more scrambling code parameters, an SCS, a CP type, and frequency point information.

20. A signal processing method, wherein, The method applied to the third node comprises: configuring signal transmission parameters for the first nodes and the second nodes, a quantity of the first nodes and / or a quantity of the second nodes being greater than 1; receiving the sensing parameter sent by the first node, or receiving the first sensing signal forwarded by the first node; or receiving the sensing parameter sent by the first node and the first sensing signal forwarded by the first node; wherein the first sensing signal is used to obtain the sensing parameter, and the first sensing signal comprises an echo signal of a second sensing signal, and the second sensing signal is sent based on the signal transmission parameter.

21. The signal processing method of claim 20, wherein, The configuration of the signal transmission parameters for the first nodes and the second nodes comprises: determining a signal transmission group in response to a sensing requirement, the signal transmission group comprising the first nodes and the second nodes; and sending the signal transmission parameters to the first nodes and the second nodes based on the sensing requirement.

22. The signal processing method of claim 20, wherein, The signal transmission parameters further comprise a time offset. The configuration of the signal transmission parameters for the first nodes and the second nodes based on the sensing requirement comprises: determining a time delay of a second sensing signal reaching the first nodes based on the sensing requirement; in response to a time delay difference corresponding to the second nodes being greater than a preset time length, determining a time offset corresponding to each of the second nodes based on a line-of-sight (LOS) distance between the second nodes; and configuring the time offset for the second nodes, the time offset being used to send the second sensing signal.

23. The signal processing method of any one of claims 20 to 22, wherein, The signal transmission parameters comprise at least one of: time domain resource information and frequency domain resource information of the nodes in the signal transmission group for sending or receiving a sensing signal; one or more scrambling code parameters; SCS; CP type; frequency point information; transmission mode information.

24. A signal processing system, wherein, The method comprises: a first node, a second node and a third node, a quantity of the first nodes and / or a quantity of the second nodes being greater than 1; the third node is configured to configure signal transmission parameters for the first nodes and the second nodes; the second node is configured to send a second sensing signal based on the signal transmission parameters; the first node is configured to obtain a sensing parameter based on a first sensing signal, and / or forward the first sensing signal to a target node, the first sensing signal comprising an echo signal of a second sensing signal, the second sensing signal being used by the target node to obtain the sensing parameter, the target node being the third node and / or another signal receiving node.

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

26. A signal processing device, wherein, The apparatus comprises: an obtaining module configured to obtain a first sensing signal; a processing module or a sending module, the processing module being configured to obtain a sensing parameter based on the first sensing signal, and the sending module being configured to forward the first sensing signal to a target node; or the signal processing apparatus comprises: an obtaining module configured to obtain a first sensing signal, the first sensing signal comprising second sensing signals sent by one or more second nodes based on configured signal transmission parameters; a processing module configured to obtain a sensing parameter based on the first sensing signal; a sending module configured to forward the first sensing signal to a target node. The first sensing signal comprises one or more second sensing signals transmitted by one or more second nodes based on configured signal transmission parameters, and the target node is a third node and / or another signal receiving node, and the first sensing signal is used to obtain a sensing parameter by the target node.

27. A signal processing device, wherein, The device applied to the second node comprises: a receiving module configured to receive signal transmission parameters; a sending module configured to send a second sensing signal based on the signal transmission parameters; The second sensing signal is included in a first sensing signal, the first sensing signal is used to obtain a sensing parameter, the target node is a first node and / or a third node, and the number of the first nodes and / or the number of the second nodes is greater than 1.

28. A signal processing device, wherein, The device applied to the third node comprises: a configuration module configured to configure signal transmission parameters for the first nodes and the second nodes, and the number of the first nodes and / or the number of the second nodes is greater than 1; a receiving module configured to receive a sensing parameter sent by the first nodes, or receive a first sensing signal forwarded by the first nodes; Or, the receiving module is configured to receive a sensing parameter sent by the first nodes and a first sensing signal forwarded by the first nodes; The first sensing signal is used to obtain the sensing parameter, the first sensing signal comprises an echo signal of a second sensing signal, and the second sensing signal is sent by the second nodes based on the configured signal transmission parameters.

