Sensing method and apparatus

Abstract

A sensing method and apparatus. The method comprises: receiving a plurality of first sensing signals from a first apparatus; determining first sensing information on the basis of the plurality of first sensing signals, wherein the first sensing information indicates the position of a static scattering point, the static scattering point is static during the transmission of the plurality of first sensing signals, and the static scattering point is located within the coverage range of the first sensing signals; and sending the first sensing information to the first apparatus. By means of the method, first sensing information, which is determined on the basis of first sensing signals, indicates a static scattering point, and thus the overheads of reporting the sensing information can be reduced. Moreover, the static scattering point is selected from among a plurality of scattering points, and thus it is not necessary to report information of a moving scattering point, and a situation in which the static scattering point cannot be identified due to the fact that the power of the moving scattering point is relatively high is avoided, thereby improving the imaging precision in a static environment.

Description

A perception method and apparatus

[0001] Cross-reference to Related Applications

[0002] The present application claims priority to the Chinese Patent Application No. 202410671486.5, filed on May 24, 2024, and entitled “A Perception Method and Apparatus”, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the field of communication technology, and in particular to a perception method and apparatus. BACKGROUND

[0004] In the process of the evolution of the 5th-generation (5G) mobile communication system to 5G-advanced (5G-A) technology, the communication and perception integration technology is considered as one of the key technologies that can expand the business capabilities of the mobile communication network. The core idea of the communication and perception integration technology is to add perception capabilities on the mobile communication network to build the ability to detect, track and image the target, so that the communication and perception capabilities are integrated in one network. The principle of the perception technology is that the sending device sends radio waves (i.e., perception signals) in a specific direction, when the radio waves irradiate the surface of the perception target, a reflected wave (i.e., the echo signal of the perception signal) is formed, and then the receiving device obtains the perception data, such as the position, speed or type of the perception target, by receiving and processing the reflected wave.

[0005] Static environment imaging is an important application scenario of the communication and perception integration of 5G-A. The sending device uses the multi-view and ranging capabilities of the receiving device to realize static environment imaging, which can make up for the lack of field of view and imaging accuracy of the self-generation and self-reception mode. Therefore, how to improve the imaging accuracy of the static environment is a problem to be solved. SUMMARY

[0006] The present application provides a perception method and apparatus to improve the imaging accuracy of the static environment.

[0007] In a first aspect, the present application provides a sensing method, the execution subject of the method is a second device or a module or a chip in the second device, the second device can be a terminal device or a network device, and the second device is taken as the execution subject for description. The method comprises the following steps: receiving a plurality of first sensing signals from a first device; determining first sensing information according to the plurality of first sensing signals, the first sensing information indicating the position of a stationary scattering point; the stationary scattering point is stationary during transmission of the plurality of first sensing signals, and the stationary scattering point is located in the coverage range of the first sensing signal; and sending the first sensing information to the first device.

[0008] By the method provided in the present application, the first sensing information indicates the stationary scattering point, and the information of the mobile scattering point does not need to be reported, so that the overhead of reporting the sensing information can be reduced, and the interference of the mobile scattering point to the imaging of the stationary environment is avoided, thereby improving the imaging accuracy of the stationary environment.

[0009] In a possible implementation, the step of determining the first sensing information according to the plurality of first sensing signals comprises the following steps: determining second sensing information according to the plurality of first sensing signals, the second sensing information comprising the first power of a plurality of scattering points; wherein the first power of one of the scattering points is determined according to the plurality of first sensing signals; determining the first sensing information according to the second sensing information; wherein the first sensing information comprises the position information of the scattering point whose first power in the first power of the plurality of scattering points is greater than or equal to a first threshold.

[0010] In the method, the stationary scattering point is selected from the second sensing information, so that the information of the mobile scattering point does not need to be reported, and the situation that the power of the mobile scattering point is too large to identify the stationary scattering point is avoided, thereby improving the imaging accuracy of the stationary environment.

[0011] In a possible implementation, the step of determining the second sensing information according to the plurality of first sensing signals comprises the following steps: performing Fourier transform on the plurality of first sensing signals to obtain a plurality of signal component information; each of the signal component information corresponds to a moving speed; setting the signal component information corresponding to the moving speed greater than 0 in the plurality of signal component information to 0, and performing inverse fast Fourier transform on the signal component information set to 0 and the signal component information not set to 0 in the plurality of signal component information to obtain a plurality of second sensing signals; and performing coherent accumulation on the plurality of second sensing signals to obtain the second sensing information.

[0012] In the scheme, the signal component information with the moving speed greater than 0 can be understood as the signal component information corresponding to the moving scattering point, and setting the signal component information with the moving speed greater than 0 to 0 can be understood as filtering out the information related to the moving scattering point and only keeping the signal component information corresponding to the stationary scattering point. In this way, the plurality of second perception signals obtained through the inverse fast Fourier transform can be understood as echo signals reflected by the stationary scattering point and do not include echo signals reflected by the moving scattering point. After the coherent accumulation of the plurality of second perception signals, the power of the moving scattering point is small (for example, 0), and the power of the stationary scattering point is relatively large compared with the power of the moving scattering point, so that the power of the stationary scattering point can be screened out through the power threshold. In this way, only the stationary scattering point can be reported, and the overhead of reporting the scattering point is reduced.

[0013] In a possible implementation, the determining the second perception information according to the plurality of first perception signals comprises: determining third perception information according to the plurality of first perception signals; the third perception information comprises a plurality of second powers, one second power corresponding to at least two second powers in the plurality of second powers of one scattering point, one second power being determined according to one first perception signal in the plurality of first perception signals; setting the second power of the scattering point satisfying a first condition in the third perception information to a second threshold; the scattering point satisfying the first condition comprises: a difference between one second power corresponding to the scattering point in the plurality of second powers and another second power corresponding to the scattering point in the plurality of second powers being greater than a third threshold, the second threshold being less than the third threshold; and accumulating all second powers corresponding to each scattering point in the plurality of scattering points in the third perception information to obtain the second perception information.

[0014] In the above method, since the second power of the scattering point satisfying the first condition is set to the second threshold, the first power determined according to the second power of the scattering point is also small, so that whether there is a stationary scattering point can be determined according to the size of the first power of each scattering point, and thus the stationary scattering point can be determined from the plurality of scattering points. Moreover, the stationary scattering point is selected from the plurality of scattering points, so that the information of the moving scattering point does not need to be reported, and the situation that the power of the moving scattering point is large and the stationary scattering point cannot be identified is avoided, thereby improving the imaging accuracy of the stationary environment.

[0015] In a possible implementation, the first perception information further indicates at least one of the following: an index of the stationary scattering point;

[0016] a power corresponding to the stationary scattering point; and a signal-to-noise ratio (SNR) of the stationary scattering point.

[0017] In a possible implementation, the first perception information indicates the position of the stationary scattering point, including: the first perception information indicates a point cloud set corresponding to a plurality of scattering points; one point in the point cloud set corresponds to one scattering point in the plurality of scattering points, and a value of the point corresponding to the stationary scattering point in the point cloud set is a first value, and a value of the point corresponding to a scattering point other than the stationary scattering point in the point cloud set is a second value.

[0018] By reporting the point cloud set, the stationary imaging result can be indicated, and the reporting overhead can be reduced.

[0019] In a possible implementation, the first perception information indicates the position of the stationary scattering point, including: the first perception information includes three-dimensional coordinate information of the stationary scattering point.

[0020] In a second aspect, the present application provides a perception method, an execution subject of the method is a first device or a module or chip in the first device, the first device can be a terminal device or a network device, and the first device is taken as an execution subject for example. The method includes: sending a plurality of first perception signals; receiving first perception information from a second device, the first perception information is determined according to the plurality of first perception signals, the first perception information indicates the position of a stationary scattering point; the stationary scattering point is stationary during transmission of the plurality of first perception signals, and the stationary scattering point is located in a coverage range of the first perception signal; and performing perception imaging according to the stationary scattering point.

[0021] In a possible implementation, the first perception information further indicates at least one of: an index of the stationary scattering point; power corresponding to the stationary scattering point; and a signal-to-noise ratio (SNR) of the stationary scattering point.

[0022] In a possible implementation, the first perception information indicates the position of the stationary scattering point, including:

[0023] The first perception information indicates a point cloud set corresponding to a plurality of scattering points; one point in the point cloud set corresponds to one scattering point in the plurality of scattering points, and a value of the point corresponding to the stationary scattering point in the point cloud set is a first value, and a value of the point corresponding to a scattering point other than the stationary scattering point in the point cloud set is a second value.

[0024] In a possible implementation, the first perception information indicates the position of the stationary scattering point, including:

[0025] The first perception information includes three-dimensional coordinate information of the stationary scattering point.

