Sensing method and corresponding apparatus

Abstract

Provided in the present application is a sensing method, which can be applied to a communication system of integrated sensing and communication (ISAC). The method comprises: a sensing node sending a first parameter to a central node, wherein the first parameter is used for indicating a first pattern, the first pattern being a spatial frequency-domain pattern or a wavenumber-domain pattern, and the first pattern being used for indicating the sensing performance of a second communication apparatus for a first sensing region. In this way, on the basis of a spatial frequency-domain pattern or a wavenumber-domain pattern, a central node can select appropriate sensing nodes for joint sensing, thereby improving the quality of sensing results for a sensing region.

Description

A sensing method and corresponding device

[0001] This application claims priority to Chinese Patent Application No. 202410703988.1, filed with the State Intellectual Property Office of China on May 31, 2024, entitled "A Sensing Method and Corresponding Device", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of communication technology, specifically to a sensing method and corresponding device. Background Technology

[0003] In multi-node joint sensing, multiple sensing nodes perform sensing separately to obtain their own sensing results. Then, the central node can fuse the sensing results of each sensing node to obtain a joint sensing result, thereby reducing the uncertainty of sensing and improving sensing performance.

[0004] Because the sensing nodes are distributed in different locations, different sensing nodes have different sensing capabilities for the same region of interest (ROI). The selection of sensing nodes to participate in the sensing will directly affect the sensing results.

[0005] Therefore, how to select appropriate sensing nodes for sensing ROI has become an urgent problem to be solved. Summary of the Invention

[0006] This application provides a sensing method for selecting a suitable communication device to sense a sensing area, thereby improving the quality of the sensing results for the sensing area. This application also provides corresponding devices, computer-readable storage media, and computer program products.

[0007] A first aspect of this application provides a sensing method applied to a first communication device, the method comprising:

[0008] Receive a first parameter from at least one second communication device, the first parameter being used to indicate a first pattern, the first pattern being a spatial frequency domain pattern or a wavenumber domain pattern, the first pattern being used to indicate the sensing performance of the second communication device for a first sensing area;

[0009] Sensing configuration parameters are sent to some or all of at least one second communication device, the sensing configuration parameters being used by some or all of the second communication devices to sense the first sensing area.

[0010] In this application, the first communication device can be a central node, which is a node that configures sensing parameters for the transmitting end or receiving end of the sensing signal, and / or a node that summarizes the sensing results. The central node can be an access network device or a chip within the access network device; of course, the central node can also be other types of devices. The second communication device can be a sensing node, such as a receiving end or transmitting end of the sensing signal. The second communication device can be an access network device, a terminal device, or a chip within the access network device or a chip within the terminal device.

[0011] In this application, there may be one or more second communication devices. When there are multiple second communication devices, each second communication device will send a first parameter. Because the positions of the second communication devices are different, different second communication devices have different sensing capabilities for the first sensing area. The second communication device can determine the first parameter based on its own position and the positional relationship with the first sensing area. The first parameter can be directly information about the first pattern, or it can be information used to determine the first pattern. The area of ​​the first pattern can reflect the sensing performance of the second communication device for the first sensing area, such as resolution, unambiguous region, or signal-to-noise ratio (SNR) gain.

[0012] In this application, the spatial frequency domain is obtained by performing a Fourier transform (FT) on the spatial domain. Taking a two-dimensional scene as an example, the coordinates of a point in the spatial domain are (x, y), while the coordinates of a point in the spatial frequency domain are (f...). x f y In this context, both the horizontal and vertical axes represent frequencies. The wavenumber domain can be derived from the spatial frequency domain, and the two domains have a linear relationship. The coordinates of a point in the spatial frequency domain are (k...). x k y ),in, Where c is the speed of light, f x ,f y It is divided into spatial frequencies corresponding to the x and y directions.

[0013] In this application, the spatial frequency domain pattern refers to the pattern formed by multiple points in the spatial frequency domain; the wavenumber domain pattern refers to the pattern formed by multiple points in the beam domain.

[0014] In this application, the parameters in the spatial frequency domain or wavenumber domain are transformed to the same dimension relative to the sensing-related parameters in the spatial domain, such as bandwidth, antenna aperture, distance from the sensing area, or the position of the second communication device (e.g., the spatial frequency domain is transformed to the dimension of frequency). This allows for high accuracy and strong interpretability in sensing performance analysis under the same dimension, which is more conducive to quantitatively reflecting the sensing performance of the second communication device on the first sensing area.

[0015] In the first aspect described above, the first communication device can select a second communication device from at least one second communication device for sensing the first sensing area based on a first pattern. Because the first pattern indicates the sensing performance of the second communication device for the first sensing area, the first communication device can select a second communication device with better sensing capabilities to sense (jointly sense) the first sensing area. This improves the quality of the sensing results for the first sensing area. Furthermore, given certain sensing performance requirements, only the sensing results from a subset of second communication devices with better sensing performance need to be fused; it is not necessary for a large number of second communication devices to transmit their respective sensing results, thus reducing air interface overhead.

[0016] In one possible implementation, the first parameter includes the coordinates of multiple points in the spatial frequency domain or wavenumber domain, which form a first pattern.

[0017] In this possible implementation, the first parameter includes the coordinates of multiple points. These points can be identified in the corresponding spatial frequency domain or wavenumber domain, and the multiple points form a first pattern. This first pattern can then be used to measure the sensing performance of the second communication device over the first sensing area, improving the accuracy and reliability of selecting the second communication device for the first sensing area. Furthermore, since the parameters transmitted from the second communication device to the first communication device are the coordinates of points in the spatial frequency domain or wavenumber domain, the actual physical parameters of the second communication device, such as bandwidth, antenna aperture, distance from the sensing area, or the location of the second communication device, cannot be derived from these coordinates. This protects data privacy and improves the security of data transmission.

[0018] In one possible implementation, the first parameter includes at least one of the following: carrier wave, bandwidth, antenna position information of the second communication device, or position information of the first sensing area, wherein the at least one piece of information is used to determine the first pattern.

[0019] In this possible implementation, the first parameter includes at least one of the following: carrier wave, bandwidth, antenna location information of the second communication device, or location information of the first sensing area. The first communication device can use at least one of these information to determine a first pattern. The first pattern can then be used to measure the sensing performance of the second communication device over the first sensing area, improving the accuracy and reliability of the second communication device in selecting the first sensing area for sensing.

[0020] In one possible implementation, the perception performance includes at least one of resolution, unambiguous region, or signal-to-noise ratio gain.

[0021] In one possible implementation, the union of the areas of the first patterns of a portion of the second communication device conforms to the maximum coverage principle, and the center of the first pattern is the center of the spatial frequency domain or wavenumber domain.

[0022] In this possible implementation, the second communication device refers to a second communication device that performs incoherent sensing of the first sensing area. The center of the first pattern in the incoherent sensing is shifted to the center in the spatial frequency domain or wavenumber domain. In this way, a suitable second communication device for joint sensing can be selected by the union of the first patterns corresponding to different second communication devices, thereby improving the accuracy of the selection of the second communication device.

[0023] In one possible implementation, the maximum coverage principle is met as follows: there are M second communication devices, and the union of the first pattern areas of the M second communication devices is the largest in the first union; wherein, the first union is the union of the first pattern areas of any M second communication devices, M>1, and M is an integer.

[0024] In this possible implementation, "first pattern area" refers to the area of ​​the first pattern; because the area of ​​the first pattern indicates the sensing performance of the second communication device for the first sensing area, the larger the area of ​​the first pattern, the better the sensing performance of the second communication device for the first sensing area. If at least two second communication devices jointly sense, the larger the union of the first pattern areas, the better the sensing performance of the joint sensing. Therefore, selecting the second communication device corresponding to the largest union of the first pattern areas from the first union can improve the effect of joint sensing.

[0025] In one possible implementation, the maximum coverage principle is met as follows: there are N second communication devices, and the union of the first pattern area and the second pattern area of ​​the N second communication devices is the largest in the second union; wherein, the second pattern is a spatial frequency domain pattern or a wavenumber domain pattern, the second pattern is used for the sensing performance of at least the first communication device on the first sensing area, and the second union is the union of the first pattern area and the second pattern area of ​​any N second communication devices, where N is a positive integer.

[0026] In this possible implementation, "second pattern area" refers to the area of ​​the second pattern. If the first communication device also participates in joint sensing, the union of the first pattern areas and the second pattern areas of the N second communication devices is maximized, indicating that the joint sensing performance of the corresponding N second communication devices and the first communication device is better than other combinations. The second communication device selected in this way can improve the effect of joint sensing.

[0027] In one possible implementation, the above step of sending sensing configuration parameters to some or all of at least one second communication device includes:

[0028] Sensing configuration parameters are sent to a second communication device, wherein the first pattern of the second communication device is the largest in area among the first patterns of all the second communication devices.

[0029] In this possible implementation, if only one second communication device is needed to sense the first sensing area, then only the first pattern with the largest area needs to be selected. In this way, the best sensing effect can be obtained.

[0030] In one possible implementation, before receiving the first parameter from at least one second communication device, the method further includes: broadcasting a sensing request for requesting sensing of a first sensing area.

[0031] In this possible implementation, by broadcasting a sensing request, the second communication device can be notified to report its own first parameters, thereby selecting the better second communication device for joint sensing.

[0032] A second aspect of this application provides a sensing method, comprising:

[0033] Send a first parameter to the first communication device. The first parameter is used to indicate a first pattern. The first pattern is a spatial frequency domain pattern or a wavenumber domain pattern. The first pattern is used to indicate the sensing performance of the second communication device for the first sensing area.

[0034] The device receives sensing configuration parameters from a first communication device, which are used by the second communication device to sense the first sensing area.

[0035] In the second aspect described above, the second communication device can report a first parameter to the first communication device to indicate its sensing performance of the first sensing area. Therefore, the first communication device can select the second communication device with better sensing capabilities to sense (jointly sense) the first sensing area. This improves the quality of the sensing results for the first sensing area.

[0036] In one possible implementation, the first parameter includes the coordinates of multiple points in the spatial frequency domain or wavenumber domain, which form a first pattern.