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

30. The perception device of claim 29, wherein, The processor is further configured to receive signal transmission parameters, and the signal transmission parameters at least comprise transceiving mode information of the first node; The transceiving mode information is used to indicate at least one of the following: the first node as a signal receiving node, the first node as the target node for obtaining the sensing parameter, and the first node as a sending node for sending a sensing signal.

31. The perception device of claim 30, wherein, The transceiving mode information further comprises a receiving mode of the first node; The receiving mode comprises at least one of the following: The first node obtains the sensing parameter according to the received first sensing signal; The first node obtains the sensing parameter according to the first sensing signal received by itself and the first sensing signal forwarded by another signal receiving node; The first node forwards the received first sensing signal to the target node for obtaining the sensing parameter.

32. The perception device of claim 29, wherein, The signal transmission parameter further comprises a detection threshold value; the sensing parameter comprises a detection result; the detection result comprises at least one of the following: whether a target object is currently detected, a probability of detecting a target object, a probability of not detecting a target object; The method further comprises: obtaining frequency domain information corresponding to the first sensing signal; obtaining a receiving energy value of the first sensing signal on a frequency domain and / or time domain unit according to the frequency domain information corresponding to the first sensing signal; and obtaining a probability of detecting the target object and / or a probability of not detecting the target object according to the receiving energy value.

33. The perception device of claim 29, wherein, The signal transmission parameter further comprises a detection threshold value; the method further comprises: if the receiving energy value is greater than or equal to the detection threshold value, it is determined that the target object is detected; if the receiving energy value is less than the detection threshold value, it is determined that the target object is not detected.

34. The perception device of claim 29, wherein, The sensing parameter further comprises angle information; the angle information comprises an included angle between directions of arrival of sensing signals received by adjacent antennas of the first node. The method further comprises: obtaining distances between adjacent antennas of the first node and sensing signals received by the antennas; and obtaining angle information of the target object according to the distances between the adjacent antennas and the sensing signals received by the adjacent antennas.

35. The perception device of any one of claims 29-34, wherein, The signal transmission parameter further comprises at least one of the following: time domain resource information, frequency domain resource information, a time offset, one or more scrambling code parameters, SCS, a CP type, and frequency point information.

36. The perception device of claim 35, wherein, The processor is further configured to adjust the second sensing signal according to the time offset, and transmit the adjusted second sensing signal.

37. The perception device of claim 36, wherein, The method further comprises at least one of the following: adjusting a sending time of the second sensing signal according to the time offset, and sending the second sensing signal in advance or in arrears; shortening or lengthening a CP length before the second sensing signal according to the time offset, and transmitting the adjusted second sensing signal.

38. A sensing device, wherein, The sensing device is a second node, and the sensing device comprises: a memory configured to store a computer program; a transceiver configured to transceive data under control of the processor; a processor configured to read the computer program in the memory and perform the following operations: receiving a signal transmission parameter; and transmitting a second sensing signal based on the signal transmission parameter; The second sensing signal is contained in a first sensing signal, the first sensing signal is used to obtain a sensing parameter, the target node is a first node and / or a third node, and a number of the first nodes and / or a number of the second nodes is greater than 1.

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

40. The perception device of claim 39, wherein, The signal transmission parameter further comprises time domain resource information and / or frequency domain resource information. The sending of the second sensing signal based on the signal transmission parameter comprises sending the second sensing signal based on the time domain resource information and / or the frequency domain resource information.

41. The perception device of claim 40, wherein, The signal transmission parameter further comprises a time offset. The sending of the second sensing signal based on the time domain resource information comprises adjusting the second sensing signal according to the time offset, and sending the adjusted second sensing signal.

42. The perception device of claim 41, wherein, The adjusting of the second sensing signal according to the time offset and the sending of the adjusted second sensing signal comprise at least one of the following: The sending time of the second sensing signal is adjusted according to the time offset, and the second sensing signal is sent in advance or delayed. The length of a cyclic prefix (CP) before the second sensing signal is shortened or lengthened according to the time offset, and the adjusted second sensing signal is sent.

43. The perception device of any one of claims 38-42, wherein, The signal transmission parameter further comprises at least one of the following: a detection threshold, one or more scrambling code parameters, SCS, CP type, and frequency point information.

