Communication method and related apparatus

Abstract

The present application provides a communication method and a related apparatus. The method is applied to an integrated sensing and communication (ISAC) system. The method comprises: a first node generating a sensing signal, wherein time domain resources occupied by the sensing signal comprise L first symbols, each first symbol is a symbol in a slot, a time domain offset between any two adjacent first symbols among the L first symbols in time domain is K symbols, L is an integer greater than 2, and K is an integer greater than 1; sending the sensing signal. K can be determined according to sensing capability requirements (for example, a speed measurement requirement), so that different sensing capability requirements can be met and time domain resources can be conserved.

Description

Communication method and related apparatus

[0001] This application claims priority to the Chinese patent application with the application number 202411090682.X, filed on August 8, 2024, to the Chinese State Intellectual Property Office, with the title of “Communication method and related apparatus”, the whole content of which is incorporated herein by reference. TECHNICAL FIELD

[0002] The present application relates to the field of communication, in particular to a communication method and related apparatus. BACKGROUND

[0003] In recent years, wireless sensing technology has attracted widespread attention in the academic community. Wireless sensing technology analyzes the changes of wireless signals in the propagation process to obtain the characteristics of the signal propagation space, so as to realize the sensing of the scene. Here, the scene includes both human factors (whether there is a person and the position, posture, action, etc. of the person) and other external factors (such as buildings, moving vehicles, etc.). Radar technology is one of the most classic wireless sensing technologies, which has been widely used in military, agricultural, meteorological and other fields. Its basic principle is that the transmitter (or transmitting end) transmits a specific waveform signal, the signal transmitted by the transmitter is received by the receiver (or receiving end), and the signal processing is performed in combination with the transmitted signal and the received signal, so as to extract the target of interest in the wireless channel (or the signal propagation space).

[0004] The main function of a wireless communication system is to exchange information between transceivers. The basic principle is that the transmitter transmits a specific waveform signal, the signal transmitted by the transmitter is received by the receiver after passing through the wireless channel, and the signal transmitted by the transmitter is demodulated after signal processing. From the whole physical process of transmission, transmission and reception, the process of radar and wireless communication is very similar. How to realize the integration of wireless communication and sensing technology (represented by radar), that is, to realize communication while sensing the surrounding environment, has become a hot research topic. In international standard organizations such as the International Telecommunication Union (ITU) and the 3rd Generation Partnership Project (3GPP), integrated sensing and communication (ISAC) has also received more and more attention and research. In the ITU, integrated sensing and communication is listed as one of the important development directions of future communication technology. The ITU is developing relevant standards and specifications to ensure that communication systems in different countries and regions can seamlessly integrate sensing functions. In addition, the ITU is also promoting the application of integrated sensing and communication technology in intelligent transportation, intelligent manufacturing and other fields. In 3GPP, integrated sensing and communication is also considered as one of the key features of current and future communication technology. 3GPP is studying how to implement sensing in communication systems to improve the performance and functionality of communication systems. 3GPP is also promoting the application of ISAC technology in intelligent transportation, intelligent manufacturing and other fields to realize more intelligent and efficient communication systems.

[0005] The slot formats in the current 3GPP standard are designed for communication. With the introduction of sensing function, certain resources need to be allocated for sensing. Therefore, it is necessary to study the scheme of which resources are occupied by the transmitted sensing signal when sensing the surrounding environment. SUMMARY

[0006] Embodiments of the present application disclose a communication method, a communication device, a computer readable storage medium and a computer program product. The time domain resources allocated for the sensing signal include a plurality of L first symbols, and the time domain offset between any two adjacent first symbols in the L first symbols in the time domain is K symbols, which can meet different sensing capability requirements and save time domain resources.

[0007] In a first aspect, an embodiment of the present application provides a communication method, which is applied to a first node. The method can be implemented by the first node or a component (for example, a circuit, a processor, a chip or a chip system) in the first node. Hereinafter, the first node is taken as an example for description. The method comprises: generating, by the first node, a sensing signal, wherein a time domain resource occupied by the sensing signal comprises L first symbols, each first symbol is one symbol in a time slot, a time domain offset (or a time domain interval) between any two first symbols adjacent in the time domain in the L first symbols is K symbols, the L is an integer greater than 2, and the K is an integer greater than 1. The method further comprises: transmitting the sensing signal. In the present application, if not otherwise specified, a symbol refers to a symbol in a time slot, for example, one time slot contains 14 or 12 symbols.

[0008] In an embodiment of the present application, the time domain offset between any two first symbols adjacent in the time domain in the L first symbols is K symbols, and the K is an integer greater than 1. The K can be determined according to a sensing capability requirement (for example, including a speed measurement requirement), so that different sensing capability requirements can be met and time domain resources can be saved.

[0009] In a possible implementation manner of the first aspect, the method further comprises: transmitting or receiving, by the first node, configuration information, wherein the configuration information is used for configuring the time domain resource occupied by the sensing signal. Transmitting the configuration information can enable other nodes to learn the time domain resource occupied by the sensing signal. Receiving the configuration information can enable the first node to determine the time domain resource occupied by the sensing signal according to the configuration information.

[0010] In a possible implementation manner of the first aspect, the method further comprises: determining, by the first node, the time domain resource occupied by the sensing signal according to the configuration information, wherein the configuration information comprises information indicating a first time slot format, the first time slot format indicates symbols used for sensing and symbols used for communication in N time slots continuous in the time domain, and the time domain resource occupied by the sensing signal is the symbols used for sensing in the N time slots, and the N is an integer greater than 1. In this way, the time domain resource occupied by the sensing signal can be determined.

[0011] In a possible implementation manner of the first aspect, each time slot in the N time slots contains M symbols, the M is 14, the time length of a 0th symbol and a 7*2 μ th symbol in the N time slots sorted in time sequence is (T+ΔCP), and the time length of other symbols (that is, symbols other than the 0th symbol and the 7*2 μ th symbol) is T, the μ is in a range of 0-6, and 2 μ*15[KHz] represents a subcarrier spacing, i.e., a minimum subcarrier spacing corresponding to the sensing signal, the information indicating the first slot format includes an index of a second slot format and an indication of T s or T s , the indication information of T s represents a time length for sensing processing in one sensing symbol; the first node determines, according to the configuration information, time domain resources occupied by the sensing signal to include:

[0012] The first node determines the second slot format according to the index of the second slot format, and sensing symbols in the second slot format are the L first symbols;

[0013] If a time length of a gth first symbol in the L first symbols sorted in time sequence is T and , the first node regards a second symbol adjacent to the gth first symbol in the second slot format and before the gth first symbol as a time domain resource needed to be occupied by the sensing signal, and / or, if a time length of a gth first symbol in the L first symbols sorted in time sequence is (T+ΔCP), and , the first node regards a second symbol adjacent to the gth first symbol in the second slot format and before the gth first symbol as a time domain resource needed to be occupied by the sensing signal, to obtain the first slot format, the k start is an index of a first symbol in a first slot sorted in time sequence in the second slot format, the k start ranges from 0 to (K-1), and the g ranges from 1 to L. Sensing symbols in the first slot format include L first symbols and R second symbols, each second symbol is adjacent to one of the L first symbols and before the adjacent first symbol in time domain, and the R is an integer less than the L.15*2 μ The minimum subcarrier spacing corresponding to the sensing signal can be: a sampling interval of the sensing signal in frequency domain (i.e., a frequency domain sampling interval) can be an integer multiple of 15*2 μ The k start is also an index of a first symbol in a first slot sorted in time sequence in the N slots. Optionally, the information indicating the first slot format further includes the μ or indication information of the μ.

[0014] In this implementation, the time domain resources occupied by the sensing signal further include R second symbols, each second symbol is adjacent to one of the L first symbols and before the adjacent first symbol in time domain, which can overcome the problem that the first symbol in the slot and the 7*2 μThe non-uniformity problem arises because the length of the cyclic prefix (CP) of a symbol differs from the length of the other symbols.

[0015] In one possible implementation of the first aspect, each of the N time slots contains M symbols, where M is 14, and the 0th symbol and the 7th*2nd symbol in the N time slots are ordered chronologically. μ The time length of each symbol is (T+ΔCP), and the time length of other symbols is T. The value of μ ranges from 0 to 6. μ *15[kHz] indicates the subcarrier spacing, and the information indicating the first time slot format includes N, k start The K and T mentioned above s Alternatively, the information indicating the format of the first time slot includes an indication of N, k start The K and T mentioned above s Information, T s This represents the duration of sensing processing within a sensing symbol; the first node, based on the configuration information, determines that the time-domain resources occupied by the sensing signal include:

[0016] The first node is based on N and k. start And K, determining a second time slot format, the second time slot format comprising N time slots consecutively in the time domain, wherein k start The index of the first sensing symbol in the first time slot of the second time slot format, which is ordered chronologically, is the index of the L first symbols in the second time slot format.

[0017] If the time length of the g-th first symbol among the L first symbols, ordered chronologically, is T, and Then the first node takes the second symbol that is temporally adjacent to the g-th first symbol in the second time slot format and precedes the g-th first symbol as the time domain resource required by the sensing signal, and / or, if the time length of the g-th first symbol among the L first symbols ordered chronologically is (T+ΔCP), and The first node uses the second symbol that is temporally adjacent to and precedes the g-th first symbol in the second time slot format as the time-domain resource required by the sensing signal, thus obtaining the first time slot format; wherein the value of g ranges from 1 to L. The sensing symbols in the first time slot format include L first symbols and R second symbols, each second symbol being temporally adjacent to one of the L first symbols and preceding the adjacent first symbol, where R is an integer less than L. Indicating N, k start The K and T mentioned aboves The information may include the indication information of N, the k start The indication information, the indication information of K, and the indication information of T s The instruction information.

[0018] In this implementation, the time-domain resources occupied by the sensing signal also include R second symbols, each of which is adjacent to one of the L first symbols in the time domain and precedes the adjacent first symbol. This overcomes the limitations imposed by the 0th symbol and the 7*2nd symbol in the time slot. μ The non-uniformity problem arises because the length of the CP of a symbol differs from the length of other symbols.

[0019] Secondly, embodiments of this application provide another communication method applied to a second node. This method can be implemented by the second node or components within the second node (e.g., circuits, processors, chips, or chip systems). The following description uses a second node implementation as an example. The method includes: the second node determining the time-domain resources occupied by a sensing signal; and receiving the sensing signal based on the time-domain resources occupied by the sensing signal. The time-domain resources occupied by the sensing signal include L first symbols, each first symbol being a symbol in a time slot. The time-domain offset between any two adjacent first symbols in the time domain among the L first symbols is K symbols, where L is an integer greater than 2 and K is an integer greater than 1.

[0020] In this embodiment, the time-domain offset between any two adjacent first symbols in the time domain among the L first symbols is K symbols, where K is an integer greater than 1. K can be determined according to the sensing capability requirements (e.g., including speed measurement requirements), thus satisfying different sensing capability requirements and saving time-domain resources.

[0021] In one possible implementation of the second aspect, the method further includes: a second node receiving configuration information, the configuration information being used to configure the time-domain resources occupied by the sensing signal; thereby determining the time-domain resources occupied by the sensing signal based on the configuration information.

[0022] In one possible implementation of the second aspect, the configuration information includes information indicating a first time slot format, which indicates symbols used for sensing and symbols used for communication in N consecutive time slots in the time domain. The time domain resources occupied by the sensing signals are the symbols used for sensing in the N time slots, where N is an integer greater than 1. Each of the N time slots contains M symbols, where M is 14. The 0th symbol and the 7*2th symbol in the N time slots are ordered chronologically. μ The time length of each symbol is (T+ΔCP), and the time length of other symbols (i.e., except for the 0th symbol and the 7th*2nd symbol) is... μThe time length of each symbol (except the symbol of the length of T) is T, the value range of μ is 0-6, 2 μ *15[KHz] represents the subcarrier spacing, the information indicating the first slot format includes the index of the second slot format;

[0023] The second node determines the time domain resource occupied by the sensing signal, including:

[0024] The second node determines the second slot format according to the index of the second slot format, and the sensing symbol in the second slot format is the L first symbols;

[0025] If the time length of the gth first symbol in the L first symbols is T, and Then the second node takes the second symbol adjacent to the gth first symbol in the time domain and before the gth first symbol as the time domain resource that needs to be occupied by the sensing signal, and the k start is the index of the first first symbol in the 1st slot in the N slots in time sequence, and the k start The value range of k is 0-(K-1) and / or, if the time length of the gth first symbol in the L first symbols is (T+ΔCP), and Then the second node takes the second symbol adjacent to the gth first symbol in the time domain and before the gth first symbol as the time domain resource that needs to be occupied by the sensing signal, and the k start is the index of the first first symbol in the 1st slot in the second slot format in time sequence, and the k start The value range of k is 0-(K-1), and the value range of g is 1-L. The sensing symbol in the first slot format includes L first symbols and R second symbols, each second symbol is adjacent to one of the L first symbols in the time domain and before the adjacent first symbol, and R is an integer less than L.

[0026] In this implementation, the time domain resource occupied by the sensing signal also includes R second symbols, each second symbol is adjacent to one of the L first symbols in the time domain and before the adjacent first symbol, which can overcome the non-uniform problem caused by the length of the CP of the 0th symbol and the 7*2 μ th symbol in the slot being different from the length of other symbols.

[0027] In a possible implementation of the second aspect, the configuration information comprises information indicating a first slot format, the first slot format indicating symbols for sensing and symbols for communication in N slots that are continuous in time domain, time domain resources occupied by the sensing signal being the symbols for sensing in the N slots, the N being an integer greater than 1, each of the N slots containing M symbols, the M being 14, a time length of a 0th symbol and a 7*2 μ th symbol in the N slots being (T+ΔCP) in time sequence, and a time length of other symbols (i.e., symbols other than the 0th symbol and the 7*2 μ th symbol) being T, the μ being in a range of 0-6, 2 μ *15 [kHz] representing a subcarrier spacing, the information indicating the first slot format comprising the N, the k start , and the K, or the information indicating the first slot format comprising information indicating the N, the k start , and the K.

[0028] The second node determines time domain resources occupied by the sensing signal to comprise:

[0029] The second node determines a second slot format according to the N, the k start , and the K, the second slot format comprising N slots that are continuous in time domain, the k start being an index of a first symbol for sensing in a 1st slot in time sequence in the second slot format, and the symbols for sensing in the second slot format being the L first symbols.

[0030] If a time length of a gth first symbol in time sequence in the L first symbols is T, and the second node regards a second symbol adjacent to the gth first symbol in time domain and before the gth first symbol as time domain resources needed to be occupied by the sensing signal, the k start being an index of a first first symbol in a 1st slot in time sequence in the N slots, the k start being in a range of 0-(K-1), and / or, if a time length of a gth first symbol in time sequence in the L first symbols is (T+ΔCP), and the second node regards a second symbol adjacent to the gth first symbol in time domain and before the gth first symbol as time domain resources needed to be occupied by the sensing signal, obtaining the first slot format, the k start being an index of a first first symbol in a 1st slot in time sequence in the second slot format, and the kstart The value range of g is 0 to (K-1), and the value range of g is 1 to L. The sensing symbol in the first slot format includes L first symbols and R second symbols, each second symbol is adjacent to one of the L first symbols in the time domain and before the adjacent first symbol, and R is an integer less than L. The information indicating N, k start and K can include indication information of N, indication information of k start and indication information of K.

[0031] In this implementation, the time domain resources occupied by the sensing signal also include R second symbols, each second symbol is adjacent to one of the L first symbols in the time domain and before the adjacent first symbol, which can overcome the non-uniform problem caused by the different lengths of the CP of the 0th symbol and the 7*2 μ symbol in the slot and the lengths of other symbols.

[0032] In a possible implementation of the first aspect or the second aspect, the L first symbols are contained in N slots that are continuous in the time domain, and N is an integer greater than 1, so that the time domain offset between any two first symbols adjacent in the time domain in the L first symbols is K symbols.

[0033] In a possible implementation of the first aspect or the second aspect, the L first symbols are contained in one slot, and K is 2 or 7, so that the time domain offset between any two first symbols adjacent in the time domain in the L first symbols is 2 or 7 symbols.

[0034] In a possible implementation of the first aspect or the second aspect, each of the N slots contains M symbols, K is less than or equal to M, M is an integer greater than 2, M, K, L and N satisfy M*N / K=L; so that the time domain offset between any two first symbols adjacent in the time domain in the L first symbols is K symbols, or in other words, the sampling interval in the time domain is K symbols, and the uniformity of the sensing resource sampling in the time domain is ensured. Optionally, M is 12 or 14, or can be other values, which are not limited in the present application.

[0035] In a possible implementation of the first aspect or the second aspect, the M symbols in each of the N slots are sequentially sorted in time order as the symbol with index 0 to the symbol with index (M-1), and the index of each first symbol contained in the nth slot in time order satisfies the following formula: index=rem(k start +(l-1)*K,M); (1)

[0036] wherein the index of each first symbol contained in the nth time slot of the N time slots in time sequence satisfies formula (1) : index = (k + n * K) mod L, wherein the index is the index of each first symbol contained in the nth time slot of the N time slots in time sequence, the k start is the index of the first first symbol in the first time slot of the N time slots in time sequence, the k start ranges from 0 to (K-1), rem() represents a remainder operation, and the value of the l ranges from all values satisfying to 6, and the value of the l is an integer, and the value of the n ranges from 1 to N.

[0037] In the implementation, the index of each first symbol contained in the nth time slot of the N time slots in time sequence satisfies formula (1), and the time domain offset between any two first symbols adjacent in the time domain in the L first symbols can be K symbols.

[0038] In a possible implementation of the first aspect or the second aspect, the time domain resource occupied by the sensing signal further includes R second symbols, each of which is adjacent to one of the L first symbols in the time domain and before the adjacent first symbol, the R is an integer less than the L, the M is 14, the time length of the 0th symbol and the 7*2 μ th symbol of the N time slots in time sequence is (T+ACP), and the time length of other symbols is T, and the gth first symbol in time sequence of the L first symbols is adjacent to one of the R second symbols in the time domain, and the value of the g ranges from 1 to L;

[0039] When the time length of the gth first symbol is T, the g satisfies the following formula:

[0040] and / or, when the time length of the gth first symbol is (T+ACP), the g satisfies the following formula:

[0041] wherein the T s is the time length of a sensing symbol used for sensing processing, the k start is the index of the first first symbol in the first time slot of the N time slots in time sequence, the k start ranges from 0 to (K-1), is a floor operation, the value of the μ ranges from 0 to 6, and 2 μ ​*15[KHz] represents the subcarrier spacing, i.e., the minimum subcarrier spacing corresponding to the sensing signal. In this application, the sensing symbol refers to the symbol allocated to the sensing signal, i.e., the symbol used for sensing. Each second symbol is adjacent to one of the L first symbols in the time domain, and the adjacent first symbol can be understood as the next symbol of each second symbol in the time domain being a first symbol, or in other words, each second symbol and its adjacent first symbol are two continuous symbols in the time domain.

[0042] In this implementation, the time domain resources occupied by the sensing signal further include R second symbols, each of which is adjacent to one of the L first symbols in the time domain and before the adjacent first symbol, which can overcome the non-uniform problem caused by the different lengths of the CP of the 0th symbol and the 7*2 μ th symbol in the time slot from the lengths of other symbols.

