Communication method and related apparatus

Abstract

The present application provides a communication method and a related apparatus. The method comprises: determining a Doppler pre-compensation value, the Doppler pre-compensation value being obtained on the basis of first sensing assistance information and / or second sensing assistance information, the first sensing assistance information being used for indicating information of a first sensing node, the second sensing assistance information being used for indicating information of a sensing target, and the information of the sensing target being obtained by a second sensing node; and performing pre-compensation on a first sensing signal on the basis of the Doppler pre-compensation value, the first sensing signal being a sensing signal between the first sensing node and the sensing target. By implementing the present application, the continuity of a sensing service can be ensured; and in addition, by performing pre-compensation on a sensing signal on the basis of an obtained Doppler pre-compensation value, the accuracy of the sensing signal can be improved.

Description

Communication methods and related devices

[0001] This application claims priority to Chinese Patent Application No. 202410942171.X, filed on July 15, 2024, entitled "Communication Method and Related Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of wireless communication technology, and in particular to a communication method and related apparatus. Background Technology

[0003] In an Integrated Sensing and Communication (ISAC) system, sensing devices can perform sensing by sending sensing signals and receiving echoes reflected from the target. Information such as the distance between the sensing device and the target is obtained through correlation calculations between the sensing signals and the echo signals. However, in high-speed moving scenarios, the rapid movement of the target necessitates quick switching between multiple sensing nodes, reducing the continuity of sensing services. Therefore, improving the continuity of sensing services is a problem that needs to be addressed. Summary of the Invention

[0004] This application provides a communication method and related apparatus that can improve the continuity of sensing services.

[0005] Firstly, this application provides a communication method that can be applied to a first sensing node, a device within the first sensing node (e.g., a chip, a chip system, or a circuit), or a device compatible with the first sensing node. The following description uses an application to a first sensing node as an example. This communication method may include:

[0006] The Doppler pre-compensation value is determined based on the first sensing auxiliary information and / or the second sensing auxiliary information. The first sensing auxiliary information is used to indicate the information of the first sensing node, and the second sensing auxiliary information is used to indicate the information of the sensing target. The information of the sensing target is obtained by the second sensing node.

[0007] The first sensing signal is pre-compensated based on the Doppler pre-compensation value. The first sensing signal is the sensing signal between the first sensing node and the sensing target.

[0008] In the solution provided in this application, when the sensing node for sensing the target needs to switch from the second sensing node to the first sensing node, the network device can calculate the Doppler frequency shift based on the information of the sensing target obtained by the second sensing node and the information of the first sensing node, determine whether to perform Doppler pre-compensation and determine the Doppler pre-compensation value, and compensate for the Doppler frequency shift based on the Doppler pre-compensation value, thereby reducing the fluctuation of sensing accuracy to ensure the continuity of sensing services. Furthermore, pre-compensating the sensing signal with the obtained Doppler pre-compensation value can also improve the accuracy of the sensing signal.

[0009] One possible implementation, the method further includes:

[0010] Send first sensing assistance information to network devices;

[0011] Receive Doppler pre-compensation values ​​from the network device, which are calculated by the network device.

[0012] In the scheme provided in this application, the Doppler pre-compensation value can be calculated by the network device, thereby reducing the processing complexity of the first sensing node.

[0013] One possible implementation, the method further includes:

[0014] Receive a first request message from the network device, the first request message being used to request first sensing assistance information.

[0015] One possible implementation, the method further includes:

[0016] Receive second-sensory auxiliary information;

[0017] The Doppler pre-compensation value is determined based on the second and first sensing auxiliary information.

[0018] In the solution provided in this application embodiment, the Doppler pre-compensation value is determined by the first sensing node. That is, the first sensing node does not need to send first sensing auxiliary information to the network device. Therefore, while ensuring the continuity of the sensed target, pre-compensating the sensing signal using the obtained Doppler pre-compensation value can improve the accuracy of the sensing signal and enhance data security.

[0019] One possible implementation is that the second perceptual aid information includes at least one of the following:

[0020] Sensing the target's speed information;

[0021] Perceive the target's location information;

[0022] The radar cross-section of the target being sensed;

[0023] Direction of the transmitted or received beam;

[0024] The time difference between sending and receiving sensing signals.

[0025] One possible implementation is that the first perceptual aid information includes at least one of the following:

[0026] Speed ​​information of the first sensing node;

[0027] Location information of the first sensing node;

[0028] The sensing capability information of the first sensing node.

[0029] One possible implementation is that the first request information includes a first transmission condition for information of the first sensing node, and the first transmission condition satisfies one or more of the following:

[0030] The speed of the first sensing node is greater than or equal to the first preset speed;

[0031] The change in the velocity of the first sensing node is greater than or equal to the first preset change in velocity;

[0032] The strength of the sensing signal of the first sensing node is greater than or equal to the strength of the first preset signal;

[0033] The reception time of the sensing signal of the first sensing node is less than or equal to the first preset reception time.

[0034] The distance between the first sensing node and the sensing target is less than or equal to the first preset distance.

[0035] One possible implementation is that the first request information also includes one or more of the following:

[0036] First preset speed;

[0037] First preset speed change value;

[0038] First preset signal strength;

[0039] First preset receiving time;

[0040] First preset distance.

[0041] One possible implementation is that the first request information also includes the type of perception auxiliary information, which includes a first type and a second type. The first type of perception auxiliary information is the information of the perception node, and the second type of perception auxiliary information is the information of the perception target.

[0042] One possible implementation is that, when the type of the sensing auxiliary information is the second type, the first request information also includes the identification (ID) of the sensing task and / or the identification ID of the sensing target, with the sensing task associated with the sensing target.

[0043] One possible implementation of the method further includes receiving a scheduling message, which is used to indicate a sensed resource.

[0044] The sensing resources may include one or more of the following: time-domain resources, frequency-domain resources, and power resources.

[0045] One possible implementation method further includes sending third sensing assistance information to a network device, the third sensing assistance information being used to indicate sensing measurement information after Doppler pre-compensation.

[0046] One possible implementation is that the third sensing aid information includes Doppler measurements and / or a first equivalent relative velocity.

[0047] One possible implementation, the method further includes: receiving a Doppler pre-compensation indication from a network device, the Doppler pre-compensation indication being used to indicate pre-compensation of the sensed echo signal or the original sensed signal;

[0048] Pre-compensation is performed on the sensed echo signal or the original sensed signal based on the Doppler pre-compensation indication and the Doppler pre-compensation value.

[0049] Secondly, this application provides a communication method that can be applied to a second sensing node, or to a device (e.g., a chip, a chip system, or a circuit) within the second sensing node, or to a device compatible with the second sensing node. The following description uses an application to a second sensing node as an example. This communication method may include:

[0050] Send second sensing assistance information, which is used to indicate the information of the sensing target obtained by the second sensing node.

[0051] One possible implementation of the method further includes: receiving second request information, the second request information being used to request second perceptual assistance information.

[0052] One possible implementation is that the second perceptual aid information includes at least one of the following:

[0053] Sensing the target's speed information;

[0054] Perceive the target's location information;

[0055] The radar cross-section of the target being sensed;

[0056] Direction of the transmitted or received beam;

[0057] The time difference between sending and receiving sensing signals.

[0058] One possible implementation is that the second request information includes a second transmission condition for information about the perceived target, the second transmission condition satisfying one or more of the following:

[0059] The speed of the perceived target is greater than or equal to the second preset speed;

[0060] The change in the velocity of the perceived target is greater than or equal to the second preset velocity change value;

[0061] The strength of the sensing signal of the second sensing node is less than or equal to the strength of the second preset signal;

[0062] The reception time of the sensing signal of the second sensing node is greater than or equal to the second preset reception time.

[0063] The distance between the second sensing node and the sensing target is greater than or equal to the second preset distance.

[0064] One possible implementation is that the second request information also includes one or more of the following:

[0065] Second preset speed;

[0066] Second preset speed change value;

[0067] Second preset signal strength;

[0068] Second preset receiving time;

[0069] Second preset distance.

[0070] In one possible implementation, the second request information also includes the type of perception auxiliary information, which includes a first type and a second type. The first type of perception auxiliary information is the information of the perception node, and the second type of perception auxiliary information is the information of the perception target.

[0071] One possible implementation is that, when the type of the sensing assistance information is the second type, the second request information also includes the identifier ID of the sensing task and / or the identifier ID of the sensing target, with the sensing task associated with the sensing target.

[0072] Thirdly, this application provides a communication method that can be applied to a network device, a device within the network device (e.g., a chip, a chip system, or a circuit), or a device compatible with a network device. The following description uses an application to a network device as an example. This communication method may include:

[0073] When the sensing node for sensing the target is switched from the second sensing node to the first sensing node, second sensing auxiliary information is received from the second sensing node. The second sensing auxiliary information is used to indicate the information of the target sensed by the second sensing node.

[0074] One possible implementation, the method further includes: receiving first sensing auxiliary information from a first sensing node; determining a Doppler pre-compensation value based on second sensing auxiliary information and first sensing auxiliary information, wherein the first sensing auxiliary information is used to indicate information of the first sensing node;

[0075] The Doppler pre-compensation value is sent to the first sensing node.

[0076] One possible implementation method further includes: sending a first request message to a first sensing node, the first request message being used to request first sensing auxiliary information;

[0077] Send a second request message to the second sensing node. The second request message is used to request second sensing auxiliary information.

[0078] One possible implementation method further includes sending second sensing assistance information to the first sensing node.

[0079] One possible implementation method further includes: sending a second request message to a second sensing node, the second request message being used to request second sensing auxiliary information.

[0080] One possible implementation is that the second perceptual aid information includes at least one of the following:

[0081] Sensing the target's speed information;

[0082] Perceive the target's location information;

[0083] The radar cross-section of the target being sensed;

[0084] Direction of the transmitted or received beam;

[0085] The time difference between sending and receiving sensing signals.

[0086] One possible implementation is that the first perceptual aid information includes at least one of the following:

[0087] Speed ​​information of the first sensing node;

[0088] Location information of the first sensing node;

[0089] The sensing capability information of the first sensing node.

[0090] One possible implementation is that the first request information includes a first transmission condition for the information of the first sensing node, wherein the first transmission condition satisfies any one or more of the following:

[0091] The speed of the first sensing node is greater than or equal to the first preset speed;

[0092] The change in the velocity of the first sensing node is greater than or equal to the first preset change in velocity;

[0093] The strength of the sensing signal of the first sensing node is greater than or equal to the strength of the first preset signal;

[0094] The reception time of the sensing signal of the first sensing node is less than or equal to the first preset reception time.

[0095] The distance between the first sensing node and the sensing target is less than or equal to a first preset distance.

[0096] One possible implementation is that the first request information also includes one or more of the following:

[0097] First preset speed;

[0098] First preset speed change value;

[0099] First preset signal strength;

[0100] First preset receiving time;

[0101] First preset distance.

