Sensing method and apparatus

Abstract

A sensing method and an apparatus, which can be applied to the field of sensing, and can solve the problem of resource waste or insufficient resources caused when time domain resources received by sensing nodes are insufficient or excessive. The method comprises: a first node reporting sensing resource information to a second node, wherein the sensing resource information is used to indicate a time domain resource actually required when the first node senses at least one sensing target; and the first node receiving first scheduling information from the second node, wherein the first scheduling information is used to schedule the time domain resource used by the first node to sense the at least one sensing target.

Description

A perception method and device

[0001] The present application claims priority to the Chinese patent application No. 202410814305.X, filed on June 21, 2024, and entitled "A perception method and device", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

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

[0003] Future mobile communication systems are expected to have both communication and perception capabilities. With the continuous increase of frequency, wider frequency bands and the use of ultra-massive multiple output (UM-MIMO) technology, communication signals have high resolution in the time delay domain, Doppler domain and angle domain, which makes it possible to use communication signaling to achieve high-precision perception. In addition, new services such as digital twin and Internet of Vehicles drive the convergence of communication systems and radar systems in terms of spectrum, technology trends, and applications, so it is necessary to design wireless communication and perception integrally, and ultimately achieve communication and perception capabilities, network reciprocity, improve frequency efficiency and reduce hardware costs.

[0004] Integrated sensing and communication (ISAC) is a key technology in the next generation of wireless communication networks, which aims to integrate wireless communication and sensing functions in the same system, and use various propagation characteristics of wireless signals to achieve positioning, detection, imaging and identification of targets, etc., to obtain information about the surrounding physical environment, exploit communication capabilities, and enhance user experience.

[0005] Currently, traditional radar uses pulse signals for perception, which has a large duty cycle and low resource utilization. Alternatively, sensing resources are pre-allocated for sensing without knowing the sensing results. In this case, how to allocate appropriate time domain resources to the sensing nodes is a technical problem that needs to be solved. SUMMARY

[0006] Embodiments of the present application provide a perception method and device, which can solve the problem of insufficient or excessive time domain resources received by the sensing nodes, causing resource waste or resource shortage.

[0007] To achieve the above-mentioned purpose, embodiments of the present application adopt the following technical solutions:

[0008] In a first aspect, a sensing method is provided. The method can be executed by a first node, a component of the first node, such as a processor, a chip, or a chip system of the first node, and can also be implemented by a logic module or software that can implement all or part of the function of the first node. The method comprises: reporting, by the first node, sensing resource information to a second node, the sensing resource information being used to indicate time domain resources actually required by the first node when sensing at least one sensing target; and receiving, by the first node, first scheduling information from the second node, the first scheduling information being used to schedule time domain resources for the first node to sense the at least one sensing target.

[0009] Based on the first aspect, by reporting, by the first node, the sensing resource information to the second node, the time domain resources actually required by the first node when sensing the at least one sensing target are indicated. The second node dynamically adjusts resource allocation according to the sensing resource information, and allocates appropriate time domain resources to the first node, thereby avoiding the problems of resource waste or resource shortage, and improving resource utilization and sensing accuracy.

[0010] In a possible design, the reporting of the sensing resource information comprises: receiving, by the first node, configuration information, the configuration information being used to configure a triggering condition and / or a reporting format of the sensing resource information; and reporting, by the first node, the sensing resource information according to the configuration information.

[0011] In this design, when the triggering condition is met, it indicates that the time domain resources pre-allocated by the second node are not appropriate, and the time domain resources need to be adjusted. Therefore, the first node reports the sensing resource information to the second node, so as to prevent the first node from directly reporting the sensing resource information without considering any factors, thereby causing a large signaling load.

[0012] In a possible design, before the reporting of the sensing resource information, the method further comprises: receiving, by the first node, second scheduling information, the second scheduling information being used to schedule preset time domain resources for the first node to sense the at least one sensing target; and determining, by the first node, the sensing resource information according to the second scheduling information.

[0013] In this design, the first node can be instructed by the second scheduling information sent by the second node to indicate the preset time domain resources for the first node to sense the at least one sensing target. The first node sends / receives sensing signals according to the preset time domain resources, and determines the time domain resources actually required by the at least one sensing target, so that the allocation of the time domain resources is more accurate.

[0014] In a second aspect, a sensing method is provided. The method can be performed by a second node, or by a component of the second node, such as a processor, a chip or a chip system of the second node, or by a logic module or software that can implement all or part of the function of the second node. The method comprises: receiving, by the second node, sensing resource information, the sensing resource information being used to indicate time domain resources actually required by a first node when sensing at least one sensing target; and sending, by the first node, first scheduling information, the first scheduling information being used to schedule time domain resources of the first node when sensing the at least one sensing target.

[0015] In a possible design, before receiving the sensing resource information, the method further comprises: sending, by the second node, configuration information, the configuration information being used to configure a triggering condition and / or a reporting format of the sensing resource information; and wherein the triggering condition is used to trigger the first node to report the sensing resource information.

[0016] In a possible design, before receiving the sensing resource information, the method further comprises: sending, by the second node, second scheduling information, the second scheduling information being used to schedule preset time domain resources of the first node when sensing the at least one sensing target.

[0017] The technical effects brought by any possible design of the second aspect can refer to the technical effects brought by the corresponding design of the first aspect, which will not be repeated here.

[0018] In combination with the first aspect or the second aspect, in a possible design, the sensing resource information comprises: valid time domain resources and / or invalid time domain resources.

[0019] The valid time domain resources are time domain resources used for sensing by the first node, and the invalid time domain resources are time domain resources not used for sensing by the first node.

[0020] In combination with the first aspect or the second aspect, in a possible design, the sensing resource information comprises or indicates one or more of the following:

[0021] a preference type indication, the preference type indication indicating that the first node expects the second node to adjust a sending time / receiving time of a sensing signal.

[0022] a waiting time of the sensing signal, the waiting time of the sensing signal being used to indicate a difference between an arrival time of the sensing signal and a sending time of the sensing signal.

[0023] a change rate of the waiting time of the sensing signal, and a change value of the waiting time of the sensing signal in a sensing period.

[0024] a first offset time, the first offset time being used to indicate a difference between the waiting time of the sensing signal and a preset waiting time.

[0025] The second offset time is used to indicate a difference of waiting time of the sensing signals of two adjacent reporting or transmission.

[0026] A change rate of the offset time of the sensing signal; and a change value of the offset time of the sensing signal in the sensing period.

[0027] The indication information is used to indicate an expected time for the first node to receive / transmit the sensing signal; or is used to indicate an offset value of the expected time for transmitting / receiving the sensing signal relative to a current time for transmitting / receiving the sensing signal.

[0028] With reference to the first aspect or the second aspect, in a possible design, each sensing target corresponds to a reporting value of a time domain resource; and the reporting of the sensing resource information comprises any one of the following reporting manners:

[0029] A deviation value corresponding to each sensing target, the deviation value corresponding to the sensing target comprising a difference between the reporting value of the time domain resource corresponding to the sensing target and a reporting value of a reference time domain resource.

[0030] The reporting values of the time domain resources corresponding to a plurality of sensing targets.

[0031] A reporting value of a time domain resource corresponding to a sensing target group, the sensing target group comprising a plurality of sensing targets whose difference between the reporting values of the time domain resources is less than a preset time domain threshold, and the reporting value of the time domain resource corresponding to the sensing target group being used to indicate an average value, a minimum value, a maximum value, or a difference between the minimum value and the maximum value of the reporting values of the time domain resources corresponding to the plurality of sensing targets in the sensing target group.

[0032] With reference to the first aspect or the second aspect, in a possible design, a difference between an actual receiving time and an expected receiving time of the sensing signal is greater than a preset time threshold; a change rate of the actual receiving time of the sensing signal is greater than a change rate threshold; a duty cycle of the sensing signal is greater than a duty cycle threshold; and a waiting time of the sensing signal is greater than a preset time threshold, the waiting time being used to indicate a difference between an arrival time of the sensing signal and a sending time of the sensing signal.

[0033] With reference to the first aspect or the second aspect, in a possible design, the reporting format comprises one or more of the following: a reporting time unit corresponding to the sensing resource information; a reporting granularity corresponding to the sensing resource information; and period information of the sensing resource information.

[0034] With reference to the first aspect or the second aspect, in a possible design, the reporting granularity corresponding to the sensing resource information comprises or is used to indicate one or more of the following:

[0035] The reporting is performed with the time domain resource of sensing all the sensing targets as the granularity; the reporting is performed with a beam as the granularity; or the reporting is performed with the time domain resource of sensing one sensing target as the granularity.

[0036] With reference to the first aspect or the second aspect, in a possible design, the configuration information further includes one or more of a preset time threshold, a change rate threshold, and a duty cycle threshold.

[0037] With reference to the first aspect or the second aspect, in a possible design, the first scheduling information is further used to adjust a sending time of the sensing signal, and the adjusted sending time is used to trigger the multiple sensing receiving nodes to receive the sensing signal at the same time; or the first scheduling information is further used to adjust a receiving time of the sensing signal, and the adjusted receiving time is used to trigger the multiple sensing sending nodes to send the sensing signal at the same time.

[0038] In this design, the sending time of the sensing signal is adjusted, or the receiving time of the echo signal after being emitted by the multiple sensing targets is adjusted, so that the sending time of the sensing signal is the same or the receiving time of the echo signal is the same. In this way, errors caused by sensing at different times can be reduced, and sensing signal detection complexity can be reduced, and power consumption can be saved.

[0039] With reference to the first aspect or the second aspect, in a possible design, the first scheduling information includes: a scheduling type indication, the scheduling type indication indicating a sending time of the first node for sending / receiving the sensing signal; and / or a time set of the sending time / receiving time of the first node for sending / receiving the sensing signal.

[0040] In a third aspect, a sensing apparatus is provided for implementing various methods. The sensing apparatus can be the first node in the first aspect, or an apparatus such as a chip or chip system included in the first node; or the sensing apparatus can be the second node in the second aspect, or an apparatus such as a chip or chip system included in the second node. The sensing apparatus includes modules, units, or means corresponding to the methods, which can be implemented by hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the functions.