[0037] In one possible implementation, the first parameter includes at least one of the following: carrier wave, bandwidth, antenna position information of the second communication device, or position information of the first sensing area, wherein the at least one piece of information is used to determine the first pattern.

[0038] In one possible implementation, the perception performance includes at least one of resolution, unambiguous region, or signal-to-noise ratio gain.

[0039] A third aspect of this application provides a communication device, which can be a first communication device, including: a transceiver module and a processing module;

[0040] A transceiver module is used to receive a first parameter from at least one second communication device. The first parameter is used to indicate a first pattern, which is a spatial frequency domain pattern or a wavenumber domain pattern. The first pattern is used to indicate the sensing performance of the second communication device on a first sensing area.

[0041] The processing module is used to determine the perception configuration parameters based on the first parameter;

[0042] The transceiver module is also used to send sensing configuration parameters to some or all of at least one second communication device, the sensing configuration parameters being used by some or all of the second communication devices to sense the first sensing area.

[0043] In one possible implementation, the first parameter includes the coordinates of multiple points in the spatial frequency domain or wavenumber domain, which form a first pattern.

[0044] In one possible implementation, the first parameter includes at least one of the following: carrier wave, bandwidth, antenna position information of the second communication device, or position information of the first sensing area, wherein the at least one piece of information is used to determine the first pattern.

[0045] In one possible implementation, the perception performance includes at least one of resolution, unambiguous region, or signal-to-noise ratio gain.

[0046] In one possible implementation, the union of the areas of the first patterns of a portion of the second communication device conforms to the maximum coverage principle, and the center of the first pattern is the center of the spatial frequency domain or wavenumber domain.

[0047] In one possible implementation, the maximum coverage principle is met as follows: there are M second communication devices, and the union of the first pattern areas of the M second communication devices is the largest in the first union; wherein, the first union is the union of the first pattern areas of any M second communication devices, M>1, and M is an integer.

[0048] In one possible implementation, the maximum coverage principle is met as follows: there are N second communication devices, and the union of the first pattern area and the second pattern area of ​​the N second communication devices is the largest in the second union; wherein, the second pattern is a spatial frequency domain pattern or a wavenumber domain pattern, the second pattern is used for the sensing performance of at least the first communication device on the first sensing area, and the second union is the union of the first pattern area and the second pattern area of ​​any N second communication devices, where N is a positive integer.

[0049] The transceiver module is specifically used to send sensing configuration parameters to a second communication device, wherein the first pattern of the second communication device is the largest in area among the first patterns of all the second communication devices.

[0050] In one possible implementation, the transceiver module is further configured to broadcast a sensing request before receiving a first parameter from at least one second communication device, the sensing request being used to request sensing of a first sensing area.

[0051] A fourth aspect of this application provides a communication device, which can be a second communication device that communicates with a first communication device, the communication device comprising: a transceiver module and a processing module;

[0052] The processing module is used to determine the first parameter;

[0053] The transceiver module is used for:

[0054] Send a first parameter to the first communication device. The first parameter is used to indicate a first pattern. The first pattern is a spatial frequency domain pattern or a wavenumber domain pattern. The first pattern is used to indicate the sensing performance of the second communication device for the first sensing area.

[0055] The device receives sensing configuration parameters from a first communication device, which are used by the second communication device to sense the first sensing area.

[0056] In one possible implementation, the first parameter includes the coordinates of multiple points in the spatial frequency domain or wavenumber domain, which form a first pattern.

[0057] In one possible implementation, the first parameter includes the coordinates of multiple points in the spatial frequency domain or wavenumber domain, which form a first pattern.

[0058] In one possible implementation, the first parameter includes at least one of the following: carrier wave, bandwidth, antenna position information of the second communication device, or position information of the first sensing area, wherein the at least one piece of information is used to determine the first pattern.

[0059] In one possible implementation, the perception performance includes at least one of resolution, unambiguous region, or signal-to-noise ratio gain.

[0060] In one possible implementation, the union of the areas of the first patterns of a portion of the second communication device conforms to the maximum coverage principle, and the center of the first pattern is the center of the spatial frequency domain or wavenumber domain.

[0061] In one possible implementation, the maximum coverage principle is met as follows: there are M second communication devices, and the union of the first pattern areas of the M second communication devices is the largest in the first union; wherein, the first union is the union of the first pattern areas of any M second communication devices, M>1, and M is an integer.

[0062] In one possible implementation, the maximum coverage principle is met as follows: there are N second communication devices, and the union of the first pattern area and the second pattern area of ​​the N second communication devices is the largest in the second union; wherein, the second pattern is a spatial frequency domain pattern or a wavenumber domain pattern, the second pattern is used for the sensing performance of at least the first communication device on the first sensing area, and the second union is the union of the first pattern area and the second pattern area of ​​any N second communication devices, where N is a positive integer.

[0063] A fifth aspect of this application provides a communication device including a processor. The processor is configured to call and run a computer program stored in a memory, causing the processor to implement as described in the first aspect or any of the implementations of the first aspect.

[0064] Optionally, the communication device also includes a transceiver; the processor is also used to control the transceiver to send and receive signals.

[0065] Optionally, the communication device includes a memory in which a computer program is stored.

[0066] The communication device mentioned in the fifth aspect above can be a device or a chip (system) in a device.

[0067] A sixth aspect of this application provides a communication device including a processor. The processor is configured to invoke and execute a computer program stored in a memory, such that the processor implements as described in the second aspect or any of the implementations in the second aspect.

[0068] Optionally, the communication device also includes a transceiver; the processor is also used to control the transceiver to send and receive signals.

[0069] Optionally, the communication device includes a memory in which a computer program is stored.

[0070] The communication device described in the sixth aspect above can be a device or a chip (system) in a device.

[0071] The seventh aspect of this application provides a communication device, which may be a first communication device or a module or unit (e.g., a chip, a chip system, or a circuit) in the first communication device that corresponds to the execution of the methods / operations / steps / actions described in the first aspect.

[0072] The eighth aspect of this application provides a communication device, which may be a second communication device or a module or unit (e.g., a chip, a chip system, or a circuit) in the second communication device that corresponds to the execution of the methods / operations / steps / actions described in the second aspect.

[0073] The ninth aspect of this application provides a computer-readable storage medium including computer instructions that, when executed on a computer, cause the computer to perform an implementation as described in the first aspect or any of the first aspects.

[0074] The tenth aspect of this application provides a computer-readable storage medium including computer instructions that, when executed on a computer, cause the computer to perform an implementation as described in the second aspect or any of the second aspects.

[0075] The eleventh aspect of this application provides a computer program product including instructions that, when run on a computer, cause the computer to perform an implementation as described in the first aspect or any of the first aspects.

[0076] The twelfth aspect of this application provides a computer program product including instructions that, when run on a computer, cause the computer to perform an implementation as described in the second aspect or any of the second aspects.

[0077] The thirteenth aspect of this application provides a chip device including a processor for calling a program stored in a memory, such that the processor executes the first aspect or any implementation thereof.

[0078] Optionally, the memory may be located inside or outside the chip device.

[0079] The fourteenth aspect of this application provides a chip device including a processor for calling a program stored in a memory, such that the processor executes the second aspect or any implementation thereof described above.

[0080] Optionally, the memory may be located inside or outside the chip device.

[0081] The fifteenth aspect of this application provides a communication system, which includes a first communication device and a second communication device. The first communication device is used to execute the first aspect or any one of the implementations of the first aspect, and the second communication device is used to execute the second aspect or any one of the implementations of the second aspect.

[0082] The technical effects of the third aspect or any possible implementation of the third aspect, the fifth aspect, the seventh aspect, the ninth aspect, the eleventh aspect, the thirteenth aspect or the fifteenth aspect can be found in the first aspect or the technical effects of different possible implementations of the first aspect, and will not be repeated here.

[0083] The technical effects of the fourth aspect or any possible implementation of the fourth aspect, the sixth aspect, the eighth aspect, the tenth aspect, the twelfth aspect or the fourteenth aspect can be found in the technical effects of the second aspect or different possible implementations of the second aspect, and will not be repeated here. Attached Figure Description

[0084] Figure 1A is a schematic diagram of an example of a perception scenario provided in an embodiment of this application;

[0085] Figure 1B is another example schematic diagram of the perception scenario provided in the embodiments of this application;

[0086] Figure 1C is another example schematic diagram of a perception scenario provided in an embodiment of this application;

[0087] Figure 2 is a schematic diagram of an embodiment of the sensing method provided in this application;

[0088] Figure 3A is a schematic diagram of an example of spatial domain to spatial frequency domain conversion provided in an embodiment of this application;

[0089] Figure 3B is another example of spatial domain to spatial frequency domain conversion provided in an embodiment of this application;

[0090] Figure 3C is a schematic diagram of an example of the spatial frequency domain provided in an embodiment of this application;

[0091] Figure 4A is a schematic diagram of an example of selecting a suitable sensing node according to an embodiment of this application;

[0092] Figure 4B is another example of selecting a suitable sensing node provided in an embodiment of this application;

[0093] Figure 5 is a schematic diagram of another embodiment of the sensing method provided in this application;

[0094] Figure 6 is a schematic diagram of another embodiment of the sensing method provided in this application;

[0095] Figure 7 is a schematic diagram of another embodiment of the sensing method provided in this application;

[0096] Figure 8 is a schematic diagram of another embodiment of the sensing method provided in this application;

[0097] Figure 9 is a structural schematic diagram of a communication device provided in an embodiment of this application;

[0098] Figure 10 is another structural schematic diagram of the communication device provided in an embodiment of this application;

[0099] Figure 11 is another structural schematic diagram of the communication device provided in an embodiment of this application. Detailed Implementation

[0100] The embodiments of this application are described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. As those skilled in the art will understand, with the development of technology and the emergence of new scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0101] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in a sequence other than that illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0102] This application provides a sensing method for selecting a suitable communication device to sense a sensing area, thereby improving the quality of the sensing results for the sensing area. This application also provides corresponding devices, computer-readable storage media, and computer program products, etc., which will be described in detail below.