[0102] One possible implementation is that the second request information includes a second transmission condition for information about the perceived target, the second transmission condition satisfying one or more of the following:

[0103] The speed of the perceived target is greater than or equal to the second preset speed;

[0104] The change in the velocity of the perceived target is greater than or equal to the second preset velocity change value;

[0105] The strength of the sensing signal of the second sensing node is less than or equal to the strength of the second preset signal;

[0106] The reception time of the sensing signal of the second sensing node is greater than or equal to the second preset reception time.

[0107] The distance between the second sensing node and the sensing target is greater than or equal to the second preset distance.

[0108] One possible implementation is that the second request information also includes one or more of the following:

[0109] Second preset speed;

[0110] Second preset speed change value;

[0111] Second preset signal strength;

[0112] Second preset receiving time;

[0113] Second preset distance.

[0114] One possible implementation is that the first request information or the second request information further includes a type of perception auxiliary information. The type of perception auxiliary information includes a first type and a second type. The first type of perception auxiliary information is the information of the perception node, and the second type of perception auxiliary information is the information of the perception target.

[0115] One possible implementation is that, when the type of the sensing auxiliary information is the second type, the first request information or the second request information also includes the identification ID of the sensing task and / or the identification ID of the sensing target, and the sensing task is associated with the sensing target.

[0116] One possible implementation method further includes sending a scheduling message to the first sensing node, the scheduling message being used to indicate sensing resources.

[0117] Among them, sensing resources include one or more of time-domain resources, frequency-domain resources, and power resources.

[0118] One possible implementation method further includes sending a Doppler pre-compensation instruction to a first sensing node, the Doppler pre-compensation instruction being used to instruct pre-compensation of the sensed echo signal or the original sensed signal.

[0119] One possible implementation method further includes: receiving third sensing auxiliary information from a first sensing node, the third sensing auxiliary information being used to indicate sensing measurement information after Doppler pre-compensation.

[0120] One possible implementation is that the third sensing aid information includes Doppler measurements and / or a first equivalent relative velocity.

[0121] Fourthly, this application provides a communication device comprising a module / unit for performing any of the methods described in the first aspect and its possible implementations. The device may be a first sensing node, a module (e.g., a chip, chip system, or processor) applied to the first sensing node, or a logic node, logic module, or software capable of implementing all or part of the functions of the first sensing node.

[0122] Fifthly, this application provides a communication device comprising a module / unit for performing any of the methods described in the second aspect and its possible implementations. The device may be a second sensing node, a module (e.g., a chip, chip system, or processor) applied to the second sensing node, or a logic node, logic module, or software capable of implementing all or part of the functions of the second sensing node.

[0123] Sixthly, this application provides a communication device comprising a module / unit for performing any of the methods described in the third aspect and its possible implementations. The device may be a network device, a module (e.g., a chip, chip system, or processor) applied to a network device, or a logical node, logical module, or software capable of implementing all or part of the functions of a network device.

[0124] In a seventh aspect, embodiments of this application provide a communication device, which may be a first sensing node or a device within the first sensing node (e.g., a chip, a chip system, or a circuit). The communication device may include a processor coupled to a memory for storing programs or instructions. When the program or instructions are executed by the processor, the communication device performs the methods described in the above method embodiments, executed by the first sensing node or a device within the first sensing node.

[0125] Eighthly, embodiments of this application provide a communication device, which can be a second sensing node or a device within the second sensing node (e.g., a chip, a chip system, or a circuit). The communication device may include a processor coupled to a memory for storing programs or instructions. When the processor executes the program or instructions, it causes the communication device to perform the methods described in the above method embodiments, executed by the second sensing node or a device within the second sensing node.

[0126] Ninthly, embodiments of this application provide a communication device, which may be a network device or a device within a network device (e.g., a chip, a chip system, or a circuit). The communication device may include a processor coupled to a memory for storing programs or instructions. When the program or instructions are executed by the processor, the communication device performs the methods described in the above method embodiments, executed by the network device or a device within the network device.

[0127] In a tenth aspect, embodiments of this application provide a computer-readable storage medium storing a computer program or computer instructions that, when executed on a computer, cause the computer to perform the methods described in the first aspect or any possible implementation of the first aspect, the second aspect or any possible implementation of the second aspect, or the third aspect or any possible implementation of the third aspect.

[0128] In one aspect, embodiments of this application provide a computer program product containing program instructions, which, when run on a computer, causes the computer to execute the methods in the first aspect or any possible implementation of the first aspect, the second aspect or any possible implementation of the second aspect, or the third aspect or any possible implementation of the third aspect.

[0129] In a twelfth aspect, embodiments of this application provide a chip system including a processor for implementing the functions in the methods described above. In one possible implementation, the chip system may further include a memory for storing program instructions and / or data. The chip system may be composed of chips or may include chips and other discrete devices.

[0130] In a thirteenth aspect, embodiments of this application provide a communication system including a first sensing node, a second sensing node, and a network device. When the first sensing node, the second sensing node, and the network device are running in the communication system, they are used to execute any one of the methods described in the first to third aspects above. Attached Figure Description

[0131] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly described below. Obviously, those skilled in the art can obtain other drawings based on these drawings without any creative effort.

[0132] Figure 1 is a schematic diagram of the architecture of a communication system;

[0133] Figure 2 is a flowchart illustrating a communication method provided in an embodiment of this application;

[0134] Figure 3 is an interactive schematic diagram of another communication method provided in an embodiment of this application;

[0135] Figure 4 is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0136] Figure 5 is a schematic diagram of another communication device provided in an embodiment of this application;

[0137] Figure 6 is a schematic diagram of the structure of another communication device provided in an embodiment of this application. Detailed Implementation

[0138] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0139] The at least one item mentioned in the embodiments of this application refers to one or more items. Multiple items refers to two or more items. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship. Furthermore, it should be understood that although the terms "first," "second," etc., may be used to describe objects in the embodiments of this application, these objects should not be limited to these terms. These terms are only used to distinguish the objects from each other.

[0140] The terms "comprising" and "having," and any variations thereof, used in the following description of embodiments of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. It should be noted that in embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any method or design described as "exemplary" or "for example" in embodiments of this application should not be construed as preferred or advantageous over other methods or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0141] To better understand the embodiments of this application, the system architecture involved in the embodiments of this application will be described first below:

[0142] The technology provided in this application can be applied to various communication systems. For example, the communication system can be a third-generation (3G) communication system (e.g., Evolved Universal Terrestrial Radio Access (E-UTRA), Universal Mobile Telecommunication System (UMTS)), a fourth-generation (4G) communication system (e.g., Long Term Evolution (LTE) system), a fifth-generation (5G) communication system, Worldwide Interoperability for Microwave Access (WiMAX) or Wireless Local Area Network (WLAN) system, or a converged system of multiple systems, or a future communication system, such as a sixth-generation (6G) communication system. The 5G communication system can also be referred to as a new radio (NR) system.

[0143] In a communication system, a network element can send signals to or receive signals from another network element. These signals can include information or data. A network element can also be referred to as an entity, network entity, device, communication equipment, communication module, node, communication node, etc. This application describes the concept of a network element. For example, a communication system can include at least one terminal device and at least one network device. The signal-transmitting network element can be a network device, and the signal-receiving network element can be a terminal device; or, the signal-transmitting network element can be a terminal device, and the signal-receiving network element can be a network device. Furthermore, it is understood that if the communication system includes multiple terminal devices, these terminal devices can also exchange signals; that is, both the signal-transmitting network element and the signal-receiving network element can be terminal devices.

[0144] Referring to Figure 1, a communication system is illustrated as an example. This system includes a network device 110, two sensing nodes (i.e., a first sensing node 120 and a second sensing node 130), and a sensing target 140. At least one of the first sensing node 120 and the second sensing node 130 can sense the sensing target 140 and send uplink data to the network device 110, which can receive the uplink data. The network device can also send downlink data to at least one of the first sensing node 120 and the second sensing node 130.

[0145] The terminal devices and network devices involved in Figure 1 are described in detail below.

[0146] The first sensing node 120, the second sensing node 130, and the sensing target 140 can be the same or different terminal devices. A terminal device, also known as a terminal, user equipment (UE), mobile station (MS), or mobile terminal (MT), is a device that provides voice and / or data connectivity to a user. Terminal devices can communicate with one or more core network devices through network devices. Terminal devices include handheld devices with wireless connectivity, other processing devices connected to a wireless modem, or vehicle-mounted devices. Terminal devices can be portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile devices. Examples of terminal devices include: personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), wireless network cameras, mobile phones, tablets, laptops, PDAs, mobile internet devices (MIDs), wearable devices such as smartwatches, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, terminals in vehicle-to-everything (V2X) systems, wireless terminals in self-driving cars, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities such as smart gas pumps, terminal equipment on high-speed trains, and wireless terminals in smart homes such as smart speakers, smart coffee machines, and smart printers.

[0147] In this application embodiment, the communication device used to implement the terminal device function can be a terminal device, a terminal device with terminal partial functions, or a device capable of supporting the terminal device to implement the function, such as a chip system, which can be installed in the terminal device. In this application embodiment, the chip system can be composed of chips or include chips and other discrete devices. In the technical solutions provided in this application embodiment, the communication device used to implement the terminal device function is described as a terminal device or UE.

[0148] In this application's embodiments, "sending information to...(terminal device)" can be understood as the destination of the information being the terminal device, which may include sending information directly or indirectly to the terminal device. "Receiving information from...(terminal device)" can be understood as the source of the information being the terminal device, which may include receiving information directly or indirectly from the terminal device. Information may undergo necessary processing between the source and destination, such as format changes, but the destination can understand the valid information from the source. Similar expressions in this application can be understood in a similar way, and will not be elaborated further here.

[0149] Network equipment can be a base station (BS), a sensing function (SF), or an access and mobility management function (AMF) element. Network equipment can also be called access network equipment, access node (AN), or radio access node (RAN). Network equipment can connect to the core network (such as the LTE core network or the 5G core network) and can provide wireless access services to terminal devices. Examples of network devices include, but are not limited to, at least one of the following: next-generation node B (gNB) in 5G, network devices in open radio access networks (O-RAN), evolved node B (eNB), radio network controller (RNC), node B (NB), base station controller (BSC), base transceiver station (BTS), home base station (e.g., home evolved node B, or home node B, HNB), transmitting and receiving point (TRP), transmitting point (TP), and / or mobile switching center, etc.; or, network devices may be relay stations, access points, vehicle-mounted devices, wearable devices, or network devices in future evolved public land mobile networks (PLMNs), etc. The network devices in the embodiments of this application may be integrated base stations, or base stations including centralized units (CU) and / or distributed units (DU). A base station including a CU and a DU can also be called a base station with separate CU and DU, such as a base station including gNB-CU and gNB-DU. The CU can also be separated into a CU control plane (CU-CP) and a CU user plane (CU-UP), such as a base station including gNB-CU-CP, gNB-CU-UP, and gNB-DU. Alternatively, the network device in this embodiment can also be an antenna unit (RU).Alternatively, the network device in this application embodiment can also be an open radio access network (O-RAN) architecture, etc. This application embodiment does not limit the specific deployment method of the network device. For example, when the network device is an O-RAN architecture, the network device shown in this application embodiment can be an access network device in O-RAN, such as a combination of one or more of CU, DU, or RU, or a module in the access network device, etc. In an Open Radio Access Network (ORAN) system, CU can also be called open (O)-CU, CU-CP can also be called open (O)-CU-CP, CU-UP can also be called open (O)-CU-UP, and RU can also be called open (O)-RU.

