Wireless communication method and sensing or integrated sensing and communication device

Abstract

Provided are a wireless communication method and a sensing or integrated sensing and communication device. The method comprises: a first device sends a sensing measurement / result, wherein the sensing measurement / result is obtained on the basis of one or more sensing signals, a sending moment of the sensing measurement / result is a first moment, a transmission moment of the one or more sensing signals comprises a first sensing moment, the first moment satisfies a first condition, and the first condition is related to the first sensing moment. In the present application, the sending moment of the sensing measurement / result may be constrained by the first sensing moment. That is to say, the sending moment of the sensing measurement / result can be determined on the basis of the transmission moment of the sensing signal. Therefore, in the present application, a more appropriate reporting moment of the sensing measurement / result can be determined on the basis of the transmission moment of the sensing signal, thereby improving the accuracy of reporting the sensing measurement / result.

Description

Wireless communication method and sensing or communication-sensing integrated device TECHNICAL FIELD

[0001] The present application relates to the field of communication technology, and more particularly, to a wireless communication method and a sensing or communication-sensing integrated device. BACKGROUND

[0002] The communication-sensing integrated technology can integrate wireless communication and sensing to achieve many functions. For example, based on the communication-sensing integrated technology, the wireless resources of wireless communication can be used to achieve the function of sensing. Or, the widely deployed cellular network can be used to achieve sensing services in a larger range. Or, joint sensing can be performed by network devices and multiple terminal devices to achieve higher sensing accuracy. Or, the hardware modules of wireless communication can be reused to achieve the function of sensing, thereby reducing the cost.

[0003] The sensing signal processing node can send the sensing measurement / result to other nodes, i.e., report the sensing measurement / result. In some cases, the reporting of the sensing measurement / result can be abnormal.

[0004] SUMMARY

[0005] The present application provides a wireless communication method and a sensing or communication-sensing integrated device. The various aspects involved in the present application are introduced below.

[0006] In a first aspect, a wireless communication method is provided, which includes: a first device sending a sensing measurement / result; wherein the sensing measurement / result is obtained based on one or more sensing signals, the sending time of the sensing measurement / result is a first time, the transmission time of the one or more sensing signals includes a first sensing time, and the first time satisfies a first condition, the first condition being related to the first sensing time.

[0007] In a second aspect, a wireless communication method is provided, which includes: a second device receiving the sensing measurement / result sent by the first device; wherein the sensing measurement / result is obtained based on one or more sensing signals, the sending time of the sensing measurement / result is a first time, the transmission time of the one or more sensing signals includes a first sensing time, and the first time satisfies a first condition, the first condition being related to the first sensing time.

[0008] In a third aspect, a sensing or communication sensing integrated device is provided, which is a first device, and the sensing or communication sensing integrated device comprises a sending unit configured to send sensing measurement / result, wherein the sensing measurement / result is based on one or more sensing signals, a sending time of the sensing measurement / result is a first time, a transmission time of the one or more sensing signals comprises a first sensing time, and the first time satisfies a first condition, and the first condition is related to the first sensing time.

[0009] In a fourth aspect, a sensing or communication sensing integrated device is provided, which is a second device, and the sensing or communication sensing integrated device comprises a receiving unit configured to receive the sensing measurement / result sent by the first device, wherein the sensing measurement / result is based on one or more sensing signals, a sending time of the sensing measurement / result is a first time, a transmission time of the one or more sensing signals comprises a first sensing time, and the first time satisfies a first condition, and the first condition is related to the first sensing time.

[0010] In a fifth aspect, a sensing or communication sensing integrated device is provided, which comprises a processor and a memory, the memory is configured to store one or more computer programs, and the processor is configured to invoke the computer programs in the memory to enable the sensing or communication sensing integrated device to perform some or all of the steps in the method of the first aspect or the second aspect.

[0011] In a sixth aspect, a sensing or communication sensing integrated device is provided, which comprises a processor, a memory, and a transceiver, the memory is configured to store one or more computer programs, and the processor is configured to invoke the computer programs in the memory to enable the sensing or communication sensing integrated device to perform some or all of the steps in the method of the first aspect or the second aspect.

[0012] In a seventh aspect, a communication system is provided, which comprises the sensing or communication sensing integrated device described above. In another possible design, the system can further comprise other devices interacting with the sensing or communication sensing integrated device in the schemes provided by the embodiments of the present application.

[0013] In an eighth aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program enables a sensing or communication sensing integrated device to perform some or all of the steps in the methods of the above aspects.

[0014] In a ninth aspect, an embodiment of the present application provides a computer program product. The computer program product includes a non-transitory computer readable storage medium storing a computer program operable to cause an integrated sensing and communication device to perform some or all of the steps in the methods of the various aspects described above. In some implementations, the computer program product can be a software installation package.

[0015] In a tenth aspect, an embodiment of the present application provides a chip. The chip includes a memory and a processor. The processor can invoke and run a computer program from the memory to implement some or all of the steps described in the methods of the various aspects described above.

[0016] In the present application, the sending time of the sensing measurement / result can be constrained by the first sensing time. That is, the sending time of the sensing measurement / result can be determined based on the transmission time of the sensing signal. Therefore, the present application can determine a more appropriate reporting time of the sensing measurement / result based on the transmission time of the sensing signal, thereby improving the accuracy of the reporting of the sensing measurement / result. BRIEF DESCRIPTION OF DRAWINGS

[0017] FIG. 1 is a schematic diagram of a wireless communication system to which embodiments of the present application are applied.

[0018] FIG. 2 is an example diagram of eight modes of sensing.

[0019] FIG. 3 is an example diagram of a scenario in which multiple sensing nodes participate in sensing.

[0020] FIG. 4 is a schematic flowchart of a wireless communication method according to an embodiment of the present application.

[0021] FIG. 5 is a schematic structural diagram of an integrated sensing and communication device according to an embodiment of the present application.

[0022] FIG. 6 is a schematic structural diagram of an integrated sensing and communication device according to an embodiment of the present application.

[0023] FIG. 7 is a schematic structural diagram of an apparatus for communication according to an embodiment of the present application. DETAILED DESCRIPTION

[0024] The technical solutions in the present application will be described below with reference to the accompanying drawings.

[0025] Communication system

[0026] FIG. 1 is a wireless communication system 100 to which embodiments of the present application are applied. The wireless communication system 100 can include communication devices. The communication devices can include a network device 110 and a terminal device 120. The network device 110 can be a device that communicates with the terminal device 120.

[0027] Fig. 1 exemplarily shows one network device and two terminals. Optionally, the wireless communication system 100 can comprise a plurality of network devices and each network device can comprise other number of terminal devices within its coverage, which are not limited in the embodiments of the present application.

[0028] Optionally, the wireless communication system 100 can further comprise a network controller, a mobile management entity and other network entities, which are not limited in the embodiments of the present application.

[0029] It should be understood that the technical solutions of the embodiments of the present application can be applied to various communication systems, for example: a 5th generation (5G) system or new radio (NR), a long term evolution (LTE) system, an LTE frequency division duplex (FDD) system, an LTE time division duplex (TDD) system, etc. The technical solutions provided in the present application can also be applied to future communication systems, such as a 6th generation mobile communication system, a satellite communication system, etc.

[0030] The terminal device in the embodiments of the present application can also be referred to as a user equipment (UE), an access terminal, a user unit, a user station, a mobile station, a mobile station (MS), a mobile terminal (MT), a remote station, a remote terminal, a mobile device, a user terminal, a terminal, a wireless communication device, a user agent or a user apparatus. The terminal device in the embodiments of the present application can refer to a device providing voice and / or data connectivity for a user, and can be used to connect people, things and machines, such as handheld devices with wireless connection functions, vehicle-mounted devices, etc. The terminal device in the embodiments of the present application can be a mobile phone, a tablet computer (Pad), a notebook computer, a palm computer, a mobile internet device (MID), a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical surgery, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, etc. Optionally, the UE can be used to act as a base station. For example, the UE can act as a scheduling entity, which provides sidelink signals between UEs in vehicle-to-everything (V2X) or device to device (D2D), etc. For example, a cellular phone and a car communicate with each other using sidelink signals. The cellular phone and the smart home device communicate with each other without relaying the communication signals through the base station.

