Sensing method and apparatus, and storage medium

Abstract

The present disclosure relates to a sensing method and apparatus, and a storage medium. The sensing method comprises: receiving a sensing measurement quantity, wherein the sensing measurement quantity is used for positioning an object to be sensed, and the sensing measurement quantity comprises at least one of the following items: a time difference between a receiving moment at which a first node receives a reflected sensing signal and a sending moment at which the first node sends the sensing signal; and an angle of arrival of the sensing signal. In the embodiments, the problem that said object cannot be sensed is solved, and it is ensured that a sensing processing node can receive a time point or an angle. The time point means the difference between the time when the first node receives the reflected sensing signal and the time when the first node sends the sensing signal, and the angle means the angle of arrival of the sensing signal. It is ensured that the position of said object can be determined on the basis of the time point or the angle, thereby ensuring the accuracy of sensing said object.

Description

Perception method, apparatus, and storage medium TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of communication, and particularly relates to a perception method, an apparatus, and a storage medium. BACKGROUND

[0002] With the rapid development of mobile communication technology, a method for perceiving an object through a perception system is proposed, or it can also be considered as a method for positioning an object. For some perceived objects, the object is not a terminal or network device and does not have the ability to send or receive signals, so the perception needs to be realized through signal reflection of the perceived object.

[0003] SUMMARY

[0004] The scheme provided by the present disclosure solves the problem that the perceived object cannot be perceived, and ensures that the perception processing node can receive a time point or an angle, the time point being a difference between a time at which a first node receives a reflected perception signal and a time at which the first node sends the perception signal, and the angle being an angle of arrival of the perception signal, so that the position of the perceived object can be determined based on the time point or the angle, and the accuracy of the perception of the perceived object is ensured.

[0005] The present disclosure provides a perception method, an apparatus, and a storage medium.

[0006] According to a first aspect of an embodiment of the present disclosure, a perception method is provided, the method being performed by a perception processing node, and the method comprising:

[0007] receiving a perception measurement quantity, the perception measurement quantity being used for positioning a perceived object, and the perception measurement quantity comprising at least one of the following:

[0008] a time difference between a receiving time at which a first node receives a reflected perception signal and a sending time at which the first node sends the perception signal;

[0009] an angle of arrival of the perception signal.

[0010] According to a second aspect of an embodiment of the present disclosure, a perception method is provided, the method being performed by a first node, and the method comprising:

[0011] sending a perception measurement quantity, the perception measurement quantity being used for positioning a perceived object, and the perception measurement quantity comprising at least one of the following:

[0012] a time difference between a receiving time at which a first node receives a reflected perception signal and a sending time at which the first node sends the perception signal;

[0013] an angle of arrival of the perception signal.

[0014] According to a third aspect of embodiments of the disclosure, a perception method is provided, the method comprising:

[0015] The first node transmits a perception measurement, the perception measurement being used for positioning a perception object, the perception measurement comprising at least one of:

[0016] a time difference between a reception time of the reflected perception signal received by the first node and a transmission time of the perception signal transmitted by the first node;

[0017] an angle of arrival of the perception signal.

[0018] The perception processing node receives a perception measurement.

[0019] According to a fourth aspect of embodiments of the disclosure, a perception apparatus is provided, comprising:

[0020] a transceiver configured to receive a perception measurement, the perception measurement being used for positioning a perception object, the perception measurement comprising at least one of:

[0021] a time difference between a reception time of the reflected perception signal received by the first node and a transmission time of the perception signal transmitted by the first node;

[0022] an angle of arrival of the perception signal.

[0023] According to a fifth aspect of embodiments of the disclosure, a perception apparatus is provided, comprising:

[0024] a transceiver configured to transmit a perception measurement, the perception measurement being used for positioning a perception object, the perception measurement comprising at least one of:

[0025] a time difference between a reception time of the reflected perception signal received by the first node and a transmission time of the perception signal transmitted by the first node;

[0026] an angle of arrival of the perception signal.

[0027] According to a sixth aspect of embodiments of the disclosure, a perception processing node is provided, comprising:

[0028] one or more processors;

[0029] The perception processing node is configured to perform the method of any of the first aspect.

[0030] According to a seventh aspect of embodiments of the disclosure, a first node is provided, comprising:

[0031] one or more processors;

[0032] The first node is configured to perform the method of any one of the second aspect.

[0033] According to an eighth aspect of the embodiments of the present disclosure, a communication system is provided, comprising:

[0034] The perception processing node is configured to implement the perception method of the first aspect, and the first node is configured to implement the perception method of the second aspect.

[0035] According to a ninth aspect of the embodiments of the present disclosure, a storage medium is provided, which stores instructions, when the instructions are run on a communication device, causing the communication device to perform the method of any one of the first aspect or the second aspect. BRIEF DESCRIPTION OF DRAWINGS

[0036] The accompanying drawings, which are included to provide a further understanding of the embodiments of the present disclosure and constitute a part of the present disclosure, illustrate embodiments of the present disclosure and specifically explain the embodiments of the present disclosure and do not limit the present disclosure. In the drawings:

[0037] FIG. 1A is a schematic diagram of an architecture of a communication system according to an embodiment of the present disclosure;

[0038] FIG. 1B is a schematic diagram of an architecture of a communication system according to an embodiment of the present disclosure;

[0039] FIG. 2A is an interaction diagram of a perception method according to an embodiment of the present disclosure;

[0040] FIG. 2B is a schematic diagram of a node and a position of a perceived object according to an embodiment of the present disclosure;

[0041] FIG. 2C is a schematic diagram of a node and a position of a perceived object according to an embodiment of the present disclosure;

[0042] FIG. 2D is a schematic diagram of a node and a position of a perceived object according to an embodiment of the present disclosure;

[0043] FIG. 3A is a flow diagram of a perception method according to an embodiment of the present disclosure;

[0044] FIG. 3B is a flow diagram of a perception method according to an embodiment of the present disclosure;

[0045] FIG. 4 is a flow diagram of a perception method according to an embodiment of the present disclosure;

[0046] FIG. 5 is a flow diagram of a perception method according to an embodiment of the present disclosure;

[0047] FIG. 6 is a flow diagram of a perception method according to an embodiment of the present disclosure;

[0048] FIG. 7A is a structural schematic diagram of a perception device according to an embodiment of the present disclosure;

[0049] FIG. 7B is a structural schematic diagram of a perception device according to an embodiment of the present disclosure;

[0050] FIG. 8A is a structural schematic diagram of a communication device according to an embodiment of the present disclosure;

[0051] FIG. 8B is a structural schematic diagram of a chip according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0052] The present disclosure provides a perception method, device, and storage medium.

[0053] According to a first aspect of embodiments of the present disclosure, a perception method is provided, the method is performed by a terminal, and the method comprises:

[0054] receiving a perception measurement quantity, the perception measurement quantity being used for positioning a perception object, and the perception measurement quantity comprising at least one of:

[0055] a time difference between a receiving time point at which the first node receives the reflected perception signal and a sending time point at which the first node sends the perception signal;

[0056] an angle of arrival of the perception signal.

[0057] In the above embodiments, the problem that the perception object cannot be perceived is solved, and it is ensured that the perception processing node can receive a time point or an angle, the time point being a difference between a time at which the first node receives the reflected perception signal and a time at which the first node sends the perception signal, and the angle being an angle of arrival of the perception signal, so that the position of the perception object can be determined based on the time point or the angle, and the accuracy of perceiving the perception object is ensured.

[0058] In some embodiments in combination with the first aspect, in some embodiments, the perception measurement quantity comprises perception measurement quantities of one or more paths, the one or more paths referring to routes of propagation of the perception signal.

[0059] In the above embodiments, for the perception signal sent by the first node, the transmission route of the perception signal comprises multiple routes, and the perception measurement quantity comprises measurement quantities of one or more transmission routes, so that the comprehensiveness of the perception measurement quantity reported by the first node is ensured, and the accuracy of subsequent positioning of the perception object is ensured.

[0060] In some embodiments in combination with the first aspect, in some embodiments, the one or more paths comprise at least one of:

[0061] a path with a time difference less than a time delay threshold.

[0062] a path whose time difference belongs to a time delay range;

[0063] a path whose angle of arrival belongs to an angle range.

[0064] In the above embodiment, the first node reports the path satisfying certain conditions, so that the reported path is screened, and the accuracy of the perception measurement quantity corresponding to the reported path is ensured.

[0065] In some embodiments of the first aspect, the method further includes:

[0066] receiving capability information, the capability information being used to indicate a maximum number of paths reported by the first node to the perception processing node.

[0067] In some embodiments of the first aspect, the first node configures one or more configuration information, and one configuration information is used to configure one perception signal.

[0068] In the above embodiment, the first node is configured with one or more perception signals, so that the first node can send different perception signals to locate the perceived object, and the accuracy of locating the perceived object is ensured.

[0069] In some embodiments of the first aspect, the configuration information includes at least one of the following:

[0070] a configuration identifier, the configuration identifier being used to indicate the configuration information;

[0071] a beam identifier, the beam identifier being used to indicate a beam used by the first node to send the perception measurement quantity;

[0072] a time domain resource;

[0073] a frequency domain resource.