[0041] In some possible designs, the sensing 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 possible implementation manners thereof. The transceiver module can include a receiving module and a sending module, which are used to implement the receiving functions and the sending functions in any of the aspects and any possible implementation manners thereof.

[0042] In some possible designs, the transceiver module can be composed of a transceiver circuit, a transceiver, a transceiver, or a sensing interface.

[0043] In a fourth aspect, a sensing device is provided, comprising: a processor and a memory; the memory is configured to store computer instructions, when the processor executes the instructions, to cause the sensing device to perform the method of any one of the aspects. The sensing device can be the first node in the first aspect, or a device included in the first node, such as a chip or a chip system; or the sensing device can be the second node in the second aspect, or a device included in the second node, such as a chip or a chip system.

[0044] In a fifth aspect, a sensing device is provided, comprising: a processor and a sensing interface; the sensing interface is configured to communicate with modules outside the sensing device; the processor is configured to execute computer programs or instructions, to cause the sensing device to perform the method of any one of the aspects. The sensing device can be the first node in the first aspect, or a device included in the first node, such as a chip or a chip system; or the sensing device can be the second node in the second aspect, or a device included in the second node, such as a chip or a chip system.

[0045] In a sixth aspect, a sensing device is provided, comprising: at least one processor; the processor is configured to execute computer programs or instructions stored in a memory, to cause the sensing device to perform the method of any one of the aspects. The memory can be coupled with the processor, or can be independent of the processor. The sensing device can be the first node in the first aspect, or a device included in the first node, such as a chip or a chip system; or the sensing device can be the second node in the second aspect, or a device included in the second node, such as a chip or a chip system.

[0046] In a seventh aspect, a computer readable storage medium is provided, the computer readable storage medium stores computer programs or instructions, when the computer programs or instructions are executed on a sensing device, the sensing device can perform the method of any one of the aspects.

[0047] In an eighth aspect, a computer program product is provided, the computer program product contains instructions, when the computer program product is executed on a sensing device, the sensing device can perform the method of any one of the aspects.

[0048] In a ninth aspect, a sensing device (for example, the sensing device can be a chip or a chip system) is provided, the sensing device comprises a processor, the processor is configured to implement the functions involved in any one of the aspects.

[0049] In some possible designs, the sensing device comprises a memory, the memory is configured to save necessary program instructions and data.

[0050] In some possible designs, when the device is a chip system, the device can be composed of a chip, or can include a chip and other discrete devices.

[0051] It can be understood that the sensing device provided in any one of the third aspect to the ninth aspect is a chip, the sending action / function of the sensing device can be understood as outputting information, and the receiving action / function of the sensing device can be understood as inputting information.

[0052] The technical effects brought by any one of the third aspect to the ninth aspect can refer to the technical effects brought by different design manners in the first aspect or the second aspect, which will not be described herein again. BRIEF DESCRIPTION OF DRAWINGS

[0053] FIG. 1 is a structural schematic diagram of a communication system provided by the present application;

[0054] FIG. 2 is a flow schematic diagram of a sensing method provided by the present application;

[0055] FIG. 3 is a schematic diagram of sensing signal sending / receiving time points provided by the present application;

[0056] FIG. 4 is a schematic diagram of a time domain resource provided by the present application;

[0057] FIG. 5 is a schematic diagram of another sensing signal sending / receiving time point provided by the present application;

[0058] FIG. 6 is a schematic diagram of another sensing signal sending / receiving time point provided by the present application;

[0059] FIG. 7 is a flow schematic diagram of another sensing method provided by the present application;

[0060] FIG. 8 is a schematic diagram of a preset time domain resource provided by the present application;

[0061] FIG. 9 is a flow schematic diagram of another sensing method provided by the present application;

[0062] FIG. 10 is a structural schematic diagram of a sensing device provided by the present application;

[0063] FIG. 11 is a structural schematic diagram of another sensing device provided by the present application;

[0064] FIG. 12 is a structural schematic diagram of another sensing device provided by the present application. DETAILED DESCRIPTION

[0065] 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 alone, A and B exist at the same time, and B alone, where A and B can be singular or plural.

[0066] 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.

[0067] 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.

[0068] In the embodiments of the present application, the words "exemplary" or "for example" are used to mean serving as an example, instance, or illustration. Any embodiment or design presented as "exemplary" or "for example" in the embodiments of the present application should not be construed as being more preferred or advantageous than other embodiments or designs. Rather, the use of the words "exemplary" or "for example" is intended to present concepts in a concrete manner. The embodiments described as "exemplary" or "for example" in the embodiments of the present application are not necessarily to be understood as preferred or advantageous over other embodiments.

[0069] 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 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.

[0070] It can be understood that in the present application, "if" and "… in the case of" mean that the corresponding processing will be made under certain objective circumstances, not limited to time, and does not require a judgment action when implemented, nor does it mean that there are other limitations.

[0071] 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, the features or functions can be combined with other features according to the needs. Correspondingly, the devices given in the embodiments of the present application can also realize these features or functions, which will not be described here.

[0072] In the present application, the same or similar parts among various embodiments can be mutually referred to, unless otherwise specified. In the 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 technical features in different embodiments of the present application can be combined to form new embodiments according to their inherent logical relationship. The embodiments of the present application described below do not constitute a limitation on the protection scope of the present application.

[0073] For the convenience of understanding, the technical terms involved in the embodiments of the present application are introduced first.

[0074] I. Perception

[0075] The perception process is realized by using a perception signal. The perception signal can refer to a signal used for perceiving a target or detecting a target, or in other words, a signal used for perceiving environmental information or detecting environmental information. For example, the perception signal can be an electromagnetic wave sent by a network device for perceiving environmental information.

[0076] The perception signal can generate a return signal after being affected by a perception target in the environment. The time delay of the return signal relative to the transmitted perception signal reflects the distance of the perception target, and the Doppler shift of the return signal relative to the transmitted perception signal reflects the moving speed of the perception target. Then, the distance and / or moving speed of the perception target can be determined by perceiving the corresponding return signal of the perception signal, and further, the actual position of the perception target can be perceived based on the distance and / or moving speed of the perception target.

[0077] In the embodiments of the present application, the return signal of the perception signal after being affected by the perception target can also be referred to as a signal reflected by the perception target, a signal refracted by the perception target, a signal diffracted by the perception target, a signal transmitted by the perception target, a signal scattered or diffracted by the perception target, etc., which is not limited.

[0078] In the embodiments of the present application, the perception target can include various tangible objects on the ground that can be perceived, such as mountains, forests, or buildings, etc. It can also include movable objects such as vehicles, terminals, etc. The perception target is a target that can be perceived by a network device with perception function, which can feed back electromagnetic waves to the network device. The perception target can also be referred to as a detected target, a perceived object, a detected object, or a perceived device, etc., which is not limited.

[0079] It can be understood that the above-mentioned sensing target can be moving or fixed, and can be active or passive. Active can mean that the sensing target has data processing capability, for example, base station, mobile phone, router, vehicle, unmanned aerial vehicle, radio frequency identification (RFID) device, etc. Passive can mean that the sensing target does not have data processing capability, for example, animals, plants, vehicles, buildings, etc.

[0080] II. Sensing mode

[0081] In the current 3rd generation partnership project (3GPP) discussion, it has been determined that the sensing mode can be divided into the following 6 modes:

[0082] (1) Base station self-transmission and self-reception: the sensing signal is transmitted by the base station, and the echo signal is received by the base station after being reflected by the target in the environment.

[0083] (2) Base station A transmission and base station B reception: the sensing signal is transmitted by base station A, and the echo signal is received by base station B after being reflected by the target in the environment.

[0084] (3) Base station transmission and terminal reception: the sensing signal is transmitted by the base station, and the echo signal is received by the terminal after being reflected by the target in the environment.

[0085] (4) Terminal transmission and base station reception: the sensing signal is transmitted by the terminal, and the echo signal is received by the base station after being reflected by the target in the environment.

[0086] (5) Terminal self-transmission and self-reception: the sensing signal is transmitted by the terminal, and the echo signal is received by the terminal after being reflected by the target in the environment.

[0087] (6) Terminal A transmission and terminal B reception: the sensing signal is transmitted by terminal A, and the echo signal is received by terminal B after being reflected by the target in the environment.

[0088] Among them, sensing modes (1) and (5) can be called self-transmission and self-reception modes, and sensing modes (2)-(4) and (6) can be called A transmission and B reception modes, which are not limited. The sensing method provided in the present application can be applied to any one or more of the above sensing modes, which is not limited.

[0089] III. Beam

[0090] The beam can be understood as a kind of communication resource. The technology of forming the beam can be beamforming technology or other technical means. Different beams can be considered as different resources.

[0091] The beam can be represented in the protocol specifically by the index of various signals (or resources), such as the resource index of a channel state information reference signal (CSI-RS), a synchronization signal block (SSB), a sounding reference signal (SRS), a tracking reference signal (TRS), and the like.

[0092] In addition, the beam in the protocol can also be a spatial domain filter, or a spatial filter, or a spatial domain parameter, a spatial parameter, a spatial domain setting, a spatial setting, or quasi Co-location (QCL) information, a QCL assumption, a QCL indication, and the like. The beam can be indicated by a transmission configuration indication (TCI) state (TCI-state) parameter, or by a spatial relation parameter. Therefore, in this application, the beam can also be replaced by a spatial domain filter, a spatial filter, a spatial domain parameter, a spatial parameter, a spatial domain setting, a spatial setting, QCL information, a QCL assumption, a QCL indication, a TCI-state, or a spatial relation, and the like. The above terms are also equivalent to each other. The beam in this application can also be replaced by other terms representing the beam, which is not limited in this application.

[0093] In this application, the beam used to transmit the sensing signal is referred to as a sensing signal beam. The sensing signal beam can be represented by QCL information, a QCL assumption, a QCL indication, a TCI-state, or a spatial relation, and the like.

