Communication sensing methods, electronic device, storage medium and program product

Abstract

Provided in the embodiments of the present disclosure are communication sensing methods, an electronic device, a storage medium and a program product. A communication sensing method is applied to a first node, which moves along a preset trajectory. The communication sensing method comprises: during the process of moving along a preset trajectory, transmitting a sensing reference signal to a sensing target multiple times.

Description

Communication sensing method, electronic device, storage medium, and program product

[0001] The present application claims priority to the Chinese patent application No. 202410855892.7, filed on June 27, 2024, the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] The present disclosure relates to the technical field of communication sensing, and in particular, to a communication sensing method, an electronic device, a storage medium, and a program product. BACKGROUND

[0003] Integrated sensing and communication (ISAC) as an important technology and application scenario of 6G has attracted widespread attention and become the focus of research in academia and industry. SUMMARY

[0004] In one aspect, the present disclosure provides a communication sensing method applied to a first node, the first node moving along a preset trajectory. The communication sensing method comprises: transmitting, multiple times, a sensing reference signal to a sensing target in the process of moving along the preset trajectory.

[0005] In another aspect, the present disclosure provides a communication sensing method applied to a second node. The communication sensing method comprises: receiving multiple sensing measurement signals reflected by a sensing target. The multiple sensing measurement signals are reflected based on multiple sensing reference signals, and the multiple sensing reference signals are signals transmitted, multiple times, by the first node to the sensing target in the process of moving along the preset trajectory.

[0006] In yet another aspect, the present disclosure provides a communication sensing method applied to a sensing network element. The communication sensing method comprises: determining transmission configuration information based on an obtained sensing requirement, the transmission configuration information at least comprising a pulse repetition frequency; and transmitting the transmission configuration information to the first node, so that the first node transmits, multiple times, a sensing reference signal to a sensing target in the process of moving along a preset trajectory.

[0007] In yet another aspect, the present disclosure provides an electronic device, comprising: a processor and a memory for storing processor-executable instructions. The processor is configured to execute the instructions, so that the electronic device implements the above-mentioned communication sensing method.

[0008] In yet another aspect, the present disclosure provides a computer-readable storage medium having stored thereon computer program instructions. The computer program instructions, when executed on a computer, cause the computer to implement the above-mentioned communication sensing method.

[0009] In yet another aspect, the present disclosure provides a computer program product comprising computer program instructions. When the computer program instructions are run on a computer, the computer is caused to implement the above-mentioned communication awareness method. BRIEF DESCRIPTION OF DRAWINGS

[0010] The accompanying drawings are used to provide a further understanding of the technical solutions of the present disclosure, and constitute a part of the specification, and are used to explain the technical solutions of the present disclosure together with the embodiments of the present disclosure, and do not constitute a limitation to the technical solutions of the present disclosure.

[0011] FIG. 1 is a structural schematic diagram of a communication awareness system according to an embodiment of the present disclosure.

[0012] FIG. 2 is a structural schematic diagram of another communication awareness system according to an embodiment of the present disclosure.

[0013] FIG. 3 is a flow schematic diagram of a communication awareness method according to an embodiment of the present disclosure.

[0014] FIG. 4 is a flow schematic diagram of another communication awareness method according to an embodiment of the present disclosure.

[0015] FIG. 5 is a flow schematic diagram of yet another communication awareness method according to an embodiment of the present disclosure.

[0016] FIG. 6 is a structural schematic diagram of a first node according to an embodiment of the present disclosure.

[0017] FIG. 7 is a structural schematic diagram of a second node according to an embodiment of the present disclosure.

[0018] FIG. 8 is a structural schematic diagram of an awareness network element according to an embodiment of the present disclosure.

[0019] FIG. 9 is a structural schematic diagram of an electronic device according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present disclosure.

[0021] Unless the context clearly requires otherwise, throughout the description and the claims, the term "comprise," and variations thereof (e.g., "comprises" and "comprising"), will be construed both to be inclusive and to have the same open-ended meaning as the term "include," and its variations (e.g., "includes" and "including").

[0022] The terms "first," "second," and the like, do not denote any ontological limitation, but are used strictly as descriptors, e.g., to distinguish between different elements or instances of the same element. Thus, a "first" and a "second" can be identical to each other. The terms "comprise(s)," "comprising," "include(s)," and / or "including," as used herein, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0023] In the description of the present disclosure, the term "exemplary" or "for example" is used to describe a possible example, instance, or implementation. Any implementation or implementation described as "exemplary" or "for example" in the present disclosure should not be interpreted as being more preferred or superior to other implementations. Rather, use of the term "exemplary" or "for example" is intended to present concepts in a concrete manner.

[0024] In addition, the use of "based on" means open and inclusive, as the process, step, calculation or other action based on one or more stated conditions or values can be based on additional conditions or values beyond those stated.

[0025] Synesthesia integration as an important technology and application scenario of 6G has attracted widespread attention and become the focus of research in academia and industry.

[0026] However, in the communication sensing technology, there are problems of low sensing accuracy, poor resolution, and inability to meet the actual needs of high-resolution application scenarios. For example, in the communication sensing technology, sensing is implemented based on related devices, which has problems such as difficulty in identifying and tracking dense unmanned aerial vehicles and sensing dense ground targets. In addition, there is a problem of difficulty in simultaneously implementing high-quality communication and sensing functions using a sensing base station.

[0027] Taking a conventional communication base station as an example, the communication base station is equipped with a uniform panel antenna. In the case of sensing based on the conventional communication base station, it is generally impossible to meet the scene of high-resolution sensing demand due to the size of the panel antenna or the number of antenna arrays.

[0028] To solve this problem, in the related art, the number of sensing signal transmitting devices (for example, antenna arrays) is usually increased in the device to improve the sensing resolution capability of the device. However, this way, on the one hand, the device cost will be greatly increased due to the increase of the antenna arrays; on the other hand, it will also cause the weight, volume, etc. of the device to increase, thereby limiting the installation and deployment of the device, and reducing the portability of the device.