[0074] In the above embodiment, the configuration information includes at least one of the configuration identifier, the beam identifier, the bandwidth, the time domain resource, or the frequency domain resource, so that the perception signal configured by the configuration information is comprehensive.

[0075] In some embodiments of the first aspect, the method further includes:

[0076] receiving error information, the error information being used to indicate a measurement error of the perception measurement quantity by the first node.

[0077] In the above embodiment, the first node reports the measurement error in a manner, so that the perception processing node can adjust the perception measurement quantity based on the measurement error, and further ensure the accuracy of positioning the perceived object based on the adjusted perception measurement quantity.

[0078] In some embodiments of the first aspect, the perception measurement quantity corresponds to time information.

[0079] The time information includes at least one of:

[0080] The sending time;

[0081] The receiving time;

[0082] The valid duration, which indicates the duration of the validity of the perception measurement quantity.

[0083] In the above embodiment, the perception measurement quantity corresponds to time information, which ensures the accuracy of the perception measurement quantity, and further ensures the accuracy of positioning the perceived object based on the perception measurement quantity.

[0084] In a second aspect, the embodiments of the present disclosure provide a perception method, which is performed by a network device, and the method comprises:

[0085] Sending a perception measurement quantity, which is used for positioning a perceived object, and the perception measurement quantity includes at least one of:

[0086] The time difference between the receiving time of the reflected perception signal received by the first node and the sending time of the perception signal sent by the first node;

[0087] The angle of arrival of the perception signal.

[0088] In some embodiments of the second aspect, the perception measurement quantity includes the perception measurement quantity of one or more paths, and the one or more paths refer to the routes of the propagation of the perception signal.

[0089] In some embodiments of the second aspect, the one or more paths include at least one of:

[0090] The path with a time difference less than a time delay threshold;

[0091] The path with a time difference belonging to a time delay range;

[0092] The path with an angle of arrival belonging to an angle range.

[0093] In some embodiments of the second aspect, the method further comprises:

[0094] transmit capability information, the capability information being used for indicating a maximum number of paths reported by the first node to the sensing processing node.

[0095] In combination with some embodiments of the second aspect, in some embodiments, the first node configures one or more configuration information, one of the configuration information being used for configuring one sensing signal.

[0096] In combination with some embodiments of the second aspect, in some embodiments, the configuration information comprises at least one of:

[0097] a configuration identifier, the configuration identifier being used for indicating the configuration information;

[0098] a beam identifier, the beam identifier being used for indicating a beam used by the first node to transmit the sensing measurement;

[0099] a time domain resource;

[0100] a frequency domain resource.

[0101] In combination with some embodiments of the second aspect, in some embodiments, the method further comprises:

[0102] transmitting error information, the error information being used for indicating a measurement error of the sensing measurement by the first node.

[0103] In combination with some embodiments of the second aspect, in some embodiments, the sensing measurement corresponds to time information;

[0104] the time information comprises at least one of:

[0105] the transmission time;

[0106] the reception time;

[0107] a valid time length, the valid time length being used for indicating a time length during which the sensing measurement is valid.

[0108] In a third aspect, the embodiments of the present disclosure provide a sensing method, the method comprising:

[0109] a first node transmitting a sensing measurement, the sensing measurement being used for positioning a sensing object, the sensing measurement comprising at least one of:

[0110] a time difference between a reception time at which the first node receives a reflected sensing signal and a transmission time at which the first node transmits the sensing signal;

[0111] an angle of arrival of the sensing signal;

[0112] a sensing processing node receiving a sensing measurement.

[0113] In a fourth aspect, the embodiments of the present disclosure provide a sensing device, the sensing device comprising at least one of a transceiver module and a processing module; wherein the terminal is configured to perform the optional implementation manners of the first aspect.

[0114] In a fifth aspect, the embodiments of the present disclosure provide a sensing device, the sensing device comprising at least one of a transceiver module and a processing module; wherein the terminal is configured to perform the optional implementation manners of the second aspect.

[0115] In a sixth aspect, the embodiments of the present disclosure provide a sensing processing node, comprising:

[0116] one or more processors;

[0117] The sensing processing node is configured to perform the method in any one of the first aspect.

[0118] In a seventh aspect, the embodiments of the present disclosure provide a first node, comprising:

[0119] one or more processors;

[0120] The first node is configured to perform the method in any one of the second aspect.

[0121] In an eighth aspect, the embodiments of the present disclosure provide a storage medium, the storage medium storing first information, when the first information is run on a communication device, causing the communication device to perform the method in any one of the first aspect or the second aspect.

[0122] In a ninth aspect, the embodiments of the present disclosure provide a program product, when the program product is executed by a communication device, causing the communication device to perform the method in any one of the first aspect or the second aspect.

[0123] In a tenth aspect, the embodiments of the present disclosure provide a computer program, when the computer program is run on a communication device, causing the communication device to perform the method in any one of the first aspect or the second aspect.

[0124] In an eleventh aspect, the embodiments of the present disclosure provide a chip or chip system. The chip or chip system comprises processing circuitry configured to perform the method in any one of the first aspect or the second aspect.

[0125] It can be understood that the terminal, the storage medium, the program product, the computer program, the chip or the chip system are all used to perform the method proposed in the embodiments of the present disclosure. Therefore, the beneficial effects that can be achieved are referred to the beneficial effects in the corresponding method, which will not be described here.

[0126] The embodiments of the present disclosure propose a perception method, apparatus and storage medium. In some embodiments, the perception method, the processing method of a wake-up signal, the signal communication method and other terms can be replaced with each other, the perception apparatus, the processing apparatus of a wake-up signal, the signal communication apparatus and other terms can be replaced with each other, and the information processing system, the communication system and other terms can be replaced with each other.

[0127] The embodiments of the present disclosure are not exhaustive, but are only schematic of some embodiments, and are not specific limitations on the protection scope of the present disclosure. In the case of no contradiction, each step in an embodiment can be implemented as an independent embodiment, and the steps can be combined arbitrarily, for example, the scheme after removing some steps in an embodiment can also be implemented as an independent embodiment, and the order of the steps in an embodiment can be exchanged arbitrarily, in addition, the optional implementation manners in an embodiment can be combined arbitrarily; in addition, the embodiments can be combined arbitrarily, for example, the steps of different embodiments or part or all of the steps of different embodiments can be combined arbitrarily, an embodiment can be combined with the optional implementation manners of other embodiments arbitrarily.

[0128] In each embodiment of the present disclosure, the terms and / or descriptions between the embodiments are consistent if there is no special description and logical conflict, and can be referred to each other, and the technical features in different embodiments can be combined to form a new embodiment according to the logical relationship between them.

[0129] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and not as a limitation on the present disclosure.

[0130] In the embodiments of the present disclosure, unless otherwise specified, the elements expressed in singular form, such as "one", "one", "the", "the above", "the", "the above", "this" and the like, can represent "one and only one", and can also represent "one or more", "at least one" and the like. For example, in the case of using articles such as "a", "an", "the" and the like in English, the noun after the article can be understood as singular expression, and can also be understood as plural expression.

[0131] In the embodiments of the present disclosure, "a plurality of" means two or more.

[0132] In some embodiments, the terms "at least one of", "one or more", "a plurality of", "multiple" and the like can be replaced with each other.

[0133] In some embodiments, the description of "at least one of A, B", "A and / or B", "in a case A, in another case B", "in response to a case A, in response to a case B", and the like, can include the following technical solutions according to the case: in some embodiments, A (A is executed regardless of B); in some embodiments, B (B is executed regardless of A); in some embodiments, A and B are selectively executed (A and B are selected from A and B); in some embodiments, A and B (A and B are executed). When there are more branches such as A, B, C, and the like, the above is similar.

[0134] In some embodiments, the description of "A or B" and the like can include the following technical solutions according to the case: in some embodiments, A (A is executed regardless of B); in some embodiments, B (B is executed regardless of A); in some embodiments, A and B are selectively executed (A and B are selected from A and B). When there are more branches such as A, B, C, and the like, the above is similar.

[0135] The prefix words "first", "second", and the like in the embodiments of the present disclosure are only used to distinguish different description objects, and do not constitute a limitation on the position, order, priority, quantity, or content of the description objects. The description of the description objects should refer to the description in the context of the claims or embodiments, and should not be limited by the prefix words. For example, the description object is "field", and the ordinal words before "field" in "first field" and "second field" do not limit the position or order between "fields". "First" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of "first field" and "second field". For another example, the description object is "level", and the ordinal words before "level" in "first level" and "second level" do not limit the priority between "levels". For another example, the quantity of the description object is not limited by the ordinal words, and can be one or more. For example, "first device", where the quantity of "device" can be one or more. In addition, the objects modified by different prefix words can be the same or different, for example, the description object is "device", and "first device" and "second device" can be the same device or different devices, and their types can be the same or different; for another example, the description object is "information", and "first information" and "second information" can be the same information or different information, and their contents can be the same or different.

[0136] In some embodiments, "including A", "containing A", "for indicating A", "carrying A" can be interpreted as directly carrying A, or indirectly indicating A.

[0137] In some embodiments, the terms "time / frequency", "time / frequency domain", and the like refer to the time domain and / or the frequency domain.

[0138] In some embodiments, the terms “in response to,” “in response to determining,” “in the event that,” “when,” “if,” “upon,” and the like can be replaced with each other.