[0031] The network device in the embodiments of the present application can be a device for communicating with a terminal device. The network device can also include an access network device. The access network device can provide communication coverage for a specific geographic area and can communicate with terminal devices 120 located within the coverage area. The access network device can also be referred to as a radio access network device or a base station, etc. The access network device in the embodiments of the present application can refer to a radio access network (RAN) node (or device) that accesses a terminal device to a wireless network. The access network device can broadly cover or be replaced by various names as follows, such as: Node B (NodeB), evolved Node B (eNB), next generation Node B (gNB), relay station, transmitting and receiving point (TRP), transmitting point (TP), master eNB (MeNB), secondary eNB (SeNB), multi-standard radio (MSR) node, home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, baseband unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), positioning node, etc. The base station can be a macro base station, a micro base station, a relay node, a donor node, or the like, or a combination thereof. The base station can also refer to a communication module, modem, or chip used in the aforementioned device or apparatus. The base station can also be a mobile switching center and a device that performs the function of a base station in D2D, V2X, machine-to-machine (M2M) communication, a network side device in a 6G network, a device that performs the function of a base station in a future communication system, etc. The base station can support networks of the same or different access technologies. The embodiments of the present application do not limit the specific technology and specific device form adopted by the access network device.

[0032] The base station can be fixed or mobile. For example, a helicopter or a drone can be configured to act as a mobile base station, and one or more cells can move according to the location of the mobile base station. In other examples, a helicopter or a drone can be configured to serve as a device that communicates with another base station.

[0033] The communication devices involved in the wireless communication system can include not only access network devices and terminal devices, but also core network elements. The core network elements can be implemented by devices, that is, the core network elements are core network devices. It can be understood that the core network device can also be a kind of network device.

[0034] The core network element in the embodiment of the present application can include a network element that processes and forwards signaling and data of a user. For example, the core network device can include core network access and mobility management function (core access and mobility management function, AMF), session management function (session management function, SMF), and user plane gateway, location management function (location management function, LMF), and other core network devices. Among them, the user plane gateway can be a server with functions of mobility management, routing, forwarding, etc. for user plane data, generally located on the network side, such as serving gateway (serving gateway, SGW) or packet data network gateway (packet data network gateway, PGW) or user plane function entity (user plane function, UPF) and the like. Of course, other network elements can also be included in the core network, which are not listed here.

[0035] In some deployments, the network device in the embodiment of the present application can refer to a CU or a DU, or the network device includes a CU and a DU. The gNB can also include an AAU.

[0036] The network device and the terminal device can be deployed on land, including indoor or outdoor, handheld or vehicle-mounted; can also be deployed on the water surface; can also be deployed on airplanes, balloons and satellites in the air. The scene where the network device and the terminal device are located is not limited in the embodiment of the present application.

[0037] It should be understood that all or part of the functions of the communication device in the present application can also be implemented by software functions running on hardware, or by virtualized functions instantiated on a platform (such as a cloud platform).

[0038] Sensing network

[0039] Some networks (such as 6G networks) are expected to be a combination of mobile communication networks, sensing networks and computing power networks.

[0040] A narrow sense perception network can refer to a system with the capability of target positioning, target imaging, target detection, target tracking, and target identification. The target positioning can include one or more of the following perception operations for the perceived target: ranging, velocity measurement, angle measurement.

[0041] A broad sense perception network can refer to a system with any business, network, user, terminal, and environmental object attributes and states.

[0042] From the perspective of perception applications, perception can include the following categories: outdoor / wide area / local area applications and indoor / local area applications.

[0043] Outdoor / wide area / local area applications can include one or more of the following applications: smart city, smart transportation / high-speed rail, low-altitude application, etc. The smart city can include, for example, weather monitoring, etc. The smart transportation / high-speed rail can include, for example, one or more of high-precision map construction, road supervision, intrusion detection, etc. The low-altitude application can include, for example, one or more of unmanned aerial vehicle monitoring, unmanned aerial vehicle obstacle avoidance, flight intrusion detection, flight path management, etc.

[0044] Indoor / local area applications can include one or more of the following applications: smart home, health management, smart factory, etc. Health management can include, for example, one or more of respiratory monitoring, intrusion detection, gesture / posture recognition, motion monitoring, mobile trajectory tracking, etc. The smart factory can include, for example, one or more of intrusion detection, material detection, and article defect detection.

[0045] It should be noted that the above applications of perception and the classification of perception applications are exemplary, and the scope of perception applications is not limited to the above examples.

[0046] Communication and perception are important applications of modern radio frequency technology. Perception can be achieved using radio waves. For example, perception technology can use radio waves to detect parameters of the physical environment to achieve target positioning, action recognition, imaging, and other environmental perception. Another important application of modern radio frequency technology is wireless communication. The independent existence of perception and wireless communication, i.e., separate design, will result in waste of wireless spectrum and hardware resources.

[0047] With the development of technology, in some networks (e.g., 6G or beyond 5G (B5G) networks), communication spectrum can be implemented based on millimeter waves, terahertz, visible light, etc. to achieve communication. That is, the spectrum of wireless communication can coincide with the spectrum of perception. The next generation network (e.g., a 6G network) can be a fusion of at least two of a mobile communication network, a perception network, and a computing power network.

[0048] The communication and sensing integrated technology can integrate the functions of wireless communication and sensing. The communication and sensing integrated technology can achieve many functions. For example, based on the communication and sensing integrated technology, the wireless resources of wireless communication can be used to achieve the function of sensing. Or, the widely deployed cellular network can be used to achieve sensing services in a larger range. Or, joint sensing can be performed by using network devices and multiple terminal devices to achieve higher sensing accuracy. Or, the hardware modules of wireless communication can be reused to achieve the function of sensing to reduce costs.

[0049] It can be understood that the communication and sensing integrated technology can enable the wireless communication system to have sensing capability, and provide a basis for the development of smart transportation, smart city, smart factory, unmanned aerial vehicle, and other services.

[0050] In the sensing process, at least one of the following types of nodes can exist: a sensing node, a sensed target, and a sensing control node.

[0051] The sensing node can include a sensing signal sending node and / or a sensing signal receiving node. The sensing signal sending node and the sensing signal receiving node can be the same entity. For example, in the eight modes of sensing shown in FIG. 2, the sensing node can be the network device in mode one or the terminal device in mode two. In mode one, the sensing signal sending node and the sensing signal receiving node are the same entity, which is the network device. In mode two, the sensing signal sending node and the sensing signal receiving node are the same entity, which is the terminal device.

[0052] The sensed target can be a target that needs to be sensed. In some embodiments, the sensed target can also be referred to as a sensed node, a measured target, or a sensed object.

[0053] The sensing control node can be a node that controls and manages the sensing node and / or sensing service. The functions of the sensing control node can include, but are not limited to, managing the sensing service, sending configuration information to the sensing node and / or the sensed target, configuring the sending and / or receiving of sensing measurement signals, configuring the sending and / or receiving of sensing signals, configuring the sensing node and / or the sensed target to report measurement results and / or sensing results, collecting and processing the measurement results and / or sensing results. It should be noted that the sensing control node can be the same entity as the sensed target or the sensing signal sending node or the sensing signal receiving node. Alternatively, the sensing control node can be a separate entity from the sensing signal and the sensed target.

[0054] Sensing can be achieved through different modes. FIG. 2 is an example diagram of eight modes of sensing.

[0055] Figure 2(a) is an example diagram of mode one. Mode one is network device self- transmitting and self-receiving sensing. As shown in Figure 2(a), the transmitting node of the sensing signal / channel (hereinafter referred to as sensing signal / channel) is network device 210a (such as gNB). After network device 210a transmits the sensing signal, the reflected signal returns to network device 210a (which can also be considered as the sensing signal returning to network device 210a) via the sensed target 230 (such as the vehicle shown in Figure 2(a)). Network device 210a is both the transmitting node and the receiving node of the sensing signal / channel. The signal / channel described in the embodiments of the present application can also be referred to as channel / signal.

[0056] Figure 2(b) is an example diagram of mode two. Mode two is terminal device self- transmitting and self-receiving sensing. As shown in Figure 2(b), the transmitting node of the sensing signal / channel is terminal device 220a. After terminal device 220a transmits the sensing signal, the reflected signal returns to terminal device 220a (which can also be considered as the sensing signal returning to terminal device 220a) via the sensed target 230 (such as the vehicle shown in Figure 2(b)). Terminal device 220a is both the transmitting node and the receiving node of the sensing signal / channel.

