Sensing parameter determination method and apparatus, communication apparatus, and medium

Abstract

The present disclosure relates to a sensing parameter determination method and apparatus, a communication apparatus, and a medium. In at least one embodiment of the present disclosure, in addition to indicating a sensing resource configuration to a second node, a first node also indicates a sensing symbol structure configuration to the second node. The sensing symbol structure configuration is a structure configuration for an OFDM symbol used for sensing. The sensing symbol structure configuration is different from an OFDM symbol structure currently used for sensing. By indicating the sensing symbol structure configuration to the second node, the second node adjusts the transmission and / or reception of a sensing signal on the basis of the sensing symbol structure configuration, so that the problems of unreliable sensing results and degraded received signal quality caused by clock asynchronization between a sensing transmitting node and a sensing receiving node are solved.

Description

A sensing parameter determination method and device, a communication device and a medium

[0001] Cross-reference to Related Applications

[0002] The present disclosure claims priority to a Chinese patent application No. 202410880816.1, filed on July 2, 2024, entitled "A sensing parameter determination method, device, communication device and medium", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] Embodiments of the present disclosure relate to the field of communication technology, in particular to a sensing parameter determination method, device, communication device and medium. BACKGROUND

[0004] Integrated Sensing and Communication (ISAC) is to introduce wireless sensing function in the process of wireless mobile communication. Cooperative sensing is that multiple sensing nodes (such as base stations and terminals) participate in the sensing process, and multiple sensing nodes cooperate with each other to improve the sensing efficiency. When the receiving node of the sensing signal (referred to as the sensing receiving node) and the sending node of the sensing signal (referred to as the sensing sending node) are not the same node, the synchronization performance of the sensing receiving node and the sensing sending node has a great influence on the sensing result, which may cause the following problems:

[0005] If the clock (T1) of the sensing receiving node is faster than the clock (T2) of the sensing sending node, when the error Δt (Δt = T1-T2) is greater than the air interface transmission delay, the sensing signal received by the sensing receiving node is incomplete, resulting in poor reliability of the sensing measurement quantity. If the clock (T1) of the sensing receiving node is slower than the clock (T2) of the sensing sending node, the received signal quality decreases (including error data) and the calculated air interface transmission delay is wrong, for example, the air interface transmission delay detection appears negative number or positive number far greater than the actual air interface transmission delay. SUMMARY

[0006] At least one embodiment of the present disclosure provides a sensing parameter determination method, device, communication device and medium.

[0007] In a first aspect, the embodiments of the present disclosure provide a sensing parameter determination method, applied to a first node, the method comprising:

[0008] The first node sends sensing configuration information to at least one second node, the sensing configuration information comprising: sensing resource configuration and sensing symbol structure configuration;

[0009] The first node receives sensing measurement information sent by at least one second node;

[0010] The first node determines the sensing parameter of the at least one second node based on the sensing measurement information sent by the at least one second node.

[0011] In some embodiments, the sensing resource configuration comprises at least one of:

[0012] one sensing resource, a sensing resource set composed of a plurality of sensing resources, a sensing resource list composed of a plurality of sensing resource sets;

[0013] The sensing resource comprises at least one of:

[0014] sensing resource time domain information for indicating at least one symbol;

[0015] sensing resource frequency domain information for indicating at least one resource element.

[0016] In some embodiments, the sensing symbol structure configuration is determined based on the sensing resource;

[0017] Alternatively, the sensing symbol structure configuration is determined based on the sensing resource set to determine the sensing symbol structure configuration;

[0018] Alternatively, the sensing symbol structure configuration is determined based on the sensing resource list to determine the sensing symbol structure configuration.

[0019] In some embodiments, the sensing symbol structure configuration comprises at least one of:

[0020] cyclic prefix, subcarrier spacing, cyclic suffix;

[0021] The cyclic suffix is located at the end of the sensing symbol structure, or the cyclic suffix is located in the cyclic prefix as part of the cyclic prefix.

[0022] In some embodiments, the sum of the length of the cyclic prefix and the length of the cyclic suffix is a preset length;

[0023] Alternatively, the length of the cyclic prefix is a preset length and the length of the cyclic suffix is a length reduced from the cyclic prefix of the next sensing symbol;

[0024] Alternatively, the length of the cyclic suffix is less than the length of the cyclic prefix of the next sensing symbol and shares data in the cyclic suffix with the cyclic prefix of the next sensing symbol.

[0025] In some embodiments, the preset length is 512K or 144K, where K is a preset constant.

[0026] In some embodiments, the sensing configuration information further comprises: a second node configuration;

[0027] The second node is configured to indicate that at least one second node transmits and / or receives the sensing signal.

[0028] In some embodiments, the second node configuration is determined based on the sensing resource;

[0029] Alternatively, the second node configuration is determined based on the set of sensing resources;

[0030] Alternatively, the second node configuration is determined based on the list of sensing resources.

[0031] In some embodiments, the sensing configuration information further comprises: a measurement reporting format configuration;

[0032] The measurement reporting format configuration comprises at least one of: a sensing measurement quantity, a minimum reporting value of the sensing measurement quantity.

[0033] In some embodiments, the minimum reporting value of the sensing measurement quantity is determined by:

[0034] The first node obtains a synchronization deviation parameter of the at least one second node;

[0035] The first node determines the minimum reporting value of the sensing measurement quantity based on the synchronization deviation parameter.

[0036] In some embodiments, the first node obtains the synchronization deviation parameter of the at least one second node comprises:

[0037] The first node determines the synchronization deviation parameter of the at least one second node based on a protocol;

[0038] Alternatively, the first node receives the synchronization deviation parameter transmitted by the at least one second node.

[0039] In some embodiments, the measurement reporting format configuration further comprises: a maximum reporting value of the sensing measurement quantity;

[0040] The maximum reporting value of the sensing measurement quantity is calculated based on a maximum air interface transmission distance of the at least one second node and the synchronization deviation parameter of the at least one second node.

[0041] In some embodiments, the sensing measurement information transmitted by the at least one second node is a difference between a value of the sensing measurement quantity of the at least one second node and the minimum reporting value of the sensing measurement quantity.

[0042] In some embodiments, the sensing parameter comprises at least one of:

[0043] a synchronization clock error, an air interface transmission delay, a Doppler frequency offset.

[0044] In some embodiments, the first node determines the sensing parameter of the at least one second node based on the sensing measurement information sent by the at least one second node, including at least one of:

[0045] For any two second nodes, the synchronization clock error is half of the difference between the sensing measurement information sent by the two second nodes;

[0046] For any two second nodes, the air interface transmission delay is obtained based on the sensing measurement information sent by the two second nodes and the minimum reporting value of the sensing measurement quantity.

[0047] In some embodiments, the sensing parameter determination method further includes:

[0048] The first node sends the synchronization clock error to the at least one second node.

[0049] In some embodiments, the first node sends the synchronization clock error to the at least one second node, including:

[0050] The first node sends the synchronization clock error to the second node as the sensing sending node;

[0051] Or, the first node sends the negative value of the synchronization clock error to the second node as the sensing receiving node;

[0052] Or, the first node sends half of the synchronization clock error to the second node as the sensing sending node, and sends the negative value of half of the synchronization clock error to the second node as the sensing receiving node.

[0053] In a second aspect, the embodiments of the present disclosure further provide a sensing parameter determination method, applied to a second node, including:

[0054] The second node receives the sensing configuration information sent by the first node, and the sensing configuration information includes: sensing resource configuration and sensing symbol structure configuration;

[0055] The second node sends and / or receives the sensing signal based on the sensing configuration information;

[0056] The second node determines the sensing measurement information based on the sensing signal;

[0057] The second node sends the sensing measurement information to the first node.

[0058] In some embodiments, the sensing configuration information further includes: second node configuration;

[0059] The second node sends and / or receives the sensing signal based on the sensing configuration information, including at least one of:

[0060] If the second node is configured as a sensing transmitting node, the second node determines a sensing signal based on the sensing resource configuration and the sensing symbol structure configuration, and transmits the sensing signal;

[0061] If the second node is configured as a sensing receiving node, the second node receives a sensing signal based on the sensing resource configuration and the sensing symbol structure configuration;

[0062] If the second node is configured as a sensing transceiver node, the second node determines a sensing signal based on the sensing resource configuration and the sensing symbol structure configuration, transmits the sensing signal, and receives the sensing signal reflected and / or scattered by the sensed object.

[0063] In some embodiments, the sensing configuration information further comprises: a measurement reporting format configuration;

[0064] The measurement reporting format configuration comprises at least one of: a sensing measurement quantity, and a minimum reporting value of the sensing measurement quantity.

[0065] In some embodiments, the sensing parameter determination method further comprises:

[0066] The second node transmits a synchronization deviation parameter to the first node, and the minimum reporting value of the sensing measurement quantity is determined based on the synchronization deviation parameter.

[0067] In some embodiments, the second node determines sensing measurement information based on the sensing signal, comprising:

[0068] The second node determines a value of the sensing measurement quantity in the measurement reporting format configuration based on the sensing signal.

[0069] The second node determines the sensing measurement information as a difference between the value of the sensing measurement quantity and the minimum reporting value of the sensing measurement quantity.

[0070] In some embodiments, the sensing parameter determination method further comprises:

[0071] The second node receives a synchronization clock error transmitted by the first node.

[0072] In some embodiments, the second node receives a synchronization clock error transmitted by the first node, comprising:

[0073] If the second node is a sensing transmitting node, the second node receives the synchronization clock error transmitted by the first node or half of the synchronization clock error;

[0074] Or, if the second node is a sensing receiving node, the second node receives a negative value of the synchronization clock error transmitted by the first node or a negative value of half of the synchronization clock error.

[0075] In some embodiments, the sensing parameter method further comprises:

[0076] The second node adjusts the synchronization clock based on the synchronization clock error.

[0077] In some embodiments, the second node adjusts the synchronization clock based on the synchronization clock error, comprising:

[0078] If the second node is a sensing transmitting node, the second node slows down the synchronization clock based on the synchronization clock error or half of the synchronization clock error being greater than zero, or speeds up the synchronization clock based on the synchronization clock error or half of the synchronization clock error being less than zero;

[0079] If the second node is a sensing receiving node, the second node slows down the synchronization clock based on the negative value of the synchronization clock error or half of the negative value of the synchronization clock error being greater than zero, or speeds up the synchronization clock based on the negative value of the synchronization clock error or half of the negative value of the synchronization clock error being less than zero.

[0080] In a third aspect, the embodiments of the present disclosure further provide a sensing parameter determination apparatus applied to a first node, comprising:

[0081] a sending unit configured to send sensing configuration information to at least one second node, the sensing configuration information comprising sensing resource configuration and sensing symbol structure configuration;

[0082] a receiving unit configured to receive sensing measurement information sent by the at least one second node;

[0083] a determination unit configured to determine sensing parameters of the at least one second node based on the sensing measurement information sent by the at least one second node.

[0084] In a fourth aspect, the embodiments of the present disclosure further provide a sensing parameter determination apparatus applied to a second node, comprising:

[0085] a receiving node configured to receive sensing configuration information sent by a first node, the sensing configuration information comprising sensing resource configuration and sensing symbol structure configuration;

[0086] a transceiving unit configured to send and / or receive sensing signals based on the sensing configuration information;

[0087] a determination unit configured to determine sensing measurement information based on the sensing signals;

[0088] a sending unit configured to send the sensing measurement information to the first node.

[0089] In a fifth aspect, the embodiments of the present disclosure further provide a communication apparatus applied to a first node, wherein the communication apparatus comprises a memory, a transceiver, and a processor.

[0090] a memory for storing a computer program; a transceiver for transceiving data under control of the processor; the processor for reading the computer program in the memory and executing:

[0091] sending sensing configuration information to at least one second node, the sensing configuration information comprising: sensing resource configuration and sensing symbol structure configuration;

[0092] receiving sensing measurement information sent by the at least one second node;

[0093] determining sensing parameters of the at least one second node based on the sensing measurement information sent by the at least one second node.

[0094] In some embodiments, the sensing resource configuration comprises at least one of:

[0095] one sensing resource, a sensing resource set composed of multiple sensing resources, a sensing resource list composed of multiple sensing resource sets;

[0096] wherein the sensing resource comprises at least one of:

[0097] sensing resource time domain information for indicating at least one symbol;

[0098] sensing resource frequency domain information for indicating at least one resource element.

[0099] In some embodiments, the sensing symbol structure configuration is determined based on the sensing resource;

[0100] Alternatively, the sensing symbol structure configuration is determined based on the sensing resource set;

[0101] Alternatively, the sensing symbol structure configuration is determined based on the sensing resource list.

[0102] In some embodiments, the sensing symbol structure configuration comprises at least one of:

[0103] cyclic prefix, subcarrier spacing, cyclic suffix;

[0104] wherein the cyclic suffix is located at the end of the sensing symbol structure, or the cyclic suffix is located in the cyclic prefix as part of the cyclic prefix.

[0105] In some embodiments, the sum of the length of the cyclic prefix and the length of the cyclic suffix is a preset length;

[0106] Alternatively, the length of the cyclic prefix is a preset length and the length of the cyclic suffix is a reduced length of the cyclic prefix of the next sensing symbol;

[0107] Alternatively, the length of the cyclic suffix is less than the length of the cyclic prefix of the next sensing symbol and shares data in the cyclic suffix with the cyclic prefix of the next sensing symbol.

[0108] In some embodiments, the preset length is 512K or 144K, where K is a preset constant.

[0109] In some embodiments, the sensing configuration information further comprises: a second node configuration.

[0110] The second node configuration is used to indicate that at least one second node transmits and / or receives the sensing signal.

[0111] In some embodiments, the second node configuration is determined based on the sensing resource.

[0112] Alternatively, the second node configuration is determined based on a set of sensing resources.

[0113] Alternatively, the second node configuration is determined based on a list of sensing resources.

[0114] In some embodiments, the sensing configuration information further comprises: a measurement reporting format configuration.

[0115] The measurement reporting format configuration comprises at least one of: a sensing measurement quantity, a minimum reporting value of the sensing measurement quantity.

[0116] In some embodiments, the minimum reporting value of the sensing measurement quantity is determined by:

[0117] Obtaining a synchronization deviation parameter of the at least one second node.

[0118] Based on the synchronization deviation parameter, determining the minimum reporting value of the sensing measurement quantity.

[0119] In some embodiments, obtaining the synchronization deviation parameter of the at least one second node comprises:

[0120] Based on a protocol, determining the synchronization deviation parameter of the at least one second node.

[0121] Alternatively, receiving the synchronization deviation parameter transmitted by the at least one second node.

[0122] In some embodiments, the measurement reporting format configuration further comprises: a maximum reporting value of the sensing measurement quantity.

[0123] The maximum reporting value of the sensing measurement quantity is calculated based on a maximum air interface transmission distance of the at least one second node and the synchronization deviation parameter of the at least one second node.

[0124] In some embodiments, the sensing measurement information transmitted by the at least one second node is a difference between a value of the sensing measurement quantity of the at least one second node and the minimum reporting value of the sensing measurement quantity.

[0125] In some embodiments, the sensing parameter comprises at least one of:

[0126] synchronization clock error, air interface transmission delay, Doppler frequency offset.

[0127] In some embodiments, the first node determines the sensing parameter of the at least one second node based on the sensing measurement information sent by the at least one second node, including at least one of:

[0128] For any two second nodes, the synchronization clock error is half of the difference between the sensing measurement information sent by the two second nodes.

