Communication method, and apparatus

Abstract

A communication method and an apparatus, which are applicable to sensing or integrated sensing and communication scenarios, and can improve the sensing performance. The method comprises: a first device sends a first signal, and a second device receives the first signal and determines second information on the basis of the first signal; and the second device sends a second signal, and the first device receives the second signal and determines first information on the basis of the second signal. The first signal is associated with the second signal. The first information comprises first Doppler information. The second information comprises information of M frequencies, the M frequencies are Doppler frequencies of M paths, and the M paths are first M paths having the strongest received power or amplitude between the first device and the second device and are determined by the second device on the basis of the first signal; or the M frequencies are frequencies corresponding to first M local peaks having the strongest received power or amplitude among local peaks within a second Doppler spectrum, and the second Doppler spectrum is determined on the basis of the first signal. A fourth device may determine a sensing result on the basis of the first information and the second information.

Description

Communication method and apparatus

[0001] This application claims priority to the Chinese Patent Application No. 202410728255.3, filed on June 5, 2024, and entitled "Communication method and apparatus", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

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

[0003] Bi-static sensing is an important sensing mode in wireless sensing. In bi-static sensing, one device transmits a signal, and another device receives the signal and senses the surrounding environment based on the received signal. For example, the receiving device measures a frequency domain channel response from the received signal, and the frequency domain channel response is closely related to the surrounding environment, such as the position of objects in the environment, the movement of objects, which will affect the frequency domain channel response, so that the receiving device can sense the surrounding environment according to the frequency domain channel response.

[0004] However, in general, there is a carrier frequency offset (CFO) between the transmitting end and the receiving end, and the CFO will cause a frequency shift in the Doppler spectrum corresponding to the frequency domain channel response obtained by the receiving device, thereby affecting the sensing performance. SUMMARY

[0005] The present application provides a communication method and apparatus, which can improve the sensing performance.

[0006] In a first aspect, a communication method is provided. The method can be performed by a fourth device, or by a component of the fourth device, such as a processor, a chip, or a chip system of the fourth device, or by a logic module or software that can realize all or part of the functions of the fourth device. The method comprises: obtaining first information comprising first Doppler information, the first Doppler information being determined by a first device based on a second signal transmitted by a second device; obtaining second information comprising information of M frequencies, wherein the M frequencies are Doppler frequencies of M vanes, the M vanes being the first M vanes with the strongest received power or amplitude between the first device and the second device determined by the second device based on a first signal transmitted by the first device, or the M frequencies being frequencies corresponding to the first M local peaks with the strongest received power or amplitude in local peaks of a second Doppler spectrum, the second Doppler spectrum being determined by the second device based on the first signal, M being a positive integer; the first signal is associated with the second signal; and determining a sensing result based on the first information and the second information.

[0007] Based on the scheme, the first device and the second device respectively serve as a sender to send a signal to the other party, such as the first device sending a first signal to the first device and the second device sending a second signal to the first device, so that the first device can determine the first Doppler information based on the second signal, and the second device can determine the information of M frequencies between the first device and the second device based on the second signal. Since in the scenario of double-end round signaling, the Doppler-related information (such as Doppler spectrum offset, Doppler frequency offset, etc.) corresponding to the two signals is offset relative to the true situation, the direction is opposite, and the size is the same, therefore, the M frequency information sent by the second device can be used for calibration of the first Doppler information, and the fourth device can estimate the true Doppler-related information when there is no CFO based on the first Doppler information determined by the first device and the M frequency information determined by the second device, or in other words, can eliminate the influence of CFO on the Doppler-related information, thereby improving the sensing performance.

[0008] In a possible design, the first Doppler information includes at least one of the following associated with part or all of the O·N frequencies of the first Doppler spectrum: amplitude, received power, or coefficient, and the coefficient associated with the frequency includes the amplitude and phase associated with the frequency. Wherein, the first Doppler spectrum is determined by the first device according to the second signal, N is the number of time units occupied by the second signal, and O is the frequency domain oversampling factor, O and N are positive integers.

[0009] Based on this possible design, the first device can basically describe the entire first Doppler spectrum through the first Doppler information, so that the fourth device can obtain detailed Doppler spectrum information, thereby determining more accurate sensing results based on the detailed Doppler spectrum information, and further improving the sensing performance. For example, in the case that there are multiple scatterers in the environment, then the multiple scatterers can be distinguished based on the Doppler spectrum information.

[0010] In a possible design, the i-th frequency in the O·N frequencies corresponds to a frequency size of:

[0011] Or,

[0012] Wherein, T is the interval between adjacent time units in the time units occupied by the second signal, and i=0, 1, …, ON-1.

[0013] Based on this possible design, there is a corresponding relationship between the identification of the frequency and the frequency size, so that the frequency size can be indicated through the frequency identification, and therefore, the frequency identification can be reported when reporting, which can reduce the signaling overhead compared with directly reporting the frequency size.

[0014] In one possible design, the first Doppler information includes at least one of the following associated with a portion of frequencies in the O N frequencies of the first Doppler spectrum: an amplitude, a received power, or a coefficient; and the method further includes sending, to the first device, first indication information that indicates a first frequency range in which the portion of frequencies is located.

[0015] Based on this possible design, the fourth device can flexibly indicate the Doppler frequency range for which the associated information is to be reported based on actual sensing traffic demand, thereby avoiding the first device from reporting redundant and useless Doppler frequency associated information and reducing resource waste.

[0016] In one possible design, the first Doppler information includes information of K paths of Doppler frequencies, or includes information of the K paths of Doppler frequencies and at least one of the following associated with the K paths: an amplitude, a received power, or a coefficient, the coefficient associated with a path including an amplitude and a phase associated with the path, and the K paths are paths between the second device and the first device determined by the first device based on the second signal, K being a positive integer.

[0017] Based on this possible design, the first Doppler information includes frequency information of at least one path between the first device and the second device, which can reduce data volume and signaling and resource overhead.

[0018] In one possible design, the K paths are K paths between the second device and the first device determined by the first device based on the second signal and having the strongest received power or amplitude.

[0019] In one possible design, the method further includes sending, to the first device, second indication information that indicates K or indicates a maximum number of paths allowed to be reported, K being less than or equal to the maximum number of paths.

[0020] Based on this possible design, the fourth device can flexibly indicate the number of paths or the maximum number of paths to be reported based on actual sensing traffic demand, thereby avoiding the first device from reporting more path associated information and reducing signaling and resource overhead.

[0021] In a possible design, the method further includes: obtaining third information and fourth information, and determining the sensing result according to the first information and the second information includes: determining the sensing result according to the first information, the second information, the third information, and the fourth information. The third information indicates a frequency offset of a third Doppler spectrum relative to a first Doppler spectrum, the first Doppler spectrum being determined by the first device according to a second signal, and the third Doppler spectrum being determined by the first device according to a fourth signal. The fourth signal is sent by the second device. The fourth information indicates a frequency offset of a fourth Doppler spectrum relative to a second Doppler spectrum, the second Doppler spectrum being determined by the second device according to a first signal, and the fourth Doppler spectrum being determined by the second device according to a third signal, the third signal being sent by the first device. The third interval is different from the first interval, and the fourth interval is different from the second interval. The third interval is an interval between any two adjacent time units in a plurality of time units included in a third resource, the third resource being used to carry the third signal. The first interval is an interval between any two adjacent time units in a plurality of time units included in a first resource, the first resource being used to carry the first signal. The fourth interval is an interval between any two adjacent time units in a plurality of time units included in a fourth resource, the fourth resource being used to carry the fourth signal. The second interval is an interval between any two adjacent time units in a plurality of time units included in a second resource, the second resource being used to carry the second signal.

[0022] Based on this possible design, because the first interval is different from the third interval, and the second interval is different from the fourth interval, the Doppler spectrum measured by the third signal and the fourth signal has a different Doppler frequency ambiguity range than the Doppler spectrum measured by the first signal and the second signal, and therefore, by measuring the frequency offset of the Doppler spectrum corresponding to the third signal relative to the Doppler spectrum corresponding to the first signal, and the frequency offset of the Doppler spectrum corresponding to the fourth signal relative to the Doppler spectrum corresponding to the second signal, it is possible to determine whether Doppler frequency ambiguity occurs and determine the location of the real Doppler spectrum based on the frequency offset. In addition, compared with reducing the period of the first signal and the second signal, the third signal and the fourth signal can be sent using only a small amount of resources, reducing the signal overhead and saving resources.

[0023] In a second aspect, a communication method is provided. The method can be performed by a first device, or by a component of the first device, such as a processor, a chip, or a chip system of the first device, or by a logic module or software that can implement all or part of the functions of the first device. The method comprises: sending a first signal, the first signal being used to determine second information, the second information comprising information of M frequencies; wherein the M frequencies are Doppler frequencies of M beams, the M beams being the first M beams with the strongest received power or amplitude between the first device and a second device according to the first signal, or the M frequencies being frequencies corresponding to the first M local peaks with the strongest received power or amplitude in local peaks of a second Doppler spectrum, the second Doppler spectrum being determined according to the first signal, and M being a positive integer; receiving a second signal, the first signal being associated with the second signal; and sending first information, the first information comprising first Doppler information, the first Doppler information being determined according to the second signal, the second signal being a signal sent by the second device, and the first information and the second information being used to determine a sensing result. The technical effects brought by the second aspect can refer to the technical effects brought by the first aspect, which will not be repeated here.

[0024] In a third aspect, a communication method is provided. The method can be performed by a second device, or by a component of the second device, such as a processor, a chip, or a chip system of the second device, or by a logic module or software that can implement all or part of the functions of the second device. The method comprises: receiving a first signal; sending a second signal, the second signal being used to determine first information, the first information comprising first Doppler information, the first Doppler information being determined by a first device according to the second signal, the first signal being associated with the second signal; and sending second information, the second information comprising information of M frequencies; wherein the M frequencies are Doppler frequencies of M beams, the M beams being the first M beams with the strongest received power or amplitude between the first device and the second device according to the first signal, or the M frequencies being frequencies corresponding to the first M local peaks with the strongest received power or amplitude in local peaks of a second Doppler spectrum, the second Doppler spectrum being determined according to the first signal, and M being a positive integer; and the first information and the second information being used to determine a sensing result. The technical effects brought by the third aspect can refer to the technical effects brought by the first aspect, which will not be repeated here.

[0025] In a fourth aspect, a communication method is provided. The method can be performed by a first device, or by a component of the first device, such as a processor, a chip, or a chip system of the first device, or by a logic module or software that can implement all or part of the functions of the first device. The method includes: sending a first signal; receiving second information, the second information including information of M frequencies; wherein the M frequencies are Doppler frequencies of M beams, the M beams being the first M beams with the strongest received power or amplitude between the first device and a second device, or the M frequencies being frequencies corresponding to the first M local peaks with the strongest received power or amplitude in local peaks of a second Doppler spectrum, the second Doppler spectrum being determined according to the first signal, and M being a positive integer; receiving a second signal, the second signal being a signal sent by the second device, the first signal being associated with the second signal; determining first information according to the second signal, the first information including first Doppler information; and determining a sensing result according to the first information and the second information. The technical effects brought by the fourth aspect can refer to the technical effects brought by the first aspect, which will not be repeated here.

[0026] In a fifth aspect, a communication method is provided. The method can be performed by a second device, or by a component of the second device, such as a processor, a chip, or a chip system of the second device, or by a logic module or software that can implement all or part of the functions of the second device. The method includes: sending a second signal; receiving first information, the first information including first Doppler information, the first Doppler information being determined according to the second signal; receiving a first signal, the first signal being a signal sent by the first device, the first signal being associated with the second signal; determining second information according to the first signal, the second information including information of M frequencies; wherein the M frequencies are Doppler frequencies of M beams, the M beams being the first M beams with the strongest received power or amplitude between the first device and the second device, or the M frequencies being frequencies corresponding to the first M local peaks with the strongest received power or amplitude in local peaks of a second Doppler spectrum, the second Doppler spectrum being determined according to the first signal, and M being a positive integer; and determining a sensing result according to the first information and the second information. The technical effects brought by the fifth aspect can refer to the technical effects brought by the first aspect, which will not be repeated here.

[0027] In a possible design, in combination with any one of the second aspect to the fifth aspect, the first Doppler information includes at least one of the following associated with part or all of the O·N frequencies of a first Doppler spectrum: amplitude, received power, or coefficient, the coefficient associated with a frequency including an amplitude and a phase associated with the frequency; wherein the first Doppler spectrum is determined by the first device according to the second signal, N is a number of time units occupied by the second signal, and O is a frequency domain oversampling factor, O and N being positive integers.

[0028] With reference to any one of the second aspect to the fifth aspect, in a possible design, the i th frequency in the O·N frequencies corresponds to a frequency size of:

[0029] or,

[0030] where T is an interval between adjacent time units in the time units occupied by the second signal, and i = 0, 1, …, ON-1.

[0031] With reference to any one of the second aspect to the fifth aspect, in a possible design, the first Doppler information includes information of Doppler frequencies of K paths, or includes information of Doppler frequencies of the K paths and at least one of the following associated with the K paths: amplitudes, received powers, or coefficients, the coefficients associated with the paths including amplitudes and phases associated with the paths, the K paths being paths between the second device and the first device determined by the first device according to the second signal, and K being a positive integer.

[0032] With reference to any one of the second aspect to the fifth aspect, in a possible design, the K paths are K paths with strongest received powers or amplitudes between the second device and the first device determined by the first device according to the second signal.

[0033] With reference to any one of the first aspect to the fifth aspect, in a possible design, when the M frequencies are M first local peaks with strongest received powers or amplitudes in the local peaks of the second Doppler spectrum, the second information further includes at least one of the following associated with the M frequencies: amplitudes, received powers, or coefficients, the coefficients associated with the frequencies including amplitudes and phases associated with the frequencies.

[0034] With reference to any one of the first aspect to the fifth aspect, in a possible design, the second information further includes at least one of the following associated with at least one frequency in a second frequency range in the second Doppler spectrum: amplitudes, received powers, or coefficients, the coefficients associated with the frequencies including amplitudes and phases associated with the frequencies, where the second frequency range includes a frequency corresponding to one of the M local peaks.

[0035] Based on this possible design, it can be considered that the second information further includes related information around the local peaks in the second Doppler spectrum, and therefore, more detailed information of the second Doppler spectrum can be provided, so that the fourth device can more accurately determine the perception result in combination with the related information of the local peaks and the related information around the local peaks, and improve the accuracy of the perception.

[0036] With reference to any one of the first aspect to the fourth aspect, in a possible design of the second frequency range, a minimum frequency offset of the frequency offset range is greater than or equal to -S1, a maximum frequency offset of the frequency offset range is less than or equal to S2, and the second frequency range includes f m -S1~f m +S2, f m is one of the M frequencies.

[0037] With reference to any one of the first aspect to the fifth aspect, in a possible design of the M frequencies being Doppler frequencies of M paths, the second information further includes at least one of the following associated with the M paths: amplitudes, received powers, or coefficients, the coefficients associated with the paths including amplitudes and phases associated with the paths.

[0038] With reference to any one of the first aspect to the fifth aspect, in a possible design, the first signal is associated with the second signal, including that: the first signal is carried in a first resource, and the second signal is carried in a second resource. The first resource includes a plurality of time units, and a spacing between any two adjacent time units in the plurality of time units is a first spacing. The second resource includes a plurality of time units, and a spacing between any two adjacent time units in the plurality of time units is the first spacing.

[0039] With reference to any one of the first aspect to the fifth aspect, in a possible design, the first signal is associated with the second signal, including that: a first carrier frequency and a second carrier frequency are the same, or a difference between the first carrier frequency and the second carrier frequency is less than or equal to a first threshold. The first carrier frequency is a carrier frequency used by the first device when transmitting the first signal, and the second carrier frequency is a carrier frequency used by the first device when receiving the second signal.

[0040] With reference to any one of the first aspect to the fifth aspect, in a possible design, the first signal is associated with the second signal, including that: a third carrier frequency and a fourth carrier frequency are the same, or a difference between the third carrier frequency and the fourth carrier frequency is less than or equal to a second threshold. The third carrier frequency is a carrier frequency used by the second device when transmitting the second signal, and the fourth carrier frequency is a carrier frequency used by the second device when receiving the first signal.

[0041] Based on the above two possible implementations, it can be ensured that the first carrier frequency and the second carrier frequency are the same or approximately the same, and the third carrier frequency and the fourth carrier frequency are the same or approximately the same, so that the two devices are affected by the same CFO when measuring the Doppler information, that is, the Doppler spectrum measured by the two devices has the same frequency offset relative to the real Doppler spectrum, so that the real Doppler frequency of the target scatterer can be obtained based on the measurement results of the two devices.

[0042] In a possible design of any one of the first aspect to the fifth aspect, the first signal is associated with the second signal, including that an interval between a sending time of the first signal and a sending time of the second signal is less than or equal to a third threshold.

[0043] Based on the possible design, by limiting the sending time of the first signal and the sending time of the second signal to be close to each other, the channel environment can not change substantially during transmission of the first signal and the second signal, so that the Doppler frequency components of each scatterer in the environment to be measured do not change during measurement of the Doppler spectrum by the two devices, thereby ensuring the accuracy of the measurement result.

[0044] In a possible design of any one of the first aspect to the fifth aspect, the first signal is associated with the second signal, including that the first resource and the second resource do not overlap in the time domain.

[0045] Based on the possible design, the complete first signal and the complete second signal can be received when the first device and the second device do not have full duplex functions.