[0057] Figure 2(c) is an example diagram of mode three. Mode three is network device cooperative sensing. As shown in Figure 2(c), the transmitting node of the sensing signal / channel is one network device 210a (such as gNB). After network device 210a transmits the sensing signal, the reflected signal is transmitted to another network device 210b (which can also be considered as the sensing signal being transmitted to another network device 210b) via the sensed target 230 (such as the vehicle shown in Figure 2(c)). Network device 210b is the receiving node of the sensing signal / channel.

[0058] Figure 2(d) is an example diagram of mode four. Mode four is terminal cooperative sensing. As shown in Figure 2(d), the transmitting node of the sensing signal / channel is terminal device 220a. After terminal device 220a transmits the sensing signal, the reflected signal is transmitted to another terminal device 220b (which can also be considered as the sensing signal being transmitted to terminal device 220b) via the sensed target 230 (such as the vehicle shown in Figure 2(d)). Terminal device 220b is the receiving node of the sensing signal / channel.

[0059] Figure 2(e) is an example diagram of mode five. In mode five, network device-terminal device collaborative sensing. The transmitting node of the sensing signal / channel is the network device 210a (e.g., gNB). After the network device 210a transmits the sensing signal, the sensing signal is reflected by the sensed target 230 (e.g., a vehicle as shown in Figure 2(e)), and the reflected signal is transmitted to the terminal device 220a (which can also be considered as the sensing signal being transmitted to the terminal device 220a). The terminal device 220a is the receiving node of the sensing signal / channel.

[0060] Figure 2(f) is an example diagram of mode six. In mode six, terminal device-network device collaborative sensing. The transmitting node of the sensing signal / channel is the terminal device 220a. After the terminal device 220a transmits the sensing signal, the sensing signal is reflected by the sensed target 230 (e.g., a vehicle as shown in Figure 2(f)), and the reflected signal is transmitted to the network device 210a (which can also be considered as the sensing signal being transmitted to the network device 210a). The network device 210a is the receiving node of the sensing signal / channel.

[0061] Figure 2(g) is an example diagram of mode seven. In mode seven, the sensed target is the transmitting node of the sensing signal / channel. For example, the terminal device 220a as the sensed target transmits the sensing signal to the network device 210a (e.g., gNB), and the network device 210a receives the sensing signal and senses the terminal device 220a.

[0062] Figure 2(h) is an example diagram of mode eight. In mode eight, the sensed target is the receiving node of the sensing signal / channel. For example, the network device 210a (e.g., gNB) transmits the sensing signal, and the terminal device 220a is the receiving node of the sensing signal / channel. After the terminal device 220a receives the sensing signal, the terminal device 220a transmits the feedback signal to the network device 210a.

[0063] In the eight sensing modes shown in Figure 2, there is only a single or a pair of sensing nodes. In a wireless communication system, there are a large number of terminal devices. When there are multiple sensing nodes (e.g., base stations, mobile phones, IoT devices, etc.) around a sensed node, multiple sensing nodes can participate in sensing together, thereby improving the accuracy of sensing and meeting more complex sensing service requirements and providing more abundant sensing services. When there are multiple sensing nodes in the system, a sensing control node can be used to control and manage the entire sensing service to improve efficiency. The sensing control node can be one or more of the following: a base station, a terminal device, and a core network element. An example of multiple sensing nodes participating in sensing is shown in Figure 3.

[0064] As shown in FIG. 3, there are three sensing nodes, sensing node 1, sensing node 2 and sensing node 3, around the sensed node. Sensing node 1 and sensing node 2 participate in sensing of the sensed target. The sensing control node can send a communication signal to each sensing node and / or the sensed node to control and manage the sensing service.

[0065] Sensing measurement / result

[0066] Some nodes can perform measurement or perform processing of sensing result according to the sensing signal to obtain information, i.e., obtain sensing measurement / result. The sensing measurement / result may, for example, include one or more of the following: channel information, channel characteristic information and extracted parameter information. The parameter information may, for example, include one or more of the following information of the sensed node: time delay, speed, Doppler, micro-Doppler, etc.

[0067] The node that obtains the sensing measurement / result based on the sensing signal can be referred to as a sensing signal processing node. The sensing signal processing node can be a receiving node (also referred to as a receiver) of the sensing signal. That is, the receiver can obtain the sensing measurement / result based on the received sensing signal.

[0068] The sensing signal processing node can send the sensing measurement / result to other nodes, i.e., report the sensing measurement / result. In some cases, the reporting of the sensing measurement / result can be abnormal.

[0069] FIG. 4 is a schematic flowchart of a method of wireless communication provided by an embodiment of the present application to solve the above problem. The method shown in FIG. 4 can be performed by a first device and a second device. The first device and the second device can each include a sensing device, a sensing-communication integrated device or a communication device as described above. For example, the first device can be a terminal device or a network device with sensing function. The second device can be a terminal device or a network device with sensing function.

[0070] The method shown in FIG. 4 can include step S410.

[0071] In step S410, the first device sends a sensing measurement / result. The second device receives the sensing measurement / result.

[0072] As can be seen from step S410, the first device can be a sensing signal processing node. That is, the first device can perform sensing measurement and / or processing of sensing result, and obtain the sensing measurement / result. The second device can be a node that receives the sensing measurement / result.

[0073] The perception measurement / result can include information obtained by the first device performing the perception measurement and / or processing the perception result. For example, the perception measurement / result can include information related to the perception measurement and / or information related to the perception result. Illustratively, the perception measurement / result can include one or more of the following: channel information, channel feature information, and extracted parameter information. The parameter information may, for example, include one or more of the following information of the perceived node: time delay, speed, distance, angle, position, action, Doppler, micro-Doppler, etc.

[0074] It should be noted that in this application, "perception" can be replaced by a word representing a meaning related to perception. For example, "perception" can be replaced by one or more of the following: positioning, ranging, speed measurement, angle measurement, target imaging, target detection, target tracking, target recognition, etc.

[0075] The sending time of the perception measurement / result can be the first time. Illustratively, the first time can belong to: a time domain resource occupied by the perception measurement / result or a signal carrying the perception measurement / result.

[0076] This application proposes a first condition for constraining the first time, i.e. the first time needs to satisfy the first condition.

[0077] In the related art, the sending time of the perception measurement / result is not subject to any constraint, so there may be a problem that the perception measurement / result is sent, but the perceived signal processing node has not had time to complete the processing of the signal corresponding to the perception measurement / result, resulting in the inability to normally report the perception measurement / result. This application constrains the sending time of the perception measurement / result by the first condition, so that the sending time of the perception measurement / result can be more in line with the actual communication process, thereby improving the success rate of reporting the perception measurement / result.

[0078] In some embodiments, the perception measurement / result can be obtained based on one or more perception signals. That is, the perception measurement / result can correspond to one or more perception signals. The transmission time of the one or more perception signals can include a first perception time. The first condition can be related to the first perception time.

[0079] It can be seen that the sending time of the perception measurement / result can be constrained by the first perception time. That is, the sending time of the perception measurement / result can be determined based on the transmission time of the perception signal corresponding to the perception measurement / result. Therefore, this application can determine a more appropriate reporting of the perception measurement / result based on the transmission time of the perception signal, thereby improving the accuracy of reporting the perception measurement / result.

[0080] In some embodiments, the first condition can include that the difference between the first time and the first perception time is greater than or equal to a first threshold.

[0081] The difference between the first time and the first sensing time can be equal to the first time minus the first sensing time. The difference between the first time and the first sensing time can be positive. That is, the first time is later than the first sensing time. That is, the first condition restricts that the first device needs to transmit the sensing measurement / result after receiving the sensing signal.

[0082] Based on this, the difference between the first time and the first sensing time is greater than or equal to the first threshold, which can be understood as that the first time is at least a time later than the first sensing time by the first threshold. That is, the first device can transmit the sensing measurement / sensing result at a time of the first threshold of the time length after receiving the sensing signal.

[0083] The first threshold can be N time units. Wherein, N can be a positive number. The time unit can include one or more of the following: microsecond, millisecond, symbol, time slot, etc.