[0094] The technical solutions of the embodiments of the present application can be applied to various communication systems supporting sensing, which can be a 3GPP communication system, for example, a long term evolution (LTE) system, a NR system, a 5th generation (5G) system, a vehicle to everything (V2X) system, or a system of mixed networking of LTE and 5G, or a device-to-device (D2D) communication system, a machine to machine (M2M) communication system, an internet of things (IoT), and a next-generation communication system. The communication system can also be a non-3GPP communication system, which is not limited.

[0095] It should be noted that the communication system using the present application is only an example, and the communication system and communication scenario to which the present application is applied are not limited thereto. The communication system and communication scenario provided by the present application do not cause any limitation to the solutions of the present application, which are uniformly described herein, and will not be described below.

[0096] The embodiments of the present application provide a communication system including a plurality of nodes, wherein at least one of the plurality of nodes is a sensing node or a sensing and communication node (or referred to as a communication and sensing node). In the present application, the sensing and communication node can refer to an entity having a sensing function and / or a sensing fusion function, which can be a terminal or a wireless access network device. In addition to the sensing and communication node, the plurality of nodes can further include other nodes having only a communication function, such as at least one of a sensing function (SF) network element, a mobile management network element, a location management network element, or a network storage network element.

[0097] Referring to FIG. 1, it is a schematic diagram of a communication system provided by the embodiments of the present application. For example, the plurality of nodes can include a first node and a second node. Optionally, the plurality of nodes can include a third node (not shown in FIG. 1). The first node and the third node can be sensing and communication nodes, or can be nodes having only a sensing function, which is not limited. The second node can be a non-sensing and communication node, which can be a node having only a communication function, or can be a sensing and communication node, which is not limited. Optionally, as shown in FIG. 1, the communication system can further include at least one sensing target, and the sensing and communication node or the node having only a sensing function can sense the at least one sensing target to obtain sensing purpose distance, location, speed, and the like. FIG. 1 is an example of including one sensing target.

[0098] In the embodiments of the present application, the first node can be configured to perform sensing on the sensing target, and the second node can be configured to allocate time domain resources to the first node. In this case, the first node can be a terminal, and the second node can be an access network device; or the first node can be an access network device, and the second node can be an SF network element, etc., without limitation. Alternatively, the first node and the second node can perform cooperative sensing on the sensing target.

[0099] Specifically, the functions implemented by the first node, the second node and the third node are described in the subsequent method embodiments.

[0100] In the embodiments of the present application, a terminal can refer to a device with wireless transceiving function. The terminal can also be referred to as a user equipment (UE), an access terminal, a user unit, a user station, a mobile station (MS), a remote station, a remote terminal, a mobile terminal (MT), a user terminal, a wireless communication device, a user agent or a user device, etc. The terminal can be, for example, a terminal in an IoT, V2X, D2D, M2M, 5G network, 6th generation (6G) or future evolved public land mobile network (PLMN). The terminal can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; can also be deployed on water (such as ships, etc.); and can also be deployed in the air (such as airplanes, balloons and satellites, etc.).

[0101] Exemplarily, the terminal can be an IoT device (e.g., a sensor, a meter, a water meter, etc.), a road side unit (RSU), a V2X device, a station (STA) in a wireless local area networks (WLAN), a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA) device, a handheld device having wireless communication function, a computing device or other processing device connected to a wireless modem, an in-vehicle device, a wearable device (also can be referred to as a smart wearable device), a tablet, a computer with wireless transceiver function, a virtual reality (VR) terminal, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical treatment, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, a vehicle terminal, a vehicle with V2V communication capability, a smart connected vehicle, a UAV with UAV to UAV (U2U) communication capability, etc. The terminal can be mobile or fixed, and the present application does not make a specific limitation in this regard.

[0102] The radio access network device can be a network side device with wireless transceiver function, or can also be a chip or chip system arranged in the device, located in a radio access network (RAN) of a mobile communication system, and used to provide access services for terminal devices. The radio access network device can be an evolved Node B (eNB or eNodeB) in an LTE or LTE-Advanced (LTE-A) system, such as a conventional macro base station eNB and a micro base station eNB in a heterogeneous network scenario; or can be a next generation Node B (gNodeB or gNB) in a 5G system, or can be a node in a future communication system such as 6G; or can be a transmission reception point (TRP); or can be a base station in a future evolved PLMN; or can be a broadband network service gateway (BNG), a convergence switch or a non-3GPP access device; or can be a wireless controller in a cloud radio access network (CRAN); or can be an access node (AP) in a WiFi system; or can be a wireless relay node or a wireless backhaul node; or can be a device realizing a base station function in IoT, V2X, D2D or M2M, and the embodiments of the present application do not make specific limitation thereon. Exemplarily, the base station in the embodiments of the present application can include various forms of base stations, such as a macro base station, a micro base station (also referred to as a small station), a relay station, an access point, etc., and the embodiments of the present application do not make specific limitation thereon.

[0103] In some scenarios, the radio access network device can also be a module or unit capable of implementing part or all of the functions of a base station, for example, the radio access network device can be a central unit (CU), a distributed unit (DU), a CU and a DU, a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), etc. The CU and the DU can be separately arranged, or can also be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna processing unit (AAU), or a remote radio head (RRH).

[0104] In different systems, the CU (or CU-CP and CU-UP), DU or RU can also have different names, but those skilled in the art can understand their meanings. For example, the radio access network device can be a radio access network device or a module of a radio access network device in an open radio access network (open RAN, ORAN) system. In the ORAN system, the CU can also be referred to as an open (O)-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. Any of the CU (or CU-CP, CU-UP), DU and 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.

[0105] In some scenarios, the radio access network device can also be referred to as a RAN node or a RAN device or an access network device, or the radio access network device can also have other naming manners, which are not limited in this application.

[0106] The SF network element is mainly responsible for sensing control and providing sensing services to terminals or access network devices, and does not have sensing functions.

[0107] The mobile management network element is mainly responsible for mobility management in the mobile network, such as user location update, user registration network, user handover, etc. In the 5G system, the mobile management network element can be an access and mobility management function (AMF) network element. In the future mobile communication system, the mobile management network element can still be an AMF network element, or can have other names, which are not limited.

[0108] The location management network element is configured to perform location management, such as determining the location of a target. In the 5G system, the location management network element can be an LMF network element. In future mobile communication systems, the location management network element can still be an LMF network element, or can have other names, which are not limited.

[0109] The network storage network element supports service discovery, can receive a network function (NF) discovery request from an NF, and return information of a discovered NF instance. In the 5G system, the network storage network element can be a network repository function (NRF) network element. In future mobile communication systems, the network storage network element can still be an NRF network element, or can have other names, which are not limited.

[0110] The embodiment of the present application provides a sensing method, which reports sensing resource information to indicate time domain resources actually required by a first node when sensing at least one sensing target, and a second node dynamically adjusts resource allocation according to the sensing resource information to allocate appropriate time domain resources to the first node, thereby avoiding problems of resource waste or resource shortage, improving resource utilization and sensing accuracy.

[0111] The sensing method provided by the embodiment of the present application will be described below with reference to the accompanying drawings. It can be understood that, in the embodiment of the present application, each node or network element can perform part or all of the steps in the embodiment of the present application, and these steps or operations are only examples, and the embodiment 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 according to the embodiment of the present application, and it is possible that not all operations in the embodiment of the present application are performed.

[0112] It should be noted that the names of messages between various devices in the following embodiments of the present application or the names of various parameters in the messages are only examples, and other names can also be used in specific implementation, which is not limited in the embodiment of the present application.

[0113] As shown in FIG. 2, a flowchart of a sensing method provided by the embodiment of the present application is shown, and the sensing method includes the following steps:

[0114] S101, a first node reports sensing resource information to a second node. Correspondingly, the second node receives the sensing resource information from the first node.

[0115] The sensing resource information is used to indicate time domain resources actually required by the first node when sensing at least one sensing target.

[0116] Optionally, the first node can be an entity with sensing function, or the first node can be an entity with both sensing function and communication function. The first node can receive and measure sensing signals, or can receive and measure communication signals. The first node can support any of the above sensing modes for sensing. For example, the first node can be a terminal, an access network device, etc. In this application, the communication signal can refer to a signal used for communication, the sensing signal can refer to a signal used for sensing, and the communication signal and the sensing signal can be the same reference signal or different reference signals.

[0117] Optionally, the second node can be a node capable of allocating time domain resources to other nodes (such as the first node). The second node can be a node without sensing function, but with communication function, for example, the second node can be an access network device or an SF network element, etc., without limitation. In this case, the first node can send sensing resource information to the access network device, or the first node can report the sensing resource information to the SF network element.

[0118] In an example, the sensing resource information is used to indicate valid time domain resources and / or invalid time domain resources.

[0119] The valid time domain resources can be time domain resources used for sensing by the first node.

[0120] In other words, the valid time domain resources are time domain resources used by the first node to receive sensing signals, and the time domain resources are used to carry / transmit the sensing signals.

[0121] In this application, in the case where the second node is a node with sensing function, the sensing signal received by the first node can be a sensing signal from the second node, i.e., the second node sends the sensing signal, and the first node receives the sensing signal sent by the second node. The time domain resources used by the first node to receive the sensing signal can be understood as the time domain resources used by the second node to send the sensing signal.

[0122] In the case where the second node is a node with communication function, the sensing signal received by the first node can be a sensing signal from the third node, i.e., the third node sends the sensing signal, and the first node receives the sensing signal sent by the third node. The time domain resources used by the first node to receive the sensing signal can be understood as the time domain resources used by the third node to send the sensing signal. Optionally, the first node can receive the sensing signal in a self-generated and self-received sensing mode, at this time, the first node and the third node are the same node. Alternatively, the first node can also receive the sensing signal in a non-self-generated and non-self-received mode, at this time, the sensing signal received by the first node is from a node other than the first node, such as the third node, at this time, the first node and the second node are different nodes.

[0123] For example, the first node is a terminal, and the third node is a base station. The sensing signal received by the first node can be a sensing signal received in a sensing mode in which the base station transmits and the terminal receives. For another example, the first node is a base station, and the third node is a terminal. The sensing signal received by the first node can be a sensing signal received in a sensing mode in which the terminal transmits and the base station receives.