[0150] In this application embodiment, the communication device used to implement the functions of a network device can be a network device, a device having some of the functions of a network device, or a device capable of supporting the network device in implementing that function. For example, a chip system, which can be installed in a network device. In this application embodiment, the chip system can be composed of chips or can include chips and other discrete components. In the technical solutions provided in this application embodiment, a network device is used as an example to describe the communication device used to implement the functions of a network device.

[0151] In this application's embodiments, "sending information to...(network device)" can be understood as the destination of the information being the network device, which may include sending information to the network device directly or indirectly. "Receiving information from...(network device)" can be understood as the source of the information being the network device, which may include receiving information from the network device directly or indirectly. Information may undergo necessary processing between the source and destination, such as format changes, but the destination can understand the valid information from the source. Similar expressions in this application can be understood in a similar way, and will not be elaborated further here.

[0152] It should be understood that the number and type of each device in the communication system shown in Figure 1 are for illustrative purposes only. The embodiments of this application are not limited to this. In actual applications, the communication system may include more terminal devices, more network devices, and other network elements, such as core network devices and / or network management devices such as operation administration and maintenance (OAM) devices.

[0153] The communication systems and service scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new service scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0154] Please refer to Figure 2, which is a flowchart illustrating a communication method provided in an embodiment of this application. The communication method mainly includes the following steps. It is understood that the steps and execution order illustrated in Figure 2 are merely examples. In actual implementation, some steps may be executed, or the remaining steps may also be executed. Similarly, the execution order of the steps may be adjusted, and this embodiment of the application does not limit this.

[0155] To facilitate understanding of the embodiments of this application, the technical problems to be solved by this application are further analyzed and proposed below.

[0156] Future mobile communication systems are expected to possess both communication and sensing capabilities. With the continuous improvement of frequency points, the widening of bandwidth, and the use of Ultra-Massive Multiple Input Multiple Output (UM-MIMO) technology, communication signals exhibit high resolution in the time delay, Doppler, and angular domains, making high-precision sensing possible. New services such as digital twins and vehicle-to-everything (V2X) are also driving the convergence of communication and radar systems in terms of spectrum, technological trends, and applications. Therefore, it is necessary to design sensing and communication systems in an integrated manner to achieve mutual assistance in communication and sensing capabilities, network synergy, improved frequency efficiency, and reduced hardware costs. This has spurred research into Integrated Sensing and Communication (ISAC).

[0157] In an ISAC system, sensing devices can perform sensing by sending sensing signals and receiving echoes reflected from the target. Information such as the distance between the sensing device and the target is obtained through correlation operations between the sensing signals and the echo signals. To improve sensing accuracy (e.g., the accuracy of the distance between the sensing device and the target), the sensing signal needs to have good aperiodic autocorrelation and cross-correlation properties. To ensure this, in practical applications, sensing signals are generally generated based on sensing sequences with good aperiodic autocorrelation properties. Commonly used sensing sequences include Gray complementary pair (GCP) sequences and Zadoff-Chu (ZC) sequences. However, in high-speed moving scenarios, there is often a large Doppler frequency shift, which will destroy the autocorrelation and cross-correlation properties of the sensing sequence, resulting in a decrease in sensing accuracy. Furthermore, due to the high speed of the target movement, sensing nodes may be unable to detect, thus reducing the continuity of sensing services. Therefore, how to improve sensing accuracy and ensure the continuity of sensing services are problems that need to be solved.

[0158] This application provides various communication methods, which will be described below through the following embodiments. Some of these communication methods are only for certain processes, while others can be applied to any one or more processes. It should be understood that these communication methods can be used in combination with each other.

[0159] It should be understood that communication methods may change as technical solutions evolve, and the technical solutions provided in this application are not limited to the process described below. Furthermore, the scenario descriptions in the embodiments of this application are merely illustrative and do not limit the solutions of the embodiments of this application to only the described scenarios, but are also applicable to scenarios with similar problems.

[0160] In the following embodiments, the first sensing node can be the first sensing node 120 in the network architecture shown in FIG1, the second sensing node can be the second sensing node 130 in the network architecture shown in FIG1, and the network device can be the network device 110 in the network architecture shown in FIG1. ​​The functions performed by the first sensing node in this embodiment can also be performed by a device (e.g., a chip, a chip system, or a circuit) in the first sensing node. Similarly, the functions performed by the second sensing node in this embodiment can also be performed by a device (e.g., a chip, a chip system, or a circuit) in the second sensing node. The functions performed by the network device in this embodiment can also be performed by a device (e.g., a chip, a chip system, or a circuit) in the network device. This embodiment is described uniformly here and will not be repeated hereafter.

[0161] The following describes a communication method provided by an embodiment of this application. Please refer to Figure 2, which is an interactive schematic diagram of a communication method provided by an embodiment of this application. As shown in Figure 2, the communication method may include the following steps. Among them, steps S201 and S203 are optional steps and are represented by dashed lines in Figure 2.

[0162] Step S201: The network device sends a first request message to the first sensing node. Correspondingly, the first sensing node receives the first request message from the network device.

[0163] The first request information is used to request the first perception assistance information.

[0164] In one possible implementation, the first request information may include one or more of the following: speed request information of the first sensing node, location request information of the first sensing node, and sensing capability request information of the first sensing node. Thus, the first sensing node can determine the specific content of the first sensing auxiliary information to be sent to the network device based on the request information included in the first request information.

[0165] In one possible implementation, the first request information may also include the first sending condition of the information of the first sensing node.

[0166] The first transmission condition of the information of the first sensing node can satisfy one or more of the following:

[0167] The speed of the first sensing node is greater than or equal to the first preset speed;

[0168] The change in the velocity of the first sensing node is greater than or equal to the first preset change in velocity;

[0169] The strength of the sensing signal of the first sensing node is greater than or equal to the strength of the first preset signal;

[0170] The reception time of the sensing signal of the first sensing node is less than or equal to the first preset reception time.

[0171] The distance between the first sensing node and the sensing target is less than or equal to the first preset distance.

[0172] The change in speed can refer to the difference between the current speed and the speed reported last time, or the difference between the current speed and the measured value in the previous sensing cycle. In one possible implementation, if this is the first report or the first measurement of speed information within a sensing cycle, the previously reported speed is assumed to be 0, or the measured value in the previous cycle is 0. That is, if no speed has been reported before, the change in speed is the current speed.

[0173] In one possible implementation, the conditions in the first transmission condition can be divided into two categories: a first type of first transmission condition and a second type of first transmission condition. The first type of first transmission condition includes one or more of the following: the speed of the first sensing node is greater than or equal to a first preset speed; the change in the speed of the first sensing node is greater than or equal to a first preset speed change value. This is used by the first sensing node to determine whether its speed information needs to be included in the transmitted first sensing auxiliary information. The second type of first transmission condition includes one or more of the following: the strength of the sensing signal of the first sensing node is greater than or equal to a first preset signal strength; the reception time of the sensing signal of the first sensing node is less than or equal to a first preset reception time; and the distance between the first sensing node and the sensing target is less than or equal to a first preset distance. This is used by the first sensing node to determine whether it meets the sensing requirements. That is, if the second type of first condition is met, it can be determined that the first sensing node meets the sensing requirements and can be used as a candidate sensing node for sensing the target. The sensing service can switch from the second sensing node to the first sensing node to sense the target. If the second type of first condition is not met, the first sensing node cannot sense the target.

[0174] In one possible implementation, if at least one of the second type of first transmission conditions is satisfied, the first sensing auxiliary information may include one or more of the location information and sensing capability information of the first sensing node. If at least one of the second type of first transmission conditions and at least one of the first type of first transmission conditions are satisfied, the first sensing auxiliary information may include the speed information of the first sensing node, and further may also include one or more of the location information and sensing capability information of the first sensing node.

[0175] The first transmission condition for the information of the sensing target may be included in the first request information and sent to the first sensing node, or it may be predefined in the protocol, or it may be carried on downlink control information (DCI), radio resource control (RRC), or medium access control-control element (MACCE) and sent to the first sensing node. This application embodiment does not limit this.

[0176] It is understood that, under the first sending condition where the first request information includes the information of the first sensing node, the first request information may also include one or more of the following: a first preset speed (value), a first preset speed change value, a first preset signal strength (value), a first preset reception time (value), and a first preset distance (value).

[0177] In one possible implementation, the first request information may also include the type of perception-aiding information.

[0178] The sensing assistance information includes a first type and a second type. The first type of sensing assistance information is the information of the sensing node, and the second type of sensing assistance information is the information of the sensing target. That is, the first sensing node can determine the information to be sent to the network device based on the type of sensing assistance included in the first request information. For example, in this embodiment, if the information the first sensing node needs to send to the network device is the first sensing assistance information, i.e., the information of the first sensing node, then the type of sensing assistance included in the first request information sent by the network device to the first sensing node is the first type. In other words, if the first request information sent by the network device to the first sensing node includes a first type of sensing assistance, then after receiving the first request information, the first sensing node, based on the fact that the type of sensing assistance included in the first request information is the first type, can know that the information to be sent to the network device is the information of the first sensing node.

[0179] In one possible implementation, if the type of sensing auxiliary information included in the first request information is the second type, the first request information may further include an identifier of the sensing task and / or an identifier of the sensing target. The identifier of the sensing task is associated with the sensing target. That is, by using the identifier of the sensing task and / or the identifier of the sensing target included in the first request information, the first sensing node can determine the information of the sensing target specified by the network device among multiple sensing targets.

[0180] Step S202: The first sensing node sends first sensing assistance information to the network device. Correspondingly, the network device receives the first sensing assistance information from the first sensing node.

[0181] Among them, the first perception auxiliary information is used to indicate the information of the first perception node.

[0182] In one possible implementation, the first perceptual aid information may include at least one of the following:

[0183] Speed ​​information of the first sensing node;

[0184] Location information of the first sensing node;

[0185] The sensing capability information of the first sensing node.

[0186] The speed and location information of the first sensing node can be obtained by the first sensing node sensing itself, or it can be obtained according to the Global Positioning System (GPS) (a non-3GPP positioning method) or the 3rd Generation Partnership Project (3GPP) positioning method. This application embodiment does not limit this.

[0187] The velocity information of the first sensing node can be a velocity vector, including velocity magnitude and velocity direction. Alternatively, the velocity information can be a velocity scalar, including the velocity magnitude in the x-direction, the velocity magnitude in the y-direction, and the velocity magnitude in the z-direction.