[0129] For any two second nodes, the air interface transmission delay is obtained based on the sensing measurement information sent by the two second nodes and the minimum reporting value of the sensing measurement quantity.

[0130] In some embodiments, the processor is further configured to:

[0131] send the synchronization clock error to the at least one second node.

[0132] In some embodiments, sending the synchronization clock error to the at least one second node includes:

[0133] sending the synchronization clock error to the second node as a sensing sending node;

[0134] or sending the negative value of the synchronization clock error to the second node as a sensing receiving node;

[0135] or sending half of the synchronization clock error to the second node as a sensing sending node and sending the negative value of half of the synchronization clock error to the second node as a sensing receiving node.

[0136] In a sixth aspect, the embodiments of the present disclosure further provide a sensing parameter determination communication device applied to a second node, wherein the communication device includes a memory, a transceiver, and a processor;

[0137] The memory is configured to store a computer program; the transceiver is configured to transceive data under the control of the processor; and the processor is configured to read the computer program in the memory and perform:

[0138] receive the sensing configuration information sent by the first node, the sensing configuration information including sensing resource configuration and sensing symbol structure configuration;

[0139] send and / or receive the sensing signal based on the sensing configuration information;

[0140] determine the sensing measurement information based on the sensing signal;

[0141] send the sensing measurement information to the first node.

[0142] In some embodiments, the sensing configuration information further comprises: a second node configuration;

[0143] transmitting and / or receiving the sensing signal based on the sensing configuration information comprises at least one of:

[0144] if the second node is configured as a sensing transmitting node, determining the sensing signal based on the sensing resource configuration and the sensing symbol structure configuration, and transmitting the sensing signal;

[0145] if the second node is configured as a sensing receiving node, receiving the sensing signal based on the sensing resource configuration and the sensing symbol structure configuration;

[0146] if the second node is configured as a sensing transceiver node, determining the sensing signal based on the sensing resource configuration and the sensing symbol structure configuration, transmitting the sensing signal, and receiving the sensing signal reflected and / or scattered by the sensed object.

[0147] In some embodiments, the sensing configuration information further comprises: a measurement reporting format configuration;

[0148] the measurement reporting format configuration comprises at least one of: a sensing measurement quantity, a minimum reporting value of the sensing measurement quantity.

[0149] In some embodiments, the processor is further configured to:

[0150] transmitting the synchronization deviation parameter to the first node, and determining the minimum reporting value of the sensing measurement quantity based on the synchronization deviation parameter.

[0151] In some embodiments, determining the sensing measurement information based on the sensing signal comprises:

[0152] determining a value of the sensing measurement quantity in the measurement reporting format configuration based on the sensing signal;

[0153] the second node determines the sensing measurement information as a difference between the value of the sensing measurement quantity and the minimum reporting value of the sensing measurement quantity.

[0154] In some embodiments, the processor is further configured to:

[0155] receiving the synchronization clock error transmitted by the first node.

[0156] In some embodiments, receiving the synchronization clock error transmitted by the first node comprises:

[0157] if the second node is a sensing transmitting node, receiving the synchronization clock error transmitted by the first node or half of the synchronization clock error;

[0158] or, if the second node is a sensing receiving node, receiving a negative value of the synchronization clock error transmitted by the first node or a negative value of half of the synchronization clock error.

[0159] In some embodiments, the processor is further configured to:

[0160] adjust the synchronization clock based on the synchronization clock error.

[0161] In some embodiments, the adjusting the synchronization clock based on the synchronization clock error comprises:

[0162] if the second node is the sensing transmitting node, and the synchronization clock error or half of the synchronization clock error is greater than zero, slowing down the synchronization clock; or, the synchronization clock error or half of the synchronization clock error is less than zero, speeding up the synchronization clock;

[0163] if the second node is the sensing receiving node, and the negative value of the synchronization clock error or the negative value of half of the synchronization clock error is greater than zero, slowing down the synchronization clock; or, the negative value of the synchronization clock error or the negative value of half of the synchronization clock error is less than zero, speeding up the synchronization clock.

[0164] In a seventh aspect, the embodiments of the present disclosure further provide a processor-readable storage medium, which stores a program for causing a processor to execute the sensing parameter determination method of any one of the first aspect or the sensing parameter determination method of any one of the second aspect.

[0165] In at least one embodiment of the present disclosure, in addition to indicating the sensing resource configuration to the second node, the first node also indicates a sensing symbol structure configuration to the second node. The sensing symbol structure configuration is a configuration of the structure of the OFDM symbol used for sensing. The sensing symbol structure configuration is different from the current OFDM symbol structure used for sensing. By indicating the sensing symbol structure configuration to the second node, the second node adjusts the transmission and / or reception of the sensing signal based on the sensing symbol structure configuration, so as to solve the problem of unreliable sensing result and the decline of the received signal quality caused by the clock of the sensing transceiver node being out of synchronization.

[0166] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and are not limiting to the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0167] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings needed in the embodiments or related technical description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present disclosure, and other drawings can also be obtained by those skilled in the art based on these drawings.

[0168] FIG. 1 is a schematic diagram of OFDM symbol reception in communication and sensing integration;

[0169] FIG. 2 is a flowchart of a sensing parameter determination method provided by an embodiment of the present disclosure;

[0170] FIG. 3 is a schematic diagram of a dual base station sensing scenario according to an embodiment of the present disclosure;

[0171] FIG. 4 is a schematic diagram of a method of adjusting the length of the cyclic prefix CP and / or the length of the cyclic suffix CS according to an embodiment of the present disclosure;

[0172] FIG. 5 is a schematic diagram of a method of adjusting the length of the cyclic prefix CP and / or the length of the cyclic suffix CS according to an embodiment of the present disclosure;

[0173] FIG. 6 is a schematic diagram of a joint configuration of the length of the cyclic prefix CP and the length of the cyclic suffix CS according to an embodiment of the present disclosure;

[0174] FIG. 7 is a schematic diagram of a joint configuration of the length of the cyclic prefix CP and the length of the cyclic suffix CS according to an embodiment of the present disclosure;

[0175] FIG. 8 is a schematic diagram of a joint configuration of the length of the cyclic prefix CP and the length of the cyclic suffix CS according to an embodiment of the present disclosure;

[0176] FIG. 9 is a schematic diagram of a sensing parameter determination method according to an embodiment of the present disclosure;

[0177] FIG. 10 is a schematic diagram of a sensing parameter determination method according to an embodiment of the present disclosure;

[0178] FIG. 11 is a schematic diagram of an application scenario according to an embodiment of the present disclosure;

[0179] FIG. 12 is a schematic diagram of a cyclic suffix CS being placed in a cyclic prefix CP according to an embodiment of the present disclosure;

[0180] FIG. 13 is a schematic diagram of a sensing parameter determination apparatus according to an embodiment of the present disclosure;

[0181] FIG. 14 is a schematic diagram of another sensing parameter determination apparatus according to an embodiment of the present disclosure;

[0182] FIG. 15 is a schematic diagram of a communication apparatus according to an embodiment of the present disclosure;

[0183] FIG. 16 is a schematic diagram of another communication apparatus according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0184] In order to more clearly understand the above-mentioned purposes, features and advantages of the present disclosure, the present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. It can be understood that the described embodiments are part of the embodiments of the present disclosure, rather than all the embodiments. The specific embodiments described herein are merely used to explain the present disclosure, but not to limit the present disclosure. Based on the described embodiments of the present disclosure, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present disclosure.

[0185] It should be noted that, in this paper, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations.

[0186] Wireless sensing is generally divided into single-base sensing and double-base sensing.

[0187] Single-base sensing refers to that a single node transmits a sensing signal and receives a return wave. Single-base sensing includes single-base station sensing or single-terminal sensing. Single-base station sensing includes that a base station transmits a sensing signal, and the sensing signal is reflected and / or scattered by a sensed object, and then the reflected and / or scattered sensing signal is received by the base station. Single-terminal sensing includes that a terminal transmits a sensing signal, and the sensing signal is reflected and / or scattered by a sensed object, and then the reflected and / or scattered sensing signal is received by the terminal.

[0188] Double-base sensing refers to that one node transmits a sensing signal and another node receives the sensing signal. Double-base sensing includes double-base station sensing, double-terminal sensing, base station-terminal sensing or terminal-base station sensing. Double-base station sensing includes that one base station transmits a sensing signal, and the sensing signal is reflected and / or scattered by a sensed object, and then the reflected and / or scattered sensing signal is received by another base station. Double-terminal sensing includes that one terminal transmits a sensing signal, and the sensing signal is reflected and / or scattered by a sensed object, and then the reflected and / or scattered sensing signal is received by another terminal. Base station-terminal sensing includes that a base station transmits a sensing signal, and the sensing signal is reflected and / or scattered by a sensed object, and then the reflected and / or scattered sensing signal is received by a terminal. Terminal-base station sensing includes that a terminal transmits a sensing signal, and the sensing signal is reflected and / or scattered by a sensed object, and then the reflected and / or scattered sensing signal is received by a base station.

[0189] Sensing-transmitting and sensing-receiving asynchronization refers to that the clock and / or frequency of a sensing-transmitting node and a sensing-receiving node are not the same.

[0190] Terminal synchronization error: When the terminal performs cell synchronization search by using the primary synchronization signal (PSS) or the secondary synchronization signal (SSS), the terminal synchronization error is about 3 μs (microsecond).

[0191] Base station synchronization error: Generally, if the base station is configured with a global satellite positioning system (such as a GPS system or a Beidou navigation system), the base station synchronization error is controlled within tens of ns (nanoseconds); if the base station is not configured with a global satellite positioning system, the base station synchronization error is 260 ns or 3 μs.

[0192] It can be seen that, for the double-base perception between the base station and the terminal (that is, base station terminal perception or terminal base station perception), the maximum transmission and reception time deviation can be 3 μs, which is equivalent to an estimated deviation of one kilometer in the perception distance; for the double-base perception between the terminals (double-terminal perception), assuming that, in an extreme case, the perception sending node clock lags behind 3 μs, and the perception receiving node clock advances by 3 μs, the clock deviation between the two terminals is 6 μs, which is equivalent to causing an estimated deviation of about two kilometers in the perception distance.

[0193] The clock deviation between the perception sending node and the perception receiving node causes the estimated deviation of the perception distance to increase, thereby causing the following problems:

[0194] If the clock (T1) of the perception receiving node is faster than the clock (T2) of the perception sending node, when the clock error Δt (Δt = T1-T2) is greater than the air interface transmission delay, the perception signal received by the perception receiving node is incomplete, resulting in poor reliability of the perception measurement quantity.

[0195] At present, in order to eliminate the inter-symbol interference caused by multipath, a cyclic prefix (CP) is inserted in the guard interval of an orthogonal frequency division multiplexing (OFDM) symbol to ensure that the number of time delay multipath signal waveform cycles of the OFDM symbol within the fast Fourier transform (FFT) period is an integer. The signal with a time delay less than the guard interval will not cause inter-symbol interference in the demodulation process.

[0196] FIG. 1 is a schematic diagram of OFDM symbol reception in communication and perception integration. In FIG. 1, the terminal acquires the boundary time of the OFDM symbol sent by the base station as the time corresponding to the position of the FFT start window, and the terminal intercepts the data of the FFT window as the effective data. Assuming that the distance between the transmitter of the base station and the receiver of the terminal is 500 m, the corresponding air interface transmission delay is 1.5 μs, and it is assumed that:

[0197] Case 1: The clocks of the transmitter and the receiver are synchronous, i.e., Δt (Δt = T1-T2) is zero.

[0198] Case 2: The clock of the receiver is 3μs earlier than the clock of the transmitter (the clock of the receiver is ahead or the clock of the transmitter is behind), i.e., Δt = 3μs.

[0199] Case 3: The clock of the receiver is 3μs later than the clock of the transmitter (the clock of the receiver is behind or the clock of the transmitter is ahead), i.e., Δt = -3μs.

[0200] In case 1, since the clocks of the transmitter and the receiver are synchronous, the air interface transmission delay 1.5us can be correctly calculated. In case 2, since the clocks of the transmitter and the receiver are not synchronous (the clock of the receiver is 3μs earlier than the clock of the transmitter), the calculated air interface transmission delay is 4.5us. In case 3, since the clocks of the transmitter and the receiver are not synchronous (the clock of the receiver is 3μs later than the clock of the transmitter), the received window contains incorrect data, resulting in a decrease in the quality of the received signal and an error in the calculated air interface transmission delay, for example, a negative air interface transmission delay detection.

[0201] It can be seen that, before the OFDM symbol, a cyclic prefix (CP) is inserted, and when the clock of the receiver is earlier than the clock of the transmitter (or, the clock of the receiver is later than the clock of the transmitter), the following technical problems can occur:

[0202] 1. The receiver cannot receive a complete OFDM symbol, resulting in a decrease in the reliability of the result of the sensing measurement.

[0203] 2. The quality of the received signal decreases (including incorrect data) and the air interface transmission delay detection is negative.

[0204] FIG. 2 is a flow diagram of a sensing parameter determination method provided by an embodiment of the present disclosure, which is applied to a first node, which can be a sensing server, a base station or a terminal. As shown in FIG. 2, the sensing parameter determination method can include, but is not limited to, steps 201 to 203:

[0205] In step 201, the first node sends sensing configuration information to at least one second node, the sensing configuration information including sensing resource configuration and sensing symbol structure configuration.

[0206] In this embodiment, the first node is configured to indicate the sensing configuration information to the second node, and the second node is configured to send and / or receive the sensing signal and send the sensing measurement information to the first node. If the first node is a sensing server, the second node can be a base station or a terminal; if the first node is a base station or a terminal, the second node can be a base station or a terminal.

[0207] In the embodiment, the first node indicates the sensing symbol structure configuration to the second node in addition to indicating the sensing resource configuration to the second node. The sensing symbol structure configuration is a configuration of structure of OFDM symbol used for sensing. The sensing symbol structure configuration is different from the OFDM symbol structure currently used for sensing, for example, the sensing symbol structure configuration includes a cyclic suffix (CS) in addition to a cyclic prefix (CP), and specific content of the sensing symbol structure configuration is described below. By indicating the sensing symbol structure configuration to the second node, the second node adjusts transmission and / or reception of the sensing signal based on the sensing symbol structure configuration, so as to solve the problem of unreliable sensing result and degraded received signal quality caused by clock asynchronization of the sensing transceiver node.

[0208] In the embodiment, the sensing resource configuration includes at least one of the following:

[0209] (1) one sensing resource (Sensing Resource);

[0210] (2) a sensing resource set (Sensing Resource Set) composed of multiple sensing resources;

[0211] (3) a sensing resource set list (Sensing Resource Set List) composed of multiple sensing resource sets.

[0212] In the embodiment, the sensing resource includes at least one of the following:

[0213] sensing resource time domain information for indicating at least one symbol;

[0214] sensing resource frequency domain information for indicating at least one resource element (RE).

[0215] In the embodiment, (1) the sensing symbol structure configuration is determined based on the sensing resource;

[0216] or (2) the sensing symbol structure configuration is determined based on the sensing resource set;

[0217] or (3) the sensing symbol structure configuration is determined based on the sensing resource set list.

[0218] In (1), different sensing resources have independent configurations of corresponding sensing symbol structures, and the values can be different.