[0026] In a third aspect, the present application provides a communication apparatus, which can implement any of the methods provided in the first aspect to the second aspect. The communication apparatus can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more units or modules corresponding to the above functions.

[0027] In a possible implementation, the communication apparatus includes a processor configured to support the communication apparatus to perform the corresponding functions of the first device or the second device in the above method. The communication apparatus can further include a memory coupled to the processor, which stores the necessary program instructions and data of the communication apparatus. Optionally, the communication apparatus further includes an interface circuit for supporting the communication between the communication apparatus and a terminal device or the like.

[0028] In a possible implementation, the communication apparatus includes corresponding functional modules for implementing the steps in the above method. The functions can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0029] In a possible implementation, the communication apparatus includes a processing unit and a communication unit, which can perform the corresponding functions in the above method examples, and the details are described in the methods provided in the first aspect to the second aspect, which will not be repeated here.

[0030] In a fourth aspect, a communication apparatus is provided, which includes a processor and an interface circuit for receiving signals from other communication apparatuses outside the communication apparatus and transmitting the signals to the processor or sending signals from the processor to other communication apparatuses outside the communication apparatus, and the processor implements the functional modules of the method in any of the possible implementation manners of the first aspect to the second aspect through a logic circuit or executing computer programs or instructions. Optionally, the communication apparatus further includes a memory for storing computer programs or instructions.

[0031] In a fifth aspect, a computer readable storage medium is provided, which stores computer programs or instructions, and when the computer programs or instructions are executed by a processor or run on a computer, the method in any of the possible implementation manners of the first aspect to the second aspect is implemented.

[0032] In a sixth aspect, a computer program product is provided, and when a computer reads and executes the computer program product, the method in any of the possible implementation manners of the first aspect to the second aspect is implemented.

[0033] In a seventh aspect, there is provided a circuitry configured to perform the method in any possible implementation of the first aspect to the second aspect. The circuitry can comprise a chip. Optionally, the circuitry can be further coupled with a memory.

[0034] In an eighth aspect, there is provided a chip comprising a processor configured to implement the method in any possible implementation of the first aspect to the second aspect when the processor executes computer program or instructions. Optionally, the chip can further comprise a memory. The chip can be constituted by the chip, or can comprise the chip and other discrete devices. The memory is configured to store the computer program or instructions.

[0035] In a ninth aspect, there is provided a communication apparatus comprising a processor configured to implement the method in any possible implementation of the first aspect to the second aspect by logic circuitry or executing computer program or instructions, or the processor is configured to implement the method in any possible implementation of the first aspect to the second aspect by executing computer program or instructions stored in a memory, so as to enable the communication apparatus to implement the method in any possible implementation of the first aspect to the second aspect.

[0036] In a tenth aspect, there is provided a communication apparatus comprising a unit or module for performing the method in any possible implementation of the first aspect to the second aspect.

[0037] In an eleventh aspect, the embodiments of the present application further provide a communication system. The communication system comprises: a second device configured to implement the method in the first aspect and any possible implementation of the first aspect; and a first device configured to implement the method in the second aspect and any possible implementation of the second aspect. BRIEF DESCRIPTION OF DRAWINGS

[0038] FIG. 1A is a schematic diagram of a network device architecture suitable for the embodiments of the present application;

[0039] FIG. 1B is a schematic diagram of a network architecture suitable for the embodiments of the present application;

[0040] FIG. 2 is a schematic diagram of a perception scene provided by the embodiments of the present application;

[0041] FIG. 3 is a schematic diagram of a perception scene provided by the embodiments of the present application;

[0042] FIG. 4 is a schematic diagram of a perception imaging provided by the embodiments of the present application;

[0043] FIG. 5 is a schematic diagram of a perception imaging provided by the embodiments of the present application;

[0044] FIG. 6 is a schematic diagram of a perception method flow provided by the embodiments of the present application;

[0045] FIG. 7 is a schematic diagram of a structure of a communication device according to an embodiment of the present application;

[0046] FIG. 8 is a schematic diagram of a structure of a communication device according to an embodiment of the present application;

[0047] FIG. 9 is a schematic diagram of a structure of a communication device according to an embodiment of the present application. DETAILED DESCRIPTION

[0048] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. The terms "first", "second" and corresponding terms of reference in the present application are used to distinguish similar objects, not necessarily to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, which is only a distinguishing way used in the description of the embodiments of the present application to describe the objects with the same properties. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, so that the process, method, system, product or equipment containing a series of units does not have to be limited to those units, but can include other units not clearly listed or inherent to these processes, methods, products or equipment. The method and device provided by the embodiments of the present application are based on the same or similar technical concepts, and since the principles of the device and method for solving problems are similar, the implementation of the device and method can be mutually referred to, and the repeated parts will not be described.

[0049] The method provided by the embodiments of the present application can be applied to various mobile communication systems, for example, can be internet of things (IoT), narrow band internet of things (NB-IoT), can be a fourth generation (4th generation, 4G) communication system (such as long term evolution (long term evolution, LTE)), can also be a fifth generation (5th generation, 5G) communication system (such as 5G new radio (new radio, NR)), can also be a hybrid architecture of LTE and NR, can also be a new communication system in future communication development, etc. The communication system can also include a machine to machine (machine to machine, M2M) network, machine type communication (machine type communication, MTC) or other networks.

[0050] In the following, first, some terms in the embodiments of the present application are explained and described, so as to facilitate the understanding of those skilled in the art.

[0051] Coherent superposition: also known as coherent accumulation, refers to the phase offset of signals of different pairs of transceiving ports when signals are transmitted between the sending end and the receiving end in a multiple input multiple output (MIMO) manner. When the signals of different pairs of transceiving ports have a phase offset, the signal-to-noise ratio (SNR) gain is small when the signals of different pairs of transceiving ports are superimposed. At this time, the signal superposition is called non-coherent superposition. When the signals of different pairs of transceiving ports do not have a phase offset after phase compensation, the superposition of multiple signals is a modulus accumulation. If the SNR gain of N signals is N times when superimposed, the signal superposition at this time can be recorded as coherent superposition.

[0052] Time unit, the time unit in the present application can include symbol, slot, mini-slot, partial slot, sub-frame, frame, or sensing slot, etc., without limitation. Among them, the symbol can also be called modulation symbol, symbol group, modulation symbol sequence, modulation symbol stream, modulation symbol string or modulation symbol set, etc., without limitation. The modulation mode of the symbol is not limited in the embodiments of the present application. For example, one symbol can be one orthogonal frequency division multiplexing (OFDM) symbol.

[0053] In the embodiments of the present application, the network device can be a device in a wireless network, and the network device can also be referred to as a network apparatus or a radio access network device or an access network device. For example, the network device can be a radio access network (RAN) node that accesses a terminal device to a wireless network, and can also be referred to as an access network device. The network device includes but is not limited to: a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next generation NodeB (gNB) in a 5th generation (5G) mobile communication system, an access network device in an open radio access network (O-RAN), a base station in a future mobile communication system, or an access node in a wireless fidelity (WiFi) system, etc.; or can be a module or unit that completes part of the function of the base station, for example, can be a centralized unit (CU), a distributed unit (DU), a centralized unit control plane (CU-CP) module, or a centralized unit user plane (CU-UP) module. The access network device can be a macro base station, or a micro base station or an indoor station, or a relay node or a donor node, etc. The specific technology and specific device form of the network device adopted in the present application are not limited.

[0054] As shown in FIG. 1A, in some implementations, a network device can include a centralized unit (CU) and a distributed unit (DU). The RAN device including a CU node and a DU node splits the protocol layers of a gNB in the NR system, with some protocol layers' functions being centrally controlled at the CU and the rest or all protocol layers' functions being distributed in the DU, which is centrally controlled by the CU. Further, the CU can be further divided into a control plane (CU-CP) and a user plane (CU-UP). The CU-CP is responsible for control plane functions, mainly including radio resource control (RRC) and a packet data convergence protocol (PDCP) corresponding to the control plane (i.e., PDCP-C). The PDCP-C is mainly responsible for encryption and decryption of control plane data, integrity protection, data transmission, etc. The CU-UP is responsible for user plane functions, mainly including a service data adaptation protocol (SDAP) and a PDCP corresponding to the user plane (i.e., PDCP-U). The SDAP is mainly responsible for processing data of the core network and mapping a flow to a bearer. The PDCP-U is mainly responsible for encryption and decryption of the data plane, integrity protection, header compression, sequence number maintenance, data transmission, etc. The CU-CP and the CU-UP are connected through an El interface. The CU-CP represents the gNB to connect with the core network through an NG interface, and to connect with the DU through a control plane (i.e., Fl-C) and an Fl interface. The CU-UP connects with the DU through a user plane (i.e., Fl-U) and an Fl interface. Of course, there is also a possible implementation that the PDCP-C is also in the CU-UP.