[0188] Furthermore, the velocity information of the first sensing node can also include acceleration information. Acceleration information can be an acceleration vector, including the magnitude and direction of acceleration. Alternatively, acceleration information can be an acceleration scalar, including the magnitude of acceleration in the x-direction, the magnitude of acceleration in the y-direction, and the magnitude of acceleration in the z-direction.

[0189] Step S203: The network device sends a second request message to the second sensing node. Correspondingly, the second sensing node receives the second request message from the network device.

[0190] The second request information is used to request the second perception assistance information.

[0191] In one possible implementation, the second request information may include one or more of the following: speed request information of the second sensing node, location request information of the second sensing node, and sensing capability request information of the second sensing node.

[0192] Thus, the second sensing node can determine the specific content of the second sensing auxiliary information sent to the network device based on the request information included in the second request information.

[0193] In one possible implementation, the second request information may further include a second sending condition for the information of the perceived target.

[0194] The second transmission condition for the information of the perceived target may include one or more of the following:

[0195] The speed of the perceived target is greater than or equal to the second preset speed;

[0196] The change in the velocity of the perceived target is greater than or equal to the second preset velocity change value;

[0197] The strength of the sensing signal of the second sensing node is less than or equal to the strength of the second preset signal;

[0198] The reception time of the sensing signal of the second sensing node is greater than or equal to the second preset reception time.

[0199] The distance between the second sensing node and the sensing target is greater than or equal to the second preset distance.

[0200] In one possible implementation, the conditions in the second transmission condition can be divided into two categories: a first category of second transmission conditions and a second category of second transmission conditions. The first category of second transmission conditions includes one or more of the following: the speed of the second sensing node is greater than or equal to a second preset speed; the change in the speed of the second sensing node is greater than or equal to a second preset speed change value. This is used by the second sensing node to determine whether its speed information needs to be included in the transmitted second sensing auxiliary information. The second category of second transmission conditions includes one or more of the following: the strength of the sensing signal of the second sensing node is less than or equal to a second preset signal strength; the reception time of the sensing signal of the second sensing node is greater than or equal to a second preset reception time; and the distance between the second sensing node and the sensing target is less than or equal to a second preset distance. This is used by the second sensing node to determine whether it meets the requirements for sensing the sensing target. If the second category of second transmission conditions is met, it indicates that the second sensing node does not meet the sensing requirements, and thus a sensing switch can be performed.

[0201] In one possible implementation, if at least one of the second type of second transmission conditions is satisfied, the second sensing assistance information may include one or more of the location information of the second sensing node and the sensing capability information of the second sensing node. If at least one of the second type of second transmission conditions and at least one of the second type of first transmission conditions are satisfied, the second sensing assistance information may include the speed information of the second sensing node, and further may also include one or more of the location information of the second sensing node and the sensing capability information of the second sensing node.

[0202] It is understood that, when the second request information includes the second transmission condition of the sensing target, the second request information may also include one or more of the following: a second preset speed (value), a second preset speed change value, a second preset signal strength (value), a second preset reception time (value), and a second preset distance (value).

[0203] After receiving the second request information, if one or more of the second sending conditions of the above sensing target are met, the second sensing node sends the second sensing auxiliary information to the network device.

[0204] In one possible implementation, the second request information may also include the type of perception-aiding information.

[0205] The sensing assistance information includes a first type and a second type. The first type of sensing assistance information is information about the sensing node, and the second type of sensing assistance information is information about the sensing target. That is, the second sensing node can determine the information to be sent to the network device based on the type of sensing assistance included in the second request information. For example, in this embodiment, if the information the second sensing node needs to send to the network device is second sensing assistance information, i.e., information about the sensing target, then the type of sensing assistance included in the second request information sent by the network device to the second sensing node is the second type. In other words, if the second request information sent by the network device to the second sensing node includes a second type of sensing assistance, then after receiving the second request information, the second sensing node, based on the second type of sensing assistance included in the second request information, can know that the information to be sent to the network device is information about the sensing target.

[0206] In one possible implementation, if the type of sensing auxiliary information included in the second request information is a second type, the second request information may further include an identifier of the sensing task and / or an identifier of the sensing target. The identifier of the sensing task is associated with the sensing target. That is, by using the identifier of the sensing task and / or the identifier of the sensing target included in the second request information, the second sensing node can determine the information of the sensing target specified by the network device among multiple sensing targets.

[0207] Step S204: The second sensing node sends second sensing assistance information to the network device. Correspondingly, the network device receives the second sensing assistance information from the second sensing node.

[0208] The second sensing auxiliary information is used to indicate the information of the sensing target obtained by the second sensing node. The sensing target can be a device that the second sensing device can currently sense.

[0209] In one possible implementation, the second perceptual aid information may include at least one of the following:

[0210] Sensing the target's speed information;

[0211] Perceive the target's location information;

[0212] The radar cross-section of the target being sensed;

[0213] Direction of the transmitted or received beam;

[0214] The time difference between sending and receiving sensing signals.

[0215] The speed and location information of the perceived target can be obtained by the second sensing node, or it can be obtained according to the Global Positioning System (GPS) (a non-3GPP positioning method) or the 3rd Generation Partnership Project (3GPP) positioning method. This application embodiment does not limit this. The transmission or reception beam direction can specifically include one or more of the following: elevation angle, horizontal angle, and port ID.

[0216] The velocity information of the perceived target can be a velocity vector, including the velocity magnitude and direction. Alternatively, the velocity information can be a velocity scalar, including the velocity magnitude in the x-direction, y-direction, and z-direction.

[0217] Furthermore, the velocity information of the perceived target can also include acceleration information. Acceleration information can be an acceleration vector, including the magnitude and direction of acceleration. Alternatively, acceleration information can be an acceleration scalar, including the magnitude of acceleration in the x-direction, the magnitude of acceleration in the y-direction, and the magnitude of acceleration in the z-direction.

[0218] In one possible implementation, if the second sensing node senses multiple targets, the value of each piece of information in the second sensing auxiliary information can be the average value of the information from multiple targets, the maximum value among the information from multiple targets, the minimum value among the information from multiple targets, or the value of the information from multiple targets. For example, if the second sensing node senses two targets, target A and target B, where the speed of target A is greater than the speed of target B, and the position of target A is less than the position of target B. Taking the second sensing auxiliary information, which includes velocity information and position information, as an example, if the value of each piece of information in the second sensing auxiliary information is the average value of the information of multiple sensing targets, then the velocity information in the second sensing auxiliary information is the velocity information obtained by averaging the velocity of sensing target A and the velocity of sensing target B, and the position information is the position information obtained by averaging the position of sensing target A and the position of sensing target B; if the value of each piece of information in the second sensing auxiliary information is the maximum value among the information of multiple sensing targets, then the velocity information in the second sensing auxiliary information is the velocity information of sensing target A, and the position information is the position information of sensing target B; if the value of each piece of information in the second sensing auxiliary information is the minimum value among the information of multiple sensing targets, then the velocity information in the second sensing auxiliary information is the velocity information of sensing target B, and the position information is the position information of sensing target A.

[0219] In one possible implementation, the method by which the second sensing node sends second sensing assistance information to the network device may include one or more of the following:

[0220] Method 1: The second sensing node actively sends second sensing auxiliary information to the network device.

[0221] Method 2: The second sensing node can send second sensing auxiliary information to the network device based on the second request information received from the network device to request second sensing auxiliary information.

[0222] In one example of method one, the second sensing node may determine whether to send second sensing assistance information to the network device based on its own willingness (e.g., whether it wants to continue sensing the target). For instance, if the second sensing node senses the target N times and then decides not to continue the sensing task, it can send the second sensing assistance information obtained from the Nth sensing to the network device.

[0223] In another example of method one, the second sensing node may determine whether to send second auxiliary information to the network device based on a second sending condition for the information of the sensing target.

[0224] The second transmission condition for the information of the perceived target may include one or more of the following:

[0225] The speed of the perceived target is greater than or equal to the second preset speed;

[0226] The change in the velocity of the perceived target is greater than or equal to the second preset velocity change value;

[0227] The strength of the sensing signal of the second sensing node is less than or equal to the strength of the second preset signal;

[0228] The reception time of the sensing signal of the second sensing node is greater than or equal to the second preset reception time.

[0229] The distance between the second sensing node and the sensing target is greater than or equal to the second preset distance.

[0230] The second transmission condition for the perceived target information can be sent from the network device to the second sensing node when the second sensing node establishes a sensing service related to the perceived target. Alternatively, the second transmission condition for the perceived target information can be carried on DCI, MACCE, or RRC and sent to the second sensing node. Alternatively, the second transmission condition for the perceived target information can be predefined in the protocol. This application does not limit this aspect.

[0231] It is understandable that when one or more of the above-mentioned second transmission conditions for sensing objectives are met, the second sensing node can send second sensing auxiliary information to the network device.

[0232] For method two, that is, before step S204, step S203 may be included.

[0233] Step S205: The network device determines the Doppler pre-compensation value based on the second sensing auxiliary information and / or the first sensing auxiliary information.

[0234] The Doppler pre-compensation value can be determined based on the Doppler frequency shift value. For example, the Doppler pre-compensation value can be the Doppler frequency shift value. For example, the Doppler pre-compensation value at the next moment can be a predicted value based on the current Doppler frequency shift value and its rate of change. This application does not limit this aspect.

[0235] In a spontaneous reception scenario, the Doppler frequency shift value f d It can be represented as:

[0236] In spontaneous reception scenarios, the Doppler frequency shift value f d It can be represented as:

[0237] Among them, V r Let f represent the relative velocity between the first sensing node and the sensing target, λ represent the wavelength, and f represent the relative velocity between the first sensing node and the sensing target. c denoted by , where represents the carrier frequency, and c represents the speed of light.

[0238] In one possible implementation, the network device can also determine the resource requirements of the first sensing node when sensing the target based on the equivalent relative velocity and the maximum unambiguous velocity measurement range. Here, the equivalent relative velocity is the velocity obtained through sensing measurement after Doppler pre-compensation.

[0239] When allocating resources for the first sensing node, network devices need to consider the maximum unambiguous speed measurement range and speed resolution. In other words, network devices must strike a balance between the maximum unambiguous speed measurement range and speed resolution when allocating resources for the first sensing node. The maximum unambiguous speed measurement range and / or speed resolution can be determined based on the equivalent relative speed.

[0240] In one possible implementation, the maximum unambiguous velocity measurement range and velocity resolution can be calculated as follows:

[0241] In a self-generated and self-received scenario, the maximum unambiguous velocity measurement range V max It can be represented as:

[0242] In spontaneous and externally received scenarios, the maximum unambiguous speed measurement range V max It can be represented as:

[0243] Where λ represents wavelength, T r β represents the pulse repetition period, and β represents the bistatic angle.

[0244] In the scenario of spontaneous transmission and reception, the velocity resolution ΔV can be expressed as:

[0245] In the scenario of spontaneous reception by others, the velocity resolution ΔV can be expressed as:

[0246] Where λ represents wavelength, M represents the number of pulses, and T r β represents the pulse repetition period, and β represents the bistatic angle.