[0084] In some embodiments, the first threshold can be determined based on one or more of the following: a sensing type corresponding to the sensing measurement / result, a processing method corresponding to the sensing measurement / result, a processing capability of the first device.

[0085] Optionally, the sensing type can be used to indicate a type of the sensing task performed by the first device based on the sensing signal. For example, the type of the sensing task can include one or more of the following: target detection, target tracking, parameter estimation, etc. The target detection can include: detecting whether there is a sensed node, and / or, detecting the number of sensed nodes. The target tracking can be used to determine the following information of the sensed node: location information, and / or, information related to the location (such as angle, distance, etc.). The parameter estimation can include estimation of one or more of the following parameters of the sensed node: time delay, distance, speed, Doppler, micro-Doppler. For another example, the type of the sensing task can include: a task of processing the sensing measurement, a task of processing the sensing result.

[0086] Optionally, the sensing type can be distinguished according to the number of symbols of the sensing signal based on which the sensing measurement / result is obtained. For example, the sensing type can include: type 1 or type 2. For type 1, the first device can obtain the sensing measurement / result based on a single sensing symbol. Type 1 may, for example, include one or more of the following: distance estimation, angle estimation, target detection. For type 2, the first device can obtain the sensing measurement / result based on multiple sensing symbols. Type 2 may, for example, include one or more of the following: speed estimation, Doppler estimation, micro-Doppler estimation.

[0087] Optionally, the sensing type can be distinguished according to the number of sensing signals on which the perception measurement / result is based. For example, the sensing type can include: type 3 or type 4. For type 3, the first device can obtain the perception measurement / result based on one sensing signal. Type 3 can include one or more of the following, for example: distance estimation, angle estimation, target detection. For type 4, the first device can obtain the perception measurement / result based on multiple sensing signals. Type 4 can include one or more of the following, for example: speed estimation, Doppler estimation, micro-Doppler estimation.

[0088] It should be noted that the sensing type corresponding to the perception measurement / result based on the repeated (or multiple) sensing signals can also be type 2 (i.e. type 3 described above can also be type 2), or can be an independent type (e.g. a type different from type 1 and type 2).

[0089] Optionally, the first threshold can correspond to the perception type. That is, different perception types can correspond to different first thresholds. For example, for a distance perception task, the first threshold can be N1 time units. For example, for an angle perception task, the first threshold can be N2 time units. For example, for a channel feature perception task, the first threshold can be N3 time units. For example, for a task of processing perception measurement, the first threshold can be N4 time units. For example, for a task of processing perception result, the first threshold can be N5 time units. Based on this scheme, a more accurate first threshold can be determined, so that the setting of the first threshold can meet the real-time requirement of reporting the perception measurement / result of different perception types, and can also meet the processing requirement of the first device for different perception types.

[0090] Optionally, if the perception processing task corresponds to multiple perception types, any one of the multiple first thresholds corresponding to the multiple perception types can be used as the first threshold for determining the first time.

[0091] For example, if the sensing type corresponding to the perception measurement / result is distance perception measurement / result processing, the first threshold can be any one of N1, N4 or N5 time units. For example, if the sensing type corresponding to the perception measurement / result is distance perception measurement / result processing, the first threshold can be N1 time units.

[0092] For example, if the sensing type corresponding to the perception measurement / result is angle perception measurement / result processing, the first threshold can be any one of N2, N4 or N5 time units. For example, if the sensing type corresponding to the perception measurement / result is angle perception measurement / result processing, the first threshold can be N2 time units.

[0093] For example, if the sensing type corresponding to the perception measurement / result is channel feature measurement / result processing, the first threshold can be any one of N3, N4, or N5 time units. If the sensing type corresponding to the perception measurement / result is channel feature measurement / result processing, the first threshold can be N3 time units.

[0094] Optionally, if the perception processing task corresponds to multiple perception types, the maximum value in multiple first thresholds corresponding to multiple perception types can be used as the first threshold for determining the first time.

[0095] For example, if the sensing type corresponding to the perception measurement / result includes distance perception, angle perception, and channel feature perception, the first threshold can be the maximum value of N1, N2, or N3.

[0096] The processing method can be used to indicate the perception measurement / result obtained by the first device based on which processing method. For example, the processing method can include a classic perception processing algorithm, an AI processing algorithm, and the like.

[0097] Optionally, the first threshold can be determined based on the processing method. That is, the first threshold can be exclusive to the processing method. That is, different processing methods can have different first thresholds. Based on this scheme, a more accurate first threshold can be determined, so that the first threshold can meet the reporting timeliness requirements of different processing methods, and can also meet different processing time lengths corresponding to different processing methods.

[0098] For example, if the processing method corresponding to the perception measurement / result is a classic perception processing algorithm, the first threshold can be N6 time units. For example, if the processing method corresponding to the perception measurement / result is an AI processing algorithm, the first threshold can be N7 time units.

[0099] The processing capability of the first device can be used to indicate the capability of the first device for processing the perception signal and obtaining the perception measurement / result. It can be understood that the processing capability of the first device is stronger, the shorter the time length required by the first device for processing the perception signal, that is, the faster the perception measurement / result is obtained.

[0100] Optionally, the first threshold can be determined based on the processing capability of the first device. Based on this scheme, a more accurate first threshold can be determined, so that devices with different capabilities can set the first threshold matching their capabilities.

[0101] For example, in the case that the processing capability of the first device is strong (for example, the processing time length is short), the first threshold can be N8; in the case that the processing capability of the first device is weak, the first threshold can be N9. Wherein, N8 can be less than N9.

[0102] Optionally, the first threshold can be determined based on one or more of the sensing type corresponding to the perception measurement / result, the processing method corresponding to the perception measurement / result, and the processing capability of the first device. For example, the first threshold can be determined based on the sensing type corresponding to the perception measurement / result and the processing capability of the first device. Illustratively, if the processing capability of the first device is N10 for the processing duration of angle perception, for a perception task with the sensing type of angle perception, the first threshold can be N10. If the processing capability of the first device is N11 for the processing duration of distance perception, for a perception task with the sensing type of distance perception, the first threshold can be N11.

[0103] Optionally, all the perception measurement measurements / results can correspond to the same first threshold. That is, one first threshold can be applicable to all the sensing types, processing methods, or processing capabilities of the first device. This way of setting the first threshold is simpler.

[0104] In some embodiments, the first threshold satisfies one or more of the following: determined by the first device, determined by the protocol, configured by the perception management node.

[0105] Optionally, the first threshold can be determined by the first device. Illustratively, the first device can determine the first threshold according to one or more of the sensing type, the processing method, or the processing capability of the first device.

[0106] The first device determines the first threshold by itself, which can make the flexibility of the first device reporting the perception measurement / result greater.

[0107] Optionally, the first threshold can be determined by the protocol. For example, the protocol can agree on the first threshold for each case, or the first threshold for at least part of the cases. For these cases, only relying on the protocol agreement can determine the first threshold for part or all of the cases. Different cases can be distinguished according to one or more of the sensing type, the processing method, or the processing capability of the first device.

[0108] The first threshold is determined by the protocol, which can make the processing of each node participating in perception (such as the first device, the second device, the perception management node, etc.) simpler.

[0109] Optionally, the first threshold can be determined by the first device and the protocol together. For example, the protocol can indicate multiple thresholds for a case, and the first device can determine one of the multiple thresholds as the first threshold. Illustratively, for the classical signal processing method, the protocol can define two thresholds N8 and N9, and the first device can determine whether N8 or N9 is the first threshold according to its own processing capability.

[0110] The first threshold is determined by the first device and the protocol, which not only makes the flexibility of the first device reporting the sensing measurement / result greater, but also simplifies the processing of each node participating in the sensing.

[0111] Optionally, the first threshold can be configured by the sensing management node. For example, the sensing management node can configure the corresponding first threshold according to each or at least part of the cases. For these cases, the first threshold in part or all of the cases can be determined according to the configuration of the sensing management node. Different cases can be distinguished according to one or more of the sensing type, the processing method or the processing capability of the first device.

[0112] The first threshold configured by the sensing management node can make the configuration of the first threshold more flexible, and also avoid the problem of high processing complexity of the first device caused by the first device determining the first threshold by itself.