[0103] The technical solutions of this application can be applied to various communication systems, such as: satellite communication, 5th generation (5G) systems or new radio (NR), long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, universal mobile telecommunication system (UMTS), mobile communication systems after 5G networks (e.g., 6G mobile communication systems), vehicle to everything (V2X) communication systems, etc.

[0104] In addition to having stronger communication capabilities, the aforementioned communication system also possesses sensing capabilities, making it a communication system with integrated sensing and communication (ISAC). An integrated sensing and communication system means that the communication system can communicate through communication signals (which can also be described as communication channels) and perform sensing and measurement through sensing signals (which can also be described as sensing channels).

[0105] In this application, "perception" refers to using the transmission, reflection, and scattering of radio waves (radio frequency signals) to sense the surrounding environment and detect targets. For example, in vehicle-to-everything (V2X) systems, sensing signals are used to detect other vehicles or objects around vehicles; in imaging systems, sensing signals are used to image target points (buildings, vehicles, and other tangible objects) in the environment. Of course, the communication system in this application can also be an industrial automation system or other communication systems that require sensing.

[0106] The communication system described in this application can be a communication system based on orthogonal frequency division multiplexing (OFDM) and / or time division multiplexing (TDM), or a communication system or communication and sensing system based on frequency modulated continuous waveform (FMCW).

[0107] For ease of understanding, the technical terms involved in the embodiments of this application are briefly introduced below:

[0108] 1. Sensing Node: A communication device used for sensing, which may include a transmitter (Tx), a receiver (Rx), or a transceiver integrated communication device.

[0109] 2. Transmitter: A communication device that transmits communication signals and / or sensing signals (SS), also known as a transmitting node or transmitting device.

[0110] 3. Receiver: A communication device that receives the echo signal of communication signals and / or sensing signals; it may also be called a receiving node or receiving device.

[0111] 4. Sensing Signal: This refers to the radio frequency signal used to sense the environment or target. SS can be a sensing reference signal (SERS), a positioning reference signal (PRS), or a sounding reference signal (SRS), etc. Sensing signals can be transmitted in the form of beams.

[0112] 5. Echo signal (ES): refers to the signal after the sensing signal has been transmitted, reflected or scattered. The sensing result can be determined by measuring the echo signal, which can be received by beamforming.

[0113] 6. Beam: A beam is a communication resource. A beam can be wide, narrow, or other types of beams. The technology used to form a beam can be beamforming technology or other techniques. Beamforming technology can specifically be digital beamforming technology, analog beamforming technology, and hybrid digital or analog beamforming technology. Different beams can be considered different resources. The beam used to transmit signals can be called the transmission beam (Tx beam), and the beam used to receive signals can be called the reception beam (Rx beam). The transmission beam refers to the distribution of signal strength in different directions in space after the signal is transmitted through the antenna, and the reception beam refers to the distribution of signal strength in different directions in space of the wireless signal received from the antenna.

[0114] 7. Central node: refers to the communication device that configures sensing parameters for the transmitting end or receiving end of the sensing signal, and / or the communication device that summarizes the sensing results.

[0115] 8. Perception Area: Also known as the Region of Interest (ROI), it typically refers to the area defined by the central node where perception measurements will be performed. The perception area usually includes the perception target. The perception target refers to objects in the environment, such as buildings, vehicles, or other objects.

[0116] 9. Sensing result (SR): refers to the result of sensing the target calculated from the echo signal, such as the position, material boundary, or scattering coefficient of the sensing target.

[0117] 10. Joint Sensing: This refers to multiple sensing nodes jointly sensing the ROI. The sensing results from each node are typically fused at a central node to obtain a unified sensing result. This reduces sensing uncertainty and improves sensing performance. The sensing signals used by multiple sensing nodes in joint sensing can be coherent or incoherent. Cooperation using coherent signals is called coherent cooperation, while cooperation using incoherent signals is called incoherent cooperation.

[0118] 11. Coherent signal: A signal that satisfies the coherence condition, which includes at least one of the following: same vibration direction, same vibration frequency, same phase, or constant phase difference.

[0119] 12. Non-coherent signal: A signal that does not meet the coherence condition, that is, the vibration direction, vibration frequency, phase or phase difference are all different.

[0120] 13. Coherent Cooperation: When multiple sensing nodes jointly sense, if the signals from the multiple sensing nodes satisfy the coherence condition, then it is considered coherent cooperation. Coherent cooperation can effectively enhance the resolution and signal-to-noise ratio (SNR) gain of sensing, but it requires phase-level synchronization among multiple sensing nodes, and the fusion is greatly affected by anisotropic scattering, making it difficult to achieve.

[0121] 14. Incoherent Cooperation: When multiple sensing nodes perform joint sensing, if the signals from the multiple sensing nodes do not meet the coherence condition, it is considered incoherent cooperation. Although incoherent cooperation has lower resolution and signal-to-noise ratio gains than coherent cooperation, it has lower requirements for multiple sensing nodes. It does not require multiple sensing nodes to operate in the same frequency band or to be phase synchronized. It is also less affected by anisotropic scattering, making it more suitable for joint sensing scenarios.

[0122] The sensing method provided in this application can be applied to joint sensing scenarios, which refer to multiple sensing nodes sensing the same sensing area, and then the multiple sensing nodes sending their respective determined sensing results to the central node, which then fuses the multiple sensing results to reduce the uncertainty of sensing and improve sensing performance.

[0123] The joint sensing scenario can be a dual-base joint sensing scenario, a single-base joint sensing scenario, or a hybrid dual-base and single-base joint sensing scenario. A dual-base joint sensing scenario refers to a transceiver-transmitter joint sensing scenario, where the transmitter of the sensing signal and the receiver of the echo signal are not the same communication device. A single-base joint sensing scenario refers to a transceiver-integrated joint sensing scenario, where the transmitter of the sensing signal and the receiver of the echo signal belong to the same communication device; a single-base joint sensing scenario can also be called a self-sensing scenario. A hybrid dual-base and single-base joint sensing scenario refers to a scenario in which the communication devices participating in the joint sensing include both transceiver-integrated and transceiver-separated communication devices.

[0124] The dual-base joint sensing scenario can be understood by referring to Figure 1A. As shown in Figure 1A, this dual-base joint sensing scenario includes two transmitters, four receivers, a first sensing area (the area where the buildings are located in Figure 1A), and a central node. The two transmitters are transmitter Tx101 and transmitter Tx102; the four receivers are receiver Rx103, receiver Rx104, receiver Rx105, and receiver Rx106; the sensing target can be various types of buildings or other objects; the central node 107 can select appropriate transmitters and receivers for the first sensing area.

[0125] Central node 107 can initiate a joint broadcast request and broadcast the first sensing area.

[0126] Transmitter Tx101, transmitter Tx102, receiver Rx103, receiver Rx104, receiver Rx105 and receiver Rx106 can all send relevant parameters indicating the sensing performance of the first sensing area to the central node 107 based on their own parameters and their positional relationship with the first sensing area.

[0127] The central node 107 can determine the nodes participating in joint sensing based on the relevant parameters of the sensing performance of the first sensing area reported by transmitters Tx101 and Tx102, and receivers Rx103, Rx104, Rx105, and Rx106. For example, if the central node 107 selects transmitters Tx101 and Tx102, and receivers Rx103 and Rx105 to participate in joint sensing, it will send sensing configuration parameters to these three nodes. Transmitters Tx101 and Tx102, and receivers Rx103 and Rx105 can then perform joint sensing of the first sensing area based on these sensing configuration parameters. The specific process can be as follows:

[0128] The transmitter Tx101 transmits a sensing signal SS1, and the echo signal ES1 generated by SS1 after passing through the building is received by the receiver Rx103.

[0129] Transmitter Tx102 transmits SS2, and SS2 generates ES2 after passing through a building, which is received by receiver Rx103; transmitter Tx102 transmits SS3, and SS3 generates ES3 after passing through a building, which is received by receiver Rx105.

[0130] It should be noted that SS2 and SS3 can be sensing signals emitted from the same transmitting beam. However, sensing signals within the range of this transmitting beam will produce echo signals in different directions when encountering buildings at different locations, such as ES2 and ES3. Echo signals in different directions can be received by different receiving terminals. Of course, SS2 and SS3 can also be sensing signals in different beams of the transmitting terminal Tx102.

[0131] In a dual-base joint sensing scenario, the echo signals generated by sensing signals transmitted from the same transmitter can be received by different receivers, such as ES2 being received by receiver Rx103 and ES3 being received by receiver Rx105. Echo signals generated by sensing signals transmitted from different transmitters can also be received by the same receiver, such as ES1 and ES2 being received by receiver Rx103. Of course, the echo signals generated by sensing signals transmitted from the same transmitter can also be received by only one receiver. This application does not limit the correspondence between transmitters and receivers; it is related to the number of transmitters or receivers within a certain area. In either case, the receiver can determine the sensing result based on its received echo signals. Alternatively, the receiver can send relevant data from the received echo signals to other communication devices for them to determine the sensing result.

[0132] The receiving end will send the determined sensing signal SR to the central node 107. For example, the receiving end Rx103 sends SR1 to the central node, and the receiving end Rx105 sends SR2 to the central node 107. The central node 107 will fuse SR1 and SR2 to determine the fused sensing result, thereby reducing the uncertainty of sensing and improving sensing performance.

[0133] The single-base joint sensing scenario can be understood by referring to Figure 1B. As shown in Figure 1B, this single-base joint sensing scenario may include four measurement nodes, a central node 107, and a first sensing area (the area where the building is located in Figure 1B). The four measurement nodes are measurement node 111, measurement node 112, measurement node 113, and measurement node 114. The measurement nodes can both transmit sensing signals and receive echo signals. The central node 107 can select appropriate sensing nodes for the first sensing area.

[0134] Central node 107 can initiate a joint broadcast request and broadcast the first sensing area.

[0135] Measurement nodes 111, 112, 113, and 114 can all send relevant parameters to the central node 107, based on their own parameters and their positional relationship with the first sensing area, to indicate the sensing performance of the first sensing area.