[0247] For example, if the compensated equivalent relative velocity is lower than the original relative velocity, it can increase T. r Reducing the maximum unambiguous velocity measurement range improves velocity resolution, thereby enhancing sensing accuracy. Furthermore, the received echo signal exhibits a smaller Doppler frequency shift, resulting in better performance when performing autocorrelation and cross-correlation operations with the local sensing sequence.

[0248] Network devices can determine resource requirements based on the actual scenario and the needs of the sensing task. For example, they can determine the number of time-domain symbols in the sensing signal, the period of the sensing signal, or other parameters.

[0249] Step S206: The network device sends the Doppler pre-compensation value to the first sensing node. Correspondingly, the first sensing node receives the Doppler pre-compensation value from the network device.

[0250] In one possible implementation, the network device can send a Doppler pre-compensation value to the first sensing node when a fourth transmission condition is met, so that the first sensing node can perform pre-compensation based on the Doppler pre-compensation value. The fourth transmission condition may include one or more of the following: the relative velocity between the first sensing node and the sensing target is greater than or equal to a preset relative velocity; the Doppler frequency shift value corresponding to the first sensing node and the sensing target is greater than or equal to a preset Doppler frequency shift value. The fourth transmission condition can be predefined by the protocol or sent by the sensing network element to the network device; this embodiment does not limit its implementation.

[0251] After determining the Doppler pre-compensation value based on the first sensing auxiliary information and / or the second sensing auxiliary information, the network device can send the Doppler pre-compensation value to the first sensing node.

[0252] Network devices can transmit Doppler pre-compensation values ​​to the first sensing node in different ways. The following discussion uses the Doppler pre-compensation value as the Doppler frequency shift value f. d Let's take an example to illustrate this.

[0253] Method 1: Send Doppler pre-compensation value f d .

[0254] In other words, the value f sent by the network device to the first sensing node d This is the Doppler pre-compensation value.

[0255] Method 2: Send the first value, the Doppler pre-compensation value f. d It can be based on the first value and the Doppler frequency shift granularity K.

[0256] The Doppler frequency shift granularity K is determined based on the subcarrier spacing of the sensing signal, and different field numbers can be set for different subcarriers. For example, for a subcarrier spacing of 15 kHz, the Doppler frequency shift granularity can be 100 Hz; for a subcarrier spacing of 30 kHz, the Doppler frequency shift granularity can be 200 Hz; and for a subcarrier spacing of 60 kHz, the Doppler frequency shift granularity can be 400 Hz. It is understood that the Doppler frequency shift granularity corresponding to the above subcarrier spacing is an example and should not constitute any limitation on the embodiments of this application.

[0257] For example, the first value could be round(f) d The `round` function (`f`) rounds a given value to the nearest integer. In other words, the value sent by the network device to the first sensing node is the first value, `round(f)`. d / K). The first sensing node receives the first value round(f) d After / K), based on the first value round(f) d / K) can be used to obtain the Doppler precompensation value f d .

[0258] In one possible implementation, the network device may send a Doppler pre-compensation instruction to the first sensing node. Correspondingly, the first sensing node receives the Doppler pre-compensation instruction from the network device.

[0259] The Doppler pre-compensation indicator is used to indicate whether to pre-compensate the sensed echo signal or the original sensed signal. The original sensed signal can refer to the sensed signal before pre-compensation at the sensing signal transmitter.

[0260] In other words, after receiving the Doppler pre-compensation instruction from the network device, the first sensing node can determine whether to pre-compensate the sensed echo signal or the original sensed signal based on the received Doppler pre-compensation instruction. For example, if the Doppler pre-compensation instruction received by the first sensing node indicates that the original sensed signal should be pre-compensated, then the first sensing node will pre-compensate the original sensed signal before sending it, and then send the pre-compensated original sensed signal. For example, if the Doppler pre-compensation instruction received by the first sensing node indicates that the sensed echo signal should be pre-compensated, then the first sensing node will pre-compensate the sensed echo signal after receiving it to obtain the pre-compensated sensed echo signal.

[0261] The Doppler pre-compensation value and the Doppler pre-compensation indication can be sent together or separately, and this application embodiment does not limit this. For example, the Doppler pre-compensation information may include both the Doppler pre-compensation value and the Doppler pre-compensation indication.

[0262] In one possible implementation, the network device can send a scheduling message to the first sensing node.

[0263] Among them, the resources to be sensed and scheduled can be determined based on the resource requirements determined in step S205.

[0264] Step S207: Perform pre-compensation on the first sensing signal based on the Doppler pre-compensation value.

[0265] The first sensing signal is the sensing signal between the first sensing node and the sensing target. The first sensing signal can be the sensing echo signal and / or the original sensing signal between the first sensing node and the sensing target.

[0266] After receiving the Doppler pre-compensation value sent by the network device, the first sensing node can pre-compensate the sensing signal based on the received Doppler pre-compensation value.

[0267] For example, pre-compensation of the sensed signal can include the following three methods:

[0268] Method 1: Perform pre-compensation in the time domain (time domain compensation).

[0269] Time-domain compensation can adjust the sensing signal over time, thereby compensating for the Doppler frequency shift caused by the high-speed movement of the sensing target. Time-domain compensation can be achieved by adjusting the phase.

[0270] For example, if the sensing signal before pre-compensation is x(nTst), then the sensing signal after time-domain pre-compensation of the sensing signal can be expressed as x(nTs)*exp(-j*2*pi*f d*n*Ts). Where n represents the sampling point index, Ts represents the sampling rate, exp() represents the natural exponential function, and f d This represents the Doppler precompensation value, where j is the imaginary unit.

[0271] Method 2: Perform pre-compensation in the frequency domain (frequency domain compensation).

[0272] Frequency domain compensation can process signals in the frequency domain to eliminate or reduce the effects of Doppler frequency shift.

[0273] For example, the Doppler frequency shift value can be compensated by cyclic shifting, which is an integer multiple of the subcarrier spacing, or by using a frequency offset matrix. Exemplarily, the number of cyclic shifts can be round(f... d / M), where the round function is used to round a given value to the nearest integer, f d Let f represent the Doppler pre-compensation value, and M represent the subcarrier spacing. If the Doppler pre-compensation value is 16kHz and the subcarrier spacing is 15kHz, then the number of cyclic shifts is round(f). d If the perceptual sequence before the cyclic shift is [a, b, c, d, e], then the perceptual sequence after the cyclic shift by 1 is [b, c, d, e, a].

[0274] Method 3: Perform pre-compensation in both the frequency and time domains.

[0275] For example, Doppler frequency shift compensation can be performed first in the frequency domain using integer multiples of the subcarrier spacing, and then in the time domain using fractional multiples of the Doppler frequency shift compensation.

[0276] In one possible implementation, steps S208 and S209 may be included after step S207.

[0277] Step S208: The first sensing node performs sensing measurements to obtain a new Doppler pre-compensation value.

[0278] For example, if the first sensing node is a sensing signal receiving node, then the first sensing node can obtain information about the sensing target, such as the speed of the sensing target, by receiving the sensing signal. The first sensing node can periodically obtain the information about the sensing target, that is, the first sensing node can continuously update the obtained information about the sensing target, and thus can update the Doppler pre-compensation value according to the continuously updated information about the sensing target.

[0279] Step S209: The first sensing node sends third sensing auxiliary information to the network device. Correspondingly, the network device receives the third sensing auxiliary information from the first sensing node.

[0280] The third sensing auxiliary information is used to indicate the sensing measurement information after Doppler pre-compensation. For example, the third sensing auxiliary information may include Doppler measurement values ​​and / or information such as the first equivalent relative velocity. The network device can adjust resource allocation and / or Doppler pre-compensation values ​​based on the third sensing auxiliary information. The first equivalent relative velocity is the equivalent relative velocity between the first sensing node and the sensing target.

[0281] In one possible implementation, the first sensing node may send third sensing auxiliary information to the network device when a third sending condition is met. The third sending condition satisfies at least one of the following: the Doppler measurement value is greater than or equal to a preset Doppler measurement value; the first equivalent relative velocity is greater than or equal to a preset first equivalent relative velocity; the residual Doppler value is greater than or equal to a preset residual Doppler value; and the time elapsed since the last transmission of the third sensing auxiliary information reaches a preset period length. The third sending condition can be predefined by the protocol or sent by the network device to the first sensing node; this embodiment does not limit this. The preset Doppler measurement value and / or the preset first equivalent relative velocity can be determined based on the maximum unambiguous velocity corresponding to the sensing resource. Since pre-compensation may not completely eliminate Doppler frequency shift, meaning the sensing result may still contain Doppler frequency shift, the Doppler frequency shift that remains after pre-compensation is the residual Doppler value.

[0282] The third sending condition is that the time elapsed since the last sending of the third sensing auxiliary information reaches a preset period length, meaning that the first sensing node can periodically send the third sensing auxiliary information to the network device.

[0283] In one possible implementation, the Doppler measurement value transmitted by the first sensing node is the actual Doppler measurement value, and the first equivalent relative velocity is the actual first equivalent relative velocity. In another possible implementation, the Doppler measurement value transmitted by the first sensing node is an offset value from the Doppler measurement value in the third sensing auxiliary information previously transmitted by the first sensing node, and the transmitted first equivalent relative velocity is an offset value from the first equivalent relative velocity in the third sensing auxiliary information previously transmitted by the first sensing node.

[0284] Those skilled in the art will understand that, in the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. For example, steps S201 and S203 can be executed simultaneously, or step S201 can be executed before step S203. The embodiments of this application do not limit this.

[0285] In the solution provided in this application, when the sensing node for sensing the target needs to switch from the second sensing node to the first sensing node, the network device can calculate the Doppler pre-compensation value based on the information of the sensing target obtained by the second sensing node and the information of the first sensing node, thereby ensuring the continuity and stability of the sensing service. Furthermore, the accuracy of the sensing signal can be improved by pre-compensating the sensing signal with the obtained Doppler pre-compensation value.

[0286] The following describes another communication method provided by an embodiment of this application. Please refer to Figure 3, which is an interactive schematic diagram of another communication method provided by an embodiment of this application. As shown in Figure 3, the communication method may include the following steps. Among them, step S301 is an optional step and is represented by dashed lines in Figure 3.

[0287] Step S301: The network device sends a second request message to the second sensing node. Correspondingly, the second sensing node receives the second request message from the network device.

[0288] Step S302: The second sensing node sends second sensing assistance information to the network device. Correspondingly, the network device receives the second sensing assistance information from the second sensing node.

[0289] It is understandable that the implementation methods of steps S301 and S302 can refer to the specific implementation methods of steps S203 and S204 in Figure 2, which will not be elaborated here.

[0290] Step S303: The network device determines the resource requirements when the first sensing node senses the sensing target.

[0291] For example, network devices can determine the resource requirements of the first sensing node when sensing a sensing target based on sensing service needs and / or sensing target information.

[0292] Step S304: The network device sends a scheduling message to the first sensing node. Correspondingly, the first sensing node receives the scheduling message from the network device.