[0055] It can be understood that the CU (including CU-CP or CU-UP) or DU can also have different names in different systems, but those skilled in the art can understand its meaning. For example, in an open radio access network (O-RAN) system, the CU can also be referred to as an O-CU (open CU), the DU can also be referred to as an O-DU, the CU-CP can also be referred to as an O-CU-CP, and the CU-UP can also be referred to as an O-CU-UP. For the convenience of description, the CU, CU-CP, CU-UP and DU are taken as examples for description in this application. The network device can also include an active antenna unit (AAU). The CU implements part of the function of the gNB, and the DU implements part of the function of the gNB. For example, the CU is responsible for processing non-real-time protocols and services, and implements the function of the RRC layer. The DU is responsible for processing the physical layer protocol and real-time service, and implements the function of the radio link control (RLC) layer, the media access control (MAC) layer and the physical (PHY) layer. In some deployments, the CU can also be divided into a centralized unit control plane (CU-CP) node and a centralized unit user plane (CU-UP) node. Among them, the CU-CP is responsible for the control plane function, and the CU-UP is responsible for the user plane function.

[0056] The terminal device involved in the embodiments of the present application can be a wireless terminal device capable of receiving network device scheduling and indication information. The terminal device can also be referred to as a terminal device, a user equipment (UE), a terminal, a mobile station (MS), a mobile terminal (MT), etc. The terminal device can be a device including a wireless communication function (providing voice / data connectivity to users). For example, a handheld device with wireless connection function, or a vehicle-mounted device, a vehicle-mounted module, etc. At present, some examples of terminal devices are: a mobile phone, a tablet computer, a notebook computer, a palm computer, a mobile internet device (MID), a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal in industrial control, a wireless terminal in vehicle networking, a wireless terminal in self driving, a wireless terminal in remote medical surgery, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, or a wireless terminal in smart home, a device-to-device (D2D) terminal device, a vehicle-to-everything (V2X) communication terminal device, a smart vehicle, a telematics box (T-box), a machine-to-machine / machine-type communications (M2M / MTC) terminal device, an internet of things (IoT) terminal device, etc. For example, the terminal device can be a vehicle-mounted device, a whole vehicle device, a vehicle-mounted module, a vehicle, an on board unit (OBU), a roadside unit (RSU), a T-box, a chip or a system on chip (SOC), etc. The above-mentioned chip or SOC can be installed in a vehicle, an OBU, an RSU or a T-box. The wireless terminal in industrial control can be a camera, a robot, etc. The wireless terminal in smart home can be a television, an air conditioner, a sweeper, a sound box, a set-top box, etc.The terminal device can also be a V2X device, for example, a smart car or an intelligent car, a digital car, an unmanned car or a driverless car or a pilotless car or an automobile, a self-driving car or an autonomous car, a pure EV or a Battery EV, a hybrid electric vehicle (HEV), a range extended EV (REEV), a plug-in HEV (PHEV), a new energy vehicle, a road site unit (RSU). The terminal device can also be a device in device-to-device (D2D) communication, for example, an electricity meter, a water meter, and the like. In addition, in the embodiments of the present application, the terminal device can also be a terminal device in an IoT system. IoT is an important part of future information technology development, and its main technical feature is to connect objects through communication technology and network, so as to realize the interconnection of man and machine, and the intelligent network of object-to-object.

[0057] In the process of 5G mobile communication system evolving to 5G-A technology, the communication and perception integration technology is considered as one of the key technologies that can expand the business capabilities of mobile communication networks. The core idea of this communication and perception integration technology is to add perception capabilities on the mobile communication network, and build the ability to detect, track and image targets, so that the two capabilities of communication and perception can coexist in harmony and mutual benefit in one network. The technical principle of perception is different from that of communication. Communication is that the sending end modulates information on radio waves and sends it to the receiving end, and the receiving end demodulates the signal carried on the radio wave to obtain information. Perception needs the sending end to send radio waves in a specific direction, and when the radio waves irradiate the target surface, they will form reflected waves, so that the receiving end receives and processes the reflected waves to obtain information such as the position, speed and type of the target. For example, referring to FIG. 1B, which is a schematic diagram of a communication and perception integration scenario. In FIG. 1B, communication is represented by solid lines and perception is represented by dashed lines. As shown in FIG. 1B, the network device can perceive other objects through self-transmission and self-reception, or can perceive other objects while communicating with the terminal device. In FIG. 1B, the terminal device is a smart phone, and the perception targets are a drone, a pedestrian, and a vehicle.

[0058] The perception technology can be generally divided into two modes: single-station perception and double-station perception. In the single-station perception mode, the sending device of the perception signal and the receiving device of the echo signal of the perception signal are the same device. In other words, in the single-station perception mode, the sending device sends the perception signal and receives the echo signal of the perception signal reflected on the surface of the perception target. Therefore, the single-station perception mode can also be called self-sending and self-receiving mode without limitation. In the double-station perception mode, the sending device of the perception signal and the receiving device of the echo signal of the perception signal are different devices. In other words, the perception station A sends the perception signal, and the echo signal of the perception signal reflected on the surface of the perception target is received by the perception station B. Therefore, the double-station perception mode can also be called A-sending and B-receiving mode. It should be pointed out that the echo signal of the perception signal is obtained by reflecting the perception signal on the surface of the perception target, and therefore, the echo signal can still be called the perception signal.

[0059] FIG. 2 exemplarily shows a schematic diagram of a perception scene to which the embodiments of the present application are applicable. Six perception scenes to which the embodiments of the present application are applicable are provided in FIG. 2, which are respectively: a network device A self-sending and self-receiving scene, i.e., a scene in which the network device A sends the perception signal and receives the echo signal, as shown in (1) of FIG. 2; a terminal device A self-sending and self-receiving scene, i.e., a scene in which the terminal device A sends the perception signal and receives the echo signal, as shown in (2) of FIG. 2; a network device A sending the perception signal and a network device B receiving the echo signal scene, as shown in (3) of FIG. 2; a terminal device A sending the perception signal and a terminal device B receiving the echo signal scene, as shown in (4) of FIG. 2; a network device A sending the perception signal and a terminal device A receiving the echo signal scene, as shown in (5) of FIG. 2; and a terminal device A sending the perception signal and a network device A receiving the echo signal scene, as shown in (6) of FIG. 2. In FIG. 2, the perception target is taken as a vehicle, and the terminal device is taken as a smart phone as an example.

[0060] The perception target can also be called a target, a detected target, a perceived object, a detected object, or a perceived device, without limitation. The perception target can be various tangible objects in the environment that can reflect electromagnetic waves. For example, the perception target can be a static object such as a mountain, a forest, or a building. For another example, the perception target can also be a movable object such as a vehicle, a drone, a pedestrian, or a terminal device. The embodiments of the present application do not limit the specific implementation form of the perception target.

[0061] In a possible implementation, the sensing signal can play the role of the communication signal, that is, the sensing signal can be received by the terminal device in the environment as a communication signal; or the communication signal can also play the role of the sensing signal, that is, the multiplexing communication signal (for example, a reference signal, etc.) is used for sensing. Taking the case of network device self-initiated self-reception as an example, the network device transmits the sensing signal and receives the echo signal of the sensing signal; at the same time, the sensing signal can reach the terminal device through multiple transmission paths, that is, the terminal device receives the sensing signal, as shown in FIG. 3. In FIG. 3, the sensing signal reaches the terminal device through the transmission path 1 and the transmission path 2, the terminal device is a mobile phone, and the sensing target is a vehicle.

[0062] Static environment imaging is an important application scenario of 5G-A communication and sensing integration, and the imaging principle is to obtain the power of the target point after the coherent superposition of the received signals of the receiving and transmitting ports according to the target point, the port position of the transmitting device of the sensing signal, and the port position of the receiving device of the sensing signal through phase compensation, so as to realize the imaging of the static object according to the power of the target point. For example, as shown in FIG. 4, the network device transmits the sensing signal, and the terminal device receives the sensing signal. The network device and the terminal device can pre-arrange an imaging area in the coverage range of the sensing signal, and the imaging area includes multiple target points. A target point can be regarded as the smallest unit of imaging, a target point corresponds to an imaging pixel, and a target point can be identified by a three-dimensional coordinate. The three-dimensional coordinate can be a global Cartesian coordinate system (for example, longitude, latitude, and horizontal height), or a local polar coordinate system (for example, distance, horizontal angle, and vertical angle), etc. In the figure, a grid represents a target point, and the target point can also be called a scatterer or a grid point or a grid target or an imaging grid, etc.