[0136] The central node 107 can determine the nodes participating in joint sensing based on the relevant parameters of the sensing performance of the first sensing area reported by measurement nodes 111, 112, 113, and 114. For example, if the central node 107 selects measurement nodes 111 and 113 to participate in joint sensing, it sends sensing configuration parameters to measurement nodes 111 and 113. Measurement nodes 111 and 113 can then perform joint sensing of the first sensing area based on the sensing configuration parameters. The specific process can be as follows:

[0137] Measurement node 111 transmits SS1, receives ES1, and determines the sensing result SR1 based on ES1; measurement node 113 transmits SS2, receives ES2, and determines the sensing result SR2 based on ES2; measurement node 111 sends SR1 to central node 107, and measurement node 113 sends SR2 to central node 107. Central node 107 can fuse SR1 and SR2 to determine the fused sensing result, thereby reducing sensing uncertainty and improving sensing performance.

[0138] The combined dual-base and single-base sensing scenario can be understood by referring to Figure 1C. As shown in Figure 1C, this combined dual-base and single-base sensing scenario includes a transmitter Tx101, a transmitter Tx102, a measurement node 111, receivers Rx104, Rx105, and Rx106, and a central node 107. The area where the building is located in Figure 1C is the first sensing area. The central node 107 can select suitable transmitters and receivers for the first sensing area. The measurement node 111 can act as both a transmitter and a receiver; it can receive the echo signal corresponding to its own transmitted sensing signal, as well as the echo signal corresponding to sensing signals transmitted by other transmitters.

[0139] Central node 107 can initiate a joint broadcast request and broadcast the first sensing area.

[0140] Transmitter Tx101, transmitter Tx102, measurement node 111, receiver Rx104, receiver Rx105 and receiver Rx106 can all send relevant parameters indicating the sensing performance of the first sensing area to the central node 107 based on their own parameters and their positional relationship with the first sensing area.

[0141] The central node 107 can determine the nodes participating in joint sensing based on the relevant parameters of the sensing performance of the first sensing area reported by the transmitter Tx101, transmitter Tx102, measurement node 111, receiver Rx104, receiver Rx105, and receiver Rx106. For example, if the central node 107 selects transmitter Tx101, transmitter Tx102, measurement node 111, and receiver Rx105 to participate in joint sensing, it sends sensing configuration parameters to transmitter Tx101, transmitter Tx102, measurement node 111, and receiver Rx105. Transmitter Tx101, transmitter Tx102, measurement node 111, and receiver Rx105 can then perform joint sensing of the first sensing area based on the sensing configuration parameters. The specific process can be as follows:

[0142] The transmitter Tx101 transmits a sensing signal SS1, and the echo signal ES1 generated by SS1 after passing through the building is received by the measurement node 111.

[0143] Transmitter Tx102 transmits SS2, and the ES2 generated by SS2 passing through the building is received by measurement node 111; transmitter Tx102 transmits SS3, and the ES3 generated by SS3 passing through the building is received by receiver Rx105.

[0144] Measurement node 111 transmits SS4, receives ES4, and determines the sensing result SR1 based on ES1, ES2, and ES4.

[0145] The receiving end Rx105 sends SR2 to the central node 107. The central node 107 will fuse SR1 and SR2 to determine the fused perception result, thereby reducing the uncertainty of perception and improving perception performance.

[0146] In the scenarios described in Figures 1A to 1C above, the central node may participate in joint sensing as a sensing node or may not participate in joint sensing; this application does not impose any restrictions on this.

[0147] In the scenarios described in Figures 1A to 1C above, there are multiple receivers, transmitters, or measurement nodes. In fact, there can be only one receiver, transmitter, or measurement node. Measurements of different positions in the first sensing area can be achieved by adjusting the angle of the receiver, transmitter, or measurement node. Therefore, this application does not limit the number of receivers, transmitters, or measurement nodes, and there can be one or more.

[0148] In the scenarios described in Figures 1A to 1C above, the receiving end, transmitting end, or measuring node can all be referred to as a sensing node. The receiving end, transmitting end, and measuring node can all be terminal devices or access network devices, and the central node can also be a terminal device or access network device. This application does not limit the specific form of the receiving end, transmitting end, measuring node, and central node shown in Figures 1A to 1C above.

[0149] The terminal equipment and access network equipment of this application are described below.

[0150] The terminal device can be a wireless terminal device capable of receiving scheduling and instruction information from access network devices. The wireless terminal device can be a device that provides voice and / or data connectivity to the user, a handheld device with wireless connectivity, another processing device connected to a wireless modem, or a device with sensing capabilities.

[0151] Terminal equipment, also known as user equipment (UE), mobile station (MS), or mobile terminal (MT), is a device that includes wireless communication and / or sensing functions (providing voice or data connectivity to the user). Examples include handheld devices with wireless connectivity or in-vehicle devices. Currently, some examples of terminal equipment include: mobile phones, tablets, laptops, PDAs, drones, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in vehicle-to-everything (V2X) communication, wireless terminals in self-driving cars, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, and wireless terminals in smart homes. For example, wireless terminals in the Internet of Vehicles (IoV) can be in-vehicle equipment, vehicle-mounted equipment, in-vehicle modules, and vehicles themselves. Wireless terminals in industrial control can be cameras, robots, etc. Wireless terminals in smart homes can be televisions, air conditioners, robot vacuums, speakers, set-top boxes, etc.

[0152] Access network equipment is a device deployed in a radio access network (RAN) that provides wireless communication and / or sensing functions to terminal devices. For example, an access network device can be a RAN node that connects terminal devices to a wireless network. Access network equipment can also be a device deployed in a RAN that can communicate with other access network devices and provide wireless communication and / or sensing functions between access network devices.

[0153] Access network equipment includes, but is not limited to: evolved Node B (eNB), radio network controller (RNC), Node B (NB), base station controller (BSC), base transceiver station (BTS), home base station (e.g., home evolved Node B, or home Node B, HNB), baseband unit (BBU), access point (AP), wireless relay node, wireless backhaul node, transmission point (TP), or transmission and reception point (TRP) in wireless fidelity (WIFI) systems, and can also be access network equipment in 5G mobile communication systems. For example, a next-generation NodeB (gNB), transmission reception point (TRP), or transmission point (TP) in a new radio (NR) system; or one or a group of antenna panels (including multiple antenna panels) of a base station in a 5G mobile communication system; or, access network equipment can also be network nodes constituting a gNB or transmission point. For example, a baseband unit (BBU) or a distributed unit (DU), etc.

[0154] In some deployments, a gNB may include a centralized unit (CU) and a dedicated unit (DU). The gNB may also include an active antenna unit (AAU). The CU implements some of the gNB's functions, and the DU implements others. For example, the CU handles non-real-time protocols and services, implementing radio resource control (RRC) and packet data convergence protocol (PDCP) layer functions. The DU handles physical layer protocols and real-time services, implementing radio link control (RLC), media access control (MAC), and physical (PHY) layer functions. The AAU implements some physical layer processing functions, radio frequency processing, and active antenna-related functions. Information from the RRC layer ultimately becomes information from the PHY layer, or is derived from PHY layer information. Therefore, in this architecture, higher-layer signaling (such as RRC layer signaling) can be considered to be sent by the DU, or by both the DU and AAU. It is understood that access network equipment can be one or more of the following: CU nodes, DU nodes, and AAU nodes. In addition, the CU can be classified as an access network device in the radio access network (RAN) or as an access network device in the core network (CN), and this application does not limit this.

[0155] The application scenarios of this application have been introduced above. The following describes the sensing method provided by the embodiments of this application in conjunction with the interaction process of the first communication device and the second communication device.

[0156] In this application, the first communication device can be the central node in the aforementioned joint sensing scenario. The second communication device can be a transmitter or receiver of the echo signal, or a sensing node integrating transceiver functions, etc. The second communication device can be an access network device, a terminal device, or a chip in the access network device or a chip in the terminal device.

[0157] As shown in Figure 2, the sensing method provided in this application embodiment includes:

[0158] S201. The second communication device sends a first parameter to the first communication device. Correspondingly, the first communication device receives a first parameter from at least one second communication device.

[0159] The first parameter is used to indicate the first pattern, which is either a spatial frequency domain pattern or a wavenumber domain pattern. The first pattern is used to indicate the sensing performance of the second communication device on the first sensing area. In this application, the spatial frequency domain pattern refers to a pattern formed by multiple points in the spatial frequency domain; the wavenumber domain pattern refers to a pattern formed by multiple points in the beam domain.

[0160] In this application, there may be one or more second communication devices. When there are multiple second communication devices, each second communication device will send a first parameter. Because the second communication devices are located at different positions, different second communication devices have different sensing capabilities for the first sensing area. The second communication device can determine the first parameter based on its own position and the positional relationship between the first sensing area and the first sensing area.

[0161] In this application, the spatial frequency domain is obtained by performing a Fourier transform (FT) on the spatial domain. Taking a two-dimensional scene as an example, the transformation from the spatial domain to the spatial frequency domain can be understood by referring to Figure 3A. Figure 3A shows the transformation process from the spatial domain to the spatial frequency domain for the integrated transceiver sensing node 1. In the two-dimensional coordinate system of the spatial domain, the horizontal axis x represents the horizontal position information, the vertical axis y represents the vertical position information, and the coordinates of the origin (0,0) represent the center of the first sensing area. The coordinates of each antenna of sensing node 1 can be represented as (x,y), f T f represents the transmit carrier of sensing node 1. R The received carrier of sensing node 1 is represented by β1 and β2, respectively, formed by the lines connecting the two antennas on the edge of sensing node 1 to the center of the first sensing area and the y-axis.

[0162] The process of transforming the spatial domain to the spatial frequency domain, as shown in Figure 3A, can be as follows: Perform a Fourier transform on the data in the spatial domain to first transform it to the wavenumber domain. Because the wavenumber domain and the spatial frequency domain satisfy a linear relationship, a coordinate system transformation can then be used to transform the wavenumber domain back to the spatial frequency domain. Taking an antenna located at (x,y) in the spatial domain as an example, the transformation process can be as follows: The echo signal U(x,y) received by the antenna located at (x,y) in the spatial domain, after transformation to the wavenumber domain, takes the following form:

[0163] A(k x ,k y )=∫∫U(x,y)exp[-j2π(xk x +yk y )]dxdy;

[0164] Where A(k) x ,k y Let k be the representation of the echo signal U(x,y) in the wavenumber domain. x Let k be the wave number in the x-direction. yLet y be the wave number in the y-direction.