[0113] Optionally, the first threshold can be configured by the sensing management node and determined by the first device. For example, the sensing management node can configure multiple thresholds for a case, and the first device can determine one of the multiple thresholds as the first threshold. For example, for the classical signal processing method, the sensing management node can configure two thresholds N8 and N9, and the first device can determine whether the first threshold is N8 or N9 according to its own processing capability.

[0114] The first threshold configured by the sensing management node and determined by the first device not only makes the determination of the first threshold more flexible, but also simplifies the processing of the first device.

[0115] In some embodiments, the first time point can be determined by the first device. For example, the first time point determined by the first device can be greater than or equal to the first threshold from the first sensing time point.

[0116] It can be understood that the first time point determined by the first device can avoid the interaction signaling between devices to determine the first time point, thereby reducing the signaling overhead, and further providing more processing time for the first node.

[0117] In some embodiments, the first time point can be indicated by the sensing management node. The first time point indicated by the sensing management node needs to satisfy the first condition. That is, the first device does not expect the first time point indicated by the sensing management node to definitely satisfy the constraint of the first condition. Optionally, the sensing management node can not only indicate the first time point to the first device, but also indicate the first time point to the second device, so that the second device can know when it can receive the sensing measurement / result.

[0118] It can be understood that the first time is indicated by the sensing management node, which can avoid the first device determining the first time, which can be a relatively complex process, thereby reducing the processing complexity of the first device. In addition, the first time is indicated by the sensing management node, which can make the understanding of the first time consistent between the first device and the second device.

[0119] In some embodiments, the first condition can also be related to other factors. That is, the first condition can be related to factors other than the first sensing time. The other factors may, for example, be factors related to transmission resources, thereby ensuring that the first device has transmission resources to transmit the sensing measurement / result at the first time.

[0120] For example, the first condition can include that the type of the symbol corresponding to the first time is a first symbol type. That is, the symbol for transmitting the sensing measurement / result includes at least the first symbol type. The first symbol type is a symbol type that allows the sensing measurement / result to be transmitted. The first symbol type can include an uplink (UL) symbol or a downlink (DL) symbol. Illustratively, for the case where the first device includes a terminal device, the first symbol type can include an uplink symbol. Similarly, for the case where the first device includes a network device, the first symbol type can include a downlink symbol.

[0121] For example, the first condition can include that the type of the symbol corresponding to the first time is a first symbol type. That is, the symbol for transmitting the sensing measurement / result includes at least the first symbol type. The first symbol type is a symbol type that allows the sensing measurement / result to be transmitted. The first symbol type can include an uplink (UL) symbol or a downlink (DL) symbol. Illustratively, for the case where the first device includes a terminal device, the first symbol type can include an uplink symbol. Similarly, for the case where the first device includes a network device, the first symbol type can include a downlink symbol.

[0122] Exemplarily, if the perception measurement / result can be transmitted in PUCCH, all or part of the perception measurement / result can be sent as long as PUCCH is configured. If the perception measurement / result can be transmitted in PUSCH, all or part of the perception measurement / result can be sent as long as PUSCH is configured. Or all or part of the perception measurement / result can be sent only if the indication information corresponding to the PUSCH allows the perception measurement / result to be carried.

[0123] As described above, the perception measurement result can be determined based on one or more perception signals. The following explains how the first perception time is determined, respectively in the case that the perception measurement result is determined based on one perception signal, and in the case that the perception measurement result is determined based on multiple perception signals.

[0124] In some embodiments, the first perception time can be an ending time of one of the one or more perception signals.

[0125] It should be noted that, in the present application, the ending time of a certain signal can refer to the last time unit occupied by the signal. The time unit may, for example, be a time unit corresponding to a time domain resource. For example, the time unit can include a time slot and / or a symbol.

[0126] Optionally, in the case that the perception measurement / result is determined based on one perception signal, the first perception time can be an ending time of the one perception signal. Exemplarily, the first perception time can be a last symbol in which the one perception signal is located.

[0127] Optionally, in the case that the perception measurement / result is determined based on multiple perception signals, the first perception time can be an ending time of a first perception signal of the multiple perception signals. Exemplarily, the first perception signal can be a last perception signal of the multiple perception signals. The first perception time can be a last symbol in which the first perception signal is located.

[0128] In some cases, the perception measurement / result can be determined based on one perception signal. Exemplarily, in the case that the sensing type corresponding to the perception measurement result includes one or more of the following: target detection, distance estimation, angle estimation, channel measurement, channel feature measurement, the perception measurement result can be determined based on one perception signal. Wherein, the channel measurement can include measurement for one or more of the following: time domain / delay domain channel information, and / or frequency domain channel information, and / or Doppler domain channel information. The channel feature measurement can include measurement for one or more of the following: channel eigenvalue analysis result, channel direction feature, etc.

[0129] For the technical solution based on the sensing measurement / result obtained from one sensing signal, the interval from receiving the sensing signal to feeding back the sensing measurement / result is relatively short, so that more efficient sensing can be achieved.

[0130] In some cases, the sensing measurement / result can be obtained based on multiple sensing signals. The following illustrates these cases.

[0131] For example, in some cases, if the sensing measurement / result is obtained based on multiple sensing signals, the accuracy, precision, sensing range, etc. of the sensing measurement / result can be improved, or the influence of noise can be eliminated or reduced. Illustratively, in the case where the sensing type corresponding to the sensing measurement / result includes one or more of the following: target detection, distance estimation, angle estimation, target tracking, channel measurement, channel feature measurement, the sensing measurement / result can be obtained based on multiple sensing signals. The descriptions of these sensing types are detailed above and will not be repeated here.

[0132] For example, for some sensing types, the sensing measurement / result can only be obtained through multiple sensing signals. Illustratively, the sensing task of some sensing types needs to be based on the changes of multiple sensing signals in the time domain to be completed. Illustratively, in the case where the sensing type corresponding to the sensing measurement / result includes one or more of the following: velocity estimation, Doppler estimation, micro-Doppler estimation, target detection, the sensing measurement / result can be obtained based on multiple sensing signals. The descriptions of these sensing types are detailed above and will not be repeated here. In some embodiments, the multiple sensing signals used to obtain the sensing measurement / result can belong to a first window. The first window can be used to indicate a period of time. That is, the first window is a kind of time window.

[0133] Optionally, the first window can be configured by the sending node and / or the sensing management node of the multiple sensing signals. Illustratively, the sending node or the sensing management node can configure one or more of the following: the starting time of the first window, the ending time of the first window, the size of the first window. Wherein, the size of the first window can be a time length. In this case, the first window can also be referred to as a first measurement window or a first sensing window.

[0134] Optionally, the channel condition correlation within the first window can be greater than or equal to a first threshold. That is, the channel condition correlation within the first window is relatively high (i.e., greater than or equal to the first threshold). The first threshold can be 0.95, for example. In this case, the first window can also be referred to as a first time-domain correlation window. The first time-domain correlation window can be configured by the sending node and / or the sensing management node of the multiple sensing signals. For example, the sending node or the sensing management node can be repeatedly configured.

[0135] In some embodiments, the multiple signals for obtaining the sensing measurement / result can not be constrained by the first window. For example, in case the sensing type includes target tracking, the multiple signals for obtaining the sensing measurement / result can be signals within the first window, or signals outside the first window.

[0136] For ease of understanding, the first sensing time is explained below by way of Examples 1-3.

[0137] Example 1

[0138] For sensing types of detecting presence / absence, distance measurement, angle measurement, usually one sensing signal can be enough. For this case, the first sensing time can be the symbol (e.g., the last symbol) where the one sensing signal is located.

[0139] To achieve one or more of the following: improve sensing range, improve accuracy of detecting presence / absence, improve precision of distance measurement, angle measurement, the first device can process based on multiple sensing signals. For this case, the first sensing time corresponding to the sensing measurement / result can be the symbol (e.g., the last symbol) where the last sensing signal in a group of sensing signals (containing multiple sensing signals) is located. Generally, in this case, the group of sensing signals can refer to multiple sensing signals within a first time-domain correlation window. The channel condition correlation within the first time-domain correlation window is high, e.g., higher than 0.95. The first time-domain correlation window can be configured by the sensing signal sending node or the sensing management node, e.g., repeatedly configured.