[0043] In a possible implementation of the first aspect or the second aspect, an hth first symbol in the L first symbols in time order is not adjacent to each of the R second symbols in the time domain, and the value of h ranges from 1 to L.

[0044] When the time length of the hth first symbol is T, the h satisfies the following formula:

[0045] Or, when the time length of the hth first symbol is (T+ΔCP), the h satisfies the following formula:

[0046] Wherein, the T s represents the time length for sensing processing in a sensing symbol, and the k start is the index of the first first symbol in the 1st time slot in time order, and the k start ranges from 0 to (K-1), represents the floor operation.

[0047] In this implementation, the hth first symbol in the L first symbols in time order is not adjacent to each of the R second symbols in the time domain, and the h satisfies formula (4) or formula (5), which can save time domain resource overhead.

[0048] In a possible implementation of the first aspect or the second aspect, the sampling interval of the sensing signal in the frequency domain is an integer multiple of 15*2 μ ; when the μ=0, the value of K ranges from 2 to 6 and from 8 to 13; or, when the μ=1, the value of K ranges from 2 to 13.

[0049] In a possible implementation of the first aspect or the second aspect, a sampling interval of the sensing signal in a frequency domain is an integer multiple of 15*2 μ When the μ is 0 and the K is 7 or 14, the time domain resource occupied by the sensing signal only includes the L first symbols; or when the μ is 1 and the K is 14, the time domain resource occupied by the sensing signal only includes the L first symbols; thereby ensuring uniformity of the time domain resource occupied by the sensing signal in the time domain, and saving time domain resource overhead.

[0050] In a possible implementation of the first aspect or the second aspect, the M is 14, and the M symbols in each of the N time slots are sequentially arranged in time order as a symbol with an index of 0 to a symbol with an index of (M-1).

[0051] The first symbol in the first time slot sequentially arranged in time order has an index of 0 or 1, and the K is 2; or

[0052] The first symbol in the first time slot sequentially arranged in time order has an index of 0, 1 or 2, the K is 3, and the N is an integer multiple of 3; or

[0053] The first symbol in the first time slot sequentially arranged in time order has an index of 0, 1, 2 or 3, the K is 4, and the N is an integer multiple of 2; or

[0054] The first symbol in the first time slot sequentially arranged in time order has an index of 0, 1, 2, 3 or 4, the K is 5, and the N is an integer multiple of 5; or

[0055] The first symbol in the first time slot sequentially arranged in time order has an index of 0, 1, 2, 3, 4 or 5, the K is 6, and the N is an integer multiple of 3; or

[0056] The first symbol in the first time slot sequentially arranged in time order has an index of 0, 1, 2, 3, 4, 5 or 6, the K is 7; or

[0057] The first symbol in the first time slot sequentially arranged in time order has an index of 0, 1, 2, 3, 4, 5, 6 or 7, the K is 8, and the N is an integer multiple of 4; or

[0058] The first symbol in the first time slot sequentially arranged in time order has an index of 0, 1, 2, 3, 4, 5, 6, 7 or 8, the K is 9, and the N is an integer multiple of 9; or

[0059] the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, the K is 11, and the N is an integer multiple of 11; or,

[0060] the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, the K is 11, and the N is an integer multiple of 11; or,

[0061] the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, the K is 11, and the N is an integer multiple of 11; or,

[0062] the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, the K is 11, and the N is an integer multiple of 11; or,

[0063] the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, the K is 11, and the N is an integer multiple of 11; or,

[0064] In a possible implementation of the first aspect or the second aspect, the M is 12, and the M symbols in each of the N time slots are sequentially 0th symbol to (M-1)th symbol in time sequence order.

[0065] the index of the first first symbol in the first time slot in time sequence order is 0 or 1, and the K is 2; or,

[0066] the index of the first first symbol in the first time slot in time sequence order is 0, 1, or 2, and the K is 3; or,

[0067] the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, or 3, and the K is 4; or,

[0068] the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, or 4, the K is 5, and the N is an integer multiple of 5; or,

[0069] the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, or 5, and the K is 6; or,

[0070] the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, or 6, the K is 7, and the N is an integer multiple of 7; or,

[0071] the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, or 7, the K is 8, and the N is an integer multiple of 2; or,

[0072] the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, or 8, the K is 9, and the N is an integer multiple of 3; or,

[0073] the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, or 9, the K is 10, and the N is an integer multiple of 5; or,

[0074] the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, the K is 11, and the N is an integer multiple of 11; or,

[0075] the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or 11, the K is 12.

[0076] In a possible implementation manner of the first aspect or the second aspect, the time domain resource occupied by the sensing signal is a sensing symbol (i.e., a symbol used for sensing) in a first time slot format, the first time slot format contains N time slots that are continuous in time domain, the N is an integer greater than 1, each of the N time slots contains M symbols, the K is less than or equal to the M, the M is an integer greater than 2, the M, the K, the L, and the N satisfy M*N / K=L, the M is 14, and the M symbols in each of the N time slots are sequentially indexed as a symbol with an index of 0 to a symbol with an index of (M-1) in time sequence order.

[0077] the index of the first first symbol in the first time slot in time sequence order is 0 or 1, and the K is 2; or,

[0078] the index of the first first symbol in the first time slot in time sequence order is 0, 1, or 2, the K is 3, and the N is an integer multiple of 3; or,

[0079] The index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, or 3, the K is 4, and the N is an integer multiple of 2; or,

[0080] The index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, or 4, the K is 5, and the N is an integer multiple of 5; or,

[0081] The index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, or 5, the K is 6, and the N is an integer multiple of 3; or,

[0082] The index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, or 6, the K is 7; or,

[0083] The index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, or 7, the K is 8, and the N is an integer multiple of 4; or,

[0084] The index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, or 8, the K is 9, and the N is an integer multiple of 9; or,

[0085] The index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, or 9, the K is 10, and the N is an integer multiple of 5; or,

[0086] The index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, the K is 11, and the N is an integer multiple of 11; or,

[0087] The index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or 11, the K is 12, and the N is an integer multiple of 6; or,

[0088] The index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, or 12, the K is 13, and the N is an integer multiple of 13; or,

[0089] An index of a first first symbol in a first slot of the N slots in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, or 13, and the K is 14.

[0090] In a possible implementation of the first aspect or the second aspect, a time domain resource occupied by the sensing signal is a sensing symbol (i.e., a symbol for sensing) in a first slot format, the first slot format contains N slots that are continuous in time domain, the N is an integer greater than 1, each of the N slots contains M symbols, the K is less than or equal to the M, the M is an integer greater than 2, the M, the K, the L, and the N satisfy M*N / K=L, the M is 12, and the M symbols in each of the N slots in time sequence are sequentially a symbol with an index of 0 to a symbol with an index of (M-1).

[0091] An index of a first first symbol in a first slot of the N slots in time sequence is 0 or 1, and the K is 2; or

[0092] An index of a first first symbol in a first slot of the N slots in time sequence is 0, 1, or 2, and the K is 3; or

[0093] An index of a first first symbol in a first slot of the N slots in time sequence is 0, 1, 2, or 3, and the K is 4; or

[0094] An index of a first first symbol in a first slot of the N slots in time sequence is 0, 1, 2, 3, or 4, and the K is 5, and the N is an integer multiple of 5; or

[0095] An index of a first first symbol in a first slot of the N slots in time sequence is 0, 1, 2, 3, 4, or 5, and the K is 6; or

[0096] An index of a first first symbol in a first slot of the N slots in time sequence is 0, 1, 2, 3, 4, 5, or 6, and the K is 7, and the N is an integer multiple of 7; or

[0097] An index of a first first symbol in a first slot of the N slots in time sequence is 0, 1, 2, 3, 4, 5, 6, or 7, and the K is 8, and the N is an integer multiple of 2; or

[0098] An index of a first first symbol in a first slot of the N slots in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, or 8, and the K is 9, and the N is an integer multiple of 3; or

[0099] the index of the first first symbol in the first time slot in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, the K is 11, and the N is an integer multiple of 11; or

[0100] the index of the first first symbol in the first time slot in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, the K is 11, and the N is an integer multiple of 11; or

[0101] the index of the first first symbol in the first time slot in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, the K is 11, and the N is an integer multiple of 11; or

[0102] In a possible implementation of the first aspect or the second aspect, the first time slot format further includes R second symbols, each of which is adjacent to one of the L first symbols and before the adjacent first symbol in the time domain, the R is an integer less than the L, the M is 14, the index of the first first symbol in the first time slot in time sequence is 0, and the time length of the 0th symbol and the 7*2 μ th symbol in time sequence is (T+ΔCP), and the time length of other symbols is T, the gth first symbol in time sequence is adjacent to one of the R second symbols in the time domain, and the g ranges from 1 to L.

[0103] When the time length of the gth first symbol is T, the g satisfies the following formula:

[0104] and / or, when the time length of the gth first symbol is (T+ΔCP), the g satisfies the following formula:

[0105] wherein, the T s represents the time length for sensing in one sensing symbol, the k start represents the index of the first first symbol in the first time slot in time sequence, the k start ranges from 0 to (K-1), represents a floor operation, the μ ranges from 0 to 6, and 2 μ*15[KHz] represents the subcarrier spacing, i.e., the minimum subcarrier spacing corresponding to the sensing signal. In this application, the sensing symbol refers to the symbol allocated to the sensing signal, i.e., the symbol used for sensing. Each second symbol is adjacent to one of the L first symbols in the time domain, and the adjacent first symbol can be understood as the symbol after each second symbol in the time domain. That is, each second symbol and its adjacent first symbol are two continuous symbols in the time domain.

[0106] In a possible implementation of the first aspect or the second aspect, the configuration information includes an index of a first slot format or information indicating the first slot format, the first slot format indicating symbols for sensing and symbols for communication in N time slots that are continuous in the time domain, the time domain resource occupied by the sensing signal being the symbols for sensing in the N time slots, and the N being an integer greater than 1. Thus, the time domain resource occupied by the sensing signal can be determined according to the first slot format.

[0107] In a possible implementation of the first aspect or the second aspect, all symbols in the time domain resource occupied by the sensing signal are downlink symbols; or all symbols in the time domain resource occupied by the sensing signal are uplink symbols; or part of the symbols in the time domain resource occupied by the sensing signal are downlink symbols, and the other part are flexible symbols; or part of the symbols in the time domain resource occupied by the sensing signal are uplink symbols, and the other part are flexible symbols.

[0108] In a possible implementation of the first aspect or the second aspect, in each time slot of the first slot format, the downlink symbols are continuous in the time domain, the uplink symbols are continuous in the time domain, the uplink symbols and the downlink symbols are distributed at both ends of the time slot, and there is at least one flexible symbol between the downlink symbols and the uplink symbols. One manifestation that the downlink symbols are continuous in the time domain is that each downlink symbol is a plurality of symbols continuous in the time domain. One manifestation that the uplink symbols are continuous in the time domain is that each uplink symbol is a plurality of symbols continuous in the time domain. For example, in any time slot in the first slot format, the 0th symbol to the d1th symbol in the time sequence are downlink symbols, the (d1+1)th symbol in the time sequence is a flexible symbol, and the (d1+2)th symbol to the 13th symbol in the time sequence are uplink symbols, where d1 is an integer greater than 0.

[0109] In one possible implementation of the first or second aspect, the time-domain resources occupied by the sensing signal further include L1 third symbols, each third symbol being a symbol in a time slot. The time-domain offset between any two adjacent third symbols in the time domain among the L1 third symbols is K1 symbols, where L1 is an integer greater than 2, K1 is an integer greater than 1, and K1 is different from K. This is applicable to scenarios where the time-domain resources occupied by the sensing signal correspond to two different time-domain offsets.

[0110] In one possible implementation of the first or second aspect, the L1 third symbols are contained in N1 consecutive time slots in the time domain, where N1 is an integer greater than 1, and the N1 time slots are before or after the N time slots. The time domain resources occupied by the sensing signal also include R1 fourth symbols, each fourth symbol being adjacent to one of the L1 third symbols in the time domain and preceding the adjacent third symbol, where R1 is an integer less than L1, and M is 14. The 0th symbol and the 7th*2nd symbol in the N1 time slots are ordered chronologically. μ The time length of each symbol is (T+ΔCP), and the time length of other symbols is T. Among the L1 third symbols, the g1th third symbol, ordered chronologically, is adjacent to one of the R1 fourth symbols in the time domain. The value of g1 ranges from 1 to L1.

[0111] When the time length of the g1th third symbol is T, g1 satisfies the following formula:

[0112] And / or, when the time length of the g1th third symbol is (T+ΔCP), the g1 satisfies the following formula:

[0113] Wherein, the T s k represents the duration of perceptual processing in a perceptual symbol. start1 The index of the first third symbol in the first time slot of the N1 time slots, ordered chronologically, is k. start1 The value range of is 0 to (K1-1). This indicates a floor operation, where μ ranges from 0 to 6. μ *15[KHz] represents the subcarrier spacing, which is the minimum subcarrier spacing corresponding to the sensing signal.

[0114] In a possible implementation manner of the first aspect or the second aspect, the configuration information further includes an index of a third slot format or information indicating the third slot format, the third slot format indicating symbols for sensing and symbols for communication in N1 slots that are continuous in the time domain, the symbols for sensing in the N1 slots including the L1 third symbols.

[0115] In a third aspect, an embodiment of the present application provides a communication method, which is applied to a third node. The method can be implemented by the third node or a component at the third node side. The following is described by taking the third node as an example. The third node and the first node described above can be deployed in the same physical entity or different physical entities. The method includes: generating, by the third node, configuration information, the configuration information being used for configuring time domain resources occupied by a sensing signal, the time domain resources occupied by the sensing signal including L first symbols, each first symbol being one symbol in a slot, a time domain offset between any two first symbols adjacent in the time domain in the L first symbols being K symbols, the L being an integer greater than 2, and the K being an integer greater than 1; and sending, by the third node, the configuration information; thereby enabling other nodes to determine the time domain resources occupied by the sensing signal.

[0116] In a possible implementation manner, the configuration information includes an index of a first slot format or information indicating the first slot format, the first slot format indicating symbols for sensing and symbols for communication in N slots that are continuous in the time domain, the time domain resources occupied by the sensing signal being the symbols for sensing in the N slots, and the N being an integer greater than 1; thereby the time domain resources occupied by the sensing signal can be determined according to the first slot format.

[0117] In a possible implementation manner, each of the N slots contains M symbols, the M being 14, a 0th symbol and a 7*2 μ th symbol in the N slots that are sorted in time have a time length of (T+ΔCP), and other symbols have a time length of T, the μ being in a range of 0-6, 2 μ *15 [kHz] representing a subcarrier spacing, the information indicating the first slot format including an index of a second slot format and indication information of T s or T s , the sensing symbols in the second slot format being the L first symbols, T s representing a time length for sensing processing in one sensing symbol.

[0118] In a possible implementation manner, each of the N slots contains M symbols, the M being 14, a 0th symbol and a 7*2 μThe time length of each symbol is (T+ACP), the time length of other symbols is T, the value of μ is 0-6, 2 μ *15[KHz] represents the subcarrier spacing, the information indicating the first slot format includes the N, k start , the K and T s , or the information indicating the first slot format includes information indicating the N, k start , the K and T s , the N, k start and the K are used to indicate the second slot format, the second slot format includes N time slots which are continuous in time domain, the k start is the index of the first sensing symbol in the first time slot in the second slot format according to time sequence, the sensing symbol in the second slot format is the L first symbol, T s represents the time length of a sensing symbol used for sensing processing.

[0119] In a possible implementation, the configuration information further includes an index of a third slot format or information indicating the third slot format, the third slot format indicates symbols used for sensing and symbols used for communication in N1 time slots which are continuous in time domain, the symbols used for sensing in the N1 time slots include L1 third symbols, each third symbol is a symbol in a time slot, the time domain offset between any two third symbols adjacent in time domain in the L1 third symbols is K1 symbols, the L1 is an integer greater than 2, the K1 is an integer greater than 1, and the K1 is different from the K; the scenario is suitable for the time domain resource occupied by the sensing signal corresponding to two different time domain offsets.

[0120] In a possible implementation, the L1 third symbols are contained in N1 time slots which are continuous in time domain, the N1 is an integer greater than 1, the N1 time slots are before or after the N time slots, the time domain resource occupied by the sensing signal further includes R1 fourth symbols, each fourth symbol is adjacent to one of the L1 third symbols in time domain and before the adjacent third symbol, the R1 is an integer less than the L1, the M is 14, the time length of the 0th symbol and the 7*2 μ th symbol in the N1 time slots according to time sequence is (T+ACP), the time length of other symbols is T, the (g1)th third symbol in the L1 third symbols according to time sequence is adjacent to one of the R1 fourth symbols in time domain, and the value of g1 is 1-L1.

[0121] When the time length of the (g1)th third symbol is T, the g1 satisfies the following formula:

[0122] and / or, when the time length of the g1th third symbol is (T+ACP), the g1 satisfies the following formula:

[0123] wherein, the T s indicates a time length for sensing processing in a sensing symbol, the k start1 is an index of a first third symbol in a 1st time slot in time sequence ordering of the N1 time slots, the k start1 has a value range of 0-(K1-1), indicates a floor operation, the μ has a value range of 0-6, 2 μ *15[KHz] indicates a subcarrier spacing, that is, a minimum subcarrier spacing corresponding to the sensing signal.

[0124] In a possible implementation, the method further includes: the third node receives sensing capability requirement information, the sensing capability requirement information including indication information of a maximum speed range requirement, the configuration information including an index of a first time slot format or information indicating the first time slot format, the first time slot format indicating symbols for sensing and symbols for communication in N time slots that are continuous in time domain, the time domain resource occupied by the sensing signal being the symbols for sensing in the N time slots, the first time slot format satisfying the maximum speed range requirement; thus, the configuration information transmitted can satisfy the maximum speed range requirement.

[0125] In a possible implementation, the third node generating the configuration information includes: the third node determines, according to the maximum test range requirement, a subcarrier spacing, and a center frequency, that a time domain offset corresponding to the time domain resource occupied by the sensing signal is K symbols, the K being an integer greater than 1; determines, according to M and the K, that the time domain resource occupied by the sensing signal is contained in N time slots that are continuous in time domain, the M being a number of symbols contained in a time slot, a product of the M and the N being an integer multiple of the K; determines an index of a first first symbol in a 1st time slot in time sequence ordering of the N time slots, the M symbols in each time slot of the N time slots being in time sequence ordering in turn from a symbol with an index of 0 to a symbol with an index of (M-1); determines, according to the index of the first first symbol in the 1st time slot, the K, and the M, indexes of first symbols contained in each time slot of the N time slots, the N time slots containing the L first symbols, wherein indexes of the first symbols contained in an nth time slot in time sequence ordering of the N time slots satisfy the following formula: index=rem(k start +(l-1)*K,M); (1)

[0126] wherein index is an index of each first symbol contained in an nth time slot of the N time slots in chronological order, k start is an index of a first first symbol in the first time slot, and the k start is an integer less than the K, rem() represents a remainder operation, and l is in a range of values satisfying all values of the L, represents a rounding-up operation, l is an integer less than or equal to L, n is an integer greater than 0, and the n is less than or equal to the N; the configuration information is generated, and the L first symbols are first symbols in the N time slots.