[0219] In (2), the sensing symbol structure configuration of different sensing resources in the same sensing resource set is the same, and the sensing symbol structure configuration of different sensing resource sets is different, i.e., the sensing symbol structure between different sensing resource sets is independently configured, and the values can be different. For example, the sensing resource set used only for determining the timing offset uses the sensing symbol structure configuration indicated in (2).

[0220] In (3), the sensing symbol structure configuration of different sensing resource sets in the same sensing resource list is the same, and the sensing symbol structure configuration of different sensing resource lists is different, i.e., the sensing symbol structure between different sensing resource lists is independently configured, and the values can be different.

[0221] In step 202, the first node receives the sensing measurement information sent by the at least one second node.

[0222] In the embodiment, the sensing measurement information is information calculated by the second node based on the sensing signal. If the second node is a sensing sending node, the second node calculates the sensing measurement information based on the sent sensing signal. If the second node is a sensing receiving node or a sensing transceiving integrated node, the second node calculates the sensing measurement information based on the received sensing signal.

[0223] In some embodiments, considering that the second node can have different roles (sensing sending node, sensing receiving node, or sensing transceiving integrated node), the first node can indicate the role of the second node, for example, the first node can indicate the second node configuration to the at least one second node, i.e., the sensing configuration information sent by the first node to the at least one second node further includes the second node configuration. The second node configuration is used to indicate the at least one second node to send and / or receive the sensing signal, i.e., to indicate the role of the at least one second node.

[0224] In some embodiments, (1) the second node configuration is determined based on the sensing resource;

[0225] Or, (2) the second node configuration is determined based on the sensing resource set;

[0226] Or, (3) the second node configuration is determined based on the sensing resource list.

[0227] In (1), the second node configuration of different sensing resources is independently configured. Taking two second nodes (TRP1 and TPR2) as an example, TRP is a Transmission Reception Point. The second node configuration determined based on the sensing resource can be any one in Table 1.

[0228] Table 1: Second node configuration options determined based on sensing resources

[0229] In (2), the second node configurations of different sensing resources in the same sensing resource set are the same, the second node configurations of different sensing resource sets are different, that is, the second nodes are independently configured between different sensing resource sets.

[0230] In (3), the second node configurations of different sensing resource sets in the same sensing resource list are the same, the second node configurations of different sensing resource lists are different, that is, the second nodes are independently configured between different sensing resource lists.

[0231] In some embodiments, the first node can indicate the measurement report format configuration, that is, the sensing configuration information sent by the first node to the at least one second node further includes the measurement report format configuration. The second node performs sensing measurement reporting based on the measurement report format configuration. The measurement report format configuration includes at least one of the following: a sensing measurement quantity, a minimum reporting value of the sensing measurement quantity. Wherein, the sensing measurement quantity includes at least one of the following: time delay and distance.

[0232] For example, the timing deviation parameter Δt max is 3us, where the timing deviation parameter Δt max represents the maximum timing deviation that can occur between two second nodes. The measurement report format configuration is as follows: any one of Table 2:

[0233] Table 2 Measurement report format configuration options

[0234] The distance in Table 2 is in meters, and can also be in other length units such as decimeters or centimeters.

[0235] In Table 2, if the minimum reporting value is zero, the minimum reporting value can not be configured, that is, the default minimum value is 0, and the sensing receiving node processes the sensing measurement information according to the minimum reporting value of zero.

[0236] In Table 2, the sensing measurement information processing includes: the difference between the value of the sensing measurement quantity and the minimum reporting value of the sensing measurement quantity as the sensing measurement information.

[0237] Taking the time delay as the sensing measurement quantity, Fig. 3 is a schematic diagram of a dual-base-station sensing scenario provided by an embodiment of the present disclosure, in which two second nodes (TRP1 and TPR2) are configured with index 1 in Table 1, that is, TRP1 is a sensing sending node and TRP2 is a sensing receiving node, and the sensing signal sent by TRP1 is received by TRP2 after reflection and / or scattering by the sensing object.

[0238] For TRP1, the sensing measurement quantity is denoted as meas_result1: meas_result1=τ TRP1-2 =τ1+τ2+Δt

[0239] For TPR2, the perception measurement quantity is denoted as meas_result2: meas_result2 = τ TRP2-1 = τ1+ τ2- Δt

[0240] Wherein, τ1 is the air interface delay from TRP1 to the perception object; τ2 is the air interface delay from TRP2 to the perception object, and Δt is the clock error of TRP1 and TRP2, wherein the absolute value of Δt is less than Δt max , Δt max is the timing deviation parameter (i.e. the maximum timing deviation) between TRP1 and TRP2. Δt is greater than zero, indicating that the synchronization clock of TRP1 is faster than that of TRP2, for example, Δt is 1 second, at a certain time, if the clock of TRP1 shows 12:00, the clock of TRP2 shows 11:59.

[0241] The perception measurement information (meas_rpt1) reported by TRP1 is: meas_rpt1 = meas_result1 - lowest_v

[0242] The perception measurement information (meas_rpt2) reported by TRP2 is: meas_rpt2 = meas_result2 - lowest_v

[0243] Wherein, meas_result1 is the perception measurement quantity of TRP1, meas_result2 is the perception measurement quantity of TRP2, and lowest_v is the minimum reporting value of the perception measurement quantity.

[0244] In step 203, the first node determines the perception parameter of the at least one second node based on the perception measurement information sent by the at least one second node.

[0245] In the embodiment, the perception parameter includes at least one of the following:

[0246] Synchronization clock error, air interface transmission delay, Doppler frequency offset.

[0247] For any two second nodes, the synchronization clock error is half of the difference between the perception measurement information sent by the two second nodes.

[0248] For any two second nodes, the air interface transmission delay is obtained based on the perception measurement information sent by the two second nodes and the minimum reporting value of the perception measurement quantity.

[0249] For example, in FIG. 3, for two second nodes TRP1 and TRP2, the synchronization clock error (Δt) of TRP1 and TRP2 is: Δt = (meas_rpt1 - meas_rpt2) / 2

[0250] meas_rpt1 is the perception measurement information reported by TRP1, and meas_rpt2 is the perception measurement information reported by TRP2.

[0251] In FIG. 3, for the two second nodes TRP1 and TRP2, the air interface transmission delay of the perception object to TRP1 and TRP2 is the sum of the air interface delay τ1 of TRP1 to the perception object and the air interface delay τ2 of TRP2 to the perception object. The air interface transmission delay (τ1+τ2) is: τ1+τ2=(meas-rpt1+meas-rpt2+2*lowest-v) / 2

[0252] meas_rpt1 is the perception measurement information reported by TRP1, meas_rpt2 is the perception measurement information reported by TRP2, and lowest_v is the minimum reported value of the perception measurement quantity.

[0253] It can be seen that, in the embodiment, the first node not only indicates the perception resource configuration to the second node, but also indicates the perception symbol structure configuration to the second node. The perception symbol structure configuration is the structure configuration of the OFDM symbol used for perception. The perception symbol structure configuration is different from the current OFDM symbol structure used for perception. By indicating the perception symbol structure configuration to the second node, the second node adjusts the transmission and / or reception of the perception signal based on the perception symbol structure configuration, so as to solve the problems of unreliable perception result and degraded received signal quality caused by the clock of the perception transceiver node being out of synchronization.

[0254] In some embodiments, in step 201, the perception symbol structure configuration includes at least one of the following:

[0255] Cyclic prefix (CP), subcarrier spacing (SCS), cyclic suffix (CS).

[0256] Since the cyclic suffix CS is added in the perception symbol structure configuration, the total length of the entire OFDM symbol becomes longer, and therefore it is necessary to adjust the length of the cyclic prefix CP and / or the cyclic suffix CS to maintain the length of each OFDM symbol or the length of a group of OFDM symbols unchanged. The adjustment of the length of the cyclic prefix CP and / or the cyclic suffix CS includes any one of the following modes one to three:

[0257] Mode one, the sum of the lengths of the cyclic prefix CP and the cyclic suffix CS is a preset length.

[0258] The preset length is a preset length of the cyclic prefix CP, that is, the length of the reduced cyclic prefix CP is equal to the length of the increased cyclic postfix CS. In some embodiments, the preset length is 512K or 144K, where K is a preset constant related to sampling. For example, K = 64 in the NR system.

[0259] In the second mode, the length of the cyclic prefix CP is a preset length, and the length of the cyclic postfix CS is the length of the reduced cyclic prefix of the next sensing symbol. The next sensing symbol refers to the next sensing symbol of the current sensing symbol corresponding to the cyclic prefix CP.

[0260] For example, the length of the cyclic prefix of the next sensing symbol n+1 is shortened, and the length of the reduced cyclic prefix of the next sensing symbol n+1 is equal to the length of the increased cyclic postfix CS of the sensing symbol n.

[0261] In the third mode, the length of the cyclic postfix CS is less than the length of the cyclic prefix of the next sensing symbol, and the cyclic postfix CS shares data in the cyclic postfix CS with the cyclic prefix of the next sensing symbol.

[0262] For example, the sensing symbol n shares data in the cyclic postfix CS of the sensing symbol n with the next sensing symbol n+1, where the sharing can be understood as that the data in the overlapping part of the cyclic postfix CS of the sensing symbol n and the cyclic prefix of the next sensing symbol n+1 is the same.

[0263] For example, FIG. 4 is a schematic diagram of the first mode of adjusting the lengths of the cyclic prefix CP and / or the cyclic postfix CS according to an embodiment of the present disclosure. In FIG. 4, the original symbol structure only includes a cyclic prefix CP1 and a FFT window, and the new symbol structure in the embodiment includes a cyclic prefix CP2, a FFT window and a cyclic postfix CS. The length of the reduced cyclic prefix CP2 is equal to the length of the increased cyclic postfix CS, that is, the sum of the lengths of the cyclic prefix CP2 and the cyclic postfix CS is equal to the length of the cyclic prefix CP1. In some embodiments, the length of the cyclic prefix CP1 of the original symbol structure in FIG. 4 is equal to the time length corresponding to the extended cyclic prefix (ECP) defined in the New Radio (NR) protocol, and the length of CP2 is equal to the length of CS, both of which are half of the length of CP1.

[0264] For example, FIG. 5 is a schematic diagram of a second and third way of adjusting the length of the cyclic prefix CP and / or the length of the cyclic suffix CS according to an embodiment of the present disclosure. In FIG. 5, the second way is to shorten the length of the cyclic prefix of the next sensing symbol n+1, and the length of the cyclic prefix of the next sensing symbol n+1 is equal to the length of the cyclic suffix CS of the sensing symbol n. In FIG. 5, the third way is that the sensing symbol n shares the data in the cyclic suffix CS of the sensing symbol n with the next sensing symbol n+1, that is, the cyclic suffix CS of the sensing symbol n and the cyclic prefix of the next sensing symbol n+1 overlap.

[0265] It should be noted that for the NR system, the CP+FFT window+CS structure described above is only used for the sensing symbol structure, and the communication symbol still uses the CP+FFT window structure, so as to maintain the compatibility of the old version protocol. For the future system design (such as the 6G system), there is no such constraint.

[0266] In some embodiments, in step 201, the sensing symbol structure configuration includes at least one of the following:

[0267] Cyclic prefix (CP), subcarrier spacing (SCS), and cyclic suffix (CS).

[0268] The cyclic suffix CS is located at the end of the sensing symbol structure, or the cyclic suffix CS is located in the cyclic prefix CP as part of the cyclic prefix.

[0269] The cyclic prefix CP, the subcarrier spacing SCS, and the cyclic suffix CS can be configured independently, jointly, or defined in one or more tables in the protocol to determine the cyclic prefix CP, the subcarrier spacing SCS, and / or the cyclic suffix CS by indicating the index of the table, and to determine the generation method of the cyclic suffix CS through the protocol.

[0270] Embodiment one

[0271] The sensing symbol structure configuration includes the length (or length type) of the cyclic prefix CP, the subcarrier spacing SCS, and the length (or length type) of the cyclic suffix CS. The length (or length type) of the cyclic suffix CS can be configured independently of the cyclic prefix CP or jointly with the cyclic prefix CP.

[0272] This embodiment takes the joint configuration as an example to illustrate the way of configuring the cyclic prefix CP and / or the cyclic suffix CS. The joint configuration length type of the cyclic prefix CP and the cyclic suffix CS is shown in Table 3:

[0273] Table 3: Joint configuration length type of cyclic prefix CP and cyclic suffix CS

[0274] Note 1: Type 4 affects the CP position length and starting position of the adjacent symbol.

[0275] Note 2: Type 5 affects the CP data of the adjacent symbol.

[0276] Note 3: In the scheme, the value of K is a constant related to sampling. For example, K = 64 in the NR system.

[0277] Figure 6 is a schematic diagram of a joint configuration length type of cyclic prefix CP and cyclic suffix CS being type 9 according to an embodiment of the present disclosure. In Figure 6, the length of CP1 is 512K·2 -μ , the lengths of CP2 and CS are both 256K·2 -μ , and the sum of the lengths of CP2 and CS is equal to the length of CP1. It can be seen that the new symbol structure in Figure 6 does not affect the structure of the adjacent symbol. The sum of the lengths of CP2 and CS is compatible with the parameters of the existing protocol (the length of CP1), and has little effect on the existing protocol. For example, the data of the sensing symbol n is {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, A}; the data of CP2 is {8, 9, A}, and the data of CS is {0, 1, 2}.

[0278] Figure 7 is a schematic diagram of a joint configuration length type of cyclic prefix CP and cyclic suffix CS being type 4 according to an embodiment of the present disclosure. In Figure 7, the length of the CP of the sensing symbol n is 144K·2 -μ . The CS of the sensing symbol n occupies the time domain position of symbol n+1, and the CP of symbol n+1 is shortened. The length of the CP of symbol n+1 (72K·2 -μ ) and the length of the CS of the sensing symbol n (72K·2 -μ ) are summed to 144K·2 -μ , which is the same as the preset length of the CP defined in the existing protocol. The advantage is that the sensing symbol n only affects the adjacent symbol n+1, and does not affect symbol n+2 and the symbols thereafter. The sum of the length of the CP of symbol n+1 and the length of the CS of the sensing symbol n is compatible with the parameters of the existing protocol (the preset length of the CP), and has little effect on the existing protocol. For example, the data of the sensing symbol n is {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, A}; the data of symbol n+1 is {C, D, E, F, G, H, J, K, L, M}; the CP data of the sensing symbol n is {9, A}, and the CS data is {0}; and the CP2 data of symbol n+1 is {M}.

[0279] FIG. 8 is a schematic diagram of a cyclic prefix (CP) and cyclic suffix (CS) jointly configured length type 5 according to an embodiment of the present disclosure. In FIG. 8, the CP length of the sensing symbol n is 144K·2 -μ , the CS of the sensing symbol n occupies the time domain position of the symbol n+1, and the CP length of the symbol n+1 is not shortened. The length of the CS of the sensing symbol n (72K·2 -μ ) and the CP length of the symbol n+1 (72K·2 -μ ) are summed to 144K·2 -μ , where the data of the CS is equal to the Data data in the symbol n+1, i.e., the sensing symbol n is processed so that the CS data generated by the sensing symbol n is the same as the Data data of the symbol n+1. For example, the data of the sensing symbol n is {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, A}; the CP data of the sensing symbol n is {9, A}, and the CS data is {0}; the original data of the symbol n+1 is {C, D, E, F, G, H, J, K, L, M}, and after processing, the second last data of the symbol n+1 is {0}, i.e., the Data in FIG. 8 is 0, and the new data of the symbol n+1 is {C, D, E, F, G, H, J, K, 0, M}; the CP of the symbol n+1 is {0, M}, and the CP of the symbol n+1 and the CS of the sensing symbol n share the same data {0}.