[0139] In some embodiments, the terms “greater than,” “greater than or equal to,” “not less than,” “more than,” “more than or equal to,” “not less than,” “higher than,” “higher than or equal to,” “not lower than,” “above,” and the like can be replaced with each other, and the terms “less than,” “less than or equal to,” “not greater than,” “less than,” “less than or equal to,” “not more than,” “lower than,” “lower than or equal to,” “not higher than,” “below,” and the like can be replaced with each other.

[0140] In some embodiments, the apparatuses and devices can be interpreted as physical or virtual, and their names are not limited to the names described in the embodiments, and in some cases can also be understood as “equipment,” “device,” “circuit,” “network element,” “node,” “function,” “unit,” “section,” “system,” “network,” “chip,” “chip system,” “entity,” “subject,” and the like.

[0141] In some embodiments, “network” can be interpreted as an apparatus included in the network, such as an access network device, a core network device, and the like.

[0142] In some embodiments, an “access network device (AN device)” can also be referred to as a “radio access network device (RAN device),” a “base station (BS),” a “radio base station,” a “fixed station,” and in some embodiments can also be understood as a “node,” an “access point,” a “transmission point (TP),” a “reception point (RP),” a “transmission / reception point (TRP),” a “panel,” an “antenna panel,” an “antenna array,” a “cell,” a “macro cell,” a “small cell,” a “femto cell,” a “pico cell,” a “sector,” a “cell group,” a “serving cell,” a “carrier,” a “component carrier,” a “bandwidth part (BWP),” and the like.

[0143] In some embodiments, a "terminal" or "terminal device" can be referred to as a "user equipment," a "user terminal," a "mobile station," a "mobile terminal," a subscriber station, a mobile unit, a subscriber unit, a wireless unit, a remote unit, a mobile device, a wireless device, a wireless communication device, a remote device, a mobile subscriber station, an access terminal, a mobile terminal, a wireless terminal, a remote terminal, a handset, a user agent, a mobile client, a client, and / or the like.

[0144] In some embodiments, data, information, and / or the like can be obtained in compliance with laws and regulations of a country in which the data, information, and / or the like is obtained.

[0145] In some embodiments, data, information, and / or the like can be obtained after obtaining consent of a user.

[0146] In addition, each element, each row, or each column in a table of embodiments of the present disclosure can be implemented as an independent embodiment, and a combination of any element, any row, or any column can also be implemented as an independent embodiment.

[0147] FIG. 1A is a schematic diagram of an architecture of a communication system according to embodiments of the present disclosure. As shown in FIG. 1A, the method provided by embodiments of the present disclosure can be applied to a communication system 100, which can include a first node 101, a perception processing node 102, and a perception object 103. Optionally, the first node 101 has both transmitting capability and receiving capability, and it can also be understood that the first node 101 is both a transmitting node and a receiving node.

[0148] In some embodiments, the first node 101 sends a sensing signal, the sensing signal is reflected by the sensing object 103, the first node 101 receives the reflected sensing signal to obtain a sensing measurement, the sensing measurement is sent to the sensing processing node 102, and the sensing processing node 102 processes the sensing measurement to obtain the position of the sensing object 103.

[0149] Optionally, referring to FIG. 1B, the sensing network function in the communication system can be understood as the sensing processing node 102 in FIG. 1A, at least one of the base station A, the base station B, the terminal A or the terminal B can be understood as the first node 101, and at least one of 1, 2, 3, 4, 5 or 6 in FIG. 1A is the sensing object 103. There are six working modes of the communication system shown in FIG. 1B.

[0150] Mode 1: Base station self-transmission and self-reception (i.e., TRP monostatic). The base station sends a sensing signal, the sensing signal is reflected by the environment or an object in the environment, and the base station receives a reflected / scattered wave for measurement.

[0151] Mode 2: Base station A transmission and base station B reception (i.e., TRP-TRP bistatic). The base station A sends a sensing signal, the sensing signal is reflected by the environment or an object in the environment, and the base station B receives a reflected / scattered wave for measurement.

[0152] Mode 3: Terminal transmission and base station reception (i.e., UE-TRP bistatic). The terminal sends a sensing signal, the sensing signal is reflected by the environment or an object in the environment, and the base station receives a reflected / scattered wave for measurement.

[0153] Mode 4: Base station transmission and terminal reception (i.e., TRP-UE bistatic). The base station sends a sensing signal, the sensing signal is reflected by the sensing object, and the terminal receives a reflected / scattered wave for measurement.

[0154] Mode 5: Terminal self-transmission and self-reception (i.e., UE monostatic). The terminal sends a sensing signal, the sensing signal is reflected by the environment or an object in the environment, and the terminal receives a reflected / scattered wave for measurement.

[0155] Mode 6: Terminal A transmission and terminal B reception (i.e., UE-UE bistatic). The terminal A sends a sensing signal, the sensing signal is reflected by the environment or an object in the environment, and the terminal B receives a reflected / scattered wave for measurement.

[0156] It should be noted that the embodiments of the present disclosure are described by taking the reflection of the sensing signal by the sensing object 103 as an example. In another embodiment, the sensing signal sent by the first node 101 can also be reflected by other objects and received by the first node 101, and the embodiments of the present disclosure are not limited in this regard.

[0157] In some embodiments, the first node in the embodiments of the present disclosure not only has a sending function, but also has a receiving function, and therefore the embodiments of the present disclosure are mainly applied to mode 1 or mode 5 in the above embodiments.

[0158] It should be noted that the communication system 100 can further include other devices, and the present disclosure does not limit the devices included in the communication system 100.

[0159] In some embodiments, the first node 101 can be a terminal. Optionally, the terminal includes at least one of a mobile phone, a wearable device, a terminal, a car with a communication function, a smart car, a Pad, a computer with a wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, a wireless terminal device in a smart home, and the like, but is not limited thereto.

[0160] In some embodiments, the perception processing node 103 is an entity with a perception function. Alternatively, the perception processing node 103 can be understood as a perception server for storage of a perception measurement quantity, perception calculation, and the like.

[0161] In some embodiments, the first node 101 can be a network device. Optionally, the network device can include at least one of an access network device and a core network device.

[0162] In some embodiments, the access network device is, for example, a node or device that accesses a terminal to a wireless network, and can include at least one of an evolved NodeB (eNB) in a 5G communication system, a next generation eNB (ng-eNB), a next generation NodeB (gNB), a node B (NB), a home node B (HNB), a home evolved node B (HeNB), a wireless backhaul device, a radio network controller (RNC), a base station controller (BSC), a base transceiver station (BTS), a base band unit (BBU), a mobile switching center, a base station in a 6G communication system, an open base station (Open RAN), a cloud base station (Cloud RAN), a base station in other communication systems, an access node in a Wi-Fi system, but is not limited thereto.

[0163] In some embodiments, the technical solutions of the present disclosure can be applied to an Open RAN architecture, at which time the interfaces between or within the access network devices involved in the embodiments of the present disclosure can become internal interfaces of the Open RAN, and the processes and information interactions between these internal interfaces can be realized through software or programs.

[0164] In some embodiments, the access network device can be composed of a central unit (CU) and a distributed unit (DU), where the CU can also be referred to as a control unit. The CU-DU structure can split the protocol layers of the access network device, with part of the protocol layer functions being controlled by the CU, and the remaining part or all of the protocol layer functions being distributed in the DU and controlled by the CU, but is not limited thereto.

[0165] In some embodiments, the core network device can be one device including one or more network elements, or a plurality of devices or device groups including all or part of the above one or more network elements. The network element can be virtual or physical. The core network includes, for example, at least one of an evolved packet core (EPC), a 5G core network (5GCN), and a next generation core (NGC).

[0166] It can be understood that the communication system described in the embodiments of the present disclosure is for more clearly illustrating the technical solutions of the embodiments of the present disclosure, and does not constitute a limitation on the technical solutions proposed by the embodiments of the present disclosure. Those skilled in the art can know that, with the evolution of system architecture and the appearance of new business scenarios, the technical solutions proposed by the embodiments of the present disclosure are also applicable to similar technical problems.

[0167] The following embodiments of the present disclosure can be applied to the communication system 100 shown in FIG. 1A or part of the subjects, but are not limited thereto. The subjects shown in FIG. 1A are exemplary, and the communication system can include all or part of the subjects in FIG. 1A, or other subjects other than FIG. 1A. The number and form of each subject is arbitrary, each subject can be physical or virtual, the connection relationship between each subject is exemplary, each subject can not be connected or can be connected, the connection can be in any way, can be direct connection or indirect connection, can be wired connection or wireless connection.

[0168] Embodiments of the present disclosure can be applied to Long Term Evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), SUPER 3G, IMT-Advanced, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), 5G new radio (NR), Future Radio Access (FRA), New-Radio Access Technology (RAT), New Radio (NR), New radio access (NX), Future generation radio access (FX), Global System for Mobile communications (GSM (registered trademark)), CDMA2000, Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), IEEE 802.20, Ultra-WideBand (UWB), Bluetooth (Bl tooth (registered trademark)), Public Land Mobile Network (PLMN) network, Device-to-Device (D2D) system, Machine to Machine (M2M) system, Internet of Things (IoT) system, Vehicle-to-Everything (V2X), system using other sensing methods, next-generation system expanded based thereon, or the like. In addition, a plurality of systems can be combined (for example, combination of LTE or LTE-A and 5G, or the like).