[0029] To this end, the embodiments of the present disclosure provide a communication sensing method applied to a first node, the first node moving along a preset trajectory. The communication sensing method comprises: transmitting a sensing reference signal to a sensing target multiple times in the process of moving along the preset trajectory. Based on this, the sensing aperture and the sensing range can be expanded through the movement of the first node, thereby improving the sensing resolution without increasing the device cost (for example, without increasing the number of sensing signal transmitting devices). In addition, it is convenient for installation and deployment, and improves the portability of the device.

[0030] For ease of understanding, first, a communication sensing system related to the present disclosure will be introduced.

[0031] As shown in FIG. 1, the communication sensing system comprises a first node 110, a second node 120, and a sensing network element 130.

[0032] The first node 110 has sensing transmitting capability and can transmit a sensing reference signal. In addition, the first node moves along a preset trajectory, and the first node 110 can transmit a sensing reference signal to a sensing target multiple times in the process of moving along the preset trajectory. In some embodiments, the first node 110 comprises an antenna, and the sensing reference signal is transmitted through the antenna.

[0033] In some embodiments, the first node 110 transmits a sensing reference signal to a sensing target multiple times in the process of moving along the preset trajectory based on transmission configuration information (for example, pulse repetition frequency, etc.). The content of the transmission configuration information can be referred to the description below, which will not be described in detail here.

[0034] In some examples, the first node 110 has a communication connection with the perception network element 130; the transmission of the configuration information is directly sent by the perception network element 130 to the first node 110. In other examples, the first node 110 has a direct communication connection (e.g., wired connection or wireless connection) with the second node 120; the transmission of the configuration information is sent by the perception network element 130 to the first node 110 through the second node 120.

[0035] In some embodiments, the first node 110 has a mobile capability. For example, the first node can be a drone, an airplane, a car, a robot, etc. with a mobile capability and a perception transmission capability.

[0036] In other embodiments, the first node 110 can rely on other devices with a mobile capability to achieve the mobility.

[0037] In some embodiments, the first node 110 has a sliding connection with a guide rail, and the guide rail is used to guide the first node to move along a preset trajectory. The form of the guide rail includes at least one of the following: a linear guide rail, a circular guide rail, an arc-shaped guide rail, a curved guide rail, a cross-shaped guide rail, a T-shaped guide rail, a rectangular guide rail, and an irregular guide rail, and the present disclosure does not limit the same.

[0038] It should be noted that the guide rail can be a device independent of the first node 110; or the guide rail can be integrated on the first node 110, that is, the first node 110 includes the guide rail, and the guide rail is used to guide the first node to move along a preset trajectory.

[0039] Exemplarily, as shown in FIG. 2, the communication perception system further includes a guide rail 140, and the first node 110 can have a sliding connection with the guide rail 140, so that the first node 110 moves along a preset trajectory based on the guide rail 140.

[0040] In some examples, the communication perception system further includes a mobile device (not shown in the figure). The mobile device has a mobile capability and is used to carry the first node 110 to move along a preset trajectory.

[0041] For example, in the case where the communication perception system includes the mobile device, the first node 110 is fixed on the mobile device, and the mobile device directly carries the first node 110 to move along a preset trajectory.

[0042] For another example, in the case where the communication perception system includes the guide rail 140 and the mobile device, the first node 110 has a sliding connection with the guide rail 140 through the mobile device, that is, the mobile device is also used to achieve the sliding connection of the first node 110 and the guide rail 140. Further, the mobile device carries the first node 110 to move along a preset trajectory based on the guide rail 140.

[0043] It should be noted that the mobile device can be a device independent of the first node 110; or the mobile device can be integrated on the first node 110, i.e., the first node 110 comprises the mobile device. In the case that the mobile device is integrated on the first node 110, the first node 110 has a mobile capability.

[0044] In some examples, the communication-aware system further comprises a mobile control device (not shown in the figures) for directly or indirectly controlling the first node 110 to move along the preset trajectory.

[0045] For example, the first node 110 can be communicatively connected with a mobile control device capable of controlling the first node 110 to move at a preset speed. Thus, the mobile control device can directly control the first node 110 to move along the preset trajectory.

[0046] For another example, in the case that the communication-aware system comprises a mobile device and a mobile control device, the mobile device is communicatively connected with the mobile control device capable of controlling the mobile device to move at a preset speed. Thus, the mobile control device can indirectly control the first node 110 to move along the preset trajectory.

[0047] It should be noted that the mobile control device can be a device independent of the first node 110; or the mobile control device can be integrated on the first node 110, i.e., the first node 110 comprises the mobile control device.

[0048] It should be understood that the combination of the above-mentioned first node with at least one of the guide rail, the mobile device, and the mobile control device is also within the protection scope of the present disclosure.

[0049] Exemplarily, the present disclosure also provides a perception-emitting device, which comprises a first node and at least one of the following: a guide rail, a mobile device, and a mobile control device.

[0050] The first node moves along a preset trajectory, and the first node transmits a perception reference signal to a perception target multiple times in the process of moving along the preset trajectory. The guide rail is used to guide the first node to move along the preset trajectory. The mobile device has a mobile capability and is used to carry the first node to move along the preset trajectory. The mobile control device is used to directly or indirectly control the first node to move along the preset trajectory.

[0051] The second node 120 has a sensing receiving capability for receiving a sensing measurement signal reflected by the sensing target. The sensing measurement signal is based on the reflection of the sensing reference signal as described above. It can be seen that the first node 110 and the second node 120 can cooperate to achieve sensing. In one example, the second node receives a plurality of sensing measurement signals reflected by the sensing target, the plurality of sensing measurement signals being based on a plurality of sensing reference signals reflected, and the plurality of sensing reference signals being signals transmitted by the first node to the sensing target multiple times in the process of moving along the preset trajectory.

[0052] In some embodiments, the second node 120 also has a mobile communication capability, which can also be referred to as a cellular communication capability. For example, the second node 120 can be a communication base station or a user equipment.