[0293] The scheduling message is used to indicate sensing resources. These sensing resources are determined based on the resource requirements of the first sensing node when sensing the target, as determined by the network device. In subsequent processes, the first sensing node can sense the target based on the sensing resources indicated in the received scheduling message.

[0294] Step S305: The network device sends second sensing assistance information to the first sensing node. Correspondingly, the first sensing node receives the second sensing assistance information from the network device.

[0295] Network devices (e.g., sensing network elements) send second sensing auxiliary information to the first sensing node, which can be used by the first sensing node to calculate the Doppler pre-compensation value.

[0296] Alternatively, in one possible implementation, the second sensing node can send second sensing assistance information to the first sensing node. Correspondingly, the first sensing node receives the second sensing assistance information from the second sensing node.

[0297] Step S306: The network device sends a third transmission condition to the first sensing node. Correspondingly, the first sensing node receives the third transmission condition from the network device.

[0298] The third transmission condition satisfies at least one of the following: the Doppler measurement value is greater than or equal to a preset Doppler measurement value; the first equivalent relative velocity is greater than or equal to a preset first equivalent relative velocity; the residual Doppler value is greater than or equal to a preset residual Doppler value; and the time elapsed since the last transmission of the third sensing auxiliary information reaches a preset period length. The third transmission condition can be predefined by the protocol or sent by the network device to the first sensing node; this embodiment does not limit this. The preset Doppler measurement value and / or the preset first equivalent relative velocity can be determined based on the maximum unambiguous velocity corresponding to the sensing resource. Since pre-compensation may not completely eliminate Doppler frequency shift, meaning the sensing result may still contain Doppler frequency shift, the Doppler frequency shift that remains after pre-compensation is the residual Doppler value.

[0299] The third sending condition is that the time elapsed since the last sending of the third sensing auxiliary information reaches a preset period length, meaning that the first sensing node can periodically send the third sensing auxiliary information to the network device.

[0300] It should be noted that the order of steps S304-S306 is not limited. For example, the first transmission conditions for sensing scheduling resources, second sensing auxiliary information, and sensing target information can be sent to the first sensing node together or separately, and this application embodiment does not limit this.

[0301] Step S307: The first sensing node determines the Doppler pre-compensation value based on the second sensing auxiliary information and / or the first sensing auxiliary information.

[0302] Among them, the first perception auxiliary information is used to indicate the information of the first perception node.

[0303] In one possible implementation, the first perceptual aid information may include at least one of the following:

[0304] Speed ​​information of the first sensing node;

[0305] Location information of the first sensing node;

[0306] The sensing capability information of the first sensing node.

[0307] The speed and location information of the first sensing node can be obtained by the first sensing node sensing itself, or it can be obtained according to the Global Positioning System (GPS) (a non-3GPP positioning method) or the 3rd Generation Partnership Project (3GPP) positioning method. This application embodiment does not limit this.

[0308] The velocity information of the first sensing node can be a velocity vector, including velocity magnitude and velocity direction. Alternatively, the velocity information can be a velocity scalar, including the velocity magnitude in the x-direction, the velocity magnitude in the y-direction, and the velocity magnitude in the z-direction.

[0309] Furthermore, the velocity information of the first sensing node can also include acceleration information. Acceleration information can be an acceleration vector, including the magnitude and direction of acceleration. Alternatively, acceleration information can be an acceleration scalar, including the magnitude of acceleration in the x-direction, the magnitude of acceleration in the y-direction, and the magnitude of acceleration in the z-direction.

[0310] The implementation method of the Doppler pre-compensation value determined by the first sensing node based on the second sensing auxiliary information and the first sensing auxiliary information can be referred to in step S205 of Figure 2, where the network device determines the Doppler pre-compensation value based on the second sensing auxiliary information and / or the first sensing auxiliary information. It will not be elaborated here.

[0311] In one possible implementation, the first sensing node may determine the Doppler pre-compensation value if one or more of the following conditions are met: the relative velocity between the first sensing node and the sensing target is greater than or equal to a preset relative velocity; and the Doppler frequency shift value between the first sensing node and the sensing target is greater than or equal to a preset Doppler frequency shift value. That is, if the above conditions are not met, the first sensing node may not need to calculate the Doppler pre-compensation value, i.e., Doppler pre-compensation is not required.

[0312] Step S308: The first sensing node pre-compensates the first sensing signal based on the Doppler pre-compensation value.

[0313] Step S309: The first sensing node performs sensing measurements to obtain a new Doppler pre-compensation value.

[0314] Step S310: The first sensing node sends third sensing auxiliary information to the network device. Correspondingly, the network device receives the third sensing auxiliary information from the first sensing node.

[0315] The implementation methods of steps S308-S310 can be referred to the specific implementation methods of steps S207-S209 in Figure 2, which will not be repeated here.

[0316] In the solution provided in this application, the Doppler pre-compensation value is determined by the first sensing node. That is, the first sensing node does not need to send first sensing auxiliary information to the network device. Therefore, while ensuring the continuity and stability of sensing services, and improving the accuracy of the sensing signal by pre-compensating it with the obtained Doppler pre-compensation value, data security can also be improved.

[0317] The foregoing describes the method embodiments provided in this application. In order to facilitate better implementation of the above-described solutions of the embodiments of this application, the embodiments of this application also provide corresponding apparatus.

[0318] This application embodiment can divide the communication device into functional modules according to the above method example. For example, each function can be divided into its own functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0319] Please refer to Figure 4, which is a schematic diagram of a communication device provided in an embodiment of this application. This communication device can be a first sensing node, or a device within the first sensing node (e.g., a chip, a chip system, or a circuit). As shown in Figure 4, the communication device 400 includes at least: a processing unit 401; wherein:

[0320] Processing unit 401 is used to determine the Doppler pre-compensation value, which is obtained based on first sensing auxiliary information and / or second sensing auxiliary information. The first sensing auxiliary information is used to indicate the information of the first sensing node, and the second sensing auxiliary information is used to indicate the information of the sensing target. The information of the sensing target is obtained by the second sensing node.

[0321] The processing unit 401 is also used to pre-compensate the first sensing signal according to the Doppler pre-compensation value, wherein the first sensing signal is the sensing signal between the first sensing node and the sensing target.

[0322] In one possible implementation, the communication device 400 further includes a transmitting unit 402 and a receiving unit 403, wherein:

[0323] The transmitting unit 402 is used to transmit first sensing auxiliary information to the network device;

[0324] The receiving unit 403 is used to receive the Doppler pre-compensation value from the network device, which is calculated by the network device.

[0325] In one possible implementation, the receiving unit 403 is further configured to receive first request information from the network device, the first request information being used to request first sensing assistance information.

[0326] In one possible implementation, the receiving unit 403 is also used to receive second sensing auxiliary information;

[0327] The processing unit 401 is specifically used to determine the Doppler pre-compensation value based on the second sensing auxiliary information and the first sensing auxiliary information.

[0328] One possible implementation is that the second perceptual aid information includes at least one of the following:

[0329] Sensing the target's speed information;

[0330] Perceive the target's location information;

[0331] The radar cross-section of the target being sensed;

[0332] Direction of the transmitted or received beam;

[0333] The time difference between sending and receiving sensing signals.

[0334] One possible implementation is that the first perceptual aid information includes at least one of the following:

[0335] Speed ​​information of the first sensing node;

[0336] Location information of the first sensing node;

[0337] The sensing capability information of the first sensing node.

[0338] One possible implementation is that the first request information includes a first transmission condition for information of the first sensing node, and the first transmission condition satisfies one or more of the following:

[0339] The speed of the first sensing node is greater than or equal to the first preset speed;

[0340] The change in the velocity of the first sensing node is greater than or equal to the first preset change in velocity;

[0341] The strength of the sensing signal of the first sensing node is greater than or equal to the strength of the first preset signal;

[0342] The reception time of the sensing signal of the first sensing node is less than or equal to the first preset reception time.

[0343] The distance between the first sensing node and the sensing target is less than or equal to the first preset distance.

[0344] One possible implementation is that the first request information also includes one or more of the following:

[0345] First preset speed;

[0346] First preset speed change value;

[0347] First preset signal strength;

[0348] First preset receiving time;

[0349] First preset distance.

[0350] One possible implementation is that the first request information also includes the type of perception auxiliary information, which includes a first type and a second type. The first type of perception auxiliary information is the information of the perception node, and the second type of perception auxiliary information is the information of the perception target.

[0351] One possible implementation is that, when the type of the sensing auxiliary information is the second type, the first request information also includes the identifier ID of the sensing task and / or the identifier ID of the sensing target, with the sensing task associated with the sensing target.

[0352] In one possible implementation, the receiving unit 403 is also used to receive a scheduling message, which is used to indicate the sensing scheduling resources.

[0353] In one possible implementation, the transmitting unit 402 is further configured to transmit third sensing auxiliary information to the network device, the third sensing auxiliary information being used to indicate the sensing measurement information after Doppler pre-compensation.

[0354] One possible implementation is that the third sensing aid information includes Doppler measurements and / or a first equivalent relative velocity.

[0355] In one possible implementation, the receiving unit 403 is further configured to receive a Doppler pre-compensation indication from the network device, the Doppler pre-compensation indication being used to indicate pre-compensation of the sensed echo signal or the original sensed signal.

[0356] The processing unit 401 is specifically used to pre-compensate the sensed echo signal or the original sensed signal according to the Doppler pre-compensation instruction and the Doppler pre-compensation value.

[0357] For a more detailed description of the above-mentioned sending unit 402, receiving unit 403 and processing unit 401, please refer directly to the relevant description of the first sensing node in the method embodiment shown in Figures 2 and 3 above, which will not be repeated here.

[0358] The communication device shown in Figure 4 can be a network device or a component within a network device (e.g., a chip, a chip system, or a circuit). As shown in Figure 4, the communication device 400 includes at least: a transmitting unit 402; wherein:

[0359] The transmitting unit 402 is used to receive second sensing auxiliary information from the second sensing node when the sensing node for sensing the target is switched from the second sensing node to the first sensing node. The second sensing auxiliary information is used to indicate the information of the target sensed by the second sensing node.

[0360] In one possible implementation, the communication device 400 further includes a receiving unit 403 and a processing unit 401:

[0361] The receiving unit 403 is used to receive first sensing auxiliary information from the first sensing node;

[0362] Processing unit 401 is used to determine the Doppler pre-compensation value based on the second sensing auxiliary information and the first sensing auxiliary information, wherein the first sensing auxiliary information is used to indicate the information of the first sensing node;

[0363] The transmitting unit 402 is also used to transmit the Doppler pre-compensation value to the first sensing node.

[0364] In one possible implementation, the sending unit 402 is further configured to send a first request message to the first sensing node, the first request message being used to request first sensing auxiliary information;

[0365] The sending unit 402 is also used to send a second request message to the second sensing node, the second request message being used to request second sensing auxiliary information.

[0366] In one possible implementation, the sending unit 402 is also used to send second sensing auxiliary information to the first sensing node.