[0046] In a possible design of any one of the first aspect to the fifth aspect, the sensing result includes a real Doppler frequency of the target scatterer; and the sensing result is determined according to the first information and the second information, including that the first frequency f1, the second frequency f2, and the third frequency f3 determine the real Doppler frequency f of the target scatterer. D is:

[0047] The first frequency is a Doppler frequency corresponding to a path with the strongest received power or amplitude between the first device and the second device according to the first Doppler spectrum information, or the first frequency is a frequency corresponding to a local peak with the strongest received power or amplitude in a local peak of the first Doppler spectrum. The third frequency is a Doppler frequency corresponding to the target scatterer according to the first Doppler information. The M frequencies include the second frequency, and the second information includes information of the second frequency. The second frequency is a frequency corresponding to a path with the strongest received power or amplitude in the M paths, or the second frequency is a frequency corresponding to a local peak with the strongest received power or amplitude in a local peak of the second Doppler spectrum.

[0048] In a possible design of any one of the first aspect to the fifth aspect, a radial velocity v of the target scatterer and a real Doppler frequency f of the target scatterer satisfy: D

[0049] where c is the speed of light, and f c ​The carrier frequency of the first signal or the second signal. v is a positive number indicating that the target scatterer is approaching radially, and v is a negative number indicating that the target scatterer is moving away radially.

[0050] In a sixth aspect, a communication apparatus is provided, which can implement various methods. The communication apparatus includes modules, units, or means corresponding to the methods, and the modules, units, or means can be implemented in the form of hardware, software, or a combination of hardware and software. The hardware or software includes one or more modules or units corresponding to the functions.

[0051] In some possible design, the communication apparatus can include a processing module and a transceiver module. The processing module can be used to implement the processing functions in any of the aspects and any of the possible implementation manners. The transceiver module can include a receiving module and a sending module, which are used to implement the receiving function and the sending function in any of the aspects and any of the possible implementation manners.

[0052] In some possible design, the transceiver module can be composed of a transceiver circuit, a transceiver, a transceiver, or a communication interface.

[0053] In a seventh aspect, a communication apparatus is provided, which includes a processor and a memory. The memory is used to store computer instructions, and when the processor executes the instructions, the communication apparatus performs the method in any of the aspects.

[0054] In an eighth aspect, a communication apparatus is provided, which includes a processor and a communication interface. The communication interface is used to communicate with modules outside the communication apparatus. The processor is used to execute computer programs or instructions, so that the communication apparatus performs the method in any of the aspects and any of the possible implementation manners.

[0055] In a ninth aspect, a communication apparatus is provided, which includes at least one processor. The processor is used to execute computer programs or instructions stored in a memory, so that the communication apparatus performs the method in any of the aspects and any of the possible implementation manners. The memory can be coupled with the processor, or can be independent of the processor.

[0056] In a tenth aspect, a communication apparatus (for example, the communication apparatus can be a chip or a chip system) is provided, which includes a processor, which is used to implement the functions in any of the aspects and any of the possible implementation manners.

[0057] In some possible design, the communication apparatus includes a memory, which is used to save necessary program instructions and data.

[0058] In some possible design, the apparatus is a chip system, which can be composed of a chip, or can include a chip and other discrete devices.

[0059] The communication apparatus in the sixth aspect to the tenth aspect can be the fourth device in the first aspect, or an apparatus included in the fourth device, such as a chip or a chip system; or the communication apparatus can be the first device in the second aspect or the fourth aspect, or an apparatus included in the first device, such as a chip or a chip system; or the communication apparatus can be the second device in the third aspect or the fifth aspect, or an apparatus included in the second device, such as a chip or a chip system.

[0060] The communication apparatus can be the fourth device, or a module or unit (for example, a chip, or a chip system, or a circuit) in the fourth device that is one-to-one corresponding to the method / operation / step / action described in the first aspect, or a module or unit that can be used with the fourth device; or the communication apparatus can be the first device, or a module or unit (for example, a chip, or a chip system, or a circuit) in the first device that is one-to-one corresponding to the method / operation / step / action described in the second aspect or the fourth aspect, or a module or unit that can be used with the first device; or the communication apparatus can be the second device, or a module or unit (for example, a chip, or a chip system, or a circuit) in the second device that is one-to-one corresponding to the method / operation / step / action described in the third aspect or the fifth aspect, or a module or unit that can be used with the second device.

[0061] It can be understood that, when the communication apparatus in any one of the sixth aspect to the eleventh aspect is a chip, the sending action / function of the communication apparatus can be understood as outputting information, and the receiving action / function of the communication apparatus can be understood as inputting information.

[0062] The twelfth aspect provides a computer readable storage medium, which stores a computer program or instructions, and when the computer program or instructions are run on a communication apparatus, the communication apparatus can perform the method in any one of the aspects and any possible implementation manner thereof.

[0063] The thirteenth aspect provides a computer program product including instructions, and when the computer program product is run on a communication apparatus, the communication apparatus can perform the method in any one of the aspects and any possible implementation manner thereof.

[0064] In a fourteenth aspect, a communication system is provided, which can include a first device, a second device, and a fourth device. The fourth device is configured to implement the method of the first aspect and any of its implementations, the first device is configured to implement the method of the second aspect and any of its implementations, and the second device is configured to implement the method of the third aspect and any of its implementations.

[0065] The technical effects brought by any of the implementations of the sixth aspect to the fourteenth aspect can be referred to the technical effects brought by different implementations of the first aspect or the second aspect or the third aspect or the fourth aspect or the fifth aspect, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0066] FIG. 1 is a schematic diagram of a scenario of a dual-base perception provided in the present application;

[0067] FIG. 2 is a schematic diagram of a Doppler spectrum provided in the present application;

[0068] FIG. 3 is a schematic diagram of a structure of a communication system provided in the present application;

[0069] FIGS. 4-6 are schematic diagrams of a communication method provided in the present application;

[0070] FIG. 7 is a schematic diagram of another Doppler spectrum provided in the present application;

[0071] FIG. 8 is a schematic diagram of a phase rotation value provided in the present application;

[0072] FIGS. 9-10 are schematic diagrams of Doppler spectra provided in the present application;

[0073] FIG. 11 is a schematic diagram of another communication method provided in the present application;

[0074] FIGS. 12-13 are schematic diagrams of Doppler spectra provided in the present application;

[0075] FIGS. 14-16 are schematic diagrams of structures of communication devices provided in the present application. DETAILED DESCRIPTION

[0076] In the description of the present application, unless otherwise specified, " / " represents that the objects before and after the " / " are in an "or" relationship, for example, A / B can represent A or B; "and / or" in the present application is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural.

[0077] In the description of the present application, "a plurality of" means two or more than two, unless otherwise specified. "At least one of the following" or similar expressions means any combination of the items, including any combination of single or multiple items. For example, at least one of a, b, or c can mean a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0078] In addition, in order to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, "first", "second" and the like are used to distinguish the same items or similar items with basically the same function and role. Those skilled in the art can understand that "first", "second" and the like do not limit the quantity and execution order, and "first", "second" and the like do not necessarily mean different.

[0079] In the embodiments of the present application, the words "exemplary" or "for example" are used to mean serving as an example or illustration. Any embodiment or design presented as "exemplary" or "for example" in the embodiments of the present application should not be construed as more preferred or advantageous over other embodiments or design solutions. Rather, the use of "exemplary" or "for example" is intended to present relevant concepts in a concrete manner, facilitating understanding.

[0080] It can be understood that "embodiments" mentioned throughout the specification mean that the specific features, structures or characteristics related to the embodiments are included in at least one embodiment of the present application. Therefore, the various embodiments throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in any suitable manner in one or more embodiments. It can be understood that in various embodiments of the present application, the size of the sequence number of each process does not mean the execution order, and the execution order of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0081] It can be understood that in the present application, "when" and "if" both refer to making corresponding processing under certain objective circumstances, not limited to time, and do not require judgment actions when implementing, nor mean that there are other limitations.

[0082] It can be understood that some optional features in the embodiments of the present application can be implemented independently in some scenarios without relying on other features, such as the scheme currently based on, to solve the corresponding technical problems and achieve the corresponding effects. In some scenarios, it can also be combined with other features according to demand. Correspondingly, the devices given in the embodiments of the present application can also realize these features or functions, which will not be described here.

[0083] In the present application, the same or similar parts among various embodiments can be mutually referred to, unless otherwise specified. In various embodiments of the present application, the terms and / or descriptions of different embodiments are consistent, and can be mutually referred to, unless otherwise specified and logically conflicted. The embodiments of the present application described below do not constitute a limitation on the protection scope of the present application.

[0084] Wireless sensing is an important technology in the future. In wireless sensing, a transmitting device can radiate electromagnetic waves to the surrounding environment to transmit a specific signal, and a receiving device can correspondingly receive the electromagnetic wave signal reflected by the environment. The transmitting device or the receiving device can compare and analyze the correlation between the received signal and the transmitted signal, so as to perceive or analyze the relevant information of the surrounding environment. For example, whether there is a scatterer in the environment, the distance between the scatterer and the transmitting and receiving device, the orientation or angle (horizontal direction and / or vertical direction) of the scatterer relative to the transmitting and receiving device, the moving speed of the scatterer relative to the transmitting and receiving device, etc.

[0085] Wireless sensing can be applied in various scenarios. For example, in a vehicle-to-everything scenario, a vehicle can obtain surrounding environmental information such as the positions and speed information of mobile objects such as vehicles and pedestrians, and the information of relatively static objects such as road surfaces and fences, through wireless sensing. For another example, in an airport or the like, a drone can be sensed by deploying a device to prevent the drone from affecting the takeoff and landing of an airplane in the airport. For another example, in a home environment, intruder detection can be performed through wireless sensing to improve the security and privacy performance of the home environment.

[0086] Wireless sensing can include a single-base sensing mode and a bi-static sensing mode. In single-base sensing, the sender and receiver of the signal are the same device, which senses the surrounding environment based on the transmitted signal and the received signal. In bi-static sensing, one device transmits a signal and another device receives the signal to sense the surrounding environment, i.e., the sender and the receiver are different.

[0087] For example, in bi-static sensing, the receiving device can measure the frequency domain channel response from the received signal, which is closely related to the surrounding environment, such as the positions of objects in the environment, the movement of objects (including straight-line motion, periodic vibration (such as breathing and heartbeat), etc.), which will affect the frequency domain channel response.

[0088] However, generally, the frequency domain channel response determined by the receiving device is not only affected by the environment, but also by the carrier frequency offset (CFO) of the transmitting and receiving devices. That is, the frequency domain channel response includes not only the phase change caused by the environment (such as a moving scatterer in the environment), but also the phase change caused by the CFO. The phase change caused by the CFO causes a frequency offset of the Doppler spectrum corresponding to the frequency domain channel response, thereby affecting the sensing performance when sensing the moving speed and the like of the scatterer.

[0089] For example, as shown in FIG. 1, taking device A as the signal transmitting end and device B as the signal receiving end as an example, in a case where both device A and device B are in a stationary state, the signal transmitted by device A can reach device B through a line of sight (LOS) path and can also reach device B through scattering by a moving target, that is, through a scattering path.

[0090] In a case where the carrier frequencies of device A and device B are the same, that is, there is no CFO, the frequency domain channel response measured by device B at time t on subcarrier k can be represented as:

[0091] wherein the transmitting carrier frequency of device A can refer to the frequency corresponding to subcarrier 0 or the center subcarrier after up-conversion when device A transmits a signal, and the receiving carrier frequency of device B can refer to the carrier frequency for down-conversion of subcarrier 0 or the center subcarrier when device B receives a signal. α0 and α1 are channel coefficients corresponding to the LoS path and the scattering path, respectively, including path loss and phase information. k is the size of the frequency corresponding to subcarrier k (for example, the frequency corresponding to subcarrier k when transmitting a signal). τ0 and τ1 are time delays associated with the LoS path and the scattering path, respectively. In addition, since the scatterer is in a moving state, an additional phase rotation varying with time exists in the scattering path, that is, is the size of the Doppler frequency corresponding to the scattering path.

[0092] If device B performs discrete fourier transform (DFT) on H k (t) obtained at different times, such as H k (0), H k (1), H k (2), …, located on DFT points, then the spectral lines 1 and 2 shown in FIG. 2 can be obtained, wherein the first spectral line (spectral line 1) is located at a frequency of 0, indicating that the Doppler frequency corresponding to the LoS path is 0, and the second spectral line (spectral line 2) is located at a frequency of , indicating that the Doppler frequency corresponding to the scattering path is By the spectrum line, it can be identified that there is a scatterer in the environment with a corresponding Doppler frequency of , thereby obtaining the radial velocity of the scatterer. In addition, if the signal transmitted by device A is a wideband signal, and devices A and B use multi-antenna transmission and reception of reference signals, the distance and angle of the scatterer can be further determined.

[0093] However, in the case where there is CFO between device A and device B, i.e., the carrier frequency of device A is different from that of device B, if the carrier frequency of device A is higher than that of device B by f O , the frequency domain channel response corresponding to subcarrier k measured by device B at time t can be expressed as:

[0094] Based on the frequency domain channel response, it can be obtained that in the case where there is CFO, the Doppler frequency corresponding to the LoS path changes from 0 to f O , and the Doppler frequency corresponding to the scattering path changes from to At this time, after device B performs DFT on H k (t) obtained at different times, spectrum lines 3 and 4 shown in FIG. 2 can be obtained, where spectrum line 3 is located at a frequency of f O , indicating that the Doppler frequency corresponding to the LoS path is f O , and spectrum line 4 is located at a frequency of , indicating that the Doppler frequency corresponding to the scattering path is By comparing spectrum line 1 and spectrum line 2, it can be obtained that CFO causes the Doppler spectrum obtained by the receiving device to be shifted to the right by f O relative to the true Doppler spectrum, thereby affecting the sensing performance.

[0095] For CFO, in the fifth generation (5th generation, 5G) communication scenario, there is also CFO between the transceiver, and the additional phase noise caused by the non-ideal crystal oscillator of the transceiver, which causes the equivalent baseband channel to produce different phase rotations over time. Therefore, in the 5G communication system, the transmitting end can add a phase tracking reference signal (PTRS) in the signal when transmitting the signal. The PTRS is relatively dense in time, and there is usually a PTRS in each time domain symbol. At the receiving end, the phase change of the signal on each time domain symbol can be tracked by receiving the PTRS, thereby completely recovering the signal transmitted by the transmitting end.

[0096] In this scheme, although the receiving end can track the phase change on each time domain symbol through the PTRS, the change contains both the CFO effect and the environment (channel) effect. In the perception scenario, only the environment effect is usually concerned. That is, the environment corresponding Doppler information cannot be obtained through the PTRS to perform perception.

[0097] Based on this, the application provides a communication method, in which two devices participating in perception can respectively act as a sender to send a signal to the other party, for example, device A sends signal 1 to device B, and device B sends signal 2 to device A. The receiving end of the two signals can determine the Doppler related information based on the received signals, that is, the Doppler related information corresponding to the two signals can be obtained, and then perception is performed based on the Doppler related information corresponding to the two signals.

[0098] For example, based on the example shown in FIG. 2, it is assumed that the CFO between device A and device B is unchanged, and device B sends a reference signal to device A. Then, on the subcarrier k, the frequency domain channel response measured by device A at time t can be represented as:

[0099] Based on the frequency domain channel response, it can be obtained that, in the presence of CFO, the Doppler frequency corresponding to the LoS path changes from 0 to -f O , and the Doppler frequency corresponding to the scattering path changes from to At this time, device B can obtain the spectrum lines 5 and 6 shown in FIG. 2 after performing DFT on the H k (t) obtained at different times, where the spectrum line 5 is located at the frequency of -f O , indicating that the Doppler frequency corresponding to the LoS path is -f O , and the spectrum line 6 is located at the frequency of , indicating that the Doppler frequency corresponding to the scattering path is By comparing the spectrum line 1 and the spectrum line 2, it can be obtained that the CFO makes the Doppler spectrum obtained by the receiving device move to the left relative to the real Doppler spectrum by f O .

[0100] In combination with the spectrum line 3 and the spectrum line 4, it can be obtained that, in the case where two devices respectively act as a sender to send a signal to the other party under the same CFO, the receiving end of the two signals can obtain two Doppler spectrums. The two Doppler spectrums have the same shape and the same size offset relative to the real Doppler spectrum, but the offset directions are opposite. Therefore, the real Doppler spectrum affected by the environment can be determined through the two spectrums with the same size offset and opposite offset directions, so that perception is performed based on the Doppler frequency.

[0101] For example, the real Doppler spectrum can be a spectrum corresponding to the signal transmitted by device A moving left Or Or a spectrum corresponding to the signal transmitted by device B moving right Or

[0102] The technical solutions of the embodiments of the present application can be applied to various communication systems, which can be a third generation partnership project (3GPP) communication system, for example, a long term evolution (LTE) system, a 4th generation (4G) system such as an LTE system, a 5G system such as a new radio (NR) system, a system of mixed networking of LTE and 5G, a non-terrestrial network (NTN), or other future communication systems. The communication system can also be a sensing system, an integrated sensing and communication (ISAC) system, a system of integrated communication and sensing (JCS / JCAS), or a non-3GPP communication system, which is not limited.

[0103] Among the above, the communication system applicable to the present application is only an example, and the communication system applicable to the present application is not limited thereto. The communication system provided by the present application does not cause any limitation to the solutions of the present application. It is uniformly stated here that the following will not be described in detail.

[0104] FIG. 3 shows a possible, non-limiting system schematic diagram. As shown in FIG. 3, the system includes a first device and a second device. Optionally, the system can also include a third device and / or a fourth device.

[0105] Among them, the first device and the second device are used to transmit and receive signals (such as reference signals or sensing signals, etc.), and determine Doppler-related information based on the received signals.