[0280] In some embodiments, for the cyclic prefix (CP) and cyclic suffix (CS) jointly configured length type 5, the sensing symbol n or the symbol n+1 can also be processed so that the CS data of the sensing symbol n is equal to part of the data in the CP of the symbol n+1.

[0281] For example, the data of the symbol n+1 is {C, D, E, F, G, H, J, K, L, M}; the CP data of the symbol n+1 is {L, M}; and the data of the sensing symbol n is processed so that the CS part of the data of the sensing symbol n is {L}, i.e., the data of the sensing symbol n is {L, 1, 2, 3, 4, 5, 6, 7, 8, 9, A}. In this way, the CP of the sensing symbol n is {9, A}, and the CS is {L}.

[0282] In some embodiments, in FIGS. 4 to 8, the CS data is generated, and the CS data is generated by copying the OFDM symbol data (i.e., the data in the FFT window) from left to right into the CS according to the length of the CS. Specifically, the generation of the CS and CP data includes the following steps 1 and 2:

[0283] Step 1, indicating the lengths of the CP and the CS:

[0284] wherein if the lengths of the CP and the CS are both configured as 256k·2-μ , the sum of the CP and the CS length is the length of the extended CP. If the length of the CP and the CS are both configured as 72k·2 -μ , the sum of the CP and the CS length is the length of the normal CP.

[0285] Step 2, generating the modulated symbol according to the symbol length and the CP length and the CS in the following manner:

[0286] wherein, T c is the sampling interval. is the number of RE resources; is the offset in the frequency domain. is the data in the frequency domain.

[0287] denotes the calculation of the starting position of the current symbol, i.e.

[0288] For l = 0, the starting position of the symbol is 0.

[0289] For multiple symbols, when l is greater than 0, the starting position is the end position of the previous symbol.

[0290] In some embodiments, in step 201, the perception configuration information further comprises: a measurement reporting format configuration; the measurement reporting format configuration comprises at least one of the following: a perception measurement quantity, a minimum reporting value of the perception measurement quantity.

[0291] wherein, the minimum reporting value of the perception measurement quantity is determined by the following steps 1 and step 2:

[0292] Step 1, the first node acquires a synchronization deviation parameter of at least one second node.

[0293] wherein, the synchronization deviation parameter comprises: a timing deviation parameter Δt max or a frequency deviation parameter.

[0294] The timing deviation parameter Δt max represents the maximum timing deviation that can be generated between two second nodes. The timing deviation affects the allocation of the perception resource and the reporting range of the perception result, for example:

[0295] The greater the timing deviation parameter, the farther the equivalent perception distance that needs to be supported, and the denser the frequency domain resource that needs to be supported.

[0296] The smaller the timing deviation parameter, the smaller the minimum value of the perception measurement information reported by the second node, and the transmission delay reported by the second node can be negative.

[0297] In some embodiments, the first node may determine the synchronization deviation parameter of at least one second node based on a protocol.

[0298] For example, the timing deviation parameter Δt can be determined based on the time deviation requirements in carrier aggregation scenarios or the accuracy error requirements for terminal cell synchronization. max The time deviation can be 3μs or 260ns; alternatively, a new time deviation requirement can be defined for the sensing scenario through the protocol to determine the timing deviation parameter Δt. max It is 50 ns or 1 μs.

[0299] In some embodiments, the first node receives synchronization deviation parameters sent by at least one second node.

[0300] For example, the timing deviation reporting capability of the second node includes receiving timing and transmitting timing deviation parameters. This timing deviation capability is the deviation relative to a certain reference clock source, which can be a satellite navigation system (such as BeiDou or GPS) or a clock based on a certain reference node. The timing deviation capability reported by the second node can be a single value, i.e., the same value corresponding to all bands, or it can be different values ​​reported based on different bands.

[0301] Step 2: The first node determines the minimum reported value of the sensed measurement based on the synchronization deviation parameter.

[0302] For example, using the timing deviation parameter Δt max Taking 3us as an example, referring to the measurement reporting format configuration options shown in Table 2, if the perceived measurement is time delay, the minimum reported value of the perceived measurement is -3us / -3000ns; if the perceived measurement is distance, the minimum reported value of the perceived measurement is -1000 meters.

[0303] For example, if the sensed measurement is a time delay, based on the timing deviation parameter Δt max and minimum air interface delay t min Determine the minimum reported value of the sensed measurement, lowest_v: lowest_v = -Δt max +t min

[0304] Among them, the minimum air interface delay t min =d / c, where c is the speed of light and d is the distance between the two second nodes. Correspondingly, the length of the cyclic suffix CS should be greater than the absolute value of lowest_v.

[0305] In some embodiments, the measurement reporting format configuration further includes: the maximum reported value of the sensed measurement.

[0306] The maximum reporting value highest_v of the perception measurement quantity is calculated based on the maximum air interface transmission distance of the at least one second node and the synchronization deviation parameter of the at least one second node.

[0307] For example, in FIG. 3, the maximum air interface transmission distance of TRP1 and TRP2 is L, that is, the maximum distance between TRP1 and TRP2 through the perception object. If the perception measurement quantity is time delay, the maximum reporting value highest_v of the perception measurement quantity is: highest_v = Δt max + t max

[0308] wherein the maximum air interface time delay t max = L / c, c is the speed of light.

[0309] In some embodiments, after determining the perception parameter of the at least one second node in step 203, the first node sends the synchronization clock error to the at least one second node.

[0310] wherein the perception parameter comprises: the synchronization clock error (Δt), the air interface transmission time delay, and the Doppler frequency offset.

[0311] In the present embodiment, the first node sends the synchronization clock error (Δt) to the at least one second node in any one of the following modes one to three:

[0312] Mode one, the first node sends the synchronization clock error to the second node as the perception sending node.

[0313] For example, in FIG. 3, the first node sends Δt to TRP1.

[0314] Mode two, the first node sends the negative value of the synchronization clock error to the second node as the perception receiving node.

[0315] For example, in FIG. 3, the first node sends -Δt to TRP2.

[0316] Mode three, the first node sends half of the synchronization clock error to the second node as the perception sending node, and sends the negative value of half of the synchronization clock error to the second node as the perception receiving node.

[0317] For example, in FIG. 3, the first node sends Δt / 2 to TRP1, and sends -Δt / 2 to TRP2.

[0318] After receiving the synchronization clock error, the second node (TRP1 and / or TRP2) performs clock adjustment, and the specific adjustment mode is described below.

[0319] FIG. 9 is a flow diagram of a sensing parameter determination method provided by an embodiment of the present disclosure, which is applied to a second node for sending and / or receiving a sensing signal and sending sensing measurement information to a first node. If the first node is a sensing server, the second node can be a base station or a terminal; if the first node is a base station or a terminal, the second node can be a base station or a terminal. As shown in FIG. 9, the sensing parameter determination method includes but is not limited to steps 901 to 904:

[0320] In step 901, the second node receives sensing configuration information sent by the first node, and the sensing configuration information includes sensing resource configuration and sensing symbol structure configuration.

[0321] The sensing symbol structure configuration is a structure configuration of an OFDM symbol used for sensing. The sensing symbol structure configuration is different from the current OFDM symbol structure used for sensing, for example, the sensing symbol structure configuration includes a cyclic suffix (CS) in addition to a cyclic prefix (CP), so that the second node adjusts the sending and / or receiving of the sensing signal based on the sensing symbol structure configuration, so as to solve the problems of unreliable sensing results and degraded received signal quality caused by clock asynchronization of the sensing transceiver node.

[0322] In the embodiment, the sensing resource configuration includes at least one of the following:

[0323] (1) one sensing resource (Sensing Resource);

[0324] (2) a sensing resource set composed of multiple sensing resources (Sensing Resource Set);

[0325] (3) a sensing resource list composed of multiple sensing resource sets (Sensing Resource Set List).

[0326] The sensing resource includes at least one of the following:

[0327] sensing resource time domain information for indicating at least one symbol;

[0328] sensing resource frequency domain information for indicating at least one resource element (RE).

[0329] In the embodiment, the sensing symbol structure configuration is determined based on the sensing resource;

[0330] or, the sensing symbol structure configuration is determined based on the sensing resource set;

[0331] or, the sensing symbol structure configuration is determined based on the sensing resource list.

[0332] In (1), different sensing resources are configured independently in terms of their corresponding sensing symbol structure, and the values can be different.

[0333] In (2), the sensing symbol structures of different sensing resources in the same sensing resource set are configured the same, and the sensing symbol structures of different sensing resource sets are configured differently, i.e., the sensing symbol structures of different sensing resource sets are configured independently, and the values can be different. For example, the sensing resource set used only for determining timing offset uses the sensing symbol structure configuration indicated in (2).

[0334] In (3), the sensing symbol structures of different sensing resource sets in the same sensing resource list are configured the same, and the sensing symbol structures of different sensing resource lists are configured differently, i.e., the sensing symbol structures of different sensing resource lists are configured independently, and the values can be different.

[0335] In step 902, the second node transmits and / or receives the sensing signal based on the sensing configuration information.

[0336] If the second node is a sensing transmitting node, the second node calculates the sensing measurement information based on the transmitted sensing signal. If the second node is a sensing receiving node or a sensing transceiving node, the second node calculates the sensing measurement information based on the received sensing signal.

[0337] In some embodiments, the sensing configuration information further includes a second node configuration. The second node configuration is used to indicate at least one second node to transmit and / or receive the sensing signal, i.e., to indicate the role of at least one second node.

[0338] If the second node configuration is a sensing transmitting node, the second node determines the sensing signal based on the sensing resource configuration and the sensing symbol structure configuration, and transmits the sensing signal;

[0339] If the second node configuration is a sensing receiving node, the second node receives the sensing signal based on the sensing resource configuration and the sensing symbol structure configuration;

[0340] If the second node configuration is a sensing transceiving node, the second node determines the sensing signal based on the sensing resource configuration and the sensing symbol structure configuration, transmits the sensing signal, and receives the sensing signal reflected and / or scattered by the sensed object.

[0341] In some embodiments, (1) the second node configuration is determined based on the sensing resource;

[0342] Or, (2) the second node configuration is determined based on the sensing resource set;

[0343] Or, (3) the second node configuration is determined based on the sensing resource list.

[0344] In (1), the second node configuration of different sensing resources is independently configured. Taking two second nodes (TRP1 and TPR2) as an example, the second node configuration determined based on the sensing resource can be any one in Table 1.

[0345] In (2), the second node configurations of different sensing resources in the same sensing resource set are the same, and the second node configurations of different sensing resource sets are different, that is, the second node independent configurations between different sensing resource sets.

[0346] In (3), the second node configurations of different sensing resource sets in the same sensing resource list are the same, and the second node configurations of different sensing resource lists are different, that is, the second node independent configurations between different sensing resource lists.

[0347] In step 903, the second node determines the sensing measurement information based on the sensing signal.

[0348] In this embodiment, the second node determines the value of the sensing measurement quantity based on the sensing signal, and then determines the sensing measurement information based on the value of the sensing measurement quantity and the minimum reporting value of the sensing measurement quantity. For example, the difference between the value of the sensing measurement quantity and the minimum reporting value of the sensing measurement quantity is taken as the sensing measurement information.

[0349] In some embodiments, the sensing configuration information can further include a measurement reporting format configuration. The second node performs sensing measurement reporting based on the measurement reporting format configuration. The measurement reporting format configuration includes at least one of the following: a sensing measurement quantity, a minimum reporting value of the sensing measurement quantity. Wherein the sensing measurement quantity includes at least one of the following: a time delay and a distance.

[0350] For example, taking the timing deviation parameter Δt max as an example, where the timing deviation parameter Δt max represents the maximum timing deviation that can be generated between two second nodes. The measurement reporting format configuration is any one in Table 2.

[0351] Taking the time delay as the sensing measurement quantity, in FIG. 3, two second nodes (TRP1 and TPR2) are configured with index 1 in Table 1, that is, TRP1 is taken as a sensing sending node, and TPR2 is taken as a sensing receiving node, and the sensing signal sent by TRP1 is received by TPR2 through reflection and / or scattering of the sensing object.

[0352] For TRP1, the sensing measurement quantity is denoted as meas_result1: meas_result1 = τ TRP1-2 = τ1+ τ2+ Δt

[0353] For TPR2, the sensing measurement quantity is denoted as meas_result2: meas_result2 = τ TRP2-1= τ1 + τ2 - Δt

[0354] wherein τ1 is the air interface delay from TRP1 to the sensing object; τ2 is the air interface delay from TRP2 to the sensing object, and Δt is the clock error of TRP1 and TRP2, wherein the absolute value of Δt is less than Δt max , Δt max is the timing deviation parameter (i.e. the maximum timing deviation) between TRP1 and TRP2. Δt is greater than zero, indicating that the synchronization clock of TRP1 is faster than the synchronization clock of TRP2.

[0355] The sensing measurement information (meas_rpt1) reported by TRP1 is: meas_rpt1 = meas_result1 - lowest_v

[0356] The sensing measurement information (meas_rpt2) reported by TRP2 is: meas_rpt2 = meas_result2 - lowest_v

[0357] wherein meas_result1 is the sensing measurement quantity of TRP1, meas_result2 is the sensing measurement quantity of TRP2, and lowest_v is the minimum reporting value of the sensing measurement quantity.

[0358] In step 904, the second node sends the sensing measurement information to the first node.

[0359] In this embodiment, the sensing measurement information is used by the first node to determine the sensing parameter of the second node. The sensing parameter includes at least one of the following:

[0360] synchronization clock error, air interface transmission delay, Doppler frequency offset.

[0361] For any two second nodes, the synchronization clock error is half of the difference between the sensing measurement information sent by the two second nodes.

[0362] For any two second nodes, the air interface transmission delay is obtained based on the sensing measurement information sent by the two second nodes and the minimum reporting value of the sensing measurement quantity.

[0363] For example, in FIG. 3, for two second nodes TRP1 and TRP2, the synchronization clock error (Δt) of TRP1 and TRP2 is: Δt = (meas_rpt1 - meas_rpt2) / 2

[0364] wherein meas_rpt1 is the sensing measurement information reported by TRP1, and meas_rpt2 is the sensing measurement information reported by TRP2.

[0365] In FIG. 3, for the two second nodes TRP1 and TRP2, the air interface transmission delay of the sensing object to TRP1 and TRP2 is the sum of the air interface delay τ1 of TRP1 to the sensing object and the air interface delay τ2 of TRP2 to the sensing object. The air interface transmission delay (τ1 + τ2) is: τ1 + τ2 = (meas-rpt1 + meas-rpt2 + 2 * lowest-v) / 2

[0366] Wherein, meas_rpt1 is the sensing measurement information reported by TRP1, meas_rpt2 is the sensing measurement information reported by TRP2, and lowest_v is the minimum reporting value of the sensing measurement quantity.