[0127] In a possible implementation, before the third node generates the configuration information, the method further includes: if a time length of a gth first symbol in the L first symbols in chronological order is T, and then the third node takes a second symbol adjacent to the gth first symbol in the time domain and before the gth first symbol as a time domain resource required to be occupied by the sensing signal, the k start is an index of a first first symbol in a first time slot of the N time slots in chronological order, and the k start is in a range of values of 0-(K-1) and / or if a time length of a gth first symbol in the L first symbols in chronological order is (T+ΔCP), and then the third node takes a second symbol adjacent to the gth first symbol in the time domain and before the gth first symbol as a time domain resource required to be occupied by the sensing signal, to obtain the first time slot format, the k start is an index of a first first symbol in a first time slot of the second time slot format in chronological order, and the k start is in a range of values of 0-(K-1), and the g is in a range of values of 1-L. The sensing symbol in the first time slot format includes L first symbols and R second symbols, each second symbol is adjacent to one of the L first symbols in the time domain and before the adjacent first symbol, and the R is an integer less than the L; and the time domain resource occupied by the sensing signal further includes the R second symbols.

[0128] In a possible implementation, the first time slot format satisfies the maximum speed range requirement includes that the K satisfies the maximum speed range requirement. The K satisfying the maximum speed range requirement can be understood as: a time domain offset between any two first symbols adjacent in the time domain in the L first symbols is K symbols, and a maximum speed range corresponding to the K symbols is greater than or equal to the maximum speed range requirement, or in other words, a sampling interval of K symbols of the sensing signal corresponds to a maximum speed range greater than or equal to the maximum speed range requirement. Taking a 10 GHz signal as an example, assuming that a subcarrier spacing is 30 KHz, and a transmitter (TX) and a receiver (RX) are very close in space: when a sampling interval of the sensing signal is 2 symbols, a corresponding maximum speed range is 378 km / h; when the sampling interval of the sensing signal is 7 symbols, a corresponding maximum speed range is 109 km / h; and when the sampling interval of the sensing signal is 14 symbols, a corresponding maximum speed range is 54 km / h.

[0129] In a possible implementation, the L first symbols are contained in N time slots that are consecutive in the time domain, and the N is an integer greater than 1, so that a time domain offset between any two first symbols adjacent in the time domain in the L first symbols is K symbols.

[0130] In a possible implementation, the L first symbols are contained in one time slot, and the K is 2 or 7, so that a time domain offset between any two first symbols adjacent in the time domain in the L first symbols is 2 or 7 symbols.

[0131] In a possible implementation, each of the N time slots contains M symbols, the K is less than or equal to the M, the M is an integer greater than 2, the M, the K, the L and the N satisfy M*N / K=L, so that a time domain offset between any two first symbols adjacent in the time domain in the L first symbols is K symbols, or in other words, a sampling interval of K symbols in the time domain can be implemented, and uniformity of sensing resource sampling in the time domain is ensured. Optionally, the M is 12 or 14, or can be other values, which are not limited in the present application.

[0132] In a possible implementation, the M symbols in each of the N time slots are sequentially arranged in time order as a symbol with an index of 0 to a symbol with an index of (M-1), and each first symbol contained in an nth time slot arranged in time order satisfies the following formula: index=rem(k start +(l-1)*K,M);(1)

[0133] wherein the index of each first symbol contained in the nth time slot in time sequence of the N time slots satisfies formula (1) : index = (index + l) mod K, wherein the index is an index of each first symbol contained in the nth time slot in time sequence of the N time slots, the k start is an index of the first first symbol in the first time slot in time sequence of the N time slots, the k start has a value range of 0-(K-1), rem() represents a remainder operation, and the value range of the l is all values satisfying . represents a rounding-up operation, the value of the l is an integer, and the value range of the n is 1-N.

[0134] In this implementation, the index of each first symbol contained in the nth time slot in time sequence of the N time slots satisfies formula (1), so that the time domain offset between any two first symbols adjacent in time domain in the L first symbols is K symbols.

[0135] In a possible implementation, the time domain resource occupied by the sensing signal further includes R second symbols, each of which is adjacent to one of the L first symbols in time domain and before the adjacent first symbol, the R is an integer less than the L, the M is 14, the time length of the 0th symbol and the 7*2 μ th symbol in time sequence of the N time slots is (T+ACP), and the time length of other symbols is T, the gth first symbol in time sequence of the L first symbols is adjacent to one of the R second symbols in time domain, and the value range of the g is 1-L.

[0136] When the time length of the gth first symbol is T, the g satisfies the following formula:

[0137] and / or, when the time length of the gth first symbol is (T+ACP), the g satisfies the following formula:

[0138] wherein the T s represents a time length for sensing processing in one sensing symbol, the k start is an index of the first first symbol in the first time slot in time sequence of the N time slots, the k start has a value range of 0-(K-1), represents a rounding-down operation, the value range of the μ is 0-6, and 2 μ *15[KHz] represents a subcarrier spacing, that is, a minimum subcarrier spacing corresponding to the sensing signal. Alternatively, the sampling interval of the sensing signal in the frequency domain can be 15*2 μinteger multiples. In this application, the sensing symbol refers to the symbol assigned to the sensing signal, i.e., the symbol used for sensing. Each second symbol is adjacent to one of the L first symbols in the time domain, and the adjacent first symbol can be understood as the symbol after each second symbol in the time domain. That is, each second symbol and its adjacent first symbol are two consecutive symbols in the time domain.

[0139] In this implementation, the time domain resources occupied by the sensing signal further include R second symbols, each of which is adjacent to one of the L first symbols in the time domain and before the adjacent first symbol. This can overcome the non-uniform problem caused by the different lengths of the CP of the 0th symbol and the 7*2 μ th symbol in the time slot from the lengths of other symbols.

[0140] In a possible implementation, the hth first symbol in the L first symbols in the time sequence is not adjacent to each of the R second symbols in the time domain, and the value of h ranges from 1 to L.

[0141] When the time length of the hth first symbol is T, the h satisfies the following formula:

[0142] Or, when the time length of the hth first symbol is (T+ΔCP), the h satisfies the following formula:

[0143] Wherein, the T s represents the time length for sensing processing in a sensing symbol, and the k start is the index of the first first symbol in the 1st time slot in the time sequence of the N time slots, and the k start ranges from 0 to (K-1), represents the floor operation.

[0144] In this implementation, the hth first symbol in the L first symbols in the time sequence is not adjacent to each of the R second symbols in the time domain, and the h satisfies formula (4) or formula (5), which can save time domain resource overhead.

[0145] In a possible implementation, the sampling interval of the sensing signal in the frequency domain is an integer multiple of 15*2 μ When the μ=0, the value of K ranges from 2 to 6 and from 8 to 13; or, when the μ=1, the value of K ranges from 2 to 13.

[0146] In a possible implementation, the sampling interval of the sensing signal in the frequency domain is an integer multiple of 15*2μ when the μ = 0, and the K is 7 or 14, the time domain resource occupied by the sensing signal only includes the L first symbols; or, when the μ = 1, and the K is 14, the time domain resource occupied by the sensing signal only includes the L first symbols; thereby both ensuring the uniformity of the time domain resource occupied by the sensing signal in time domain, and saving the time domain resource overhead.

[0147] In a possible implementation, the M is 14, and the M symbols in each of the N time slots are sequentially arranged in time domain as a symbol with an index of 0 to a symbol with an index of (M-1).

[0148] The first first symbol in the first time slot sequentially arranged in time domain has an index of 0 or 1, and the K is 2; or,

[0149] The first first symbol in the first time slot sequentially arranged in time domain has an index of 0, 1 or 2, the K is 3, and the N is an integer multiple of 3; or,

[0150] The first first symbol in the first time slot sequentially arranged in time domain has an index of 0, 1, 2 or 3, the K is 4, and the N is an integer multiple of 2; or,

[0151] The first first symbol in the first time slot sequentially arranged in time domain has an index of 0, 1, 2, 3 or 4, the K is 5, and the N is an integer multiple of 5; or,

[0152] The first first symbol in the first time slot sequentially arranged in time domain has an index of 0, 1, 2, 3, 4 or 5, the K is 6, and the N is an integer multiple of 3; or,

[0153] The first first symbol in the first time slot sequentially arranged in time domain has an index of 0, 1, 2, 3, 4, 5 or 6, the K is 7; or,

[0154] The first first symbol in the first time slot sequentially arranged in time domain has an index of 0, 1, 2, 3, 4, 5, 6 or 7, the K is 8, and the N is an integer multiple of 4; or,

[0155] The first first symbol in the first time slot sequentially arranged in time domain has an index of 0, 1, 2, 3, 4, 5, 6, 7 or 8, the K is 9, and the N is an integer multiple of 9; or,

[0156] The index of the first first symbol in the first time slot in the N time slots sorted in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, or 9, the K is 10, and the N is an integer multiple of 5; or,

[0157] The index of the first first symbol in the first time slot in the N time slots sorted in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, the K is 11, and the N is an integer multiple of 11; or,

[0158] The index of the first first symbol in the first time slot in the N time slots sorted in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or 11, the K is 12, and the N is an integer multiple of 6; or,

[0159] The index of the first first symbol in the first time slot in the N time slots sorted in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, or 12, the K is 13, and the N is an integer multiple of 13; or,

[0160] The index of the first first symbol in the first time slot in the N time slots sorted in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, or 13, the K is 14.

[0161] In a possible implementation, the M is 12, and the M symbols in each of the N time slots are sequentially 0-indexed symbol to (M-1)-indexed symbol sorted in time sequence;

[0162] The index of the first first symbol in the first time slot in the N time slots sorted in time sequence is 0 or 1, and the K is 2; or,

[0163] The index of the first first symbol in the first time slot in the N time slots sorted in time sequence is 0, 1, or 2, and the K is 3; or,

[0164] The index of the first first symbol in the first time slot in the N time slots sorted in time sequence is 0, 1, 2, or 3, and the K is 4; or,

[0165] The index of the first first symbol in the first time slot in the N time slots sorted in time sequence is 0, 1, 2, 3, or 4, the K is 5, and the N is an integer multiple of 5; or,

[0166] The index of the first first symbol in the first time slot in the N time slots sorted in time sequence is 0, 1, 2, 3, 4, or 5, the K is 6; or,

[0167] The index of the first first symbol in the first time slot in time sequence is 0, 1, 2, 3, 4, 5, or 6, the K is 7, and the N is an integer multiple of 7; or,

[0168] The index of the first first symbol in the first time slot in time sequence is 0, 1, 2, 3, 4, 5, 6, or 7, the K is 8, and the N is an integer multiple of 2; or,

[0169] The index of the first first symbol in the first time slot in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, or 8, the K is 9, and the N is an integer multiple of 3; or,

[0170] The index of the first first symbol in the first time slot in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, or 9, the K is 10, and the N is an integer multiple of 5; or,

[0171] The index of the first first symbol in the first time slot in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, the K is 11, and the N is an integer multiple of 11; or,

[0172] The index of the first first symbol in the first time slot in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or 11, and the K is 12.

[0173] In a possible implementation, all symbols in the time domain resource occupied by the sensing signal are downlink symbols; or all symbols in the time domain resource occupied by the sensing signal are uplink symbols; or part of the symbols in the time domain resource occupied by the sensing signal are downlink symbols, and the other part of the symbols are flexible symbols; or part of the symbols in the time domain resource occupied by the sensing signal are uplink symbols, and the other part of the symbols are flexible symbols.

[0174] In a possible implementation, in each time slot of the first time slot format, the downlink symbols are continuous in the time domain, the uplink symbols are continuous in the time domain, and there are at least one flexible symbol between the downlink symbols and the uplink symbols. In other words, in each time slot of the first time slot format, the uplink symbols and the downlink symbols are distributed at two ends, and there are at least one flexible symbol between the downlink symbols and the uplink symbols. One manifestation that the downlink symbols are continuous in the time domain is that each downlink symbol is a plurality of symbols continuous in the time domain. One manifestation that the uplink symbols are continuous in the time domain is that each uplink symbol is a plurality of symbols continuous in the time domain. For example, in any time slot of the first time slot format, the 0th symbol to the d1th symbol in the time sequence are downlink symbols, the (d1+1)th symbol in the time sequence is a flexible symbol, and the (d1+2)th symbol to the 13th symbol in the time sequence are uplink symbols, where d1 is an integer greater than 0.

[0175] In a fourth aspect, an embodiment of the present application provides a communication device having a function of implementing the behaviors in the method embodiments of the first aspect. The communication device can be a communication device (network device or terminal device), a component (such as a processor, circuit, chip, or chip system) of the communication device, or a logic module or software capable of implementing the functions of the entire or part of the communication device. For example, the communication device is a node for transmitting a sensing signal. The function of the communication device can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions. In a possible implementation, the communication device includes a transceiver module and a processing module, where: the processing module is configured to generate a sensing signal, and the time domain resource occupied by the sensing signal includes L first symbols, each first symbol is one symbol in a time slot, the time domain offset between any two adjacent first symbols in the time domain is K symbols, L is an integer greater than 2, and K is an integer greater than 1; and the transceiver module is configured to transmit the sensing signal.

[0176] In a possible implementation, the transceiver module is further configured to transmit or receive configuration information, and the configuration information is used to configure the time domain resource occupied by the sensing signal.

[0177] In a possible implementation, the processing module is further configured to determine the time domain resource occupied by the sensing signal according to the configuration information, the configuration information includes information indicating a first time slot format, the first time slot format indicates symbols for sensing and symbols for communication in N time slots continuous in the time domain, the time domain resource occupied by the sensing signal is the symbols for sensing in the N time slots, and N is an integer greater than 1.

[0178] In a possible implementation, each of the N time slots contains M symbols, the M is 14, the time length of the 0th symbol and the 7*2 μ th symbol in the N time slots in time sequence are both (T+ACP), the time length of other symbols (i.e., symbols other than the 0th symbol and the 7*2 μ th symbol) is T, the value range of the μ is 0-6, 2 μ *15 [kHz] represents a subcarrier spacing, i.e., a minimum subcarrier spacing corresponding to the sensing signal, the information indicating the first time slot format includes an index of a second time slot format and an indication of T s or T s , T s represents a time length for sensing processing in one sensing symbol; and the processing module is specifically configured to:

[0179] determine the second time slot format according to the index of the second time slot format, and sensing symbols in the second time slot format are the L first symbols;

[0180] if the time length of the gth first symbol in the L first symbols in time sequence is T and the second symbol adjacent to the gth first symbol in the second time slot format and before the gth first symbol in time domain is taken as time domain resources needed to be occupied by the sensing signal, and / or, if the time length of the gth first symbol in the L first symbols in time sequence is (T+ACP), and the second symbol adjacent to the gth first symbol in the second time slot format and before the gth first symbol in time domain is taken as time domain resources needed to be occupied by the sensing signal, to obtain the first time slot format, the k start is an index of the first first symbol in the 1st slot in the second time slot format in time sequence, and the value range of the k start is 0-(K-1), and the value range of the g is 1-L.

[0181] In a possible implementation, each of the N time slots contains M symbols, the M is 14, the time length of the 0th symbol and the 7*2 μ th symbol in the N time slots in time sequence are both (T+ACP), the time length of other symbols is T, the value range of the μ is 0-6, 2 μ *15 [kHz] represents a subcarrier spacing, the information indicating the first time slot format includes the N, k start , the K, and T s, or the information indicating the first slot format comprises information indicating the N, the k start , the K and T s , T s representing a length of a sensing symbol for sensing processing; the processing module is specifically configured to:

[0182] determine a second slot format according to the N, the k start and the K, the second slot format comprising N slots which are continuous in time domain, the k start being an index of a first sensing symbol in a first slot of the second slot format in time sequence, the sensing symbol in the second slot format being the L first symbols;

[0183] if a time length of a gth first symbol in time sequence in the L first symbols is T, and then a second symbol adjacent to the gth first symbol in time domain and before the gth first symbol in the second slot format is taken as a time domain resource occupied by the sensing signal, and / or, if a time length of a gth first symbol in time sequence in the L first symbols is (T+ΔCP), and then a second symbol adjacent to the gth first symbol in time domain and before the gth first symbol in the second slot format is taken as a time domain resource occupied by the sensing signal, to obtain the first slot format, the k start ranging from 0 to (K-1), and the g ranging from 1 to L.

[0184] Possible implementation manners of the communication device of the fourth aspect can refer to various possible implementation manners of the first aspect.

[0185] The technical effects brought by various possible implementation manners of the fourth aspect can refer to the introduction of the technical effects of various possible implementation manners of the first aspect.

[0186] In a fifth aspect, an embodiment of the present application provides another communication apparatus having functions to implement the behaviors in the method embodiments of the second aspect. The communication apparatus can be a communication device (a network device or a terminal device), a component (for example, a circuit, a processor, a chip, or a chip system) of the communication device, or a logic module or software that can implement the functions of the entire or part of the communication device. For example, the communication apparatus is a node receiving a sensing signal. The functions of the communication apparatus can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions. In a possible implementation, the communication apparatus includes a transceiver module and a processing module, where: the processing module is configured to determine time domain resources occupied by a sensing signal; and the transceiver module is configured to receive the sensing signal according to the time domain resources occupied by the sensing signal, the time domain resources occupied by the sensing signal including L first symbols, each first symbol being one symbol in a slot, and a time domain offset between any two first symbols adjacent in the time domain in the L first symbols being K symbols, L being an integer greater than 2, and K being an integer greater than 1.

[0187] In a possible implementation, the transceiver module is further configured to receive configuration information, the configuration information being used to configure the time domain resources occupied by the sensing signal.

[0188] In a possible implementation of the second aspect, the configuration information includes information indicating a first slot format, the first slot format indicating symbols for sensing and symbols for communication in N slots that are continuous in the time domain, the time domain resources occupied by the sensing signal being the symbols for sensing in the N slots, N being an integer greater than 1, each of the N slots containing M symbols, M being 14, a 0th symbol and a 7*2 μ th symbol in the N slots being (T+ΔCP) in length, and other symbols (symbols other than the 0th symbol and the 7*2 μ th symbol) being T in length, μ being in a range of 0-6, 2 μ *15 [kHz] representing a subcarrier spacing, and the information indicating the first slot format including an index of a second slot format; and the processing module is specifically configured to determine the second slot format according to the index of the second slot format, the sensing symbols in the second slot format being the L first symbols.

[0189] If a length of a gth first symbol in the L first symbols is T, and the second symbol adjacent to the gth first symbol in the time domain and before the gth first symbol is taken as the time domain resource occupied by the sensing signal, the k start is an index of the first first symbol in the 1st time slot in the second time slot format according to the time sequence, the k start , and / or, if the time length of the gth first symbol in the L first symbols according to the time sequence is (T+ACP), and the second symbol adjacent to the gth first symbol in the time domain and before the gth first symbol is taken as the time domain resource occupied by the sensing signal, to obtain the first time slot format, the k start is an index of the first first symbol in the 1st time slot in the second time slot format according to the time sequence, the k start , the value range of g is 1-L.