[0367] In one possible implementation, the sending unit 402 is also used to send a second request message to the second sensing node, the second request message being used to request second sensing auxiliary information.

[0368] One possible implementation is that the second perceptual aid information includes at least one of the following:

[0369] Sensing the target's speed information;

[0370] Perceive the target's location information;

[0371] The radar cross-section of the target being sensed;

[0372] Direction of the transmitted or received beam;

[0373] The time difference between sending and receiving sensing signals.

[0374] One possible implementation is that the first perceptual aid information includes at least one of the following:

[0375] Speed ​​information of the first sensing node;

[0376] Location information of the first sensing node;

[0377] The sensing capability information of the first sensing node.

[0378] One possible implementation is that the first request information includes a first transmission condition for the information of the first sensing node, wherein the first transmission condition satisfies any one or more of the following:

[0379] The speed of the first sensing node is greater than or equal to the first preset speed;

[0380] The change in the velocity of the first sensing node is greater than or equal to the first preset change in velocity;

[0381] The strength of the sensing signal of the first sensing node is less than or equal to the strength of the first preset signal;

[0382] The reception time of the sensing signal of the first sensing node is greater than or equal to the first preset reception time.

[0383] The distance between the first sensing node and the sensing target is greater than or equal to a first preset distance.

[0384] One possible implementation is that the first request information also includes one or more of the following:

[0385] First preset speed;

[0386] First preset speed change value;

[0387] First preset signal strength;

[0388] First preset receiving time;

[0389] First preset distance.

[0390] One possible implementation is that the second request information includes a second transmission condition for information about the perceived target, the second transmission condition satisfying one or more of the following:

[0391] The speed of the perceived target is greater than or equal to the second preset speed;

[0392] The change in the velocity of the perceived target is greater than or equal to the second preset velocity change value;

[0393] The strength of the sensing signal of the second sensing node is less than or equal to the strength of the second preset signal;

[0394] The reception time of the sensing signal of the second sensing node is greater than or equal to the second preset reception time.

[0395] The distance between the second sensing node and the sensing target is greater than or equal to the second preset distance.

[0396] One possible implementation is that the second request information also includes one or more of the following:

[0397] Second preset speed;

[0398] Second preset speed change value;

[0399] Second preset signal strength;

[0400] Second preset receiving time;

[0401] Second preset distance.

[0402] One possible implementation is that the first request information or the second request information further includes a type of perception auxiliary information. The type of perception auxiliary information includes a first type and a second type. The first type of perception auxiliary information is the information of the perception node, and the second type of perception auxiliary information is the information of the perception target.

[0403] One possible implementation is that, when the type of the sensing auxiliary information is the second type, the first request information or the second request information also includes the identification ID of the sensing task and / or the identification ID of the sensing target, and the sensing task is associated with the sensing target.

[0404] In one possible implementation, the sending unit 402 is also used to send a scheduling message to the first sensing node, the scheduling message being used to indicate sensing resources.

[0405] In one possible implementation, the transmitting unit 402 is further configured to send a Doppler pre-compensation indication to the first sensing node, the Doppler pre-compensation indication being used to instruct pre-compensation of the sensing echo signal or the original sensing signal.

[0406] In one possible implementation, the receiving unit 403 is further configured to receive third sensing auxiliary information from the first sensing node, the third sensing auxiliary information being used to indicate the sensing measurement information after Doppler pre-compensation.

[0407] One possible implementation is that the third sensing aid information includes Doppler measurements and / or a first equivalent relative velocity.

[0408] For a more detailed description of the above-mentioned sending unit 402, receiving unit 403 and processing unit 401, please refer directly to the relevant description of the network device in the method embodiment shown in Figures 2 and 3 above, which will not be repeated here.

[0409] Please refer to Figure 5, which is a schematic diagram of another communication device provided in an embodiment of this application. This communication device can be a second sensing node, or a device within the second sensing node (e.g., a chip, a chip system, or a circuit). As shown in Figure 5, the communication device 500 includes at least: a transmitting unit 501; wherein:

[0410] The sending unit 501 is used to send second sensing auxiliary information, which is used to indicate the information of the sensing target obtained by the second sensing node.

[0411] In one possible implementation, the communication device 500 further includes a receiving unit 502 for receiving second request information, the second request information being used to request second sensing assistance information.

[0412] One possible implementation is that the second perceptual aid information includes at least one of the following:

[0413] Sensing the target's speed information;

[0414] Perceive the target's location information;

[0415] The radar cross-section of the target being sensed;

[0416] Direction of the transmitted or received beam;

[0417] The time difference between sending and receiving sensing signals.

[0418] One possible implementation is that the second request information includes a second transmission condition for information about the perceived target, the second transmission condition satisfying one or more of the following:

[0419] The speed of the perceived target is greater than or equal to the second preset speed;

[0420] Within the perception cycle of the second perception node, the change in the velocity of the perceived target is greater than or equal to the second preset velocity change value.

[0421] The strength of the sensing signal of the second sensing node is less than or equal to the strength of the second preset signal;

[0422] The reception time of the sensing signal of the second sensing node is greater than or equal to the second preset reception time.

[0423] The distance between the second sensing node and the sensing target is greater than or equal to the second preset distance.

[0424] One possible implementation is that the second request information also includes one or more of the following:

[0425] Second preset speed;

[0426] Second preset speed change value;

[0427] Second preset signal strength;

[0428] Second preset receiving time;

[0429] Second preset distance.

[0430] In one possible implementation, the second request information also includes the type of perception auxiliary information, which includes a first type and a second type. The first type of perception auxiliary information is the information of the perception node, and the second type of perception auxiliary information is the information of the perception target.

[0431] One possible implementation is that, when the type of the sensing assistance information is the second type, the second request information also includes the identifier ID of the sensing task and / or the identifier ID of the sensing target, with the sensing task associated with the sensing target.

[0432] For a more detailed description of the above-mentioned sending unit 501 and receiving unit 502, please refer directly to the relevant description of the second sensing node in the method embodiment shown in Figures 2 and 3 above, which will not be repeated here.

[0433] Please refer to Figure 6, which is a schematic diagram of another communication device provided in an embodiment of this application. As shown in Figure 6, the device 700 may include one or more processors 710, which may also be called processing units, and can implement certain control functions. The processor 710 may be a general-purpose processor or a dedicated processor, etc. For example, it may be a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, and the central processing unit can be used to control communication devices (such as base stations, baseband chips, terminals, terminal chips, DUs or CUs, etc.), execute software programs, and process data from the software programs.

[0434] In an alternative design, the processor 710 may also store instructions 730 and / or data, which can be executed by the processor to cause the device 700 to perform the methods described in the above method embodiments.

[0435] In another alternative design, the processor 710 may include a transceiver unit for implementing receiving and transmitting functions. For example, this transceiver unit may be a transceiver circuit, an interface, an interface circuit, or a communication interface. The transceiver circuit, interface, or interface circuit for implementing receiving and transmitting functions may be separate or integrated. The aforementioned transceiver circuit, interface, or interface circuit can be used for reading and writing code / data, or it can be used for transmitting or relaying signals.

[0436] In another possible design, device 700 may include circuitry that performs the functions of sending, receiving, or communicating as described in the foregoing method embodiments.

[0437] Optionally, the device 700 may include one or more memories 720, which may store instructions 740 and / or data. These instructions 740 and / or data can be executed on the processor, causing the device 700 to perform the methods described in the above method embodiments. Optionally, the memory may also store data. Optionally, the processor may also store instructions and / or data. The processor and memory may be configured separately or integrated together. For example, the correspondence described in the above method embodiments may be stored in the memory or in the processor.

[0438] Optionally, the device 700 may further include a transceiver 750 and / or an antenna 760. The processor 710, which may be referred to as a processing unit, controls the device 700. The transceiver 750, which may be referred to as a transceiver unit, transceiver, transceiver circuit, transceiver device, or transceiver module, is used to implement transceiver functions.

[0439] Optionally, the apparatus 700 in the embodiments of this application can be used to perform the methods described in FIG2 and FIG3 in the embodiments of this application.

[0440] In one embodiment, the communication device 700 can be a first sensing node or a device within the first sensing node (e.g., a chip, a chip system, or a circuit). When the computer program instructions stored in the memory 720 are executed, the processor 710 is used to execute the operations performed by the processing unit 401 in the above embodiments, and the transceiver 750 is used to execute the operations performed by the sending unit 402 and the receiving unit 403 in the above embodiments. The transceiver 750 is also used to send information to other communication devices besides the communication device. The first sensing node or the device within the first sensing node can also be used to execute various methods executed by the first sensing node in the method embodiments of Figures 2 and 3, which will not be described in detail here.

[0441] In one embodiment, the communication device 700 can be a second sensing node, or a device within the second sensing node (e.g., a chip, a chip system, or a circuit). When the computer program instructions stored in the memory 720 are executed, the transceiver 750 is used to perform the operations performed by the sending unit 501 and the receiving unit 502 in the above embodiments. The transceiver 750 is also used to receive information from other communication devices besides this communication device. The second sensing node or the device within the second sensing node can also be used to perform various methods executed by the second sensing node in the method embodiments of Figures 2 and 3, which will not be described in detail here.

[0442] In one embodiment, the communication device 700 can be a network device or a device within a network device (e.g., a chip, a chip system, or a circuit). When the computer program instructions stored in the memory 720 are executed, the processor 710 is used to perform the operations performed by the processing unit 401 in the above embodiments, and the transceiver 750 is used to perform the operations performed by the sending unit 402 and the receiving unit 403 in the above embodiments. The transceiver 750 is also used to receive information from other communication devices besides the communication device. The network device or the device within the network device can also be used to perform various methods performed by the network device in the method embodiments of Figures 2 and 3, which will not be described in detail here.

[0443] The processor and transceiver described in this application can be implemented on integrated circuits (ICs), analog ICs, radio frequency interface chips (RFICs), mixed-signal ICs, application-specific integrated circuits (ASICs), printed circuit boards (PCBs), electronic devices, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductors (CMOS), n-type metal-oxide-semiconductor (NMOS), p-type metal oxide semiconductors (PMOS), bipolar junction transistors (BJTs), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

[0444] The device described in the above embodiments may be a first sensing node, a second sensing node, or a second network device, but the scope of the device described in this application is not limited thereto, and the structure of the device may not be limited to FIG. 6. The device may be a standalone device or may be part of a larger device. For example, the device may be:

[0445] (1) An independent integrated circuit IC, or chip, or chip system or subsystem;

[0446] (2) A collection of one or more ICs, optionally including a storage component for storing data and / or instructions;

[0447] (3) ASIC, such as modem (MSM);

[0448] (4) Modules that can be embedded in other devices;

[0449] (5) Receivers, terminals, smart terminals, cellular phones, wireless devices, handheld devices, mobile units, vehicle-mounted devices, network devices, cloud devices, artificial intelligence devices, machinery, home appliances, medical devices, industrial equipment, etc.

[0450] (6) Others, etc.