[0169] FIG. 2A is an interaction diagram of a sensing method according to an embodiment of the present disclosure. As shown in FIG. 2A, the embodiment of the present disclosure relates to a sensing method, and the method includes:

[0170] In step S2101, the first node transmits a sensing signal.

[0171] In some embodiments, the sensing signal is used for measuring the sensing object. Alternatively, it can also be understood that the sensing signal is used for reflecting by the sensing object.

[0172] In some embodiments, the sensing signal can also be referred to as a positioning signal, a measurement signal, a reference signal, etc., and the embodiments of the present disclosure are not limited thereto.

[0173] In some embodiments, the sensing signal is represented by Sensing RS (sensing signal), or can also be represented in other ways, and the embodiments of the present disclosure are not limited thereto. In some embodiments, the first node is used for transmitting and receiving the sensing signal. Alternatively, the first node is represented by sensing Tx / Rx Node (sensing transmission / reception node), or represented in other ways, and the embodiments of the present disclosure are not limited thereto.

[0174] In some embodiments, the first node includes one or more. For example, if the first node includes one, there is one first node transmitting the sensing signal and receiving the reflected sensing signal. For example, if the first node includes multiple, there are multiple first nodes transmitting the sensing signal and receiving the sensing signal.

[0175] In some embodiments, the first node configures one or more configuration information, and each configuration information is used for configuring one sensing signal. In the embodiments of the present disclosure, the one or more configuration information configured by the first node can transmit different configured sensing signals. For example, if the first node is configured with configuration information 1, the sensing signal A corresponding to the configuration information 1 is transmitted, and if the first node is configured with configuration information 2, the sensing signal B corresponding to the configuration information 2 is transmitted.

[0176] In some embodiments, the configuration information includes at least one of the following:

[0177] (1) Configuration identifier, the configuration identifier is used for indicating the configuration information.

[0178] In some embodiments, the configuration identifier is represented by the identifier of the sensing signal. For example, the identifier of the sensing signal is represented by sensing RS ID.

[0179] (2) Beam identifier, the beam identifier is used for indicating the beam for transmitting the sensing measurement.

[0180] (3) Time domain resource.

[0181] (4) Frequency domain resource.

[0182] In some embodiments, the frequency domain resource includes at least one of the size of the bandwidth, the location of the frequency domain resource, and the density of the frequency domain resource, and the embodiments of the present disclosure are not limited thereto.

[0183] Step S2102: The sensing object reflects / scatters the sensing signal.

[0184] In some embodiments, the sensing object refers to an object that needs to be positioned, or it can also be understood that the sensing object refers to an object that needs to be sensed.

[0185] In the embodiments of the present disclosure, after the first node transmits the sensing signal, the sensing signal reaches the sensing object, and the sensing object reflects / scatters the sensing signal. The reflected / scattered sensing signal can also return to the first node and be received by the first node.

[0186] Step S2103: The first node receives the sensing signal reflected / scattered by the sensing object.

[0187] In the embodiments of the present disclosure, after the first node receives the sensing signal reflected / scattered by the sensing object, the first node can obtain a sensing measurement based on the received sensing signal.

[0188] Step S2104: The first node obtains the sensing measurement.

[0189] In some embodiments, the sensing measurement is used for positioning the sensing object. Alternatively, it can also be understood that the sensing measurement is used for obtaining the position of the sensing object.

[0190] In some embodiments, the sensing measurement includes at least one of the following:

[0191] (1) A time difference between a receiving time of the reflected sensing signal received by the first node and a transmitting time of the sensing signal by the first node.

[0192] In some embodiments, the time difference between the receiving time of the reflected sensing signal received by the first node and the transmitting time of the sensing signal by the first node includes a time difference between a time when the first node receives the sensing signal reflected by the sensing object and a time when the first node transmits the sensing signal.

[0193] In the embodiments of the present disclosure, after the first node transmits the sensing signal, the sensing signal reaches the sensing object through transmission, and returns to the first node after being reflected / scattered by the object. Therefore, the time difference can be understood as a time length required for the first node to receive the reflected / scattered sensing signal after transmitting the sensing signal.

[0194] Alternatively, the time difference can be understood as a time delay, a transmission time delay of the sensing signal, a time difference value of the sensing signal transmission, etc.

[0195] (2) An angle of arrival of the sensing signal.

[0196] In some embodiments, the arrival angle of the sensing signal can also be understood as the arrival angle of the reflected sensing signal received by the first node. Alternatively, the angle between the reflected sensing signal of the sensed object and the x-axis in the coordinate axis, or the angle between the sensing signal and the y-axis in the coordinate axis, is not limited in the embodiments of the present disclosure.

[0197] In some embodiments, the sensing measurement quantity described above can also be understood in the following manner: the sensing measurement quantity includes at least one of the time difference or the angle. The time difference refers to the difference between the time when the first node receives the reflected sensing signal and the time when the first node transmits the sensing signal. Alternatively, the time difference refers to the difference between the time when the first node receives the reflected sensing signal of the sensed object and the time when the first node transmits the sensing signal. In the embodiments of the present disclosure, after the first node transmits the sensing signal, the sensing signal reaches the sensed object through transmission, and returns to the first node after being reflected / scattered by the object, so the time difference can be understood as the time length required for the first node to receive the reflected / scattered sensing signal after transmitting the sensing signal.

[0198] Alternatively, the time difference can be understood as the time delay, the transmission time delay of the sensing signal, the time difference of the sensing signal transmission, etc.

[0199] The angle refers to the arrival angle of the reflected sensing signal received by the first node. Alternatively, the angle can be understood as the angle between the reflected sensing signal of the sensed object and the x-axis in the coordinate axis, or the angle between the sensing signal and the y-axis in the coordinate axis, which is not limited in the embodiments of the present disclosure.

[0200] In some embodiments, the sensing measurement quantity includes one or more path sensing measurement quantities. The path of the sensing signal propagation is referred to as the path of the sensing measurement quantity. In the embodiments of the present disclosure, after the first node transmits the sensing signal, the reflected / scattered path exists when the sensing signal is reflected / scattered by the sensed object or other objects, so there are multiple path sensing measurement quantities of the sensing measurement quantity at this time.

[0201] Alternatively, for a first node, the sensing measurement quantity transmitted by the first node includes n path sensing measurement quantities, wherein for the ith path, the time difference included in the sensing measurement quantity is T RX-i -T TX .

[0202] It should be noted that in the embodiments of the present disclosure, the first node is configured with multiple configuration information, and after the first node transmits the sensing signal according to the multiple configuration information, the first node also measures the sensing signal corresponding to each configuration information to obtain the sensing measurement quantity of the sensing signal corresponding to each configuration information.

[0203] Optionally, if the perception measurement quantity comprises a time difference between a time instant at which the first node receives the reflected perception signal and a time instant at which the first node transmits the perception signal, the first node receives, for each configuration information, the perception signal corresponding to the configuration information, and obtains a time difference between a time instant at which the perception signal corresponding to the configuration information is transmitted and a time instant at which the reflected perception signal corresponding to the configuration information is received.

[0204] Optionally, if the perception measurement quantity comprises an angle of arrival at which the first node receives the reflected first perception signal, the first node receives, for each configuration information, the perception signal corresponding to the configuration information, and obtains an angle of arrival at which the reflected perception signal corresponding to each configuration information is received.

[0205] In some embodiments, the one or more paths comprise at least one of:

[0206] 1. a path with a time difference less than a time delay threshold.

[0207] In some embodiments, the time delay threshold is agreed by a communication protocol, or configured by a perception processing node, or set in other manners, and the embodiments of the present disclosure are not limited thereto.

[0208] In the embodiments of the present disclosure, if the time difference corresponding to a path is too large, generally, the power of the perception signal corresponding to the path is too large, the received power is too low, and the accuracy of the first node in measuring or processing the perception signal is reduced. Therefore, the first node transmits the perception measurement quantity corresponding to the path with the time difference less than the time delay threshold, so as to ensure the accuracy of subsequent measurement of the perception signal.

[0209] In some embodiments, the time difference corresponding to the path can also be understood as a path time delay, a radial time delay, a perception signal transmission time delay, and the like, and the embodiments of the present disclosure are not limited thereto.

[0210] 2. a path with a time difference belonging to a time delay range.

[0211] In the embodiments of the present disclosure, the first node transmits the perception measurement quantity corresponding to the path with the time difference belonging to the time delay range.

[0212] In some embodiments, the first node or a perception processing node in the network can know the approximate position of the perception object in advance, or has previously positioned the perception object. In some embodiments, the first node determines the time delay range based on the previously known position of the perception object, or the first node is instructed by the perception processing node to determine the time delay range. Further, the receiving node determines which path corresponding time delay to transmit by itself.

[0213] In some embodiments, if there are multiple sensing objects, different sensing objects correspond to different time delay ranges. For example, sensing object 1 corresponds to time delay range 1, sensing object 2 corresponds to time delay range 2, and so on.

[0214] 3. The path whose angle belongs to the angle range.

[0215] In the embodiments of the present disclosure, the first node sends the angle corresponding to the path of the sensing measurement quantity belonging to the time delay range.