[0165] The wavenumber domain and the spatial frequency domain satisfy a linear relationship, that is:

[0166] Where c is the speed of light, f x f is the spatial frequency in the x-direction. y The spatial frequency is in the y-direction.

[0167] As shown in Figure 3A, the coordinates of a point in the spatial frequency domain are (f x ,f y Then, the coordinates (x, y) of each antenna in the spatial domain are converted into the point coordinates (f) in the spatial frequency domain. x ,f y The process can be understood by referring to the following relationship:

[0168] f x =fcosα;

[0169] f y =fcosβ;

[0170] Where c is the speed of light, α is the angle between the line connecting the antenna (x,y) to the center of the first sensing area (the origin of the spatial coordinate system) and the x-axis; β is the angle between the line connecting the antenna (x,y) to the center of the first sensing area (the origin of the spatial coordinate system) and the y-axis; f is the carrier wave, which can be f_carrier during transmission. T During the receiving process, f can be used. R Furthermore, in the spatial coordinate system, Where β = 90° - α, therefore, cosβ = sinα, or in other words, cosα 2 +cosβ 2 =1.

[0171] It can also be seen from this that the spatial frequency in the spatial frequency domain of this application refers to the components of the carrier frequency along different directions.

[0172] It should be noted that when the sensed signal or echo signal is a single-frequency signal, f is a single value, and its corresponding (f x ,f y In spatial frequency, f is a single coordinate. When the sensed signal or echo signal is a broadband signal, f has a certain bandwidth. When f is a set of discrete frequencies, its corresponding (f x ,f y In the spatial frequency domain, it is a set of coordinates.

[0173] Figure 3A above illustrates the spatial-to-spatial-frequency domain transformation process in a transceiver integrated scenario. For the spatial-to-spatial-frequency domain transformation process in a transceiver separated scenario, please refer to Figure 3B for understanding.

[0174] The process in Figure 3B can be largely understood by referring to the process in Figure 3A, with the difference being that the transmitting end transmits the sensing signal, and the receiving end receives the echo signal. The angles formed by the lines connecting the two antennas on the edge of the transmitting end to the center of the first sensing area and the y-axis are β1 and β2, respectively. The angles formed by the lines connecting the two antennas on the edge of the receiving end to the center of the first sensing area and the y-axis are β3 and β4, respectively. T f represents the transmit carrier at the transmitting end. R This indicates the received carrier at the receiving end.

[0175] Furthermore, the coordinates of a point in the spatial frequency domain, that is, the spatial frequency (f) represented by that point. x ,f y ) and the transmitting antenna (x) T ,y T ), and the receiving antenna (x) R ,y R The following relationship exists between them:

[0176] f x =f xT -f xR ;

[0177] f y =f yT -f yR ;

[0178] in,

[0179] As shown in Figures 3A and 3B above, by transforming the physical quantities such as the position, frequency, and relationship with the first sensing area of ​​the sensing node, receiver, or transmitter to the wavenumber domain or spatial frequency domain, coordinates (f) of the same dimension can be obtained. x f y ) or (k x k y Furthermore, the coverage area (area) of points corresponding to the spatial domain in the wavenumber domain or spatial frequency domain can reflect the sensing performance of the sensing node, receiver, or transmitter over the first sensing area. The pattern formed by points 301 to 306 in the wavenumber domain or spatial frequency domain of Figures 3A and 3B can indicate the sensing performance of the sensing node, receiver, or transmitter over the first sensing area.

[0180] Because in a joint sensing scenario, there will be many sensing nodes, receivers or transmitters participating in the sensing of the first sensing area, many patterns may be formed in the wavenumber domain or spatial frequency domain. To facilitate comparison, taking the spatial frequency domain as an example, based on Figure 3B, the coverage area of ​​the spatial frequency domain can be decarrierized and shifted to the center of the spatial frequency domain to obtain the spatial frequency domain shown in Figure 3C.

[0181] In this application, the sensing performance of the sensing node, receiver, or transmitter over the first sensing area may include at least one of resolution, unambiguous region, or signal-to-noise ratio gain.

[0182] Taking the spatial frequency domain as an example, in multi-sensor joint sensing, the relationship between the resolution of cooperative sensing and spatial frequency can be expressed as:

[0183] Where, ρ x ρ represents the resolution in the x-direction of cooperative perception. y This represents the resolution in the y-direction of the cooperative perception.

[0184] The relationship between the unambiguous region of cooperative perception and spatial frequency can be expressed as:

[0185] Where, d x The unambiguous interval in the x-direction representing cooperative perception; d y Δf represents the unambiguous interval in the y-direction of cooperative perception. x Δf represents the interval of frequency points in the spatial frequency domain in the x-direction of cooperative perception. y This represents the interval between frequency points in the spatial frequency domain along the y-direction of cooperative perception.

[0186] Regarding the signal-to-noise ratio gain in the spatial frequency domain and f x and f y The relationship can be in the following ways:

[0187] When the multiple sensing nodes are coherent, the signal-to-noise ratio gain can be expressed as SNR = 10 * log(N). c (f x ,f y )), where N c (f x ,f y ) represents the number of sampling points in the entire spatial frequency domain pattern formed by the combination of coherent sensing nodes, i.e., how many groups (f) are there in total. x ,f y ).

[0188] When the multiple sensing nodes are incoherent, the signal-to-noise ratio gain can be expressed as SNR = 10 * log(N). n (node)), where N n (node) represents the number of incoherent sensing nodes, which is the same as the number of spatial frequency domain patterns.

[0189] When the multiple sensing nodes are a mixture of incoherent and incoherent signals, the signal-to-noise ratio gain can be expressed as SNR = 10 * log(n c (fx ,f y ))+10*log(n n (node)), where n c (f x ,f y ) represents the number of sampling points in the entire spatial frequency domain pattern formed by the combination of coherent sensing nodes in a multi-sensor node system, n. n (node) represents the number of remaining incoherent sensing nodes in the multi-sensor node network.

[0190] S202. The first communication device determines the first pattern according to the first parameter.

[0191] In one optional embodiment, the first parameter includes the coordinates of multiple points in the spatial frequency domain or wavenumber domain, which form a first pattern. The first pattern can be understood with reference to 301 to 306 in Figures 3A to 3C. In this case, the transformation process from the spatial domain to the wavenumber domain or spatial frequency domain is performed by the second communication device.

[0192] It should be noted that the first parameter may include the coordinates of all points in the first pattern, or it may include the coordinates of points on the edges of the first pattern, as long as it can indicate the first pattern. This application does not limit the number of coordinates in the first parameter. In this optional embodiment, the first communication device can use the first pattern to measure the sensing performance of the second communication device on the first sensing area, improving the accuracy and reliability of the second communication device in selecting the first sensing area for sensing. Moreover, the parameters transmitted by the second communication device to the first communication device are the coordinates of points in the spatial frequency domain or wavenumber domain. The actual physical parameters of the second communication device, such as bandwidth, antenna aperture, distance from the sensing area, or the location of the second communication device, cannot be deduced from these coordinates, which can protect data privacy and improve the security of data transmission.

[0193] In another optional embodiment, the first parameter includes at least one of the following: carrier wave, bandwidth, antenna position information of the second communication device, or position information of the first sensing area. This at least one piece of information is used to determine the first pattern. In this case, the transformation process from the spatial domain to the wavenumber domain or spatial frequency domain needs to be completed by the first communication device. That is, the first communication device can refer to the principles and processes described in Figures 3A to 3C above to perform the transformation to obtain the carrier wave, bandwidth, antenna position information in the spatial domain, or the coordinates of the position information of the first sensing area in the wavenumber domain or spatial frequency domain, thereby obtaining, for example, the first pattern shown in Figures 301 to 306 in Figures 3A to 3C.

[0194] S203. The first communication device determines the second communication device participating in sensing the first sensing area based on the first pattern corresponding to each of the at least one second communication device.

[0195] In this application, when selecting a second communication device to participate in sensing, the first communication device can select it according to the principle of maximum coverage. There are several possible situations regarding the principle of maximum coverage, which will be described below.

[0196] 1. The first communication device does not participate in sensing. M second communication devices are selected to jointly sense the first sensing area, where M > 1 and M is an integer;

[0197] In this case, the union of the areas of the first patterns of the M second communication devices is the largest of the first unions; where the first union is the union of the areas of any M first patterns among all the second communication devices. Here, "area of ​​the first pattern" refers to the area of ​​the first pattern.

[0198] In this embodiment, the selection process for the M second communication devices can be understood with reference to Figure 4A. As shown in Figure 4A, the first communication device receives the first parameters from the four second communication devices, namely parameter 1, parameter 2, parameter 3, and parameter 4. The correspondence between these four second communication devices and the four parameters can be understood with reference to Table 1.

[0199] Table 1: Correspondence between the second communication device and the first parameter

[0200] After receiving the four parameters from the four second communication devices, the first communication device will take the example of the first parameters including the coordinates of multiple points in the spatial frequency domain or wavenumber domain. Based on the four first parameters, the first communication device can determine the four first patterns in Figure 4A, namely pattern 405, pattern 406, pattern 407, and pattern 408. The correspondence between these four patterns and the first parameters, and further, with the second communication devices, can be understood by referring to Table 2.

[0201] Table 2: Correspondence between the first pattern and the first parameter

[0202] From the four patterns shown in Figure 4A, if M=2, the four patterns can be combined in pairs. It can be determined that the union of the areas of pattern 405 and pattern 407 is the largest. Then, the second communication device 401 corresponding to pattern 405 and the second communication device 403 corresponding to pattern 407 can be selected for joint sensing of the first sensing area.

[0203] In this possible embodiment, since the area of ​​the first pattern indicates the sensing performance of the second communication device for the first sensing area, a larger area of ​​the first pattern indicates better sensing performance of the second communication device for the first sensing area. If at least two second communication devices jointly sense, a larger union of the areas of the first patterns indicates better joint sensing performance. Therefore, selecting the second communication device corresponding to the largest union of the areas of the first patterns from the first union can improve the effect of joint sensing.