[0140] Example 2

[0141] For sensing types of velocity measurement, Doppler measurement, micro-Doppler measurement, usually the change of multiple sensing signals in time domain can be needed. In this case, the first sensing time corresponding to the sensing measurement / result can be the symbol (e.g., the last symbol) where the last sensing signal in a group of sensing signals is located. Generally, in this case, the group of sensing signals can refer to multiple sensing signals within a first measurement window. One or more of the first measurement window size, start time, end time can be configured by the sensing signal sending node or the sensing management node.

[0142] Example 3

[0143] For sensing type of channel measurement or channel feature measurement, it can be usually completed based on one sensing signal. In this case, the first sensing time corresponding to the sensing measurement / result can be the symbol where the one sensing signal is located. Exemplarily, the channel measurement can refer to measurement of one or more of the following information: one or more of time domain / delay domain channel information, frequency domain channel information, Doppler domain channel information. Exemplarily, the channel feature measurement can refer to measurement of one or more of the following information: channel feature value analysis result, channel direction feature, etc.

[0144] In order to eliminate or reduce the influence of noise, the first device can perform processing based on multiple sensing signals. For this case, the first sensing time corresponding to the sensing measurement / result can be the symbol (e.g., the last symbol) where the last sensing signal in the set of sensing signals is located. Generally, for this case, the set of sensing signals can refer to multiple sensing signals within a first time domain correlation window. The channel condition within the first time domain correlation window has a high correlation, e.g., a correlation higher than 0.95. The first time domain correlation window can be configured by the sensing signal sending node or the sensing management node, e.g., repeatedly configured.

[0145] The method embodiments of the present application are described in detail above, and the device embodiments of the present application are described in detail below. It should be understood that the description of the method embodiments and the description of the device embodiments correspond to each other, and therefore, the parts not described in detail can be referred to the method embodiments described above.

[0146] FIG. 5 is a schematic structural diagram of a sensing or communication sensing integrated device 500 provided by an embodiment of the present application. The sensing or communication sensing integrated device 500 can be the first device. The sensing or communication sensing integrated device 500 can include a sending unit 510.

[0147] The sending unit 510 is configured to send sensing measurement / result; wherein the sensing measurement / result is obtained based on one or more sensing signals, the sending time of the sensing measurement / result is a first time, the transmission time of the one or more sensing signals includes a first sensing time, the first time satisfies a first condition, and the first condition is related to the first sensing time.

[0148] In some embodiments, the first condition includes that the difference between the first time and the first sensing time is greater than or equal to a first threshold.

[0149] In some embodiments, the first threshold is determined based on one or more of the following: the sensing type corresponding to the sensing measurement / result; the processing method corresponding to the sensing measurement / result; the processing capability of the first device.

[0150] In some embodiments, the first threshold satisfies one or more of the following: determined by the first device, determined by a protocol, configured by a sensing management node.

[0151] In some embodiments, the first time instance is determined by the first device itself; or, the first time instance is indicated by the perception management node.

[0152] In some embodiments, the first condition comprises one or more of the following: a type of symbol corresponding to the first time instance is a first symbol type; a type of resource corresponding to the first time instance is a first resource type.

[0153] In some embodiments, the first symbol type comprises an uplink symbol.

[0154] In some embodiments, the first resource type comprises one or more of the following: a PUSCH resource, a PUCCH resource.

[0155] In some embodiments, in a case where the perception measurement / result is based on one perception signal, the first perception time instance is an ending time instance of the one perception signal.

[0156] In some embodiments, the first perception time instance is a last symbol in which the one perception signal is located.

[0157] In some embodiments, the perception measurement / result corresponds to one or more of the following sensing types: target detection; distance estimation; angle estimation; channel measurement; channel feature measurement.

[0158] In some embodiments, in a case where the perception measurement / result is based on multiple perception signals, the first perception time instance is an ending time instance of a first perception signal among the multiple perception signals.

[0159] In some embodiments, the first perception signal is a last perception signal among the multiple perception signals.

[0160] In some embodiments, the first perception time instance is a last symbol in which the first perception signal is located.

[0161] In some embodiments, the perception measurement / result corresponds to one or more of the following sensing types: speed estimation; Doppler estimation; micro-Doppler estimation; target detection; distance estimation; angle estimation; target tracking; channel measurement; channel feature measurement.

[0162] In some embodiments, the multiple perception signals belong to a first window, and the first window satisfies one or more of the following: configured by a transmitting node of the multiple perception signals and / or the perception management node; a channel condition correlation within the first window is greater than or equal to a first threshold.

[0163] In optional embodiments, the transmitting unit 510 can be a transceiver 730. The perception or communication-perception integrated device 500 can further comprise a processor 710 and a memory 720, as shown in FIG. 7.

[0164] FIG. 6 is a schematic structural diagram of a perception or communication perception integrated device 600 provided by an embodiment of the present application. The perception or communication perception integrated device 600 can be a second device. The perception or communication perception integrated device 600 can include a receiving unit 610.

[0165] The receiving unit 610 can be configured to receive perception measurement / result transmitted by the first device, wherein the perception measurement / result is obtained based on one or more perception signals, a transmission time of the perception measurement / result is a first time, a transmission time of the one or more perception signals includes a first perception time, and the first time satisfies a first condition, and the first condition is related to the first perception time.

[0166] In some embodiments, the first condition includes that a difference between the first time and the first perception time is greater than or equal to a first threshold.

[0167] In some embodiments, the first threshold is determined based on one or more of the following: a sensing type corresponding to the perception measurement / result; a processing method corresponding to the perception measurement / result; and a processing capability of the first device.

[0168] In some embodiments, the first threshold satisfies one or more of the following: determined by the first device; determined by a protocol.

[0169] In some embodiments, the first time is determined by the first device itself, or the first time is indicated by a perception management node.

[0170] In some embodiments, the first condition includes one or more of the following: a type of a symbol corresponding to the first time is a first symbol type; a type of a resource corresponding to the first time is a first resource type.

[0171] In some embodiments, the first symbol type includes an uplink symbol.

[0172] In some embodiments, the first resource type includes one or more of the following: a PUSCH resource, a PUCCH resource.

[0173] In some embodiments, when the perception measurement / result is obtained based on one perception signal, the first perception time is an ending time of the one perception signal.

[0174] In some embodiments, the first perception time is a last symbol in which the one perception signal is located.

[0175] In some embodiments, the perception measurement / result corresponds to one or more of the following sensing types: target detection; distance estimation; angle estimation; channel measurement; channel feature measurement.

[0176] In some embodiments, the first sensing time is an ending time of a first sensing signal among the multiple sensing signals, in a case that the sensing measurement / result is based on the multiple sensing signals.

[0177] In some embodiments, the first sensing signal is a last sensing signal among the multiple sensing signals.

[0178] In some embodiments, the first sensing time is a last symbol in which the first sensing signal is located.

[0179] In some embodiments, the sensing measurement / result corresponds to one or more of the following sensing types: speed estimation; Doppler estimation; micro-Doppler estimation; target detection; distance estimation; angle estimation; target tracking; channel measurement; channel feature measurement.

[0180] In some embodiments, the multiple sensing signals belong to a first window, and the first window satisfies one or more of the following: configured by a transmitting node and / or a sensing management node of the multiple sensing signals; a channel condition correlation within the first window is greater than or equal to a first threshold.

[0181] In optional embodiments, the receiving unit 610 can be a transceiver 730. The sensing or communication-sensing integrated device 600 can further include a processor 710 and a memory 720, as shown in FIG. 7.

[0182] FIG. 7 is a schematic structural diagram of an apparatus for communication according to an embodiment of the present application. The dashed line in FIG. 7 indicates that the unit or module is optional. The apparatus 700 can be used to implement the method described in the foregoing method embodiments. The apparatus 700 can be a chip, a terminal device, a network device, a sensing device, or a communication-sensing integrated device.

[0183] The apparatus 700 can include one or more processors 710. The processor 710 can support the apparatus 700 to implement the method described in the foregoing method embodiments. The processor 710 can be a general-purpose processor or a dedicated processor. For example, the processor can be a central processing unit (CPU). Alternatively, the processor can also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0184] The apparatus 700 can further include one or more memories 720. The memories 720 store programs, which can be executed by the processor 710, so that the processor 710 performs the methods described in the foregoing method embodiments. The memories 720 can be independent of the processor 710 or integrated in the processor 710.