[0367] It can be seen that, in the embodiment, the first node indicates the sensing resource configuration to the second node and also indicates the sensing symbol structure configuration to the second node. The sensing symbol structure configuration is the structure configuration of the OFDM symbol used for sensing. The sensing symbol structure configuration is different from the current OFDM symbol structure used for sensing. By indicating the sensing symbol structure configuration to the second node, the second node adjusts the transmission and / or reception of the sensing signal based on the sensing symbol structure configuration, so as to solve the problem of unreliable sensing result and decreased received signal quality caused by the clock of the sensing transceiver node being out of synchronization.

[0368] In some embodiments, in step 901, the sensing configuration information further includes: a measurement reporting format configuration; and the measurement reporting format configuration includes at least one of the following: a sensing measurement quantity and a minimum reporting value of the sensing measurement quantity.

[0369] In the embodiment, the second node can send a synchronization deviation parameter to the first node, and the minimum reporting value of the sensing measurement quantity is determined based on the synchronization deviation parameter. Wherein, the synchronization deviation parameter includes: a timing deviation parameter Δt max or a frequency deviation parameter. The timing deviation parameter Δt max represents the maximum timing deviation that can be generated between the two second nodes.

[0370] For example, the second node reports a timing deviation capability, including: a receiving timing and a sending timing deviation parameter. The timing deviation capability is the deviation relative to a certain reference clock source, which can be a satellite navigation system (such as Beidou system, GPS), or a clock based on a certain reference node. The timing deviation capability reported by the second node can be a numerical value, i.e., the same numerical value for all wave bands, or different numerical values reported based on different wave bands.

[0371] In some embodiments, after sending the sensing measurement information to the first node in step 904, the second node can also receive a synchronization clock error sent by the first node.

[0372] If the second node is a sensing transmitting node, the second node receives the synchronization clock error or half of the synchronization clock error sent by the first node;

[0373] Alternatively, if the second node is a sensing receiving node, the second node receives the negative of the synchronization clock error or the negative of half of the synchronization clock error sent by the first node.

[0374] For example, in FIG. 3, TRP1 is a sensing transmitting node, and receives the synchronization clock error (At) or half of the synchronization clock error (At / 2) sent by the first node.

[0375] In FIG. 3, TRP2 is a sensing receiving node, and receives the negative of the synchronization clock error (-At) or the negative of half of the synchronization clock error (-At / 2) sent by the first node.

[0376] In some embodiments, the second node adjusts the synchronization clock based on the synchronization clock error.

[0377] If the second node is a sensing transmitting node, the second node slows down the synchronization clock based on the synchronization clock error or half of the synchronization clock error being greater than zero, or speeds up the synchronization clock based on the synchronization clock error or half of the synchronization clock error being less than zero.

[0378] If the second node is a sensing receiving node, the second node slows down the synchronization clock based on the negative of the synchronization clock error or the negative of half of the synchronization clock error being greater than zero, or speeds up the synchronization clock based on the negative of the synchronization clock error or the negative of half of the synchronization clock error being less than zero.

[0379] For example, in FIG. 3, the second node (TRP1 and / or TRP2) performs clock adjustment after receiving the synchronization clock error (At), including:

[0380] 1. At is indicated to TRP1

[0381] If At > 0, TRP1 will slow down the synchronization clock. That is, receive or transmit sensing signals with a delay of At time.

[0382] If At < 0, TRP1 will speed up the synchronization clock. That is, receive or transmit sensing signals with an advance of At time.

[0383] 2. -At is indicated to TRP2

[0384] If -At > 0, TRP2 will slow down the synchronization clock. That is, receive or transmit sensing signals with a delay of At time.

[0385] If -At < 0, TRP2 will speed up the synchronization clock. That is, receive or transmit sensing signals with an advance of At time.

[0386] 3. Δt / 2 is indicated to TRP1, -Δt / 2 is indicated to TRP2

[0387] If Δt / 2 > 0, TRP1 will slow down the synchronization clock. That is, the receiving or sending of the sensing signal is delayed by Δt time.

[0388] If Δt / 2 < 0, TRP1 will speed up the synchronization clock. That is, the receiving or sending of the sensing signal is advanced by Δt time.

[0389] If -Δt / 2 > 0, TRP2 will slow down the synchronization clock. That is, the receiving or sending of the sensing signal is delayed by Δt time.

[0390] If -Δt / 2 < 0, TRP2 will speed up the synchronization clock. That is, the receiving or sending of the sensing signal is advanced by Δt time.

[0391] FIG. 10 is an interaction diagram of a sensing parameter determination process according to an embodiment of the present disclosure. In FIG. 10, a sensing server (a first node) is configured to indicate sensing configuration information, TRP1 (a second node) is configured to send a sensing signal, and TRP2 (a second node) is configured to receive the sensing signal. In FIG. 10, the interaction of the sensing parameter determination process includes the following steps 1 to 6B:

[0392] Step 1: The sensing server determines the timing deviation parameter of TRP1 and TRP2.

[0393] The timing deviation parameter (Δt max ) represents the maximum timing deviation that can be generated between the two TRP1 and TRP2. The timing deviation affects the allocation of sensing resources and the reporting range of sensing results, for example:

[0394] The greater the timing deviation parameter, the farther the sensing distance needs to be supported, and the denser the frequency domain resources required.

[0395] The smaller the timing deviation parameter, the smaller the minimum value of the sensing measurement information reported by TRP1 and TRP2, and the transmission delay reported by TRP1 and TRP2 can be negative.

[0396] In this embodiment, the sensing server determines the timing deviation parameter of TRP1 and TRP2 in the following manner one or manner two:

[0397] Manner one: The sensing server determines the timing deviation parameter of TRP1 and TRP2 based on a protocol.

[0398] For example, the timing deviation parameter Δt max50ns or 1μs. max 50ns or 1μs.

[0399] Option 2: The sensing server receives the timing offset parameter sent by TRP1 and TRP2.

[0400] For example, TRP1 and TRP2 report timing offset capability, including receiving timing and sending timing offset parameters. The timing offset capability is relative to a certain reference clock source, which can be a satellite navigation system (such as Beidou system, GPS), or a clock based on a certain reference node. The timing offset capability reported by TRP1 and TRP2 can be a numerical value, i.e. the same value for all wave bands, or different values reported based on different wave bands.

[0401] Step 2: The sensing server instructs TRP1 and TRP2 to sense configuration information.

[0402] The sensing configuration information includes sensing resource configuration, sensing symbol structure configuration, second node configuration and measurement reporting format configuration.

[0403] In this embodiment, the sensing resource configuration includes at least one of the following:

[0404] (1) a sensing resource (Sensing Resource);

[0405] (2) a sensing resource set composed of multiple sensing resources (Sensing Resource Set);

[0406] (3) a sensing resource list composed of multiple sensing resource sets (Sensing Resource Set List).

[0407] The sensing resource includes at least one of the following:

[0408] sensing resource time domain information for indicating at least one symbol;

[0409] sensing resource frequency domain information for indicating at least one resource element (RE).

[0410] In this embodiment, (1) the sensing symbol structure configuration is determined based on the sensing resource;

[0411] Or, (2) the sensing symbol structure configuration is determined based on the sensing resource set;

[0412] Or, (3) the sensing symbol structure configuration is determined based on the sensing resource list.

[0413] In (1), different sensing resources are independently configured with different corresponding sensing symbol structures, and the values can be different.

[0414] In (2), the sensing symbol structures of different sensing resources in the same sensing resource set are configured the same, and the sensing symbol structures of different sensing resource sets are configured differently, i.e., the sensing symbol structures of different sensing resource sets are independently configured, and the values can be different. For example, the sensing resource set used only for determining timing offset uses the sensing symbol structure configuration indicated in (2).

[0415] In (3), the sensing symbol structures of different sensing resource sets in the same sensing resource list are configured the same, and the sensing symbol structures of different sensing resource lists are configured differently, i.e., the sensing symbol structures of different sensing resource lists are independently configured, and the values can be different.

[0416] The sensing symbol structure configuration includes at least one of the following:

[0417] Cyclic prefix CP, subcarrier spacing SCS, and cyclic suffix CS.

[0418] The cyclic prefix CP, subcarrier spacing SCS, and cyclic suffix CS can be configured independently, jointly, or defined in one or more tables in the protocol to determine the cyclic prefix CP, subcarrier spacing SCS, and / or cyclic suffix CS by indicating the index of the table, and to determine the generation method of the cyclic suffix CS through the protocol.

[0419] In this embodiment, the second node is configured to indicate that at least one second node transmits and / or receives sensing signals.

[0420] (1) The second node configuration is determined based on the sensing resource;

[0421] Alternatively, (2) the second node configuration is determined based on the sensing resource set;

[0422] Alternatively, (3) the second node configuration is determined based on the sensing resource list.

[0423] In (1), the second node configurations of different sensing resources are independently configured. Taking two second nodes (TRP1 and TPR2) as an example, the second node configuration determined based on the sensing resource can be any of the items in Table 1.

[0424] In (2), the second node configurations of different sensing resources in the same sensing resource set are the same, and the second node configurations of different sensing resource sets are different, i.e., the second nodes of different sensing resource sets are independently configured.

[0425] In (3), the second nodes of different sets of sensing resources in the same sensing resource list are configured identically, the second nodes of different sensing resource lists are configured differently, i.e., the second nodes of different sensing resource lists are independently configured.

[0426] In this embodiment, the measurement reporting format configuration includes at least one of the following: a sensing measurement quantity, a minimum reporting value of the sensing measurement quantity.

[0427] Taking a timing offset parameter Δt max as an example, with reference to the measurement reporting format configuration options shown in Table 2, if the sensing measurement quantity is a time delay, the minimum reporting value of the sensing measurement quantity is -3us / -3000ns; if the sensing measurement quantity is a distance, the minimum reporting value of the sensing measurement quantity is -1000m.

[0428] For another example, if the sensing measurement quantity is a time delay, based on a timing offset parameter Δt max and a minimum air interface time delay t min , a minimum reporting value lowest_v of the sensing measurement quantity is determined: lowest_v = -Δt max + t min

[0429] wherein the minimum air interface time delay t min = d / c, c is the speed of light, and d is the distance between TRP1 and TRP2. Accordingly, the length of the cyclic suffix CS is greater than the absolute value of lowest_v.

[0430] In some embodiments, the measurement reporting format configuration further includes: a maximum reporting value of the sensing measurement quantity.

[0431] The maximum reporting value highest_v of the sensing measurement quantity is calculated based on the maximum air interface transmission distance of TRP1 and TRP2 and the timing offset parameter of TRP1 and TRP2.

[0432] For example, in FIG. 3, the maximum air interface transmission distance of TRP1 and TRP2 is L, i.e., the maximum distance between TRP1 and TRP2 through the sensing object. If the sensing measurement quantity is a time delay, the maximum reporting value highest_v of the sensing measurement quantity is: highest_v = Δt max + t max

[0433] wherein the maximum air interface time delay t max = L / c, c is the speed of light.

[0434] Step 3: sensing signal sending and / or receiving.

[0435] In this embodiment, TRP1 transmits the sensing signal at the time or frequency indicated by the sensing resource configuration, and TRP2 receives the sensing signal at the time or frequency indicated by the sensing resource configuration.

[0436] TRP1 calculates the sensing measurement information based on the transmitted sensing signal, and TRP2 calculates the sensing measurement information based on the received sensing signal.

[0437] For TRP1, the sensing measurement quantity is denoted as meas_result1: meas_result1 = τ TRP1-2 = τ1+ τ2+ Δt

[0438] For TPR2, the sensing measurement quantity is denoted as meas_result2: meas_result2 = τ TRP2-1 = τ1+ τ2- Δt

[0439] Wherein, τ1 is the air interface delay from TRP1 to the sensing object; τ2 is the air interface delay from TRP2 to the sensing object, and Δt is the clock error of TRP1 and TRP2, wherein the absolute value of Δt is less than Δt max , Δt max is the timing deviation parameter (i.e. the maximum timing deviation) between TRP1 and TRP2. Δt is greater than zero, indicating that the synchronization clock of TRP1 is faster than that of TRP2, for example, Δt is 1 second, at a certain time, if the clock of TRP1 shows 12:00, the clock of TRP2 shows 11:59.

[0440] The sensing measurement information (meas_rpt1) reported by TRP1 is: meas_rpt1 = meas_result1 - lowest_v

[0441] The sensing measurement information (meas_rpt2) reported by TRP2 is: meas_rpt2 = meas_result2 - lowest_v

[0442] Wherein, meas_result1 is the sensing measurement quantity of TRP1, meas_result2 is the sensing measurement quantity of TRP2, and lowest_v is the minimum reporting value of the sensing measurement quantity.

[0443] Step 4A, TRP1 sends the sensing measurement information meas_rpt1 to the sensing server.

[0444] Step 4B, TRP2 sends the sensing measurement information meas_rpt2 to the sensing server.

[0445] Step 5, the sensing server determines the sensing parameter based on the sensing measurement information.

[0446] In this embodiment, the perception parameter includes at least one of the following:

[0447] synchronization clock error, air interface transmission delay, Doppler frequency offset.

[0448] For TRP1 and TRP2, the synchronization clock error (Δt) of TRP1 and TRP2 is: Δt = (meas_rpt1-meas_rpt2) / 2

[0449] Wherein, meas_rpt1 is the perception measurement information reported by TRP1, and meas_rpt2 is the perception measurement information reported by TRP2.

[0450] For two second nodes TRP1 and TRP2, the air interface transmission delay of the perception object to TRP1 and TRP2 is the sum of the air interface delay τ1 of TRP1 to the perception object and the air interface delay τ2 of TRP2 to the perception object. The air interface transmission delay (τ1+τ2) is: τ1+τ2 = (meas_rpt1+meas_rpt2+2*lowest-v) / 2

[0451] Wherein, meas_rpt1 is the perception measurement information reported by TRP1, and meas_rpt2 is the perception measurement information reported by TRP2, and lowest_v is the minimum reported value of the perception measurement quantity.

[0452] Step 6A, the perception server sends the synchronization clock error to TRP1.

[0453] Step 6B, the perception server sends the synchronization clock error to TRP2.

[0454] In this embodiment, the synchronization clock error is denoted as Δt.

[0455] After receiving the synchronization clock error Δt, TRP1 and TRP2 perform clock adjustment, including:

[0456] 1, Δt is indicated to TRP1

[0457] If Δt>0, TRP1 will slow down the synchronization clock. That is, to receive or send perception signals after delaying Δt time.

[0458] If Δt<0, TRP1 will speed up the synchronization clock. That is, to receive or send perception signals in advance by Δt time.

[0459] 2, -Δt is indicated to TRP2

[0460] If -Δt>0, TRP2 will slow down the synchronization clock. That is, to receive or send perception signals after delaying Δt time.

[0461] If -Δt < 0, TRP2 will speed up the synchronization clock. That is, receive or send the sensing signal in advance of Δt time.

[0462] 3, Δt / 2 is indicated to TRP1, -Δt / 2 value is indicated to TRP2

[0463] If Δt / 2 > 0, TRP1 will slow down the synchronization clock. That is, delay Δt time to receive or send the sensing signal.

[0464] If Δt / 2 < 0, TRP1 will speed up the synchronization clock. That is, receive or send the sensing signal in advance of Δt time.

[0465] If -Δt / 2 > 0, TRP2 will slow down the synchronization clock. That is, delay Δt time to receive or send the sensing signal.

[0466] If -Δt / 2 < 0, TRP2 will speed up the synchronization clock. That is, receive or send the sensing signal in advance of Δt time.