[0190] In a possible implementation, the configuration information includes information indicating a first time slot format, the first time slot format indicating symbols for sensing and symbols for communication in N time slots that are continuous in the time domain, the time domain resource occupied by the sensing signal being the symbols for sensing in the N time slots, the N being an integer greater than 1, each of the N time slots containing M symbols, the M being 14, the time length of the 0th symbol and the 7*2 μ th symbol in the N time slots according to the time sequence both being (T+ACP), the time length of other symbols (i.e., symbols other than the 0th symbol and the 7*2 μ th symbol) being T, the value range of μ being 0-6, 2 μ *15 [kHz] representing a subcarrier spacing, the information indicating the first time slot format including the N, k start , and the K, or the information indicating the first time slot format including information indicating the N, k start , and the K; and the processing module is specifically configured to determine a second time slot format according to the N, k start , and the K, the second time slot format including N time slots that are continuous in the time domain, the k start is an index of the first sensing symbol in the 1st time slot in the second time slot format according to the time sequence, the sensing symbol in the second time slot format being the L first symbols;

[0191] if the time length of the gth first symbol in the L first symbols according to the time sequence is T, and a second symbol adjacent to the gth first symbol in time domain and before the gth first symbol as the time domain resource occupied by the sensing signal, the k start is an index of a first first symbol in a 1st time slot in time sequence of the N time slots, the k start , and / or if a time length of a gth first symbol in time sequence of the L first symbols is (T + ΔCP), and a second symbol adjacent to the gth first symbol in time domain and before the gth first symbol as the time domain resource occupied by the sensing signal, the k start is an index of a first first symbol in a 1st time slot in time sequence of the N time slots, the k start , the value range of g is 1 to L.

[0192] Possible implementation manners of the communication device of the fifth aspect can refer to various possible implementation manners of the second aspect.

[0193] The technical effects brought by various possible implementation manners of the fifth aspect can refer to the introduction of the technical effects of various possible implementation manners of the second aspect.

[0194] In a sixth aspect, an embodiment of the present application provides another communication device, which has the function of implementing the behaviors in the above-mentioned method embodiments of the third aspect. The communication device can be a communication equipment (network equipment or terminal equipment), can also be a component (such as a circuit, a processor, a chip, or a chip system, etc.) of the communication equipment, and can also be a logic module or software capable of realizing the functions of the whole or part of the communication equipment. For example, the communication device is the above-mentioned third node. The function of the communication device can be realized by hardware, or realized by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above-mentioned functions. In a possible implementation manner, the communication device includes a transceiver module and a processing module, wherein: the processing module is configured to generate configuration information, the configuration information is used to configure time domain resources occupied by a sensing signal, the time domain resources occupied by the sensing signal include L first symbols, each first symbol is a symbol in a time slot, the time domain offset between any two first symbols adjacent in time domain in the L first symbols is K symbols, the L is an integer greater than 2, and the K is an integer greater than 1; and the transceiver module is configured to send the configuration information.

[0195] In a possible implementation, the transceiver module is further configured to receive sensing capability requirement information, the sensing capability requirement information including indication information of a maximum measurement range requirement, and the configuration information including an index of a first slot format or information indicating the first slot format, the first slot format indicating symbols for sensing and symbols for communication in N time slots that are continuous in the time domain, the time domain resource occupied by the sensing signal being the symbols for sensing in the N time slots, and the first slot format satisfying the maximum measurement range requirement.

[0196] In a possible implementation, the processing module is further configured to determine, according to the maximum measurement range requirement, a subcarrier spacing, and a center frequency, that a time domain offset corresponding to the time domain resource occupied by the sensing signal is K symbols, K being an integer greater than 1; determine, according to M and the K, that the time domain resource occupied by the sensing signal is contained in N time slots that are continuous in the time domain, M being a number of symbols contained in one time slot, and a product of M and N being an integer multiple of K; determine an index of a first symbol in a first time slot in the N time slots in chronological order, M symbols in each of the N time slots being in chronological order from a symbol with an index of 0 to a symbol with an index of (M-1); determine, according to the index of the first symbol in the first time slot, the K, and the M, an index of a first symbol contained in each of the N time slots, the N time slots containing L first symbols, wherein an index of each first symbol contained in an nth time slot in the N time slots in chronological order satisfies the following formula: index = rem(k start +(l-1)*K,M); (1)

[0197] wherein index is an index of each first symbol contained in an nth time slot in the N time slots in chronological order, k start is the index of the first symbol in the first time slot, k start is an integer less than the K, rem() represents a remainder operation, l is in a range of all values satisfying , represents a rounding-up operation, l is an integer less than or equal to L, n is an integer greater than 0, and the n is less than or equal to the N; and generate the configuration information, the L first symbols being first symbols in the N time slots.

[0198] In a possible implementation, the processing module is further configured to determine that a time length of a gth first symbol in the L first symbols in chronological order is T, and When the g th first symbol is in the first time slot, the third node takes a second symbol adjacent to the g th first symbol in time domain and before the g th first symbol as a time domain resource occupied by the sensing signal, and obtains the first time slot format, where the k start is an index of a first first symbol in a first time slot sorted in time sequence, the k start , and / or a time length of a g th first symbol in the L first symbols sorted in time sequence is (T+ΔCP), and When the g th first symbol is in the first time slot, the third node takes a second symbol adjacent to the g th first symbol in time domain and before the g th first symbol as a time domain resource occupied by the sensing signal, and obtains the first time slot format, where the k start is an index of a first first symbol in a first time slot sorted in time sequence, the k start , and the g takes a value in a range of 1 to L. The sensing symbols in the first time slot format include L first symbols and R second symbols, each second symbol is adjacent to one of the L first symbols in time domain and before the adjacent first symbol, and the R is an integer less than the L; the time domain resource occupied by the sensing signal further includes the R second symbols.

[0199] The possible implementation manners of the communication device of the sixth aspect can refer to the various possible implementation manners of the third aspect.

[0200] The technical effects brought by the various possible implementation manners of the sixth aspect can refer to the introduction of the technical effects of the various possible implementation manners of the third aspect.

[0201] In the seventh aspect, the embodiments of the present application provide another communication device, which includes one or more processors, and the one or more processors are used to process data and / or signaling, so that the method of any one of the above first aspect to the third aspect is implemented.

[0202] Optionally, the communication device further includes a memory, which stores programs or instructions, and when the programs or instructions are executed by the processor, the communication device executes the method of any one of the above first aspect to the third aspect. Exemplarily, the communication device can be a chip, the processor is a processing circuit in the chip, and the memory is a random memory or cache in the chip.

[0203] In the embodiments of the present application, in the process of executing the above method, the process of sending information (or signal) in the above method can be understood as the process of outputting information based on the instruction of the processor. When outputting the information, the processor outputs the information to the transceiver so as to be transmitted by the transceiver. After the information is outputted by the processor, the information can also be processed in other manners and then reaches the transceiver. Similarly, when the processor receives the inputted information, the transceiver receives the information and inputs the information to the processor. Furthermore, after the transceiver receives the information, the information can be processed in other manners and then be inputted to the processor.

[0204] For the sending and / or receiving operations and the like involved in the processor, if no special description is given, or if it does not contradict the actual role or inherent logic in the related description, it can be generally understood as being outputted based on the instruction of the processor.

[0205] In the implementation process, the above processor can be a processor specially used for executing the method, or a processor used for executing the computer instruction in the memory to execute the method, such as a general processor and the like. For example, the processor can also be used for executing the program stored in the memory, and when the program is executed, the communication device executes the method shown in the first aspect or any possible implementation manner of the first aspect.

[0206] In a possible implementation manner, the memory is located outside the above communication device. In a possible implementation manner, the memory is located inside the above communication device.

[0207] In a possible implementation manner, the processor and the memory can also be integrated into one device, that is, the processor and the memory can also be integrated together.

[0208] In a possible implementation manner, the communication device further includes a transceiver, which is used for receiving a signal or transmitting a signal and the like.

[0209] In an eighth aspect, the present application provides another communication device, which includes a processing circuit and an interface circuit, the interface circuit is used for obtaining a signal or outputting a signal; the processing circuit is used for executing the method in any one of the first aspect to the third aspect.

[0210] In a ninth aspect, the present application provides a computer readable storage medium, and the computer readable storage medium stores a computer program or instruction, when the computer program or instruction is executed, the method in any one of the first aspect to the third aspect is realized.

[0211] In a tenth aspect, the present application provides a computer program product, when the computer program product is run, the method in any one of the first aspect to the third aspect is realized.

[0212] In an eleventh aspect, the present application provides a chip, comprising a communication interface and a processor; the communication interface is configured to transceive signals of the chip; the processor is configured to execute computer program instructions, so that a communication device comprising the chip executes the method of any one of the first aspect to the third aspect.

[0213] In a twelfth aspect, the embodiments of the present application provide a communication system, comprising the communication device of the fourth aspect or any possible implementation manner of the fourth aspect, and the communication device of the fifth aspect or any possible implementation manner of the fifth aspect.

[0214] In a thirteenth aspect, the embodiments of the present application provide another communication system, comprising the communication device of the fourth aspect or any possible implementation manner of the fourth aspect, the communication device of the fifth aspect or any possible implementation manner of the fifth aspect, and the communication device of the sixth aspect or any possible implementation manner of the sixth aspect. BRIEF DESCRIPTION OF DRAWINGS

[0215] FIG. 1 is a schematic diagram of lengths of CPs of symbols in a slot according to an embodiment of the present application;

[0216] FIGS. 2A to 2G are schematic diagrams of an application scenario according to an embodiment of the present application;

[0217] FIGS. 3A and 3B show examples of relationships of the above l, the above n, k start +(l-1)*K and rem(k start +(l-1)*K, M);

[0218] FIG. 4 is a schematic diagram of a sensing symbol in a slot format according to an embodiment of the present application;

[0219] FIGS. 5A, 5B and 5C are examples of slot formats designed according to the present application;

[0220] FIG. 6 is a flowchart of a communication method according to an embodiment of the present application;

[0221] FIG. 7 is a flowchart of another communication method according to an embodiment of the present application;

[0222] FIG. 8 is a flowchart of determining a slot format according to an embodiment of the present application;

[0223] FIG. 9 is a flowchart of another communication method according to an embodiment of the present application;

[0224] FIG. 10 is a flowchart of another communication method according to an embodiment of the present application;

[0225] FIG. 11 is a structural schematic diagram of a communication apparatus 1100 provided by an embodiment of the present application;

[0226] FIG. 12 is a structural schematic diagram of another apparatus 120 provided by an embodiment of the present application. DETAILED DESCRIPTION

[0227] The terms “first” and “second” and the like in the specification, claims and drawings of the present application are used to distinguish different objects, and are not used to describe a particular order. It can be understood that various numbers involved in the embodiments of the present application are only distinguished for convenience of description, and do not limit the scope of the embodiments of the present application. The size of the serial numbers of the above processes does not mean the order of execution, and the execution order of the processes should be determined according to their functions and inherent logic. In addition, the terms “include” and “have” and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device, etc. including a series of steps or units, is not limited to the listed steps or units, but can optionally include steps or units not listed, etc., or can optionally include other steps or units inherent to the process, method, product or device, etc. In the present application, the naming of messages is only used to distinguish different messages and should not be understood as a limitation. That is, the name of any message in the present application can be replaced by other names, and the present application is not limited.

[0228] “Embodiments” mentioned in the present application means that the specific features, structures or characteristics described in conjunction with the embodiments can be included in at least one embodiment of the present application. The phrase appears at various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment independent of or alternative to other embodiments. Those skilled in the art can explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0229] It can be understood that in the present application, “when” and “if” both refer to making corresponding processing under certain objective conditions, and are not limited to time, and do not require judgment actions when implementing, nor mean that there are other limitations. In the present application, “when”, “if”, “if”, “in the case of” can be replaced with each other.

[0230] It can be understood that some optional features in the embodiments of the present application can be implemented independently in some scenarios, solve corresponding technical problems, and achieve corresponding effects, without relying on other features, such as the scheme currently based on. In some scenarios, the features can be combined with other features according to needs. Correspondingly, the apparatuses given in the embodiments of the present application can also implement these features or functions, which will not be described here. In the present application, the same or similar parts between different embodiments can be mutually referred to, unless otherwise specified. In the embodiments of the present application, the terms and / or descriptions between different embodiments are consistent and can be mutually referred to, unless otherwise specified and logically conflicted. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship. The implementation manners of the present application described below do not constitute a limitation on the protection scope of the present application.

[0231] The terms used in the embodiments of the present application are only for the purpose of describing the specific embodiments, and are not intended to be limiting on the present application. As used in the specification and the appended claims of the present application, the singular forms "a," "an," and "the" are intended to include plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "and / or" as used herein refer to and encompass any or all possible combinations of one or more of the associated items. For example, "A and / or B" can mean: only A, only B, and both A and B, where A and B can be singular or plural. The term "plurality" as used in the present application means two or more. In the literal description of the present application, the character " / ", generally indicates that the objects before and after the character are in an "or" relationship.

[0232] It can be understood that in the embodiments of the present application, "A corresponds to B" means that A and B have a corresponding relationship, and B can be determined according to A. However, it should also be understood that determining (or generating) B according to (or based on) A does not mean that B is determined (or generated) only according to (or based on) A, but B can also be determined (or generated) according to (or based on) A and / or other information.

[0233] It should be understood that in the present application, the indication includes direct indication (also known as explicit indication) and implicit indication. Among them, the direct indication of information A means that the information A is included; the implicit indication of information A means that the information A is indicated by the corresponding relationship between the information A and the information B and the direct indication of the information B. The corresponding relationship between the information A and the information B can be pre-defined, pre-stored, pre-burned, or pre-configured.

[0234] It should be understood that, in this application, information C is used for the determination of information D, which includes that information D is determined based on information C only, and also includes that information D is determined based on information C and other information. In addition, information C used for the determination of information D can also be the case of indirect determination, such as the case where information D is determined based on information E, and information E is determined based on information C.

[0235] In addition, in the embodiments of the present application, "network element A sends information A to network element B" can be understood as the destination of the information A or the intermediate network element in the transmission path between the destination is network element B, which can include direct or indirect sending of information to network element B. "Network element B receives information A from network element A" can be understood as the source of the information A or the intermediate network element in the transmission path between the source is network element A, which can include direct or indirect receiving of information from network element A. The information between the source and the destination of the information sending can be processed as necessary, for example, format change, etc., but the destination can understand the valid information from the source. Similar expressions in this application can be similarly understood, and will not be described here.

[0236] In the embodiments of the present application, "sending" and "receiving" represent the direction of signal transmission. For example, "sending information to XX" can be understood as the destination of the information being XX, which can include direct sending through the air interface, or indirect sending through the air interface by other units or modules. "Receiving information from YY" can be understood as the source of the information being YY, which can include direct receiving from YY through the air interface, or indirect receiving from YY through the air interface from other units or modules. "Sending" can also be understood as the "output" of the chip interface, and "receiving" can also be understood as the "input" of the chip interface.

[0237] In other words, sending and receiving can be between devices, such as between network devices and terminal devices, or within a device, such as between components, modules, chips, software modules or hardware modules within a device through a bus, wire or interface.

[0238] In order to facilitate the understanding of the scheme of the present application, the following first introduces the terms and technical schemes involved in the embodiments of the present application.

[0239] 1. Integrated sensing and communication (ISAC): ISAC refers to the joint design to realize the same set of system to support communication function and sensing function, compared with separate communication system and sensing system, ISAC has advantages in volume, weight, power consumption, cost, efficiency, etc.

[0240] It can be understood that communication refers to information transmission between two or more points; sensing refers to detecting parameters of a physical environment, such as speed measurement, target positioning, and the like. In other words, the integration of communication and sensing refers to the fusion of the two functions of communication and sensing, so that the communication system has both communication and sensing functions, that is, while transmitting information on a wireless channel, the characteristics of the channel are actively perceived and analyzed, so as to perceive the physical characteristics of the surrounding environment, thereby enhancing the functions of communication and sensing.

[0241] 2. Symbol: abbreviation of time domain symbol, which can also be referred to as orthogonal frequency division multiplexing (OFDM) symbol. It should be noted that the time domain symbol can also be named in combination with other multiple access modes, and the embodiments of the present application do not make any limitation. The length of the time domain symbol can be different for different subcarrier spacings.

[0242] It should be understood that the symbols in one time slot can include three types, downlink symbols, uplink symbols and flexible symbols. The uplink symbols can be used only for uplink transmission, the downlink symbols can be used only for downlink transmission. The flexible symbols have no determined transmission direction and can be used for uplink transmission or downlink transmission according to the indication of the control signaling. The symbols of one time slot can be all downlink symbols, or all uplink symbols, or all flexible symbols, or a mixture of several types of symbols.

[0243] 3. Slot format: in the 1G to 5G era, communication and sensing exist independently, for example, a 4G communication system is only responsible for communication, and a radar system is only responsible for speed measurement, sensing imaging and the like. In the existing communication protocol, a series of slot formats have been defined for allocating uplink and downlink resources of communication. For example, more than 50 slot formats for communication are defined in TS 38.213 V18.2.0 Table 11.1.1-1: slot formats for normal cyclic prefix. In the existing slot format, one time slot contains 12 or 14 symbols. In the 5G communication system, one time slot can contain 14 symbols (symbol). Table 1 shows examples of several slot formats, where D in Table 1 below represents a downlink (downlink) symbol, U represents an uplink (uplink) symbol, and F represents a flexible (flexible) symbol. There is generally at least one symbol F between U and D for switching between D and U. All symbols in the slot format shown in Table 1 are uplink and downlink resources for communication, which are communication symbols. In the present application, a communication symbol refers to a symbol for communication.

[0244] Table 1

[0245] In some possible designs, when one slot contains 14 symbols, the time length (or CP) of the 0th symbol and the 7*2 μ th symbol in time-ordered multiple slots that are continuous in time domain is longer than that of other symbols. The parameter μ is related to the subcarrier spacing, for example, 2 μ *15 [KHz] (or 2 μ *15 [KHz]) represents the subcarrier spacing. Table 2 shows an example of the relationship between the parameter μ and the subcarrier spacing.

[0246] Table 2

[0247] When μ = 0, i.e., the subcarrier spacing is 15 KHz, the CP of the 0th symbol and the 7th symbol in time-ordered symbols in a slot is longer than that of other symbols. FIG. 1 is a schematic diagram of the length of the CP of each symbol in a slot according to an embodiment of the present application. As shown in FIG. 1, the width of the black rectangle represents the length of the CP. The CP of 0.5 ms (i.e., the CP of the 0th symbol and the 7*2 μ th symbol) has the following characteristics: the length of the CP of the first symbol is greater than that of other symbols. Except for the length of the CP of the first symbol, the lengths of the CPs of other symbols are equal. Therefore, it can be understood that the CP of the 0th symbol and the 7*2 μ th symbol (i.e., every 0.5 ms symbol starting from the 0th symbol) in time-ordered symbols in multiple slots that are continuous in time domain is longer.

[0248] In some possible designs, when M = 12, the lengths of the CPs of the 12 symbols in a slot are the same.

[0249] The technical solutions of the embodiments of the present application can be applied to various communication systems, which can be a 3GPP communication system, for example, a 5th generation (5G) or future mobile communication system, a sidelink (SL) system, an ultra-wideband (UWB) system, a vehicle to everything (V2X) system, or a device-to-device (D2D) communication system, a machine-to-machine (M2M) communication system, an internet of things (IoT), and other next-generation communication systems. The communication system can also be a non-3GPP communication system, such as a wireless local area network (WLAN) system, for example, Wi-Fi, and the present application is not limited thereto. The technical solutions of the embodiments of the present application can be applied to various application scenarios, for example, can be applied to one or more of the following application scenarios: smart home, D2D, V2X, and IoT application scenarios. Among them, the above-mentioned communication systems and application scenarios applicable to the present application are only examples, and the communication systems and application scenarios applicable to the present application are not limited thereto, and are uniformly described here. The following will not be described again. The following introduces an example of an application scenario to which the technical solutions of the embodiments of the present application are applicable in conjunction with FIG. 2A to FIG. 2G.