[0106] As a possible implementation, there can be at least one scatterer on the transmission path between the first device and the second device. The signal transmitted by the first device reaches the second device through scattering of the scatterer, or the signal transmitted by the second device reaches the first device through scattering of the scatterer. For example, the scatterer can be a scatterer with a motion speed, such as a pedestrian, a car, etc., which is not limited.

[0107] As a possible implementation, the third device can be configured to configure the signal, for example, configure the resource for carrying the signal, the sequence for generating the signal, etc. The fourth device is configured to perform sensing according to the Doppler related information determined by the first device and the second device.

[0108] As a possible implementation, the first device, the second device or the fourth device can be a sensing device, or a sensing and communication integrated device, i.e., the first device, the second device or the fourth device can have a sensing function, or a specific sensing function and a communication function.

[0109] Optionally, the third device and the fourth device can be the same device, or can be different devices. The third device can be the same device as one of the first device or the second device, or the third device can be a device different from the first device and different from the second device. The fourth device can be the same device as one of the first device or the second device, or the fourth device can be a device different from the first device and different from the second device. No limitation is given.

[0110] As a possible implementation, the first device and the second device can both be access network devices, or both be terminal devices. Or one of the first device and the second device is an access network device, and the other device is a terminal device.

[0111] For example, when the first device and the second device are both terminal devices, the third device can be another terminal device, an access network device or a core network device, for example, a sensing function (SF) network element. When the first device and the second device are both access network devices, the third device can be another access network device or a core network device. When one of the first device and the second device is an access network device, and the other device is a terminal device, the third device can be a core network device. Or, when one of the first device and the second device is an access network device, and the other device is a terminal device, the third device can be the access network device, i.e., the third device is the same as the first device or the second device, for example, when the first device is an access network device and the second device is a terminal device, the third device is the same as the first device; when the first device is a terminal device and the second device is an access network device, the third device is the same as the second device. In addition, the form of the fourth device can refer to the related description of the third device, which is not repeated here.

[0112] In embodiments of the present application, the access network device can be deployed in a radio access network (RAN). The RAN can be a 3GPP related cellular system, such as a 4G, 5G mobile communication system, or a future-oriented evolved system. The RAN can also be an open RAN (O-RAN or ORAN), a cloud radio access network (CRAN), or a wireless fidelity (WiFi) system. The RAN can also be a communication system that combines two or more of the above systems.

[0113] The access network device, which can also be referred to as a RAN node, a RAN entity, or an access node, etc., constitutes a part of the communication system and helps the terminal device to implement wireless access. When there are multiple access network devices in the system, the multiple access network devices can be nodes of the same type or nodes of different types.

[0114] In a possible scenario, the access network device can be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission and receiving point (TRP), a next generation NodeB (gNB), a base station in a future mobile communication system, or an access node in a WiFi system, etc. The access network device can be a macro base station, a micro base station or an indoor station, a relay node or a donor node, or a wireless controller in a CRAN scenario. Optionally, the access network device can also be a server, a wearable device, a vehicle or a vehicle-mounted device, etc. For example, the access network device in vehicle to everything (V2X) technology can be a road side unit (RSU). All or part of the functions of the access network device in the present application can also be implemented by software functions running on hardware, or by virtualized functions instantiated on a platform (such as a cloud platform). The access network device in the present application can also be a logical node, a logical module or software that can implement all or part of the functions of the access network device.

[0115] In another possible scenario, a terminal device accesses a network device through multiple access network devices, and the multiple access network devices cooperatively assist the terminal device to access the network device. Different access network devices can implement part of functions of a base station. For example, an access network device can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). The CU and the DU can be separately deployed or can be included in the same network element, for example, a baseband unit (BBU). The RU can be included in a radio frequency device or a radio frequency unit, for example, a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0116] In different systems, the CU (or CU-CP and CU-UP), the DU, or the RU can also have different names, but those skilled in the art can understand their meanings. For example, in an ORAN system, the CU can also be referred to as an O-CU (open CU), the DU can also be referred to as an O-DU, the CU-CP can also be referred to as an O-CU-CP, the CU-UP can also be referred to as an O-CU-UP, and the RU can also be referred to as an O-RU. For the convenience of description, the CU, the CU-CP, the CU-UP, the DU, and the RU are taken as examples for description in this application. Any one of the CU (or the CU-CP, the CU-UP), the DU, and the RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0117] A terminal device can also be referred to as a terminal, a user equipment (UE), a mobile station, a mobile terminal, or the like. The terminal device can be widely applied to various scenarios, for example, device-to-device (D2D) communication, vehicle to everything (V2X) communication, machine-type communication (MTC), internet of things (IOT), virtual reality, augmented reality, industrial control, automatic driving, remote medical treatment, smart power grid, smart home, smart office, smart wear, smart transportation, smart city, or the like. The terminal device can be a mobile phone, a tablet computer, a computer with wireless transceiver function, wearable equipment, a vehicle, a drone, a helicopter, an airplane, a ship, a robot, a mechanical arm, smart home equipment, or the like. Embodiments of this application do not limit the device form of the terminal device.

[0118] It should be noted that the communication system described in the embodiments of the present application is for more clearly illustrating the technical solutions of the embodiments of the present application, and does not constitute a limitation on the technical solutions provided by the embodiments of the present application. Those skilled in the art can know that, with the evolution of network architecture and the appearance of new business scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0119] The communication method provided by the embodiments of the present application will be described below by taking the interaction between devices as an example, with reference to the system shown in FIG. 3. It should be noted that in the embodiments described below, the names of messages between devices, the names of parameters, or the names of information, etc. are only examples, and in other embodiments, they can also be other names. The method provided by the present application does not make a specific limitation on this.

[0120] It can be understood that in the embodiments of the present application, each device can perform part or all of the steps in the embodiments of the present application. These steps or operations are only examples, and the embodiments of the present application can also perform other operations or variations of various operations. In addition, each step can be performed in a different order as presented in the embodiments of the present application, and it is possible that not all operations in the embodiments of the present application are performed.

[0121] It can be understood that in the present application, the device is taken as an example to illustrate the execution subject of the interaction, but the present application does not limit the execution subject of the interaction. For example, the method performed by each device in the present application can also be performed by a module (such as a chip, a chip system, or a processor) applied to the device, and can also be realized by a logic node, a logic module or software that can realize all or part of the functions of the device.

[0122] In addition, in the present application, "sending information" can be understood as a device sending information to another device, or it can also be understood as a logical module inside a device sending information to another logical module. "Receiving information" can be understood as a device receiving information from another device, or it can also be understood as a logical module inside a device receiving information from another logical module.

[0123] In the present application, the information between the source and the destination of the information sending can be processed as necessary, such as format change, etc., but the destination can understand the valid information from the source. Similar expressions in the present application can be understood similarly, and will not be described here.

[0124] The communication method provided by the embodiments of the present application is described below. The method can be applied to a sensing scenario or a sensing and communication integrated scenario. Accordingly, the method can also be understood as a sensing method or a sensing and communication integrated method. As shown in FIG. 4, the communication method can include the following steps.

[0125] S401, the first device transmits a first signal. Accordingly, the second device receives the first signal.

[0126] As a possible implementation, the first signal can be used for sensing. For example, the first signal can be a sensing signal, or can be a reference signal, or can be another signal that can be used for sensing. The type of the first signal is not limited in the present application.

[0127] As a possible implementation, the first signal is carried on a first resource, that is, the first resource is used to carry the first signal, the first device transmits the first signal on the first resource, and the second device receives the first signal on the first resource. The first resource can be determined by the first device itself, or can be configured to the first device by the second device or the third device, which will be described in detail in subsequent embodiments and will not be repeated here.

[0128] S402, the second device transmits a second signal. Accordingly, the first device receives the second signal.

[0129] As a possible implementation, the second signal can also be used for sensing. For example, the second signal can be a sensing signal, or can be a reference signal, or can be another signal that can be used for sensing. The type of the second signal is not limited in the present application.

[0130] As a possible implementation, the second signal is carried on a second resource, that is, the second resource is used to carry the second signal, the second device transmits the second signal on the second resource, and the first device receives the second signal on the second resource. The second resource can be determined by the second device itself, or can be configured to the second device by the first device or the third device, which will be described in detail in subsequent embodiments and will not be repeated here.

[0131] The first signal is associated with the second signal. For example, the association between the first signal and the second signal can include at least one of the following 1), 2), 3), 4) or 5):

[0132] 1), the first carrier frequency and the second carrier frequency are the same, or the difference between the first carrier frequency and the second carrier frequency is less than or equal to a first threshold.

[0133] The first carrier frequency is a carrier frequency used by the first device when transmitting the first signal, such as a carrier frequency used for up-conversion when the first device transmits the first signal, and can also be understood as a frequency corresponding to subcarrier 0 or a center subcarrier after up-conversion when the first signal is transmitted. The second carrier frequency is a carrier frequency used by the first device when receiving the second signal, such as a carrier frequency used for down-conversion when the first device receives the second signal, and can also be understood as a carrier frequency for down-conversion of subcarrier 0 or a center subcarrier when the second signal is received. It can also be understood that, during the process of receiving the second signal, the first device considers that the subcarrier 0 or the center subcarrier in the baseband signal corresponds to a frequency before down-conversion.

[0134] 2) The third carrier frequency and the fourth carrier frequency are the same, or the difference between the third carrier frequency and the fourth carrier frequency is less than or equal to a second threshold.

[0135] The third carrier frequency is a carrier frequency used by the second device when transmitting the second signal, such as a carrier frequency used for up-conversion when the second device transmits the second signal, and can also be understood as a frequency corresponding to subcarrier 0 or a center subcarrier after up-conversion when the second signal is transmitted. The fourth carrier frequency is a carrier frequency used by the second device when receiving the first signal, such as a carrier frequency used for down-conversion when the second device receives the first signal, and can also be understood as a carrier frequency for down-conversion of subcarrier 0 or a center subcarrier when the first signal is received. It can also be understood that, during the process of receiving the first signal, the second device considers that the subcarrier 0 or the center subcarrier in the baseband signal corresponds to a frequency before down-conversion.

[0136] Based on the above-mentioned association relationship of 1) and 2), the first carrier frequency and the second carrier frequency are guaranteed to be the same or approximately the same, and the third carrier frequency and the fourth carrier frequency are guaranteed to be the same or approximately the same, which can make the CFO influence on the two devices when measuring the Doppler information the same, that is, the frequency offset of the Doppler spectrum measured by the two devices relative to the true Doppler spectrum is the same, thereby ensuring that the true Doppler frequency of the target scatterer can be obtained based on the measurement results of the two devices.

[0137] 3) The interval between the transmission time of the first signal and the transmission time of the second signal is less than or equal to a third threshold. Specifically, at least one of the following is included: the interval between the time domain start position of the first resource and the time domain start position of the second resource is less than or equal to a third threshold A, or the interval between the time domain end position of the first resource and the time domain end position of the second resource is less than or equal to a third threshold B, or the interval between the time domain start position of the first resource and the time domain end position of the second resource is less than or equal to a third threshold C, or the interval between the time domain end position of the first resource and the time domain start position of the second resource is less than or equal to a third threshold D.

[0138] Based on the association relationship, by limiting the transmission time of the first signal and the transmission time of the second signal to be close, it can be ensured that the channel environment does not change substantially during the transmission of the first signal and the second signal, so that the Doppler frequency components related to each scatterer in the environment to be measured do not change during the measurement of the Doppler spectrum by the two devices, thereby ensuring the accuracy of the measurement results.

[0139] Exemplarily, the first threshold, the second threshold, or the third threshold can be predefined by a protocol, or can be configured by the third device, or can be negotiated by the first device and the second device, without limitation. In addition, the first threshold and the second threshold can be the same or different; the third threshold A, the third threshold B, the third threshold C, or the third threshold D can be partially the same, or can be completely different, or can be completely the same, without limitation.

[0140] 4) The interval between any two adjacent time units in the plurality of time units included in the first resource is a first interval, and the interval between any two adjacent time units in the plurality of time units included in the second resource is also the first interval.

[0141] Exemplarily, the time unit can be understood as a resource unit in the time domain, or as a time domain resource unit. For example, the time unit can be an orthogonal frequency division multiplexing (OFDM) symbol, a micro-slot, a slot, etc., without limitation.

[0142] Exemplarily, the time interval between any two adjacent time units in the first resource (i.e., the first interval) can be an integer multiple of 0.5 milliseconds (ms). Then the time interval between any two adjacent time units in the second resource is also an integer multiple of 0.5 ms. Of course, the first interval can also be represented by the number of time units or other ways, without limitation.

[0143] As a possible implementation, the first resource and the second resource can have the following four cases:

[0144] Case one, the first resource is a resource in a certain time range (denoted as a first time range) of a first periodic resource, and the second resource is a resource in a certain time range (denoted as a second time range) of a second periodic resource. The period of the first periodic resource and the period of the second periodic resource are the same. Among them, the time range can also be called a time window, and the two can be replaced with each other.

[0145] In this scenario, the first signal can be understood as a signal in the first time range in the first periodic signal carried on the first periodic resource, and the second signal can be understood as a signal in the second time range in the second periodic signal carried on the second periodic resource.

[0146] It can be understood that the periodic resource can be infinitely extended without limiting the starting point and the ending point. In actual application, it is impossible to transmit a signal using an infinitely extended resource and to process the signal transmitted infinitely, and therefore a signal carried on part of the periodic resource can be processed. For example, taking an OFDM symbol as a time unit, the period of the first periodic resource is 1 slot, and the resource in each period includes the 1st OFDM symbol in the slot, and assuming that the starting point of the first periodic resource is slot 1, the first time range can include the starting position of slot 2 to the ending position of slot 4, that is, the first resource includes the 1st OFDM symbol in slot 2, slot 3 and slot 4, and the first interval is the OFDM symbol included in 1 slot, which can also be understood as the first interval being 1 slot.

[0147] In this scenario, each period of the first periodic resource includes one time unit, and each period of the second periodic resource includes one time unit, and the above first interval can also be understood as the period of the first periodic resource and the period of the second periodic resource.

[0148] Optionally, in the case where each period of the first periodic resource includes multiple time units or each period of the second periodic resource includes multiple time units, the above relationship 4) can be understood as: among the multiple time units included in the first resource, the interval between two adjacent time units belonging to different periods is the first interval. For example, taking an OFDM symbol as a time unit, the period of the first periodic resource is 1 slot, and the resource in each period includes the 1st OFDM symbol and the 2nd OFDM symbol in the slot, and assuming that the starting point of the first periodic resource is slot 1, the first time range can include the starting position of slot 2 to the ending position of slot 4, that is, the first resource includes the 1st OFDM symbol and the 2nd OFDM symbol in slot 2, slot 3 and slot 4, and the first interval is still 1 slot.

[0149] Optionally, the first time range and / or the second time range can be configured by the third device or can be configured by the fourth device, without limitation.

[0150] Case two, the first resource is a non-periodic resource, and the second resource is a non-periodic resource.

[0151] In this scenario, the first signal can be understood as a non-periodic signal carried on the non-periodic first resource, and the second signal can be understood as a non-periodic signal carried on the non-periodic second resource.

[0152] For example, the first resource can include a plurality of time units, and the interval between any two adjacent time units in the plurality of time units is the same (i.e., the first interval). The second resource can include a plurality of time units, and the interval between any two adjacent time units in the plurality of time units is the same (i.e., the first interval).

[0153] For example, taking the first interval as 7 OFDM symbols, the first resource can include the 1st OFDM symbol in the time slot 1, the 8th OFDM symbol in the time slot 1, the 1st OFDM symbol in the time slot 2, and the 8th OFDM symbol in the time slot 2. The implementation of the second resource can refer to the implementation of the first resource, which will not be described here.

[0154] As a possible implementation, when the first resource is a non-periodic resource, the first resource can also be considered as a resource in a first time range, and at this time, the first time range is the time range between the start time of the first resource and the end time of the first resource. The first time range can be considered as a default time range.

[0155] Similarly, when the second resource is a non-periodic resource, the second resource can also be considered as a resource in a second time range, and at this time, the second time range is the time range between the start time of the second resource and the end time of the second resource. The second time range can be considered as a default time range.

[0156] It should be noted that in the embodiments of the present application, unless otherwise specified, it can be considered that the first resource and the second resource exist in the above two cases, and correspondingly, the first signal and the second signal also exist in the above two cases.

[0157] Case three, the first resource is a resource in a first time range of a first periodic resource, and the second resource is a non-periodic resource.

[0158] In this case, each period of the first periodic resource can include one time unit, and the first interval can be understood as the period of the first periodic resource. The second resource includes a plurality of time units, and the interval between any two adjacent time units in the plurality of time units is the same (i.e., the first interval). The other descriptions of the first resource can refer to the related descriptions of the first resource in the above case one, and the other descriptions of the second resource can refer to the related descriptions of the second resource in the above case two, which will not be described here.

[0159] Case four, the first resource is a non-periodic resource, and the second resource is a resource in a second time range of a second periodic resource.

[0160] The first resource includes a plurality of time units, and intervals between any two adjacent time units in the plurality of time units are the same, which is a first interval. Each period of the second periodic resource can include one time unit, and the first interval can be understood as a period of the second periodic resource. Other descriptions of the first resource can refer to the related descriptions of the first resource in case two above, and other descriptions of the second resource can refer to the related descriptions of the second resource in case one above, which will not be repeated here.

[0161] 5), the first resource and the second resource do not overlap in the time domain.

[0162] That is, in the case that the first resource includes a plurality of time units and the second resource includes a plurality of time units, the plurality of time units included in the first resource and the second resource are different. In addition, the number of time units included in the first resource and the number of time units included in the second resource can be the same.

[0163] Based on the association relationship, the complete first signal and the complete second signal can be received when the first device and the second device do not have full duplex function.