[0216] In some embodiments, the first node or the sensing processing node in the network can know the approximate position of the sensing object in advance, or has previously positioned the sensing object. In some embodiments, the first node determines the angle range based on the position of the sensing object known in advance or the time delay range indicated by the sensing processing node. Further, the first node determines by itself which paths correspond to the time delay difference.

[0217] In some embodiments, if there are multiple sensing objects, different sensing objects correspond to different angle ranges. For example, sensing object 1 corresponds to angle range 1, sensing object 2 corresponds to angle range 2, and so on.

[0218] In some embodiments, the one or more paths described above can also be understood as paths that meet certain conditions. The conditions include at least one of the three conditions described above.

[0219] It should be noted that the above embodiments are described by taking one or more paths that need to meet certain conditions as an example. In another embodiment, the receiving node does not need to screen the paths, and can directly send the sensing measurement quantities corresponding to all paths. Or, the one or more paths described above refer to all paths of the sensing signal propagation.

[0220] In some embodiments, the first node sends the capability information, and the capability information is used to indicate the maximum number of paths reported by the first node to the sensing processing node. In the embodiments of the present disclosure, the first node supports sending at most m pieces of sensing measurement quantities corresponding to the paths. Wherein, m is a positive integer. In some embodiments, the value of m is configured by the network device or agreed by the communication protocol, and the embodiments of the present disclosure are not limited.

[0221] In some embodiments, in the case where there are multiple sensing signals, each sensing signal corresponds to at least one of the time difference or the angle of arrival of the sensing signal. In the embodiments of the present disclosure, each sensing signal corresponds to its own sensing measurement quantity, that is, it corresponds to at least one of its own time difference or angle of arrival.

[0222] In some embodiments, the sensing measurement quantity corresponds to time information.

[0223] Optionally, the time information comprises at least one of:

[0224] (1) a sending time point, the sending time point being used to indicate a time point at which the sending node sends the sensing signal.

[0225] (2) a receiving time point, the receiving time point being used to indicate a time point at which the receiving node receives the reflected sensing signal.

[0226] (3) a valid time length, the valid time length being used to indicate a time length during which the sensing measurement is valid.

[0227] In step S2105, the first node sends the sensing measurement.

[0228] In the embodiment of the present disclosure, after the first node acquires the sensing measurement, the first node can send the sensing measurement.

[0229] In some embodiments, the first node sends the sensing measurement to a sensing processing node. In the embodiment of the present disclosure, after the sensing processing node receives the sensing measurement, the sensing processing node can process the sensing measurement and locate the sensing object.

[0230] It should be noted that the embodiment of the present disclosure is described by taking the first node sending the sensing measurement as an example. In another embodiment, the first node also sends error information, the error information being used to indicate a measurement error of the sensing measurement of the sensing signal by the first node.

[0231] In step S2106, the sensing processing node receives the sensing measurement.

[0232] In step S2107, the sensing processing node locates the sensing object based on the sensing measurement.

[0233] In the embodiment of the present disclosure, after the sensing processing node receives the sensing measurement, the sensing processing node can locate the sensing object.

[0234] In some embodiments, the sensing measurement comprises a time difference and an angle. Optionally, the first node comprises a plurality of first nodes, and the sensing measurement also comprises a plurality of sensing measurements, so that the sensing object can be located based on the sensing measurements sent by the plurality of first nodes. How to locate the sensing object based on the sensing measurements sent by the plurality of first nodes is described below.

[0235] Optionally, a circle track is determined with each of the transceiving nodes as a center and a product of the time difference corresponding to the transceiving node and the speed of light as a diameter; and the position of the sensing object is determined based on the circle track corresponding to each of the transceiving nodes and the included angle.

[0236] For example, as shown in Figure 2B, there are three first nodes: first node 1, first node 2, and first node 3. When a sensed object appears, the first node can receive the NLOS path caused by the reflection / scattering of the sensed object. The measurement quantities that each first node needs to measure can be as follows: First node 1 measures the transmit and receive time difference T of the SO reflection path it receives. RX1-i1 -T TX1 The first node 2 measures the transmit / receive time difference T received by the SO reflection path. RX2-i2 -T TX2 The first node 3 measures the transmit / receive time difference T received by the SO reflection path. RX3-i3 -T TX3 Each first node can report the measured transmit / receive time difference to the sensing and processing node. The sensing and processing node locates the target based on the reported transmit / receive time differences. The principle of locating the target based on the transmit / receive time difference is as follows: the sensing and processing node uses T... RX1-i1 -T TX1 Calculate the distance between the perceived object and the first node 1. SO-R1 =0.5*c*T RX1-i1 -T TX1 Where c is the speed of light. Since the sensing and processing node knows the specific geographical location of the first node 1, the target being measured is located within a circle centered at the first node 1 with a radius of Distance. SO-R1 On circle C1. Following the same principle as in the first node 1, the perception processing nodes can each find a circle centered on the first node 2 with a radius of Distance. SO-R2 Circle C2, and circle with the first node 3 as center and radius Distance SO-R3 Circle C3, and then the position of the perceived object is determined by the common intersection of circles C1 / C2 / C3.

[0237] For example, as shown in Figure 2C, there are two first nodes, namely first node 1 and first node 2. When the target appears, the first node can receive the NLOS path caused by reflection / scattering of the sensed object. The measurement quantities that each first node needs to measure can be as follows: First node 1 measures the transmit and receive time difference T of the SO reflection path it receives. RX1-i1 -T TX1 Node 1 can also measure the AOA of the SO reflected wave. (Optionally, this AOA value can be just a wide-range estimate and does not need to be very precise). Node 2 measures the transmit-receive time difference T received by it from the SO reflection path. RX2-i2 -T TX2and the first node 2 can also measure the AOA of the SO reflected wave (it can also not be measured), each first node can report the measured time difference of arrival and AOA to the perception processing node, and the perception processing node locates the perceived object according to each reported time difference of arrival. Among them, the principle of locating the perceived object according to the above-mentioned time difference of arrival is as follows: the perception processing node calculates the distance between the perceived object and the first node according to T RX1-i1 -T TX1 Distance SO-R1 = 0.5 * c * T RX1-i1 -T TX1 , where c is the speed of light. Since the perception processing node knows the specific geographic location of the first node 1, the measured target is on a circle C1 with the first node 1 as the center and a radius of Distance SO-R1 According to the same principle as described above, the perception processing node can find a circle C2 with the first node 2 as the center and a radius of Distance SO-R2 The intersection of C1 and C2 has two points, and the position of the perceived object is determined to be one of the two intersection points through the AOA value.

[0238] Alternatively, a circle trajectory is determined with one of the transceiving nodes as the center and the product of the time difference corresponding to the transceiving node and the speed of light as the diameter; and the position of the perceived object is determined based on the circle trajectory corresponding to the transceiving node and the included angle.

[0239] For another example, as shown in FIG. 2D, when the perceived object appears, the first node can receive the NLOS path caused by the reflection / scattering of the measured target. The measurement quantity that each first node needs to measure can be as follows: the first node 1 measures the time difference of arrival T RX1-i1 -T TX1 of the SO reflected path received by the first node 1, and the first node 1 can also measure the AOA of the SO reflected wave (the measurement accuracy of the AOA needs to be very accurate). The first node can report the measured time difference of arrival and AOA to the perception processing node, and the perception processing node locates the perceived object according to the reported time difference of arrival. The principle of locating the measured target according to the above-mentioned time difference of arrival by the perception processing node is as follows: the perception processing node calculates the distance between the perceived object and the first node 1 according to T RX1-i1 -T TX1 Distance SO-R1 = 0.5 * c * T RX1-i1 -T TX1 , where c is the speed of light. Since the perception processing node knows the specific geographic location of the first node 1, the perceived object is on a circle C1 with the first node 1 as the center and a radius of Distance SO-R1A point on the circle C1 is determined as the position of the perceived object on C1 by the AOA value. The perception method related to the embodiments of the present disclosure can include at least one of steps S2101-S2107. For example, step S2101 can be implemented as an independent embodiment, step S2102 can be implemented as an independent embodiment, step S2103 can be implemented as an independent embodiment, step S2104 can be implemented as an independent embodiment, step S2105 can be implemented as an independent embodiment, step S2106 can be implemented as an independent embodiment, step S2107 can be implemented as an independent embodiment, step S2104 can be implemented as an independent embodiment, steps S2101 and S2102 can be implemented as independent embodiments, steps S2101, S2103 can be implemented as independent embodiments, steps S2101, S2104 can be implemented as independent embodiments, steps S2102, S2103 can be implemented as independent embodiments, steps S2102, S2104 can be implemented as independent embodiments, steps S2103, S2104 can be implemented as independent embodiments, steps S2105, S2106 can be implemented as independent embodiments, steps S2105, S2106, S2107 can be implemented as independent embodiments, but are not limited thereto.

[0240] In some embodiments, step S2101 is optional, and one or more of the steps can be omitted or replaced in different embodiments.

[0241] In some embodiments, step S2102 is optional, and one or more of the steps can be omitted or replaced in different embodiments.

[0242] In some embodiments, step S2103 is optional, and one or more of the steps can be omitted or replaced in different embodiments.

[0243] In some embodiments, step S2104 is optional, and one or more of the steps can be omitted or replaced in different embodiments.