[0204] 2. The first communication device participates in sensing, and then N second communication devices are selected to jointly sense the first sensing area, where N is a positive integer;

[0205] In this case, the union of the areas of the first patterns and the areas of the second patterns of the N second communication devices is the largest of the second unions; wherein, the second pattern is a spatial frequency domain pattern or a wavenumber domain pattern, the second pattern is used for at least the first communication device to perceive the first sensing area, and the second union is the union of the areas of any N first patterns and the areas of the second patterns of all the second communication devices. Here, "area of ​​the second pattern" refers to the area of ​​the second pattern.

[0206] In this embodiment, the selection process for the N second communication devices can be understood with reference to Figure 4B. As shown in Figure 4B, the first communication device receives the first parameters from the three second communication devices, namely parameter 5, parameter 6, and parameter 7. The correspondence between the three second communication devices and the three parameters can be understood with reference to Table 3.

[0207] Table 3: Correspondence between the second communication device and the first parameter

[0208] After receiving the three parameters from the three second communication devices, the first communication device will take the example of the first parameters including the coordinates of multiple points in the spatial frequency domain or wavenumber domain. Based on the three first parameters, the first communication device can determine the three first patterns in Figure 4B, namely pattern 414, pattern 415, and pattern 416. Furthermore, by performing a transformation from the spatial domain to the wavenumber domain or spatial frequency domain based on its own relevant parameters, the first communication device can determine the second pattern 417.

[0209] The correspondence between these three first patterns and first parameters, and consequently with the second communication device, can be understood by referring to Table 4.

[0210] Table 4: Correspondence between the first pattern and the first parameter

[0211] From the four patterns shown in Figure 4B, if N=1, then the second pattern 417 can be combined with patterns 414, 415, and 416 respectively. From Figure 4B, it can be determined that the union of the areas of the second pattern 417 and pattern 416 is the largest. Therefore, the second communication device 413 corresponding to pattern 416 can be selected to jointly sense the first sensing area with the first communication device.

[0212] In this possible embodiment, if the first communication device also participates in joint sensing, the union of the first pattern area and the second pattern area of ​​the N second communication devices is maximized, indicating that the joint sensing performance of the corresponding N second communication devices and the first communication device is better than other combinations. The second communication devices selected in this way can improve the effect of joint sensing.

[0213] 3. The first communication device does not participate in sensing, but only selects a second communication device to sense the first sensing area.

[0214] For the case of selecting only one second communication device, please refer to the description in part 4A of the figure. It is sufficient to select the second communication device 401 corresponding to the pattern 405 with the largest area of ​​the first pattern for sensing the first sensing area.

[0215] S204. The first communication device sends sensing configuration parameters to some or all of at least one second communication device, the sensing configuration parameters being used by some or all of the second communication devices to sense the first sensing area.

[0216] If, during the above process, the first communication device selects all the second communication devices to sense the first sensing area, then the first communication device can send sensing configuration parameters to each of the second communication devices. If only some of the second communication devices are selected, then only the sensing configuration parameters need to be sent to the selected second communication devices, such as the second communication device 401 and the second communication device 403 in Figure 4A, or the second communication device 413 in Figure 4B.

[0217] Optionally, S200 may be included before S201.

[0218] S200. The first communication device broadcasts a sensing request, which is used to request sensing of the first sensing area.

[0219] Of course, after S204, there may also be a process of the second communication device transmitting a sensing signal or receiving an echo signal, determining the sensing result, sending the sensing result to the first communication device, and the first communication device determining the joint sensing result.

[0220] In this embodiment of the application, the first communication device can notify the second communication device to report their respective first parameters by broadcasting a sensing request, thereby selecting a better second communication device for joint sensing.

[0221] As described above, in the solution provided by this application embodiment, the first communication device can select a second communication device for sensing the first sensing area from at least one second communication device based on a first pattern. This is because the first pattern indicates the sensing performance of the second communication device for the first sensing area. Therefore, the first communication device can select a second communication device with better sensing capabilities to sense (jointly sense) the first sensing area. This improves the quality of the sensing results for the first sensing area. Furthermore, under certain sensing performance requirements, only the sensing results of some second communication devices with better sensing performance need to be fused; it is not necessary for a large number of second communication devices to transmit their respective sensing results, thus reducing air interface overhead. Moreover, the first parameter transmitted by the second communication device to the first communication device is the coordinates of a point in the spatial frequency domain or wavenumber domain. The actual physical parameters of the second communication device, such as bandwidth, antenna aperture, distance from the sensing area, or the location of the second communication device, cannot be deduced from these coordinates, thus protecting data privacy and improving data transmission security.

[0222] The following example, taking the first communication device as the central node and the second communication device as a sensing node, receiver, or transmitter, illustrates several possible sensing processes involved in the embodiments of this application.

[0223] As shown in Figure 5, in a single-base joint sensing scenario based on transceiver integration, another embodiment of the sensing method provided in this application includes:

[0224] S501. Central node A broadcasts a joint sensing request and information about the first sensing area.

[0225] In this application, the information of the first sensing region can be carried in the joint sensing request or can be independent of the joint sensing request; this application does not limit this.

[0226] S502a. Sensing node B determines the coordinates of a point in the first pattern in the wavenumber domain or spatial frequency domain.

[0227] S502b. Sensing node C determines the coordinates of a point in the first pattern in the wavenumber domain or spatial frequency domain.

[0228] The process of determining the coordinates of the points of the first pattern in the wavenumber domain or spatial frequency domain by sensing node B and sensing node C can be understood by referring to the introduction in Figures 3A to 3C above.

[0229] S503a. Sensing node B sends parameter 1 to central node A. Parameter 1 includes the coordinates of multiple points in the spatial frequency domain or wavenumber domain determined by sensing node B, and the multiple points form a first pattern. Correspondingly, central node A receives the first parameter from sensing node B.

[0230] S503b. Sensing node C sends parameter 2 to central node A. Parameter 2 includes the coordinates of multiple points in the spatial frequency domain or wavenumber domain determined by sensing node C, and the multiple points form a first pattern. Correspondingly, central node A receives the first parameter from sensing node C.

[0231] S504. When the number of cooperating nodes is limited, the central node A determines the sensing nodes participating in incoherent cooperation according to the principle of maximizing the coverage of the fused wavenumber domain or spatial frequency domain.

[0232] For example: it is determined that both sensing node B and sensing node C participate in incoherent cooperation.

[0233] For an understanding of the S504 process, please refer to Figures 4A to 4B and Tables 1 to 4 above; it will not be repeated here.

[0234] S505a. Central node A sends sensing configuration parameter 1 to sensing node B. Correspondingly, sensing node B receives sensing configuration parameter 1.

[0235] S505b. Central node A sends sensing configuration parameter 2 to sensing node C. Correspondingly, sensing node C receives sensing configuration parameter 2.

[0236] S506a. Sensing node B performs sensing measurements on the first sensing area.

[0237] The process can involve sensing node B transmitting a sensing signal, receiving an echo signal, and processing the echo signal to obtain sensing result 1.

[0238] S506b. Sensing node C performs sensing measurements on the first sensing area.

[0239] The process can involve sensing node C transmitting a sensing signal, receiving an echo signal, and processing the echo signal to obtain sensing result 2.

[0240] S507a. Sensing node B sends sensing result 1 to central node A. Correspondingly, central node A receives sensing result 1.

[0241] S507b sensing node C sends sensing result 2 to central node A. Correspondingly, central node A receives sensing result 2.

[0242] S508. The central node A fuses perception result 1 and perception result 2 to obtain a fused perception result.

[0243] It should be noted that the aforementioned central node A may or may not participate in the sensing measurement; this application does not impose any restrictions on this.

[0244] The sensing scheme provided in this application embodiment transmits pattern parameters in the spatial frequency domain or wavenumber domain by sensing nodes B and C, without transmitting sensitive location coordinates. Furthermore, uniquely determined location coordinates cannot be deduced from the spatial frequency domain or wavenumber domain pattern, thus providing privacy protection benefits. In addition, sensing nodes B and C unify parameters affecting sensing performance under different dimensions (such as node aperture size, carrier, and bandwidth) into pattern parameters in the spatial frequency domain or wavenumber domain under the same dimension for sensing performance analysis, resulting in high accuracy and strong interpretability. Moreover, when the number of cooperative nodes is limited, selecting incoherent cooperative nodes according to the scheme of this application can achieve further resolution enhancement while obtaining the same SNR enhancement. Furthermore, while meeting SNR requirements, air interface overhead can be reduced by fusing data from only a subset of nodes.

[0245] As shown in Figure 6, in a single-base joint sensing scenario based on transceiver integration, another embodiment of the sensing method provided in this application includes:

[0246] S601. Central node broadcasts joint sensing request.

[0247] S602a. Sensing node A sends its parameters to the central node. Correspondingly, the central node receives the parameters from sensing node A.

[0248] The parameters of sensing node A may include at least one of the following: carrier, bandwidth, and antenna location information of sensing node A.

[0249] S602b. Sensing node B sends its parameters to the central node. Correspondingly, the central node receives the parameters from sensing node B.

[0250] S602c. Sensing node C sends its parameters to the central node. Correspondingly, the central node receives the parameters from sensing node C.

[0251] S603. The central node determines the first sensing area, and based on the parameters of sensing node A, sensing node B, and sensing node C, determines the first pattern in the wavenumber domain or spatial frequency domain corresponding to sensing node A, sensing node B, and sensing node C, respectively.

[0252] S604. When the number of cooperating nodes is limited, the central node determines the sensing nodes participating in incoherent cooperation according to the principle of maximizing the coverage of the fused wavenumber domain or spatial frequency domain.

[0253] For example: determine that sensing node A and sensing node B participate in cooperative sensing.

[0254] S605a. The central node sends sensing configuration parameter 1 to sensing node A. Correspondingly, sensing node A receives sensing configuration parameter 1.

[0255] S605b. The central node sends sensing configuration parameter 2 to sensing node B. Correspondingly, sensing node B receives sensing configuration parameter 2.

[0256] S606a. Sensing node A performs sensing measurements on the first sensing area.