[0164] It should be noted that the above steps S401 and S402 do not have a strict order, and step S401 can be performed first, and then step S402 can be performed, or step S402 can be performed first, and then step S401 can be performed. For example, whether to perform step S401 first or S402 can be determined according to the time domain starting position of the first resource and the second resource. If the time domain starting position of the first resource is located before the time domain starting position of the second resource, step S401 is performed first, and then step S402 is performed. If the time domain starting position of the first resource is located after the time domain starting position of the second resource, step S402 is performed first, and then step S401 is performed.

[0165] S403, the first device determines the first information according to the second signal.

[0166] The first information includes first Doppler information. For example, the first Doppler information can be used to indicate a first Doppler spectrum, or can be used to indicate related information of the first Doppler spectrum, or can be used to indicate a Doppler frequency of at least one path between the first device and the second device. The first Doppler spectrum can be determined by the first device according to the second signal. For example, the first device determines the first Doppler spectrum according to the measurement result of the second signal, and then determines the first information to indicate the first Doppler spectrum.

[0167] As a possible implementation, the Doppler spectrum in the present application can be understood as a mapping relationship or mapping curve from Doppler frequency to channel coefficient (or channel coefficient amplitude, or signal power, or signal energy). For example, the second signal occupies N time units, the interval between the N time units is T, the first device determines the frequency domain unit (such as subcarrier) k according to the second signal and the channel frequency domain response H(k, n) on the nth (n = 0, 1, …, N-1) time unit occupied by the second signal, and the first device can determine the first Doppler frequency-coefficient spectrum according to the following formula:

[0168] Wherein, f can be any frequency in the first Doppler frequency-coefficient spectrum, n = 0, 1, …, N-1.

[0169] Optionally, when the second signal occupies multiple frequency domain units, the results on the multiple frequency domain units can be jointly processed to obtain the Doppler spectrum.

[0170] Optionally, the Doppler spectrum in the present application can also include other dimensions, such as Doppler frequency-delay spectrum, which can be understood as a mapping relationship or mapping curve from Doppler frequency + delay to channel coefficient (or channel coefficient amplitude, or signal power, or signal energy). For example, Doppler frequency-angle spectrum, and for example, Doppler frequency-delay-angle spectrum.

[0171] Wherein, the specific information or information element included in the first Doppler information will be described in detail in subsequent embodiments, which will not be described here.

[0172] S404, the second device determines the second information according to the first signal.

[0173] For example, the second information can be used to calibrate the first Doppler information. The second information can be determined by the second device according to the measurement result of the first signal.

[0174] Wherein, the second information includes information of M frequencies, and M is a positive integer. For example, the frequency information can include frequency identification and / or frequency size. There is a corresponding relationship between the frequency identification and the frequency size, that is, one frequency identification can correspond to or indicate one frequency size. The corresponding relationship between the frequency identification and the frequency size can be predefined, or determined according to the configuration of the first signal, or preconfigured by the third device or the fourth device, or pre-negotiated by the first device and the second device, which is not limited.

[0175] As a possible implementation, the M frequencies are M Doppler frequencies. The M Doppler frequencies are determined by the second device according to the first signal, and the first device and the second device have the first M Doppler frequencies with the strongest received power or amplitude.

[0176] For example, the second device can determine the M paths according to the measurement result of the first signal, or the second device can determine the M paths according to the measurement result of the first signal in other manners, which are not limited herein.

[0177] As another possible implementation, the M frequencies are the frequencies corresponding to the first M local peaks in the second Doppler spectrum.

[0178] For example, the second device can determine the M paths according to the measurement result of the first signal, or the second device can determine the M paths according to the measurement result of the first signal in other manners, which are not limited herein.

[0179] The first information and the second information are used to determine the sensing result, or the first information and the second information are used to jointly determine the sensing result. The sensing result can be determined by the fourth device.

[0180] In a possible implementation, if the fourth device is different from the first device and different from the second device, after step S403 and step S404, the method can further include steps S405a-S407a as shown in FIG. 4:

[0181] S405a, the first device sends the first information to the fourth device. Correspondingly, the fourth device receives the first information from the first device.

[0182] For example, the fourth device receiving the first information from the first device can be understood as one implementation of the fourth device obtaining the first information. The implementation of the first information can refer to the related description in step S403 above, which is not repeated here.

[0183] S406a, the second device sends the second information to the fourth device. Correspondingly, the fourth device receives the second information from the second device.

[0184] For example, the fourth device receiving the second information from the second device can be understood as one implementation of the fourth device obtaining the second information. The implementation of the second information can refer to the related description in step S404 above, which is not repeated here.

[0185] Optionally, before step S405a and S406a, the fourth device can send first signaling to the first device and second signaling to the second device. The first signaling can indicate the first device to report the first information, and further can indicate the time for the first device to report the first information. The second signaling indicates the second device to report the second information, and further can indicate the time for the second device to report the second information.

[0186] S407a, the fourth device determines the sensing result according to the first information and the second information.

[0187] As a possible implementation, the fourth device can calibrate the Doppler spectrum indicated by the first information or at least one path between the first device and the second device according to the information of the M frequencies included in the second information, and then determine the sensing result according to the result obtained after the calibration.

[0188] Taking an example that the sensing result includes the real Doppler frequency of the target scatterer, as an example, the fourth device can determine the real Doppler frequency of the target scatterer according to the first frequency f1, the second frequency f2 and the third frequency f3. Exemplarily, the real Doppler frequency f of the target scatterer is determined as follows: D

[0189] The first frequency is the Doppler frequency corresponding to the path with the strongest received power or amplitude between the first device and the second device determined according to the first Doppler information. For example, in the case of implementation of the first information by the above-mentioned manner two, the first frequency is the Doppler frequency corresponding to the path with the strongest received power or amplitude in the K paths. Or, the first frequency is the frequency corresponding to the local peak with the strongest received power or amplitude in the local peaks of the first Doppler spectrum. For example, in the case of implementation of the first information by the above-mentioned manner one, the first frequency is the frequency corresponding to the local peak with the strongest received power or amplitude in the local peaks of the first Doppler spectrum.

[0190] The third frequency is the Doppler frequency corresponding to the target scatterer determined according to the first Doppler information. For example, the third frequency can be the frequency corresponding to a certain local peak in the first Doppler spectrum determined by the fourth device according to the first Doppler information. The first frequency and the third frequency can be the same or different.

[0191] The second information includes the information of the second frequency. The second frequency is the frequency corresponding to the path with the strongest received power or amplitude in the M paths. For example, in the case that the above-mentioned M frequencies are the Doppler frequencies of the M paths, the second frequency is the frequency corresponding to the path with the strongest received power or amplitude in the M paths. Or, the second frequency is the frequency corresponding to the local peak with the strongest received power or amplitude in the local peaks of the second Doppler spectrum. For example, in the case that the above-mentioned M frequencies are the frequencies corresponding to the first M local peaks with the strongest received power or amplitude in the local peaks of the second Doppler spectrum, the second frequency is the frequency corresponding to the local peak with the strongest received power or amplitude in the local peaks.

[0192] ​As another example, the fourth device can determine the true Doppler frequency of the target scatterer based on the third frequency f3 and the fourth frequency f4. The fourth frequency can be the Doppler frequency corresponding to the target scatterer determined based on the first signal; for example, the fourth frequency can be the frequency corresponding to a local peak in the second Doppler spectrum determined by the second device based on the first signal. The fourth frequency and the second frequency may be the same or different. For example, the true Doppler frequency f4 of the target scatterer... D for:

[0193] As one possible implementation, the fourth device can also be based on the true Doppler frequency f of the target scatterer. D Determine the radial velocity of the target scatterer. For example, the radial velocities v and f of the scatterer. D The following relationship can be satisfied:

[0194] Where c is the speed of light, f c V represents the carrier frequency of the first or second signal, for example, the frequency of the first and / or second signal corresponding to subcarrier 0. Furthermore, a positive v indicates that the target scatterer is radially closer, and a negative v indicates that the target scatterer is radially farther away.

[0195] In another possible implementation, if the fourth device is the same as the first device, then as shown in FIG5, after steps S403 and S404, the method may further include the following steps S405b-S406b:

[0196] S405b: The second device sends second information to the first device. Correspondingly, the first device receives the second information from the second device.

[0197] For example, the first device receiving second information from the second device can be understood as one way for the first device to acquire the second information. The implementation of the second information can be found in the relevant description in step S404 above, and will not be repeated here. Furthermore, in this scenario, step S403 above can also be understood as one way for the first device (or the fourth device) to acquire the first information.

[0198] S406b: The second device determines the sensing result based on the first and second information. Refer to the relevant explanation in step S407a above; it will not be repeated here.

[0199] In another possible implementation, if the fourth device is the same as the second device, then as shown in FIG6, after steps S403 and S404, the method may further include the following steps S405c-S406c:

[0200] S405c, the first device sends the first information to the second device. Correspondingly, the second device receives the first information from the first device.

[0201] For example, the second device receiving the first information from the first device can be understood as an implementation manner of the second device obtaining the first information. The implementation of the first information can refer to the related description in the above step S403, and will not be described here. In addition, in this scenario, the above step S404 can also be understood as an implementation manner of the second device (or the fourth device) obtaining the second information.

[0202] S406c, the second device determines the sensing result according to the first information and the second information. For details, refer to the related description in the above step S407a, and will not be described here.

[0203] Based on the above scheme, the first device and the second device respectively as the sender, send signals to each other, such as the first device sending the first signal to the first device, and the second device sending the second signal to the first device, so that the first device can determine the first Doppler information based on the second signal, and the second device can determine the information of M frequencies between the first device and the second device based on the second signal. Since in the scenario of double-end signal rotation, the Doppler related information (such as Doppler frequency offset, Doppler frequency offset, etc.) corresponding to the two signals is opposite in direction, the same in size, and offset relative to the true situation, therefore, based on the first Doppler information determined by the first device and the information of M frequencies determined by the second device, the true Doppler related information when there is no CFO can be estimated, or in other words, the influence of CFO on the Doppler related information can be eliminated, thereby improving the sensing performance.

[0204] In a possible implementation, in the above step S401, the first device sends the first signal on the first resource. Correspondingly, the second device receives the first signal on the first resource. In addition, the first signal can be generated based on the first sequence.

[0205] For convenience of description, the information related to generating and sending the first signal in the embodiments of the present application is collectively referred to as the configuration information of the first signal. For example, the configuration information of the first signal can include the configuration information of the first resource (such as the time-frequency location information of the first resource), the pattern, the information of the first sequence, etc.

[0206] As a first possible implementation, the first device can determine the configuration information of the first signal by itself. In this scenario, before step S401, the first device can send the configuration information of the first signal to the second device, so that the second device receives the first signal according to the configuration information of the first signal. For example, in the case that the first device is an access network device and the second device is a terminal device, the first device determines the configuration information of the first signal by itself.

[0207] As a second possible implementation, the first device can receive the configuration information of the first signal from a second device. That is, before step S401, the second device can determine the configuration information of the first signal, and send the configuration information of the first signal to the first device, so that the first device sends the first signal according to the configuration information of the first signal. For example, in the case that the second device is an access network device and the first device is a terminal device, the second device can determine the configuration information of the first signal, and send the configuration information of the first signal to the first device.

[0208] As a third possible implementation, the first device can receive the configuration information of the first signal from a third device. That is, before step S401, the third device can determine the configuration information of the first signal, and send the configuration information of the first signal to the first device, so that the first device sends the first signal according to the configuration information of the first signal.

[0209] It can be understood that, in the case that the third device and the second device are the same device, the second possible implementation and the third possible implementation are the same. In the case that the third device and the second device are different devices, in the third possible implementation, the third device can further send the configuration information of the first signal to the second device, so that the second device receives the first signal.

[0210] For example, in the case that the third device and the second device are different, if the first device and the second device are both terminal devices, the third device can be another terminal device, an access network device or a core network device (such as an SF network element); if the first device and the second device are both access network devices, the third device can be another access network device or a core network device; if one of the first device and the second device is a terminal device and the other is an access network device, the third device can be a core network device.

[0211] Optionally, in the case that the first resource is a resource in a first time range in a first periodic resource, the configuration information of the first resource can include a period of the first periodic resource, a starting time domain position (such as a certain OFDM symbol in a time slot as the starting time domain position) of the first periodic resource, a number of time units included in each period (such as a number of occupied continuous OFDM symbols), and the like.

[0212] Optionally, when the first resource is a resource in a first time range in a first periodic resource, the third device or the fourth device can indicate the first time range to the second device, so that the second device receives the first signal in the first time range and determines the second information according to the first signal. For example, the third device or the fourth device can indicate the start position and the end position of the first time range, or can indicate the start position and the time length of the first time range, or can indicate the end position and the time length of the first time range. The start position and / or the end position can be indicated by absolute time or relative time. For example, the start position and / or the end position can be indicated by one or more of frame number, subframe number, slot number, OFDM symbol index.

[0213] As an example, the third device or the fourth device can indicate one or more of the frame number, the subframe number, the slot number, the OFDM symbol index in which the start position and / or the end position is located.

[0214] As an example, the third device or the fourth device can indicate the deviation of the start position and / or the end position relative to a specific time, which can be, for example, the time at which the first device receives the configuration information of the first signal, or can be the time at which the first device receives the first signaling, or can be the time at which the first device reports the first information. The deviation can be represented by one or more of frame number, subframe number, slot number, OFDM symbol index.

[0215] For example, the time at which the first device receives the configuration information of the first signal or the first signaling can also be understood as the start time or the end time of the resource occupied by the configuration information of the first signal or the first signaling, which can be absolute time or relative time such as frame number, subframe number, slot number, OFDM symbol index.

[0216] Optionally, when the first resource is a non-periodic resource, the first time range can be the time range between the start time of the first resource and the end time of the first resource by default.

[0217] In a possible implementation, in the step S402, the second device transmits a second signal on a second resource. Correspondingly, the first device receives the second signal on the second resource. In addition, the second signal can be generated based on a second sequence. The second sequence and the first sequence can be the same or different, which is not limited.

[0218] For convenience of description, the information related to the generation and sending of the second signal is collectively referred to as the configuration information of the second signal in the embodiments of the present application. For example, the configuration information of the second signal can include the configuration information of the second resource (such as the time-frequency position information of the first resource), the pattern, the information of the second sequence, and the like. The related implementation of the configuration information of the second signal can refer to the description of the configuration information of the first signal, which will not be described here.

[0219] In addition, when the second resource is a resource in a second time range in a second periodic resource, the third device or the fourth device can indicate the second time range to the first device, so that the first device receives the second signal in the second time range and determines the first information according to the second signal. The related implementation of the fourth device indicating the first time range to the first device will not be described here. When the second resource is a non-periodic resource, the second time range can be the time range between the start time of the second resource and the end time of the second resource by default.

[0220] In a possible implementation, the first Doppler information determined by the first device according to the second signal in the step S403 can have the following two implementation manners:

[0221] Manner one, the first Doppler information includes the following at least one item associated with part or all of the O·N frequencies of the first Doppler spectrum: amplitude, received power or coefficient.

[0222] The coefficient associated with a certain frequency includes the amplitude and phase associated with the frequency. N is the number of time units occupied by the second signal, or in other words, N is the number of time units included in the second resource, or in other words, N is the number of time intervals in the second resource plus 1. O is the frequency domain oversampling factor used by the first device, and O and N are positive integers.

[0223] For example, the frequency domain oversampling factor O can be understood as: O is the oversampling factor in the Doppler frequency domain. The frequency oversampling factor can be configured by the fourth device, or can be predefined by the protocol, or the frequency oversampling factor is 1 by default.

[0224] As a possible implementation, the identification of the O·N frequencies can be i = 0, 1, …, ON-1. For example, the i-th frequency (or the identification frequency i) in the O·N frequencies corresponds to a frequency size of:

[0225] Or:

[0226] Wherein, T is the interval between adjacent time units occupied by the second signal, or in other words, T is the interval between any two adjacent time units included in the second resource.

[0227] For example, the interval between two adjacent time units is the interval between the start position of the former time unit and the start position of the latter time unit in the two time units; or is the interval between the end position of the former time unit and the end position of the latter time unit.

[0228] In addition, the identification of the O·N frequencies can be i = 1, …, ON. At this time, the above relationship (1) can be changed to the following relationship (1'), and the above relationship (2) can be changed to the following relationship (2'):

[0229] The following examples of the present application take i = 0, 1, …, ON-1 as an example for illustration. The related implementation involved can be appropriately deformed to apply to the scene of i = 1, …, ON.

[0230] It can be understood that, in the case where the frequency size corresponding to the i-th frequency is represented by the above relationship (1), the frequency range corresponding to the first Doppler spectrum is Or That is, the O·N frequencies of the first Doppler spectrum are That is, In the case where the frequency size corresponding to the i-th frequency is represented by the above relationship (2), the frequency range corresponding to the first Doppler spectrum is Or That is, the O·N frequencies of the first Doppler spectrum are That is,

[0231] As a possible implementation, the first Doppler information includes at least one of the amplitude, received power or coefficient associated with all the frequencies in the O·N frequencies of the first Doppler spectrum. In this scenario, the first Doppler information can also include the information of each frequency, such as the identification or frequency size of the frequency, for example, the first Doppler information includes O·N frequencies + O·N amplitudes, or includes O·N {frequencies + amplitudes}. Alternatively, the first Doppler information can also not include the information of the frequency, at this time, it is defaulted that the information included in the first Doppler information has a corresponding relationship with the O·N frequencies, for example, the first Doppler information includes O·N amplitude information, where the first amplitude corresponds to the first frequency (the frequency identification is 0) in the O·N frequencies, that is, the amplitude value corresponding to the first frequency in the first Doppler spectrum is the first amplitude in the O·N amplitudes, the second amplitude corresponds to the second frequency (the frequency identification is 1), that is, the amplitude value corresponding to the second frequency in the first Doppler spectrum is the second amplitude in the O·N amplitudes, and so on.