[0124] It should be noted that the sensing signal sent by the third node to the first node can be a sensing signal generated by the third node itself, in which case the third node is a source node of the sensing signal. Alternatively, the third node can also be a sensing signal received by the third node from another node, in which case, relative to the node that sends the sensing signal to the third node, the third node can be referred to as a receiving node of the sensing signal. Specifically, the first node can be a terminal, an access network device, or the like. The first node can be the same as the third node, such as both the first node and the third node being access network devices, and in this case, the second node is an SF network element.

[0125] In addition, it should be noted that the third node sends a sensing signal, the sensing signal is reflected by the sensing target, and the first node receives the sensing signal reflected by the sensing target. The sensing signal can be referred to as a corresponding echo signal of the sensing signal. Here, it is uniformly described below without further description.

[0126] As an example, the sensing resource information can carry / contain identification information of the valid time domain resource, to directly indicate the valid time domain resource through the identification information of the valid time domain resource. In another example, the sensing resource information can carry information associated with the valid time domain resource / associated with the valid time domain resource in a mapping relationship, to indirectly indicate the valid time domain resource through the information. For example, the sensing resource information can contain / carry information of the sensing signal (such as an identifier or an index of the sensing signal), and the information of the sensing signal is information associated with the valid time domain resource. The association between the information of the sensing signal and the valid time domain resource can indirectly indicate the time domain resource used by the first node to receive the sensing signal.

[0127] In the formula, the invalid time domain resource is a time domain resource that is not used for sensing by the first node, or does not support sensing by the first node.

[0128] In other words, the invalid time domain resource is not a time domain resource used by the first node to receive the sensing signal, and the time domain resource is not used to carry / transmit the sensing signal. In this case, the sensing resource information reported by the first node to the second node includes the invalid time domain resource. Then, the second node can determine the valid time domain resource based on the invalid time domain resource, and allocate the valid time domain resource to the first node. The specific implementation process can be referred to in the following embodiments, and will not be described here.

[0129] Optionally, the invalid time domain resource can be a time domain resource used by the first node to receive a communication signal, which is used to carry / transmit a communication signal, etc., without limitation.

[0130] In this application, the valid time domain resource or the invalid time domain resource occupies or consists of multiple time domain units. The time domain unit can be a slot, a time unit (Tc), a time domain symbol, etc. The time domain symbol can be a single carrier-frequency division multiple access (SC-FDMA) symbol or an orthogonal frequency division multiplexing (OFDM) symbol, etc., without limitation.

[0131] In the case where the valid time domain resource or the invalid time domain resource occupies multiple time domain units, the first node can report the sensing resource information to the second node, i.e., report the valid time domain resource and / or the invalid time domain resource, in the following manner (1) or manner (2).

[0132] Manner (1), the number of the first time domain unit in the multiple time domain units and the time length of the time domain resource (including the valid time domain resource or the invalid time domain resource).

[0133] In other words, the first node reports the number of the first time domain unit in the multiple time domain units and the time length of the time domain resource to the second node, and the second node can determine the time domain resource required by the first node to send / receive the sensing signal. Further, the second node allocates (or schedules) the corresponding time domain resource to the first node, and the first node can send / receive the sensing signal on the time domain resource allocated by the second node.

[0134] For example, the first node reports to the second node that the number of the first time domain unit in the multiple time domain units is a and the time length of the time domain resource is 3, i.e., occupying 3 time domain units.

[0135] Manner (2), the number of the time domain unit located at the center position in the multiple time domain units and half of the time length of the time domain resource.

[0136] In other words, the first node reports the number of the time domain unit located at the center position in the multiple time domain units and half of the time length of the time domain resource to the second node, and the second node can determine the time domain resource required by the first node to send / receive the sensing signal. Further, the second node allocates the corresponding time domain resource to the first node, and the first node can send / receive the sensing signal on the time domain resource allocated by the second node.

[0137] For example, the number of the time domain unit located at the center position in the plurality of time domain units reported by the first node to the second node is c, and half of the time length of the time domain resource is 1.5, that is, 3 time domain units are occupied.

[0138] In another example, the sensing resource information includes or indicates one or more of the following 1-9:

[0139] 1. The waiting time of the sensing signal

[0140] The waiting time of the sensing signal is used to indicate the difference between the arrival time of the sensing signal and the sending time of the sensing signal.

[0141] The arrival time of the sensing signal can be understood as the time of receiving the sensing signal, such as the time of receiving the sensing signal by the first node. The sending time of the sensing signal can be understood as the time of sending the sensing signal, such as the time of sending the sensing signal by the first node. In this case, the first node is a self-receiving sensing mode. Of course, the sensing signal can also be received or sent by the above-mentioned second node and / or third node, which is not limited.

[0142] For ease of illustration, in the following embodiments, the sending of the sensing signal and the receiving of the echo signal reflected by the sensed target are taken as examples, that is, the sensing signal sent by the sender is called the sensing signal, and the echo signal received by the receiver is called the echo signal, which will not be described hereinafter.

[0143] For example, as shown in FIG. 3, the sent sensing signal includes sensing signal 1, sensing signal 2, sensing signal 3, etc., and the received echo signal includes echo signal 1, echo signal 2, echo signal 3, etc. It is assumed that the sending time of the sensing signal 1 is T1, and the receiving time of the echo signal 1 is t1; the sending time of the sensing signal 2 is T2, and the receiving time of the echo signal 2 is t2; the sending time of the sensing signal 3 is T3, and the receiving time of the echo signal 2 is t3.

[0144] Taking the sensing signal 1 and the echo signal 1 as an example, the waiting time of the sensing signal 1 can be expressed as t1-T1, as shown in FIG. 3.

[0145] 2. The first offset time

[0146] The first offset time is used to indicate the difference between the waiting time of the sensing signal and the preset waiting time; or, the first offset time is used to indicate the difference between the actual receiving time of the sensing signal and the preset receiving time.

[0147] For example, as shown in FIG. 3, the waiting time of the sensing signal is t1-T1. The preset waiting time can be previously agreed, such as being specified by a network protocol, or can be indicated by the second node to the first node, or can be a default between the first node and the second node. Assuming that the preset waiting time is T0, the first offset time can be represented as (t1-T1)-T0.

[0148] Alternatively, as shown in FIG. 3, the actual receiving time of the sensing signal is t1. The preset receiving time can be previously agreed, such as being specified by a network protocol, or can be indicated by the second node to the first node, or can be a default between the first node and the second node. Assuming that the preset receiving time is t0, the first offset time can also be represented as ti-(t0+i*T), i=1, 2, 3…n; i is the index of the sensing signal; and T represents a sensing period.

[0149] 3. Second offset time

[0150] The second offset time is used to indicate the difference between the waiting times of adjacent two reported or transmitted sensing signals.

[0151] For example, as shown in FIG. 3, the waiting time of the sensing signal 1 is t1-T1. Assuming that the sending time of the sensing signal 2 is T2 and the receiving time of the echo signal 2 is t2, the waiting time of the sensing signal is t2-T2. On this basis, the second offset time is (t2-T2)-(t1-T1).

[0152] 4. Change rate of the waiting time of the sensing signal

[0153] The change rate of the waiting time of the sensing signal is used to represent the speed of transmitting the sensing signal in unit time.

[0154] For example, as shown in FIG. 3, the change rate of the waiting time is [(t2-T2)-(t1-T1)] / (t2-t1)=1-(T1-t2) / (t2-t1).

[0155] 5. Change value of the waiting time of the sensing signal in a sensing period

[0156] The change value of the waiting time of the sensing signal in a sensing period is used to represent the maximum change value of the waiting time of the sensing signal in a sensing period relative to the preset waiting time.

[0157] For example, the change value of the waiting time of the sensing signal in a sensing period can be represented as max(ti-Ti)-T0, i=1, 2, 3…n. Wherein, T0 represents the preset waiting time.

[0158] 6、a rate of change of the offset time of the sensing signal

[0159] The offset time of the sensing signal can be the first offset time or the second offset time, without limitation. The rate of change of the offset time of the sensing signal is used to represent a degree of change of the offset time of the sensing signal per unit time.

[0160] For example, the rate of change of the offset time of the sensing signal can be represented as (the offset time at the second time - the offset time at the first time) / (the second time - the first time). For example, when the offset time is the first offset time, the rate of change of the offset time of the sensing signal can be [(t2-T2)-T0)-(t1-T1)-T0)] / (t2-t1); when the offset time is the second offset time, the rate of change of the offset time of the sensing signal can be [((t2-T2)-(t1-T1))-((t3-T3)-(t2-T2))] / (t2-t1).

[0161] 7、a change value of the offset time of the sensing signal in a sensing period

[0162] The offset time of the sensing signal can be the first offset time or the second offset time, without limitation. The change value of the offset time of the sensing signal in the sensing period is used to represent a maximum change value of the offset time of the sensing signal in the sensing period relative to a preset time.

[0163] For example, the change value of the offset time of the sensing signal in the sensing period can be represented as max(ti-Ti)-T0-A0, i=1, 2, 3…n, when the offset time is the first offset time. Wherein, n represents that n sensing signals are contained in each sensing period, T0 represents a preset waiting time, and A0 represents an offset of the preset time.

[0164] Alternatively, the change value of the offset time of the sensing signal in the sensing period can also be represented as max[ti-(t0+i*T)], i=1, 2, 3…n; i represents a sensing signal index; and T represents a period.

[0165] For example, the change value of the offset time of the sensing signal in the sensing period can be represented as max(ti+1-Ti+1)-(ti-Ti)-A0, i=1, 2, 3…n, when the offset time is the second offset time.

[0166] 8、indication information

[0167] The indication information is used to indicate an expected time for the first node to receive / transmit the sensing signal; or the indication information is used to indicate an offset value of the expected time for transmitting / receiving the sensing signal relative to a current time for transmitting / receiving the sensing signal. Or, the expected time refers to a preset time required for the sensing signal to be transmitted from a transmitting end to a receiving end.