[0244] In some embodiments, step S2105 is optional, and one or more of the steps can be omitted or replaced in different embodiments.

[0245] In some embodiments, step S2106 is optional, and one or more of the steps can be omitted or replaced in different embodiments.

[0246] In some embodiments, step S2107 is optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0247] In some embodiments, steps S2101, S2102 are optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0248] In some embodiments, steps S2101, S2103 are optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0249] In some embodiments, steps S2101, S2104 are optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0250] In some embodiments, steps S2102, S2103 are optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0251] In some embodiments, steps S2102, S2104 are optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0252] In some embodiments, steps S2103, S2104 are optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0253] In some embodiments, steps S2105, S2106 are optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0254] In some embodiments, other optional implementations can be found in the description before or after the description of Figure 2A.

[0255] In some embodiments, the names of information and the like are not limited to the names described in the embodiments, and the terms of "information", "message", "signal", "signaling", "report", "configuration", "indication", "instruction", "command", "channel", "parameter", "domain", "field", "symbol", "symbol", "codebook", "codeword", "codepoint", "bit", "data", "program", "chip", and the like can be replaced with each other.

[0256] In some embodiments, the terms of "uplink", "uplink", "physical uplink", and the like can be replaced with each other, the terms of "downlink", "downlink", "physical downlink", and the like can be replaced with each other, and the terms of "side", "sidelink", "sidelink communication", "sidelink communication", "direct connection", "direct connection link", "direct connection", "direct connection link communication", and the like can be replaced with each other.

[0257] In some embodiments, "acquire", "obtain", "get", "receive", "transmit", "bidirectional transmission", "send and / or receive" can be replaced with each other, which can be interpreted as receiving from other subjects, acquiring from protocols, acquiring from higher layers, obtaining by processing oneself, and various meanings such as autonomous implementation.

[0258] In some embodiments, the terms of "send", "transmit", "report", "issue", "transmit", "bidirectional transmission", "send and / or receive" can be replaced with each other.

[0259] In some embodiments, the terms of "time", "time point", "time", "time position" and the like can be replaced with each other, and the terms of "time length", "time period", "time window", "window", "time" and the like can be replaced with each other.

[0260] In some embodiments, the terms "certain", "preseted", "pre-set", "set", "indicated", "certain", "arbitrary", "first", and the like can be replaced with each other, "certain A", "preset A", "pre-set A", "set A", "indicated A", "certain A", "arbitrary A", "first A" can be interpreted as A predetermined in the protocol and the like, or can be interpreted as A obtained by setting, configuration, or indication, or can be interpreted as a certain A, a certain A, an arbitrary A, or a first A, and the like, but are not limited thereto.

[0261] FIG. 3A is a flowchart of a sensing method according to an embodiment of the present disclosure, applied to a first node. As shown in FIG. 3A, the present disclosure relates to a sensing method, and the method comprises:

[0262] In step S3101, the first node transmits a sensing signal.

[0263] The optional implementation of step S3101 can refer to the optional implementation of step S2101 in FIG. 2A and other associated parts in the embodiments involved in FIG. 2A, which will not be repeated here.

[0264] In step S3102, the first node receives the sensing signal reflected / scattered by the sensing object.

[0265] The optional implementation of step S3102 can refer to the optional implementation of step S2103 in FIG. 2A and other associated parts in the embodiments involved in FIG. 2A, which will not be repeated here.

[0266] In step S3103, the first node transmits a sensing measurement.

[0267] The optional implementation of step S3103 can refer to the optional implementation of step S2105 in FIG. 2A and other associated parts in the embodiments involved in FIG. 2A, which will not be repeated here.

[0268] The sensing method involved in the embodiments of the present disclosure can include at least one of steps S3101-S3103. For example, step S3101 can be implemented as an independent embodiment, step S3102 can be implemented as an independent embodiment, and step S3103 can be implemented as an independent embodiment.

[0269] FIG. 3B is a flowchart of a sensing method according to an embodiment of the present disclosure, applied to a first node. As shown in FIG. 3B, the present disclosure relates to a sensing method, and the method comprises:

[0270] In step S3201, the first node transmits a sensing measurement.

[0271] The optional implementation of step S3201 can refer to the optional implementation of step S2105 in FIG. 2A and other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0272] FIG. 4A is a flowchart of a sensing method according to an embodiment of the present disclosure, applied to a sensing processing node. As shown in FIG. 4A, the embodiment of the present disclosure relates to a sensing method, and the method comprises the following steps:

[0273] In step S4101, the sensing processing node receives a sensing measurement.

[0274] The optional implementation of step S4101 can refer to step S2106 in FIG. 2A and other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0275] In step S4102, the sensing processing node locates a sensing object based on the sensing measurement.

[0276] The optional implementation of step S4102 can refer to step S2107 in FIG. 2A and other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0277] FIG. 4B is a flowchart of a sensing method according to an embodiment of the present disclosure, applied to a sensing processing node. As shown in FIG. 4B, the embodiment of the present disclosure relates to a sensing method, and the method comprises the following steps:

[0278] In step S4201, the sensing processing node receives a sensing measurement.

[0279] The optional implementation of step S4201 can refer to step S2106 in FIG. 2A and other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0280] FIG. 5 is a flowchart of a sensing method according to an embodiment of the present disclosure. As shown in FIG. 5, the embodiment of the present disclosure relates to a sensing method, and the method comprises the following steps:

[0281] In step S5101, a first node sends a sensing measurement.

[0282] The optional implementation of step S5101 can refer to the optional implementation of step S2105 in FIG. 2A and other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0283] In step S5102, a sensing processing node receives a sensing measurement.

[0284] The optional implementation of step S5102 can refer to the optional implementation of step S2106 in FIG. 2A and other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0285] In some embodiments, the above method can include the method of the above-mentioned embodiments of the communication system side, the terminal side, the network device side, etc., which will not be repeated here.

[0286] FIG. 6 is a flowchart of a sensing method according to an embodiment of the present disclosure. As shown in FIG. 6, the embodiment of the present disclosure relates to a sensing method, and the above-mentioned method includes:

[0287] Step S6101: The Sensing Rx Node reports the difference (transmit-receive time difference) T between the time of receiving the reflected Sensing RS and the time of transmitting the Sensing RS RX -T TX .

[0288] In some embodiments,

[0289] 1. Further, the Sensing Rx Node can report separately for multiple paths. Define the transmit-receive time difference T of the ith path RX-i -T TX . The multiple paths:

[0290] a) can be all the paths received by the Sensing Rx Node;

[0291] b) can be multiple paths that meet certain conditions. For example,

[0292] i. One or more paths with path delay less than a first delay threshold. For a path with too large delay, the power is generally too low, which is not conducive to signal measurement and processing by the Rx Node, SF, etc.

[0293] ii. One or more paths with path delay within a second delay range. This case generally corresponds to the case where the Rx Node / SF has obtained the approximate location of the SO (for example, the RX has previously located the SO, or the SF can infer the approximate location of the SO through some known information). The Rx can determine the second delay range according to the previously known approximate location information of the SO, equivalently, the Rx Node determines which path transmit-receive time difference to report. The SF can also configure the second delay range for the Rx Node.

[0294] iii. One or more paths whose angle of arrival AOA is within a first AOA range. This case generally corresponds to the case that the Rx Node / SF has already acquired the approximate location of the SO (e.g., the RX has previously performed positioning on the SO, or the SF can infer the approximate location of the SO through some known information, so that the angle of arrival of the reflection path reflected by the SO can be determined through the relative position relationship between the SO and the Rx Node). The Rx can determine the first AOA range according to the pre-known approximate location information of the SO, or equivalently, the Rx Node determines which path time difference to report. The SF can also configure the first AOA range for the Rx Node.

[0295] c) The Rx Node can be configured by the network or defined by the protocol to report at most N path time differences.

[0296] 2. There can be one or more Sensing Rx Nodes reporting multi-path time differences for the same SO. (Whether multiple Sensing Rx Nodes need to perform sensing measurements on the SO depends on the sensing algorithm used)

[0297] 3. If the sensing Tx node can send multiple different configurations of sensing RS, different configurations of sensing RS are represented by different sensing RS IDs. (Different configurations of sensing RS can be sent by using different Tx beams, or can have different bandwidths, different frequency domain resources, etc.), for each sensing RS ID, the Rx Node can report the above-mentioned 1) time delay difference bound to the sensing RS ID. The Rx Node can be configured by the network or defined by the protocol to report at most M sensing RS time differences.

[0298] 4. The Sensing Rx Node can also report the measurement error of each measurement quantity measured by itself to the SF. The error can also be reported for different sensing RS IDs respectively. The SF can integrate the measurement error information reported by multiple Rx to better determine the position of the measured target.

[0299] The sensing Rx Node can also report time information corresponding to each measurement quantity measured by itself to the SF, including system frame number, time slot number, symbol number, etc. The time information can be used to indicate the receiving time of the sensing RS corresponding to the measurement quantity calculation result. The time information can also be used to indicate the effective time of the reported measurement quantity. When the SF integrates multiple measurement quantities reported by the sensing Rx Node to locate the measured target, multiple measurement quantities with consistent or as close as possible receiving time of the sensing RS should be selected, or multiple measurement quantities within the effective time period should be selected.