[0063] For the receiving end, for example, the terminal device in FIG. 4, to realize multi-high-precision perception imaging, the power of each scattering point can be obtained by coherently superimposing the signal corresponding to each scattering point according to the perception signal. The size of the power of a scattering point can represent whether the scattering point has a target, and therefore all scattering points included in the imaging area and the power of each scattering point can constitute a power spectrum covering the imaging area. The terminal device reports the power of each scattering point to the network device, and the network device can perform perception imaging according to the power of each scattering point included in the imaging area. For example, in combination with FIG. 4, the result of the final perception imaging can be as shown in FIG. 5, where the scattering points including the filling pattern are scattering points including targets. Of course, FIG. 5 is only an example and is described by taking a side view of imaging as an example. The actual imaging area is three-dimensional, and the result of imaging is also three-dimensional. Moreover, because there can be moving targets in the environment, when the power of the scattering point corresponding to the moving target is high, the scattering point of the stationary target can be submerged, reducing the imaging precision of the stationary environment. Therefore, the present application provides a method that can reduce the reporting overhead and improve the imaging precision of the stationary environment.

[0064] In the present application, the target is a tangible object in the environment that can reflect electromagnetic waves, such as mountains, forests, or buildings, and can also include vehicles, unmanned aerial vehicles, pedestrians, terminal devices, and other movable objects. The target can also be referred to as a perceived target, a detected target, a perceived object, a detected object, or a perceived device, and the like, which are not limited by the embodiments of the present application.

[0065] The network architecture and business scenarios described in the embodiments of the present application are used to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, as the network architecture evolves and new business scenarios appear, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0066] It can be understood that the present application does not particularly limit the specific structure of the execution subject of the method provided by the embodiments of the present application, and can be applied to modules in terminal devices or network devices, as long as the program recording the code of the method provided by the embodiments of the present application can be run to communicate according to the method provided by the embodiments of the present application. Hereinafter, the interaction between the terminal device and the network device is taken as an example for description.

[0067] In the present application, the first device can be used to send a sensing signal. The first device can be a network device or a component in a network device (such as a DU, or a RU, etc.); or the first device can also be a terminal device or a component in a terminal device. For example, the second device can be a terminal device A shown in (4) or (6) in FIG. 2, or a component in the terminal device A; or the second device can also be a network device A shown in (3) or (5) in FIG. 2, or a component in the network device A.

[0068] The second device can be a communication device that performs (or conducts) sensing. For example, the second device can be used to receive a sensing signal and conduct sensing processing according to the sensing signal. The second device can be a network device or a component in a network device (such as a DU, or a RU, etc.); or the second device can also be a terminal device or a component in a terminal device. For example, the second device can be a network device A shown in (1) or (6) in FIG. 2, or a component in the network device A; or the second device can also be a terminal device A shown in (2) or (5) in FIG. 2, or a component in the terminal device A; or the second device can also be a network device B shown in (3) in FIG. 2, or a component in the network device B; or the second device can also be a terminal device B shown in (4) in FIG. 2, or a component in the terminal device B.

[0069] As shown in FIG. 6, a sensing method flow diagram provided by an embodiment of the present application is shown. The method includes:

[0070] Step 601: A first device sends a plurality of first sensing signals.

[0071] Correspondingly, a second device receives a plurality of first sensing signals from the first device.

[0072] In the present application, the first sensing signal can be used for sensing. The specific implementation of the first sensing signal is not limited. For example, the first sensing signal can be a channel state information reference signal (CSI-RS), a physical downlink shared channel (PDSCH) signal, or other signals, which are not limited in the present application. The sensing signal can also be referred to as a communication sensing signal or a reference signal, etc., which are not limited in the present application.

[0073] The first device can transmit the first sensing signal in multiple time units, and each time unit can transmit one of the multiple first sensing signals. In this application, one first sensing signal can refer to a first sensing signal transmitted by one port in one time unit, or refer to a first sensing signal transmitted in one time unit. The time unit can refer to a time slot or a symbol, and the application does not limit this.

[0074] The first device can transmit the first sensing signal in a MIMO manner, that is, transmit the first sensing signal through multiple ports. Correspondingly, the second device can receive the first sensing signal through multiple ports. For different ports of the first device, the first device can use the same or different time-frequency resources to transmit sensing signals to the second device, respectively. In each time unit, the sensing signals transmitted by the first device through different ports can be orthogonal, for example, can be orthogonal in the code domain or the frequency domain, etc.

[0075] In this application, the port can also be referred to as an antenna port or an antenna channel or an antenna element or a MIMO port, etc.

[0076] Optionally, the first device can indicate to the second device a time range for transmitting the first sensing signal, that is, a time window. The time window includes the time span of the coherent accumulation of the sensing measurement result, that is, the time range for transmitting the first sensing signal. The first device can indicate the time window through RRC signaling, for example, indicate the number of time units (symbols or time slots) used for sensing, or indicate the number of milliseconds or seconds included in the time window, and the application does not limit this.

[0077] Optionally, the first device can also indicate to the second device a three-dimensional coordinate range of the imaging area, which can be taken as the coordinate origin of the first device or the second device, or taken as the coordinate origin of other reference points. The imaging area is located in the coverage range of the first sensing signal, and the imaging area can include multiple scattering points, each of which can be represented by a three-dimensional coordinate. The imaging area can also be preset or determined by the second device, and the application does not limit this.

[0078] Step 602: The second device determines the first sensing information according to the multiple first sensing signals.

[0079] In this application, the first sensing information indicates the position of at least one stationary scattering point; the stationary scattering point can refer to the scattering point corresponding to a stationary target. The stationary scattering point is stationary during the transmission of the multiple first sensing signals, and the stationary scattering point is located in the coverage range of the first sensing signal. The number of stationary scattering points indicated by the first sensing information is not limited.

[0080] The second device can determine second sensing information according to the plurality of first sensing signals, and determine the first sensing information according to the second sensing information. The second sensing information includes first powers of a plurality of scattering points, and the first power of one scattering point is determined according to the plurality of first sensing signals. The plurality of scattering points can be scattering points in an imaging area, and position information of the plurality of scattering points is preset or indicated by the second device, which is not limited in the present application.

[0081] The second device determines how to determine the first sensing information, and there can be various implementation manners, and several examples are given below.

[0082] In implementation manner one, the second device performs Fourier transform on the plurality of first sensing signals to obtain a plurality of signal component information, and each signal component information corresponds to one moving speed.

[0083] For example, Fast Fourier Transform (FFT) is performed on the first sensing signals received in different time units t, and signal component information corresponding to different k (i.e., different moving speeds) can be obtained. After performing FFT on the first sensing signals, the signal component information corresponding to different k can satisfy the following form:

[0084] Wherein, s(a, b; t) represents the first sensing signal transmitted through port a and received by the second device through port b at time unit t, FFT{s(a, b; t)} represents performing FFT on s(a, b; t), s(a, b; k) represents signal component information corresponding to k, and the moving speed corresponding to k is Wherein, λ is the carrier wavelength of the first sensing signal, T is the number of time units used for transmitting the first sensing signal, T is an integer greater than 1, and t is in the range of [1, T]. ΔT represents the length of the time unit. j is the imaginary unit, and T can be indicated by the first device or preset, which is not limited in the present application.

[0085] According to the above description, the second device can determine a plurality of signal component information according to the first sensing signals of the T time units. Further, the second device sets the signal component information corresponding to the moving speed greater than 0 in the plurality of signal component information to 0. The signal component information corresponding to the moving speed greater than 0 can be understood as the signal component information corresponding to the moving scattering point, and setting the signal component information corresponding to the moving speed greater than 0 to 0 can be understood as filtering out the information related to the moving scattering point and only keeping the signal component information corresponding to the stationary scattering point. The second device performs inverse fast Fourier transform (IFFT) on the signal component information set to 0 and the signal component information not set to 0 in the plurality of signal component information, to obtain a plurality of second sensing signals. At this time, the plurality of second sensing signals obtained can be understood as the echo signals reflected by the stationary scattering points, and do not include the echo signals reflected by the moving scattering points. After coherently accumulating the plurality of second sensing signals, the power of the moving scattering point is small (for example, 0), and the power of the stationary scattering point is relatively large compared with the power of the moving scattering point, so that the power of the stationary scattering point can be screened out by the power threshold. In this way, only the stationary scattering points can be reported, and the overhead of reporting the scattering points is reduced.

[0086] The signal component information corresponding to the moving speed greater than 0 can also be set to other values, for example, set to a fourth threshold value, which can be less than or equal to the minimum value in the signal component information, or can be other values, which are not limited in the present application.