[0168] It can be understood that, in the case that the first node is a transmitting end of the sensing signal, the expected time refers to a preset time required for the sensing signal to be transmitted from the first node to a receiving end (such as the second node or the third node). In the case that the first node is a receiving end of the sensing signal, the expected time refers to a preset time required for the sensing signal to be transmitted from a transmitting end (such as the second node or the third node) to the first node. In the case that the first node is a self-transmitting and self-receiving node, the expected time refers to a preset time required for the sensing signal to be transmitted from the first node to the first node.

[0169] 9. Preference type indication

[0170] The preference type indication indicates that the first node expects the second node to adjust a transmission time / reception time of the sensing signal. For example, the first node expects the second node to adjust the transmission time of the sensing signal so that multiple sensing receiving nodes can simultaneously receive the sensing signal; or the first node expects the second node to adjust the reception time of the sensing signal so that multiple sensing transmitting nodes can simultaneously transmit the sensing signal.

[0171] Optionally, the preference type indication can be used to indicate, by 1 bit, that the first node expects the second node to adjust the transmission time / reception time of the sensing signal. For example, when the 1 bit is 1, it indicates that the first node expects the second node to adjust the transmission time of the sensing signal so that multiple sensing receiving nodes can simultaneously receive the sensing signal; when the 1 bit is 0, it indicates that the first node expects the second node to adjust the reception time of the sensing signal so that multiple sensing transmitting nodes can simultaneously transmit the sensing signal. Or, when the 1 bit is 0, it indicates that the first node expects the second node to adjust the transmission time of the sensing signal so that multiple sensing receiving nodes can simultaneously receive the sensing signal; when the 1 bit is 1, it indicates that the first node expects the second node to adjust the reception time of the sensing signal so that multiple sensing transmitting nodes can simultaneously transmit the sensing signal.

[0172] In this embodiment, the first node can report the sensing resource information to the second node in any one of the following manners (a) to (c). In other words, the first node can report one or more of 1-9 included in the sensing resource information to the second node in any one of the following manners (a) to (c).

[0173] It can be understood that when the first node perceives at least one perception target, each perception target corresponds to a reported value of a time domain resource, and the reported value of the time domain resource includes the time information in 1-9 included in the perception resource information, that is, the reported value of the time domain resource includes one or more of the waiting time of the perception signal, the change value of the waiting time of the perception signal in the perception period, the change rate of the waiting time of the perception signal, the first offset time, the second offset time, the change rate of the offset time of the perception signal, the change value of the offset time of the perception signal in the perception period, and the indication information. Here, the following will not be described again.

[0174] Mode (a), the deviation value corresponding to each perception target

[0175] The deviation value corresponding to the perception target includes the difference between the reported value of the time domain resource corresponding to the perception target and the reported value of the reference time domain resource.

[0176] Optionally, the reported value of the reference time domain resource can be predetermined, such as being specified by a protocol; or the reported value of the reference time domain resource can be indicated by the second node to the first node; or the reported value of the reference time domain resource can be a default between the first node and the second node, which is not limited.

[0177] Optionally, the reported value of the reference time domain resource can be the minimum value in the reported values of the time domain resources corresponding to the at least one perception target; or the reported value of the reference time domain resource can be the average value (or standard deviation, variance) of the reported values of the time domain resources corresponding to the at least one perception target, which is not limited.

[0178] Optionally, taking the reported value of the time domain resource including the waiting time of the perception signal as an example, the deviation value corresponding to each perception target refers to the deviation value of the waiting time of the perception signal corresponding to each perception target.

[0179] Correspondingly, taking the reported value of the time domain resource including the first offset time as an example, the deviation value corresponding to each perception target refers to the deviation value of the first offset time corresponding to each perception target.

[0180] Correspondingly, taking the reported value of the time domain resource including the second offset time as an example, the deviation value corresponding to each perception target refers to the deviation value of the second offset time corresponding to each perception target. For example, the other contents of the reported value of the time domain resource can be referred to the above related description, which will not be described again here.

[0181] Mode (b), the reported values of the time domain resources corresponding to multiple perception targets

[0182] In other words, the first node reports the reported value of the time domain resource corresponding to each perception target in the multiple perception targets to the second node.

[0183] Optionally, taking the case that the reported value of the time domain resource includes the waiting time of the sensing signal as an example, the reported value of the time domain resource corresponding to the plurality of sensing targets refers to the waiting time of the sensing signal corresponding to the plurality of sensing targets.

[0184] Correspondingly, taking the case that the reported value of the time domain resource includes the first offset time as an example, the reported value of the time domain resource corresponding to the plurality of sensing targets refers to the first offset time corresponding to the plurality of sensing targets.

[0185] Correspondingly, taking the case that the reported value of the time domain resource includes the second offset time as an example, the reported value of the time domain resource corresponding to the plurality of sensing targets refers to the second offset time corresponding to the plurality of sensing targets. For example illustrations of other contents included in the reported value of the time domain resource can refer to the related descriptions above, and will not be described herein again.

[0186] (c) the reported value of the time domain resource corresponding to the sensing target group

[0187] The sensing target group includes a plurality of sensing targets whose difference in the reported value of the time domain resource is less than a preset time domain threshold. In other words, among the plurality of sensing targets included in the sensing target group, the difference in the reported value of the time domain resource corresponding to any two sensing targets is less than the preset time domain threshold; or among the plurality of sensing targets included in the sensing target group, the difference in the reported value of the time domain resource corresponding to adjacent two sensing targets is less than the preset threshold.

[0188] The time domain resource corresponding to the sensing target group is used to indicate the average value, the minimum value, the maximum value, or the difference between the minimum value and the maximum value of the reported value of the time domain resource corresponding to the plurality of sensing targets in the sensing target group.

[0189] Optionally, taking the case that the reported value of the time domain resource includes the waiting time of the sensing signal as an example, the reported value of the time domain resource corresponding to the sensing target group refers to the waiting time of the sensing signal corresponding to the sensing target group.

[0190] Correspondingly, taking the case that the reported value of the time domain resource includes the first offset time as an example, the reported value of the time domain resource corresponding to the sensing target group refers to the first offset time corresponding to the sensing target group.

[0191] Correspondingly, taking the case that the reported value of the time domain resource includes the second offset time as an example, the reported value of the time domain resource corresponding to the sensing target group refers to the second offset time corresponding to the sensing target group. For example illustrations of other contents (such as 4-8 above) included in the reported value of the time domain resource can refer to the related descriptions above, and will not be described herein again.

[0192] S102, the second node sends the first scheduling information to the first node. Correspondingly, the first node receives the first scheduling information from the second node.

[0193] Optionally, in S102, after receiving the sensing resource information from the second node, the second node determines the first scheduling information according to the sensing resource information, and sends the first scheduling information to the first node.

[0194] In an example, the first scheduling information is used for scheduling time domain resources for the first node to sense the at least one sensing target. In other words, the first scheduling information is used for allocating time domain resources required by the first node to sense the at least one sensing target to the first node.

[0195] Optionally, the first scheduling information indicates that the first node performs sensing in a first time period, and the first time period occupies one time domain unit. For example, as shown in FIG. 4, the first scheduling information indicates that the first node performs sensing in the first time period [a, b], i.e., indicates that the first node occupies one time domain unit to perform sensing.

[0196] Optionally, as shown in FIG. 4, the time domain resources indicated by the first scheduling information occupy five time domain units, and the first scheduling information indicates that the first node occupies one time domain unit to perform sensing, i.e., the effective time domain resources indicated by the first scheduling information occupy one time domain unit. Optionally, the first scheduling information can also indicate that the first node occupies other four time domain units to perform communication or other services.

[0197] In this scheme, since the first node reports the sensing resource information to the second node to indicate the actual time domain resources required by the first node to sense the at least one sensing target, the second node can send the first scheduling information to the first node based on the sensing resource information to indicate the actual time domain resources required by the first node to sense the at least one sensing target, i.e., the second node can dynamically adjust resource allocation to allocate appropriate time domain resources to the first node, avoid the problems of resource waste or resource shortage, thereby improving resource utilization and improving sensing accuracy.

[0198] In another example, the first scheduling information is also used for adjusting the sending time of the sensing signal, and the adjusted sending time is used for triggering multiple sensing receiving nodes to simultaneously receive the sensing signal.

[0199] Optionally, the first scheduling information further includes a scheduling type indication, and the scheduling type indication indicates the sending time of the sensing signal sent by the first node; and / or, the first scheduling information further includes a time set of the sending time of the sensing signal. For example, the time set of the sending time includes the sending time of the sensing signal 1, and the offset value of the sending time of the sensing signal 2 to the sensing signal 1.

[0200] Optionally, the perception signals 1 to n have different sending times for perceiving the n perception targets. For example, as shown in FIG. 5, the perception signals sent at different times include: the perception signals 1 to n sent at T1, the perception signals 1 to n sent at T2, the perception signals 1 to n sent at T3, and so on. On this basis, the echo signals of the perception signals sent at different times and reflected by the multiple perception targets have the same receiving time. For example, as shown in FIG. 5, the receiving time of the echo signals 1 of the perception signals 1 reflected by the multiple perception targets is t1+T1, the receiving time of the echo signals 2 of the perception signals 2 reflected by the multiple perception targets is t2+T2, and the receiving time of the echo signals 3 of the perception signals 3 reflected by the multiple perception targets is t3+T3. It can be understood that the receiving time of the echo signals of other perception signals reflected by the multiple perception targets is also the same, which can be referred to the related description above and will not be described here.

[0201] Alternatively, the first scheduling information is also used for adjusting the receiving time of the perception signals, and the adjusted receiving time is used for triggering the multiple perception sending nodes to send the perception signals at the same time. It should be noted that, in this embodiment, the receiving time of the perception signals refers to the receiving time of the echo signals of the perception signals sent by the perception sending nodes and reflected by the perception targets. The following takes the receiving time of the perception signals as the receiving time of the echo signals as an example for description.

[0202] Optionally, the first scheduling information further includes a scheduling type indication, and the scheduling type indication indicates the receiving time of the echo signals received by the first node; and / or, the first scheduling information further includes a time set of the receiving time of the echo signals. For example, the time set of the receiving time includes the receiving time of the echo signal 1 and the offset values of the echo signals 2 to n relative to the receiving time of the echo signal 1.