[0300] Optionally, referring to FIG. 2B, when the measured target appears, the Tx / Rx Node can receive the NLOS path caused by the reflection / scattering of the measured target. The measurement quantity that each sensing Rx node needs to measure can be as follows:

[0301] 1. The sensing Rx Node 1 measures the receiving-transmitting time difference T of the SO reflection path received by it RX1-i1 -T TX1 ;

[0302] 2. The sensing Rx Node 2 measures the receiving-transmitting time difference T of the SO reflection path received by it RX2-i2 -T TX2 ;

[0303] 3. The sensing Rx Node 3 measures the receiving-transmitting time difference T of the SO reflection path received by it RX3-i3 -T TX3 ;

[0304] Each sensing Rx node can report the measured receiving-transmitting time difference to the SF, and the SF locates the measured target according to each reported receiving-transmitting time difference. The principle of locating the measured target according to the above receiving-transmitting time difference is as follows:

[0305] 1. The SF calculates the distance between SO and the sensing Rx Node 1 according to T RX1-i1 -T TX1 . Distance SO-R1 = 0.5 * c * T RX1-i1 -T TX1 , where c is the speed of light. Since the specific geographical position of the sensing Rx Node 1 is known to the SF, the measured target is on a circle C1 with the sensing Rx Node 1 as the center and the radius of Distance SO-R1 .

[0306] 2. According to the same principle as above 1, SF can find a circle C2 with Sensing Rx Node2 as the center and Distance SO-R2 -T SO-R3 as the radius, and a circle C3 with Sensing Rx Node3 as the center and Distance RX1-i1 -T TX1 as the radius.

[0307] The position of the target object is determined by the common intersection point of circles C1 / C2 / C3.

[0308] Optionally, referring to FIG. 2C, when the target object appears, the Tx / Rx Node can receive the NLOS path caused by the reflection / scattering of the target object. The measurement quantities that each sensing Rx node needs to measure can be as follows:

[0309] 1. Sensing Rx Node1 measures the time difference T RX1-i1 -T TX1 of the transmission and reception of the SO-reflected path that it receives; Sensing Node 1 can also measure the AOA of the SO-reflected wave (the value of the AOA can only be an estimate of a relatively wide range, and does not need to be so accurate)

[0310] 2. Sensing Rx Node2 measures the time difference T RX2-i2 -T TX2 of the transmission and reception of the SO-reflected path that it receives; Node 2 can also measure the AOA of the SO-reflected wave (which can also not be measured)

[0311] Each sensing Rx node can report the measured time difference of transmission and reception and the AOA to the SF, and the SF locates the target object according to the reported time difference of transmission and reception. The principle of locating the target object according to the time difference of transmission and reception is as follows:

[0312] 1. SF calculates the distance between SO and Sensing Rx Node1 according to T RX1-i1 -T TX1 . Distance SO-R1 = 0.5 * c * T RX1-i1 -T TX1 , where c is the speed of light. Since the specific geographical position of Sensing Rx Node1 is known to the SF, the target object is on a circle C1 with Sensing Rx Node1 as the center and Distance SO-R1 -T SO-R2 as the radius.

[0313] 2. According to the same principle as above 1, SF can find a circle C2 with Sensing Rx Node2 as the center and Distance SO-R2The intersection of C2 and C3 has 2 points.

[0314] 3. The position of the target is determined as one of the two intersection points by the AOA value.

[0315] Optionally, referring to FIG. 2D, when the target appears, the Tx / Rx Node can receive the NLOS path caused by reflection / scattering of the target. The measurement quantity that each sensing Rx node needs to measure can be as follows:

[0316] 1. Sensing Rx Node 1 measures the reception-transmission time difference T of the received SO reflection path. RX1-i1 -T TX1 Sensing Node 1 can also measure the AOA of the SO reflection wave (the measurement accuracy of the AOA needs to be very accurate).

[0317] The sensing Rx node can report the measured reception-transmission time difference and AOA to the SF, and the SF locates the target according to the reported reception-transmission time difference. The principle of locating the target according to the above reception-transmission time difference is as follows:

[0318] 1. The SF calculates the distance between SO and Sensing Rx Node 1 according to T RX1-i1 -T TX1 Distance SO-R1 = 0.5 * c * T RX1-i1 -T TX1 , where c is the speed of light. Since the specific geographical position of Sensing Rx Node 1 is known to the SF, the target is on the circle C1 with Sensing Rx Node 1 as the center and Distance SO-R1 as the radius.

[0319] 2. The position of the target is determined as a point on C1 by the AOA value.

[0320] In the embodiments of the present disclosure, part or all of the steps, and optional implementation manners thereof, can be combined with part or all of the steps in other embodiments, or can be combined with optional implementation manners of other embodiments.

[0321] The embodiments of the present disclosure also propose a device for implementing any of the above methods, for example, a device including units or modules for implementing each step performed by a terminal in any of the above methods. For another example, another device is proposed, including units or modules for implementing each step performed by a network device (such as an access network device, a core network function node, a core network device, etc.) in any of the above methods.

[0322] It should be understood that the division of each unit or module in the above apparatus is only a logical function division, and all or part of them can be integrated into a physical entity or physically separated in actual implementation. In addition, the units or modules in the apparatus can be implemented in the form of processor calling software: for example, the apparatus includes a processor, the processor is connected with a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to realize any of the above methods or realize the functions of each unit or module of the above apparatus, wherein the processor is a general processor such as a central processing unit (CPU) or a microprocessor, and the memory is a memory in the apparatus or a memory outside the apparatus. Alternatively, the units or modules in the apparatus can be implemented in the form of hardware circuit, and the functions of part or all of the units or modules can be realized by the design of hardware circuit. The above hardware circuit can be understood as one or more processors; for example, in one implementation, the above hardware circuit is an application-specific integrated circuit (ASIC), and the functions of part or all of the units or modules are realized by the design of the logical relationship of elements in the circuit; for another example, in another implementation, the above hardware circuit is a programmable logic device (PLD), and a field programmable gate array (FPGA) is taken as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, so as to realize the functions of part or all of the above units or modules. All units or modules of the above apparatus can be all implemented in the form of processor calling software, or all implemented in the form of hardware circuit, or part implemented in the form of processor calling software and the remaining part implemented in the form of hardware circuit.

[0323] In the embodiments of the present disclosure, the processor is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), a digital signal processor (DSP), or the like. In another implementation, the processor can implement certain functions through a logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or can be reconfigured. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In the reconfigurable hardware circuit, the processor loads a configuration document to implement the configuration of the hardware circuit. It can be understood that the processor loads instructions to implement the functions of the above part or all units or modules. In addition, the hardware circuit can also be designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), or the like.

[0324] FIG. 7A is a structural schematic diagram of a perception device according to an embodiment of the present disclosure. As shown in FIG. 7A, the perception device 7100 can include at least one of a transceiver module 7101, a processing module 7102, and the like. The transceiver module 7101 is configured to receive a perception measurement, wherein the perception measurement is used for positioning a perception object, and the perception measurement includes at least one of a time difference between a receiving time of a reflected perception signal received by a first node and a sending time of the perception signal sent by the first node, and an angle of arrival of the perception signal. Optionally, the transceiver module 7101 is configured to perform at least one of the communication steps, such as the sending and / or receiving steps in step S2101 but not limited thereto, performed by the terminal in any of the above methods, details of which are not described herein. Optionally, the processing module is configured to perform at least one of the other steps performed by the terminal in any of the above methods, details of which are not described herein.

[0325] Optionally, the processing module 7102 is configured to perform at least one of the processing steps performed by the terminal in any of the above methods, details of which are not described herein.

[0326] FIG. 7B is a structural schematic diagram of the perception device according to the embodiments of the present disclosure. As shown in FIG. 7B, the perception device 7200 can include at least one of a transceiver module 7201, a processing module 7202, and the like. In some embodiments, the transceiver module 7201 is configured to transmit a perception measurement, the perception measurement being used for positioning a perception object, the perception measurement including at least one of: a time difference between a reception time of a reflected perception signal received by a first node and a transmission time of the perception signal transmitted by the first node; an angle of arrival of the perception signal. Optionally, the transceiver module is configured to perform at least one of the communication steps, such as the transmission and / or reception performed by the network device in any of the above methods, which will not be described herein.

[0327] Optionally, the processing module 7202 is configured to perform at least one of the communication steps, such as the processing performed by the network device in any of the above methods, which will not be described herein.

[0328] In some embodiments, the transceiver module can include a transmission module and / or a reception module, which can be separate or integrated together. Optionally, the transceiver module can be mutually replaced with a transceiver.

[0329] In some embodiments, the processing module can be one module or can include multiple sub-modules. Optionally, the multiple sub-modules perform all or part of the steps required to be performed by the processing module. Optionally, the processing module can be mutually replaced with a processor.

[0330] FIG. 8A is a structural schematic diagram of a communication device 8100 according to the embodiments of the present disclosure. The communication device 8100 can be a network device (such as an access network device, a core network device, and the like), a terminal, a chip, a chip system, or a processor supporting the network device to implement any of the above methods, or a chip, a chip system, or a processor supporting the terminal to implement any of the above methods. The communication device 8100 can be used to implement the methods described in the above method embodiments, and details can be referred to the descriptions in the above method embodiments.