[0232] For example, referring to the first Doppler spectrum shown in curve 1 of FIG. 7, the first Doppler spectrum can have O·N frequencies, the first of which can be f E , the last of which can be f F , for example The O·N frequencies can be evenly distributed, respectively That is, the frequencies of the first Doppler spectrum can be evenly discretized, and each discrete point (i.e., frequency) in the first Doppler spectrum has at least one of an associated amplitude, received power, or coefficient.

[0233] It should be noted that FIG. 7 can be understood as a form of a Doppler spectrum measured in an actual scenario. When the observation time is long enough, or the Doppler frequency exactly falls on a DFT grid point, the Doppler spectrum will present several discrete and clear spectral lines, such as the spectral lines shown in FIG. 2. However, in an actual measurement process, it will usually present a gradually rising and falling trend at a certain position.

[0234] Based on this possible implementation, the first Doppler information includes at least one of an associated amplitude, received power, or coefficient of all frequencies in the O·N frequencies of the first Doppler spectrum, so that the first Doppler spectrum can be estimated or restored through the first Doppler information. Further, the Doppler frequency of at least one path between the first device and the second device can be analyzed based on the first Doppler spectrum. For example, based on the at least one of the associated amplitude, received power, or coefficient of all frequencies, at least one local peak of the first Doppler spectrum can be determined, and the Doppler frequency corresponding to the at least one local peak is the Doppler frequency of at least one path between the first device and the second device. If the path is a path scattered by a scatterer, the Doppler frequency can reflect the radial movement speed of the scatterer.

[0235] As another possible implementation, the first Doppler information includes at least one of amplitudes, received powers or coefficients associated with part of the frequencies in the O*N frequencies of the first Doppler spectrum. In this scenario, the first Doppler information can further include information of each of the frequencies in the part of the frequencies, such as an identity of the frequency or a size of the frequency. For example, the first Doppler information includes X frequencies + X amplitudes, or X {frequency + amplitude}, X being a positive integer smaller than O*N. Alternatively, the first Doppler information can not include information of the frequencies, in which case the X frequencies can be predetermined by the fourth device and the first device, and thus the information included in the first Doppler information can be assumed to correspond to the X frequencies. For example, the first Doppler information includes X amplitudes, in which the first amplitude corresponds to the first frequency in the X frequencies of the first Doppler spectrum, the second amplitude corresponds to the second frequency in the X frequencies of the first Doppler spectrum, and so on.

[0236] Optionally, in the case that the fourth device is different from the first device, the part of the frequencies can be determined according to an indication of the fourth device or the third device. For example, before step S403, the fourth device can send first indication information to the first device, and the first device receives the first indication information from the fourth device, and determines the part of the frequencies in the O*N frequencies of the first Doppler spectrum according to the first indication information. For example, the first indication information can indicate the part of the frequencies; or the first indication information can indicate a first frequency range, and the part of the frequencies is in the first frequency range of the first Doppler spectrum, or the part of the frequencies is the first Doppler frequency in the first frequency range. For example, as shown in FIG. 7, taking the first frequency range as frequencies f G to f H , the first Doppler information includes at least one of amplitudes, received powers or coefficients associated with the frequencies in the range of f G to f H .

[0237] For example, the first indication information can include a start frequency (or referred to as a minimum frequency) and an end frequency (or referred to as a maximum frequency) of the first frequency range; or the first indication information can include a frequency identifier list including a plurality of frequency identifiers, and the first frequency range includes frequencies corresponding to the plurality of frequency identifiers in the frequency identifier list; or the first indication information can include information of a frequency identifier range, and the first frequency range can be a frequency range corresponding to the frequency identifier range, for example, the first indication information can include a minimum frequency identifier and a maximum frequency identifier of the frequency identifier range, and the first frequency range is a frequency range between a frequency corresponding to the minimum frequency identifier and a frequency corresponding to the maximum frequency identifier, for example, the minimum frequency identifier can be frequency identifier 1 and the maximum frequency identifier can be frequency identifier 2, the frequency identifier range can be [frequency identifier 1, frequency identifier 2], or (frequency identifier 1, frequency identifier 2], or [frequency identifier 1, frequency identifier 2), or (frequency identifier 1, frequency identifier 2), if the frequency identifier 1 corresponds to frequency 1 and the frequency identifier 2 corresponds to frequency 2, the first frequency range can be [frequency 1, frequency 2], or (frequency 1, frequency 2], or [frequency 1, frequency 2), or (frequency 1, frequency 2).

[0238] For example, the first frequency range can be a continuous frequency range, or the first frequency range can include a plurality of discontinuous frequency ranges. The third device or the fourth device also respectively indicates the plurality of discontinuous frequency ranges, and the indication manner can refer to the related description above, which will not be described here.

[0239] For example, the first frequency range can be determined by the third device or the fourth device based on the sensing service. For example, if the sensing service is to detect the fall of a human body in a room, since the instantaneous speed of the human body falling generally does not exceed ±10 meters per second (m / s), when the carrier frequency is 30 gigahertz (GHz), the corresponding Doppler frequency range is ±2 kilohertz (kHz), and therefore the first frequency range can be [-2, 2) kHz.

[0240] Further, the first frequency range can be determined by the third device or the fourth device based on the sensing service and the CFO between the first device and the second device. For example, the Doppler frequency offset caused by the CFO can be superimposed based on the frequency range determined based on the sensing service. Based on the above example, the Doppler frequency range when detecting the fall of a human body in a room is ±2 kHz, if the CFO between the first device and the second device does not exceed 0.1 parts per million (PPM), the corresponding frequency size does not exceed ±3 kHz, and therefore the first frequency range after superimposing the Doppler frequency corresponding to the sensing service can be [-5, 5) kHz.

[0241] Optionally, the part of the frequencies can also be determined by the first device itself. For example, the first device can first determine the first frequency range, and then determine the frequencies of the first Doppler spectrum within the first frequency range as the part of the frequencies. The first device can determine the first frequency range according to the third device or the fourth device, and details are not repeated here.

[0242] For example, when the first frequency range is indicated by the third device or the fourth device, the first Doppler information can not include information of each frequency in the part of the frequencies. When the first frequency range is determined by the first device itself, the first Doppler information can include information of the part of the frequencies, and details are not repeated here.

[0243] Based on the possible implementation, the first Doppler information includes at least one of the amplitude, the received power or the coefficient associated with the part of the frequencies in the O·N frequencies of the first Doppler spectrum, which can reduce the size of the reported quantity of the first device.

[0244] Based on the above manner one, the first Doppler information can basically describe the entire first Doppler spectrum, so that the device determining the perception result can obtain detailed Doppler spectrum information, so that a more accurate perception result can be determined based on the detailed Doppler spectrum information, and the perception performance is improved. For example, in the case that there are multiple scatterers in the environment, the multiple scatterers can be distinguished based on the Doppler spectrum information. However, it should be noted that the Doppler frequencies in the Doppler information determined by the first device are Doppler frequencies affected by CFO, and further correction is required subsequently.

[0245] Manner two, the first Doppler information includes information of K Doppler frequencies, or information of K Doppler frequencies and the amplitude, the received power or the coefficient associated with the K Doppler frequencies, and the coefficient associated with the K Doppler frequencies includes the amplitude and the phase associated with the K Doppler frequencies. K is a positive integer.

[0246] For example, the information of the frequency can include a frequency identifier and / or a frequency size. The frequency identifier and the frequency size have a corresponding relationship, and details are not repeated here.

[0247] As a possible implementation, the K paths are determined by the first device according to the second signal, and the K paths are between the first device and the second device. For example, the K paths are determined by the first device according to the second signal, and the K paths are the K paths with the strongest received power or amplitude between the first device and the second device.

[0248] For example, the first device can determine the K paths according to the measurement result of the second signal, or the first device can determine the K paths according to the measurement result of the second signal in other manners, which is not limited herein.

[0249] As a possible implementation, the K paths are paths with Doppler frequencies in a third frequency range, which can be predefined or preconfigured, or indicated by the third device or the fourth device.

[0250] As a possible implementation, when the fourth device is different from the first device, the fourth device or the third device can send second indication information to the first device before step S403, and correspondingly, the first device receives the second indication information from the third device or the fourth device. The second indication information can indicate the value of K, or be understood as indicating the number of paths to be reported. Alternatively, the second indication information indicates the maximum number of paths (or the maximum number of frequencies) allowed to be reported, and K is less than or equal to the maximum number of paths allowed to be reported.

[0251] Based on the above-mentioned manner two, the first Doppler information includes frequency information of at least one path between the first device and the second device, or includes frequency information corresponding to at least one local peak of the first Doppler spectrum, which can reduce the amount of data and reduce signaling and resource overhead.

[0252] In a possible implementation, in the above-mentioned step S404, the second information determined by the second device according to the first signal includes information of M frequencies, and M is a positive integer. The M frequencies are Doppler frequencies of M paths, or the M frequencies are frequencies corresponding to the first M local peaks with the strongest received power or amplitude in the local peaks of the second Doppler spectrum. For details, refer to the related description in the above-mentioned step S404, which will not be repeated here.

[0253] As a possible implementation, when the M frequencies are Doppler frequencies of M paths, the second information further includes at least one of the following associated with the M paths: amplitude, received power or coefficient. The coefficient associated with the path includes amplitude and phase associated with the path.

[0254] Optionally, the M paths are paths with Doppler frequencies in a fourth frequency range, which can be predefined or preconfigured, or indicated by the third device or the fourth device. For example, the fourth frequency range can be the same as the third frequency range or the same as the first frequency range.

[0255] As another possible implementation, the M frequencies are the first M local peaks in the second Doppler spectrum, and the second information further includes at least one of the following associated with the M frequencies: amplitude, received power, or coefficient. The coefficient associated with a frequency includes the amplitude and phase associated with the frequency.

[0256] For example, as shown in FIG. 7, the second Doppler spectrum includes two local peaks, the first local peak corresponds to a frequency f B , and the second local peak corresponds to a frequency f D , the second information can include information of f B and information of f D , or the second information can only include information of f B and not include information of f D . Further, when the second information includes information of f B , the second information can further include at least one of the following associated with f B : amplitude, received power, or coefficient; and when the second information includes information of f D , the second information can further include at least one of the following associated with f D : amplitude, received power, or coefficient.

[0257] As a possible implementation, the information of the frequency can include a frequency identifier and / or a frequency size. There is a corresponding relationship between the frequency identifier and the frequency size. For example, the second Doppler spectrum can include O ′ ·N ′ frequencies, and the identifiers of the O ′ ·N ′ frequencies can be i = 0, 1, …, O ′ N ′ - 1. For example, the i-th frequency (or the frequency with identifier i) in the O ′ ·N ′ frequencies corresponds to a frequency size of:

[0258] or:

[0259] where N ′ is the number of time units occupied by the first signal, or in other words, N ′ is the number of time units included in the first resource, or in other words, N ′ is the number of time intervals in the first resource plus 1. O ′ is a frequency domain oversampling factor used by the second device, O ′ , N ′ are positive integers. T′ is an interval between adjacent time units in the time units occupied by the first signal, or T ′ is a period of the first resource or the first signal. For details, refer to the description of the first aspect.

[0260] Optionally, the M frequencies are located in a fifth frequency range, which can be predefined or preconfigured, or indicated by the third device or the fourth device. For example, the fifth frequency range can be the same as the first frequency range, or the fifth frequency range can be the same as the third frequency range. As a possible implementation, the second information can further include at least one of the amplitude, the received power, or the coefficient associated with at least one frequency in the second Doppler spectrum and located in at least one second frequency range. The second frequency range includes a frequency corresponding to one of the M local peaks of the second Doppler spectrum. For example, as shown in FIG. 7, the second Doppler spectrum includes two local peaks, and the corresponding frequencies are f B and f D , the second frequency range can include f I to f J , and the second frequency range includes f B .

[0261] As an example, the second frequency range is related to a frequency offset range, which can be predefined or preconfigured, or configured by the third device or the fourth device. The minimum frequency offset of the frequency offset range is greater than or equal to -S1, and the maximum frequency offset of the frequency offset range is less than or equal to S2, that is, the frequency offset range can be represented as (-S1, S2], or (-S1, S2), or [-S1, S2], or [-S1, S2). S1 and S2 can be absolute frequency sizes, or identifiers corresponding to the absolute frequency sizes.

[0262] Based on the frequency offset range, the second frequency range includes f m -S1~f m +S2, f m is one of the frequencies corresponding to the M local peaks. f m may be an absolute frequency size, or an identifier corresponding to the absolute frequency size. That is, the second frequency range can be (f m -S1, f m +S2], or (f m -S1, f m +S2), or [f m -S1, f m +S2], or [f m -S1, f m+S2).

[0263] As a further example, the size B of the second frequency range can be predefined or configured by the third device or the fourth device, and the second frequency range can be or or or f m is one of the frequencies corresponding to the M local peaks.

[0264] That is, the second information can include not only the information related to the local peaks of the second Doppler spectrum, but also the information related to the spectrum around the local peaks.

[0265] In addition, there can be multiple second frequency ranges, one second frequency range corresponding to one local peak of the second Doppler spectrum. A certain second frequency range includes the frequency corresponding to the local peak corresponding thereto, or in other words, a certain local peak is located in the second frequency range corresponding thereto. As an example, in the case of multiple second frequency ranges, the sizes of the multiple second frequency ranges can be the same or different. For example, the size of the second frequency range corresponding to the local peak with the strongest amplitude or power in the second Doppler spectrum can be greater than the size of the second frequency range corresponding to the local peak with the second strongest amplitude or power, without limitation.

[0266] Based on this implementation, in the case that the second information further includes the information related to the local peaks in the second Doppler spectrum, more detailed information of the second Doppler spectrum can be provided, so that the fourth device can more accurately determine the CFO in combination with the information related to the local peaks and the information related to the spectrum around the local peaks, and the accuracy of perception is improved.

[0267] As a possible implementation, the second information can further include information of U frequencies, the U frequencies being the frequencies corresponding to U local valleys in the second Doppler spectrum. Optionally, U=M or U=M+1.

[0268] Based on this implementation, in the case that the second information further includes the information related to the local valleys in the second Doppler spectrum, more detailed information of the second Doppler spectrum can be provided, so that the fourth device can more accurately determine the CFO in combination with the information of the first Doppler spectrum and the information related to the local peaks and local valleys in the second Doppler spectrum, and the accuracy of perception is improved.

[0269] Optionally, the bandwidth of the first signal and the bandwidth of the second signal can be different, for example, the second signal is a wideband signal used to determine the Doppler frequency and time delay corresponding to the scatterer, and in this case, the first information can further include the time delay size and the Doppler frequency size corresponding to the local peak in the Doppler-time delay spectrum, or the Doppler frequency and time delay size of K paths; the first signal is a narrowband signal used to calibrate the Doppler frequency determined based on the second signal to eliminate CFO.

[0270] In a possible implementation, in the step S407a, the fourth device can determine the first frequency and the third frequency according to the first information, and determine the second frequency according to the second information, thereby determining the real Doppler frequency of the target scatterer according to the first frequency, the second frequency and the third frequency, and determining the radial velocity of the target scatterer according to the real Doppler frequency of the target scatterer.

[0271] In addition, the fourth device can further determine a first Doppler spectrum based on the first information; determine the CFO between the first device and the second device based on the first information and the second information, for example, based on the example shown in FIG. 7, the CFO is (f B -f A ) / 2; and estimate the Doppler spectrum affected by the environment based on the CFO and the first Doppler spectrum, for example, the Doppler spectrum can be the spectrum after the first Doppler spectrum is shifted right by the CFO. Based on the example shown in FIG. 7, the Doppler spectrum is the Doppler spectrum shown in curve 3; and finally, the perception result can be determined based on the estimated Doppler spectrum.

[0272] Optionally, the fourth device can further determine the perception result according to the frequency-related amplitude, received power or coefficient, for example, the frequency-related amplitude can reflect the intensity of the signal scattered by the scatterer, which is usually related to the distance, scattering area, surface material and texture of the scatterer, that is, the distance, scattering area, surface material and texture of the scatterer can be determined according to the frequency-related amplitude.

[0273] Based on the above scheme, the Doppler-related information eliminating the influence of CFO can be obtained, so that the perception can be performed based on the Doppler-related information. However, in actual application, in the case that the first signal and the second signal are periodic signals, there can be a Doppler frequency ambiguity problem. The Doppler frequency ambiguity problem will be introduced first.

[0274] In the case that the interval corresponding to the first signal and the second signal (i.e., the above first interval) is T, the Doppler frequency ambiguity problem can be understood as follows: the size of the unambiguous frequency range corresponding to the first signal and the second signal is 1 / T, and since the moving direction of the scatterer cannot be determined, the frequency range is usually set to or This frequency range refers to the range of half-open and half-closed states (e.g., left-closed and right-open or left-open and right-closed). The following explanation uses left-closed and right-open as an example. Specifically, if the actual Doppler frequency f is caused by the movement of the scattering body... d If the frequency f is located within the range [-1 / 2T, 1 / 2T), then the Doppler frequency f can be accurately determined. d If the actual Doppler frequency f caused by the movement of the scattering body d If the frequency exceeds the range [-1 / 2T, 1 / 2T), then the Doppler frequency cannot be determined as f. d However, we can only determine its Doppler frequency as f. d +1 / T、f d -1 / T, f d +2 / T、f d -2 / T and other values ​​within the above frequency range.