[0203] Optionally, the echo signals 1 to n have different receiving times for perceiving the n perception targets. For example, as shown in FIG. 6, the echo signals received at different times include: the echo signals 1 to n received at t1, the echo signals 1 to n received at t2, the echo signals 1 to n received at t3, and so on. On this basis, the echo signals having different receiving times make the sending time of the perception signals for perceiving the multiple perception targets the same. For example, the sending time of the perception signals 1 for perceiving the multiple perception targets is t1+T1, the sending time of the perception signals 2 for perceiving the multiple perception targets is t2+T2, the sending time of the perception signals 3 for perceiving the multiple perception targets is t3+T3, and so on. It can be understood that the sending time of other perception signals for perceiving the multiple perception targets is also the same, which can be referred to the related description above and will not be described here.

[0204] In the scheme, the second node adjusts the sending time of the sensing signal or adjusts the receiving time of the echo signal passing through the multiple sensing targets, so that the sending time of the sensing signal is the same or the receiving time of the echo signal is the same. In this way, the sending / receiving time of the sensing signal can be flexibly adjusted to adapt to the business requirements. At the same time, receiving the sensing signal helps to reduce the error caused by sensing at different times, reduce the detection complexity, and save power consumption. At the same time, sending the sensing signal can reduce the resource allocation complexity.

[0205] In some embodiments, as shown in FIG. 7, before reporting the sensing resource information, i.e., before S101, the method further includes S100, wherein S100 can include S100a and S100b as follows:

[0206] S100a, the second node sends second scheduling information to the first node. Correspondingly, the first node receives the second scheduling information from the second node.

[0207] The second scheduling information is used to schedule the first node to sense the preset time domain resource of the at least one sensing target.

[0208] Optionally, the preset time domain resource is a time domain resource pre-allocated to the first node by the second node. In the embodiments of the present application, the time domain resource pre-allocated by the second node can be insufficient in resources or waste resources.

[0209] Optionally, the preset time domain resource occupies multiple time domain units. The second scheduling information includes one or more of the following:

[0210] a) the number of the time domain unit located at the center position in the multiple time domain units; b) half of the time length of the preset time domain resource; c) the change of the first time domain unit in the multiple time domain units and the time length of the preset time domain resource; d) the sensing transceiving type, used to indicate that the first node transmits the sensing signal or receives the sensing signal, i.e., indicates that the first node acts as a sensing sending node or a sensing receiving node; e) the expected waiting time of the sensing signal.

[0211] For the above a) to e), refer to the related description of the time domain resource in the sensing resource information in the above embodiments for illustration, which will not be repeated here.

[0212] S100b, the first node transmits / receives the sensing signal according to the second scheduling information and determines the sensing resource information.

[0213] In other words, the first node transmits / receives the sensing signal on the preset time domain resource according to the second scheduling information to sense the at least one sensing target.

[0214] Optionally, in the case that the first node is a sensing sending node, the first node sends the sensing signal on the preset time domain resource. In the case that the first node is a sensing receiving node, the first node receives the sensing signal on the preset time domain resource.

[0215] Optionally, the second scheduling information indicates that the first node senses in a second time period, and the second time period occupies three time domain units. For example, as shown in FIG. 8, the second scheduling information indicates that the first node senses in the second time period [c, d], i.e., indicates that the first node occupies three time domain units for sensing.

[0216] Optionally, as shown in FIG. 8, the preset time domain resource indicated by the second scheduling information occupies five time domain units, and the second scheduling information indicates that the first node occupies three time domain units for sensing, i.e., the effective time domain resource indicated by the second scheduling information occupies three time domain units. Optionally, the second scheduling information can also indicate that the first node occupies other two time domain units for communication or other services.

[0217] Optionally, the first node determines one or more of the following based on the arrival time of the sensing signal and the sending time of the sensing signal: the waiting time of the sensing signal, the change rate of the waiting time of the sensing signal, the change value of the waiting time of the sensing signal in the sensing period. Optionally, the first node determines one or more of the following based on the waiting time of the sensing signal: the first offset time, the second offset time, the change rate of the offset time of the sensing signal, the change value of the offset time of the sensing signal in the sensing period, thereby obtaining the sensing resource information.

[0218] Optionally, the first node is also configured to determine indication information to indicate the expected time for the first node to receive / send the sensing signal, or to indicate the offset value of the expected time for sending / receiving the sensing signal relative to the current time for sending / receiving the sensing signal. In other words, the first node indicates the expected time for receiving / sending the sensing signal to the second node through the indication information. The expected time refers to the offset value of the fixed time or the fixed time index for the first node to receive / send the sensing signal.

[0219] Optionally, the first node is also configured to determine preference type indication to indicate that the first node expects the second node to adjust the sending time / receiving time of the sensing signal.

[0220] In this scheme, the second node sends the second scheduling information to indicate the preset time domain resource when the first node senses at least one sensing target, the first node senses the sensing resource, sends / receives the sensing signal, and the first node determines the actual time domain resource required by the at least one sensing target, so that the time domain resource allocation is more accurate.

[0221] In some embodiments, as shown in FIG. 9, S101 specifically includes the following steps:

[0222] S101a, the second node sends configuration information to the first node. Correspondingly, the first node receives the configuration information from the second node.

[0223] The configuration information is used to configure a triggering condition and / or a reporting format of the sensing resource information. The triggering condition is used to trigger the first node to report the sensing resource information. The reporting format is used to instruct the first node to report the sensing resource information according to the reporting format.

[0224] For example, the triggering condition includes one or more of the following a to d:

[0225] a. a difference between an actual reception time of the sensing signal and an expected reception time is greater than a preset time threshold; b. a variation rate of the actual reception time of the sensing signal is greater than a variation rate threshold; c. a duty cycle of the sensing signal is greater than a duty cycle threshold; and d. a waiting time of the sensing signal is greater than a preset time threshold.

[0226] Optionally, the preset time threshold, the variation rate threshold, the duty cycle threshold, etc. in the triggering condition a to d can be agreed by the first node and the second node, such as being agreed through a network protocol, or can be indicated by the second node to the first node, or can be default between the first node and the second node without limitation.

[0227] Optionally, in the case that the preset time threshold, the variation rate threshold, and the duty cycle threshold are indicated by the second node to the first node, the preset time threshold, the variation rate threshold, and the duty cycle threshold can be indicated by the second node to the first node through the configuration information.

[0228] For example, the reporting format includes one or more of the following: a reporting time unit corresponding to the sensing resource information, such as microsecond, millisecond, time domain symbol, time slot, or chip; periodic information of the sensing resource information, such as period, half period, or aperiodic; and a reporting granularity corresponding to the sensing resource.

[0229] The reporting granularity corresponding to the sensing resource is used to indicate one or more of the following:

[0230] It is instructed to report in the granularity of time domain resources for sensing all sensing targets. For example, time domain resources corresponding to all beams are reported. Optionally, a waiting time of the sensing signal corresponding to all beams is greater than a preset threshold, and reporting the time domain resources corresponding to all beams includes reporting an average value, a minimum value, a maximum value, or a difference between the maximum value and the minimum value of the time domain resources corresponding to all beams.

[0231] It is indicated that the reporting is performed in a granularity of a beam. For example, a time domain resource corresponding to a beam is reported. Optionally, a waiting time of a sensing signal corresponding to a beam is greater than a preset threshold, and reporting a time domain resource corresponding to a beam includes: reporting an average value, a minimum value, a maximum value, or a difference between the maximum value and the minimum value of the time domain resource corresponding to the beam.

[0232] It is indicated that the reporting is performed in a granularity of a time domain resource for sensing a sensing target.

[0233] In S101b, the first node reports the sensing resource information according to the configuration information.

[0234] Optionally, in a case where the configuration information includes a trigger condition, the first node reports the sensing resource information according to the configuration information in a case where the trigger condition is met. In a case where the configuration information includes a reporting format, the first node reports the sensing resource information according to the configuration information in the reporting format. In a case where the configuration information includes the trigger condition and the reporting format, the first node reports the sensing resource information according to the configuration information in the reporting format in a case where the trigger condition is met.

[0235] Optionally, in a case where the trigger condition is not met, the sensing resource information is not reported. Alternatively, in a case where the trigger condition is not met, a negative acknowledgement message is reported, indicating that the first node satisfies the trigger condition for sending / receiving the sensing signal. Correspondingly, the second node receives the negative acknowledgement message from the first node. Optionally, the negative acknowledgement message can be a negative acknowledgement (NACK) message.

[0236] In this scheme, in a case where the trigger condition is met, it is indicated that the time domain resource pre-allocated by the second node is not suitable, and the time domain resource needs to be adjusted, so that the first node reports the sensing resource information to the second node, so as to prevent the first node from directly reporting the sensing resource information without considering any factors, causing a large signaling load.

[0237] It can be understood that the methods and / or steps implemented by the nodes in the above embodiments can also be implemented by components (such as processors, chips, chip systems, currents, logic modules, or software) for the nodes; the methods and / or steps implemented by the network elements can also be implemented by components (such as processors, chips, chip systems, currents, logic modules, or software) for the network elements. The chip system can be composed of a chip, or the chip system can include a chip and other discrete devices.

[0238] It can be understood that, to achieve the above functions, the perception device comprises hardware structures and / or software modules corresponding to the functions. Those skilled in the art can easily understand that, in combination with the units and algorithm steps of the examples described in the embodiments disclosed herein, the present 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 present application.

[0239] The embodiments of the present application can divide the functions of the perception device according to the above-mentioned method embodiments, for example, each function module can be divided according to each function, or two or more functions can be integrated into one processing module. The integrated module can be implemented in the form of hardware or software function module. It should be noted that the division of modules in the embodiments of the present application is illustrative, and is only a logical function division. Actual implementation can have another division method.

[0240] FIG. 10 shows a structural schematic diagram of a perception device 140. The perception device 140 comprises a processing module 1401 and a transceiver module 1402. The perception device 140 can be used to implement the functions of the first node, the second node and the third node.

[0241] In some embodiments, the perception device 140 can further comprise a storage module (not shown in FIG. 10) for storing program instructions and data.