[0257] The process can involve sensing node A transmitting a sensing signal, receiving an echo signal, and processing the echo signal to obtain sensing result 1.

[0258] S606b. Sensing node B performs sensing measurements on the first sensing area.

[0259] The process can involve sensing node B transmitting a sensing signal, receiving an echo signal, and processing the echo signal to obtain sensing result 2.

[0260] S607a. Sensing node A sends sensing result 1 to the central node. Correspondingly, the central node receives sensing result 1.

[0261] S607b. Sensing node B sends sensing result 2 to the central node. Correspondingly, the central node receives sensing result 2.

[0262] S608. The central node fuses perception result 1 and perception result 2 to obtain a fused perception result.

[0263] It should be noted that the aforementioned central nodes may or may not participate in sensing and measurement; this application does not impose any restrictions on this.

[0264] The sensing scheme provided in this application allows the central node to convert the spatial parameters transmitted by sensing nodes A, B, and C into pattern parameters in the spatial frequency or wavenumber domains. This unifies parameters affecting sensing performance under different dimensions (such as node aperture size, carrier wave, and bandwidth) to the same dimension for sensing performance analysis, resulting in high accuracy and strong interpretability. Furthermore, when the number of cooperating nodes is limited, selecting incoherent cooperating nodes according to this application's scheme can achieve further resolution enhancement while obtaining the same SNR enhancement. Moreover, while meeting SNR requirements, air interface overhead can be reduced by fusing data from only a subset of nodes.

[0265] As shown in Figure 7, in a dual-base joint sensing scenario based on transmit / receive separation, with the central node acting as the receiving node, another embodiment of the sensing method provided in this application includes:

[0266] S701. Central node broadcasts joint sensing request.

[0267] S702a. Transmitting node A sends its parameters to the central node. Correspondingly, the central node receives the parameters from transmitting node A.

[0268] The parameters of transmitting node A may include at least one of the following: carrier wave, bandwidth, and antenna location information of transmitting node A.

[0269] S702b. Transmitting node B sends its parameters to the central node. Correspondingly, the central node receives the parameters from transmitting node B.

[0270] S702c. Transmitting node C sends its parameters to the central node. Correspondingly, the central node receives the parameters from transmitting node C.

[0271] S703. The central node determines the first sensing area and, based on the parameters of transmitting node A, transmitting node B, and transmitting node C, determines the first pattern in the wavenumber domain or spatial frequency domain corresponding to transmitting node A, transmitting node B, and transmitting node C, respectively.

[0272] S704. When the number of cooperating nodes is limited, the central node determines the transmitting nodes to participate in incoherent cooperation according to the principle of maximizing the coverage of the fused wavenumber domain or spatial frequency domain.

[0273] For example: determine that transmitting node A and transmitting node B participate in cooperative sensing.

[0274] S705a. The central node sends sensing configuration parameter 1 to the transmitting node A. Correspondingly, the transmitting node A receives sensing configuration parameter 1.

[0275] S705b. The central node sends sensing configuration parameter 2 to the transmitting node B. Correspondingly, the transmitting node B receives sensing configuration parameter 2.

[0276] S706a. Transmitting node A performs sensing measurements on the first sensing area.

[0277] This process can involve transmitting a sensing signal from transmitting node A.

[0278] S706b. Transmitting node B performs sensing measurements on the first sensing area.

[0279] This process can involve transmitting sensing signals from transmitting node B.

[0280] S707a. The central node receives the echo signal 1.

[0281] Echo signal 1 can be the echo signal corresponding to the sensing signal transmitted by transmitting node A.

[0282] S707b. The central node receives the echo signal 2.

[0283] Echo signal 2 can be the echo signal corresponding to the sensing signal emitted by transmitting node B.

[0284] S708. The central node processes echo signal 1 and echo signal 2 to obtain fused sensing results.

[0285] The sensing scheme provided in this application allows the central node to convert the spatial parameters transmitted by transmitting nodes A, B, and C into pattern parameters in the spatial frequency or wavenumber domains. This unifies parameters affecting sensing performance under different dimensions (such as node aperture size, carrier wave, and bandwidth) to the same dimension for sensing performance analysis, resulting in high accuracy and strong interpretability. Furthermore, when the number of cooperating nodes is limited, selecting incoherent cooperating nodes according to this application's scheme can achieve further resolution enhancement while obtaining the same SNR enhancement. Moreover, while meeting SNR requirements, air interface overhead can be reduced by selecting only data from a subset of nodes for fusion.

[0286] As shown in Figure 8, in a joint sensing scenario based on a hybrid dual-base and single-base approach, with the central node acting as the receiving node, another embodiment of the sensing method provided in this application includes:

[0287] S801. The central node broadcasts a joint sensing request and the first sensing area.

[0288] S802. Transmitting node A sends its parameters to the central node. Correspondingly, the central node receives the parameters from transmitting node A.

[0289] S803a. The central node determines the first pattern in the wavenumber domain or spatial frequency domain corresponding to the transmitting node A based on the parameters of the transmitting node A.

[0290] S803b. Sensing node B determines the coordinates of a point in the first pattern in the wavenumber domain or spatial frequency domain.

[0291] S803c. Sensing node C determines the coordinates of a point in the first pattern in the wavenumber domain or spatial frequency domain.

[0292] The process of determining the coordinates of the points of the first pattern in the wavenumber domain or spatial frequency domain by sensing node B and sensing node C can be understood by referring to the introduction in Figures 3A to 3C above.

[0293] S804a. Sensing node B sends parameter 1 to the central node. Parameter 1 includes the coordinates of multiple points in the spatial frequency domain or wavenumber domain determined by sensing node B, and the multiple points form a first pattern. Correspondingly, the central node A receives the first parameter from sensing node B.

[0294] S804b. Sensing node C sends parameter 2 to the central node. Parameter 2 includes the coordinates of multiple points in the spatial frequency domain or wavenumber domain determined by sensing node C, and the multiple points form a first pattern. Correspondingly, the central node A receives the first parameter from sensing node C.

[0295] S805. When the number of cooperating nodes is limited, the central node determines the transmitting nodes to participate in incoherent cooperation according to the principle of maximizing the coverage of the fused wavenumber domain or spatial frequency domain.

[0296] For example: determine that transmitting node A and sensing node B participate in cooperative sensing.

[0297] S806a. The central node sends sensing configuration parameter 1 to the transmitting node A. Correspondingly, the transmitting node A receives sensing configuration parameter 1.

[0298] S806b. The central node sends sensing configuration parameter 2 to sensing node B. Correspondingly, sensing node B receives sensing configuration parameter 2.

[0299] S807a. Transmitting node A performs sensing measurements on the first sensing area.

[0300] This process can involve transmitting a sensing signal from transmitting node A.

[0301] S807b. Sensing node B performs sensing measurements on the first sensing area.

[0302] The process can involve sensing node B transmitting a sensing signal, receiving an echo signal, and processing the echo signal to obtain sensing result 2.

[0303] S808a. The central node receives the echo signal 1.

[0304] Echo signal 1 can be the echo signal corresponding to the sensing signal transmitted by transmitting node A.

[0305] S808b. The central node receives the sensing result 2.

[0306] S809. The central node determines the sensing result 1 based on the echo signal 1, and fuses the sensing result 1 and the sensing result 2 to obtain the fused sensing result.

[0307] The solution provided in this application integrates the processes of single-base sensing and dual-base sensing, possessing not only the advantages of single-base sensing but also the advantages of dual-base sensing, thus enriching the network structure in the sensing process.

[0308] The communication system and sensing method in the embodiments of this application have been described above. The communication device provided in the embodiments of this application will now be described. Please refer to Figure 9, which is a schematic diagram of the structure of the communication device in an embodiment of this application. The communication device 900 can be used to execute the steps in the embodiments shown in Figures 2 to 8. Please refer to the relevant descriptions in the above method embodiments for details.

[0309] The communication device 900 includes a transceiver module 901 and a processing module 902. The transceiver module 901 can implement the corresponding communication functions, and the processing module 902 is used for data processing. The transceiver module 901 can also be referred to as a communication interface or a communication unit.

[0310] Optionally, the communication device 900 may further include a storage unit, which can be used to store instructions and / or data. The processing module 902 can read the instructions and / or data in the storage unit so that the communication device can implement the aforementioned method embodiments.

[0311] The communication device 900 can be used to perform the actions in the method embodiments described above. The communication device 900 can be a terminal device or an access network device, or a component or module configurable in a terminal device or access network device. The transceiver module 901 is used to perform the receiving-related operations in the method embodiments described above, and the processing module 902 is used to perform the processing-related operations in the method embodiments described above.

[0312] Optionally, the transceiver module 901 may include a sending module and a receiving module. The sending module is used to perform the sending operation in the above method embodiments. The receiving module is used to perform the receiving operation in the above method embodiments.

[0313] It should be noted that the communication device 900 may include a transmitting module but not a receiving module. Alternatively, the communication device 900 may include a receiving module but not a transmitting module. Specifically, it depends on whether the above-described scheme executed by the communication device 900 includes both transmitting and receiving actions.

[0314] As an example, the communication device 900 is used to perform the actions shown in the embodiment of Figure 2 above.

[0315] Transceiver module 901 is used to receive a first parameter from at least one second communication device. The first parameter is used to indicate a first pattern, which is a spatial frequency domain pattern or a wavenumber domain pattern. The first pattern is used to indicate the sensing performance of the second communication device for the first sensing area.

[0316] Processing module 902 is used to determine the perception configuration parameters based on the first parameter;

[0317] The transceiver module 901 is also configured to send sensing configuration parameters to some or all of at least one second communication device, the sensing configuration parameters being used by some or all of the second communication devices to sense the first sensing area.

[0318] It should be understood that the specific process of each module performing the above-mentioned steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0319] The processing module 902 in the above embodiments can be implemented by at least one processor or processor-related circuitry. The transceiver module 901 can be implemented by a transceiver or transceiver-related circuitry. The transceiver module 901 can also be referred to as a communication unit or communication interface. The storage unit can be implemented by at least one memory.