[0275] For example, suppose there is only one Doppler component in the environment (or channel) with frequency f. d Therefore, at different times, the first device can measure the change in channel coefficient based on the second signal. As shown in Figure 8, the channel coefficients measured by the first device at times 0, T, 2T, and 3T are respectively compared with the channel coefficient at time 0 as 1, T, 2T, and 3T. Let's take an example to illustrate.

[0276] In cases where Doppler frequency ambiguity exists, when the Doppler frequency is f d +1 / T or f d At -1 / T, the channel coefficient change measured by the first device at the same time is related to the Doppler frequency f. d The channel coefficient changes are completely consistent at any given time. For example, as shown in Figure 8, when the Doppler frequency is f... d At +1 / T, the change in channel coefficient measured at time T is: The change in channel coefficients measured at time 2T is as follows The change in channel coefficients measured at time 3T is as follows When the Doppler frequency is f d At -1 / T, the change in channel coefficient measured at time T is: The change in channel coefficients measured at time 2T is as follows The change in channel coefficients measured at time 3T is as follows

[0277] In other words, when calculating or deriving the Doppler frequency based on a channel coefficient sequence measured from a periodic signal or a signal with the same interval between any two adjacent time units in the occupied time unit, if the Doppler frequency to be measured in the environment is large and the signal period is large, the Doppler frequency cannot be measured accurately.

[0278] Generally, the method to solve the Doppler frequency ambiguity problem is to estimate the Doppler frequency range that can occur in advance, and set a reasonable signal period based on the estimated Doppler frequency range. For example, if the sensing service is to detect the fall of a human body in an indoor environment, the instantaneous speed of the human body when falling is generally not more than ±10 m / s, and when the carrier frequency is 30 GHz, the corresponding Doppler frequency range is ±2 kHz, that is, the size of the entire Doppler frequency range is 4 kHz. Therefore, if the Doppler frequency ambiguity problem is to be avoided, the signal period should be no more than 1 / 4 kHz = 0.25 ms.

[0279] However, in the presence of CFO, the CFO will be superimposed with the Doppler frequency in the environment, resulting in an increase in the Doppler frequency range. For example, when the carrier frequency is 30 GHz, the CFO between the first device and the second device is not more than 0.1 PPM, and the corresponding frequency size is not more than ±3 kHz. Therefore, after being superimposed with the Doppler frequency ±2 kHz in the above environment, the corresponding Doppler frequency range reaches ±5 kHz, that is, the size of the entire Doppler frequency range is 10 kHz. At this time, if the Doppler frequency ambiguity problem is to be avoided, the signal period should be no more than 1 / 10 kHz = 0.1 ms. Thus, compared to the scenario without CFO, in order to avoid the Doppler frequency ambiguity problem, the overhead of the signal needs to be increased by 150%. That is, the current solution will cause the signal overhead to increase

[0280] If the signal is still sent according to a larger period in order to reduce the overhead, the Doppler frequency ambiguity problem will occur. For example, assuming that the Doppler frequency component in the environment is not more than [-10, 10] kHz, and taking the period T of the first signal and the second signal as 0.05 ms, the corresponding unambiguous frequency range is [-10, 10) kHz. In the scenario considering CFO, if the Doppler frequency ambiguity problem is to be avoided, the signal period needs to be reduced. If the signal is still sent according to the period of 0.05 ms, the Doppler frequency ambiguity problem will occur. The Doppler frequency ambiguity problem that occurs when the signal is still sent according to the period of 0.05 ms is described below.

[0281] As shown in FIG. 9, assuming that the peak of the first Doppler spectrum measured by the method shown in FIG. 4 is located at 2 kHz, and the peak of the second Doppler spectrum is located at 6 kHz, since there is a possibility of Doppler frequency ambiguity after superimposing CFO, the real Doppler spectrum (i.e., the Doppler spectrum not affected by CFO) can exist in multiple cases:

[0282] Case 1, the peak of the real Doppler spectrum is located at the frequency of 4 kHz, the carrier frequency of the first device is 2 kHz higher than that of the second device, then the Doppler spectrum measured by the first device is shifted 2 kHz to the left compared with the real Doppler spectrum, and the Doppler spectrum measured by the second device is shifted 2 kHz to the right compared with the real Doppler spectrum, thus the peak of the first measured Doppler spectrum is located at 2 kHz, and the peak of the second measured Doppler spectrum is located at 6 kHz.

[0283] Case 2, the peak of the real Doppler spectrum is located at the frequency of -6 kHz, the carrier frequency of the first device is 8 kHz lower than that of the second device, if the Doppler frequency ambiguity problem is not considered, the Doppler spectrum measured by the first device is shifted 8 kHz to the right compared with the real Doppler spectrum, and the peak is located at 2 kHz, the Doppler spectrum measured by the second device is shifted 8 kHz to the left compared with the real Doppler spectrum, and the peak is located at -14 kHz, but due to the Doppler frequency ambiguity problem caused by the large signal period, the second device can only identify the frequency within the range of [-10, 10) kHz (the size of the non-ambiguous frequency range is 20 kHz), thus the peak of the second measured Doppler spectrum determined by the second device is located at -14 kHz + 20 kHz = 6 kHz.

[0284] Case 3, the peak of the real Doppler spectrum is located at 4 kHz, the carrier frequency of the first device is 22 kHz higher than that of the second device, if the Doppler frequency ambiguity problem is not considered, the Doppler spectrum measured by the first device is shifted 22 kHz to the left compared with the real Doppler spectrum, and the peak is located at -18 kHz, but due to the Doppler frequency ambiguity problem caused by the large signal period, the first device can only identify the frequency within the range of [-10, 10) kHz (the size of the non-ambiguous frequency range is 20 kHz), thus the peak of the first measured Doppler spectrum determined by the first device is located at -18 kHz + 20 kHz = 2 kHz.

[0285] If the Doppler frequency ambiguity problem is not considered, the Doppler spectrum measured by the second device is shifted 22 kHz to the right compared with the real Doppler spectrum, and the peak is located at 26 kHz, but due to the Doppler frequency ambiguity problem caused by the large signal period, the second device can only identify the frequency within the range of [-10, 10) kHz (the size of the non-ambiguous frequency range is 20 kHz), thus the peak of the second measured Doppler spectrum determined by the second device is located at 26 kHz - 20 kHz = 6 kHz.

[0286] By analogy, the CFO can also be ±42 kHz, ±62 kHz, etc., that is, the carrier frequency of the first device is 42 kHz or 62 kHz higher than that of the second device, etc.

[0287] Case 4, the peak of the real Doppler spectrum is located at -6 kHz, the carrier frequency of the first device is 28 kHz lower than that of the second device, if the Doppler frequency aliasing problem is not considered, the Doppler spectrum measured by the first device is shifted right by 28 kHz compared with the real Doppler spectrum, and the peak is located at 22 kHz, but due to the Doppler frequency aliasing problem caused by the large signal period, the first device can only identify the frequency in the range of [-10, 10) kHz (the size of the aliasing-free frequency range is 20 kHz), and thus the peak of the first Doppler spectrum finally determined by the first device is located at 22 kHz-20 kHz = 2 kHz.

[0288] If the Doppler frequency aliasing problem is not considered, the Doppler spectrum measured by the second device is shifted left by 28 kHz compared with the real Doppler spectrum, and the peak is located at -34 kHz, but due to the Doppler frequency aliasing problem caused by the large signal period, the second device can only identify the frequency in the range of [-10, 10) kHz (the size of the aliasing-free frequency range is 20 kHz), and thus the peak of the second Doppler spectrum finally determined by the second device is located at -34 kHz+20 kHz+20 kHz = 6 kHz.

[0289] By analogy, the CFO can also be ±48 kHz, ±68 kHz, etc., that is, the carrier frequency of the first device is 48 kHz or 68 kHz lower than that of the second device, etc.

[0290] In combination with the analysis of the above four cases, as shown in (a) of FIG. 10, the peak of the real Doppler spectrum can be located at frequency 4; or as shown in (b) of FIG. 10, the peak of the real Doppler spectrum can be located at frequency -6.

[0291] In order to solve the Doppler frequency aliasing problem without significantly increasing the signal overhead, the application proposes a scheme for transmitting a plurality of signals with different periods. As shown in FIG. 11, the method comprises the following steps:

[0292] S1101, the first device transmits a first signal and a third signal. Correspondingly, the second device receives the first signal and the third signal.

[0293] The implementation of the first signal can refer to the related description of the first signal in the foregoing embodiments, which will not be repeated here. The implementation of the third signal is similar to that of the first signal, and the difference lies in that the interval corresponding to the third signal (denoted as the third interval) is different from the first interval. The third interval is the interval between any two adjacent time units in the third resource including a plurality of time units, and the third resource is used to carry the third signal. The implementation of the third interval can refer to the related description of the first interval, which will not be repeated here.

[0294] As a possible implementation, the time unit occupied by the third signal is different from the time unit occupied by the first signal, i.e., there is no overlap in time domain between the two.

[0295] S1102, the second device transmits the second signal and the fourth signal. Correspondingly, the first device receives the second signal and the fourth signal.

[0296] The implementation of the second signal can refer to the related description of the second signal in the foregoing embodiments, and will not be described here. The implementation of the fourth signal is similar to that of the second signal, and the difference lies in that the interval corresponding to the fourth signal (denoted as the fourth interval) is different from the second interval. The fourth interval is the interval between any two adjacent time units in the plurality of time units included in the fourth resource, and the fourth resource is used to carry the fourth signal; the second interval is the interval between any two adjacent time units in the plurality of time units included in the second resource, and the second resource is used to carry the second signal. The implementation of the fourth interval and the second interval can refer to the related description of the first interval, and will not be described here. In addition, the second interval and the first interval can be the same.

[0297] The third signal and the fourth signal are associated, which can refer to the related implementation of the association between the first signal and the second signal, and will not be described here. In addition, the third interval and the fourth interval are the same, i.e., the period of the third signal and the period of the fourth signal are the same, or the interval between adjacent time units occupied by the third signal is the same as the interval between adjacent time units occupied by the fourth signal.

[0298] Optionally, the third signal and the fourth signal can be narrowband signals, for example, the third signal and the fourth signal can only occupy one subcarrier, which can be used to solve the problem of Doppler frequency ambiguity. The first signal and the second signal can be wideband signals, which can be used to measure the Doppler spectrum, the multipath time delay, etc. The multipath time delay can be further used to determine the distance between the scatterer and the first device or the second device, the distance between the first device and the second device, etc.

[0299] As a possible implementation, the carrier frequency used by the first device when transmitting the third signal is equal to the carrier frequency used by the first device when transmitting the first signal, or the difference between the two is less than a threshold A. Alternatively, the carrier frequency used by the first device when transmitting the third signal is equal to the carrier frequency used by the first device when receiving the second signal, or the difference between the two is less than a threshold B. Alternatively, the carrier frequency used by the first device when receiving the fourth signal is equal to the carrier frequency used by the first device when transmitting the first signal, or the difference between the two is less than a threshold C. Alternatively, the carrier frequency used by the first device when receiving the fourth signal is equal to the carrier frequency used by the first device when receiving the second signal, or the difference between the two is less than a threshold D. Wherein the carrier frequency used by the first device when transmitting the third signal can refer to the foregoing relevant description of the first carrier frequency, and the carrier frequency used by the first device when receiving the fourth signal can refer to the foregoing relevant description of the second carrier frequency, which will not be repeated here.

[0300] As a possible implementation, the carrier frequency used by the second device when transmitting the fourth signal is equal to the carrier frequency used by the second device when transmitting the second signal, or the difference between the two is less than a threshold E. Alternatively, the carrier frequency used by the second device when transmitting the fourth signal is equal to the carrier frequency used by the second device when receiving the first signal, or the difference between the two is less than a threshold F. Alternatively, the carrier frequency used by the second device when receiving the third signal is equal to the carrier frequency used by the second device when transmitting the second signal, or the difference between the two is less than a threshold G. Alternatively, the carrier frequency used by the second device when receiving the third signal is equal to the carrier frequency used by the second device when receiving the first signal, or the difference between the two is less than a threshold H. Wherein the carrier frequency used by the second device when transmitting the fourth signal can refer to the foregoing relevant description of the third carrier frequency, and the carrier frequency used by the second device when receiving the third signal can refer to the foregoing relevant description of the fourth carrier frequency, which will not be repeated here.

[0301] For example, the above-mentioned threshold A, threshold B, threshold C, threshold D, threshold E, threshold F, threshold G, threshold H can be the same, or can be different, or can not be completely the same, which is not limited. The threshold can be predefined or preconfigured, or indicated by the third device or the fourth device.

[0302] S1103, the first device determines the first information according to the second signal, and determines the third information according to the fourth signal.

[0303] Wherein the implementation of the first information can refer to the foregoing relevant description of the first information in the embodiments, which will not be repeated here. The third information indicates the frequency offset of the third Doppler spectrum relative to the first Doppler spectrum. The third Doppler spectrum is determined by the first device according to the fourth signal.

[0304] In addition, the frequency offset can also be understood as the offset of the multipath frequency, for example, the frequency offset can be the offset of the frequencies of K paths determined according to the fourth signal relative to the frequencies of K paths determined according to the second signal, and the frequency offset can be:

[0305] wherein offset k represents the offset of the frequency of the kth path determined according to the fourth signal relative to the frequency of the kth path determined according to the second signal, k = 1, 2, …, K.

[0306] S1104, the second device determines second information according to the first signal, and determines fourth information according to the third signal.

[0307] wherein the implementation of the second information can refer to the related description of the second information in the foregoing embodiments, and will not be described here. The fourth information indicates the frequency offset of the fourth Doppler spectrum relative to the second Doppler spectrum. The fourth Doppler spectrum is determined by the second device according to the third signal. In addition, the frequency offset can also be understood as the offset of the multipath frequency.

[0308] As a possible implementation, the above-mentioned frequency offset can include an offset size and / or direction, and the offset size can be an absolute value or a value capable of indicating the offset direction, for example, when the offset size is positive, it means right offset, and when the offset size is negative, it means left offset.

[0309] In a possible implementation, if the fourth device is different from the first device and different from the second device, after step S1104, the method can further include steps S1105-S1107:

[0310] S1105, the first device sends the first information and the third information to the fourth device. Correspondingly, the fourth device receives the first information and the third information from the first device.

[0311] S1106, the second device sends the second information and the fourth information to the fourth device. Correspondingly, the fourth device receives the second information and the fourth information from the second device.

[0312] S1107, the fourth device determines the perception result according to the first information, the second information, the third information and the fourth information.

[0313] As a possible implementation, the fourth device can determine at least one possible position of the real Doppler spectrum according to the first information and the second information. Then determine the actual Doppler spectrum position from the at least one possible position based on the third information and the fourth information, and finally determine the perception result based on the actual Doppler spectrum position.

[0314] For example, in the example shown in FIGS. 9-10, the period (or the interval between adjacent time units in the occupied time units) of the third signal and the fourth signal is 0.05555 ms, and the corresponding unambiguous Doppler frequency range is [-9, 9] kHz. If the actual situation is the above-described situation 1, as shown in FIG. 12, the peak of the measured third Doppler spectrum should be located at the frequency 2 kHz, and the peak of the fourth Doppler spectrum should be located at the frequency 6 kHz; if the actual situation is the above-described situation 2, as shown in FIG. 13, the peak of the measured third Doppler spectrum should be located at the frequency 2 kHz, and the actual peak of the fourth Doppler spectrum is located at the frequency -14 kHz, and since the unambiguous frequency range is [-9, 9] kHz at this time, the actually measured peak of the fourth Doppler spectrum is located at the frequency -14 kHz + 18 kHz = 4 kHz.

[0315] Therefore, if the third information indicates that the frequency offset of the third Doppler spectrum relative to the first Doppler spectrum is 0 (i.e., no offset occurs), and the fourth information indicates that the frequency offset of the fourth Doppler spectrum relative to the second Doppler spectrum is 0, the fourth device can determine that the peak of the actual Doppler spectrum is located at the frequency 4 kHz. If the third information indicates that the frequency offset of the third Doppler spectrum relative to the first Doppler spectrum is 0, and the fourth information indicates that the size of the frequency offset of the fourth Doppler spectrum relative to the second Doppler spectrum is 2 kHz and the offset direction is leftward (or indicates that the frequency offset is -2 kHz), the fourth device can determine that the peak of the actual Doppler spectrum is located at the frequency -6 kHz.

[0316] In another possible implementation, if the fourth device is the same as the first device, the above-described step S1105 is not performed, in step S1106, the second device sends the second information and the fourth information to the first device, and in step S1107, the first device determines the perception result according to the first information, the second information, the third information, and the fourth information.

[0317] In yet another possible implementation, if the fourth device is the same as the second device, in the above-described step S1105, the first device sends the first information and the third information to the second device, step S1106 is not performed, and in step S1107, the second device determines the perception result according to the first information, the second information, the third information, and the fourth information.

[0318] Based on the above scheme, by sending the third signal and the fourth signal, the frequency offset of the Doppler spectrum corresponding to the third signal relative to the Doppler spectrum corresponding to the first signal and the frequency offset of the Doppler spectrum corresponding to the fourth signal relative to the Doppler spectrum corresponding to the second signal can be measured, so that the position of the real Doppler spectrum can be determined based on the frequency offset, and the Doppler frequency ambiguity problem is solved. In addition, compared with reducing the period of the first signal and the second signal, the third signal and the fourth signal can be transmitted using only a small amount of resources, reducing the signal overhead and saving resources.

[0319] In a possible implementation, for the above method embodiments, in a CU-DU architecture or an ORAN system, the functions of the access network device and the terminal device interaction can be implemented by the DU or the O-DU. The information sent by the access network device to the terminal device can be generated by the DU or the O-DU, or can be generated by the CU or the O-CU and sent to the DU or the O-DU. The functions of the access network device and the core network device interaction can be implemented by the CU or the O-CU. The processing functions of the access network device can be implemented by the CU or the O-CU, or can be implemented by the DU or the O-DU, or can be jointly implemented by the CU and the DU (or the O-CU and the O-DU), without limitation.