[0087] For example, for a signal component information After IFFT is performed on the second sensing signal obtained satisfies the following form:

[0088] wherein, indicates that IFFT is performed on After IFFT is performed on

[0089] Further, the plurality of second sensing signals are coherently accumulated to obtain second sensing information. For example, according to the above description, the first power I 2 (p) of each scattering point p included in the second sensing information can satisfy the following form:

[0090] wherein I(p) represents the first signal amplitude corresponding to the scattering point p; I(p; t) represents the second signal amplitude of the sensing signal at the scattering point p at the time unit t; A represents the number of ports in the first device for transmitting the first sensing signal; B represents the number of ports in the second device for receiving the first sensing signal; s(a, p, b; t) represents the sensing signal transmitted from the port a to the port b at the scattering point p at the time unit t, and s(a, p, b; t) can be understood as the echo signal received by the port b of the second device through the scattering point p at the time unit t, which is transmitted by the port a of the first device. represents the compensation phase of s(a, p, b; t).

[0091] In the present application, s(a, p, b; t) can be determined according to the second sensing signal, for example, s(a, p, b; t) satisfies the following form:

[0092] wherein, represents the second sensing signal; c represents the electromagnetic wave speed; f c represents the frequency of the second sensing signal, which can be equal to the frequency of the first sensing signal. If the position of the port a is (x(a), y(a), z(a)), the position of the port b is (x(b), y(b), z(b)), and the position of the scattering point p is (x(p), y(p), z(p)), then R(a, p, b; t) satisfies the following form:

[0093] The compensation phase of s(a, p, b; t) can be determined according to various methods, which are not limited in the present application. In one implementation, the compensation phase of s(a, p, b; t) can satisfy the following form:

[0094] The above is only an example, and the compensation phase can also be determined in other ways, which will not be described here.

[0095] The second device can perform threshold judgment on each first power in the second sensing information to determine the position information of the stationary scattering point. For example, the second device determines the scattering point corresponding to the first power greater than or equal to the first threshold in the second sensing information as the stationary scattering point, and the first sensing information includes the position information of at least one stationary scattering point, that is, the first power of the scattering point corresponding to each position information in the first sensing information is greater than or equal to the first threshold. The first threshold can be determined by the first device, indicated by the second device, or preset or predefined, which is not limited in the present application.

[0096] In the above method, since the signal component information with a moving speed greater than 0 is set to 0, the first power of the moving scattering point is small (for example, 0) after the coherent accumulation of the plurality of second sensing signals, and the first power of the stationary scattering point is relatively large compared with the first power of the moving scattering point, so that whether the stationary scattering point exists in each scattering point can be determined according to the size of the first power of each scattering point, and thus the stationary scattering point can be determined from the plurality of scattering points. Moreover, the stationary scattering point is selected from the plurality of scattering points, so that the information of the moving scattering point does not need to be reported, and the situation that the power of the moving scattering point is large and the stationary scattering point cannot be identified is avoided, thereby improving the imaging accuracy in a stationary environment.

[0097] In the first implementation, the first power of each scattering point can also be replaced by the first signal amplitude. At this time, the second sensing information includes the first signal amplitudes of the plurality of scattering points, and the second device can perform threshold judgment on each first signal amplitude in the second sensing information to determine the position information of the stationary scattering point. The specific process can be referred to the foregoing description, and will not be described here.

[0098] In the second implementation, the second device determines third sensing information according to the plurality of first sensing signals. The third sensing information includes a plurality of second powers, and one scattering point corresponds to at least two second powers in the plurality of second powers, and one second power is determined according to one first sensing signal in the plurality of first sensing signals. For example, assuming that T time units are used for transmitting the first sensing signal, the number of the first sensing signals can be T, and one scattering point corresponds to T second powers in the third sensing information.

[0099] In the present application, the second device can obtain the distance-angle dimension power in the polar coordinate system or the power in the Cartesian coordinate system of each scattering point in the imaging area in a time unit based on the imaging method of back projection (BP) projection or by using IFFT and FFT to quantize and interpolate the sensing signals of different subcarriers and different transceiver ports.

[0100] For example, taking the sensing imaging based on the communication sensing imaging technology of back projection in the present application as an example, the second power I 2 (p;t) of each scattering point p in the third sensing information can satisfy the following form:

[0101] wherein I(p) represents the first signal amplitude corresponding to the scattering point p; I(p;t) represents the second signal amplitude of the sensing signal of the scattering point p in the time unit t; and I 2(p; t) represents the second power corresponding to the scattering point p according to the first sensing signal transmitted in the time unit t; A represents the number of ports in the first device for transmitting the first sensing signal, B represents the number of ports in the second device for receiving the first sensing signal; s(a, p, b; t) represents the sensing signal transmitted from the port a to the port b received at the scattering point p in the time unit t, s(a, p, b; t) can be understood as the echo signal of the sensing signal transmitted by the port a of the first device through the scattering point p and received by the port b of the second device in the time unit t; represents the compensation phase of s(a, p, b; t).

[0102] In the present application, s(a, p, b; t) can be determined according to the first sensing signal, for example, s(a, p, b; t) satisfies the following form:

[0103] wherein, represents the first sensing signal; c represents the electromagnetic wave speed; f c represents the frequency of the first sensing signal. R(a, p, b; t) can be referred to the foregoing description, which will not be described here.

[0104] Further, the second device sets the part or all of the second power corresponding to the scattering point satisfying the first condition in the third sensing information to the second threshold.

[0105] wherein, the scattering point satisfying the first condition includes that the difference between the second power corresponding to the scattering point in the plurality of second powers and another second power corresponding to the scattering point in the plurality of second powers is greater than or equal to the third threshold. The second threshold can be less than the third threshold, or the second threshold can be less than any second power in the third sensing information, for example, the second threshold can be 1 / 10 or 1 / 5 of the smallest second power in the third sensing information, etc., which is not limited by the present application. The second threshold and the third threshold can be determined by the first device, or can be indicated by the second device, or can be preset or predefined, which is not limited by the present application.

[0106] For example, the two second powers corresponding to the scattering point p in the third sensing information are P1 = I 2 (p; t1) and P2 = I 2 (p; t2); P1 is determined according to the first sensing signal transmitted in the time unit t1, and P2 is determined according to the first sensing signal transmitted in the time unit t2. If ΔP = P1 - P2 is greater than or equal to the third threshold, then the part or all of the second power corresponding to the scattering point p in the third sensing information is set to the second threshold.

[0107] The scattering point satisfying the first condition can be considered as a scattering point corresponding to a moving target, and the scattering point not satisfying the first condition can be considered as a scattering point corresponding to a static target.

[0108] Further, the second device accumulates all the second powers corresponding to each of the plurality of scattering points in the third perception information to obtain second perception information.

[0109] For example, the second power I 2 The first power I 2 The first power I

[0110] Since the second power of the scattering point satisfying the first condition is set to the second threshold value, the second threshold value is a small value, and thus the first power of the scattering point corresponding to the moving target is small. The second device can determine whether a scattering point is a static scattering point according to the size of the first power of the scattering point. For example, the second device determines the position information of the scattering point corresponding to the first power greater than or equal to the first threshold value in the second perception information as the position information of the static scattering point. The first perception information includes the position information of at least one static scattering point, that is, the first power of the scattering point corresponding to each position information in the first perception information is greater than or equal to the first threshold value.

[0111] In the above method, since the second power of the scattering point satisfying the first condition is set to the second threshold value, the first power determined according to the second power of the scattering point is also small, and thus whether each scattering point is a static scattering point can be determined according to the size of the first power of each scattering point. Therefore, the static scattering point can be determined from the plurality of scattering points. Moreover, the static scattering point is selected from the plurality of scattering points, and thus the information of the moving scattering point does not need to be reported, and the situation that the power of the moving scattering point is large and the static scattering point cannot be identified is avoided, thereby improving the imaging accuracy of the static environment.

[0112] In the second implementation mode, the first power of each scattering point can be replaced by a first signal amplitude, and the second power of each scattering point can be replaced by a second signal amplitude. At this time, the third perception information includes the second signal amplitudes of the plurality of scattering points, the second perception information includes the first signal amplitudes of the plurality of scattering points, and the second device can perform threshold judgment on each first signal amplitude in the second perception information to determine the position information of the static scattering point. The specific process can be referred to the foregoing description, and will not be described here.

[0113] Step 603: The second device sends the first perception information to the first device.

[0114] Correspondingly, the first device receives the first perception information.

[0115] In the present application, the first perception information can indicate the position of the at least one stationary scattering point through various implementation manners. For example, in one implementation manner, the first perception information comprises position information of each scattering point in the at least one stationary scattering point, for example, the position information can be three-dimensional coordinates of the scattering point. The position information can be referred to as an index of the scattering point, and the present application does not limit this.