[0185] The apparatus 700 can further include a transceiver 730. The processor 710 can communicate with other devices or chips through the transceiver 730. For example, the processor 710 can perform data transceiving with other devices or chips through the transceiver 730.

[0186] The embodiments of the present application also provide a computer readable storage medium for storing a program. The computer readable storage medium can be applied to the perception or communication perception integrated device provided by the embodiments of the present application, and the program causes the computer to execute the method performed by the perception or communication perception integrated device in the various embodiments of the present application.

[0187] The embodiments of the present application also provide a computer program product. The computer program product includes a program. The computer program product can be applied to the perception or communication perception integrated device provided by the embodiments of the present application, and the program causes the computer to execute the method performed by the perception or communication perception integrated device in the various embodiments of the present application.

[0188] The embodiments of the present application also provide a computer program. The computer program can be applied to the perception or communication perception integrated device provided by the embodiments of the present application, and the computer program causes the computer to execute the method performed by the perception or communication perception integrated device in the various embodiments of the present application.

[0189] It should be understood that the terms "system" and "network" can be used interchangeably in the present application. In addition, the terms used in the present application are only used to explain the specific embodiments of the present application, and are not intended to limit the present application. The terms "first", "second", "third", and "fourth" and the like in the specification and claims of the present application and the drawings are used to distinguish different objects, and are not used to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0190] In the embodiments of the present application, the "indication" mentioned can be direct indication, or indirect indication, or can be an indication with an associated relationship. For example, A indicates B, which can mean that B can be obtained by A; or A indirectly indicates B, for example, A indicates C, and B can be obtained by C; or A and B have an associated relationship.

[0191] In embodiments of the present application, "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that the determination of B according to A does not mean that B is determined only according to A, but B can also be determined according to A and / or other information.

[0192] In embodiments of the present application, the term "corresponding" can represent a direct or indirect corresponding relationship between the two, can also represent an associated relationship between the two, or can indicate a relationship with the indicated, configured, and configured.

[0193] In embodiments of the present application, "predefined" or "preconfigured" can be implemented by pre-saving corresponding codes, tables or other information that can be used to indicate related information in devices (for example, including terminal devices and network devices), and the present application does not limit the specific implementation manner. For example, predefinition can refer to definition in a protocol.

[0194] In embodiments of the present application, the "protocol" can refer to a standard protocol in the communication field, which can include, for example, LTE protocol, NR protocol and related protocols applied to future communication systems, and the present application does not limit this.

[0195] In embodiments of the present application, the term "and / or" is only a description of the association relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent three cases: A exists alone, A and B exist together, and B exists alone. In addition, the character " / " in this paper generally represents an "or" relationship between the associated objects before and after it.

[0196] In embodiments of the present application, "including" can mean directly including or indirectly including. Alternatively, "including" mentioned in embodiments of the present application can be replaced by "indicating" or "used to determine". For example, A includes B can be replaced by A indicating B, or A used to determine B.

[0197] In various embodiments of the present application, the size of the serial number of the above processes does not mean the order of execution, and the execution order of the processes should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0198] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented by other manners. For example, the above-described device embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and in actual implementation, another division manner can be adopted, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0199] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place or distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0200] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit.

[0201] In the above embodiments, all or part can be realized by software, hardware, firmware or any combination thereof. When realized by software, all or part can be realized in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed by a computer, the computer instructions produce the processes or functions described in the embodiments of the present application. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another, for example, the computer instructions can be transferred from one website, computer, server or data center to another through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer readable storage medium can be any available medium readable by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be magnetic media (such as floppy disk, hard disk, magnetic tape), optical media (such as digital video disc (DVD)) or semiconductor media (such as solid state disk (SSD)) and the like.

[0202] The above description is only specific embodiments of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of wireless communication, the method comprising: Comprising: a first device sending sensing measurement / result; wherein the sensing measurement / result is based on one or more sensing signals, the sending time of the sensing measurement / result is a first time, the transmission time of the one or more sensing signals comprises a first sensing time, the first time satisfies a first condition, the first condition is related to the first sensing time.

2. The method of claim 1, wherein, The first condition comprises: a difference between the first time and the first sensing time is greater than or equal to a first threshold.

3. The method of claim 2, wherein, The first threshold is determined based on one or more of the following: a sensing type corresponding to the sensing measurement / result; a processing method corresponding to the sensing measurement / result; a processing capability of the first device.

4. The method according to claim 2 or 3, characterized in that, The first threshold satisfies one or more of the following: determined by the first device, determined by a protocol, configured by a sensing management node.

5. The method of any one of claims 1-4, wherein: the first time is determined by the first device itself; or the first time is indicated by a sensing management node.

6. The method according to any one of claims 1-5, characterized in that, The first condition comprises one or more of the following: a type of a symbol corresponding to the first time is a first symbol type; a type of a resource corresponding to the first time is a first resource type.

7. The method of claim 6, wherein, The first symbol type comprises an uplink symbol.

8. The method according to claim 6 or 7, characterized in that, The first resource type comprises one or more of the following: a physical uplink shared channel (PUSCH) resource, a physical uplink control channel (PUCCH) resource.

9. The method according to any one of claims 1-8, characterized in that, In a case where the sensing measurement / result is based on one sensing signal, the first sensing time is an ending time of the one sensing signal.

10. The method of claim 9, wherein, The first sensing time is a last symbol in which the one sensing signal is located.

11. The method according to claim 9 or 10, characterized in that, The sensing measurement / result corresponds to one or more of the following sensing types: target detection distance estimation; angle estimation; channel measurement; channel feature measurement.

12. The method of any one of claims 1-8, wherein, In a case where the sensing measurement / result is based on multiple sensing signals, the first sensing time is an ending time of a first sensing signal in the multiple sensing signals.

13. The method of claim 12, wherein, The first sensing signal is a last sensing signal in the multiple sensing signals.

14. The method according to claim 12 or 13, characterized in that, The first sensing time is a last symbol in which the first sensing signal is located.

15. The method according to any one of claims 12-14, characterized in that, The sensing measurement / result corresponds to one or more of the following sensing types: speed estimation; Doppler estimation; micro-Doppler estimation; target detection distance estimation; angle estimation; target tracking; channel measurement; channel feature measurement.

16. The method according to any one of claims 12-15, characterized by, The multiple sensing signals belong to a first window, and the first window satisfies one or more of the following: configured by a sending node of the multiple sensing signals and / or a sensing management node; a channel condition correlation in the first window is greater than or equal to a first threshold.

17. A method of wireless communication, the method comprising: Comprising: a second device receiving a sensing measurement / result sent by a first device; wherein the sensing measurement / result is based on one or more sensing signals, the sending time of the sensing measurement / result is a first time, the transmission time of the one or more sensing signals comprises a first sensing time, the first time satisfies a first condition, the first condition is related to the first sensing time.

18. The method of claim 17, wherein, The first condition comprises that a difference between the first time and the first sensing time is greater than or equal to a first threshold.

19. The method of claim 18, wherein, The first threshold is determined based on one or more of the following: a sensing type corresponding to the sensing measurement / result; a processing method corresponding to the sensing measurement / result; a processing capability of the first device.

20. The method of claim 18 or 19, wherein, The first threshold satisfies one or more of the following: determined by the first device, determined by a protocol, configured by a sensing management node.

22. The method of any one of claims 17-21, wherein, 21. The method of any of claims 17-20, wherein the first time is determined by the first device; or the first time is indicated by a sensing management node.

23. The method of claim 22, wherein, The first condition comprises one or more of the following:

24. The method of claim 22 or 23, wherein, a type of a symbol corresponding to the first time is a first symbol type; 25. The method of any one of claims 17-24, wherein, a type of a resource corresponding to the first time is a first resource type.