[0250] FIG. 2A is a schematic diagram of an application scenario provided by an embodiment of the present application. As shown in FIG. 2A, a base station serves as a transmitting end (may be referred to as a sending end) and a control end, and a user equipment (UE) serves as a receiving end. The transmitting signal of the base station is reflected by a vehicle (may also be a pedestrian, a bicycle, a drone or other targets) and then received by the UE. After receiving the signal, the UE performs signal processing to obtain a sensing result. The sensing result includes, for example, the sum of the distance from the base station to the vehicle and the distance from the vehicle to the UE, the speed of the vehicle, the angle between the UE and the vehicle, the strength of the signal received by the UE, and the like. In the present application, the transmitting end and the receiving end are defined from the perspective of signal transmission and reception. The transmitting end refers to a device that sends a signal, for example, a device that sends a sensing signal. The receiving end refers to a device that receives a signal, for example, a device that receives a sensing signal. It should be understood that, for any communication device, the communication device serves as a transmitting end when the communication device sends a signal, and the communication device serves as a receiving end when the communication device receives a signal. A communication device can serve as a transmitting end in some transmission scenarios, and can serve as a receiving end in other transmission scenarios. In some scenarios, a communication device can serve as both a transmitting end and a receiving end. In the present application, the control end can be a functional module that supports the following functions: supporting calculation of a sensing result; aggregating a sensing measurement result, including aggregating the sensing result measured by the UE and the base station to the control end; and obtaining necessary information for the UE to perform sensing measurement from the base station, such as configuration of an uplink sensing reference signal of the UE.

[0251] FIG. 2B is a schematic diagram of another application scenario provided by an embodiment of the present application. As shown in FIG. 2B, the UE serves as a transmitting end, the base station serves as a receiving end and a control end, and the transmitting signal of the UE is reflected by a vehicle (may also be a pedestrian, a bicycle, a drone or other targets) and then received by the base station. After receiving the signal, the base station performs signal processing to obtain a sensing result.

[0252] FIG. 2C is a schematic diagram of another application scenario provided by an embodiment of the present application. As shown in FIG. 2C, the base station 1 serves as a transmitting end and a control end, and the base station 2 serves as a receiving end. The transmitting signal of the base station 1 is reflected by a vehicle (may also be a pedestrian, a bicycle, a drone or other targets) and then received by the base station 2. After receiving the signal, the base station 2 performs signal processing to obtain a sensing result.

[0253] FIG. 2D is a schematic diagram of another application scenario provided by an embodiment of the present application. As shown in FIG. 2D, the UE 1 serves as a transmitting end and a control end, and the UE 2 serves as a receiving end. The transmitting signal of the UE 1 is reflected by a vehicle (may also be a pedestrian, a bicycle, a drone or other targets) and then received by the UE 2. After receiving the signal, the UE 2 performs signal processing to obtain a sensing result.

[0254] FIG. 2E is a schematic diagram of another application scenario provided by the embodiments of the present application. As shown in FIG. 2E, the base station 1 is the transmitting end, the base station 2 is the receiving end, and the base station 3 is the control end. The transmitting signal of the base station 1 is reflected by the car (or other targets such as pedestrians, bicycles, drones, etc.) and received by the base station 2. The base station 2 receives the signal and performs signal processing to obtain the sensing result.

[0255] FIG. 2F is a schematic diagram of another application scenario provided by the embodiments of the present application. As shown in FIG. 2F, the base station is the transmitting end, the receiving end, and the control end. The transmitting signal of the base station is reflected by the car (or other targets such as pedestrians, bicycles, drones, etc.) and received by the base station. The base station receives the signal and performs signal processing to obtain the sensing result.

[0256] FIG. 2G is a schematic diagram of another application scenario provided by the embodiments of the present application. As shown in FIG. 2G, the UE is the transmitting end, the receiving end, and the control end. The transmitting signal of the UE is reflected by the car (or other targets such as pedestrians, bicycles, drones, etc.) and received by the UE. The UE receives the signal and performs signal processing to obtain the sensing result.

[0257] As described in the background section, the time slot formats in the current 3GPP standard are designed for communication. Since the sensing function is introduced, certain resources need to be allocated for sensing. Therefore, it is necessary to study the scheme of which resources the transmitted sensing signal occupies when sensing the surrounding environment. The present application designs some time slot formats that can simultaneously support communication and sensing functions. Part of the symbols in these time slot formats are used for sensing, and part of the symbols are used for communication; which can solve the problem of which resources the sensing signal occupies. Or, the time slot formats designed by the present application include communication symbols (i.e., symbols used for communication) and sensing symbols (i.e., symbols used for sensing). The communication symbols can be further divided into uplink symbols, downlink symbols, and flexible symbols according to uplink and downlink. Similarly, the sensing symbols can be further divided into uplink symbols, downlink symbols, and flexible symbols according to uplink and downlink. The time domain resources occupied by the sensing signal transmitted by the transmitting end are the sensing symbols in the time slot format, and the time domain resources occupied by the communication signal (i.e., the signal used for communication) transmitted by the transmitting end are the communication symbols in the time slot format.

[0258] The time slot format designed by the present application includes one time slot or N time slots, where N is an integer greater than 1, and the N time slots are consecutive time slots in the time domain. The present application describes the time slot format designed by the present application taking 12 or 14 symbols per time slot as an example.

[0259] In order to ensure that the time domain resource allocated to the sensing signal is uniform in the time domain, the time slot format designed in the present application contains at least L first symbols, the time domain offset between any two first symbols adjacent in the time domain is K symbols, the L first symbols are all sensing symbols, L is an integer greater than 2, and K is an integer greater than 1. The time domain offset between any two first symbols can be that the first symbol in time sequence is moved backward by K symbols to be the adjacent first symbol in time sequence. The time domain offset between any two first symbols adjacent in the time domain in the L first symbols can be understood as the sensing sampling interval supported by the time slot format designed in the present application (which can be named as sensing time domain resource sampling interval, or other names). For example, the time domain offset between any two first symbols adjacent in the time domain in the L first symbols is K symbols, and the sensing sampling interval supported by the time slot format designed in the present application is K symbols.

[0260] In the time slot format including one time slot designed in the present application, K is 2 or 7, and the time slot format includes 14 symbols. That is to say, when the time slot format includes one time slot, the time domain offset between adjacent sensing symbols in the time slot format is 2 or 7. Alternatively, the sensing sampling interval supported by the time slot format including one time slot designed in the present application is 2 or 7 symbols.

[0261] Table 3-1 is an example of a time slot format provided in an embodiment of the present application. Table 3-2 is an example of another time slot format provided in an embodiment of the present application.

[0262] Table 3-1

[0263] In each table (for example, Table 3-1) of the present application, S represents a sensing symbol, and C represents a communication symbol, which will not be repeatedly described hereinafter. The time slot format shown in Table 3-1 includes 7 (i.e., L is 7) sensing symbols, and the time domain offset between adjacent sensing symbols is 2. It should be noted that in any table provided in the present application, the first S in the time domain (or the starting position of S) can be moved backward by k symbols, k≤(K-1), and K symbols are the time domain offset between any two first symbols. On the basis of the table provided in the present application to represent the time slot format, the time slot format obtained by moving the starting position of S backward by k symbols is also the time slot format designed in the present application. For example, the starting position of S in Table 3-1 is moved backward by 1 symbol to obtain the time slot format shown in Table 3-2.

[0264] Table 3-2

[0265] The time slot format shown in Table 3-2 includes 7 (i.e., L is 7) sensing symbols, and the time domain offset between adjacent sensing symbols is 2, i.e., K is 2. Table 3-3 is an example of another time slot format provided by the embodiments of the present application.

[0266] Table 3-3

[0267] The time slot format shown in Table 3-3 includes 2 (i.e., L is 2) sensing symbols, and the time domain offset between adjacent sensing symbols is 7, i.e., K is 7.

[0268] The sensing sampling interval supported by the time slot format including N time slots designed by the present application can be any one of 2 symbols to 14 symbols. That is, in the time slot format including N time slots designed by the present application, the time domain offset between any two adjacent first symbols in the time domain is K symbols, and the value range of K is 2 to 14. The principle of the time slot format including N time slots designed by the present application is that by splicing multiple time slots together, the sensing sampling interval that cannot be supported by a single time slot can be realized. Table 4 is an example of another time slot format provided by the embodiments of the present application. The time slot format shown in Table 4 can be regarded as splicing (or aggregating) 2 time slots together, and the sensing sampling interval supported by the time slot format is 4 symbols, or in other words, the time slot format supports a sensing sampling interval of 4 symbols in the time domain.

[0269] Table 4

[0270] In the time slot format including N time slots designed by the present application, the sensing sampling interval supported by the time slot format is different when the value of N is different.

[0271] Table 5 shows the sensing sampling interval supported by the time slot format including N time slots designed by the present application when the value of N is different.

[0272] Table 5

[0273] In Table 5, the number of time slot aggregation refers to the value of N, i.e., the number of time slots included in the time slot format, the number of symbols refers to the number of symbols included in the N time slots, and the sensing sampling interval refers to the sensing sampling interval supported by the time slot format including N time slots designed by the present application. Referring to the second column of Table 5, when N is 2, the time slot format including 2 time slots designed by the present application includes 28 symbols, and the sensing sampling interval supported by the time slot format including 2 time slots designed by the present application includes 2, 4, 7, and 14; referring to the third column of Table 5, when N is 3, the time slot format including 3 time slots designed by the present application includes 42 symbols, and the sensing sampling interval supported by the time slot format including 3 time slots designed by the present application includes 2, 3, 6, 7, and 14; and so on.

[0274] An example of the time slot format including N time slots designed in the present application is described below. In the time slot format shown in Table 6-1 to Table 6-10 below, each time slot includes 14 symbols. In the time slot format shown in Table 7-1 to Table 7-11 below, each time slot includes 12 symbols.

[0275] Table 6-1 is an example of the time slot format including N time slots designed in the present application, where K is 3, i.e., the sensing sampling interval supported by the time slot format shown in Table 6-1 is 3 symbols, and N is 3.

[0276] Table 6-1

[0277] In the present application, in each table representing a time slot format, the first column represents the index of M symbols in a time slot, the symbols in the second column are the 1st time slot in the time slot format in chronological order, the symbols in the third column are the 2nd time slot in the time slot format in chronological order, the symbols in the fourth column are the 3rd time slot in the time slot format in chronological order, and so on. M is 14 or 12.

[0278] Table 6-2 is an example of the time slot format including N time slots designed in the present application, where K is 4, i.e., the sensing sampling interval supported by the time slot format shown in Table 6-2 is 4 symbols, and N is 2.

[0279] Table 6-2

[0280] Table 6-3 is an example of the time slot format including N time slots designed in the present application, where K is 5, i.e., the sensing sampling interval supported by the time slot format shown in Table 6-3 is 5 symbols, and N is 5.

[0281] Table 6-3

[0282] Table 6-4 is an example of the time slot format including N time slots designed in the present application, where K is 6, i.e., the sensing sampling interval supported by the time slot format shown in Table 6-4 is 6 symbols, and N is 3.

[0283] Table 6-4

[0284] Table 6-5 is an example of the time slot format including N time slots designed in the present application, where K is 8, i.e., the sensing sampling interval supported by the time slot format shown in Table 6-5 is 8 symbols, and N is 4.

[0285] Table 6-5

[0286] Table 6-6 is an example of a slot format including N slots designed in the present application, where K is 9, i.e., the sensing sampling interval supported by the slot format shown in Table 6-6 is 9 symbols, and N is 9.

[0287] Table 6-6

[0288] Table 6-7 is an example of a slot format including N slots designed in the present application, where K is 10, i.e., the sensing sampling interval supported by the slot format shown in Table 6-7 is 10 symbols, and N is 5.

[0289] Table 6-7

[0290] Table 6-8 is an example of a slot format including N slots designed in the present application, where K is 11, i.e., the sensing sampling interval supported by the slot format shown in Table 6-8 is 11 symbols, and N is 11.

[0291] Table 6-8

[0292] Table 6-9 is an example of a slot format including N slots designed in the present application, where K is 12, i.e., the sensing sampling interval supported by the slot format shown in Table 6-9 is 12 symbols, and N is 6.

[0293] Table 6-9

[0294] Table 6-10 is an example of a slot format including N slots designed in the present application, where K is 13, i.e., the sensing sampling interval supported by the slot format shown in Table 6-10 is 13 symbols, and N is 13.

[0295] Table 6-10

[0296] Table 7-1 is an example of a slot format including 1 slot designed in the present application, where K is 2, i.e., the sensing sampling interval supported by the slot format shown in Table 7-1 is 2 symbols.

[0297] Table 7-1

[0298] Table 7-2 is an example of a slot format including 1 slot designed in the present application, where K is 3, i.e., the sensing sampling interval supported by the slot format shown in Table 7-2 is 3 symbols.

[0299] Table 7-2

[0300] Table 7-3 is an example of a slot format including one slot designed in the present application, where K is 4, i.e., the sensing sampling interval supported by the slot format shown in Table 7-3 is 4 symbols.

[0301] Table 7-3

[0302] Table 7-4 is an example of a slot format including N slots designed in the present application, where K is 5, i.e., the sensing sampling interval supported by the slot format shown in Table 7-4 is 5 symbols, and N is 5.

[0303] Table 7-4

[0304] Table 7-5 is an example of a slot format including one slot designed in the present application, where K is 6, i.e., the sensing sampling interval supported by the slot format shown in Table 7-5 is 6 symbols.

[0305] Table 7-5

[0306] Table 7-6 is an example of a slot format including N slots designed in the present application, where K is 7, i.e., the sensing sampling interval supported by the slot format shown in Table 7-6 is 7 symbols, and N is 7.

[0307] Table 7-6

[0308] Table 7-7 is an example of a slot format including N slots designed in the present application, where K is 8, i.e., the sensing sampling interval supported by the slot format shown in Table 7-7 is 8 symbols, and N is 2.

[0309] Table 7-7

[0310] Table 7-8 is an example of a slot format including N slots designed in the present application, where K is 9, i.e., the sensing sampling interval supported by the slot format shown in Table 7-8 is 9 symbols, and N is 3.

[0311] Table 7-8

[0312] Table 7-9 is an example of a slot format including N slots designed in the present application, where K is 10, i.e., the sensing sampling interval supported by the slot format shown in Table 7-9 is 10 symbols, and N is 5.

[0313] Table 7-9

[0314] Table 7-10 is an example of a slot format including N slots designed by the present application, where K is 11, i.e., the sensing sampling interval supported by the slot format shown in Table 7-10 is 11 symbols, and N is 11.

[0315] Table 7-10

[0316] Table 7-11 is an example of a slot format including 1 slot designed by the present application, where K is 12, i.e., the sensing sampling interval supported by the slot format shown in Table 7-11 is 12 symbols.

[0317] Table 7-11

[0318] It should be understood that Tables 6-1 to 6-10 and Tables 7-1 to 7-11 are only partial examples of the slot formats designed by the present application, rather than complete examples. The slot formats shown in Tables 6-1 to 6-10 and Tables 7-1 to 7-11 can be the slot formats designed by the present application, or a part of the slot formats designed by the present application. As an example, a slot format designed by the present application includes a plurality of groups of the slot format shown in Table 7-11.

[0319] As can be seen from the slot formats shown in Tables 6-1 to 6-10 and Tables 7-1 to 7-11, M, K, L and N satisfy M*N / K=L, or in other words, M, K, L and N satisfy rem(M*N, K)=0, i.e., N*M can be divided by K without a remainder, where rem represents a remainder operation.

[0320] In addition, in the slot formats designed by the present application, the M symbols in each slot are sequentially ordered in time as the symbol with index 0 to the symbol with index (M-1), and the index of the first symbol contained in the nth slot in time order in the slot format satisfies the following formula: index=rem(k start +(l-1)*K,M); (1)

[0321] where index is the index of the first symbol contained in the nth slot in time order in the slot format, k start is the index of the first first symbol in the first slot in time order, k start has a value range of 0 to (K-1), rem() represents a remainder operation, and l has a value range of all values satisfying represents a rounding up operation, l is an integer, and n has a value range of 1 to N. As an example, referring to Table 6-1, k start ​0, K is 3; when n is 1, the value range of I is 1-5, index is 0, 3, 6, 9 and 12; when n is 2, the value range of I is 6-10, index is 1, 4, 7, 10 and 13; when n is 3, the value range of I is 11-15, index is 2, 5, 8 and 11.

[0322] Fig. 3A and Fig. 3B show an example of the relationship between the above I, the above n, k start +(l-1)*K and rem(k start +(l-1)*K, M). In Fig. 3A, slot 1 and slot 2 are concatenated together, or in other words, the slot format described in Fig. 3A contains 2 slots, 1-28 in the first row represent 28 symbols contained in the slot format, the second row represents the index of the symbols in the slot format, k start is 1, the arrow pointing upwards indicates the index of the first symbol, i.e. k start +(l-1)*K. Referring to Fig. 3A and Fig. 3B, when k start is 1, K is 4, L is 7; when n is 1, the value range of I is 1-4, k start +(l-1)*K is 2, 6, 10 and 14, index is 2, 6, 10 and 14; when n is 2, the value range of I is 5-7, k start +(l-1)*K is 18, 22 and 26, index is 4, 8 and 12.

[0323] In the above introduction of the slot format (see the content in part of Table 2), it is introduced that in some possible designs, when a slot contains 14 symbols, the time length of the 0th symbol and the 7*2 μ th symbol in time sequence in multiple slots continuous in time domain is longer than the time length of other symbols. In a possible design, the time length of a sensing symbol in the slot format is T or (T+ACP), the time length for sensing processing in a sensing symbol in the slot format is T s , T s is less than T. For example, T s is determined by the receiving end. Since when a slot contains 14 symbols, the time length of the 0th symbol and the 7*2 μ th symbol in time sequence in multiple slots continuous in time domain is longer than the time length of other symbols, T sWhen T is less than T, the time length for sensing processing at the receiving end can not be contained in the same symbol, as shown in FIG. 4. FIG. 4 is a schematic diagram of sensing symbols in a time slot format according to an embodiment of the present application. In FIG. 4, T1 represents the time domain offset between the first sensing symbol and the gth sensing symbol in the time slot format, T s may occupy two symbols, i.e., a part of T s is contained in one symbol and another part is contained in another symbol. It should be understood that when the time slot format designed in the present application only contains the above L first symbols, the receiving end can not complete sensing processing in one or more sensing symbols. For example, the rightmost symbol in FIG. 4 is a first symbol, and the receiving end cannot complete sensing processing in the symbol. To solve this problem, the time slot format designed in the present application can further include R second symbols, each of which is a sensing symbol, each of which is adjacent to one of the L first symbols in the time domain and before the adjacent first symbol, R is an integer less than L, M is 14, and the time length of the 0th symbol and the 7*2 μ th symbol in the N time slots in time sequence is (T+ΔCP), and the time length of other symbols is T, the gth first symbol in time sequence in the L first symbols is adjacent to one of the R second symbols in the time domain, and the value of g ranges from 1 to L;

[0324] When the time length of the gth first symbol is T, g satisfies the following formula:

[0325] and / or, when the time length of the gth first symbol is (T+ΔCP), g satisfies the following formula:

[0326] wherein T s represents the time length for sensing processing in a sensing symbol, k start is the index of the first first symbol in the 1st time slot (i.e., the first time slot) in the N time slots in time sequence, the value of k start ranges from 0 to (K-1), represents the floor operation, the value of μ ranges from 0 to 6, and 2 μ *15 [kHz] represents the subcarrier spacing, i.e., the minimum subcarrier spacing corresponding to the sensing signal.