[0320] The above describes the method provided by the application, and the application further provides a communication apparatus for implementing the functions described in the above method embodiments.

[0321] It can be understood that, to implement the above functions, the communication apparatus includes hardware structures and / or software modules corresponding to the functions. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of the examples described in the embodiments disclosed herein, the application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is implemented in hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the application.

[0322] The embodiments of the application can divide the communication apparatus into functional modules according to the above method embodiments, for example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be realized in the form of hardware or software functional module. It should be noted that the division of modules in the embodiments of the application is illustrative, and is only a logical function division. Actual implementation can have another division manner.

[0323] FIG. 14 shows a structural diagram of a communication apparatus 140. The communication apparatus 140 includes a processing module 1401 and a transceiver module 1402. The communication apparatus 140 can be used to implement the functions of the first device, the second device, the third device, or the fourth device.

[0324] In some embodiments, the communication apparatus 140 can further include a storage module (not shown in FIG. 14) for storing program instructions and data.

[0325] In some embodiments, the transceiver module 1402, which can also be referred to as a transceiver unit, is configured to implement the transmitting and / or receiving functions. The transceiver module 1402 can be composed of a transceiver circuit, a transceiver, a transceiver, or a communication interface.

[0326] In some embodiments, the transceiver module 1402 can include a receiving module and a transmitting module, which are respectively configured to perform the receiving and transmitting steps of the first device, the second device, the third device, or the fourth device in the method embodiments described above, and / or to support other processes of the technology described herein; the processing module 1401 can be configured to perform the processing steps of the first device, the second device, the third device, or the fourth device in the method embodiments described above, and / or to support other processes of the technology described herein.

[0327] When the communication apparatus 140 is used to implement the functions of the fourth device:

[0328] The transceiver module 1402 is configured to obtain first information, the first information including first Doppler information, the first Doppler information being determined by the first device according to a second signal, the second signal being a signal transmitted by the second device; the transceiver module 1402 is further configured to obtain second information, the second information including information of M frequencies; wherein the M frequencies are Doppler frequencies of M beams, the M beams being the first M beams with the strongest received power or amplitude between the first device and the second device determined by the second device according to a first signal, or the M frequencies being frequencies corresponding to the first M local peaks with the strongest received power or amplitude in local peaks of a second Doppler spectrum, the second Doppler spectrum being determined by the second device according to the first signal; M is a positive integer, the first signal being a signal transmitted by the first device, the first signal being associated with the second signal; the processing module 1401 is configured to determine a sensing result according to the first information and the second information.

[0329] Optionally, the first Doppler information includes at least one of the following associated with part or all of the O·N frequencies of a first Doppler spectrum: amplitude, received power, or coefficient, the coefficient associated with the frequency including the amplitude and phase associated with the frequency. Wherein the first Doppler spectrum is determined by the first device according to the second signal, N is the number of time units occupied by the second signal, O is a frequency domain oversampling factor, O and N are positive integers.

[0330] Optionally, a frequency size corresponding to an i th frequency in the O·N frequencies is:

[0331] Or,

[0332] Wherein, T is an interval between adjacent time units in time units occupied by the second signal, i = 0, 1, …, ON-1.

[0333] Optionally, the first Doppler information includes at least one of the following associated with part of the frequencies in the O·N frequencies of the first Doppler spectrum: amplitude, received power or coefficient; the transceiver 1402 is further configured to send first indication information to the first device, the first indication information indicating a first frequency range, and the part of the frequencies is located in the first frequency range of the first Doppler spectrum.

[0334] Optionally, the first Doppler information includes information of Doppler frequencies of K paths, or includes information of Doppler frequencies of K paths and at least one of the following associated with the K paths: amplitude, received power or coefficient, the coefficient associated with the path includes amplitude and phase associated with the path, the K paths are paths between the second device and the first device determined by the first device according to the second signal, and K is a positive integer.

[0335] Optionally, the K paths are K paths with the strongest received power or amplitude between the second device and the first device determined by the first device according to the second signal.

[0336] Optionally, the transceiver 1402 is further configured to send second indication information to the first device, the second indication information indicating K, or indicating a maximum number of paths allowed to be reported, and K is less than or equal to the maximum number of paths.

[0337] Optionally, the transceiver 1402 is further configured to obtain third information, and the transceiver 1402 is further configured to obtain fourth information. The processing module 1401 is configured to determine the sensing result according to the first information and the second information, including: the processing module 1401 is configured to determine the sensing result according to the first information, the second information, the third information and the fourth information. The fourth signal is transmitted by the second device. The fourth information indicates a frequency offset of a fourth Doppler spectrum relative to a second Doppler spectrum, the second Doppler spectrum is determined by the second device according to the first signal, and the fourth Doppler spectrum is determined by the second device according to a third signal. The third signal is transmitted by the first device. The third interval is different from the first interval, and the fourth interval is different from the second interval. The third interval is an interval between any two adjacent time units in a plurality of time units included in a third resource, the third resource being used to carry the third signal. The first interval is an interval between any two adjacent time units in a plurality of time units included in a first resource, the first resource being used to carry the first signal. The fourth interval is an interval between any two adjacent time units in a plurality of time units included in a fourth resource, the fourth resource being used to carry the fourth signal. The second interval is an interval between any two adjacent time units in a plurality of time units included in a second resource, the second resource being used to carry the second signal.

[0338] In the communication apparatus 140 is configured to implement the functions of the first device, as a possible implementation manner:

[0339] The transceiver 1402 is configured to transmit a first signal, the first signal being used to determine second information, the second information including information of M frequencies. The M frequencies are Doppler frequencies of M beams, the M beams being the first M beams with the strongest received power or amplitude between the first device and the second device, or the M frequencies being frequencies corresponding to the first M local peaks with the strongest received power or amplitude in local peaks of a second Doppler spectrum, the second Doppler spectrum being determined according to the first signal, M being a positive integer. The transceiver 1402 is further configured to receive a second signal, the first signal being associated with the second signal. The transceiver 1402 is further configured to transmit first information, the first information including first Doppler information, the first Doppler information being determined according to the second signal, the second signal being a signal transmitted by the second device, and the first information and the second information being used to determine a sensing result.

[0340] As another possible implementation manner:

[0341] The transceiver module 1402 is configured to transmit the first signal. The transceiver module 1402 is further configured to receive second information, the second information comprising information of M frequencies. The M frequencies are Doppler frequencies of M paths, the M paths being the first M paths with the strongest received power or amplitude between the first device and the second device determined according to the first signal, or the M frequencies are frequencies corresponding to the first M local peaks with the strongest received power or amplitude in local peaks of a second Doppler spectrum, the second Doppler spectrum being determined according to the first signal, M being a positive integer. The transceiver module 1402 is further configured to receive a second signal, the second signal being a signal transmitted by the second device, the first signal being associated with the second signal. The processing module 1401 is configured to determine first information according to the second signal, the first information comprising first Doppler information. The processing module 1401 is further configured to determine a sensing result according to the first information and the second information.

[0342] When the communication apparatus 140 is configured to implement a function of the second device:

[0343] The transceiver module 1402 is configured to receive a first signal. The transceiver module 1402 is further configured to transmit a second signal, the second signal being used to determine first information, the first information comprising first Doppler information, the first Doppler information being determined according to the second signal, the first signal being associated with the second signal. The transceiver module 1402 is further configured to transmit second information, the second information comprising information of M frequencies. The M frequencies are Doppler frequencies of M paths, the M paths being the first M paths with the strongest received power or amplitude between the first device and the second device determined according to the first signal, or the M frequencies are frequencies corresponding to the first M local peaks with the strongest received power or amplitude in local peaks of a second Doppler spectrum, the second Doppler spectrum being determined according to the first signal, M being a positive integer. The first information and the second information are used to determine a sensing result.

[0344] When the communication apparatus 140 is configured to implement a function of the fourth device, the first device or the second device:

[0345] Optionally, when the M frequencies are frequencies corresponding to the first M local peaks with the strongest received power or amplitude in local peaks of a second Doppler spectrum, the second information further comprises at least one of the following associated with the M frequencies: amplitude, received power or coefficient, the coefficient associated with the frequency comprising amplitude and phase associated with the frequency.

[0346] Optionally, the second information further comprises at least one of the following associated with at least one frequency in a second frequency range in the second Doppler spectrum: amplitude, received power or coefficient, the coefficient associated with the frequency comprising amplitude and phase associated with the frequency; the second frequency range comprising a frequency corresponding to one of the M local peaks.

[0347] Optionally, the second frequency range is associated with a frequency offset range, a minimum frequency offset of the frequency offset range is greater than or equal to -S1, a maximum frequency offset of the frequency offset range is less than or equal to S2, and the second frequency range includes f m -S1~f m +S2, f m is one of the M frequencies.

[0348] Optionally, in the case that the M frequencies are Doppler frequencies of M paths, the second information further includes at least one of the following associated with the M paths: amplitudes, received powers, or coefficients, the coefficients associated with the paths including amplitudes and phases associated with the paths.

[0349] Optionally, the first signal is associated with the second signal, including: the first signal is carried on a first resource, and the second signal is carried on a second resource. The first resource includes a plurality of time units, and the interval between any two adjacent time units is a first interval. The second resource includes a plurality of time units, and the interval between any two adjacent time units is a first interval.

[0350] Optionally, including: the first carrier frequency and the second carrier frequency are the same, or the difference between the first carrier frequency and the second carrier frequency is less than or equal to a first threshold value. Wherein, the first carrier frequency is a carrier frequency used by the first device when transmitting the first signal, and the second carrier frequency is a carrier frequency used by the first device when receiving the second signal.

[0351] Optionally, the first signal is associated with the second signal, including: the third carrier frequency and the fourth carrier frequency are the same, or the difference between the third carrier frequency and the fourth carrier frequency is less than or equal to a second threshold value. Wherein, the third carrier frequency is a carrier frequency used by the second device when transmitting the second signal, and the fourth carrier frequency is a carrier frequency used by the second device when receiving the first signal.

[0352] Optionally, the first signal is associated with the second signal, including: the interval between the transmission time of the first signal and the transmission time of the second signal is less than or equal to a third threshold value.

[0353] Optionally, the sensing result includes the velocity of the scatterer; the processing module 1401 is configured to determine the sensing result according to the first information and the second information, including: the processing module 1401 is configured to determine the real Doppler frequency of the target scatterer according to the first frequency f1, the second frequency f2, and the third frequency f3 as follows:

[0354] The first frequency is a Doppler frequency corresponding to a path with the strongest received power or amplitude between the first device and the second device according to the first Doppler spectrum information, or the first frequency is a frequency corresponding to a local peak with the strongest received power or amplitude in local peaks of the first Doppler spectrum. The third frequency is a Doppler frequency corresponding to a target scatterer according to the first Doppler information. The M frequencies include a second frequency, and the second information includes information of the second frequency. The second frequency is a frequency corresponding to a path with the strongest received power or amplitude in M paths, or the second frequency is a frequency corresponding to a local peak with the strongest received power or amplitude in local peaks of the second Doppler spectrum.

[0355] All relevant contents of each step involved in the method embodiments can be referred to the function description of the corresponding function module, and will not be repeated here.

[0356] In the present application, the communication apparatus 140 can be presented in the form of an integrated manner to divide various function modules. The "module" here can refer to a specific application-specific integrated circuit (ASIC), a circuit, a processor and a memory executing one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions.

[0357] In some embodiments, when the communication apparatus 140 in FIG. 14 is a chip or a chip system, the functions / implementation processes of the transceiver module 1402 can be implemented through the input / output interface (or the communication interface) of the chip or the chip system, and the functions / implementation processes of the processing module 1401 can be implemented through the processor (or the processing circuit) of the chip or the chip system.

[0358] Since the communication apparatus 140 provided in the present embodiment can execute the above method, the technical effects that can be obtained thereby can be referred to the above method embodiments, and will not be repeated here.

[0359] As a possible product form, the first device, the second device, the third device, or the fourth device described in the embodiments of the present application can be implemented using one or more field programmable gate arrays (FPGAs), programmable logic devices (PLDs), controllers, state machines, gated logic, discrete hardware components, any other suitable circuitry, or any combination thereof capable of performing the functions described throughout the present application.

[0360] As another possible product form, the first device, the second device, the third device or the fourth device described in the embodiments of the present application can be implemented by a general bus architecture. For ease of illustration, refer to FIG. 15, which is a structural schematic diagram of a communication apparatus 1500 provided by the embodiments of the present application, the communication apparatus 1500 including a processor 1501 and a transceiver 1502. The communication apparatus 1500 can be the first device, the second device, or a chip or chip system therein; or the communication apparatus 1500 can be the third device, the fourth device, or a chip or module therein. FIG. 15 only shows the main components of the communication apparatus 1500. In addition to the processor 1501 and the transceiver 1502, the communication apparatus can further include a memory 1503 and an input / output device (not shown in the figure).

[0361] Optionally, the processor 1501 is mainly used for processing communication protocols and communication data, and controlling the whole communication apparatus, executing software programs, processing data of the software programs, so as to implement the methods provided in the method embodiments described above. The memory 1503 is mainly used for storing software programs and data. The transceiver 1502 can include a radio frequency circuit and an antenna, the radio frequency circuit is mainly used for conversion between a baseband signal and a radio frequency signal and processing of the radio frequency signal. The antenna is mainly used for transceiving radio frequency signals in the form of electromagnetic waves. The input / output device, such as a touch screen, a display screen, a keyboard, etc., is mainly used for receiving data input by a user and outputting data to the user.

[0362] Optionally, the processor 1501, the transceiver 1502, and the memory 1503 can be connected through a communication bus.

[0363] When the communication apparatus is powered on, the processor 1501 can read software programs in the memory 1503, execute instructions of the software programs, and process data of the software programs. When data needs to be transmitted wirelessly, the processor 1501 performs baseband processing on the data to be transmitted, and outputs a baseband signal to the radio frequency circuit, the radio frequency circuit performs radio frequency processing on the baseband signal, and transmits the radio frequency signal in the form of electromagnetic waves through the antenna. When data is transmitted to the communication apparatus, the radio frequency circuit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor 1501, the processor 1501 converts the baseband signal into data and processes the data.

[0364] In another implementation, the radio frequency circuit and the antenna can be arranged independently of the processor performing baseband processing, for example, in a distributed scenario, the radio frequency circuit and the antenna can be arranged remotely from the communication apparatus.

[0365] In some embodiments, the communication apparatus 140 described above can take the form of the communication apparatus 1500 shown in Figure 15, which can be conceived by those skilled in the art.

[0366] As an example, the functions / implementation procedures of the processing module 1401 in Figure 14 can be implemented by the processor 1501 in the communication apparatus 1500 shown in Figure 15 invoking computer-executed instructions stored in the memory 1503. The functions / implementation procedures of the transceiver module 1402 in Figure 14 can be implemented by the transceiver 1502 in the communication apparatus 1500 shown in Figure 15.

[0367] As yet another possible product form, the first device, the second device, the third device or the fourth device in the present application can take the constituent structure shown in Figure 16, or include the components shown in Figure 16. Figure 16 is a constituent schematic diagram of a communication apparatus 1600 provided in the present application, which can be the first device, the second device, or a chip or system on chip in the first device or the second device; or can be the third device, the fourth device, or a module or chip or system on chip in the third device or the fourth device.

[0368] As shown in Figure 16, the communication apparatus 1600 includes at least one processor 1601, and at least one communication interface (only one communication interface 1604 is shown in Figure 16 by way of example, and the processor 1601 is taken as an example for description). Optionally, the communication apparatus 1600 can further include a communication bus 1602 and a memory 1603.

[0369] The processor 1601 can be a general central processing unit (CPU), a general processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a PLD, or any combination thereof. The processor 1601 can also be other apparatuses with processing functions, such as a circuit, a device, or a software module, without limitation.

[0370] The communication bus 1602 is used to connect different components in the communication device 1600, so that different components can communicate. The communication bus 1602 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into address bus, data bus, control bus, etc. For the convenience of representation, only one thick line is represented in FIG. 16, but it does not mean that there is only one bus or one type of bus.

[0371] The communication interface 1604 is used for communication with other devices or communication networks. The communication interface 1604 can be a module, a circuit, a transceiver or any device capable of realizing communication. Alternatively, the communication interface 1604 can also be an input and output interface located in the processor 1601, used to realize the signal input and signal output of the processor.

[0372] The memory 1603 can be a device with a storage function, used to store instructions and / or data. The instructions can be a computer program.

[0373] The memory 1603 can be a read-only memory (ROM) or other type of static storage device that can store static information and / or instructions, or can be a random access memory (RAM) or other type of dynamic storage device that can store information and / or instructions, or can be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, optical disk storage (including compact disk, laser disk, optical disk, digital versatile disk, Blu-ray disk, etc.), magnetic disk storage medium or other magnetic storage device, etc., without limitation.

[0374] It should be noted that the memory 1603 can exist independently of the processor 1601, or can be integrated with the processor 1601. The memory 1603 can be located in the communication device 1600 or outside the communication device 1600, without limitation. The processor 1601 can be used to execute the instructions stored in the memory 1603 to realize the method provided by the embodiments described below.

[0375] Optionally, the processor 1601 and / or the memory 1603 can include an artificial intelligence (AI) module, which is configured to implement AI-related functions. The AI module can be implemented in software, hardware, or a combination of software and hardware. For example, the AI module can include a radio access network intelligent controller (RIC) module. For example, the AI module can be a near-real-time RIC or a non-real-time RIC.