[0053] In some embodiments, the second node 120 is communicatively connected with the first node 110 in a wired form. For example, the first node 110 can be connected with the second node 120 through a cable in the case of meeting the synchronization requirement. Alternatively, the second node 120 is communicatively connected with the first node 110 in a wireless form.

[0054] In some embodiments, the second node 120 is also communicatively connected with the sensing network element 130.

[0055] Further, the second node 120 can receive the transmission configuration information transmitted by the sensing network element and transmit the transmission configuration information to the first node.

[0056] In some embodiments, the second node 120 can also determine a sensing result based on the sensing measurement signal and transmit the sensing result to the sensing network element 130, or the second node 120 can also transmit the sensing measurement signal to the sensing network element 130.

[0057] In some embodiments, the first node 110 and the second node 120 can be deployed on the same platform. For example, in the case that the second node 120 is a communication base station, the first node 110 and the second node 120 can be deployed on the same communication tower or the same building roof, etc. For another example, in the case that the second node 120 is a user equipment, the first node 110 and the second node 120 can be deployed on the same terminal-capable device, such as a robot or a vehicle, etc.

[0058] In other embodiments, the first node 110 and the second node 120 can be deployed on different platforms. For example, the second node 120 can be deployed on a communication base station, and the first node 110 can be another device independent of the communication base station or be deployed on another platform other than the communication base station.

[0059] In some embodiments, the distance between the first node 110 and the second node 120 can be determined based on application requirements.

[0060] It should be understood that the combination of the first node and the second node described above, or the combination of the perception transmitting device and the second node described above, is also within the protection scope of the present disclosure.

[0061] For example, the present disclosure also provides a communication perception device, which includes a first node and a second node.

[0062] For another example, the present disclosure also provides a communication perception device, which includes a perception transmitting device and a second node.

[0063] The perception network element 130 is configured to determine the transmission configuration information based on the obtained perception requirement, and transmit the transmission configuration information to the first node, so that the first node transmits the perception reference signal to the perception target multiple times in the process of moving along the preset trajectory. The content of the transmission configuration information can be referred to the description below, which will not be described here in detail.

[0064] In some embodiments, the perception network element 130 can also receive the perception result transmitted by the second node 120, or receive the perception measurement signal transmitted by the second node 120, and determine the perception result based on the perception measurement signal.

[0065] It should be noted that the number of perception network elements 130 in the figure is only an example. The first node 110 and the second node 120 can share the same perception network element, or can each belong to a different perception network element. The first node and the second node belonging to different perception network elements can also be understood as the first node and the second node using / adopting different perception network elements, or the first node and the second node being managed by different perception network elements. It should be understood that the perception network element to which the first node belongs can also be referred to as the perception network element managing the first node, or the perception network element used by the first node. Similarly, the perception network element to which the second node belongs can also be referred to as the perception network element managing the second node, or the perception network element used by the second node, which will not be described here in detail.

[0066] In the case where the first node 110 and the second node 120 share the same perception network element, the perception network element can communicate with the first node 110 directly, or communicate with the first node 110 through the second node 120.

[0067] In the case where the first node 110 and the second node 120 each belong to a different perception network element, the perception network element to which the first node 110 belongs communicates with the first node 110 directly.

[0068] It should be understood that the above examples of the communication awareness system are merely for more clearly illustrating the technical solutions of the present disclosure, and do not constitute a limitation on the present disclosure. Those skilled in the art can know that, as network architecture evolves and new business scenarios appear, the technical solutions provided by the present disclosure are also applicable to similar technical problems.

[0069] In order to more clearly illustrate the communication awareness method provided by the present disclosure, the communication awareness method provided by the present disclosure is introduced below in combination with the drawings. It should be pointed out that the embodiments of the present disclosure can be mutually borrowed or referred to, for example, the same or similar steps, method embodiments and device embodiments can be mutually referred to, and this is not limited.

[0070] As shown in FIG. 3, the present embodiment provides a communication awareness method, applied to a first node, the first node moves along a preset trajectory, and the communication awareness method comprises: S101, during the movement along the preset trajectory, the first node transmits a plurality of awareness reference signals to an awareness target.

[0071] Here, the awareness target is determined based on awareness requirements. The awareness target includes at least one target object and / or at least one target region.

[0072] Here, the first node at least has an awareness transmitting capability to transmit the awareness reference signal.

[0073] In some embodiments, the first node includes an antenna, and the antenna is used to transmit the awareness reference signal. The form of the antenna includes any one of the following: a dot array antenna, a line array antenna, and a surface array antenna.

[0074] In addition, the first node has a moving capability, or the first node can rely on other devices with a moving capability to realize movement. For example, the first node can be an unmanned aerial vehicle, an airplane, a car, a robot, etc. with a moving capability and an awareness transmitting capability. For another example, the first node can rely on a moving device with a moving capability to move along the preset trajectory. For example, the description in the above communication awareness system can be referred to.

[0075] In some embodiments, the first node is in sliding connection with a guide rail, and the guide rail is used to guide the first node to move along the preset trajectory. The form of the guide rail includes at least one of the following: a linear guide rail, a circular guide rail, an arc-shaped guide rail, a curved guide rail, a cross-shaped guide rail, a T-shaped guide rail, a rectangular guide rail, and an irregular guide rail.

[0076] In one example, the form of the guide rail is a linear guide rail. Based on this, the awareness aperture can be expanded in the direction of the linear guide rail through the movement of the first node, and the awareness resolution and the awareness accuracy are improved.

[0077] In another example, the form of the guide rail is a character-shaped guide rail, a T-shaped guide rail, or a rectangular guide rail. Based on this, the sensing aperture can be expanded in at least two directions through the movement of the first node, and the sensing resolution and sensing accuracy can be improved.

[0078] In one example, the form of the guide rail is a combination of one or more of the above guide rail forms.

[0079] In some embodiments, the above communication sensing method further comprises: obtaining transmission configuration information. S101 comprises: based on the transmission configuration information, transmitting the sensing reference signal to the sensing target multiple times during movement along the preset trajectory.