[0327] It should be noted that the sensing symbol in the time slot format designed by the present application can only include the L first symbols. Examples of the sensing symbol in the time slot format designed by the present application including L first symbols include: the time slot formats in Tables 3-1 to 3-3, the time slot formats (including L first symbols) in Tables 6-1 to 6-10, and the time slot formats in Tables 7-1 to 7-11. The sensing symbol in the time slot format designed by the present application can include the L first symbols and the R second symbols. Examples of the sensing symbol in the time slot format designed by the present application including L first symbols and R second symbols include: adding the R second symbols to the time slot formats in Tables 6-1 to 6-10.

[0328] The specific design of the uplink and downlink resources in the time slot format designed by the present application, i.e., the uplink and downlink design of the communication symbol and the uplink and downlink design of the sensing symbol, will be introduced below. The design principle of the uplink and downlink resources in the time slot format designed by the present application can be as follows: 1) In the time slot format designed by the present application, each downlink symbol is continuous in the time domain, each uplink symbol is continuous in the time domain, and the uplink symbols and the downlink symbols are distributed at the two ends of a time slot, i.e., the uplink resources (corresponding to the uplink symbols) and the downlink resources (corresponding to the downlink symbols) are respectively at the two ends of a time slot; 2) There is at least one flexible symbol between the downlink symbols and the uplink symbols; 3) All the sensing symbols belong to either the downlink symbols or the flexible symbols, or belong to either the uplink symbols or the flexible symbols, and some sensing symbols cannot belong to the downlink symbols and some sensing symbols cannot belong to the uplink symbols. That is, the sensing symbols are either used for uplink sensing or used for downlink sensing, and cannot be used for uplink sensing and downlink sensing at the same time.

[0329] In the time slot format designed by the present application, each downlink symbol is continuous in the time domain, each uplink symbol is continuous in the time domain, and the uplink symbols and the downlink symbols are distributed at the two ends of a time slot. An example is as follows: In any one time slot in the time slot format designed by the present application, the 0th symbol to the d1th symbol in the time sequence are downlink symbols, the (d1+1)th symbol to the (d1+s)th symbol in the time sequence are flexible symbols, and the (d1+s+1)th symbol to the 13th symbol in the time sequence are uplink symbols, where the value range of d1 is 0-13 and the value range of s is 1-12. As an example, in a time slot in the time slot format designed by the present application, the 0th symbol to the 10th symbol are downlink symbols, the 11th symbol is a flexible symbol, and the 12th symbol to the 13th symbol are uplink symbols. As another example, in a time slot in the time slot format designed by the present application, the 0th symbol to the 6th symbol are downlink symbols, the 7th symbol is a flexible symbol, and the 8th symbol to the 13th symbol are uplink symbols. As another example, in a time slot in the time slot format designed by the present application, the 0th symbol to the 13th symbol are downlink symbols.

[0330] In the time slot format designed by the present application, each downlink symbol is continuous in time domain, and each uplink symbol is continuous in time domain. Another example is that in any one of the time slots in the time slot format designed by the present application, the 0th symbol to the c1th symbol in time sequence are uplink symbols, the (c1+1)th symbol to the (c1+s)th symbol in time sequence are flexible symbols, and the (c1+s+1)th symbol to the 13th symbol in time sequence are downlink symbols, where the value range of c1 is 0-13, and the value range of s is 1-12. As an example, in one of the time slots in the time slot format designed by the present application, the 0th symbol to the 10th symbol are uplink symbols, the 11th symbol is a flexible symbol, and the 12th symbol to the 13th symbol are downlink symbols. As another example, in one of the time slots in the time slot format designed by the present application, the 0th symbol to the 6th symbol are uplink symbols, the 7th symbol is a flexible symbol, and the 8th symbol to the 13th symbol are downlink symbols. As another example, in one of the time slots in the time slot format designed by the present application, the 0th symbol to the 13th symbol are uplink symbols.

[0331] In a possible design, in the time slot format designed by the present application, all sensing symbols are downlink symbols, i.e., the time domain resources occupied by sensing signals are all downlink resources. FIG. 5A is an example of the time slot format designed by the present application. Referring to FIG. 5A, the time slot format includes five time slots, i.e., slot1, slot2, slot3, slot4, and slot5, S represents a sensing symbol, and C represents a communication symbol; if the sensing symbol below is D, it indicates that the sensing symbol is a downlink symbol; if the sensing symbol below is U, it indicates that the sensing symbol is an uplink symbol; if the sensing symbol below is F, it indicates that the sensing symbol is a flexible symbol; if the communication symbol below is D, it indicates that the communication symbol is a downlink symbol; if the communication symbol below is U, it indicates that the communication symbol is an uplink symbol; if the communication symbol below is F, it indicates that the communication symbol is a flexible symbol. In the time slot format shown in FIG. 5A, all sensing symbols are downlink symbols.

[0332] In one possible design, all sensing symbols in a slot format designed by the disclosure are uplink symbols. FIG. 5B is another example of a slot format designed by the disclosure. Referring to FIG. 5B, the slot format includes five slots, i.e., slotl, slot2, slot3, slot4, and slot5, S denotes a sensing symbol, and C denotes a communication symbol; if a sensing symbol below is D, it means that the sensing symbol is a downlink symbol; if a sensing symbol below is U, it means that the sensing symbol is an uplink symbol; if a sensing symbol below is F, it means that the sensing symbol is a flexible symbol; if a communication symbol below is D, it means that the communication symbol is a downlink symbol; if a communication symbol below is U, it means that the communication symbol is an uplink symbol; if a communication symbol below is F, it means that the communication symbol is a flexible symbol. In the slot format shown in FIG. 5B, all sensing symbols are uplink symbols.

[0333] In one possible design, in a slot format designed by the disclosure, some sensing symbols are downlink symbols, and some sensing symbols are flexible symbols.

[0334] In one possible design, in a slot format designed by the disclosure, some sensing symbols are uplink symbols, and some sensing symbols are flexible symbols. FIG. 5C is another example of a slot format designed by the disclosure. Referring to FIG. 5C, the slot format includes five slots, i.e., slotl, slot2, slot3, slot4, and slot5, S denotes a sensing symbol, and C denotes a communication symbol; if a sensing symbol below is D, it means that the sensing symbol is a downlink symbol; if a sensing symbol below is U, it means that the sensing symbol is an uplink symbol; if a sensing symbol below is F, it means that the sensing symbol is a flexible symbol; if a communication symbol below is D, it means that the communication symbol is a downlink symbol; if a communication symbol below is U, it means that the communication symbol is an uplink symbol; if a communication symbol below is F, it means that the communication symbol is a flexible symbol; some sensing symbols are uplink symbols, and some sensing symbols are flexible symbols.

[0335] It should be understood that FIG. 5A, FIG. 5B, and FIG. 5C are only partial examples of the slot formats designed by the disclosure. It should be understood that any slot format that conforms to the design principles of the uplink and downlink resources in the slot format designed by the disclosure belongs to the protection scope of the disclosure.

[0336] The communication method and device provided by the present application are further described below with reference to the accompanying drawings. It can be understood that the first node, the second node, and the third node are taken as an example of the execution subject of the interaction in the present application, but the present application does not limit the execution subject of the interaction. For example, the method executed by the first node in the present application can also be implemented by a module (such as a circuit, a processor, a chip, or a chip system) in the first node or a logical node, a logical module, or software capable of realizing all or part of the function of the first node; the method executed by the second node in the present application can also be implemented by a module (such as a circuit, a processor, a chip, or a chip system) in the second node or a logical node, a logical module, or software capable of realizing all or part of the function of the second node; the method executed by the third node in the present application can also be implemented by a module (such as a circuit, a processor, a chip, or a chip system) in the third node or a logical node, a logical module, or software capable of realizing all or part of the function of the third node. As an example, the first node and the third node are two independent nodes, the first node is a transmitting end, the second node is a receiving end, and the third node is a control end, which is described above in the application scenario. As another example, the first node and the third node are the same node, the first node is a transmitting end and a control end, and the second node is a receiving end, which is described above in the application scenario of FIG. 2A, FIG. 2C, and FIG. 2D.

[0337] The method provided by the embodiment of the present application is described below.

[0338] FIG. 6 is a flowchart of a communication method provided by an embodiment of the present application. The description of the first node, the second node, and the third node in FIG. 6 can be referred to the above, and will not be described in detail here. As shown in FIG. 6, the method comprises the following steps.

[0339] 601. The first node sends a sensing service request to the third node.

[0340] Correspondingly, the third node receives the sensing service request from the first node. The sensing service request is used to request to execute a sensing service. Step 601 can be replaced by: the second node sends a sensing service request to the third node, and correspondingly, the third node receives the sensing service request from the second node. Step 601 can also be replaced by: the third node initiates a sensing service. That is, the sensing service can be initiated by any one of the first node, the second node, and the third node, which is not limited in the embodiment of the present application.

[0341] 602. The first node, the second node, and the third node interact with each other to obtain capability information.

[0342] The first node (may be referred to as a sending node), the second node (may be referred to as a receiving node), and the third node (may be referred to as a control node) can exchange their own capability information with each other, which may, for example, include information of frequency bands, bandwidths, and the like supported by the nodes themselves. Exemplarily, the capability information exchanged between the first node and the second node includes respective frequency band information and maximum supported bandwidths. The first node and the second node can ensure that the first node and the second node configured to transmit and receive signals normally based on the received frequency bands commonly supported by the opposite party and the maximum bandwidths capable of being transmitted. In this way, it can be avoided that the capability information possessed by one node is insufficient to support the configured signals, and resource waste can be reduced. Step 602 is optional. For example, the first node, the second node, and the third node have learned the capability information of the other nodes before performing the method flow of FIG. 6.

[0343] 603. The first node sends first sensing capability requirement information to the third node.

[0344] Correspondingly, the third node receives the first sensing capability requirement information from the first node. The first sensing capability requirement information includes sensing capability requirements required by the first node, such as a speed measurement resolution, a refresh rate, and a maximum speed measurement range. For example, the first sensing capability requirement information includes indication information of a first maximum speed measurement range requirement, and the first maximum speed measurement range requirement is to require the maximum speed measurement range to be [-v max1 ,v max1 ], and the value of v max1 is not limited. Step 603 is optional.

[0345] 604. The second node sends second sensing capability requirement information to the third node.

[0346] Correspondingly, the third node receives the second sensing capability requirement information from the second node. The second sensing capability requirement information includes sensing capability requirements required by the second node, such as a speed measurement resolution, a refresh rate, and a maximum speed measurement range. For example, the second sensing capability requirement information includes indication information of a second maximum speed measurement range requirement, and the second maximum speed measurement range requirement is to require the maximum speed measurement range to be [-v max2 ,v max2 ], and the value of v max2 is not limited. Step 604 is optional.

[0347] 605. The third node selects a first time slot format according to the first sensing capability requirement information and / or the second sensing capability requirement information.

[0348] The first time slot format can satisfy the sensing capability requirement in the first sensing capability requirement information and the sensing capability requirement in the second sensing capability requirement information. The first time slot format is a time slot format defined by a protocol (or a standard). The first time slot format satisfying the sensing capability requirement in the first sensing capability requirement information and the sensing capability requirement in the second sensing capability requirement information can be satisfying a maximum speed range requirement in the first sensing capability requirement information and a maximum speed range requirement in the second sensing capability requirement information.

[0349] In a possible implementation, the first sensing capability requirement information includes a first maximum speed range requirement, the first maximum speed range requirement is a requirement that a maximum speed range is [-v max1 ,v max1 ], the second sensing capability requirement information includes a second maximum speed range requirement, the second maximum speed range requirement is a requirement that a maximum speed range is [-v max2 ,v max2 ], and the third node determines a sensing sampling interval as K symbols according to a larger value of v max1 and v max2 , a subcarrier spacing Δf, and a center frequency f c , and selects a first time slot format that supports the sensing sampling interval of K symbols. For example, v max1 is a larger value of v max1 and v max2 , the third node determines a sensing sampling interval according to v max1 , a subcarrier spacing Δf, and a center frequency f c . For example, v max1 = 30 m / s, v max2 = 20 m / s, a subcarrier spacing Δf = 30 KHz, and a center frequency f c = 10 GHz; at this time, a sampling wavelength c represents the speed of light, f c = 10 GHz is substituted into to obtain a wavelength λ = 3 cm, the wavelength λ and v max1 are substituted into a formula to obtain T ≤ 0.25 ms; Δf = 30 KHz determines that a length of a time slot is 0.5 ms, and a time slot has 14 symbols in total, so that a length of 7 symbols is exactly 0.25 ms, and therefore the sensing sampling interval of 7 symbols can satisfy the requirement. The third node can also select the first time slot format in other manners, which is not limited herein.

[0350] In a possible implementation, the first sensing capability requirement information includes a first maximum speed range requirement, the first maximum speed range requirement is a requirement that a maximum speed range is [-vmax1 ,v max1 ] and the second sensing capability requirement information does not comprise a maximum speed range requirement; the third node determines a sensing sampling interval of K symbols according to v max1 , a subcarrier spacing Δf and a center frequency f c ; and selects a first slot format which supports the sensing sampling interval of K symbols.

[0351] In a possible implementation, the first sensing capability requirement information does not comprise a maximum speed range requirement, the second sensing capability requirement information comprises a second maximum speed range requirement, and the second maximum speed range requirement is a requirement that the maximum speed range is [-v max2 ,v max2 ]; the third node determines a sensing sampling interval of K symbols according to v max2 , a subcarrier spacing Δf and a center frequency f c ; and selects a first slot format which supports the sensing sampling interval of K symbols.

[0352] 606、The third node sends the first configuration information to the first node.

[0353] Correspondingly, the first node receives first configuration information from the third node. The first configuration information is used to configure time domain resources occupied by the sensing signal. The first configuration information can be radio resource control (RRC) signaling, medium access control (MAC) layer signaling, or physical layer signaling. The radio resource control signaling includes, for example, RRC signaling, the MAC layer signaling includes, for example, a MAC control element (CE), and the physical layer signaling includes downlink control information (DCI), etc. The first configuration information can include an index of a first slot format or information indicating the first slot format, and the first node can determine the first slot format according to the first configuration information. The time domain resources occupied by the sensing signal to be sent by the first node (or the sensing signal to be received by the second node) are sensing symbols in the first slot format. The first slot format indicates symbols (i.e., sensing symbols) for sensing and symbols (i.e., communication symbols) for communication in N consecutive slots in the time domain, where N is an integer greater than 1. The sensing symbols in the first slot format can include only the L first symbols, i.e., the sensing symbols in the first slot format can be the L first symbols, and examples of the first slot format include the slot formats in Tables 6-1 to 6-10 and the slot formats shown in Tables 7-1 to 7-11. The sensing symbols in the first slot format can include L first symbols and R second symbols, i.e., the sensing symbols in the first slot format can be L first symbols and R second symbols, and examples of the first slot format include adding the R second symbols to the slot formats shown in Tables 6-1 to 6-10. Each of the N slots contains M symbols, K is less than or equal to M, M is an integer greater than 2, and M, K, L, and N satisfy M*N / K=L. M is 12 or 14. Alternatively, the first slot format indicates sensing symbols and communication symbols in one slot, and examples of the first slot format include Tables 3-1 to 3-3. Hereinafter, the first slot format indicating sensing symbols and communication symbols in N consecutive slots in the time domain is described as an example.

[0354] 607、The third node sends second configuration information to the second node.

[0355] Correspondingly, the second node receives second configuration information from the third node. The sequence of step 606 and step 607 is not limited. The second configuration information is used to configure the time domain resource occupied by the sensing signal. The second configuration information can be radio resource control signaling, MAC layer signaling, or physical layer signaling. For example, the radio resource control signaling includes RRC signaling, the MAC layer signaling includes MAC CE, and the physical layer signaling includes DCI, etc. The second configuration information is the same as or different from the first configuration information. The second configuration information can include an index of the first slot format or information indicating the first slot format, and the second node can determine the first slot format according to the second configuration information. For the description of the first slot format, refer to the description of the first slot format in step 606, which will not be repeated here.

[0356] 608、The first node generates the sensing signal according to the first configuration information.

[0357] In some possible implementation manners, the first configuration information is used to configure (or indicate) the first slot format; the first node determines the first slot format according to the first configuration information; and then, generates the sensing signal according to the first slot format, and the time domain resource occupied by the sensing signal is the sensing symbol in the first slot format. The first node generating the sensing signal can be that a baseband chip in the first node generates the sensing signal, or the sensing signal can be generated in other manners, which is not limited in the present application.

[0358] The time domain resource occupied by the sensing signal includes L first symbols, that is, the sensing symbol in the first slot format includes L first symbols, each first symbol is one symbol in a slot, and the time domain offset between any two first symbols adjacent in the time domain in the L first symbols is K symbols, L is an integer greater than 2, and K is an integer greater than 1. The L first symbols are contained in one slot or N slots continuous in the time domain, and the one slot or N slots continuous in the time domain are slots in the first slot format. Alternatively, the first slot format contains one slot or N slots continuous in the time domain, and the sensing symbol in the one slot or N slots continuous in the time domain includes the L first symbols. The embodiments of the present application are described by taking an example of the first slot format containing N slots continuous in the time domain, or taking an example of the L first symbols being contained in N slots continuous in the time domain. The N slots in the first slot format are all contained in the same radio frame. Alternatively, part of the slots in the first slot format are contained in a first radio frame, and the other part are contained in a second radio frame, and the first radio frame and the second radio frame are different radio frames.

[0359] The possible implementation manners of the first configuration information when the first configuration information is used to configure the first slot format are introduced below.

[0360] Implementation #11: The first configuration information includes an index of the first slot format. The first node determines the first slot format according to the index of the first slot format, and then generates the sensing signal according to the first slot format. The first slot format can be any slot format designed in this application. The first node and the third node can store a correspondence between slot formats and indexes, which includes the index corresponding to the first slot format and the correspondence between other slot formats designed in this application and indexes. The first node can determine that the index of the first slot format corresponds to the first slot format according to the correspondence. As an example, the first node and the third node both store Table 8. Table 8 shows the correspondence between slot formats and indexes designed in this application.

[0361] Table 8

[0362] In Table 8, index #1 is the index of slot format #1, index #2 is the index of slot format #2, index #3 is the index of slot format #3, …, index #w is the index of slot format #w, w is an integer greater than or equal to 2. The first slot format is any one of the slot formats in Table 8. Any one of the slot formats in Table 8 includes L first symbols and R second symbols (optional), and one or more of the number of slots, the value of L, the value of R, and the value of K in different slot formats are different.

[0363] Implementation #12: The first configuration information includes information indicating the first slot format. The first node determines the first slot format according to the information indicating the first slot format, and then generates the sensing signal according to the first slot format. The following introduces several possible designs of the information indicating the first slot format included in the first configuration information.