26. The method of claim 25, wherein, The first symbol type comprises an uplink symbol.

27. The method of claim 25 or 26, wherein, The first resource type comprises one or more of the following: a physical uplink shared channel (PUSCH) resource, a physical uplink control channel (PUCCH) resource. In a case where the sensing measurement / result is based on one sensing signal, the first sensing time is an ending time of the one sensing signal. The first sensing time is a last symbol in which the one sensing signal is located. The sensing measurement / result corresponds to one or more of the following sensing types:

28. The method of any one of claims 17-27, wherein, target detection, 29. The method of claim 28, wherein, distance estimation, 30. The method of claim 28 or 29, wherein, angle estimation, 31. The method of any one of claims 28-30, wherein, channel measurement, channel feature measurement. In a case where the sensing measurement / result is based on a plurality of sensing signals, the first sensing time is an ending time of a first sensing signal in the plurality of sensing signals. The first sensing signal is a last sensing signal in the plurality of sensing signals. The first sensing time is a last symbol in which the first sensing signal is located. The sensing measurement / result corresponds to one or more of the following sensing types: speed estimation, Doppler estimation, micro-Doppler estimation, target detection, 32. The method of any one of claims 28-31, wherein, distance estimation, angle estimation, target tracking, 33. A sensing and communication integrated device, comprising: channel measurement, channel feature measurement. The plurality of sensing signals belong to a first window, and the first window satisfies one or more of the following:

34. The perception or communication perception integrated device of claim 33, wherein, configured by a transmitting node of the plurality of sensing signals and / or a sensing management node, 35. The perception or communication perception integrated device of claim 34, wherein, a channel condition correlation in the first window is greater than or equal to a first threshold. The sensing or communication-sensing integrated device is a first device, and the sensing or communication-sensing integrated device comprises: a transmitting unit configured to transmit a sensing measurement / result. The sensing measurement / result is based on one or more sensing signals, a transmission time of the one or more sensing signals comprises a first sensing time, and the first time satisfies a first condition related to the first sensing time. The first condition comprises that a difference between the first time and the first sensing time is greater than or equal to a first threshold. The first threshold is determined based on one or more of the following: a sensing type corresponding to the sensing measurement / result; a processing method corresponding to the sensing measurement / result; a processing capability of the first device.

36. The perception or communication perception integrated device of claim 34 or 35, wherein, The first threshold satisfies one or more of the following: determined by the first device, determined by a protocol, configured by a sensing management node.

37. The sensing or communication-sensing integrated device of any one of claims 33-36, wherein, The first time is determined by the first device itself; or, The first time is indicated by a sensing management node.

38. The perception or communication perception integrated device of any one of claims 33-37, wherein, The first condition comprises one or more of the following: A type of a symbol corresponding to the first time is a first symbol type; A type of a resource corresponding to the first time is a first resource type.

39. The perception or communication perception integrated device of claim 38, wherein, The first symbol type comprises an uplink symbol.

40. The perception or communication perception integrated device of claim 38 or 39, wherein, The first resource type comprises one or more of the following: a physical uplink shared channel (PUSCH) resource, a physical uplink control channel (PUCCH) resource.

41. The perception or communication perception integrated device of any one of Claims 33-40, wherein, In a case where the sensing measurement / result is based on one sensing signal, the first sensing time is an ending time of the one sensing signal.

42. The perception or communication perception integrated device of claim 41, wherein, The first sensing time is a last symbol in which the one sensing signal is located.

43. The perception or communication perception integrated device of claim 41 or 42, wherein, The sensing measurement / result corresponds to one or more of the following sensing types: Target detection; Distance estimation; Angle estimation; Channel measurement; Channel feature measurement.

44. The perception or communication perception integrated device of any one of Claims 33-40, wherein, In a case where the sensing measurement / result is based on a plurality of sensing signals, the first sensing time is an ending time of a first sensing signal in the plurality of sensing signals.

45. The perception or communication perception integrated device of claim 44, wherein, The first sensing signal is a last sensing signal in the plurality of sensing signals.

46. The perception or communication perception integrated device of claim 44 or 45, wherein, The first sensing time is a last symbol in which the first sensing signal is located.

47. The perception or communication perception integrated device of any one of claims 44-46, wherein, The sensing measurement / result corresponds to one or more of the following sensing types: Velocity estimation; Doppler estimation; Micro-doppler estimation; Target detection; Distance estimation; Angle estimation; Target tracking; Channel measurement; Channel feature measurement.

48. The perception or communication perception integrated device of any one of claims 44-47, wherein, The plurality of sensing signals belong to a first window, and the first window satisfies one or more of the following: Configured by a transmitting node of the plurality of sensing signals and / or a sensing management node; A channel condition correlation in the first window is greater than or equal to a first threshold.

49. A sensing and communication integrated device, comprising: The sensing or communication-sensing integrated device is a second device, and the sensing or communication-sensing integrated device comprises: A receiving unit configured to receive a sensing measurement / result transmitted by a first device. The sensing measurement / result is based on one or more sensing signals, a transmission time of the sensing measurement / result is a first time, a transmission time of the one or more sensing signals comprises a first sensing time, and the first time satisfies a first condition, the first condition being related to the first sensing time.

50. The perception or communication perception integrated device of claim 49, wherein, The first condition comprises that a difference between the first time and the first sensing time is greater than or equal to a first threshold.

51. The perception or communication perception integrated device of claim 50, wherein, The first threshold is determined based on one or more of the following: A sensing type corresponding to the sensing measurement / result; A processing method corresponding to the sensing measurement / result; A processing capability of the first device.

52. The perception or communication perception integrated device of claim 50 or 51, wherein, The first threshold satisfies one or more of the following: determined by the first device, determined by a protocol, configured by a sensing management node.

53. The sensing or communication-sensing integrated device of any one of claims 49-52, wherein, The first time is determined by the first device itself; or The first time is indicated by a perception management node.

54. The perception or communication perception integrated device of any one of claims 49-53, wherein, The first condition comprises one or more of the following: The type of symbol corresponding to the first time is a first symbol type; The type of resource corresponding to the first time is a first resource type.

55. The perception or communication perception integrated device of claim 54, wherein, The first symbol type comprises an uplink symbol.

56. The perception or communication perception integrated device of claim 54 or 55, wherein, The first resource type comprises one or more of the following: a physical uplink shared channel (PUSCH) resource, a physical uplink control channel (PUCCH) resource.

57. The perception or communication perception integrated device of any one of claims 49- 56, wherein, In a case where the perception measurement / result is based on one perception signal, the first perception time is an ending time of the one perception signal.

58. The perception or communication perception integrated device of claim 57, wherein, The first perception time is the last symbol in which the one perception signal is located.

59. The perception or communication perception integrated device of claim 57 or 58, wherein, The perception measurement / result corresponds to one or more of the following sensing types: Target detection; Distance estimation; Angle estimation; Channel measurement; Channel feature measurement.

60. The perception or communication perception integrated device of any one of Claims 49-56, wherein, In a case where the perception measurement / result is based on multiple perception signals, the first perception time is an ending time of a first perception signal in the multiple perception signals.

61. The perception or communication perception integrated device of claim 60, wherein, The first perception signal is the last perception signal in the multiple perception signals.

62. The perception or communication perception integrated device of claim 60 or 61, wherein, The first perception time is the last symbol in which the first perception signal is located.

63. The perception or communication perception integrated device of any one of Claims 60-62, wherein, The perception measurement / result corresponds to one or more of the following sensing types: Velocity estimation; Doppler estimation; Micro-doppler estimation; Target detection; Distance estimation; Angle estimation; Target tracking; Channel measurement; Channel feature measurement.

64. The perception or communication perception integrated device of any one of claims 60-63, wherein, The multiple perception signals belong to a first window, and the first window satisfies one or more of the following: Configured by a sending node and / or a perception management node of the multiple perception signals; The channel condition correlation in the first window is greater than or equal to a first threshold.

65. A sensing and communication integrated device, comprising: A transceiver, a memory, and a processor, the memory is used to store a program, the processor is used to invoke the program in the memory, and control the transceiver to receive or send a signal, so that the perception or communication perception integrated device executes the method in any one of claims 1-32.

66. An apparatus, comprising: A processor is used to invoke a program from a memory, so that the apparatus executes the method in any one of claims 1-32.

67. A chip, comprising: A processor is used to invoke a program from a memory, so that the apparatus executes the method in any one of claims 1-32.

68. A computer-readable storage medium, characterized in that, A program is stored on the chip, and the program causes the computer to execute the method in any one of claims 1-32.

69. A computer program product, characterised in that, A program is stored on the chip, and the program causes the computer to execute the method in any one of claims 1-32.

70. A computer program, characterized in that, The computer program causes the computer to execute the method in any one of claims 1-32.

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