[0116] Optionally, the position information of the stationary scattering point is quantized information, for example, X-axis, Y-axis and Z-axis respectively represent longitude, latitude and horizontal height in three-dimensional coordinates; the minimum intervals of X-axis, Y-axis and Z-axis are Δx, Δy and Δz respectively, so for a scattering point (x, y, z) = (aΔx, bΔy, cΔz), a, b, c ∈ Z, the reported position information of the scattering point is (a, b, c), Z represents an integer set. For another example, R, Θ and Φ respectively represent distance, horizontal angle and vertical angle in a polar coordinate system; the minimum intervals of R-axis, Θ-axis and Φ-axis are Δr, Δθ and Δφ respectively, so for a scattering point (R, Θ, Φ) = (aΔr, bΔθ, cΔφ), a, b, c ∈ Z, the reported position information of the scattering point is (a, b, c), Z represents an integer set. So for a scattering point The reported position information of the scattering point is (a, b, c), Z represents an integer set.

[0117] In another implementation manner, the first perception information can indicate a point cloud set corresponding to a plurality of scattering points, one point in the point cloud set corresponds to one scattering point in the plurality of scattering points, wherein the value of the point in the point cloud set corresponding to the stationary scattering point is a first value, and the value of the point in the point cloud set corresponding to the scattering point other than the stationary scattering point is a second value.

[0118] For example, for each first power in the second perception information, if a first power is greater than or equal to a first threshold, the scattering point corresponding to the first power can be a stationary scattering point, and the point in the point cloud set corresponding to the scattering point is set to 1; if a first power is less than a first threshold, the scattering point corresponding to the first power can be a moving scattering point, and the point in the point cloud set corresponding to the scattering point is set to 0, and finally the obtained point cloud set can be represented as I sta = {I sta (x, y, z) ∈ (0, 1),} wherein I sta (x, y, z) represents the value of the point in the point cloud set corresponding to the scattering point (x, y, z).

[0119] In the present application, the first perception information can also indicate other contents, for example, the first perception information also indicates at least one of the following:

[0120] Index of the stationary scattering point;

[0121] a power corresponding to the stationary scattering point;

[0122] a signal amplitude corresponding to the stationary scattering point;

[0123] an SNR of the stationary scattering point, the SNR being a ratio of a power of the stationary scattering point to a noise power, wherein the power of the stationary scattering point can be a first power of the stationary scattering point, or an average of a plurality of second powers of the stationary scattering point, or a maximum or minimum of the plurality of second powers of the stationary scattering point.

[0124] Optionally, in step 604, the first device performs perception imaging according to the stationary scattering point.

[0125] The first device specifically how to perform perception imaging, the present application does not limit. For example, the first device performs BP perception imaging according to the stationary scattering point, and the specific content is not limited. The specific content included in the first perception information can refer to the description in steps 601 to 603, which will not be described here.

[0126] Through the method provided in the present application, the first perception information determined by the second device according to the first perception signal indicates the stationary scattering point, so as to reduce the overhead of reporting perception information. Moreover, the second device selects the stationary scattering point from the second perception information, so as to avoid reporting information of the moving scattering point, avoid the situation that the power of the moving scattering point is large, and the stationary scattering point cannot be identified, thereby improving the imaging accuracy in a stationary environment.

[0127] It can be understood that, in order to realize the functions in the above embodiments, the first device or the second device includes the corresponding hardware structure and / or software module for executing each function. Those skilled in the art should easily realize that, in combination with the units and method steps of the examples described in the embodiments disclosed in the present application, the present application can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driving hardware depends on the specific application scenario and design constraints of the technical solution.

[0128] The following is a possible structure of a communication device provided by the embodiments of the present application. These communication devices can be used to realize the functions of the first device or the second device in the above method embodiments, and thus can also realize the beneficial effects possessed by the above method embodiments.

[0129] As shown in FIG. 7, the communication device 700 includes a processing unit 710 and a communication unit 720. The communication device 700 is used to realize the functions of the terminal device or the network device in each of the above method embodiments.

[0130] When the communication device 700 is used to realize the functions of the second device:

[0131] a communication unit configured to receive a plurality of first sensing signals from a first device;

[0132] a processing unit configured to determine first sensing information according to the plurality of first sensing signals, the first sensing information indicating a position of a stationary scattering point, the stationary scattering point being stationary during transmission of the plurality of first sensing signals, the stationary scattering point being located within a coverage range of the first sensing signals;

[0133] the communication unit is configured to send the first sensing information to the first device.

[0134] When the communication device 700 is used to implement the function of the first device:

[0135] a communication unit configured to send a plurality of first sensing signals, and receive first sensing information from a second device, the first sensing information being determined according to the plurality of first sensing signals, the first sensing information indicating a position of a stationary scattering point, the stationary scattering point being stationary during transmission of the plurality of first sensing signals, the stationary scattering point being located within a coverage range of the first sensing signals;

[0136] a processing unit configured to perform sensing imaging according to the stationary scattering point.

[0137] The above processing unit 710 and communication unit 720 can be directly described in the above method embodiments, and thus will not be described here.

[0138] It should be understood that the division of the units in the above device is only a logical functional division, and all or part of the units can be integrated into one physical entity, or can be physically separated. The units in the device can all be implemented in the form of software invoked by a processing element; or all be implemented in the form of hardware; or part of the units be implemented in the form of software invoked by a processing element, and part of the units be implemented in the form of hardware. For example, each unit can be a separately established processing element, or can be integrated in a chip of the device, and in addition, can be stored in a memory in the form of a program, and the function of the unit can be invoked and executed by a processing element of the device. In addition, all or part of the units can be integrated together, or can be independently implemented. The processing element herein can be a processor, which can be an integrated circuit with signal processing capability. In the implementation process, each operation of the above method or each unit can be implemented by an integrated logic circuit of hardware in the processing element, or in the form of software invoked by the processing element.

[0139] In one example, the units in any of the above apparatuses can be one or more integrated circuits, configured to implement one or more of the above methods, e.g., one or more application specific integrated circuits (ASICs), or, one or more digital signal processors (DSPs), or, one or more field programmable gate arrays (FPGAs), or a combination of at least two of these integrated circuit forms. In another example, when the units in the apparatuses can be implemented by a processor, the processor can be a central processing unit (CPU) or other processor capable of executing a program. In another example, the units can be integrated together in a system-on-a-chip (SOC) form. The above unit for receiving is an interface circuit of the apparatus for receiving signals from other apparatuses. For example, when the apparatus is implemented in a chip form, the receiving unit is an interface circuit of the chip for receiving signals from other chips or apparatuses. The above unit for transmitting is an interface circuit of the apparatus for transmitting signals to other apparatuses. For example, when the apparatus is implemented in a chip form, the transmitting unit is an interface circuit of the chip for transmitting signals to other chips or apparatuses.

[0140] As another possible product form, the first apparatus or the second apparatus of the embodiments of the present application can be implemented by a general bus architecture. For ease of illustration, refer to FIG. 8, which is a structural schematic diagram of a communication apparatus 800 provided by the embodiments of the present application, the communication apparatus 800 including a processor 801 and a transceiver 802. The communication apparatus 800 can be a terminal device, or a chip or chip system therein; or the communication apparatus 800 can be a network device, or a chip or module therein. FIG. 8 only shows the main components of the communication apparatus 800. In addition to the processor 801 and the transceiver 802, the communication apparatus 800 can further include a memory 803, and an input and output apparatus (not shown in the figure).

[0141] Optionally, the processor 801 is mainly used for processing communication protocols and communication data, and controlling the whole communication apparatus, executing software programs, and processing data of the software programs. The memory 803 is mainly used for storing software programs and data. The transceiver 802 can include radio frequency circuitry and an antenna, the radio frequency circuitry being mainly used for conversion between baseband signals and radio frequency signals, and processing of the radio frequency signals. The antenna is mainly used for transceiving radio frequency signals in the form of electromagnetic waves. The input and output apparatus, e.g., a touch screen, a display screen, a keyboard, etc., is mainly used for receiving user input data and outputting data to the user.

[0142] Optionally, the processor 801, the transceiver 802, and the memory 803 can be connected through a communication bus.

[0143] When the communication device is powered on, the processor 801 can read the software program in the memory 803, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be transmitted wirelessly, the processor 801 performs baseband processing on the data to be transmitted, and outputs the baseband signal to the radio frequency circuit. The radio frequency circuit performs radio frequency processing on the baseband signal, and transmits the radio frequency signal in the form of electromagnetic wave through the antenna. When data is transmitted to the communication device, the radio frequency circuit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor 801. The processor 801 converts the baseband signal into data and processes the data.

[0144] In another implementation, the radio frequency circuit and the antenna can be arranged independently of the processor that performs baseband processing, for example, in a distributed scenario, the radio frequency circuit and the antenna can be arranged remotely from the communication device.

[0145] In some embodiments, in hardware implementation, those skilled in the art can conceive that the above-mentioned communication device 700 can adopt the form of the communication device 800 shown in FIG. 8.