[0467] In some embodiments, the sensing symbol structure configured with CS mainly uses the determined time synchronization error. For the sensing resource configuration of the case that the sensing transceiver has been synchronized (or the synchronization accuracy is higher than a certain threshold: such as the case that no negative time delay value appears), the sensing symbol structure can have no CS part. Specifically, the maximum timing deviation Δt between the sensing transceiver nodes max = T1-T2, T1 is the clock of the sensing receiving node, and T2 is the clock of the sensing sending node. The maximum air interface time delay is t max .

[0468] When Δt max > 0, the length requirement of the CP length is not less than: t max + Δt max . At this time, the CP length needs to be increased. The CS length is not less than: -t max - Δt max , that is, the CS length can be 0.

[0469] When Δt max < 0, the length requirement of the CP length is not less than: t max + Δt max . That is, the CP length can be reduced. Further, when t max + Δt max ≤ 0, the CP length can be 0. The CS length is not less than: -t max - Δt max , when -t max - Δt max > 0, the CS part in the symbol structure is not 0.

[0470] In summary, the lengths of CS and CP can be determined according to the expected farthest perceived object position and synchronization error. When the CP length needs to be increased, the CS can be 0; when the CS length is greater than 0, the CP length can be reduced.

[0471] It should be noted that the above process can be applied to the case where the sensing transceiver nodes are not frequency-synchronized. Correspondingly, Δt max Corresponding to the frequency deviation parameter Δf max . The timing deviation Δt of the sensing transceiver nodes corresponds to the frequency deviation Δf; the air interface transmission delay τ1+τ2 corresponds to the Doppler frequency offset f d1 +f d2 .

[0472] Embodiment Two

[0473] FIG. 11 is a schematic diagram of an application scenario provided by an embodiment of the present disclosure. In FIG. 11, the sensing object is a single object, and the farthest distance between the sensing object and TRP1 / TRP2 is 0.1 km (corresponding to the air interface delay of TRP1 passing through the sensing object to TRP2 of 2 / 3 us: τ1+τ2=0.67 us).

[0474] In FIG. 11, it is assumed that the SF (sensing server) obtains the timing deviations of TRP1 and TRP2, which are positive and negative ΔT TRP1 =3 us, respectively, and positive and negative ΔT TRP2 =3 us; that is, the range of the two TRP timing deviation parameters is: -6 us≤Δt≤6 us, that is: Δt max =6 us.

[0475] In FIG. 11, it is assumed that the sensing configuration information indicated by the SF to TRP1 and TRP2 includes: sensing resource configuration, sensing symbol structure configuration, second node configuration, and measurement reporting format configuration.

[0476] Sensing resource configuration: TRP1 and TRP2 are configured with the same sensing resource (sensing resource-1) and the same scrambling initialization value. In this way, TRP1 and TRP2 transmit the same sensing signal on the same resource.

[0477] Sensing symbol structure configuration: SCS=15 KHz (μ=0), and the lengths of CP and CS are both 256k·2 -μ It should be noted that when the subcarrier spacing is 15 KHz, the lengths of CS and CP in this configuration are about 8.3 us. The lengths of CS and CP meet the requirements of determining the clock error and the maximum sensing distance: -0.67 us≤CS or CP≤6 us+0.67 us. Note: the requirement for the length of CS is: the maximum negative Δt maxSubtract the minimum air interface delay; CP length requirement: maximum positive value Δt max Add the maximum air interface delay.

[0478] Second node configuration: for sensing resource (sensing resource-1), TRP1 is configured to receive and transmit, and TRP2 is configured to receive and transmit.

[0479] Measurement reporting format configuration: the reported quantity is signal transmission delay (reporting quantity: 2 values); reporting unit: nanosecond, lowest value (lowest_v): -6000 nanoseconds.

[0480] In FIG. 11, TRP1 and TRP2 respectively transmit and receive sensing signals, and measure sensing measurement quantities.

[0481] TRP1 / TRP2 can respectively obtain one or more air interface delay parameter values by using a sensing algorithm (FFT algorithm or MUSIC algorithm).

[0482] Suppose that TRP1 detects two delay parameters (τ TRP1A ,τ TRP1B ),τ TRP1A =2τ1,τ TRP1B =τ1+τ2+Δt.

[0483] Suppose that TRP2 detects two delay parameters (τ TRP2A ,τ TRP2B ),τ TRP2A =2τ2,τ TRP2B =τ1+τ2-Δt.

[0484] τ1 is the air interface transmission delay of TRP1 to the sensing object.

[0485] τ2 is the air interface transmission delay of TRP2 to the sensing object.

[0486] Δt is the actual clock error between TRP1 and TRP2.

[0487] Note: in theory, there is a possibility that Δt=τ1-τ2, at this time,

[0488] TRP1 can only detect one parameter, that is, τ TRP1A =τ TRP1B =2τ1. TRP1 can report two same values.

[0489] TRP2 can only detect one parameter, that is, τ TRP2A =τ TRP2B =2τ2. TRP2 can report two same values.

[0490] Further, TRP1 measures τ TRP1A Correlation peak parameters (e.g., F TRP1A ), τ TRP1B Correlation peak parameters (e.g., F TRP1B ).

[0491] TRP2 measures τ TRP2A Correlation peak parameters (e.g., F TRP2A ), τ TRP2B Correlation peak parameters (e.g., F TRP2B ).

[0492] In FIG. 11, TRP1 and TRP2 report the sensing measurement information respectively.

[0493] For TRP1, the reported sensing measurement information is: meas_rpt11 = τ1 + τ2 + Δt - lowest_v, meas_rpt12 = 2τ1 + Δt - lowest_v.

[0494] For TRP2, the reported sensing measurement information is: meas_rpt21 = τ1 + τ2 - Δt - lowest_v, meas rpt22 = 2τ1 - Δt - lowest_v.

[0495] Further: TRP1 reports τ TRP1A Correlation peak parameters (e.g., F TRP1A ), τ TRP1B Correlation peak parameters (e.g., F TRP1B ). TRP2 reports τ TRP2A Correlation peak parameters (e.g., F TRP2A ), τ TRP2B Correlation peak parameters (e.g., F TRP2B ).

[0496] In FIG. 11, SF determines the double-base delay parameter τ:

[0497] After summing the four parameters reported by the two TRPs and dividing by 4, and compensating for lowest_v, the double-base delay parameter τ is obtained. The way to calculate τ is as follows: τ = (τ TRP1A + τ TRP1B + τ TRP2B + τ TRP2B ) / 4 + lowest_v = τ1 + τ2.

[0498] Wherein, τ TRP1A = 2τ1, τ TRP1B = τ1 + τ2 + Δt; τ TRP2A = 2τ2, τ TRP2B = τ1 + τ2 - Δt.

[0499] SF determines Δt, τ1, τ2:

[0500] According to the values and related peak parameters reported by TRP1 / TRP2, Δt, τ1, τ2 are determined. The method is based on the following value characteristics 1 and 2:

[0501] 1: The sum of the parameter items with values of 2τ1 and 2τ2 is: 2(τ1+τ2), and the corresponding peak parameters are different.

[0502] For example: τ TRP1A +τ TRP2A = 2(τ1+τ2). But: τ TRP1A +τ TRP2B ≠ 2(τ1+τ2).

[0503] 2: The sum of the parameter items with values of τ1+τ2+Δt and τ1+τ2-Δt is: 2(τ1+τ2), and the corresponding peak parameters are the same.

[0504] For example: τ TRP1B +τ TRP2B = 2(τ1+τ2). But: τ TRP1B +τ TRP2A ≠ 2(τ1+τ2);

[0505] For example: F TRP1B and F TRP2B are similar. F TRP1B and F TRP2A are not similar.

[0506] Figure 12 is a schematic diagram of a cyclic suffix CS put into a cyclic prefix CP provided by an embodiment of the present disclosure. In Figure 12, the cyclic prefix CP extension is that the cyclic suffix CS is put into the cyclic prefix CP as part of the cyclic prefix CP.

[0507] At the sensing sending node, the CP length is increased to to obtain the CP extension. In this embodiment, the CP extension = CP+CS = 16.7us.

[0508] At the sensing receiving node, the sensing symbol reception is performed in advance for a time length, and the corresponding air interface delay τ = (τ1+τ2) is calculated.

[0509] At the sensing server, the lowest_v is considered to be equal to corresponding to the air interface transmission delay.

[0510] Suppose the CS time length

[0511] is 3us. The air interface transmission delay is 1.5us. In order to ensure that the FFT receiving window can completely receive the OFDM signal, the FFT receiving window is advanced by the CS duration relative to the starting position t0 of the FFT receiving window at the sensing receiving node. The value of the CS duration is which needs to be indicated to the sensing receiving node. It should be noted that at the sensing receiving node, the delay is equivalent to calculating more which needs to be eliminated at the sensing receiving node or at the sensing server, i.e., the calculation result is subtracted by

[0512] Determining the CS duration Reference factors:

[0513] Maximum timing deviation Δt between the sensing transceiver nodes max T1-T2, T1 is the clock of the sensing receiving node, and T2 is the clock of the sensing sending node. The maximum air interface delay is t max .

[0514] Specifically: when Δt max >0, the length requirement of the CP duration is not less than: t max +Δt max At this time, the CP length needs to be increased. Indicated as 0.

[0515] When Δt max <0, the CS length is not less than: -t max -Δt max When -t max -Δt max >0, the CS part in the symbol structure is not 0, i.e., the CS duration is included. Further, if then the CP is 0, i.e., the CS duration is the configured extended CP parameter.

[0516] It should be noted that for the foregoing method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art can understand that the disclosed embodiments are not limited by the described action sequence, because according to the disclosed embodiments, certain steps can be performed in other sequences or simultaneously. In addition, those skilled in the art can understand that the embodiments described in the specification all belong to optional embodiments.

[0517] FIG. 13 is a schematic diagram of a sensing parameter determination apparatus provided by an embodiment of the present disclosure, which is applied to a first node. As shown in FIG. 13, the sensing parameter determination apparatus includes but is not limited to a sending unit 1301, a receiving unit 1302, and a determination unit 1303. The specific description is as follows:

[0518] The sending unit 1301 is configured to send sensing configuration information to at least one second node, wherein the sensing configuration information comprises sensing resource configuration and sensing symbol structure configuration.

[0519] The receiving unit 1302 is configured to receive sensing measurement information sent by the at least one second node.

[0520] The determining unit 1303 is configured to determine sensing parameters of the at least one second node based on the sensing measurement information sent by the at least one second node.

[0521] In some embodiments, the sensing resource configuration comprises at least one of the following:

[0522] one sensing resource, a sensing resource set composed of a plurality of sensing resources, a sensing resource list composed of a plurality of sensing resource sets;

[0523] The sensing resource comprises at least one of the following:

[0524] sensing resource time domain information for indicating at least one symbol;

[0525] sensing resource frequency domain information for indicating at least one resource element.

[0526] In some embodiments, the sensing symbol structure configuration is determined based on the sensing resource;

[0527] Alternatively, the sensing symbol structure configuration is determined based on the sensing resource set;

[0528] Alternatively, the sensing symbol structure configuration is determined based on the sensing resource list.

[0529] In some embodiments, the sensing symbol structure configuration comprises at least one of the following:

[0530] cyclic prefix, subcarrier spacing, cyclic suffix;

[0531] The cyclic suffix is located at the end of the sensing symbol structure, or the cyclic suffix is located in the cyclic prefix as part of the cyclic prefix.

[0532] In some embodiments, the sum of the lengths of the cyclic prefix and the cyclic suffix is a preset length;

[0533] Alternatively, the length of the cyclic prefix is a preset length and the length of the cyclic suffix is a reduced length of the cyclic prefix of the next sensing symbol;

[0534] Alternatively, the length of the cyclic suffix is less than the length of the cyclic prefix of the next sensing symbol and shares data in the cyclic suffix with the cyclic prefix of the next sensing symbol.

[0535] In some embodiments, the preset length is 512K or 144K, where K is a preset constant.

[0536] In some embodiments, the sensing configuration information further comprises a second node configuration.

[0537] The second node configuration is used to indicate that at least one second node transmits and / or receives the sensing signal.

[0538] In some embodiments, the second node configuration is determined based on the sensing resource.

[0539] Alternatively, the second node configuration is determined based on a set of sensing resources.

[0540] Alternatively, the second node configuration is determined based on a list of sensing resources.

[0541] In some embodiments, the sensing configuration information further comprises a measurement reporting format configuration.

[0542] The measurement reporting format configuration comprises at least one of the following: a sensing measurement quantity, a minimum reporting value of the sensing measurement quantity.

[0543] In some embodiments, the minimum reporting value of the sensing measurement quantity is determined in the following manner:

[0544] The first node obtains a synchronization deviation parameter of at least one second node.

[0545] The first node determines the minimum reporting value of the sensing measurement quantity based on the synchronization deviation parameter.

[0546] In some embodiments, the first node obtains the synchronization deviation parameter of at least one second node, comprising:

[0547] The first node determines the synchronization deviation parameter of at least one second node based on a protocol.

[0548] Alternatively, the first node receives the synchronization deviation parameter transmitted by at least one second node.

[0549] In some embodiments, the measurement reporting format configuration further comprises a maximum reporting value of the sensing measurement quantity.

[0550] The maximum reporting value of the sensing measurement quantity is calculated based on a maximum air interface transmission distance of at least one second node and a synchronization deviation parameter of at least one second node.

[0551] In some embodiments, the sensing measurement information transmitted by at least one second node is the difference between the value of the sensing measurement quantity of at least one second node and the minimum reporting value of the sensing measurement quantity.

[0552] In some embodiments, the sensing parameter comprises at least one of the following:

[0553] synchronization clock error, air interface transmission delay, Doppler frequency offset.

[0554] In some embodiments, the determining unit 1303 is configured to:

[0555] for any two second nodes, the synchronization clock error is half of the difference between the perception measurement information sent by the two second nodes;

[0556] for any two second nodes, the air interface transmission delay is obtained based on the perception measurement information sent by the two second nodes and the minimum reporting value of the perception measurement quantity.

[0557] In some embodiments, the sending unit 1301 is further configured to:

[0558] send the synchronization clock error to at least one second node.

[0559] In some embodiments, the sending unit 1301 sends the synchronization clock error to at least one second node, including:

[0560] sending the synchronization clock error to the second node as the perception sending node;

[0561] or sending the negative value of the synchronization clock error to the second node as the perception receiving node;

[0562] or sending half of the synchronization clock error to the second node as the perception sending node and sending the negative value of half of the synchronization clock error to the second node as the perception receiving node.

[0563] The details of each embodiment of the perception parameter determination apparatus shown in FIG. 13 can refer to each embodiment of the perception parameter determination method shown in FIG. 2, and will not be repeated here.

[0564] FIG. 14 is a schematic diagram of another perception parameter determination apparatus provided by an embodiment of the present disclosure, which is applied to a second node. As shown in FIG. 14, the perception parameter determination apparatus includes but is not limited to a receiving node 1401, a transceiver unit 1402, a determining unit 1403, and a sending unit 1404, which are specifically described as follows:

[0565] The receiving node 1401 is configured to receive the perception configuration information sent by the first node, and the perception configuration information includes perception resource configuration and perception symbol structure configuration.

[0566] The transceiver unit 1402 is configured to send and / or receive the perception signal based on the perception configuration information.