[0320] This application embodiment also provides another communication device 1000. As shown in FIG10, the communication device 1000 includes a processor 1010, the processor 1010 being coupled to a memory 1020, the memory 1020 being used to store computer programs or instructions and / or data, and the processor 1010 being used to execute the computer programs or instructions and / or data stored in the memory 1020, so that the methods in the above method embodiments are executed.

[0321] Optionally, the communication device 1000 may include one or more processors 1010.

[0322] Optionally, as shown in FIG10, the communication device 1000 may further include a memory 1020.

[0323] Optionally, the communication device 1000 may include one or more memory 1020.

[0324] Alternatively, the memory 1020 may be integrated with the processor 1010 or set separately.

[0325] Optionally, as shown in FIG10, the communication device 1000 may further include a transceiver 1030, which is used for receiving and / or transmitting signals. For example, the processor 1010 is used to control the transceiver 1030 to receive and / or transmit signals.

[0326] As one option, the communication device 1000 is used to implement the operations described in the above method embodiments.

[0327] For example, processor 1010 is used to implement processing-related operations in the above method embodiments, and transceiver 1030 is used to implement receiving-related operations in the above method embodiments.

[0328] This application also provides a communication device 1000, which can be a terminal device, an access network device, or a chip or module in a core network device. This communication device 1000 can be used to perform the operations described in the above method embodiments.

[0329] When the communication device 1000 is a communication device, Figure 11 shows a simplified structural diagram of the communication device. As shown in Figure 11, the communication device includes a processor, a memory, and a transceiver. The memory can store computer program code, and the transceiver includes a transmitter 1031, a receiver 1032, a radio frequency circuit (not shown in the figure), an antenna 1033, and input / output devices (not shown in the figure). The processor is mainly used to process communication protocols and communication data, control the communication device, execute software programs, and process data from the software programs. The memory is mainly used to store software programs and data. The radio frequency circuit is mainly used for converting baseband signals to radio frequency signals and processing radio frequency signals. The antenna is mainly used for transmitting and receiving radio frequency signals in the form of electromagnetic waves. Input / output devices, such as touch screens, displays, and keyboards, are mainly used to receive user input data and output data to the user. It should be noted that some types of communication devices may not have input / output devices.

[0330] When data needs to be transmitted, the processor performs baseband processing on the data to be transmitted and outputs a baseband signal to the radio frequency (RF) circuit. The RF circuit then processes the baseband signal and transmits it outward as an electromagnetic wave through the antenna. When data is sent to the communication device, the RF circuit receives the RF signal through the antenna, converts it into a baseband signal, and outputs the baseband signal to the processor. The processor converts the baseband signal back into data and processes it. For ease of explanation, Figure 11 only shows one memory, processor, and transceiver. In actual communication device products, there may be one or more processors and one or more memories. The memory can also be called a storage medium or storage device, etc. The memory can be set up independently of the processor or integrated with the processor; this application embodiment does not impose any limitations on this.

[0331] In the embodiments of this application, the antenna and radio frequency circuit with transceiver function can be regarded as the transceiver unit of the communication device, and the processor with processing function can be regarded as the processing unit of the communication device.

[0332] As shown in Figure 11, the communication device includes a processor 1010, a memory 1020, and a transceiver 1030. The processor 1010 can also be called a processing unit, processing board, processing module, processing device, etc., and the transceiver 1030 can also be called a transceiver unit, transceiver, transceiver device, etc.

[0333] Optionally, the devices in transceiver 1030 used for receiving functions can be considered as receiving units, and the devices in transceiver 1030 used for transmitting functions can be considered as transmitting units. That is, transceiver 1030 includes a receiver and a transmitter. A transceiver may also be called a transceiver unit, transceiver circuit, etc. A receiver may also be called a receiver unit, receiving circuit, etc. A transmitter may also be called a transmitter, transmitting unit, or transmitting circuit, etc.

[0334] For example, in one implementation, processor 1010 is used to execute the processing actions in the embodiment shown in FIG2, and transceiver 1030 is used to execute the transmit and receive actions in FIG2. For example, transceiver 1030 is used to execute the transmit and receive operations of steps S201 and S204 in the embodiment shown in FIG2. Processor 1010 is used to execute the processing operations of steps S202 and S203 in the embodiment shown in FIG2.

[0335] It should be understood that Figure 11 is merely an example and not a limitation, and the communication device described above, including the transceiver unit and the processing unit, may not depend on the structure shown in Figure 11.

[0336] When the communication device 1000 is a chip, the chip includes a processor, a memory, and a transceiver. The transceiver can be an input / output circuit or a communication interface; the processor can be a processing unit integrated on the chip, a microprocessor, or an integrated circuit. In the above method embodiments, the transmitting operation of the communication device can be understood as the chip's output, and the receiving operation of the communication device in the above method embodiments can be understood as the chip's input.

[0337] This application also provides a computer-readable storage medium storing computer instructions for implementing the methods in the above-described method embodiments.

[0338] For example, when the computer program is executed by a computer, it enables the computer to implement the methods performed in the above method embodiments.

[0339] This application also provides a computer program product containing instructions that, when executed by a computer, cause the computer to perform the method described in the above method embodiments.

[0340] This application also provides a communication system, which includes the access network device and terminal device described in the above embodiments.

[0341] This application also provides a chip device, including a processor, for calling computer programs or computer instructions stored in a memory to cause the processor to execute the methods of the embodiments shown in Figures 2 to 8 above.

[0342] In one possible implementation, the input of the chip device corresponds to the receiving operation in the embodiments shown in Figures 2 to 8, and the output of the chip device corresponds to the transmitting operation in the embodiments shown in Figures 2 to 8.

[0343] Optionally, the processor is coupled to the memory via an interface.

[0344] Optionally, the chip device may also include a memory that stores computer programs or computer instructions.

[0345] The processor mentioned above can be a general-purpose central processing unit, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits used to control the execution of a program for controlling the methods of the embodiments shown in Figures 2 to 8. The memory mentioned above can be read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, such as random access memory (RAM).

[0346] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the explanations and beneficial effects of the relevant content in any of the communication devices provided above can be referred to the corresponding method embodiments provided above, and will not be repeated here.

[0347] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0348] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0349] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0350] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0351] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the essential contribution of the technical solution of this application, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or an access network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory, random access memory, magnetic disks, or optical disks.

Claims

1. A perception method, comprising: The method is applied to a first communication device, and comprises: receiving a first parameter from at least one second communication device, the first parameter being used to indicate a first pattern, the first pattern being a spatial frequency domain pattern or a wave number domain pattern, the first pattern being used to indicate sensing performance of the second communication device on a first sensing area; sending a sensing configuration parameter to part or all of the at least one second communication device, the sensing configuration parameter being used for the part or all of the second communication device to sense the first sensing area.

2. The method of claim 1, wherein, The first parameter comprises coordinates of a plurality of points in a spatial frequency domain or a wave number domain, the plurality of points forming the first pattern.

3. The method of claim 1, wherein, The first parameter comprises at least one of carrier, bandwidth, antenna position information of the second communication device, or position information of the first sensing area, the at least one being used to determine the first pattern.

4. The method according to any one of claims 1 to 3, characterized in that, The sensing performance comprises at least one of resolution, unambiguous interval, or signal-to-noise ratio gain.

5. The method according to any one of claims 1 to 4, characterized in that, The union of the first pattern areas of the part of the second communication devices conforms to a maximum coverage principle, a center of the first pattern being a center of the spatial frequency domain or the wave number domain.

6. The method of claim 5, wherein, The maximum coverage principle is that the part of the second communication devices has M, and a union of the first pattern areas of the M second communication devices is the largest in a first union; wherein the first union is a union of any M first pattern areas of the all second communication devices, M>1, and M is an integer.

7. The method of claim 5, wherein, The maximum coverage principle is that the part of the second communication devices has N, and a union of the first pattern area and a second pattern area of the N second communication devices is the largest in a second union; wherein the second pattern is a spatial frequency domain pattern or a wave number domain pattern, the second pattern being used to sensing performance of the first sensing area by at least the first communication device, the second union being a union of any N first pattern area and the second pattern area of the all second communication devices, N being a positive integer.

8. The method of claim 5, wherein, The sending of the sensing configuration parameter to the part or all of the at least one second communication device comprises: sending the sensing configuration parameter to one second communication device, the first pattern of the one second communication device being the largest in area among the first patterns of the all second communication devices.

9. A perception method comprising: comprises: sending a first parameter to a first communication device, the first parameter being used to indicate a first pattern, the first pattern being a spatial frequency domain pattern or a wave number domain pattern, the first pattern being used to indicate sensing performance of a second communication device on a first sensing area; receiving a sensing configuration parameter from the first communication device, the sensing configuration parameter being used for the second communication device to sense the first sensing area.

10. The method of claim 9, wherein, The first parameter comprises coordinates of a plurality of points in a spatial frequency domain or a wave number domain, the plurality of points forming the first pattern.

11. The method of claim 9, wherein, The first parameter comprises at least one of carrier, bandwidth, antenna position information of the second communication device, or position information of the first sensing area, the at least one being used to determine the first pattern.

12. The method according to any one of claims 9-11, characterized in that, The perceptual performance includes at least one of resolution, unambiguous range, or signal-to-noise gain.

13. A communications device, characterized by Comprising: a transceiver module and a processing module, the transceiver module is configured to perform the transmitting step or the receiving step in the method of any one of claims 1-12; the processing module is configured to perform the steps in the method of any one of claims 1-12 other than the transmitting step and the receiving step.

14. A communication device, characterized in that, comprising at least one processor coupled with a memory; the memory is configured to store a program or instructions; the at least one processor is configured to execute the program or instructions to cause the apparatus to implement the method of any one of claims 1-12.

15. A chip device, characterized by comprising a processor configured to invoke a program stored in a memory to cause the processor to perform the method of any one of claims 1-12.

16. The chip device of claim 15, wherein, the chip apparatus further comprises the memory.

17. A computer-readable storage medium, characterized in that, the computer readable storage medium stores program instructions that, when executed, cause the method of any one of claims 1-12 to be performed.

18. A computer program product comprising program instructions, characterized in that, the program instructions, when executed on a computer, cause the computer to perform the method of any one of claims 1-12.

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