[0242] In some embodiments, the transceiver module 1402, also referred to as a transceiver unit, is used to implement the sending and / or receiving functions. The transceiver module 1402 can be composed of a transceiver circuit, a transceiver, a transceiver or a perception interface.

[0243] In some embodiments, the transceiver module 1402 can include a receiving module and a sending module, which are respectively used to perform the receiving and sending steps of the first node, the second node and the third node in the above-mentioned method embodiments, and / or to support other processes of the technology described herein; the processing module 1401 can be used to perform the processing steps (such as determination, etc.) of the first node, the second node and the third node in the above-mentioned method embodiments, and / or to support other processes of the technology described herein.

[0244] When the perception device 140 is used to implement the functions of the first node:

[0245] The transceiver module 1402 is configured to report the sensing resource information, and the sensing resource information is used to indicate time domain resources required by the first node when sensing the at least one sensing target.

[0246] The transceiver module 1402 is configured to receive the first scheduling information, and the first scheduling information is used to schedule time domain resources of the first node for sensing the at least one sensing target.

[0247] Optionally, the transceiver module 1402 is further configured to receive the second scheduling information, and the second scheduling information is used to schedule preset time domain resources of the first node for sensing the at least one sensing target. The processing module 1401 is configured to transmit / receive the sensing signal according to the second scheduling information, and determine the sensing resource information.

[0248] Optionally, the transceiver module 1402 is specifically configured to receive the configuration information, and the configuration information is used to configure a triggering condition and / or a reporting format of the sensing resource information. The processing module 1401 is specifically configured to report the sensing resource information according to the configuration information.

[0249] When the sensing device 140 is used to implement the function of the second node:

[0250] The transceiver module 1402 is configured to receive the sensing resource information, and the sensing resource information is used to indicate time domain resources required by the first node when sensing the at least one sensing target.

[0251] The transceiver module 1402 is configured to transmit the first scheduling information, and the first scheduling information is used to schedule time domain resources of the first node for sensing the at least one sensing target.

[0252] Optionally, the transceiver module 1402 is further configured to transmit the second scheduling information, and the second scheduling information is used to schedule preset time domain resources of the first node for sensing the at least one sensing target.

[0253] Optionally, the transceiver module 1402 is specifically configured to transmit the configuration information, and the configuration information is used to configure a triggering condition and / or a reporting format of the sensing resource information.

[0254] All related contents of each step involved in the method embodiments described above can be referred to the function description of the corresponding function module, and will not be repeated here.

[0255] In the present application, the sensing device 140 can be in the form of an integrated manner to divide each function module. 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.

[0256] In some embodiments, when the perception device 140 in FIG. 10 is a chip or a chip system, the function / implementation process of the transceiver module 1402 can be implemented through the input / output interface (or the perception interface) of the chip or the chip system, and the function / implementation process of the processing module 1401 can be implemented through the processor (or the processing circuit) of the chip or the chip system.

[0257] Since the perception device 140 provided by the embodiment can execute the above method, the technical effects that can be obtained by the perception device 140 can refer to the above method embodiments, which will not be described here.

[0258] As a possible product form, the first node, the second node, the perception node, the mobility management network element, the location management network element / perception management function network element described in the embodiments of the present application can also be implemented using one or more field programmable gate arrays (FPGA), programmable logic devices (PLD), controllers, state machines, gate logic, discrete hardware components, any other suitable circuit, or any combination of circuits capable of performing the various functions described throughout this application.

[0259] As another possible product form, the first node, the second node, the third node described in the embodiments of the present application can be implemented by a general bus architecture. For ease of illustration, refer to FIG. 11, which is a structural schematic diagram of a perception device 1500 provided by the embodiments of the present application, the perception device 1500 comprising a processor 1501 and a transceiver 1502. The perception device 1500 can be the first node, the second node, the third node, or a chip or a chip system therein. FIG. 11 only shows the main components of the perception device 1500. In addition to the processor 1501 and the transceiver 1502, the perception device can further comprise a memory 1503 and an input / output device (not shown in the figure).

[0260] Optionally, the processor 1501 is mainly used for processing communication protocols and communication data, and controlling the whole perception device, executing software programs, processing data of the software programs, so as to implement the method provided in the above method embodiments. The memory 1503 is mainly used for storing software programs and data. The transceiver 1502 can comprise a radio frequency circuit and an antenna, the radio frequency circuit is mainly used for conversion between baseband signals and radio frequency signals and processing of the radio frequency signals. The antenna is mainly used for transceiving radio frequency signals in the form of electromagnetic waves. The input / 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.

[0261] Optionally, the processor 1501, the transceiver 1502, and the memory 1503 can be connected through a communication bus.

[0262] When the sensing device is powered on, the processor 1501 can read the software program in the memory 1503, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be sent wirelessly, the processor 1501 performs baseband processing on the data to be sent, and outputs the baseband signal to the radio frequency circuit. The radio frequency circuit performs radio frequency processing on the baseband signal, and sends the radio frequency signal in the form of electromagnetic wave through the antenna. When data is sent to the sensing device, the radio frequency circuit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor 1501. The processor 1501 converts the baseband signal into data and processes the data.

[0263] 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 sensing device.

[0264] In some embodiments, in hardware implementation, those skilled in the art can conceive that the above-mentioned sensing device 140 can adopt the form of the sensing device 1500 shown in FIG. 11.

[0265] As an example, the functions / implementation processes of the processing module 1401 in FIG. 10 can be realized by the processor 1501 in the sensing device 1500 shown in FIG. 11 calling the computer execution instructions stored in the memory 1503. The functions / implementation processes of the transceiving module 1402 in FIG. 10 can be realized by the transceiver 1502 in the sensing device 1500 shown in FIG. 11.

[0266] As another possible product form, the first node, the second node, and the third node in the present application can adopt the constituent structure shown in FIG. 12, or include the components shown in FIG. 12. FIG. 12 is a constituent schematic diagram of a sensing device 1600 provided in the present application, which can be a chip or a system on chip in the first node, the second node, and the third node.

[0267] As shown in FIG. 12, the sensing device 1600 includes at least one processor 1601, and at least one sensing interface (only one sensing interface 1604 is shown in FIG. 12 as an example, and the processor 1601 is taken as an example for description). Optionally, the sensing device 1600 can further include a communication bus 1602 and a memory 1603.

[0268] The processor 1601 can be a general purpose central processing unit (CPU), a general purpose processor, a network processing unit (NP), a digital signal processing (DSP), a microprocessor, a microcontroller, a PLD, or any combination thereof. The processor 1601 can also be other apparatuses with processing capabilities, such as a circuit, a device, or a software module, without limitation.

[0269] The communication bus 1602 is used to connect different components in the sensing 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 an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is shown in FIG. 12, but it does not mean that there is only one bus or one type of bus.

[0270] The sensing interface 1604 is used for communication with other devices or communication networks. For example, the sensing interface 1604 can be a module, a circuit, a transceiver, or any device capable of communication. Alternatively, the sensing interface 1604 can also be an input / output interface located in the processor 1601, to realize the signal input and signal output of the processor.

[0271] The memory 1603 can be a device with storage function, used to store instructions and / or data. The instructions can be a computer program.

[0272] For example, 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 a random access memory (RAM) or other type of dynamic storage device that can store information and / or instructions, or 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 disks, laser disks, optical disks, digital versatile disks, Blu-ray disks, etc.), magnetic disk storage medium, or other magnetic storage device, etc., without limitation.

[0273] It should be noted that the memory 1603 can exist independently of the processor 1601, or can be integrated into the processor 1601. The memory 1603 can be located within the perception device 1600, or can be located outside the perception device 1600, without limitation. The processor 1601 can be configured to execute instructions stored in the memory 1603 to implement the methods provided by the embodiments described below.

[0274] As an optional implementation, the perception device 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, or a sensor device, etc.

[0275] In some embodiments, in a hardware implementation, those skilled in the art can conceive that the perception device 140 shown in FIG. 10 can take the form of the perception device 1600 shown in FIG. 12.

[0276] As an example, the functions / implementation processes of the processing module 1401 in FIG. 10 can be implemented by the processor 1601 in the perception device 1600 in FIG. 12 invoking computer execution instructions stored in the memory 1603. The functions / implementation processes of the transceiver module 1402 in FIG. 10 can be implemented by the perception interface 1604 in the perception device 1600 in FIG. 12.

[0277] It should be noted that the structure shown in FIG. 12 does not constitute a specific limitation on the first node, the second node, and the third node. For example, in other embodiments of the present application, the first node, the second node, and the third node can include more or fewer components than shown, or can combine certain components, or split certain components, or different component arrangements. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0278] In some embodiments, the embodiments of the present application also provide a perception device, which includes a processor configured to implement the method in any of the method embodiments described above.

[0279] As a possible implementation, the perception 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 perception apparatus to perform the method in any of the above method embodiments. Of course, the memory can also not be in the perception apparatus.

[0280] As another possible implementation, the perception apparatus further includes an interface circuit, which is a code / data read-write interface circuit, and is 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.

[0281] As yet another possible implementation, the perception apparatus further includes a perception interface, which is configured to communicate with modules outside the perception apparatus.

[0282] It can be understood that the perception apparatus can be a chip or a chip system. When the perception apparatus is a chip system, the perception 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 specific limitations in this regard.

[0283] The present application also provides a computer readable storage medium, which stores a computer program or instructions, and the computer program or instructions are executed by a computer to realize the functions of any of the above method embodiments.

[0284] The present application also provides a computer program product, which is executed by a computer to realize the functions of any of the above method embodiments.

[0285] 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 herein.

[0286] 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, additional division can be made, or some features 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.

[0287] 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.

[0288] 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.

[0289] 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 disk (SSD)), etc. In the embodiments of the present application, the computer can include the devices described above.

[0290] 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.

[0291] Although the application has been described in conjunction with specific embodiments thereof, it is evident that many alternatives, modifications and variations will be apparent to those skilled in the art. Accordingly, it is intended to embrace all such alternatives, modifications and variations that fall within the scope of the application. Although specific terms are employed herein, they are used in a generic and descriptive sense only and not for purposes of limitation, as it should be understood that various modifications and equivalents can be used without departing from the spirit and scope of the application. Accordingly, the specification and drawings are to be regarded in an illustrative rather than a restrictive sense.