[0567] The determining unit 1403 is configured to determine the perception measurement information based on the perception signal.

[0568] The sending unit 1404 is configured to send the sensing measurement information to the first node.

[0569] In some embodiments, the sensing configuration information further comprises: a second node configuration.

[0570] The transceiver unit 1402 is configured to:

[0571] If the second node is configured as a sensing transmitting node, determine a sensing signal based on the sensing resource configuration and the sensing symbol structure configuration, and send the sensing signal;

[0572] If the second node is configured as a sensing receiving node, receive a sensing signal based on the sensing resource configuration and the sensing symbol structure configuration;

[0573] If the second node is configured as a sensing transceiver node, determine a sensing signal based on the sensing resource configuration and the sensing symbol structure configuration, send the sensing signal, and receive the sensing signal reflected and / or scattered by the sensed object.

[0574] In some embodiments, the sensing configuration information further comprises: a measurement reporting format configuration.

[0575] The measurement reporting format configuration comprises at least one of: a sensing measurement quantity, and a minimum reporting value of the sensing measurement quantity.

[0576] In some embodiments, the sending unit 1404 is further configured to:

[0577] Send a synchronization deviation parameter to the first node, and determine the minimum reporting value of the sensing measurement quantity based on the synchronization deviation parameter.

[0578] In some embodiments, the determining unit 1403 is configured to:

[0579] Determine a value of the sensing measurement quantity in the measurement reporting format configuration based on the sensing signal.

[0580] Determine the sensing measurement information as a difference between the value of the sensing measurement quantity and the minimum reporting value of the sensing measurement quantity.

[0581] In some embodiments, the receiving node 1401 is further configured to:

[0582] Receive a synchronization clock error sent by the first node.

[0583] In some embodiments, the receiving node 1401 receives a synchronization clock error sent by the first node, comprising:

[0584] If the second node is configured as a sensing transmitting node, receive the synchronization clock error sent by the first node or half of the synchronization clock error.

[0585] Alternatively, if the second node acts as a sensing receiving node, the negative value of the synchronization clock error or the negative value of half of the synchronization clock error sent by the first node is received.

[0586] In some embodiments, the sensing parameter determination apparatus further comprises:

[0587] an adjusting unit, configured to adjust the synchronization clock based on the synchronization clock error.

[0588] In some embodiments, the adjusting unit is configured to:

[0589] if the second node acts as a sensing sending node, slow down the synchronization clock based on the synchronization clock error or half of the synchronization clock error being greater than zero; or speed up the synchronization clock based on the synchronization clock error or half of the synchronization clock error being less than zero;

[0590] if the second node acts as a sensing receiving node, slow down the synchronization clock based on the negative value of the synchronization clock error or the negative value of half of the synchronization clock error being greater than zero; or speed up the synchronization clock based on the negative value of the synchronization clock error or the negative value of half of the synchronization clock error being less than zero.

[0591] Details of the sensing parameter determination apparatus embodiments shown in FIG. 14 can refer to the sensing parameter determination method embodiments shown in FIG. 9, and will not be repeated here.

[0592] The embodiments of the present disclosure further provide a processor-readable storage medium, which stores a program for causing a processor to execute the steps of the sensing parameter determination method embodiments. The processor-readable storage medium can be any available medium or data storage device that a processor can access, including but not limited to a magnetic storage (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.), an optical storage (e.g., CD, DVD, BD, HVD, etc.), and a semiconductor memory (e.g., ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid state disk (SSD), etc.).

[0593] FIG. 15 is a schematic diagram of a communication apparatus provided by an embodiment of the present disclosure, which is applied to a first node. As shown in FIG. 15, the communication apparatus provided by an embodiment of the present disclosure comprises a memory 1501, a transceiver 1502, and a processor 1503:

[0594] The memory 1501 is configured to store a computer program; the transceiver 1502 is configured to transceive data under the control of the processor 1503; and the processor 1503 is configured to read the computer program in the memory 1501 and perform the following steps:

[0595] sending the sensing configuration information to at least one second node, the sensing configuration information comprising: sensing resource configuration and sensing symbol structure configuration;

[0596] receiving sensing measurement information sent by at least one second node;

[0597] determining sensing parameters of at least one second node based on the sensing measurement information sent by at least one second node.

[0598] In some embodiments, the sensing resource configuration comprises at least one of:

[0599] one sensing resource, a sensing resource set composed of multiple sensing resources, a sensing resource list composed of multiple sensing resource sets;

[0600] wherein the sensing resource comprises at least one of:

[0601] sensing resource time domain information for indicating at least one symbol;

[0602] sensing resource frequency domain information for indicating at least one resource element.

[0603] In some embodiments, the sensing symbol structure configuration is determined based on the sensing resource;

[0604] or, the sensing symbol structure configuration is determined based on the sensing resource set;

[0605] or, the sensing symbol structure configuration is determined based on the sensing resource list.

[0606] In some embodiments, the sensing symbol structure configuration comprises at least one of:

[0607] cyclic prefix, subcarrier spacing, cyclic suffix;

[0608] wherein the cyclic suffix is located at the end of the sensing symbol structure, or the cyclic suffix is located in the cyclic prefix as part of the cyclic prefix.

[0609] In some embodiments, the sum of the length of the cyclic prefix and the length of the cyclic suffix is a preset length;

[0610] or, the length of the cyclic prefix is a preset length and the length of the cyclic suffix is a length reduced from the cyclic prefix of the next sensing symbol;

[0611] or, the length of the cyclic suffix is less than the length of the cyclic prefix of the next sensing symbol and shares data in the cyclic suffix with the cyclic prefix of the next sensing symbol.

[0612] In some embodiments, the preset length is 512K or 144K, where K is a preset constant.

[0613] In some embodiments, the sensing configuration information further comprises: a second node configuration;

[0614] The second node configuration is used to indicate that at least one second node transmits and / or receives the sensing signal.

[0615] In some embodiments, the second node configuration is determined based on the sensing resource;

[0616] Alternatively, the second node configuration is determined based on a set of sensing resources;

[0617] Alternatively, the second node configuration is determined based on a list of sensing resources.

[0618] In some embodiments, the sensing configuration information further comprises: a measurement reporting format configuration;

[0619] The measurement reporting format configuration comprises at least one of: a sensing measurement quantity, a minimum reporting value of the sensing measurement quantity.

[0620] In some embodiments, the minimum reporting value of the sensing measurement quantity is determined by:

[0621] Obtaining a synchronization deviation parameter of the at least one second node;

[0622] Based on the synchronization deviation parameter, determining the minimum reporting value of the sensing measurement quantity.

[0623] In some embodiments, obtaining the synchronization deviation parameter of the at least one second node comprises:

[0624] Based on a protocol, determining the synchronization deviation parameter of the at least one second node;

[0625] Alternatively, receiving the synchronization deviation parameter transmitted by the at least one second node.

[0626] In some embodiments, the measurement reporting format configuration further comprises: a maximum reporting value of the sensing measurement quantity;

[0627] The maximum reporting value of the sensing measurement quantity is calculated based on a maximum air interface transmission distance of the at least one second node and a synchronization deviation parameter of the at least one second node.

[0628] In some embodiments, the sensing measurement information transmitted by the at least one second node is a difference between a value of the sensing measurement quantity of the at least one second node and the minimum reporting value of the sensing measurement quantity.

[0629] In some embodiments, the sensing parameter comprises at least one of:

[0630] Synchronization clock error, air interface transmission delay, Doppler frequency offset.

[0631] In some embodiments, the first node determines the sensing parameter of the at least one second node based on the sensing measurement information sent by the at least one second node, including at least one of:

[0632] For any two second nodes, the synchronization clock error is half of the difference between the sensing measurement information sent by the two second nodes;

[0633] For any two second nodes, the air interface transmission delay is obtained based on the sensing measurement information sent by the two second nodes and the minimum reporting value of the sensing measurement quantity.

[0634] In some embodiments, the processor 1503 is further configured to:

[0635] send the synchronization clock error to the at least one second node.

[0636] In some embodiments, sending the synchronization clock error to the at least one second node includes:

[0637] sending the synchronization clock error to the second node as a sensing sending node;

[0638] or sending a negative value of the synchronization clock error to the second node as a sensing receiving node;

[0639] or sending half of the synchronization clock error to the second node as a sensing sending node and sending a negative value of half of the synchronization clock error to the second node as a sensing receiving node.

[0640] In FIG. 15, the transceiver 1502 is configured to receive and transmit data under the control of the processor 1503. The bus architecture can include any number of interconnecting buses and bridges, and the various circuitry representative of the processor 1503 and the memory 1501, which are linked together by the bus architecture, and can also include various other circuitry that is not specifically shown, such as power supply circuitry, voltage regulators, and power management circuitry, which are all well known in the art and therefore, need not be discussed at length here. The bus interface provides an interface to the bus architecture. The transceiver 1502 can be a plurality of elements, including a transmitter and a receiver, which are configured to provide a communication unit for communicating with various other devices over transmission media, including wireless channels, wired channels, optical cables, and the like. The processor 1503 is responsible for managing the bus architecture and general processing, and the memory 1501 can store data used by the processor 1503 in performing operations.

[0641] In FIG. 15, the processor 1503 can be an integrated circuit chip having a processing capability for signals. In implementation, each step of the above method can be completed by integrated logic circuits of hardware in the processor 1503 or instructions in the form of software. The processor 1503 can be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0642] FIG. 16 is a schematic diagram of another communication apparatus provided by an embodiment of the present disclosure, applied to a second node. As shown in FIG. 16, the communication apparatus provided by the embodiment of the present disclosure includes a memory 1601, a transceiver 1602, and a processor 1603.

[0643] The memory 1601 is configured to store a computer program; the transceiver 1602 is configured to transceive data under control of the processor 1603; and the processor 1603 is configured to read the computer program in the memory 1601 and perform the following steps:

[0644] receiving sensing configuration information sent by a first node, the sensing configuration information including sensing resource configuration and sensing symbol structure configuration;

[0645] transmitting and / or receiving a sensing signal based on the sensing configuration information;

[0646] determining sensing measurement information based on the sensing signal;

[0647] sending the sensing measurement information to the first node.

[0648] In some embodiments, the sensing configuration information further includes second node configuration.

[0649] transmitting and / or receiving the sensing signal based on the sensing configuration information includes at least one of the following:

[0650] if the second node is configured as a sensing transmitting node, determining the sensing signal based on the sensing resource configuration and the sensing symbol structure configuration, and transmitting the sensing signal;

[0651] if the second node is configured as a sensing receiving node, receiving the sensing signal based on the sensing resource configuration and the sensing symbol structure configuration;

[0652] If the second node is configured as a sensing transceiver integrated node, the sensing signal is determined based on the sensing resource configuration and the sensing symbol structure configuration, the sensing signal is transmitted, and the sensing signal reflected and / or scattered by the sensed object is received.

[0653] In some embodiments, the sensing configuration information further comprises: a measurement reporting format configuration.

[0654] The measurement reporting format configuration comprises at least one of: a sensing measurement quantity, and a minimum reporting value of the sensing measurement quantity.

[0655] In some embodiments, the processor 1603 is further configured to:

[0656] The minimum reporting value of the sensing measurement quantity is determined based on the synchronization deviation parameter.

[0657] In some embodiments, the sensing measurement information is determined based on the sensing signal, comprising:

[0658] The value of the sensing measurement quantity in the measurement reporting format configuration is determined based on the sensing signal.

[0659] The second node determines the sensing measurement information as a difference between the value of the sensing measurement quantity and the minimum reporting value of the sensing measurement quantity.

[0660] In some embodiments, the processor 1603 is further configured to:

[0661] The synchronization clock error transmitted by the first node is received.

[0662] In some embodiments, the synchronization clock error transmitted by the first node is received, comprising:

[0663] If the second node is a sensing transmitting node, the synchronization clock error transmitted by the first node or half of the synchronization clock error is received.

[0664] Or, if the second node is a sensing receiving node, the negative value of the synchronization clock error transmitted by the first node or the negative value of half of the synchronization clock error is received.

[0665] In some embodiments, the processor 1603 is further configured to:

[0666] The synchronization clock is adjusted based on the synchronization clock error.

[0667] In some embodiments, the synchronization clock is adjusted based on the synchronization clock error, comprising:

[0668] If the second node is a sensing transmitting node, the synchronization clock is slowed down based on the synchronization clock error or half of the synchronization clock error being greater than zero, or the synchronization clock is sped up based on the synchronization clock error or half of the synchronization clock error being less than zero.

[0669] If the second node is a sensing receiving node, based on the negative value of the synchronization clock error or the negative value of half of the synchronization clock error being greater than zero, the synchronization clock is slowed down; or, based on the negative value of the synchronization clock error or the negative value of half of the synchronization clock error being less than zero, the synchronization clock is sped up.

[0670] In FIG. 16, the transceiver 1602 is configured to receive and transmit data under the control of the processor 1603. The bus architecture can include any number of interconnecting buses and bridges, and the various circuitry representative of the processor 1603 and the memory 1601 that can be linked through a bus and bridges, for example. The bus architecture can also include various other circuitry that can be designed for communication between various other circuitry, such as peripheral devices, voltage stabilizers, and power management circuitry, etc., which are well known in the art and thus, not further described herein. The bus interface provides an interface. The transceiver 1602 can be a plurality of elements, i.e., including a transmitter and a receiver, which provide a means for communicating with various other apparatuses over a transmission medium, including wireless channels, wired channels, optical cables, etc. The processor 1603 is responsible for managing the bus architecture and general processing, and the memory 1601 can store data used by the processor 1603 in executing operations.

[0671] In FIG. 16, the processor 1603 can be an integrated circuit chip having a processing capability of signals. In the implementation process, each step of the above method can be completed by integrated logic circuits of hardware in the processor 1603 or instructions in the form of software. The processor 1603 can be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor or the like.

[0672] It should be noted that, in this document, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or further include elements inherent in such processes, methods, articles or devices. Without more limitations, the elements defined by the statement "comprising" do not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0673] Those skilled in the art will appreciate that the features of the various embodiments can be combined with each other, where appropriate, in combinations other than the combinations explicitly set out or shown in the descriptions above without departing from the scope of the present disclosure and forming different embodiments.

[0674] Those skilled in the art will appreciate that the descriptions of the various embodiments are each made in connection with reference to the various embodiments, and that parts of a particular embodiment described in one description can be understood with reference to the descriptions of the other embodiments.

[0675] While the embodiments of the present disclosure have been described in connection with the drawings, various modifications and changes can be suggested to one skilled in the art, and it is intended that the appended claims encompass such modifications and changes as fall within the scope of the present disclosure.