[0146] As an example, the functions / implementation processes of the processing unit 710 in FIG. 7 can be realized by the processor 801 in the communication device 800 shown in FIG. 8 invoking the computer execution instructions stored in the memory 803. The functions / implementation processes of the communication unit 720 in FIG. 7 can be realized by the transceiver 802 in the communication device 800 shown in FIG. 8.

[0147] As another possible product form, the first device or the second device in the present application can adopt the constituent structure shown in FIG. 9, or include the components shown in FIG. 9. FIG. 9 is a constituent schematic diagram of a communication device 900 provided in the present application.

[0148] As shown in FIG. 9, the communication device 900 includes at least one processor 901. Optionally, the communication device further includes a communication interface 902.

[0149] When the program instructions involved are executed in the at least one processor 901, the communication device 900 can implement the method provided in any of the preceding embodiments and any possible design thereof. Alternatively, the processor 901 is used to implement the method provided in any of the preceding embodiments and any possible design thereof through logic circuit or execution of code instructions.

[0150] The communication interface 902 can be configured to receive program instructions and transmit them to the processor 901, or the communication interface 902 can be configured to enable the communication device 900 to communicate with other communication devices, such as control signaling and / or service data. For example, the communication interface 902 can be configured to receive signals from other devices and transmit them to the processor 901, or transmit signals from the processor 901 to other devices.

[0151] Optionally, the communication interface 902 can be a code and / or data read / write interface circuit, or a signal transmission interface circuit between a communication processor and a transceiver, or a pin of a chip.

[0152] Optionally, the communication device 900 can further include at least one memory 903 configured to store program instructions and / or data required for the communication device 900. It should be noted that the memory 903 can be independent of the processor 901, or integrated with the processor 901. The memory 903 can be located in the communication device 900 or outside the communication device 900, without limitation.

[0153] Optionally, the communication device 900 can further include a power supply circuit 904 configured to supply power to the processor 901. The power supply circuit 904 can be located in the same chip as the processor 901, or in another chip independent of the processor 901.

[0154] Optionally, the communication device 900 can further include a bus, and various parts of the communication device 900 can be interconnected via the bus.

[0155] In some embodiments, in hardware implementation, those skilled in the art can conceive that the communication device 700 shown in FIG. 7 can adopt the form of the communication device 900 shown in FIG. 9.

[0156] As an example, the functions / implementation processes of the processing unit 710 in FIG. 7 can be implemented by the processor 901 in the communication device 900 in FIG. 9 invoking computer execution instructions stored in the memory 903. The functions / implementation processes of the communication unit 720 in FIG. 7 can be implemented by the communication interface 902 in the communication device 900 in FIG. 9.

[0157] It should be noted that the structure shown in FIG. 9 does not constitute a specific limitation on the terminal device or the network device. For example, in some other embodiments of the present application, the terminal device or the network device can include more or fewer components than those shown, or combine certain components, or split certain components, or different component arrangements. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0158] When the communication apparatus is a terminal chip, the terminal chip implements the functions of the terminal in the method embodiments. The terminal chip receives information from other modules (such as a radio frequency module or an antenna) in the terminal, and the information is sent by the base station to the terminal. Alternatively, the terminal chip sends information to other modules (such as a radio frequency module or an antenna) in the terminal, and the information is sent by the terminal to the base station.

[0159] When the communication apparatus is a base station module, the base station module implements the functions of the base station in the method embodiments. The base station module receives information from other modules (such as a radio frequency module or an antenna) in the base station, and the information is sent by the terminal to the base station. Alternatively, the base station module sends information to other modules (such as a radio frequency module or an antenna) in the base station, and the information is sent by the base station to the terminal. The base station module can be a baseband chip of the base station, or a DU or other module. The DU can be a DU under the open radio access network (O-RAN) architecture.

[0160] It can be understood that the processor in the embodiments of the present application can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor can be a microprocessor, or any conventional processor.

[0161] The method steps in the embodiments of the present application can be realized by hardware or by a processor executing software instructions. The software instructions can be composed of corresponding software modules, which can be stored in a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an erasable programmable read-only memory, an electrically erasable programmable read-only memory, a register, a hard disk, a mobile hard disk, a CD-ROM, or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor, so that the processor can read information from the storage medium and write information to the storage medium. Of course, the storage medium can also be an integral part of the processor. The processor and the storage medium can be located in an ASIC. In addition, the ASIC can be located in a base station or a terminal. Of course, the processor and the storage medium can also exist as discrete components in the base station or the terminal.

[0162] In the above embodiments, all or part of the embodiments can be realized by software, hardware, firmware, or any combination thereof. When realized by software, all or part of the embodiments can be realized in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer programs or instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are performed. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, or other programmable apparatus. The computer programs or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium, for example, the computer programs or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center through a wired or wireless manner. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that integrates one or more available media. The available medium can be a magnetic medium, for example, a floppy disk, a hard disk, a magnetic tape; an optical medium, for example, a digital video disc; or a semiconductor medium, for example, a solid-state disk. The computer-readable storage medium can be a volatile or non-volatile storage medium, or can include both volatile and non-volatile storage media.

[0163] In various embodiments of the present application, the terms and / or descriptions of different embodiments are consistent and can be mutually referred to if there is no special description and no logical conflict. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0164] Those skilled in the art will appreciate that embodiments of the present application can be readily used as a method, a system or a computer program product. Accordingly, the present application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application can take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage etc.) embodying computer readable program code.

[0165] The present application is described in reference to the flowchart illustrations and / or block diagrams of the methods, apparatus (systems) and computer program products according to the present application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general purpose computer, special purpose computer, embedded processing machine, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart illustrations and / or block diagrams block or blocks.

[0166] These computer program instructions can also be stored in a computer- readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instructions which implement the function specified in the flowchart illustrations and / or block diagrams block or blocks.

[0167] It will be obvious, however, to those having skill in the art that changes can be made in the application without departing from the scope thereof. It is therefore intended that the application not be limited to the exact form described herein, but to cover in scope all modifications that can fall within the scope of the claims or equivalents thereof.

Claims

1. A perception method, comprising: The method comprises: receiving a plurality of first sensing signals from a first device; determining first sensing information according to the plurality of first sensing signals, the first sensing information indicating a position of a stationary scattering point; the stationary scattering point is stationary during transmission of the plurality of first sensing signals, the stationary scattering point being located within a coverage range of the first sensing signals; sending the first sensing information to the first device.

2. The method of claim 1, wherein, The determining of the first sensing information according to the plurality of first sensing signals comprises: determining second sensing information according to the plurality of first sensing signals, the second sensing information comprising a plurality of first powers of a plurality of scattering points, wherein a first power of one of the scattering points is determined according to one of the plurality of first sensing signals; determining the first sensing information according to the second sensing information, wherein the first sensing information comprises position information of a scattering point whose first power in the plurality of first powers is greater than or equal to a first threshold.

3. The method of claim 2, wherein, The determining of the second sensing information according to the plurality of first sensing signals comprises: performing Fourier transform on the plurality of first sensing signals to obtain a plurality of signal component information, each of the signal component information corresponding to a moving speed; setting, to 0, signal component information corresponding to a moving speed greater than 0 in the plurality of signal component information, and performing inverse fast Fourier transform on the signal component information set to 0 and signal component information not set to 0 in the plurality of signal component information to obtain a plurality of second sensing signals; coherently accumulating the plurality of second sensing signals to obtain the second sensing information.

4. The method of claim 2, wherein, The determining of the second sensing information according to the plurality of first sensing signals comprises: determining third sensing information according to the plurality of first sensing signals, the third sensing information comprising a plurality of second powers, one of the scattering points corresponding to at least two second powers in the plurality of second powers, one of the second powers being determined according to one of the first sensing signals in the plurality of first sensing signals; setting, to a second threshold, a second power of a scattering point satisfying a first condition in the third sensing information, the scattering point satisfying the first condition comprising that a difference between one of the second powers corresponding to the scattering point and another of the second powers corresponding to the scattering point in the plurality of second powers is greater than a third threshold, the second threshold being less than the third threshold; accumulating all second powers corresponding to each of the scattering points in the plurality of scattering points in the third sensing information to obtain the second sensing information.

5. The method according to any one of claims 1 to 4, characterized in that, The first sensing information further indicates at least one of: an index of the stationary scattering point; a power corresponding to the stationary scattering point; a signal-to-noise ratio (SNR) of the stationary scattering point.

6. The method according to any one of claims 1 to 5, characterized in that, The first sensing information indicating the position of the stationary scattering point comprises: the first sensing information indicating a point cloud set corresponding to a plurality of scattering points, one point in the point cloud set corresponding to one of the plurality of scattering points, wherein a value of a point in the point cloud set corresponding to the stationary scattering point is a first value, and a value of a point in the point cloud set corresponding to a scattering point other than the stationary scattering point is a second value.