[0364] Design #1: The sensing symbols in the first slot format include the above-mentioned L first symbols and the above-mentioned R second symbols, or the sensing symbols in the first slot format only include the above-mentioned L first symbols; the above-mentioned information indicating the first slot format includes the number of slots (i.e. the above-mentioned N) included in the first slot format and the indexes of the sensing symbols in each slot in the first slot format. As an example, the number of slots included in the first slot format is 5, the slots in the first slot format are sequentially ordered as the 1st slot to the 5th slot according to time, the indexes of the sensing symbols in the 1st slot are 0, 5 and 10, the indexes of the sensing symbols in the 2nd slot are 1, 6 and 11, the indexes of the sensing symbols in the 3rd slot are 2, 7 and 12, the indexes of the sensing symbols in the 4th slot are 3, 8 and 13, the indexes of the sensing symbols in the 5th slot are 4 and 9, and the first slot format is shown in Table 6-2 above.

[0365] Design #2: The sensing symbol in the first slot format includes only the L first symbols, and the information indicating the first slot format includes the N, k start , and K. The first node determines the first slot format according to the N, k start , and K, and then generates the sensing signal according to the first slot format. As an example, the first slot format includes 5 slots, k start is 0, K is 5, and the first slot format is shown in Table 6-2 above, and the sensing symbol in Table 6-2 is the L first symbols.

[0366] Design #31: The sensing symbol in the first slot format includes the L first symbols and the R second symbols, and the information indicating the first slot format includes the index of the second slot format and T s , T s represents the time length for sensing processing in a sensing symbol. The first node determines the second slot format according to the index of the second slot format, and the sensing symbol in the second slot format is the L first symbols. The second slot format is shown in any one of Tables 6-1 to 6-10 above as an example.

[0367] If the time length of the gth first symbol in the L first symbols is T, and , the first node takes the second symbol adjacent to the gth first symbol in the second slot format and before the gth first symbol in the time domain as the time domain resource occupied by the sensing signal, and / or, if the time length of the gth first symbol in the L first symbols is (T+ΔCP), and , the first node takes the second symbol adjacent to the gth first symbol in the second slot format and before the gth first symbol in the time domain as the time domain resource occupied by the sensing signal, to obtain the first slot format. Then, the first node generates the sensing signal according to the first slot format. k start is the index of the first first symbol in the 1st slot in the second slot format according to the time sequence, and k start has a value range of 0 to (K-1), and g has a value range of 1 to L. The first slot format can be obtained by adding the R second symbols to the second slot format, i.e., taking the R second symbols as the sensing symbol.

[0368] The first node and the third node can store a correspondence between a time slot format and an index, which includes an index corresponding to the second time slot format and a correspondence between other time slot formats and indexes designed in the present application. As an example, the second time slot format is the time slot format shown in Table 6-2 as described above, and the sensing symbol in Table 6-2 is L first symbols; the first node can first determine the time slot format shown in Table 6-2 as described above, i.e., the second time slot format, according to the index of the second time slot format; then, determine the value of g that satisfies the above formula (2) and / or the above formula (3), obtain R values of g that satisfy the formula (2) and / or the above formula (3); in the time slot format shown in Table 6-2, the symbol before the gth first symbol in the L first symbols in the time sequence is taken as the second symbol in the time domain, to obtain the first time slot format.

[0369] Design #41: The sensing symbol in the first time slot format includes the above-mentioned L first symbols and the above-mentioned R second symbols, the information indicating the first time slot format includes N, k start , the above-mentioned K and T s , T s represents the time length of a sensing symbol used for sensing processing. The first node determines the second time slot format according to N, k start and K, the second time slot format includes N time slots that are continuous in the time domain, k start is the index of the first sensing symbol in the 1st time slot (the first time slot) in the second time slot format in the time sequence, and the sensing symbol in the second time slot format is L first symbols;

[0370] If the time length of the gth first symbol in the L first symbols in the time sequence is T, and the first node takes the second symbol adjacent to the gth first symbol in the second time slot format and before the gth first symbol in the time domain as the time domain resource occupied by the sensing signal, and / or, if the time length of the gth first symbol in the L first symbols in the time sequence is (T+ΔCP), and the first node takes the second symbol adjacent to the gth first symbol in the second time slot format and before the gth first symbol in the time domain as the time domain resource occupied by the sensing signal, to obtain the first time slot format; then, according to the first time slot format, generate the sensing signal. The first time slot format can be the second time slot format with the above-mentioned R second symbols added. As an example, N is 5, k start is 0, and K is 5; the first node can first determine the time slot format shown in Table 6-2 as described above, i.e., the second time slot format, according to N, k start, the K is determined according to the time slot format shown in Table 6-2; then, the value of g satisfying the formula (2) and / or the formula (3) is determined, R values of g satisfying the formula (2) and / or the formula (3) are obtained; in the time slot format shown in Table 6-2, the symbol before the gth symbol in the L first symbols in time sequence is taken as the second symbol, to obtain the first time slot format.

[0371] In some possible implementation, the first configuration information is used to configure (or indicate) the first time slot format and the third time slot format; the first node determines the first time slot format and the third time slot format according to the first configuration information; then, generates the sensing signal according to the first time slot format and the third time slot format, the time domain resource occupied by the sensing signal is the sensing symbol in the first time slot format and the sensing symbol in the third time slot format. The sensing symbol in the third time slot format includes L1 third symbols, each third symbol is a symbol in a time slot, the time domain offset between any two third symbols adjacent in time domain in the L1 third symbols is K1 symbols, L1 is an integer greater than 2, K1 is an integer greater than 1, and K1 is different from the above-mentioned K. Optionally, the L1 third symbols are contained in N1 time slots continuous in time domain, N1 is an integer greater than 1, and the N1 time slots are before or after the N time slots. The sensing symbol in the third time slot format further includes R1 fourth symbols, each fourth symbol is adjacent to one of the L1 third symbols in time domain and before the adjacent third symbol, R1 is an integer less than L1, M is 14, the time length of the 0th symbol and the 7*2 μ th symbol in time sequence in the N1 time slots are both (T+ΔCP), and the time length of other symbols are all T, the g1th third symbol in time sequence in the L1 third symbols is adjacent to one of the R1 fourth symbols in time domain, and the value range of g1 is 1-L1.

[0372] When the time length of the g1th third symbol is T, g1 satisfies the following formula:

[0373] and / or, when the time length of the g1th third symbol is (T+ΔCP), g1 satisfies the following formula:

[0374] wherein, T s represents the time length for sensing processing in a sensing symbol, k start1 is the index of the first third symbol in the 1st time slot in time sequence in the N1 time slots, and the value range of k start1 is 0-(K1-1), denotes a floor operation, μ is in the range of 0 to 6, 2 μ *15[KHz] denotes subcarrier spacing. The configuration information (e.g., the first configuration information or the second configuration information) can be used to configure two or more than two slot formats, and the number of slots corresponding to each slot format (optional). Embodiments of the present application take the configuration information used to configure the first slot format and the third slot format as an example for description.

[0375] As an example, in high-speed rail operation, the maximum speed can reach 480 km / h, which is about 133 m / s, the center frequency of the sensing signal is 10 GHz, and the subcarrier spacing is 30 KHz. When K=3, the sensing sampling interval corresponding to the sensing signal is 0.107 ms, and the maximum speed corresponding to the sensing signal is 70 m / s. When K1=5, the sensing sampling interval corresponding to the sensing signal is 0.179 ms, and the maximum speed corresponding to the sensing signal is 42 m / s. Through combination of the two, the maximum speed range corresponding to the combination can be expanded to 210 m / s (the least common multiple of 70 and 42). At this time, 210 m / s can cover the maximum speed of 133 m / s of the high-speed rail.

[0376] The following describes possible implementation manners of the first configuration information when the first configuration information is used to configure the first slot format and the third slot format.

[0377] Implementation manner #21: The first configuration information includes an index of the first slot format and an index of the third slot format. The third slot format is shown in any one of the above Tables 6-1 to 6-10, or the above R1 fourth symbols are added on the basis of the slot format shown in any one of the above Tables 6-1 to 6-10.

[0378] Implementation manner #22: The first configuration information includes an index of the first slot format and information indicating the third slot format. The information indicating the third slot format is similar to the information indicating the first slot format, and the manner in which the first node determines the third slot format is similar to the manner in which the first node determines the first slot format, which will not be described herein.

[0379] Implementation manner #23: The first configuration information includes information indicating the first slot format and an index of the third slot format.

[0380] Implementation manner #24: The first configuration information includes information indicating the first slot format and information indicating the third slot format.

[0381] In a possible implementation manner, each slot in the first slot format (or the above N slots) contains M symbols, K is less than or equal to M, M is an integer greater than 2, and M, K, L, and N satisfy M*N / K=L. Or, each slot in the first slot format contains M symbols, and M*N / K=L.

[0382] In a possible implementation, the M symbols in each slot in the first slot format are sequentially arranged in time order as a symbol with an index of 0 to a symbol with an index of (M-1), and the index of each first symbol contained in the nth slot in time order in the first slot format satisfies the following formula: index = rem(k start +(l-1)*K,M); (1)

[0383] wherein index is the index of each first symbol contained in the nth slot in time order in the first slot format, k start is the index of the first first symbol in the first slot (the first slot) in time order in the first slot format, k start has a value range of 0 to (K-1), rem() represents a remainder operation, and l has a value range of all values satisfying . represents a rounding up operation, l is an integer, and n has a value range of 1 to N.

[0384] As an example, M is 14, the sensing symbols in the first slot format are L first symbols, and the first slot format can be any one of the slot formats shown in Tables 6-1 to 6-10. As another example, M is 12, the sensing symbols in the first slot format are L first symbols, and the first slot format can be any one of the slot formats shown in Tables 7-1 to 7-11.

[0385] In a possible implementation, the time domain resource occupied by the sensing signal further includes R second symbols, or in other words, the sensing symbols in the first slot format further include R second symbols, each second symbol is adjacent to one of the L first symbols in time domain and before the adjacent first symbol, R is an integer less than L, M is 14, the time length of the 0th symbol and the 7*2 μ th symbol in time order in the N slots is (T+ACP), the time length of other symbols is T, and the (g)th first symbol in time order in the L first symbols is adjacent to one of the R second symbols in time domain, and g has a value range of 1 to L.

[0386] When the time length of the (g)th first symbol is T, g satisfies the following formula:

[0387] and / or, when the time length of the (g)th first symbol is (T+ACP), g satisfies the following formula:

[0388] wherein T sdenotes a time length for sensing processing in a sensing symbol, k start denotes an index of a first first symbol in a first time slot in time sequence, k start denotes a value range of 0-(K-1), denotes a floor operation, and μ denotes a value range of 0-6, 2 μ * 15 [KHz] denotes a subcarrier spacing. As an example, the sensing symbol in the first time slot format is L first symbols and R second symbols, and the first time slot format can be based on the time slot formats in Table 6-1 to Table 6-10 above and adding the R second symbols above.

[0389] In a possible implementation, the hth first symbol in time sequence in the L first symbols is not adjacent to each of the R second symbols in the time domain, and h denotes a value range of 1-L;

[0390] When a time length of the hth first symbol is T, h satisfies the following formula:

[0391] Or, when a time length of the hth first symbol is (T+ΔCP), h satisfies the following formula:

[0392] wherein T s denotes a time length for sensing processing in a sensing symbol, k start denotes an index of a first first symbol in a first time slot in time sequence, k start denotes a value range of 0-(K-1), denotes a floor operation.

[0393] 609、The second node determines, according to the second configuration information, the time domain resource occupied by the sensing signal.

[0394] In some possible implementations, the second configuration information is used for configuring (or indicating) the first time slot format; the second node determines the first time slot format according to the second configuration information; and then, according to the first time slot format, determines the time domain resource occupied by the sensing signal, which is a sensing symbol in the first time slot format. The sequence of steps 609 and 608 is not limited.

[0395] The following introduces two possible implementations of the second configuration information when the second configuration information is used for configuring the first time slot format.

[0396] Implementation #31: The second configuration information includes an index of the first slot format. The second node and the third node can store a correspondence between slot formats and indexes, which includes the index corresponding to the first slot format and the correspondence between other slot formats designed in the present application and indexes. The second node can determine that the index of the first slot format corresponds to the first slot format according to the correspondence. As an example, the second node and the third node both store Table 8 described above.

[0397] Implementation #32: The second configuration information includes information indicating the first slot format. The second node determines the first slot format according to the information indicating the first slot format, and then determines the time domain resources occupied by the sensing signal according to the first slot format. The following introduces several possible designs of the information indicating the first slot format included in the second configuration information.

[0398] Design #1: The sensing symbols in the first slot format include the L first symbols and the R second symbols, or the sensing symbols in the first slot format only include the L first symbols; and the information indicating the first slot format includes the number of slots included in the first slot format and the indexes of the sensing symbols in each slot in the first slot format. As an example, the number of slots included in the first slot format is 5, the slots in the first slot format are sequentially ordered as the 1st slot to the 5th slot according to time, the indexes of the sensing symbols in the 1st slot are 0, 5 and 10, the indexes of the sensing symbols in the 2nd slot are 1, 6 and 11, the indexes of the sensing symbols in the 3rd slot are 2, 7 and 12, the indexes of the sensing symbols in the 4th slot are 3, 8 and 13, the indexes of the sensing symbols in the 5th slot are 4 and 9, and the first slot format is shown in Table 6-2 described above.

[0399] Design #2: The sensing symbols in the first slot format only include the L first symbols, the information indicating the first slot format includes the N, k start and K described above. The second node determines the first slot format according to the N, k start and K, and then determines the time domain resources occupied by the sensing signal according to the first slot format. As an example, the number of slots included in the first slot format is 5, k start is 0, K is 5, the first slot format is shown in Table 6-2 described above, and the sensing symbols in Table 6-2 are L first symbols.

[0400] Design #32: The sensing symbols in the first slot format include the L first symbols and the R second symbols, and the information indicating the first slot format includes an index of the second slot format. The second node determines the second slot format according to the index of the second slot format, and the sensing symbols in the second slot format are L first symbols;

[0401] If the time length of the gth first symbol in the L first symbols is T, and then the second node takes the second symbol adjacent to the gth first symbol in the second slot format as the time domain resource occupied by the sensing signal, and / or, if the time length of the gth first symbol in the L first symbols is (T+ACP), and then the second node takes the second symbol adjacent to the gth first symbol in the second slot format as the time domain resource occupied by the sensing signal, to obtain the first slot format; then, according to the first slot format, the time domain resource occupied by the sensing signal is determined.k start k is the index of the first symbol in the first slot in the second slot format, k start The value range of k is 0~(K-1), and the value range of g is 1~L. The first slot format can be the second slot format with the above R second symbols added.

[0402] The second node and the third node can store the correspondence between the slot format and the index, which includes the index corresponding to the second slot format and the correspondence between other slot formats designed in the application and the index. As an example, the second slot format is the slot format shown in Table 6-2 above, and the sensing symbol in Table 6-2 above is L first symbols; the second node can first determine the slot format shown in Table 6-2 above according to the index of the second slot format, that is, the second slot format; then, determine the value of g that satisfies the above formula (2) and / or the above formula (3), obtain R values of g that satisfy the formula (2) and / or the above formula (3); in the slot format shown in Table 6-2 above, the symbol before the gth first symbol in the L first symbols is taken as the second symbol in the time domain, to obtain the first slot format.

[0403] Design #42: The sensing symbol in the first slot format includes the above L first symbols and the above R second symbols, and the information indicating the first slot format includes the above N, k start , the above K. T s is determined by the second node, that is, the second node is known T s . The second node determines the second slot format according to N, k start and K, the second slot format includes N time slots that are continuous in the time domain, k start k is the index of the first sensing symbol in the first slot (the first slot) in the second slot format, and the sensing symbol in the second slot format is L first symbols.

[0404] If the time length of the gth first symbol in the L first symbols in time sequence is T, and the second node takes the second symbol adjacent to the gth first symbol in time domain and before the gth first symbol in the second slot format as the time domain resource occupied by the sensing signal, and / or, if the time length of the gth first symbol in the L first symbols in time sequence is (T+ΔCP), and the second node takes the second symbol adjacent to the gth first symbol in time domain and before the gth first symbol in the second slot format as the time domain resource occupied by the sensing signal, to obtain the first slot format; then, according to the first slot format, the time domain resource occupied by the sensing signal is determined. The first slot format can be the second slot format with the above R second symbols added. As an example, N is 5, k start is 0, K is 5; the second node can first determine the slot format as shown in Table 6-2 according to N, k start , and the above K; then, the value of g that satisfies the above formula (2) and / or the above formula (3) is determined, to obtain R values of g that satisfy the formula (2) and / or the above formula (3); in the slot format shown in Table 6-2, the previous symbol of the gth first symbol in the L first symbols in time sequence is taken as the second symbol, to obtain the first slot format. As an example, the first slot format includes 5 slots, k start is 0, K is 5; the second node can first determine the slot format as shown in Table 6-2 according to the number of slots included in the first slot format, k start , and the above K; then, the value of g that satisfies the above formula (2) and / or the above formula (3) is determined, to obtain R values of g that satisfy the formula (2) and / or the above formula (3); in the slot format shown in Table 6-2, the previous symbol of the gth first symbol in the L first symbols in time sequence is taken as the second symbol, to obtain the first slot format.

[0405] In some possible implementation manners, the second configuration information is used to configure the first slot format and the third slot format; the second node determines the first slot format and the third slot format according to the second configuration information; and then, according to the first slot format and the third slot format, the time domain resource occupied by the sensing signal is determined, the time domain resource occupied by the sensing signal being sensing symbols in the first slot format and sensing symbols in the third slot format. The sensing symbols in the third slot format include L1 third symbols, each third symbol being one symbol in a slot, and a time domain offset between any two third symbols adjacent in the time domain in the L1 third symbols being K1 symbols, L1 being an integer greater than 2, K1 being an integer greater than 1, and K1 being different from K. Optionally, the L1 third symbols are contained in N1 slots continuous in the time domain, N1 being an integer greater than 1, the N1 slots being before or after the N slots, and the sensing symbols in the third slot format further including R1 fourth symbols, each fourth symbol being adjacent to one of the L1 third symbols in the time domain and before the adjacent third symbol, R1 being an integer less than L1, M being 14, and the time length of a 0th symbol and a 7*2 μ th symbol in the N1 slots sorted in time order both being (T+ΔCP), and the time length of other symbols being T, a g1th third symbol in the L1 third symbols sorted in time order being adjacent to one of the R1 fourth symbols in the time domain, and g1 being in a range of 1 to L1.

[0406] When the time length of the g1th third symbol is T, g1 satisfies the following formula:

[0407] and / or, when the time length of the g1th third symbol is (T+ΔCP), g1 satisfies the following formula:

[0408] wherein, T s represents the time length of a sensing symbol used for sensing processing, k start1 represents the index of a first third symbol in a 1st slot in the N1 slots sorted in time order, and k start1 is in a range of 0 to (K1-1), represents a floor operation, μ is in a range of 0 to 6, and 2 μ *15 [kHz] represents a subcarrier spacing.

[0409] When the second configuration information is used to configure the first slot format and the third slot format, possible implementation manners of the second configuration information are similar to the possible implementation manners of the first configuration information, which will not be described herein again.

[0410] 610、The first node transmits a sensing signal, and correspondingly, the second node receives the sensing signal according to time domain resources occupied by the sensing signal.