[0080] The transmission configuration information at least includes a pulse repetition frequency. The pulse repetition frequency is used to indicate the time interval between two transmissions of the sensing reference signal, and the pulse repetition frequency is the inverse of the time interval between two transmissions of the sensing reference signal. Thus, the first node transmits the sensing reference signal to the sensing target multiple times during movement along the preset trajectory according to the pulse repetition frequency.

[0081] In one example, the transmission configuration information further includes a signal transmission frequency. The signal transmission frequency is consistent with the signal receiving frequency of the second node. The second node is used to receive the sensing measurement signal reflected by the sensing target. The sensing measurement signal is reflected based on the sensing reference signal.

[0082] In one example, the transmission configuration information further includes a transmission beam configuration, and the transmission beam configuration is used to configure the beam pointing direction corresponding to the sensing reference signal. The transmission beam configuration includes a first transmission beam configuration or a second transmission beam configuration. The first transmission beam configuration is used to make the beam pointing direction corresponding to the sensing reference signal transmitted by the first node each time the same. The second transmission beam configuration is used to make the beam corresponding to the sensing reference signal transmitted by the first node each time point to the sensing target.

[0083] In one example, the transmission configuration information further includes: trajectory configuration information and movement configuration information. The trajectory configuration information and the movement configuration information are used to control the movement of the first node along the preset trajectory.

[0084] The movement configuration information can include a movement speed and / or a movement direction. The first node can move along the preset trajectory based on the movement configuration information.

[0085] The trajectory configuration information can be used to set the movement range of the first node. In the case that the first node is in sliding connection with the guide rail, the first node can determine the movement range on the guide rail based on the trajectory configuration information. Thus, the first node moves on a section or the entire guide rail to realize movement along the preset trajectory.

[0086] Further, in the case that the transmission configuration information comprises the trajectory configuration information and the movement configuration information, the above-mentioned communication sensing method further comprises: controlling the first node to move along the preset trajectory based on the trajectory configuration information and the movement configuration information.

[0087] In some embodiments, the transmission configuration information is directly sent by the sensing network element to the first node. Illustratively, the first node requests the transmission configuration information from the sensing network element, and the sensing network element directly sends the transmission configuration information to the first node.

[0088] In addition, the sensing network element can also send, to the second node, reception configuration information corresponding to the transmission configuration information, the reception configuration information at least comprising the signal receiving frequency and / or the receiving beam configuration. Based on this, the first node completes the transmission configuration at the same time as the second node completes the corresponding reception configuration.

[0089] In other embodiments, the transmission configuration information is sent by the sensing network element to the first node through the second node, and the second node is used to receive the sensing measurement signal reflected by the sensing target. Illustratively, the first node and the second node share the same sensing network element; the first node requests the transmission configuration information from the sensing network element through the second node; correspondingly, the sensing network element sends the transmission configuration information to the first node through the second node.

[0090] In addition, the shared sensing network element can also send, to the second node, reception configuration information corresponding to the transmission configuration information. Based on this, the first node completes the transmission configuration at the same time as the second node completes the corresponding reception configuration.

[0091] In some embodiments, the first node and the second node dynamically configure the beam during the movement of the first node along the preset trajectory. For example, the first node dynamically configures the beam, such as the movement speed, the beam direction, etc., during the movement along the preset trajectory based on the transmission configuration information sent by the second node.

[0092] In some embodiments, the signal transmission frequency is sent by the second node to the first node; or, the signal transmission frequency is determined based on the signal receiving frequency sent by the second node. For example, the second node sends the signal receiving frequency to the first node, and the first node configures the signal transmission frequency based on the signal receiving frequency.

[0093] In some embodiments, the first node can further receive a first enabling indication sent by the sensing network element, or receive the first enabling indication sent by the sensing network element through the second node. The first enabling indication is used to indicate to turn on the sensing function of the first node. It should be noted that turning on the sensing function of the first node can also be understood as turning on the sensing switch of the first node, activating the sensing capability of the first node, or waking up the first node for sensing. For example, in response to the first enabling indication, the first node turns on the sensing function and performs the communication sensing method provided by the present disclosure.

[0094] In some embodiments, the first enabling indication and the transmission configuration information are sent separately by the sensing network element. For example, the sensing network element first sends the first enabling indication, and then sends the transmission configuration information after the first node turns on the sensing function; correspondingly, the first node performs transmission configuration after turning on the sensing function. For another example, the sensing network element first sends the transmission configuration information, and then sends the first enabling indication; correspondingly, the first node turns on the sensing function and performs transmission configuration based on the pre-acquired transmission configuration information.

[0095] In some embodiments, the first enabling indication and the transmission configuration information are sent separately by the sensing network element. For example, the sensing network element first sends the first enabling indication, and then sends the transmission configuration information after the first node turns on the sensing function; correspondingly, the first node performs transmission configuration after turning on the sensing function. For another example, the sensing network element first sends the transmission configuration information, and then sends the first enabling indication; correspondingly, the first node turns on the sensing function and performs transmission configuration based on the pre-acquired transmission configuration information.

[0096] The communication sensing method provided by the embodiments of the present disclosure enables the first node to transmit the sensing reference signal to the sensing target multiple times in the process of moving along the preset trajectory. Based on this, even without increasing the number of sensing signal transmitting devices (for example, the first node or a device in the first node for transmitting the sensing reference signal; for another example, an antenna array), the effect similar to increasing the number of sensing signal transmitting devices can be achieved through the movement of the device and the multiple transmissions of the sensing reference signal. Through the movement of the first node and the multiple signal transmissions, the number of observations of the sensing target at different observation positions is increased, so that the sensing aperture and the sensing range can be expanded without increasing the cost of the device, and the sensing resolution and the sensing accuracy are improved, so that the cost of the device and the sensing resolution are taken into account. In addition, since the number of sensing signal transmitting devices does not need to be increased, the volume and weight of the first node are not burdened, so that the installation and deployment are facilitated, and the portability of the device is improved.