Claims

1. A perception method, comprising: The method is applied to a first node, and the method comprises: reporting sensing resource information, the sensing resource information being used to indicate time domain resources actually required by the first node when sensing at least one sensing target; receiving first scheduling information, the first scheduling information being used to schedule time domain resources for the first node to sense the at least one sensing target.

2. The method of claim 1, wherein, The sensing resource information comprises: effective time domain resources, the effective time domain resources being time domain resources used for sensing by the first node; and / or ineffective time domain resources, the ineffective time domain resources being time domain resources not used for sensing by the first node.

3. The method of claim 1, wherein, The sensing resource information comprises or indicates one or more of the following: a preference type indication, the preference type indication indicating that the first node expects a second node to adjust a transmission time / reception time of a sensing signal; a waiting time of the sensing signal, the waiting time of the sensing signal being used to indicate a difference between an arrival time of the sensing signal and a transmission time of the sensing signal; a change value of the waiting time of the sensing signal within a sensing period; a change rate of the waiting time of the sensing signal; a first offset time, the first offset time being used to indicate a difference between the waiting time of the sensing signal and a preset waiting time; a second offset time, the second offset time being used to indicate a difference between the waiting time of the sensing signal in adjacent times of reporting or transmitting; a change rate of the offset time of the sensing signal; a change value of the offset time of the sensing signal within a sensing period; indication information, the indication information being used to indicate an expected time for the first node to receive / transmit a sensing signal; or, being used to indicate an offset value of an expected time for transmitting / receiving a sensing signal relative to a current time for transmitting / receiving a sensing signal.

4. The method of claim 3, wherein, a reporting value of a time domain resource corresponding to each sensing target; wherein the reporting sensing resource information comprises any one of the following reporting manners: a deviation value corresponding to each sensing target, the deviation value corresponding to the sensing target comprising a difference between the reporting value of the time domain resource corresponding to the sensing target and a reporting value of a reference time domain resource; reporting values of time domain resources corresponding to a plurality of sensing targets; reporting values of time domain resources corresponding to a sensing target group, the sensing target group comprising sensing targets with a difference between reporting values of a plurality of time domain resources being less than a preset threshold, the reporting value of the time domain resource corresponding to the sensing target group being used to indicate an average value, a minimum value, a maximum value, or a difference between the minimum value and the maximum value of reporting values of time domain resources corresponding to a plurality of sensing targets in the sensing target group.

5. The method according to any one of claims 1-4, characterized in that, The reporting sensing resource information comprises: receiving configuration information, the configuration information being used to configure a triggering condition and / or a reporting format of sensing resource information; reporting the sensing resource information according to the configuration information.

6. The method of claim 5, wherein, The triggering condition comprises one or more of the following: a difference between an actual reception time and an expected reception time of a sensing signal being greater than a preset time threshold; a change rate of an actual reception time of a sensing signal being greater than a change rate threshold; a duty cycle of a sensing signal being greater than a duty cycle threshold; a waiting time of a sensing signal being greater than a preset time threshold; the waiting time being used to indicate a difference between an arrival time of the sensing signal and a transmission time of the sensing signal.

7. The method according to claim 5 or 6, characterized in that, The reporting format comprises one or more of the following: The reporting time unit corresponding to the sensing resource information; The reporting granularity corresponding to the sensing resource information; Periodic information of the sensing resource information.

8. The method of claim 7, wherein, The reporting granularity corresponding to the sensing resource information comprises or indicates one or more of the following: Indicating that the reporting is performed with time domain resources for sensing all sensing targets as the granularity; Indicating that the reporting is performed with beams as the granularity; Indicating that the reporting is performed with time domain resources for sensing one sensing target as the granularity.

9. The method of claim 6, wherein, The configuration information further comprises one or more of the following: the preset time threshold, the change rate threshold, and the duty cycle threshold.

10. The method according to any one of claims 1-9, characterized in that, Before reporting the sensing resource information, the method further comprises: receiving second scheduling information, the second scheduling information being used for scheduling the first node to sense preset time domain resources of the at least one sensing target; sending / receiving a sensing signal according to the second scheduling information, and determining the sensing resource information.

11. The method of any one of claims 1-10, wherein The first scheduling information is further used for adjusting the sending time of the sensing signal; the adjusted sending time is used for triggering multiple sensing receiving nodes to simultaneously receive the sensing signal; or The first scheduling information is further used for adjusting the receiving time of the sensing signal; the adjusted receiving time is used for triggering multiple sensing sending nodes to simultaneously send the sensing signal.

12. The method of claim 11, wherein, The first scheduling information comprises: a scheduling type indication; the scheduling type indication indicates the sending time / receiving time of the first node for sending / receiving the sensing signal; and / or a time set of the sending time / receiving time of the sensing signal for sending / receiving.

13. A perception method comprising: The method applied to the second node comprises: receiving sensing resource information, the sensing resource information being used for indicating actual time domain resources needed by the first node for sensing at least one sensing target; sending first scheduling information, the first scheduling information being used for scheduling the first node to sense time domain resources of the at least one sensing target.

14. The method of claim 13, wherein, The sensing resource information comprises: effective time domain resources; the effective time domain resources are time domain resources used for sensing by the first node; and / or ineffective time domain resources; the ineffective time domain resources are time domain resources not used for sensing by the first node.

15. The method of claim 13, wherein, The sensing resource information comprises one or more of the following: a preference type indication; the preference type indication indicates that the first node expects the second node to adjust the sending time / receiving time of the sensing signal; a waiting time of the sensing signal; the waiting time of the sensing signal is used for indicating a difference between an arrival time of the sensing signal and a sending time of the sensing signal; a change value of the waiting time of the sensing signal within a sensing period; a change rate of the waiting time of the sensing signal; a first offset time; the first offset time is used for indicating a difference between the waiting time of the sensing signal and a preset waiting time; a second offset time; the second offset time is used for indicating a difference between the waiting times of adjacent two times of the sensing signal; a change rate of the offset time of the sensing signal; a change value of the offset time of the sensing signal within a sensing period; indication information for indicating an expected time for the first node to receive / transmit a sensing signal; or, an offset value for indicating an expected time for transmitting / receiving a sensing signal relative to a current time for transmitting / receiving a sensing signal.

16. The method of claim 15, wherein, a reported value of a time domain resource corresponding to each sensing target; wherein the reported sensing resource information comprises any one of the following reporting manners: a deviation value corresponding to each sensing target, the deviation value corresponding to the sensing target comprising a difference between the reported value of the time domain resource corresponding to the sensing target and a reported value of a reference time domain resource; a reported value of a time domain resource corresponding to a plurality of sensing targets; a reported value of a time domain resource corresponding to a sensing target group, the sensing target group comprising a plurality of sensing targets with a difference between the reported values of the time domain resources being less than a preset threshold, the reported value of the time domain resource corresponding to the sensing target group being used to indicate an average value, a minimum value, a maximum value, or a difference between the minimum value and the maximum value of the reported values of the time domain resources corresponding to the plurality of sensing targets in the sensing target group.

17. The method according to any one of claims 13-16, characterized by, Before receiving the sensing resource information, the method further comprises: sending configuration information, the configuration information being used to configure a triggering condition and / or a reporting format of the sensing resource information; wherein the triggering condition is used to trigger the first node to report the sensing resource information.

18. The method of claim 17, wherein, The triggering condition comprises one or more of the following: a difference between an actual receiving time and an expected receiving time of the sensing signal being greater than a preset time threshold; a change rate of the actual receiving time of the sensing signal being greater than a change rate threshold; a duty cycle of the sensing signal being greater than a duty cycle threshold; a waiting time of the sensing signal being greater than a preset time threshold; the waiting time being used to indicate a difference between an arrival time of the sensing signal and a transmission time of the sensing signal.

19. The method of claim 17 or 18, wherein, The reporting format comprises one or more of the following: a reporting time unit corresponding to the sensing resource information; a reporting granularity corresponding to the sensing resource information; periodic information of the sensing resource information.

20. The method of claim 19, wherein, The reporting granularity corresponding to the sensing resource information comprises or is used to indicate one or more of the following: indicating that the reporting is performed with a time domain resource for sensing all sensing targets as the granularity; indicating that the reporting is performed with a beam as the granularity; indicating that the reporting is performed with a time domain resource for sensing one sensing target as the granularity.

21. The method of claim 18, wherein, The configuration information further comprises one or more of the preset time threshold, the change rate threshold, and the duty cycle threshold.

22. The method of any one of claims 13-21, wherein, Before receiving the sensing resource information, the method further comprises: sending second scheduling information, the second scheduling information being used to schedule the first node to sense a preset time domain resource of the at least one sensing target.

23. The method of any one of claims 13-22, wherein the first scheduling information is further used to adjust a transmission time of the sensing signal; and the adjusted transmission time is used to trigger a plurality of sensing receiving nodes to simultaneously receive the sensing signal; or the first scheduling information is further used to adjust a receiving time of the sensing signal; and the adjusted receiving time is used to trigger a plurality of sensing transmitting nodes to simultaneously transmit the sensing signal.

24. The method of claim 23, wherein, the first scheduling information comprises: a scheduling type indication; the scheduling type indication indicates a transmission time / reception time of the first node transmitting / receiving the sensing signal; and / or, a time set of the transmission time / reception time of the sensing signal.

25. A sensing device, comprising: The sensing device comprises a processor; the processor is configured to run a computer program or instructions, so that the sensing device executes the method according to any one of claims 1-12.

26. A sensing device, comprising: The sensing device comprises a processor; the processor is configured to run a computer program or instructions, so that the sensing device executes the method according to any one of claims 13-24.

27. A computer readable storage medium, characterized in that, A computer readable storage medium stores computer instructions or programs, when the computer instructions or programs are run on a computer, so that the method according to any one of claims 1-12 is executed.

28. A computer-readable storage medium, characterized in that, A computer readable storage medium stores computer instructions or programs, when the computer instructions or programs are run on a computer, so that the method according to any one of claims 13-24 is executed.

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