[0331] As shown in FIG. 8A, the communication device 8100 includes one or more processors 8101. The processor 8101 can be a general-purpose processor or a special-purpose processor, for example, a baseband processor or a central processing unit. The baseband processor can be configured to process communication protocols and communication data, and the central processing unit can be configured to control the perception device (such as a base station, a baseband chip, a terminal, a terminal chip, a DU or a CU, and the like), execute programs, and process data of the programs. The communication device 8100 is configured to execute any of the above methods.

[0332] In some embodiments, the communication device 8100 further includes one or more memories 8102 for storing instructions. Optionally, all or part of the memories 8102 can also be outside the communication device 8100.

[0333] In some embodiments, the communication device 8100 further includes one or more transceivers 8103. When the communication device 8100 includes one or more transceivers 8103, the transceiver 8103 performs at least one of the communication steps (such as steps S2101, S2102, S2103, S2104, but not limited to) in the above-described methods, such as transmitting and / or receiving.

[0334] In some embodiments, the transceiver can include a receiver and / or a transmitter, which can be separate or integrated together. Optionally, the terms transceiver, transceiving unit, transceiver, transceiving circuit, etc. can be replaced with each other, the terms transmitter, transmitting unit, transmitter, transmitting circuit, etc. can be replaced with each other, and the terms receiver, receiving unit, receiver, receiving circuit, etc. can be replaced with each other.

[0335] In some embodiments, the communication device 8100 can include one or more interface circuits 8104. Optionally, the interface circuit 8104 is connected to the memory 8102, and the interface circuit 8104 can be used to receive signals from the memory 8102 or other devices, and can be used to send signals to the memory 8102 or other devices. For example, the interface circuit 8104 can read the instructions stored in the memory 8102 and send the instructions to the processor 8101.

[0336] The communication device 8100 described in the above embodiments can be a network device or a terminal, but the scope of the communication device 8100 described in the present disclosure is not limited thereto, and the structure of the communication device 8100 can not be limited by Figure 8A. The communication device can be a standalone device or can be part of a larger device. For example, the communication device can be: 1) a standalone integrated circuit (IC), or a chip, or a chip system or subsystem; (2) a set of one or more ICs, optionally, the set of ICs can also include storage components for storing data, programs; (3) an ASIC, such as a Modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal, a smart terminal, a cellular phone, a wireless device, a handset, a mobile unit, a vehicle-mounted device, a network device, a cloud device, an artificial intelligence device, etc.; (6) others, etc.

[0337] Figure 8B is a structural schematic diagram of a chip 8200 according to an embodiment of the present disclosure. For the case where the communication device 8100 is a chip or a chip system, the structural schematic diagram of the chip 8200 shown in Figure 8B can be referred to, but is not limited thereto.

[0338] The chip 8200 comprises one or more processors 8201, and the chip 8200 is configured to execute any of the above methods.

[0339] In some embodiments, the chip 8200 further comprises one or more interface circuits 8202. Optionally, the interface circuit 8202 is connected with the memory 8203, and the interface circuit 8202 can be configured to receive signals from the memory 8203 or other devices, and the interface circuit 8202 can be configured to send signals to the memory 8203 or other devices. For example, the interface circuit 8202 can read instructions stored in the memory 8203 and send the instructions to the processor 8201.

[0340] In some embodiments, the interface circuit 8202 performs at least one of the communication steps such as sending and / or receiving in the above methods, and the processor 8201 performs at least one of the other steps.

[0341] In some embodiments, the terms of interface circuit, interface, transceiver pin, transceiver, etc. can be replaced with each other.

[0342] In some embodiments, the chip 8200 further comprises one or more memories 8203 configured to store instructions. Optionally, all or part of the memory 8203 can be outside the chip 8200.

[0343] The disclosure further proposes a storage medium, and the storage medium stores instructions, and the instructions, when executed on the communication device 8100, cause the communication device 8100 to execute any of the above methods. Optionally, the storage medium is an electronic storage medium. Optionally, the storage medium is a computer readable storage medium, but is not limited to this, and it can also be a storage medium readable by other devices. Optionally, the storage medium can be a non-transitory storage medium, but is not limited to this, and it can also be a transitory storage medium.

[0344] The disclosure further proposes a program product, and the program product, when executed by the communication device 8100, causes the communication device 8100 to execute any of the above methods. Optionally, the program product is a computer program product.

[0345] The disclosure further proposes a computer program, and the computer program, when executed on a computer, causes the computer to execute any of the above methods.

Claims

1. A perception method, comprising: The method is performed by a sensing processing node, and the method comprises: receiving a sensing measurement quantity, the sensing measurement quantity being used for positioning a sensing object, the sensing measurement quantity comprising at least one of: a time difference between a receiving time of a reflected sensing signal received by the first node and a sending time of the sensing signal sent by the first node; an angle of arrival of the sensing signal.

2. The method of claim 1, wherein, The sensing measurement quantity comprises sensing measurement quantities of one or more paths, the one or more paths referring to routes of propagation of the sensing signal.

3. The method of claim 2, wherein, The one or more paths comprise at least one of: a path with a time difference less than a time delay threshold; a path with a time difference belonging to a time delay range; a path with an angle of arrival belonging to an angle range.

4. The method according to claim 2 or 3, characterized in that, The method further comprises: receiving capability information, the capability information being used for indicating a maximum number of paths reported by the first node to the sensing processing node.

5. The method according to any one of claims 1 to 4, characterized in that, The first node configures one or more configuration information, one configuration information being used for configuring one sensing signal.

6. The method of claim 5, wherein, The configuration information comprises at least one of: a configuration identifier, the configuration identifier being used for indicating the configuration information; a beam identifier, the beam identifier being used for indicating a beam of the first node sending the sensing measurement quantity; a time domain resource; a frequency domain resource.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: receiving error information, the error information being used for indicating a measurement error of the sensing measurement quantity by the first node.

8. The method according to any one of claims 1 to 7, characterized in that, The sensing measurement quantity corresponds to time information; The time information comprises at least one of: the sending time; the receiving time; a valid time length, the valid time length being used for indicating a duration of validity of the sensing measurement quantity.

9. A perception method comprising: The method is performed by a first node, and the method comprises: sending a sensing measurement quantity, the sensing measurement quantity being used for positioning a sensing object, the sensing measurement quantity comprising at least one of: a time difference between a receiving time of a reflected sensing signal received by the first node and a sending time of the sensing signal sent by the first node; an angle of arrival of the sensing signal.

10. The method of claim 9, wherein, The sensing measurement quantity comprises sensing measurement quantities of one or more paths, the one or more paths referring to routes of propagation of the sensing signal.

11. The method of claim 10, wherein, The one or more paths comprise at least one of: a path with a time difference less than a time delay threshold; a path with a time difference belonging to a time delay range; a path with an angle of arrival belonging to an angle range.

12. The method according to claim 10 or 11, characterized in that, The method further comprises: sending capability information, the capability information being used for indicating a maximum number of paths reported by the first node to the sensing processing node.

13. The method according to any one of claims 9 to 12, characterized in that, The first node configures one or more configuration information, one configuration information being used for configuring one sensing signal.

14. The method of claim 13, wherein, The configuration information comprises at least one of: a configuration identifier, the configuration identifier being used for indicating the configuration information; a beam identifier, the beam identifier being used for indicating a beam of the first node sending the sensing measurement quantity; a time domain resource; a frequency domain resource.

15. The method according to any one of claims 9 to 14, characterized in that, The method further comprises: sending error information, the error information being used for indicating a measurement error of the sensing measurement quantity by the first node.

16. The method of any one of claims 9 to 15, wherein, The sensing measurement quantity corresponds to time information; The time information comprises at least one of: the sending time; the receiving time; a validity duration indicating a duration for which the perception measurement quantity is valid.

17. A perception device, comprising: The apparatus comprises: a transceiving module configured to receive a perception measurement quantity, the perception measurement quantity being used for positioning a perceived object, the perception measurement quantity comprising at least one of: a time difference between a reception time of the reflected perception signal received by the first node and a transmission time of the perception signal transmitted by the first node; an angle of arrival of the perception signal.

18. A perception device, comprising: The apparatus comprises: a transceiving module configured to transmit a perception measurement quantity, the perception measurement quantity being used for positioning a perceived object, the perception measurement quantity comprising at least one of: a time difference between a reception time of the reflected perception signal received by the first node and a transmission time of the perception signal transmitted by the first node; an angle of arrival of the perception signal.

19. A perception processing node, comprising: The perception processing node comprises: one or more processors; wherein the processor is configured to perform the perception method of any one of claims 1 to 8.

20. A first node, comprising: The first node comprises: one or more processors; wherein the processor is configured to perform the perception method of any one of claims 9 to 16.

21. A communication system, characterized by The apparatus comprises a perception processing node and a first node, wherein the perception processing node is configured to implement the perception method of any one of claims 1 to 8, and the first node is configured to implement the perception method of any one of claims 9 to 16.

22. A storage medium, characterized by The storage medium has stored instructions which, when executed on a communication device, cause the communication device to perform the perception method of any one of claims 1 to 16.

23. A program product, characterized by The program product, when executed by a communication device, causes the communication device to perform the perception method of any one of claims 1 to 16.

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