[0097] As shown in FIG. 4, the embodiments of the present disclosure further provide a communication sensing method applied to a second node, which comprises: S201, receiving a plurality of sensing measurement signals reflected by a sensing target. The plurality of sensing measurement signals are reflected based on a plurality of sensing reference signals, and the plurality of sensing reference signals are signals transmitted by a first node to the sensing target multiple times in the process of moving along a preset trajectory.

[0098] Here, the perception measurement signal can also be referred to as a perception echo signal, an echo signal, or a reflection signal, etc.

[0099] Here, the second node at least has a perception receiving capability for receiving the perception measurement signal reflected by the perception target.

[0100] In some embodiments, the second node can also have a mobile communication capability, which can also be referred to as a cellular communication capability. For example, the second node can be a communication base station having a perception receiving capability and a mobile communication capability. For another example, the second node can be a user equipment having a perception receiving capability and a mobile communication capability, such as a robot or a vehicle, etc.

[0101] In some embodiments, the second node receives the perception measurement signal reflected by the perception target within a designed perception resource. The perception resource includes, but is not limited to, at least one of the following: a time domain resource, a frequency domain resource, a space domain resource, a code domain resource, and a power domain resource.

[0102] In some embodiments, the second node can also determine a perception result based on the plurality of perception measurement signals, and send the perception result to the perception network element; or send the plurality of perception measurement signals to the perception network element, so that the perception network element determines the perception result based on the perception measurement signals.

[0103] In some embodiments, the second node sends the perception result or the perception measurement signal to the perception network element in a manner including, but not limited to, at least one of the following: periodic reporting, event-triggered reporting, and request reporting.

[0104] In the communication perception method provided by the embodiments of the present disclosure, the perception measurement signal received by the second node is reflected based on the perception reference signal, and the first node transmits the perception reference signal to the perception target multiple times in the process of moving along the preset trajectory. Therefore, by the movement of the first node, the number of observations of the perception target at different observation positions is increased, so that the perception aperture and the perception range are expanded, the perception resolution and the perception accuracy are improved, and a more accurate perception result can be determined without increasing the cost of devices.

[0105] In some embodiments, the second node can receive the transmission configuration information sent by the perception network element, the transmission configuration information at least including a pulse repetition frequency, the pulse repetition frequency being used to indicate a time interval between two transmissions of the perception reference signal. Further, the transmission configuration information is sent to the first node.

[0106] The transmission configuration information further comprises at least one of: a signal transmission frequency, the signal transmission frequency being consistent with a signal receiving frequency of the second node; a transmission beam configuration, the transmission beam configuration being used for configuring a beam direction corresponding to the perception reference signal. The transmission beam configuration comprises a first transmission beam configuration or a second transmission beam configuration; trajectory configuration information; movement configuration information.

[0107] Based on this, the beam situation of the first node can be dynamically configured through the transmission configuration information. For example, through the transmission configuration information, the first node can dynamically configure the beam situation according to the movement configuration information during movement along the preset trajectory, and transmit the perception reference signal to the perception target multiple times, so that the beam direction corresponding to the perception reference signal transmitted by the first node each time is the same; or the beam direction corresponding to the perception reference signal transmitted by the first node each time points to the perception target.

[0108] In some embodiments, the second node can further receive receiving configuration information corresponding to the transmission configuration information sent by the perception network element. The receiving configuration information at least comprises a signal receiving frequency and / or a receiving beam configuration. Based on this, the second node completes the corresponding receiving configuration while the first node completes the transmission configuration.

[0109] In some embodiments, the second node can further receive a second enabling indication sent by the perception network element. The second enabling indication is used to indicate to turn on the perception function of the second node. It should be noted that turning on the perception function of the second node can also be understood as turning on the perception switch of the second node, activating the perception capability of the second node or waking up the second node for perception. For example, in response to the second enabling indication, the second node turns on the perception function and performs the communication perception method provided by the present disclosure.

[0110] In some embodiments, the second enabling indication and the receiving configuration information are sent separately by the perception network element. For example, the perception network element first sends the second enabling indication, and then sends the receiving configuration information after the second node turns on the perception function; correspondingly, the second node can perform receiving configuration after turning on the perception function. For another example, the perception network element first sends the receiving configuration information and then sends the second enabling indication; correspondingly, the second node turns on the perception function and performs receiving configuration based on the pre-acquired receiving configuration information.

[0111] In other embodiments, the second enabling indication and the receiving configuration information are sent simultaneously by the perception network element. For example, the perception network element simultaneously sends the second enabling indication and the receiving configuration information to the second node, so that the second node can turn on the perception function based on the second enabling indication and complete receiving configuration based on the receiving configuration information.

[0112] As shown in FIG. 5, the embodiment of the disclosure further provides a communication sensing method, applied to a sensing network element. The communication sensing method comprises S301 and S302.

[0113] In S301, based on the obtained sensing requirement, the transmission configuration information is determined, and the transmission configuration information at least comprises a pulse repetition frequency. The pulse repetition frequency is used to indicate the time interval of two times of transmitting the sensing reference signal.

[0114] The related content of the transmission configuration information can refer to the description in the above, and will not be described here.

[0115] In some embodiments, the sensing requirement is a requirement reported by an application end, and is used to request to sense a sensing target.

[0116] In some embodiments, the sensing requirement comprises position information of the sensing target. The sensing target can also be referred to as a target of interest. The sensing target comprises at least one target object, and / or at least one target area.

[0117] In some embodiments, in response to the sensing requirement, the sensing network element can start the sensing function of the first node and the second node, and execute the communication sensing method provided by the disclosure.

[0118] In some embodiments, the sensing network element sends (for example, directly sends or sends through the second node) a first enabling indication to the first node, and the first enabling indication is used to indicate to start the sensing function of the first node. Further, the sensing network element can also send the transmission configuration information to the first node. The first enabling indication and the transmission configuration information can be sent separately, or can be sent simultaneously.

[0119] In other embodiments, the sensing network element sends a second enabling indication to the second node, and the second enabling indication is used to indicate to start the sensing function of the second node. Further, the sensing network element can also send the receiving configuration information to the second node. The second enabling indication and the receiving configuration information can be sent separately, or can be sent simultaneously.