44. A sensing device, wherein, The sensing device is a third node, and the sensing device comprises: a memory for storing a computer program; a transceiver for transceiving data under the control of the processor; a processor for reading the computer program in the memory and performing the following operations: configuring signal transmission parameters for a first node and a second node, the number of the first nodes and / or the number of the second nodes being greater than 1; receiving a sensing parameter sent by the first node, or receiving a first sensing signal forwarded by the first node; or receiving a sensing parameter sent by the first node and a first sensing signal forwarded by the first node; The first sensing signal is used to obtain the sensing parameter, and the first sensing signal comprises an echo signal of a second sensing signal sent by the second node based on the configured signal transmission parameter.

45. The perception device of claim 44, wherein, The configuring of the signal transmission parameters for the first node and the second node comprises: in response to a sensing requirement, determining a signal transmission group, the signal transmission group comprising the first node and the second node; and based on the sensing requirement, sending the signal transmission parameters to the first node and the second node.

46. The perception device of claim 45, wherein, The signal transmission parameter further comprises a time offset. The configuring of the signal transmission parameters for the first node and the second node based on the sensing requirement comprises: based on the sensing requirement, determining the time delay of the second sensing signal sent by the second node to reach the first node. In response to the time delay difference corresponding to the second node being greater than a preset time length, the time offset corresponding to each of the second nodes is determined according to the LOS between the second nodes. The transceiving mode information is used to indicate at least one of the following: the second node as a signal sending node sends a sensing signal, the second node as the target node for obtaining the sensing parameter, and the second node as a receiving node for receiving a sensing signal. The signal transmission parameter further comprises time domain resource information and / or frequency domain resource information. The sending of the second sensing signal based on the signal transmission parameter comprises sending the second sensing signal based on the time domain resource information and / or the frequency domain resource information. The signal transmission parameter further comprises a time offset. The sending of the second sensing signal based on the time domain resource information comprises adjusting the second sensing signal according to the time offset, and sending the adjusted second sensing signal. The adjusting of the second sensing signal according to the time offset and the sending of the adjusted second sensing signal comprise at least one of the following: The sending time of the second sensing signal is adjusted according to the time offset, and the second sensing signal is sent in advance or delayed. The length of a cyclic prefix (CP) before the second sensing signal is shortened or lengthened according to the time offset, and the adjusted second sensing signal is sent. The signal transmission parameter further comprises at least one of the following: a detection threshold, one or more scrambling code parameters, SCS, CP type, and frequency point information. The sensing device is a third node, and the sensing device comprises: a memory for storing a computer program; a transceiver for transceiving data under the control of the processor; a processor for reading the computer program in the memory and performing the following operations: configuring signal transmission parameters for a first node and a second node, the number of the first nodes and / or the number of the second nodes being greater than 1; receiving a sensing parameter sent by the first node, or receiving a first sensing signal forwarded by the first node; or receiving a sensing parameter sent by the first node and a first sensing signal forwarded by the first node; The first sensing signal is used to obtain the sensing parameter, and the first sensing signal comprises an echo signal of a second sensing signal sent by the second node based on the configured signal transmission parameter. The configuring of the signal transmission parameters for the first node and the second node comprises: in response to a sensing requirement, determining a signal transmission group, the signal transmission group comprising the first node and the second node; and based on the sensing requirement, sending the signal transmission parameters to the first node and the second node. The signal transmission parameter further comprises a time offset. The configuring of the signal transmission parameters for the first node and the second node based on the sensing requirement comprises: based on the sensing requirement, determining the time delay of the second sensing signal sent by the second node to reach the first node. In response to the time delay difference corresponding to the second node being greater than a preset time length, the time offset corresponding to each of the second nodes is determined according to the LOS between the second nodes. configuring the second node with the time offset, the second node being configured to transmit the second sensing signal based on the time offset.

47. The perception device of any one of claims 44-46, wherein, The signal transmission parameter comprises at least one of: Time domain resource information and frequency domain resource information of each node in the signal transmission group for transmitting or receiving a sensing signal; One or more scrambling code parameters; SCS; CP type; Frequency point information; Transceiving mode information.

48. A processor-readable storage medium, wherein, The processor readable storage medium stores a computer program, and the computer program is used to make the processor execute the signal processing method in any one of claims 1-25.

49. A computer program product, wherein, Comprise: A computer program, when executed by a processor, implements the signal processing method in any one of claims 1-25.

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