[0451] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, can implement the process related to the first sensing node in the method provided in the above method embodiments.

[0452] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, can implement the process related to the second sensing node in the method provided in the above method embodiments.

[0453] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, can implement the network device-related processes in the methods provided in the above-described method embodiments.

[0454] This application also provides a computer program product that, when run on a computer or processor, causes the computer or processor to perform one or more steps of any of the methods described above. If the constituent modules of the aforementioned devices are implemented as software functional units and sold or used as independent products, they can be stored in the computer-readable storage medium.

[0455] This application also provides a chip system including at least one processor and a communication interface. The communication interface and the at least one processor are interconnected via a circuit. The at least one processor is used to run computer programs or instructions to perform some or all of the steps described in any of the method embodiments corresponding to Figures 2 and 3 above. This chip system can be composed of chips or may include chips and other discrete devices.

[0456] This application also discloses a communication system, which includes a first sensing node, a second sensing node, and a network device. For a detailed description, please refer to the method shown in Figures 2 and 3.

[0457] It should be understood that the memory mentioned in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. Non-volatile memory can be a hard disk drive (HDD), a solid-state drive (SSD), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). Memory is any other medium capable of carrying or storing desired program code having the form of instructions or data structures and accessible by a computer, but is not limited thereto. The memory in the embodiments of this application may also be circuitry or any other means capable of implementing storage functions for storing program instructions and / or data.

[0458] It should also be understood that the processor mentioned in the embodiments of this application can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0459] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory (storage module) is integrated into the processor.

[0460] It should be noted that the memories described herein are intended to include, but are not limited to, these and any other suitable types of memories.

[0461] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0462] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments provided herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0463] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0464] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0465] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0466] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0467] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0468] The steps in the method of this application embodiment can be adjusted, combined, or deleted according to actual needs.

[0469] The modules / units in the device of this application embodiment can be merged, divided, and deleted according to actual needs.

[0470] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A communication method characterized by comprising: The method is applied to a first sensing node, and the method comprises: determining a Doppler pre-compensation value, the Doppler pre-compensation value being based on first sensing assistance information and / or second sensing assistance information, the first sensing assistance information being used to indicate information of the first sensing node, and the second sensing assistance information being used to indicate information of a sensing target, the information of the sensing target being sensed by a second sensing node; pre-compensating a first sensing signal according to the Doppler pre-compensation value, the first sensing signal being a sensing signal between the first sensing node and the sensing target.

2. The method of claim 1, wherein, The determination of the Doppler pre-compensation value comprises: sending the first sensing assistance information to a network device; receiving the Doppler pre-compensation value from the network device, the Doppler pre-compensation value being calculated by the network device.

3. The method of claim 1, wherein, The determination of the Doppler pre-compensation value comprises: receiving the second sensing assistance information; determining the Doppler pre-compensation value based on the second sensing assistance information and the first sensing assistance information.

4. The method of claim 1, wherein, The second sensing assistance information comprises at least one of: speed information of the sensing target; position information of the sensing target; radar cross section of the sensing target; transmitting or receiving beam direction; time difference of sending and receiving the sensing signal.

5. The method of claim 1, wherein, The first sensing assistance information comprises at least one of: speed information of the first sensing node; position information of the first sensing node; sensing capability information of the first sensing node.

6. The method of claim 2, wherein, The method further comprises: receiving first request information from the network device, the first request information being used to request the first sensing assistance information, the first request information comprising a first sending condition of information of the first sensing node, the first sending condition comprising one or more of: the speed of the first sensing node being greater than or equal to a first preset speed; a change value of the speed of the first sensing node being greater than or equal to a first preset speed change value; the strength of the sensing signal of the first sensing node being greater than or equal to a first preset signal strength; the receiving time of the sensing signal of the first sensing node being less than or equal to a first preset receiving time; the distance between the first sensing node and the sensing target being less than or equal to a first preset distance.

7. The method of claim 6, wherein, The first request information further comprises one or more of: the first preset speed; the first preset speed change value; the first preset signal strength; the first preset receiving time; the first preset distance.

8. The method of claim 7, wherein, The first request information further comprises a type of sensing assistance information, the type of sensing assistance information comprising a first type and a second type, the sensing assistance information of the first type being information of a sensing node, and the sensing assistance information of the second type being information of a sensing target.

9. The method of claim 8, wherein, In a case where the type of the sensing assistance information is the second type, the first request information further comprises an identification ID of a sensing task and / or an identification ID of a sensing target, the sensing task being associated with the sensing target.

10. The method of claim 1, wherein, The method further comprises: sending third sensing assistance information to a network device, the third sensing assistance information being used to indicate sensing measurement information after Doppler pre-compensation.

11. The method of claim 10, wherein, The third perception assistance information includes a Doppler measurement value and / or a first equivalent relative speed.

12. The method according to any one of claims 1 to 11, characterized in that, The method further includes: receiving a Doppler pre-compensation indication from a network device, the Doppler pre-compensation indication being used to indicate pre-compensation on a perception echo signal or an original perception signal; The pre-compensation on the perception signal according to the Doppler pre-compensation value includes: pre-compensating the perception echo signal or the original perception signal according to the Doppler pre-compensation indication and the Doppler pre-compensation value.

13. A method of communication, comprising: The method applied to a second perception node includes: sending second perception assistance information, the second perception assistance information being used to indicate information of a perception target perceived by the second perception node.

14. The method of claim 13, wherein, The second perception assistance information includes at least one of: speed information of the perception target; position information of the perception target; radar cross section area of the perception target; transmitting or receiving beam direction; time difference of sending and receiving the perception signal.

15. The method of claim 13, wherein, The method further includes: receiving second request information, the second request information being used to request the second perception assistance information, the second request information including a second sending condition of the information of the perception target, the second sending condition including any one or more of: the speed of the perception target being greater than or equal to a second preset speed; a change value of the speed of the perception target being greater than or equal to a second preset speed change value; the strength of the perception signal of the second perception node being less than or equal to a second preset signal strength; the receiving time of the perception signal of the second perception node being greater than or equal to a second preset receiving time; the distance between the second perception node and the perception target being greater than or equal to a second preset distance.

16. The method of claim 15, wherein, The second request information further includes one or more of: the second preset speed; the second preset speed change value; the second preset signal strength; the second preset receiving time; the second preset distance.

17. The method of claim 15, wherein, The second request information further includes a type of the perception assistance information, the type of the perception assistance information including a first type and a second type, the perception assistance information of the first type being information of a perception node, and the perception assistance information of the second type being information of a perception target.

18. The method of claim 17, wherein, In a case where the type of the perception assistance information is the second type, the second request information further includes an identification ID of a perception task and / or an identification ID of a perception target, the perception task being associated with the perception target.

19. A method of communication, comprising: The method applied to a network device includes: in a case where a perception node perceiving a perception target is switched from a second perception node to a first perception node, receiving second perception assistance information from the second perception node, the second perception assistance information being used to indicate information of a perception target perceived by the second perception node.

20. The method of claim 19, wherein, The method further includes: receiving first perception assistance information from the first perception node; determining a Doppler pre-compensation value based on the second perception assistance information and the first perception assistance information, the first perception assistance information being used to indicate information of the first perception node; sending the Doppler pre-compensation value to the first perception node.

21. The method of claim 19, wherein, The method further includes: sending the second perception assistance information to the first perception node.

22. The method of claim 19, wherein, The second perception assistance information comprises at least one of: speed information of the perception target; position information of the perception target; radar cross section of the perception target; transmit or receive beam direction; time difference of sending and receiving perception signals.

23. The method of claim 20 or 21, wherein, The first perception assistance information comprises at least one of: speed information of the first perception node; position information of the first perception node; perception capability information of the first perception node.

24. The method of claim 20, wherein, The method further comprises: sending first request information to the first perception node, the first request information being used for requesting the first perception assistance information; sending second request information to the second perception node, the second request information being used for requesting the second perception assistance information; The first request information comprises a first sending condition of information of the first perception node, the first sending condition satisfying any one or more of: the speed of the first perception node being greater than or equal to a first preset speed; a change value of the speed of the first perception node being greater than or equal to a first preset speed change value; the strength of the perception signal of the first perception node being greater than or equal to a first preset signal strength; the receiving time of the perception signal of the first perception node being less than or equal to a first preset receiving time; the distance between the first perception node and the perception target being less than or equal to a first preset distance. The second request information comprises a second sending condition of information of the perception target, the second sending condition satisfying any one or more of: the speed of the perception target being greater than or equal to a second preset speed; a change value of the speed of the perception target being greater than or equal to a second preset speed change value; the strength of the perception signal of the second perception node being less than or equal to a second preset signal strength; the receiving time of the perception signal of the second perception node being greater than or equal to a second preset receiving time; the distance between the second perception node and the perception target being greater than or equal to a second preset distance.

25. The method of claim 24, wherein, The first request information further comprises one or more of: the first preset speed; the first preset speed change value; the first preset signal strength; the first preset receiving time; the first preset distance.

26. The method of claim 21, wherein, The method further comprises: sending second request information to the second perception node, the second request information being used for requesting the second perception assistance information, the second request information comprising a second sending condition of information of the perception target, the second sending condition satisfying any one or more of: the speed of the perception target being greater than or equal to a second preset speed; a change value of the speed of the perception target being greater than or equal to a second preset speed change value; the strength of the perception signal of the second perception node being less than or equal to a second preset signal strength; the receiving time of the perception signal of the second perception node being greater than or equal to a second preset receiving time; the distance between the second perception node and the perception target being greater than or equal to a second preset distance.

27. The method of claim 24 or 26, wherein, The second request information further comprises one or more of: the second preset speed; the second preset speed change value; the second preset signal strength; the second preset receiving time; and the second preset distance. The second preset receiving time; The second preset distance.

28. The method of claim 24 or 26, wherein, The first request information or the second request information further comprises a type of the perception assistance information, the type of the perception assistance information comprising a first type and a second type, the perception assistance information of the first type being information of a perception node, and the perception assistance information of the second type being information of a perception target.

29. The method of claim 28, wherein, In a case where the type of the perception assistance information is the second type, the first request information or the second request information further comprises an identification ID of a perception task and / or an identification ID of the perception target, the perception task being associated with the perception target.

30. The method of claim 19, wherein, The method further comprises: sending, to the first perception node, a Doppler pre-compensation indication, the Doppler pre-compensation indication being used to indicate pre-compensation on a perception signal to be transmitted or a perception signal to be received.

31. The method of claim 19, wherein, The method further comprises: receiving, from the first perception node, third perception assistance information, the third perception assistance information being used to indicate perception measurement information after Doppler pre-compensation.

32. The method of claim 31, wherein, The third perception assistance information comprises a Doppler measurement value and / or a first equivalent relative speed.

33. A communications device, characterized by The communication device comprises a processor and a storage medium, the storage medium storing instructions, the instructions being run by the processor to cause the method according to any one of claims 1-12 to be implemented, or to cause the method according to any one of claims 13-18 to be implemented, or to cause the method according to any one of claims 19-32 to be implemented.

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