Claims

1. A method for sensing parameter determination, applied to a first node, the method comprising: sending, by the first node, sensing configuration information to at least one second node, the sensing configuration information comprising: sensing resource configuration and sensing symbol structure configuration; receiving, by the first node, sensing measurement information sent by the at least one second node; and determining, by the first node, sensing parameters of the at least one second node based on the sensing measurement information sent by the at least one second node. The sensing resource configuration comprises at least one of: one sensing resource, a sensing resource set comprising a plurality of sensing resources, and a sensing resource list comprising a plurality of sensing resource sets. The sensing resource comprises at least one of: sensing resource time domain information indicating at least one symbol, and sensing resource frequency domain information indicating at least one resource element. 3.The method of claim 2, wherein: the sensing symbol structure configuration is determined based on a sensing resource; or the sensing symbol structure configuration is determined based on a sensing resource set; or the sensing symbol structure configuration is determined based on a sensing resource list. The sensing symbol structure configuration comprises at least one of: a cyclic prefix, a subcarrier spacing, and a cyclic suffix. The cyclic suffix is located at the end of the sensing symbol structure, or the cyclic suffix is located in the cyclic prefix as a part of the cyclic prefix. The sum of the length of the cyclic prefix and the length of the cyclic suffix is a preset length. Alternatively, the length of the cyclic prefix is a preset length and the length of the cyclic suffix is a length reduced from the cyclic prefix of a next sensing symbol. Alternatively, the length of the cyclic suffix is smaller than the length of the cyclic prefix of a next sensing symbol and shares data in the cyclic suffix with the cyclic prefix of the next sensing symbol. The preset length is 512K or 144K, where K is a preset constant. The sensing configuration information further comprises a second node configuration. The second node configuration is used to indicate that the at least one second node transmits and / or receives sensing signals. 8.The method of claim 7, wherein: the second node configuration is determined based on a sensing resource; or the second node configuration is determined based on a sensing resource set; or the second node configuration is determined based on a sensing resource list. The sensing configuration information further comprises a measurement reporting format configuration. The measurement reporting format configuration comprises at least one of: a sensing measurement quantity and a minimum reporting value of the sensing measurement quantity. The minimum reporting value of the sensing measurement quantity is determined by: obtaining, by the first node, a synchronization deviation parameter of the at least one second node; and determining, by the first node, the minimum reporting value of the sensing measurement quantity based on the synchronization deviation parameter. The first node obtains the synchronization deviation parameter of the at least one second node by: determining, by the first node, the synchronization deviation parameter of the at least one second node based on a protocol; or receiving, by the first node, the synchronization deviation parameter sent by the at least one second node. The measurement reporting format configuration further comprises a maximum reporting value of the sensing measurement quantity.

2. The method of claim 1, wherein, ​ ​ ​ ​ ​ ​ ​ ​ ​ 4. The method according to any one of claims 1 to 3, wherein, ​ ​ ​ 5. The method of claim 4, wherein, ​ ​ ​ 6. The method of claim 5, wherein, ​ 7. The method of claim 1 or 2, wherein, ​ ​ ​ ​ ​ ​ 9. The method of claim 1, wherein, ​ ​ 10. The method of claim 9, wherein, ​ ​ ​ 11. The method of claim 10, wherein, ​ ​ ​ 12. The method of claim 9, wherein, ​ The maximum reporting value of the sensing measurement quantity is calculated based on a maximum air interface transmission distance of the at least one second node and a synchronization deviation parameter of the at least one second node.

13. The method of claim 9, wherein, The sensing measurement information sent by the at least one second node is a difference between a value of a sensing measurement quantity of the at least one second node and the minimum reporting value of the sensing measurement quantity.

14. The method of claim 1, wherein, The sensing parameter includes at least one of: a synchronization clock error, an air interface transmission delay, a Doppler frequency offset.

15. The method of claim 14, wherein, The first node determines the sensing parameter of the at least one second node based on the sensing measurement information sent by the at least one second node, including at least one of: for any two second nodes, the synchronization clock error is half of a difference between the sensing measurement information sent by the two second nodes; for any two second nodes, the air interface transmission delay is obtained based on the sensing measurement information sent by the two second nodes and the minimum reporting value of the sensing measurement quantity.

16. The method of claim 14, wherein, The method further includes: The first node sends a synchronization clock error to the at least one second node.

17. The method of claim 16, wherein, The first node sends a synchronization clock error to the at least one second node, including: The first node sends a synchronization clock error to a second node as a sensing sending node; or, the first node sends a negative value of a synchronization clock error to a second node as a sensing receiving node; or, the first node sends half of a synchronization clock error to a second node as a sensing sending node, and sends a negative value of half of the synchronization clock error to a second node as a sensing receiving node.

18. A sensing parameter determination method, applied to a second node, the method comprising: The second node receives sensing configuration information sent by a first node, the sensing configuration information including: sensing resource configuration and sensing symbol structure configuration; The second node sends and / or receives a sensing signal based on the sensing configuration information; The second node determines sensing measurement information based on the sensing signal; The second node sends the sensing measurement information to the first node.

19. The method of claim 18, wherein, The sensing configuration information further includes: second node configuration; The second node sends and / or receives a sensing signal based on the sensing configuration information, including at least one of: if the second node is configured as a sensing sending node, the second node determines a sensing signal based on the sensing resource configuration and the sensing symbol structure configuration, and sends the sensing signal; if the second node is configured as a sensing receiving node, the second node receives a sensing signal based on the sensing resource configuration and the sensing symbol structure configuration; if the second node is configured as a sensing transceiver node, the second node determines a sensing signal based on the sensing resource configuration and the sensing symbol structure configuration, sends the sensing signal, and receives a sensing signal reflected and / or scattered by a sensed object.

20. The method of claim 18, wherein, The sensing configuration information further includes: measurement reporting format configuration; The measurement reporting format configuration includes at least one of: a sensing measurement quantity, a minimum reporting value of the sensing measurement quantity.

21. The method of claim 20, wherein, The method further includes: The second node sends a synchronization deviation parameter to the first node, and a minimum reporting value of the sensing measurement quantity is determined based on the synchronization deviation parameter.

22. The method of claim 20, wherein, The second node determines sensing measurement information based on the sensing signal, including: The second node determines a value of the sensing measurement quantity in the measurement reporting format configuration based on the sensing signal. The second node determines the sensing measurement information as a difference between the value of the sensing measurement quantity and the minimum reporting value of the sensing measurement quantity.

23. The method of claim 18, wherein, The method further includes: The second node receives a synchronization clock error sent by the first node.

24. The method of claim 23, wherein, The second node receives a synchronization clock error sent by the first node, including: If the second node is a sensing sending node, the second node receives the synchronization clock error sent by the first node or half of the synchronization clock error; Or, if the second node is a sensing receiving node, the second node receives a negative value of the synchronization clock error sent by the first node or a negative value of half of the synchronization clock error.

25. The method of claim 23 or 24, wherein, The method further includes: The second node adjusts the synchronization clock based on the synchronization clock error.

26. The method of claim 25, wherein, The second node adjusts the synchronization clock based on the synchronization clock error, including: If the second node is a sensing sending node, the second node slows down the synchronization clock based on the synchronization clock error or half of the synchronization clock error being greater than zero, or speeds up the synchronization clock based on the synchronization clock error or half of the synchronization clock error being less than zero; If the second node is a sensing receiving node, the second node slows down the synchronization clock based on a negative value of the synchronization clock error or a negative value of half of the synchronization clock error being greater than zero, or speeds up the synchronization clock based on a negative value of the synchronization clock error or a negative value of half of the synchronization clock error being less than zero.

27. A sensing parameter determination apparatus applied to a first node, the apparatus comprising: a sending unit configured to send sensing configuration information to at least one second node, the sensing configuration information including sensing resource configuration and sensing symbol structure configuration; a receiving unit configured to receive sensing measurement information sent by the at least one second node; a determination unit configured to determine sensing parameters of the at least one second node based on the sensing measurement information sent by the at least one second node.

28. A sensing parameter determination apparatus applied to a second node, the apparatus comprising: a receiving unit configured to receive sensing configuration information sent by a first node, the sensing configuration information including sensing resource configuration and sensing symbol structure configuration; a transceiver unit configured to send and / or receive a sensing signal based on the sensing configuration information; a determination unit configured to determine sensing measurement information based on the sensing signal; a sending unit configured to send the sensing measurement information to the first node.

29. A communication device applied to a first node, wherein, The communication apparatus includes a memory, a transceiver, and a processor; The memory is configured to store a computer program; the transceiver is configured to transceive data under control of the processor; The processor is configured to read the computer program in the memory and perform: sending sensing configuration information to at least one second node, the sensing configuration information comprising: sensing resource configuration and sensing symbol structure configuration; receiving sensing measurement information sent by the at least one second node; determining sensing parameters of the at least one second node based on the sensing measurement information sent by the at least one second node.

30. The communication apparatus according to claim 29, wherein, The sensing resource configuration comprises at least one of: one sensing resource, a sensing resource set composed of a plurality of sensing resources, a sensing resource list composed of a plurality of sensing resource sets; The sensing resource comprises at least one of: sensing resource time domain information for indicating at least one symbol; sensing resource frequency domain information for indicating at least one resource element.

31. The communication apparatus according to claim 30, wherein The sensing symbol structure configuration is determined based on a sensing resource; Or, the sensing symbol structure configuration is determined based on a sensing resource set; Or, the sensing symbol structure configuration is determined based on a sensing resource list.

32. The communications apparatus of any of claims 29-31, wherein, The sensing symbol structure configuration comprises at least one of: a cyclic prefix, a subcarrier spacing, a cyclic suffix; The cyclic suffix is located at the end of the sensing symbol structure, or the cyclic suffix is located in the cyclic prefix as part of the cyclic prefix.

33. The communication apparatus according to claim 32, wherein, The sum of the length of the cyclic prefix and the length of the cyclic suffix is a preset length; Or, the length of the cyclic prefix is a preset length and the length of the cyclic suffix is a reduced length of the cyclic prefix of the next sensing symbol; Or, the length of the cyclic suffix is less than the length of the cyclic prefix of the next sensing symbol and shares data in the cyclic suffix with the cyclic prefix of the next sensing symbol.

34. The communication apparatus according to claim 33, wherein, The preset length is 512K or 144K, where K is a preset constant.

35. The communication apparatus according to claim 29 or 30, wherein, The sensing configuration information further comprises a second node configuration; The second node configuration is used to indicate that at least one second node transmits and / or receives sensing signals.

36. The communication apparatus according to claim 35, wherein The second node configuration is determined based on a sensing resource; Or, the second node configuration is determined based on a sensing resource set; Or, the second node configuration is determined based on a sensing resource list.

37. The communication device of claim 29, wherein, The sensing configuration information further comprises a measurement reporting format configuration; The measurement reporting format configuration comprises at least one of: a sensing measurement quantity and a minimum reporting value of the sensing measurement quantity.

38. The communication apparatus according to claim 37, wherein, The minimum reporting value of the sensing measurement quantity is determined by: obtaining a synchronization deviation parameter of the at least one second node; determining the minimum reporting value of the sensing measurement quantity based on the synchronization deviation parameter.

39. The communication apparatus according to claim 38, wherein, The obtaining of the synchronization deviation parameter of the at least one second node comprises: determining the synchronization deviation parameter of the at least one second node based on a protocol; Or, receiving a synchronization deviation parameter sent by the at least one second node.

40. The communication device of claim 37, wherein, The measurement reporting format configuration further comprises a maximum reporting value of the sensing measurement quantity; The maximum reporting value of the sensing measurement quantity is calculated based on a maximum air interface transmission distance of the at least one second node and a synchronization deviation parameter of the at least one second node.

41. The communication device of claim 37, wherein, The perception measurement information sent by the at least one second node is a difference between a value of a perception measurement quantity of the at least one second node and a minimum reporting value of the perception measurement quantity.

42. The communication device of claim 29, wherein, The perception parameter comprises at least one of the following: a synchronization clock error, an air interface transmission delay, and a Doppler frequency offset.

43. The communication apparatus according to claim 42, wherein, The first node determines the perception parameter of the at least one second node based on the perception measurement information sent by the at least one second node, and the perception parameter comprises at least one of the following: For any two second nodes, the synchronization clock error is half of a difference between the perception measurement information sent by the two second nodes; For any two second nodes, the air interface transmission delay is obtained based on the perception measurement information sent by the two second nodes and the minimum reporting value of the perception measurement quantity.

44. The communication device of claim 42, wherein, The processor is further configured to: send the synchronization clock error to the at least one second node.

45. The communication apparatus according to claim 44, wherein, The sending of the synchronization clock error to the at least one second node comprises: sending the synchronization clock error to a second node as a perception sending node; or sending a negative value of the synchronization clock error to a second node as a perception receiving node; or sending half of the synchronization clock error to a second node as a perception sending node and sending a negative value of half of the synchronization clock error to a second node as a perception receiving node.

46. A perception parameter determination communications device, applied in a second node, wherein, The communication device comprises a memory, a transceiver, and a processor; The memory is configured to store a computer program, and the transceiver is configured to transceive data under control of the processor. The processor is configured to read the computer program in the memory and perform the following: receive perception configuration information sent by a first node, wherein the perception configuration information comprises perception resource configuration and perception symbol structure configuration; send and / or receive a perception signal based on the perception configuration information; determine perception measurement information based on the perception signal; send the perception measurement information to the first node.

47. The communication apparatus according to claim 46, wherein, The perception configuration information further comprises second node configuration. The sending and / or receiving of the perception signal based on the perception configuration information comprises at least one of the following: if the second node is configured as a perception sending node, determine a perception signal based on the perception resource configuration and the perception symbol structure configuration, and send the perception signal; if the second node is configured as a perception receiving node, receive a perception signal based on the perception resource configuration and the perception symbol structure configuration; if the second node is configured as a perception transceiver node, determine a perception signal based on the perception resource configuration and the perception symbol structure configuration, send the perception signal, and receive a perception signal reflected and / or scattered by a perceived object.

48. The communication apparatus of claim 46, wherein, The perception configuration information further comprises measurement reporting format configuration. The measurement reporting format configuration comprises at least one of the following: a perception measurement quantity and a minimum reporting value of the perception measurement quantity.

49. The communication apparatus according to claim 48, wherein, The processor is further configured to: send a synchronization deviation parameter to the first node, and the minimum reporting value of the perception measurement quantity is determined based on the synchronization deviation parameter.

50. The communication device of claim 48, wherein, The determination of the perception measurement information based on the perception signal comprises: determining a value of the perception measurement quantity in the measurement reporting format configuration based on the perception signal; The second node determines the sensing measurement information as a difference between a value of the sensing measurement quantity and a minimum reporting value of the sensing measurement quantity.

51. The communications apparatus of claim 46, wherein The processor is further configured to: receive the synchronization clock error sent by the first node.

52. The communication device of claim 51, wherein, The receiving the synchronization clock error sent by the first node comprises: if the second node is a sensing sending node, receiving the synchronization clock error sent by the first node or half of the synchronization clock error; or, if the second node is a sensing receiving node, receiving a negative value of the synchronization clock error sent by the first node or a negative value of half of the synchronization clock error.

53. The communication apparatus according to claim 51 or 52, wherein, The processor is further configured to: adjust the synchronization clock based on the synchronization clock error.

54. The communication device of claim 53, wherein, The adjusting the synchronization clock based on the synchronization clock error comprises: if the second node is a sensing sending node, based on the synchronization clock error or half of the synchronization clock error being greater than zero, slowing down the synchronization clock; or, based on the synchronization clock error or half of the synchronization clock error being less than zero, speeding up the synchronization clock; if the second node is a sensing receiving node, based on a negative value of the synchronization clock error or a negative value of half of the synchronization clock error being greater than zero, slowing down the synchronization clock; or, based on the negative value of the synchronization clock error or the negative value of half of the synchronization clock error being less than zero, speeding up the synchronization clock.

55. A processor-readable storage medium, wherein, The processor readable storage medium stores a program for causing the processor to perform the sensing parameter determination method according to any one of claims 1 to 26.

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