[0120] In some embodiments, in response to the sensing requirement, the sensing network element issues a sensing task to the first node and / or the second node. The sensing task comprises at least one of the following: the first enabling indication, the second enabling indication, the position information of the sensing target, the receiving configuration information, and the transmission configuration information.

[0121] In some embodiments, the sensing network element can select, based on the position information of the sensing target, a first node closest to the position information of the sensing target from at least one first node, and issue the sensing task to the first node and the second node corresponding to the first node.

[0122] In some embodiments, the perception network element can determine the transmission configuration information based on the location information of the perception target.

[0123] In some embodiments, the perception network element can determine the transmission configuration information based on the location information of the perception target.

[0124] In some embodiments, the transmission configuration information comprises a transmission beam configuration. S301 comprises: the perception network element generates the transmission beam configuration based on the perception requirement. For example, in a case where the perception requirement comprises the location information of the perception target, the transmission beam configuration is generated based on the location information of the perception target.

[0125] Based on this, the beams corresponding to the perception reference signals transmitted by the first node each time are directed to the same direction; or the beams corresponding to the perception reference signals transmitted by the first node each time are all directed to the perception target.

[0126] In some embodiments, the perception network element can determine the transmission configuration information and / or the reception configuration information based on the location information of the perception target.

[0127] In S302, the transmission configuration information is sent to the first node, so that the first node transmits the perception reference signal to the perception target multiple times in the process of moving along the preset trajectory.

[0128] The perception target is determined based on the perception requirement.

[0129] In some embodiments, S302 comprises: the transmission configuration information is directly sent to the first node; or the transmission configuration information is sent to the first node through the second node. The second node is used to receive the perception measurement signal reflected by the perception target.

[0130] In one example, in a case where the perception network element is a perception network element shared by the first node and the second node, the perception network element directly sends the transmission configuration information to the first node.

[0131] In another example, in a case where the first node and the second node each belong to different perception network elements, the perception network element to which the first node belongs directly sends the transmission configuration information to the first node.

[0132] In yet another example, in a case where the sensing network element is a sensing network element shared by the first node and the second node, the sensing network element sends the transmission configuration information to the first node through the second node.

[0133] Based on this, the transmission of the transmission configuration information between the sensing network element and the first node can be implemented.

[0134] In some embodiments, the sensing network element can also send, to the second node, reception configuration information corresponding to the transmission configuration information. The reception configuration information at least includes a signal reception frequency and / or a reception beam configuration, so that the second node sets a reception configuration based on the reception configuration information.

[0135] In one example, in a case where the sensing network element is a sensing network element shared by the first node and the second node, the sensing network element directly sends the reception configuration information to the second node.

[0136] In another example, in a case where the first node and the second node each belong to different sensing network elements, the sensing network element to which the second node belongs directly sends the reception configuration information to the second node.

[0137] Based on this, the first node completes the transmission configuration at the same time as the second node completes the corresponding reception configuration, thereby aligning the configurations related to transmission and reception.

[0138] In some embodiments, the sensing network element can also receive a sensing result sent by the second node, which is used to receive a sensing measurement signal reflected by the sensing target; or receive a plurality of sensing measurement signals sent by the second node, and determine the sensing result based on the plurality of sensing measurement signals.

[0139] In the communication sensing method provided by the present disclosure, the sensing result is determined based on the sensing measurement signal, the sensing measurement signal is reflected based on the sensing reference signal, and the first node transmits the sensing reference signal to the sensing target multiple times in the process of moving along the preset trajectory. Therefore, through the movement of the first node and the multiple signal transmissions, the number of observations of the sensing target at different observation positions is increased, thereby expanding the sensing aperture and the sensing range, improving the sensing resolution and the sensing accuracy without increasing the cost of equipment, and thus a more accurate sensing result can be determined.

[0140] It can be understood that, in order to implement the above functions, each node or device comprises a hardware structure and / or a software module corresponding to each function. It can be easily understood by those skilled in the art that, in combination with the algorithm steps of each example described in the embodiments disclosed herein, the present disclosure 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 disclosure.

[0141] As shown in FIG. 6, the present disclosure further provides a structural schematic diagram of a first node. The first node moves along a preset trajectory and comprises a perception transmission module 610. In some embodiments, the first node further comprises a first communication module 620 and / or a first processing module 630.

[0142] The perception transmission module 610 is configured to transmit a perception reference signal to a perception target multiple times in the process of moving along the preset trajectory.

[0143] In some embodiments, the first node is in sliding connection with a guide rail, and the guide rail is configured to guide the first node to move along the preset trajectory. The form of the guide rail comprises at least one of the following: a linear guide rail, a circular guide rail, an arc-shaped guide rail, a curved guide rail, a cross-shaped guide rail, a T-shaped guide rail, a rectangular guide rail, and an irregular guide rail.

[0144] In some embodiments, the first communication module 620 is configured to obtain transmission configuration information, and the transmission configuration information at least comprises a pulse repetition frequency, which is configured to indicate a time interval between two times of transmitting the perception reference signal. The perception transmission module 610 is configured to transmit the perception reference signal to the perception target multiple times in the process of moving along the preset trajectory based on the transmission configuration information.

[0145] In some embodiments, the transmission configuration information further comprises trajectory configuration information and movement configuration information. The first processing module 630 is configured to control the first node to move along the preset trajectory based on the trajectory configuration information and the movement configuration information.

[0146] In some embodiments, the first communication module 620 is further configured to receive the transmission configuration information sent directly by a perception network element, or receive the transmission configuration information sent by the perception network element through a second node.

[0147] In some embodiments, the first node further comprises an antenna (not shown in the figure), and the antenna is configured to transmit the perception reference signal. The form of the antenna comprises any one of the following: a dot matrix antenna, a line array antenna, and a surface array antenna.

[0148] As shown in FIG. 7, the embodiment of the present disclosure further provides a structural diagram of a second node. The second node comprises a perception receiving module 710. In some embodiments, the second node further comprises a second communication module 720 and / or a second processing module 730.