[0376] As an optional implementation, the communication apparatus 1600 can further include an output device 1605 and an input device 1606. The output device 1605 is in communication with the processor 1601 and can display information in various ways. For example, the output device 1605 can be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector, etc. The input device 1606 is in communication with the processor 1601 and can receive user input in various ways. For example, the input device 1606 can be a mouse, a keyboard, a touch screen device, a sensor device, etc.

[0377] In some embodiments, in hardware implementation, those skilled in the art can conceive that the communication apparatus 140 shown in FIG. 14 can take the form of the communication apparatus 1600 shown in FIG. 16.

[0378] As an example, the functions / implementation processes of the processing module 1401 in FIG. 14 can be implemented by the processor 1601 in the communication apparatus 1600 in FIG. 16 invoking computer-executable instructions stored in the memory 1603. The functions / implementation processes of the transceiver module 1402 in FIG. 14 can be implemented by the communication interface 1604 in the communication apparatus 1600 in FIG. 16.

[0379] It should be noted that the structure shown in FIG. 16 does not constitute a specific limitation on the first device, the second device, the third device, or the fourth device. For example, in some other embodiments of the present application, the first device, the second device, the third device, or the fourth device can include more or fewer components than those shown, or combine certain components, or split certain components, or different arrangement of components. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0380] In some embodiments, the embodiments of the present application also provide a communication apparatus, which includes a processor configured to implement the method in any of the method embodiments described above.

[0381] As a possible implementation, the communication apparatus further includes a memory. The memory is configured to store necessary computer programs and data. The computer programs can include instructions, and the processor can invoke the instructions in the computer programs stored in the memory to instruct the communication apparatus to perform the method in any of the above method embodiments. Of course, the memory can also not be in the communication apparatus.

[0382] As another possible implementation, the communication apparatus further includes an interface circuit, which is a code / data read-write interface circuit, configured to receive computer execution instructions (the computer execution instructions are stored in the memory, and can be read directly from the memory or can pass through other devices) and transmit to the processor.

[0383] As still another possible implementation, the communication apparatus further includes a communication interface, configured to communicate with modules outside the communication apparatus.

[0384] It can be understood that the communication apparatus can be a chip or a chip system. When the communication apparatus is a chip system, the communication apparatus can be composed of a chip or can include a chip and other discrete devices. The embodiments of the present application do not make a specific limitation in this regard.

[0385] The present application also provides a computer readable storage medium, which stores a computer program or instructions, and the computer program or instructions realize the functions of any of the above method embodiments when executed by a computer.

[0386] The present application also provides a computer program product, which realizes the functions of any of the above method embodiments when executed by a computer.

[0387] Those skilled in the art can understand that, for the convenience and brevity of the description, the specific working processes of the above-described system, apparatus and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be described here.

[0388] It can be understood that the system, apparatus and method described in the present application can also be implemented in other ways. For example, the apparatus embodiments described above are only schematic. For example, the division of the units is only a logical function division. In actual implementation, another division mode can be adopted. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or in other forms.

[0389] The units described as separate components may or may not be physically separate, i.e., may be located in one place, or may be distributed over multiple network units. The components shown as units may or may not be physical units. Part or all of the units may be selected according to actual needs to achieve the purposes of the embodiments of the present application.

[0390] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0391] In the above embodiments, all or part can be realized by software, hardware, firmware, or any combination thereof. When realized by software, all or part can be realized in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, the computer program instructions produce the processes or functions described in the embodiments of the present application in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another, for example, the computer instructions can be transferred from one website, computer, server or data center to another via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that can be accessed by a computer or data storage device including one or more servers, data centers, etc. integrated with the medium. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state drive (SSD)), etc. In the embodiments of the present application, the computer can include the devices described above.

[0392] Although the present application is described herein in conjunction with various embodiments, other variations of the disclosed embodiments can be understood and implemented by those skilled in the art through viewing the described embodiments, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "one" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. Some measures described in mutually different dependent claims can be combined and produce good results.

[0393] While the application has been described in connection with specific features thereof, it will be evident that many modifications and variations of the application are possible, and will be evident to those of ordinary skill in the art. Accordingly, it is intended that all such modifications and variations be considered as within the scope of the application. Other aspects of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

Claims

1. A communication method characterized by comprising: The method comprises: obtaining first information, the first information comprising first Doppler information determined by a first device according to a second signal, the second signal being a signal transmitted by a second device; obtaining second information, the second information comprising information of M frequencies; wherein the M frequencies are Doppler frequencies of M beams, the M beams being the first M beams with the strongest received power or amplitude between the first device and the second device determined by the second device according to a first signal, or the M frequencies being frequencies corresponding to the first M local peaks with the strongest received power or amplitude in local peaks of a second Doppler spectrum, the second Doppler spectrum being determined by the second device according to the first signal; M being a positive integer, the first signal being a signal transmitted by the first device, the first signal being associated with the second signal; determining a sensing result according to the first information and the second information.

2. The method of claim 1, wherein, The first Doppler information comprises at least one of the following associated with part or all of O·N frequencies of a first Doppler spectrum: amplitude, received power or coefficient, the coefficient associated with the frequency comprising the amplitude and phase associated with the frequency; wherein the first Doppler spectrum is determined by the first device according to the second signal, N being the number of time units occupied by the second signal, O being a frequency domain oversampling factor, O and N being positive integers.

3. The method of claim 2, wherein, The i-th frequency in the O·N frequencies corresponds to a frequency size of: or, wherein T is the interval between adjacent time units in the time units occupied by the second signal, i = 0, 1, …, ON-1.

4. The method according to claim 2 or 3, characterized in that, The first Doppler information comprises at least one of the following associated with part of the O·N frequencies of the first Doppler spectrum: amplitude, received power or coefficient; the method further comprises: sending first indication information to the first device, the first indication information indicating a first frequency range, the part of the frequencies being located in the first frequency range of the first Doppler spectrum.

5. The method of claim 1, wherein, The first Doppler information comprises information of K beam Doppler frequencies, or comprises information of the K beam Doppler frequencies and at least one of the following associated with the K beams: amplitude, received power or coefficient, the coefficient associated with the beam comprising the amplitude and phase associated with the beam; wherein the K beams are beams between the second device and the first device determined by the first device according to the second signal, K being a positive integer.

6. The method of claim 5, wherein, The K beams are K beams with the strongest received power or amplitude between the second device and the first device determined by the first device according to the second signal.

7. The method according to claim 5 or 6, characterized in that, The method further comprises: sending second indication information to the first device, the second indication information indicating the K, or indicating the maximum number of beams allowed to be reported, K being less than or equal to the maximum number of beams.

8. The method according to any one of claims 1 to 7, characterized in that, The M frequencies are frequencies corresponding to the first M local peaks with the strongest received power or amplitude in local peaks of a second Doppler spectrum; the second information further comprises at least one of the following associated with the M frequencies: amplitude, received power or coefficient, the coefficient associated with the frequency comprising the amplitude and phase associated with the frequency.

9. The method of claim 8, wherein, The second information further includes at least one of the following associated with at least one frequency in a second frequency range in the second Doppler spectrum: amplitude, received power, or coefficient, the coefficient associated with the frequency including the amplitude and phase associated with the frequency; The second frequency range includes a frequency corresponding to one of the M local peaks.

10. The method of claim 9, wherein, The second frequency range is associated with a frequency offset range, a minimum frequency offset of the frequency offset range being greater than or equal to -S1, a maximum frequency offset of the frequency offset range being less than or equal to S2, the second frequency range including f m -S1 ~ f m +S2, f m is one of the M frequencies.

11. The method according to any one of claims 1 to 7, characterized in that, The M frequencies are Doppler frequencies of M paths, and the second information further includes at least one of the following associated with the M paths: amplitude, received power, or coefficient, the coefficient associated with the path including the amplitude and phase associated with the path.

12. The method according to any one of claims 1 to 11, characterized in that, The first signal is associated with the second signal, including that the first signal is carried in a first resource and the second signal is carried in a second resource. The first resource includes a plurality of time units, and the interval between any two adjacent time units is a first interval, and the second resource includes a plurality of time units, and the interval between any two adjacent time units is the first interval.

13. The method according to any one of claims 1 to 12, characterized in that, The first signal is associated with the second signal, including that the first carrier frequency and the second carrier frequency are the same, or the difference between the first carrier frequency and the second carrier frequency is less than or equal to a first threshold value. The first carrier frequency is the carrier frequency used by the first device when transmitting the first signal, and the second carrier frequency is the carrier frequency used by the first device when receiving the second signal.

14. The method according to any one of claims 1 to 13, characterized in that, The first signal is associated with the second signal, including that the third carrier frequency and the fourth carrier frequency are the same, or the difference between the third carrier frequency and the fourth carrier frequency is less than or equal to a second threshold value. The third carrier frequency is the carrier frequency used by the second device when transmitting the second signal, and the fourth carrier frequency is the carrier frequency used by the second device when receiving the first signal.

15. The method according to any one of claims 1 to 14, characterized in that, The first signal is associated with the second signal, including that the interval between the transmission time of the first signal and the transmission time of the second signal is less than or equal to a third threshold value.

16. The method according to any one of claims 1 to 15, characterized in that, The perception result includes the true Doppler frequency of the target scatterer; and the determining the perception result according to the first information and the second information includes: determining a true Doppler frequency of the target scatterer according to the first frequency f1, the second frequency f2 and the third frequency f3 is: The first frequency is a Doppler frequency corresponding to a path with the strongest received power or amplitude between the first device and the second device determined according to the first Doppler information, or the first frequency is a frequency corresponding to a local peak with the strongest received power or amplitude in the first Doppler spectrum; and the third frequency is a Doppler frequency corresponding to the target scatterer determined according to the first Doppler information. The M frequencies include the second frequency, which is a frequency corresponding to a path with the strongest received power or amplitude in the M paths, or the second frequency is a frequency corresponding to a local peak with the strongest received power or amplitude in the second Doppler spectrum.

17. The method according to any one of claims 1 to 16, characterized in that, The method further includes: obtaining third information, the third information indicating a frequency offset of a third Doppler spectrum relative to a first Doppler spectrum, the first Doppler spectrum being determined by the first device according to the second signal, the third Doppler spectrum being determined by the first device according to a fourth signal, the fourth signal being transmitted by the second device; obtaining fourth information, the fourth information indicating a frequency offset of a fourth Doppler spectrum relative to a second Doppler spectrum, the second Doppler spectrum being determined by the second device according to the first signal, the fourth Doppler spectrum being determined by the second device according to a third signal, the third signal being transmitted by the first device; the determining the awareness result according to the first information and the second information comprises: determining the awareness result according to the first information, the second information, the third information and the fourth information; the third interval is different from the first interval, and the fourth interval is different from the second interval; the third interval is an interval between any two adjacent time units in a plurality of time units included in a third resource, the third resource being used to carry the third signal; the first interval is an interval between any two adjacent time units in a plurality of time units included in a first resource, the first resource being used to carry the first signal; the fourth interval is an interval between any two adjacent time units in a plurality of time units included in a fourth resource, the fourth resource being used to carry the fourth signal; the second interval is an interval between any two adjacent time units in a plurality of time units included in a second resource, the second resource being used to carry the second signal.

18. A method of communication, comprising: The method comprises: transmitting a first signal, the first signal being used to determine second information, the second information comprising information of M frequencies; wherein the M frequencies are Doppler frequencies of M beams, the M beams being the first M beams with the strongest received power or amplitude between a first device and a second device determined according to the first signal, or the M frequencies being frequencies corresponding to the first M local peaks with the strongest received power or amplitude in local peaks of a second Doppler spectrum, the second Doppler spectrum being determined according to the first signal, M being a positive integer; receiving a second signal, the first signal being associated with the second signal; transmitting first information, the first information comprising first Doppler information, the first Doppler information being determined according to the second signal, the second signal being a signal transmitted by a second device, the first information and the second information being used to determine an awareness result.

19. A method of communication, comprising: The method comprises: receiving a first signal; transmitting a second signal, the second signal being used to determine first information, the first information comprising first Doppler information, the first Doppler information being determined according to the second signal, the first signal being associated with the second signal; transmitting second information, the second information comprising information of M frequencies; wherein the M frequencies are Doppler frequencies of M beams, the M beams being top M beams with strongest received power or amplitude between the first device and the second device according to the first signal, or the M frequencies being frequencies corresponding to top M local peaks with strongest received power or amplitude in a second Doppler spectrum, the second Doppler spectrum being determined according to the first signal, M being a positive integer; the first information and the second information being used to determine a sensing result.

20. A method of communication, comprising: The method comprises: transmitting a first signal; receiving second information, the second information comprising information of M frequencies; wherein the M frequencies are Doppler frequencies of M beams, the M beams being top M beams with strongest received power or amplitude between the first device and the second device according to the first signal, or the M frequencies being frequencies corresponding to top M local peaks with strongest received power or amplitude in a second Doppler spectrum, the second Doppler spectrum being determined according to the first signal, M being a positive integer; receiving a second signal, the second signal being a signal transmitted by the second device, the first signal being associated with the second signal; determining first information according to the second signal, the first information comprising first Doppler information; determining a sensing result according to the first information and the second information.

21. The method according to any one of claims 18-20, characterized by, The first Doppler information comprises information of part or all of O·N frequencies in a first Doppler spectrum, the frequencies being associated with at least one of the following: amplitude, received power or coefficient, the coefficient associated with the frequency comprising amplitude and phase associated with the frequency; wherein the first Doppler spectrum is determined by the first device according to the second signal, N being a number of time units occupied by the second signal, O being a frequency domain oversampling factor, O and N being positive integers.

22. The method of claim 21, wherein, A frequency size corresponding to an i-th frequency in the O·N frequencies is: or, wherein T is an interval between adjacent time units in the time units occupied by the second signal, i = 0, 1, …, ON-1.

23. The method of any one of claims 18-20, wherein, The first Doppler information comprises information of Doppler frequencies of K beams, or comprises information of Doppler frequencies of K beams and at least one of the following associated with the K beams: amplitude, received power or coefficient, the coefficient associated with the frequency comprising amplitude and phase associated with the frequency; wherein the K beams are beams between the second device and the first device determined by the first device according to the second signal, K being a positive integer.

24. The method of claim 23, wherein, The K beams are K beams with strongest received power or amplitude between the second device and the first device determined by the first device according to the second signal.

25. The method of any one of claims 18-24, wherein, The first signal and the second signal are associated, comprising that the first signal is carried in a first resource and the second signal is carried in a second resource; The first resource comprises a plurality of time units, an interval between any two adjacent time units in the plurality of time units being a first interval, the second resource comprises a plurality of time units, an interval between any two adjacent time units in the plurality of time units being the first interval.

26. The method of claim 25, wherein, The second information further comprises at least one of the following associated with at least one frequency in a second frequency range in the second Doppler spectrum: amplitude, received power or coefficient, the coefficient associated with the frequency comprising the amplitude and phase associated with the frequency; The second frequency range comprises a frequency corresponding to one of the M local peaks.

27. The method of claim 26, wherein, The second frequency range is associated with a frequency offset range, a minimum frequency offset of the frequency offset range being greater than or equal to -S1, a maximum frequency offset of the frequency offset range being less than or equal to S2, the second frequency range including f m -S1 ~ f m + S2, f m is one of the M frequencies.

28. The method of any one of claims 18-27, wherein, The first signal is associated with the second signal, comprising: the first carrier frequency and the second carrier frequency are the same, or the difference between the first carrier frequency and the second carrier frequency is less than or equal to a first threshold value; The first carrier frequency is a carrier frequency used by the first device when transmitting the first signal, and the second carrier frequency is a carrier frequency used by the first device when receiving the second signal.

29. The method of any one of claims 18-28, wherein, The first signal is associated with the second signal, comprising: the third carrier frequency and the fourth carrier frequency are the same, or the difference between the third carrier frequency and the fourth carrier frequency is less than or equal to a second threshold value; The third carrier frequency is a carrier frequency used by the second device when transmitting the second signal, and the fourth carrier frequency is a carrier frequency used by the second device when receiving the first signal.

30. The method of any one of claims 18-29, wherein, The first signal is associated with the second signal, comprising: the interval between the transmission time of the first signal and the transmission time of the second signal is less than or equal to a third threshold value.

31. The method of any one of claims 18-30, wherein, The perception result comprises a true Doppler frequency of a target scatterer, and the first information and the second information are used to determine the perception result, comprising: Based on the first frequency, the second frequency, and the third frequency, a true Doppler frequency of the target scatterer is determined as: The first frequency is a Doppler frequency corresponding to a path with the strongest received power or amplitude between the first device and the second device determined according to the first Doppler information, or the first frequency is a frequency corresponding to a local peak with the strongest received power or amplitude in the first Doppler spectrum; and the third frequency is a Doppler frequency corresponding to a target scatterer determined according to the first Doppler information. The M frequencies comprise the second frequency, which is a frequency corresponding to a path with the strongest received power or amplitude in the M paths, or a frequency corresponding to a local peak with the strongest received power or amplitude in the second Doppler spectrum.

32. A communications device, characterized by The communication device comprises a processor; the processor is configured to run a computer program or instructions to enable the communication device to perform the method of any one of claims 1-17, or to enable the communication device to perform the method of any one of claims 18-31.

33. A computer-readable storage medium, comprising: The computer readable storage medium stores computer instructions or programs, when the computer instructions or programs are run on a computer, the method of any one of claims 1-17 is performed, or the method of any one of claims 18-31 is performed.

34. A computer program product, characterised in that, The computer program product comprises computer instructions; when part or all of the computer instructions are run on a computer, the method as claimed in any one of claims 1-17 is executed, or the method as claimed in any one of claims 18-31 is executed.

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