7. The method according to any one of claims 1 to 5, characterized in that, The first perception information indicates the position of the stationary scattering point, comprising: The first perception information comprises three-dimensional coordinate information of the stationary scattering point.

8. A perception method comprising: Comprising: Transmitting a plurality of first perception signals; Receiving first perception information from a second device, the first perception information being determined according to the plurality of first perception signals, the first perception information indicating the position of a stationary scattering point; The stationary scattering point is stationary during transmission of the plurality of first perception signals, and the stationary scattering point is located within the coverage of the first perception signals; Perception imaging is performed according to the stationary scattering point.

9. The method of claim 8, wherein, The first perception information further indicates at least one of: An index of the stationary scattering point; Corresponding power of the stationary scattering point; Signal-to-noise ratio (SNR) of the stationary scattering point.

10. The method according to claim 8 or 9, characterized in that, The first perception information indicates the position of the stationary scattering point, comprising: The first perception information indicates a point cloud set corresponding to a plurality of scattering points; one point in the point cloud set corresponds to one scattering point in the plurality of scattering points, wherein the value of the point in the point cloud set corresponding to the stationary scattering point is a first value, and the value of the point in the point cloud set corresponding to a scattering point other than the stationary scattering point is a second value.

11. The method according to claim 8 or 9, characterized in that, The first perception information indicates the position of the stationary scattering point, comprising: The first perception information comprises three-dimensional coordinate information of the stationary scattering point.

12. A communications device, characterized by Comprising: A communication unit configured to receive a plurality of first perception signals from a first device; A processing unit configured to determine first perception information according to the plurality of first perception signals, the first perception information indicating the position of a stationary scattering point; The stationary scattering point is stationary during transmission of the plurality of first perception signals, and the stationary scattering point is located within the coverage of the first perception signals; The communication unit is configured to transmit the first perception information to the first device.

13. The apparatus of claim 12, wherein, The processing unit is specifically configured to: Determine second perception information according to the plurality of first perception signals, the second perception information comprising first powers of a plurality of scattering points; wherein the first power of one scattering point is determined according to the plurality of first perception signals; Determine the first perception information according to the second perception information; wherein the first perception information comprises position information of a scattering point whose first power in the plurality of scattering points is greater than or equal to a first threshold value.

14. The apparatus of claim 13, wherein, The processing unit is specifically configured to: Perform Fourier transform on the plurality of first perception signals to obtain a plurality of signal component information; each signal component information corresponds to a moving speed; Set signal component information corresponding to a moving speed greater than 0 in the plurality of signal component information to 0, and perform inverse fast Fourier transform on the signal component information set to 0 and the signal component information in the plurality of signal component information that is not set to 0 to obtain a plurality of second perception signals; Coherently accumulate the plurality of second perception signals to obtain the second perception information.

15. The apparatus of claim 13, wherein, The processing unit is specifically configured to: determining third perception information according to the plurality of first perception signals; the third perception information comprises a plurality of second powers, one of the scattering points corresponding to at least two second powers, one of the second powers being determined according to one of the plurality of first perception signals; setting the second power of the scattering point satisfying the first condition in the third perception information as a second threshold value; the scattering point satisfying the first condition comprises that the difference between one of the second powers corresponding to the scattering point and another of the second powers corresponding to the scattering point is greater than a third threshold value, and the second threshold value is less than the third threshold value; accumulating all the second powers corresponding to each of the scattering points in the third perception information to obtain the second perception information.

16. The apparatus of any one of claims 13 to 15, wherein, The first perception information further indicates at least one of: an index of the stationary scattering point; a power corresponding to the stationary scattering point; a signal-to-noise ratio (SNR) of the stationary scattering point.

17. The apparatus of any one of claims 13 to 16, wherein, The first perception information indicates the position of the stationary scattering point, comprising: The first perception information indicates a point cloud set corresponding to a plurality of scattering points; one point in the point cloud set corresponds to one of the plurality of scattering points, wherein the value of the point corresponding to the stationary scattering point in the point cloud set is a first value, and the value of the point corresponding to the scattering point other than the stationary scattering point in the point cloud set is a second value.

18. The apparatus of any one of claims 13 to 16, wherein, The first perception information indicates the position of the stationary scattering point, comprising: The first perception information comprises three-dimensional coordinate information of the stationary scattering point.

19. A communications device, characterized by comprising: a communication unit configured to transmit a plurality of first perception signals; receiving first perception information from a second device, the first perception information being determined according to the plurality of first perception signals, and the first perception information indicating the position of a stationary scattering point; the stationary scattering point is stationary during transmission of the plurality of first perception signals, and the stationary scattering point is located within the coverage of the first perception signal; a processing unit configured to perform perception imaging according to the stationary scattering point.

20. The apparatus of claim 19, wherein, The first perception information further indicates at least one of: an index of the stationary scattering point; a power corresponding to the stationary scattering point; a signal-to-noise ratio (SNR) of the stationary scattering point.

21. The apparatus of claim 19 or 20, wherein, The first perception information indicates the position of the stationary scattering point, comprising: The first perception information indicates a point cloud set corresponding to a plurality of scattering points; one point in the point cloud set corresponds to one of the plurality of scattering points, wherein the value of the point corresponding to the stationary scattering point in the point cloud set is a first value, and the value of the point corresponding to the scattering point other than the stationary scattering point in the point cloud set is a second value.

22. The apparatus of claim 19 or 20, wherein, The first perception information indicates the position of the stationary scattering point, comprising: The first perception information comprises three-dimensional coordinate information of the stationary scattering point.

23. A communications device, characterized by comprising a processor; the processor is configured to execute a computer program or instructions stored in a memory, so that the communication device implements the method of any one of claims 1 to 11. determining third perception information according to the plurality of first perception signals; the third perception information comprises a plurality of second powers, one of the scattering points corresponding to at least two second powers, one of the second powers being determined according to one of the plurality of first perception signals; setting the second power of the scattering point satisfying the first condition in the third perception information as a second threshold value; the scattering point satisfying the first condition comprises that the difference between one of the second powers corresponding to the scattering point and another of the second powers corresponding to the scattering point is greater than a third threshold value, and the second threshold value is less than the third threshold value; accumulating all the second powers corresponding to each of the scattering points in the third perception information to obtain the second perception information. The first perception information further indicates at least one of: an index of the stationary scattering point; a power corresponding to the stationary scattering point; a signal-to-noise ratio (SNR) of the stationary scattering point. The first perception information indicates the position of the stationary scattering point, comprising: The first perception information indicates a point cloud set corresponding to a plurality of scattering points; one point in the point cloud set corresponds to one of the plurality of scattering points, wherein the value of the point corresponding to the stationary scattering point in the point cloud set is a first value, and the value of the point corresponding to the scattering point other than the stationary scattering point in the point cloud set is a second value. The first perception information indicates the position of the stationary scattering point, comprising: The first perception information comprises three-dimensional coordinate information of the stationary scattering point. comprising: a communication unit, configured to transmit a plurality of first perception signals; receiving first perception information from a second device, the first perception information being determined according to the plurality of first perception signals, and the first perception information indicating the position of a stationary scattering point; the stationary scattering point is stationary during transmission of the plurality of first perception signals, and the stationary scattering point is located within the coverage of the first perception signal; a processing unit, configured to perform perception imaging according to the stationary scattering point. The first perception information further indicates at least one of: an index of the stationary scattering point; a power corresponding to the stationary scattering point; a signal-to-noise ratio (SNR) of the stationary scattering point. The first perception information indicates the position of the stationary scattering point, comprising: The first perception information indicates a point cloud set corresponding to a plurality of scattering points; one point in the point cloud set corresponds to one of the plurality of scattering points, wherein the value of the point corresponding to the stationary scattering point in the point cloud set is a first value, and the value of the point corresponding to the scattering point other than the stationary scattering point in the point cloud set is a second value. The first perception information indicates the position of the stationary scattering point, comprising: The first perception information comprises three-dimensional coordinate information of the stationary scattering point. comprising a processor; the processor is configured to execute a computer program or instructions stored in a memory, so that the communication device implements the method of any one of claims 1 to 11.

24. A computer-readable storage medium, characterized in that, A computer program or instructions stored in a storage medium, which, when run on a computer, cause the computer to implement the method of any one of claims 1 to 11.

25. A chip, characterized by A chip comprising a processor coupled to a memory for executing computer programs or instructions stored in the memory, which cause the chip to implement the method of any one of claims 1 to 11.

26. A computer program product, characterised in that, When a computer reads and executes the computer program product, the method of any one of claims 1 to 11 is caused to be executed.

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