[0149] The perception receiving module 710 is configured to receive a plurality of perception measurement signals reflected by a perception target. The plurality of perception measurement signals are reflected based on a plurality of perception reference signals. The plurality of perception reference signals are signals transmitted by the first node to the perception target multiple times in the process of moving along a preset trajectory.

[0150] In some embodiments, the second communication module 720 is configured to receive transmission configuration information transmitted by the perception network element, the transmission configuration information comprising at least a pulse repetition frequency; and transmit the transmission configuration information to the first node.

[0151] In some embodiments, the second processing module 730 is configured to determine a perception result based on the plurality of perception measurement signals; and the second communication module 720 is further configured to transmit the perception result to the perception network element.

[0152] In some embodiments, the second communication module 720 is further configured to transmit the plurality of perception measurement signals to the perception network element, so that the perception network element determines a perception result based on the plurality of perception measurement signals.

[0153] As shown in FIG. 8, the embodiment of the present disclosure further provides a structural diagram of a perception network element. The perception network element comprises a third processing module 810 and a third communication module 820.

[0154] The third processing module 810 is configured to determine transmission configuration information based on the perception requirement obtained. The transmission configuration information comprises at least a pulse repetition frequency, which is used to indicate a time interval between two transmissions of the perception reference signal. The third communication module 820 is configured to transmit the transmission configuration information to the first node, so that the first node transmits the perception reference signal to the perception target multiple times in the process of moving along a preset trajectory.

[0155] In some embodiments, the third communication module 820 is configured to transmit the transmission configuration information directly to the first node; or transmit the transmission configuration information to the first node through a second node. The second node is configured to receive the perception measurement signal reflected by the perception target.

[0156] In some embodiments, the third communication module 820 is further configured to receive a perception result transmitted by the second node. The second node is configured to receive the perception measurement signal reflected by the perception target.

[0157] In some embodiments, the third communication module 820 is further configured to receive a plurality of sensing measurement signals sent by the second node. The third processing module 810 is further configured to determine the sensing result based on the plurality of sensing measurement signals.

[0158] It should be noted that the division of the modules in FIGS. 6-8 is illustrative, and is only a logical function division. In actual implementation, another division manner can be used. For example, two or more functions can be integrated in one processing module. The integrated module can be implemented in the form of hardware or in the form of a software function module.

[0159] In the case of implementing the functions of the integrated module in the form of hardware, the embodiment of the present disclosure further provides a structure of an electronic device for executing the communication sensing method provided by the embodiment of the present disclosure. Similarly, the electronic device and the communication sensing method described above can be correspondingly referred to each other.

[0160] As shown in FIG. 9, the electronic device includes a processor 902 and a communication interface 903. In some examples, the electronic device can further include at least one of a bus 904 and a memory 901.

[0161] The processor 902 can be a central processing unit, a general purpose processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array, or other programmable logic device, transistor logic, hardware components, or any combination thereof, which can implement or execute the various exemplary logical blocks, modules and circuits described in combination with the embodiments of the present disclosure. The processor 902 can also be a combination of implementing computing functions, such as a combination of one or more microprocessors, a combination of a DSP (digital signal processor) and a microprocessor, and the like.

[0162] The communication interface 903 is configured to connect with other devices through a communication network. The communication network can be an Ethernet, a wireless access network, a WLAN (wireless local area network), and the like.

[0163] The memory 901 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to this.

[0164] As an implementation manner, the memory 901 can exist independently of the processor 902, and the memory 901 can be connected to the processor 902 through the bus 904, for storing instructions or program codes executable by the processor 902, for example, computer program instructions and the like. When the processor 902 invokes and executes the instructions or program codes stored in the memory 901, the communication awareness method provided by the embodiments of the present disclosure can be implemented.

[0165] In another implementation manner, the memory 901 can also be integrated with the processor 902.

[0166] The bus 904 can be an extended industry Standard architecture (EISA) bus or the like. The bus 904 can be divided into an address bus, a data bus, a control bus and the like. For the convenience of representation, only one thick line is shown in FIG. 9, but it does not mean that there is only one bus or only one type of bus.

[0167] Some embodiments of the present disclosure provide a computer readable storage medium (for example, a non-transitory computer readable storage medium). The computer readable storage medium stores computer program instructions. When the computer program instructions run on a computer, the computer executes the communication awareness method described in any of the above embodiments. It should be understood that the present disclosure does not limit the form of the computer.

[0168] In some examples, the aforementioned computer-readable storage medium can include, but is not limited to, a magnetic storage device (e.g., hard disk, floppy disk, or magnetic tape), an optical storage device (e.g., compact disk (CD), digital versatile disk (DVD), etc.), a smart card, and a flash memory device (e.g., Erasable Programmable Read-Only Memory (EPROM), card, stick, or key drive). The various computer-readable storage media described in the present disclosure can represent one or more devices and / or other machine-readable storage media for storing information. The term "machine-readable storage medium" can include, without being limited to, a wireless channel and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0169] The embodiment of the present disclosure provides a computer program product containing instructions, when the computer program product runs on a computer, the computer executes the communication sensing method described in any of the above embodiments.

[0170] The communication sensing method provided by the embodiment of the present disclosure makes the first node emit the sensing reference signal to the sensing target multiple times in the process of moving along the preset track. Based on this, even if the number of sensing signal emitting devices (for example, the first node or the device in the first node for emitting the sensing reference signal) is not increased, the effect similar to the increase of the sensing signal emitting devices can be formed through the movement of the device and the multiple times of emitting the sensing reference signal. Through the movement of the first node and the multiple times of signal emission, the number of observations on the sensing target at different observation positions is increased, so that the sensing aperture and the sensing range can be expanded, and the sensing resolution and the sensing accuracy are improved without increasing the cost of the device, so that the device cost and the sensing resolution are considered. In addition, since the number of sensing signal emitting devices does not need to be additionally increased, the volume and weight of the first node will not be burdened, so that the installation and deployment are facilitated, and the portability of the device is improved.

Claims

1. A communication sensing method, applied to a first node, the first node moving along a preset trajectory, wherein, The method includes: During the movement along the preset trajectory, sensing reference signals are emitted to the sensing target multiple times.

2. The method according to claim 1, wherein, The first node is slidably connected to the guide rail, which is used to guide the first node to move along the preset trajectory.

3. The method according to claim 2, wherein, The guide rails include at least one of the following forms: linear guide rails, circular guide rails, arc guide rails, curved guide rails, cross-shaped guide rails, T-shaped guide rails, rectangular guide rails, and irregular guide rails.

4. The method according to any one of claims 1-3, further comprising: Obtain transmission configuration information, which includes at least a pulse repetition frequency, used to indicate the time interval between two transmissions of a sensing reference signal; During the movement along the preset trajectory, the sensing reference signal is emitted multiple times toward the sensing target, including: During the movement along the preset trajectory, the sensing reference signal is transmitted to the sensing target multiple times based on the transmission configuration information.

5. The method according to claim 4, wherein, The transmission configuration information also includes a signal transmission frequency; the signal transmission frequency is consistent with the signal receiving frequency of the second node, which is used to receive the sensing measurement signal reflected by the sensing target.

6. The method according to claim 4, wherein, The transmission configuration information also includes a transmission beam configuration, which is used to configure the beam direction corresponding to the sensing reference signal; The transmission beam configuration includes a first transmission beam configuration or a second transmission beam configuration; the first transmission beam configuration is used to ensure that the beam corresponding to the sensing reference signal transmitted by the first node points to the same direction each time; the second transmission beam configuration is used to ensure that the beam corresponding to the sensing reference signal transmitted by the first node points to the sensing target each time.

7. The method according to claim 4, wherein, The launch configuration information further includes: trajectory configuration information and movement configuration information; the method further includes: Based on the trajectory configuration information and the movement configuration information, the first node is controlled to move along the preset trajectory.

8. The method according to claim 4, wherein, The transmission configuration information is sent directly from the sensing network element to the first node; or... The transmission configuration information is sent by the sensing network element to the first node through the second node, and the second node is used to receive the sensing measurement signal reflected by the sensing target.

9. The method according to claim 1, wherein, The first node includes an antenna for transmitting the sensing reference signal; The antenna can be any of the following types: dot array antenna, linear array antenna, or area array antenna.

10. A communication sensing method applied to a second node, wherein, The method includes: Receive multiple sensing and measurement signals reflected by the target; The plurality of sensing measurement signals are based on the reflection of a plurality of sensing reference signals, which are signals emitted multiple times by the first node towards the sensing target as it moves along a preset trajectory.

11. The method of claim 10, further comprising: The system receives transmission configuration information sent by a sensing network element, the transmission configuration information including at least a pulse repetition frequency, the pulse repetition frequency being used to indicate the time interval between two transmissions of the sensing reference signal; Send the launch configuration information to the first node.

12. The method according to claim 11, wherein, The launch configuration information also includes at least one of the following: The signal transmission frequency is consistent with the signal reception frequency of the second node; A transmit beam configuration, wherein the transmit beam configuration is used to configure the beam pointing corresponding to the sensing reference signal; wherein the transmit beam configuration includes a first transmit beam configuration or a second transmit beam configuration; The first transmit beam configuration is configured to ensure that the beam corresponding to the sensing reference signal transmitted by the first node points to the same direction each time; the second transmit beam configuration is configured to ensure that the beam corresponding to the sensing reference signal transmitted by the first node points to the sensing target each time. Track configuration information; Mobile configuration information.

13. The method according to any one of claims 10-12, further comprising: Based on the multiple sensing and measurement signals, the sensing result is determined and sent to the sensing network element; or, The multiple sensing measurement signals are sent to the sensing network element so that the sensing network element determines the sensing result based on the multiple sensing measurement signals.

14. A communication sensing method applied to sensing network elements, wherein, The method includes: Based on the acquired sensing requirements, the transmission configuration information is determined, which includes at least the pulse repetition frequency; The transmission configuration information is sent to the first node so that the first node transmits sensing reference signals to the sensing target multiple times while moving along a preset trajectory.

15. The method according to claim 14, wherein, The pulse repetition frequency is used to indicate the time interval between two transmissions of the sensing reference signal.

16. The method of claim 14, wherein, The perception target is determined based on the perception requirement, and the perception target includes at least one target object and / or at least one target area.

17. The method of claim 14, wherein, The launch configuration information also includes at least one of the following: The signal transmission frequency is consistent with the signal receiving frequency of the second node, and the second node is used to receive the sensing measurement signal reflected by the sensing target; A transmit beam configuration, wherein the transmit beam configuration is used to configure the beam pointing corresponding to the sensing reference signal; wherein the transmit beam configuration includes a first transmit beam configuration or a second transmit beam configuration; The first transmit beam configuration is configured to ensure that the beam corresponding to the sensing reference signal transmitted by the first node points to the same direction each time; the second transmit beam configuration is configured to ensure that the beam corresponding to the sensing reference signal transmitted by the first node points to the sensing target each time. Track configuration information; Mobile configuration information.

18. The method according to claim 14, wherein, Sending the transmission configuration information to the first node includes: Send the transmission configuration information directly to the first node; or... The second node sends the transmission configuration information to the first node; wherein the second node is used to receive the sensing measurement signal reflected by the sensing target.

19. The method of claim 14, further comprising: The second node receives the sensing result sent by the second node, which is used to receive the sensing measurement signal reflected by the sensing target; or, The system receives multiple sensing and measurement signals sent by the second node and determines the sensing result based on the multiple sensing and measurement signals.

20. An electronic device, comprising: A processor and a memory for storing processor-executable instructions; The processor is configured to execute the instructions, causing the electronic device to perform the communication sensing method according to any one of claims 1-19.

21. A computer-readable storage medium, wherein, The computer-readable storage medium stores computer instructions that, when executed on a computer, cause the computer to perform the communication sensing method according to any one of claims 1-19.

22. A computer program product, wherein, The computer program product includes computer instructions that, when executed on a computer, cause the computer to perform the communication sensing method according to any one of claims 1-19.

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