[0411] The sensing signal received by the second node can be a signal received by the first node after the sensing signal transmitted by the first node is reflected by a target such as a car, a pedestrian, a bicycle, a drone, an obstacle, or the like.

[0412] 611、The second node performs signal processing on the received sensing signal to obtain a sensing result.

[0413] 612、The second node transmits the sensing result to the third node.

[0414] Correspondingly, the third node receives the sensing result from the second node. Step 611 is optional. Step 611 can be replaced by: the second node transmits the sensing result to the first node, and correspondingly, the first node receives the sensing result from the second node.

[0415] In the embodiments of the present application, the third node selects a first time slot format according to the first sensing capability requirement information and / or the second sensing capability requirement information, and transmits configuration information to the first node and the second node; different sensing capability requirements can be met, and time domain resources can be saved.

[0416] FIG. 7 is a flow diagram of another communication method provided by the embodiments of the present application. The descriptions of the first node, the second node, and the third node involved in FIG. 7 can be referred to the above, and will not be described in detail here. The difference between the method flow of FIG. 7 and the method flow of FIG. 6 is that the first time slot format in the method flow of FIG. 6 is protocol specified (i.e., agreed in advance), and the second time slot format in the method flow of FIG. 7 is determined (or calculated) in real time by the third node. As shown in FIG. 7, the method includes:

[0417] 701、The first node transmits a sensing service request to the third node.

[0418] Correspondingly, the third node receives the sensing service request from the first node. Steps 701 to 704 can be referred to steps 601 to 604 in FIG. 6, which will not be described here.

[0419] 702、The first node, the second node, and the third node interact with each other to exchange capability information.

[0420] 703、The first node transmits first sensing capability requirement information to the third node.

[0421] Correspondingly, the third node receives the first sensing capability requirement information from the first node.

[0422] 704、The second node transmits second sensing capability requirement information to the third node.

[0423] Accordingly, the third node receives the second sensing capability requirement information from the second node.

[0424] 705、The third node determines the second slot format according to the first sensing capability requirement information and / or the second sensing capability requirement information.

[0425] The second slot format can satisfy the sensing capability requirement in the first sensing capability requirement information and the sensing capability requirement in the second sensing capability requirement information. The sensing symbol in the second slot format is the time domain resource that can be occupied by the sensing signal, i.e., the time domain resource allocated to the sensing signal. The second slot format includes the L first symbols described above. An example of the second slot format can be any one of the above Table 6-1 to Table 6-10, or any one of the above Table 7-1 to Table 7-11. Referring to FIG. 8, one possible implementation of step 705 is as follows: the third node determines the maximum speed range according to the first sensing capability requirement information and / or the second sensing capability requirement information; determines the sensing sampling interval as K symbols according to the maximum speed range, the subcarrier spacing Δf, and the center frequency f c ; determines the number N of aggregated slots according to K and M; determines the index of the first first symbol in the first slot in time sequence in the N slots that are continuous in time domain; determines the index of the first symbol in each of the N slots according to the index of the first first symbol and K, wherein the N slots are the slots included in the first slot format, the first symbol in the first slot format is the sensing symbol, and the other symbols are the communication symbols. The first slot format includes L first symbols, and the time domain offset between any two first symbols adjacent in time domain in the L first symbols is K symbols. FIG. 8 is a flowchart of determining a slot format provided by an embodiment of the present application.

[0426] One example of the third node determining the maximum speed range is as follows: the first sensing capability requirement information includes a first maximum speed range requirement, the first maximum speed range requirement is to require the maximum speed range to be [-v max1 ,v max1 ], the second sensing capability requirement information includes a second maximum speed range requirement, the second maximum speed range requirement is to require the maximum speed range to be [-v max2 ,v max2 ]; and the third node determines the larger value of v max1 and v max2 as the maximum speed range. Another example of the third node determining the maximum speed range is as follows: the first sensing capability requirement information includes a first maximum speed range requirement, the first maximum speed range requirement is to require the maximum speed range to be [-v max1 ,v max1 ], the second sensing capability requirement information does not include a maximum speed range requirement; and the third node determines vmax1 , the third node determines the maximum speed range as [ -v max2 , v max2 ]. max2

[0427] 706. The third node sends the first configuration information to the first node.

[0428] Correspondingly, the first node receives the first configuration information from the third node. The first configuration information is used to configure the time domain resource occupied by the sensing signal. In some possible implementation, the first configuration information is used to configure a first slot format, and the time domain resource occupied by the sensing signal is a sensing symbol in the first slot format. As an example, the first configuration information includes N, k start , K and T s , N, k start , K and T s are used to indicate the first slot format, the sensing symbol in the first slot format is the time domain resource that can be occupied by the sensing signal, N, k start and K are used to indicate a second slot format, the second slot format includes N slots that are continuous in time domain, k start is an index of the first symbol in the first slot in the second slot format in time sequence, and the time domain offset between any two adjacent first symbols in the second slot format in time domain is K symbols, T s represents the time length of a sensing symbol used for sensing processing. Since the first node can obtain the first slot format according to N, k start , K and T s , N, k start , K and T s may implicitly indicate the first slot format. In some possible implementation, the first configuration information is used to configure the first slot format and a third slot format, and the time domain resource occupied by the sensing signal is a sensing symbol in the first slot format and a sensing symbol in the third slot format.

[0429] 707. The third node sends the second configuration information to the second node.

[0430] ​Correspondingly, the second node receives second configuration information from the third node. The second configuration information is used to configure the time-domain resource occupied by the sensing signal. In some possible implementation manners, the second configuration information is used to configure a first slot format, and the time-domain resource occupied by the sensing signal is a sensing symbol in the first slot format. As an example, the second configuration information includes N, k start and K, N, k start and K are used to indicate a second slot format, and the second slot format includes N time slots that are continuous in the time domain, k start is an index of a first symbol in a first time slot in the second slot format that is ordered in time, and a time-domain offset between any two adjacent first symbols in the time domain in the second slot format is K symbols. Since T s is known to the second node, and the second node can obtain the first slot format according to N, k start , K and T s , N, k start and K can implicitly indicate the first slot format. In some possible implementation manners, the second configuration information is used to configure the first slot format and a third slot format, and the time-domain resource occupied by the sensing signal is a sensing symbol in the first slot format and a sensing symbol in the third slot format.

[0431] 708. The first node generates the sensing signal according to the first configuration information.

[0432] In some possible implementation manners, the first configuration information is used to configure a first slot format; the first node determines the first slot format according to the first configuration information; and then, generates the sensing signal according to the first slot format, and the time-domain resource occupied by the sensing signal is a sensing symbol in the first slot format. Possible implementation manners of the first configuration information can refer to the design #1, the design #2 and the design #41 in the implementation manner #12.

[0433] In some possible implementation manners, the first configuration information is used to configure (or indicate) the first slot format and a third slot format; the first node determines the first slot format and the third slot format according to the first configuration information; and then, generates the sensing signal according to the first slot format and the third slot format, and the time-domain resource occupied by the sensing signal is a sensing symbol in the first slot format and a sensing symbol in the third slot format. Possible implementation manners of the first configuration information can refer to the implementation manner #21, the implementation manner #22, the implementation manner #23 and the implementation manner #24.

[0434] 709. The second node determines the time-domain resource occupied by the sensing signal according to the second configuration information.

[0435] In some possible implementation manners, the second configuration information is used to configure the first slot format; the second node determines the first slot format according to the second configuration information; and then, according to the first slot format, determines the time domain resource occupied by the sensing signal, which is a sensing symbol in the first slot format. When the second configuration information is used to configure the first slot format, the second configuration information includes information indicating the first slot format, refer to the implementation manner #32 above.

[0436] In some possible implementation manners, the second configuration information is used to configure the first slot format and the third slot format; the second node determines the first slot format and the third slot format according to the second configuration information; and then, according to the first slot format and the third slot format, determines the time domain resource occupied by the sensing signal, which is a sensing symbol in the first slot format and a sensing symbol in the third slot format. When the second configuration information is used to configure the first slot format and the third slot format, the second configuration information includes information indicating the first slot format and information indicating the third slot format.

[0437] 710. The first node transmits the sensing signal, and correspondingly, the second node receives the sensing signal according to the time domain resource occupied by the sensing signal.

[0438] The sensing signal received by the second node can be a signal that is reflected by a target such as a car, a pedestrian, a bicycle, a drone, an obstacle, etc., and then received by the first node.

[0439] 711. The second node performs signal processing on the received sensing signal to obtain a sensing result.

[0440] 711. The second node transmits the sensing result to the third node.

[0441] Correspondingly, the third node receives the sensing result from the second node. Step 711 is optional. Step 711 can be replaced by: the second node transmits the sensing result to the first node, and correspondingly, the first node receives the sensing result from the second node.

[0442] In the embodiments of the present application, the third node determines the first slot format according to the first sensing capability requirement information and / or the second sensing capability requirement information, and transmits configuration information to the first node and the second node; compared with the embodiments of FIG. 6, the time domain resource can be more flexibly allocated for the sensing signal, and the overhead of the time domain resource can be saved.

[0443] FIG. 9 is a flow diagram of another method of communication provided by the embodiments of the present application. The descriptions of the first node, the second node and the third node involved in FIG. 9 can refer to the above, and will not be described in detail here. The difference between the method flow of FIG. 9 and the method flow of FIG. 6 is that the first slot format in the method flow of FIG. 6 is protocol specified (i.e. agreed in advance), and the first slot format in the method flow of FIG. 9 is determined (or calculated) by the third node in real time. As shown in FIG. 9, the method includes the following steps:

[0444] 901. The first node sends a sensing service request to the third node.

[0445] Correspondingly, the third node receives the sensing service request from the first node. Steps 901 to 904 can refer to steps 601 to 604 in FIG. 6, which will not be described here.

[0446] 902. The first node, the second node and the third node interact with each other to exchange capability information.

[0447] 903. The first node sends first sensing capability requirement information to the third node.

[0448] Correspondingly, the third node receives the first sensing capability requirement information from the first node.

[0449] 904. The second node sends second sensing capability requirement information to the third node.

[0450] Correspondingly, the third node receives the second sensing capability requirement information from the second node.

[0451] 905. The third node determines a first slot format according to the first sensing capability requirement information and / or the second sensing capability requirement information.

[0452] The first slot format can meet the sensing capability requirements in the first sensing capability requirement information and the sensing capability requirements in the second sensing capability requirement information. The sensing symbol in the first slot format is the time domain resource that can be occupied by the sensing signal, i.e. the time domain resource allocated to the sensing signal. The first slot format includes the above-mentioned L first symbols and R second symbols. An example of the second slot format can be to add R second symbols based on any one of the above-mentioned Table 6-1 to Table 6-10. One possible implementation of step 905 is as follows: the third node determines a second slot format according to the first sensing capability requirement information and / or the second sensing capability requirement information, referring to step 905 in FIG. 6, the sensing symbol in the second slot format is L first symbols; if the time length of the gth first symbol in the L first symbols is T according to the time sequence, and If the time length of the gth first symbol in the L first symbols in time sequence is (T+ACP), and If the time length of the gth first symbol in the L first symbols in time sequence is (T+ACP), the third node regards the second symbol adjacent to the gth first symbol in the second slot format and before the gth first symbol as the time domain resource occupied by the sensing signal, and obtains the first slot format.

[0453] 906. The third node sends the first configuration information to the first node.

[0454] Correspondingly, the first node receives the first configuration information from the third node. The first configuration information is used to configure the time domain resource occupied by the sensing signal. In a possible implementation, the first configuration information includes the number of slots included in the first slot format (i.e., N) and the index of the sensing symbol in each slot in the first slot format.

[0455] 907. The third node sends the second configuration information to the second node.

[0456] Correspondingly, the second node receives the second configuration information from the third node. The second configuration information is used to configure the time domain resource occupied by the sensing signal. In a possible implementation, the second configuration information includes the number of slots included in the first slot format (i.e., N) and the index of the sensing symbol in each slot in the first slot format.

[0457] 908. The first node generates the sensing signal according to the first configuration information.

[0458] In a possible implementation, the first configuration information includes the number of slots included in the first slot format and the index of the sensing symbol in each slot in the first slot format; the first node determines the first slot format according to the number of slots included in the first slot format and the index of the sensing symbol in each slot in the first slot format; and generates the sensing signal according to the first slot format, wherein the time domain resource occupied by the sensing signal is part or all of the sensing symbols in the first slot format.

[0459] 909. The second node determines the time domain resource occupied by the sensing signal according to the second configuration information.

[0460] In a possible implementation, the second configuration information includes the number of slots included in the first slot format and the index of the sensing symbol in each slot in the first slot format; the second node determines the first slot format according to the number of slots included in the first slot format and the index of the sensing symbol in each slot in the first slot format; and determines the time domain resource occupied by the sensing signal as the sensing symbol in the first slot format.

[0461] 910. The first node transmits the sensing signal, and correspondingly, the second node receives the sensing signal according to the time domain resource occupied by the sensing signal.

[0462] The sensing signal received by the second node can be a signal received by the first node after the sensing signal transmitted by the first node is reflected by a target such as a car, a pedestrian, a bicycle, a drone, an obstacle, or the like.

[0463] 911. The second node performs signal processing on the received sensing signal to obtain a sensing result.

[0464] 912. The second node transmits the sensing result to the third node.

[0465] Correspondingly, the third node receives the sensing result from the second node. Step 911 is optional. Step 911 can be replaced by: the second node transmits the sensing result to the first node, and correspondingly, the first node receives the sensing result from the second node.

[0466] In the embodiments of the present application, the third node determines the first time slot format according to the first sensing capability requirement information and / or the second sensing capability requirement information, and transmits configuration information to the first node and the second node; compared with the embodiment of FIG. 6, the time domain resource can be more flexibly allocated for the sensing signal, and the overhead of the time domain resource can be saved.

[0467] In some application scenarios, for example, the application scenarios shown in FIG. 2A, FIG. 2C, and FIG. 2D, the above-mentioned first node and the above-mentioned third node can be the same node. The flowchart of the communication method when the first node and the third node are the same node is described below taking FIG. 10 as an example. FIG. 10 is a flowchart of another communication method provided by the embodiments of the present application. As shown in FIG. 10, the method comprises:

[0468] 1001. The second node transmits a sensing service request to the first node.

[0469] Correspondingly, the first node receives the sensing service request from the second node. The sensing service request is used to request to perform a sensing service. Step 1001 is optional. The first node can actively initiate the sensing service.

[0470] 1002. The first node and the second node interact with each other to exchange capability information.

[0471] The capability information includes, for example, information such as frequency bands and bandwidths supported by the node itself.

[0472] 1003. The second node transmits sensing capability requirement information to the first node.

[0473] Correspondingly, the first node receives the sensing capability requirement information from the second node. The sensing capability requirement information includes a required sensing speed resolution, a required refresh rate, a required maximum sensing speed range, and the like.

[0474] 1004、The first node sends second configuration information to the second node according to the sensing capability requirement information of the second node.

[0475] Correspondingly, the second node receives the second configuration information from the first node. The second configuration information is used to configure time domain resources occupied by the sensing signal.

[0476] In a possible implementation, the sensing capability requirement information of the second node includes a second maximum sensing speed range requirement, and the second maximum sensing speed range requirement is a requirement that the maximum sensing speed range is [-v max2 ,v max2 ]; the first node determines a sensing sampling interval as K symbols according to v max2 , a subcarrier spacing Δf, and a center frequency f c ; selects a first slot format that supports the sensing sampling interval of K symbols; and sends second configuration information to the second node, the second configuration information including an index of the first slot format or information indicating the first slot format, please refer to the description of step 609 above. The first slot format is any slot format specified in a protocol. The sensing symbol in the first slot format is the time domain resource that can be occupied by the sensing signal.

[0477] In a possible implementation, the first node determines a second slot format according to the sensing capability requirement information of the second node; and sends second configuration information to the second node, the second configuration information including the above-mentioned N, k start , and the above-mentioned K. The first node determines the second slot format according to the sensing capability requirement information of the second node in a manner similar to step 705, which will not be described here.

[0478] In a possible implementation, the first node determines a first slot format according to the sensing capability requirement information of the second node; and sends second configuration information to the second node, the second configuration information including the number of slots included in the first slot format (i.e., the above-mentioned N) and the index of the sensing symbol in each slot in the first slot format. The first node determines the first slot format according to the sensing capability requirement information of the second node in a manner similar to step 905, which will not be described here.

[0479] 1005、The second node determines the time domain resources occupied by the sensing signal according to the second configuration information.

[0480] Step 1005 can refer to step 609, step 709, and step 909 described above.

[0481] 1006、The first node transmits a sensing signal, and correspondingly, the second node receives the sensing signal according to time domain resources occupied by the sensing signal.

[0482] The sensing signal received by the second node can be a signal received by the first node after the sensing signal transmitted by the first node is reflected by a target such as a car, a pedestrian, a bicycle, a drone, an obstacle, or the like. The time domain resources occupied by the sensing signal are sensing symbols in the first slot format.

[0483] 1007、The second node performs signal processing on the received sensing signal to obtain a sensing result.

[0484] 1008、The second node transmits the sensing result to the first node.

[0485] Correspondingly, the first node receives the sensing result from the second node. Step 1008 is optional.

[0486] In the embodiments of the present application, the first node transmits configuration information to the second node according to the sensing capability requirement information of the second node; thereby, the time domain resources required by the sensing capability can be allocated to the sensing signal, and time domain resources can be saved.

[0487] The structure of a communication device that can implement the communication method provided in the embodiments of the present application will be described below with reference to the accompanying drawings. The communication device is only briefly described below, and for details of the implementation scheme, reference can be made to the description of the method embodiments above, which will not be described herein again.

[0488] FIG. 11 is a structural schematic diagram of a communication device 1100 provided in an embodiment of the present application. The communication device 1100 can correspond to the functions or steps implemented by the first node in each of the above method embodiments, or can correspond to the functions or steps implemented by the second node in each of the above method embodiments, or can correspond to the functions or steps implemented by the third node in each of the above method embodiments. The communication device can include a processing module 1110 and a transceiver module 1120. In a possible implementation manner, a storage unit can also be included, which can be used to store instructions (codes or programs) and / or data. The processing module 1110 and the transceiver module 1120 can be coupled with the storage unit, for example, the processing module 1110 can read the instructions (codes or programs) and / or data in the storage unit to implement the corresponding method. The above-mentioned units can be independently arranged, or partially or entirely integrated. For example, the transceiver module 1120 can include a transmitting module and a receiving module. The transmitting module can be a transmitter, and the receiving module can be a receiver. The corresponding entity of the transceiver module 1120 can be a transceiver circuit, such as a transceiver or a communication interface.

[0489] In some possible implementation, the communication apparatus 1100 can be configured to implement behaviors and functions of a first node in the above method embodiments. For example, the communication apparatus 1100 can be the first node, or a component (for example, a chip or circuit) applied in the first node. The transceiver module 1120 can be configured to perform all receiving or transmitting operations performed by the first node in the embodiments of FIG. 6, FIG. 7, FIG. 9, FIG. 10. The processing module 1110 can be configured to perform all operations performed by the first node in the embodiments of FIG. 6, FIG. 7, FIG. 9, FIG. 10, except for the transceiver operations.

[0490] In some possible implementation, the communication apparatus 1100 can be configured to implement behaviors and functions of a second node in the above method embodiments. For example, the communication apparatus 1100 can be the second node, or a component (for example, a chip or circuit) applied in the second node. The transceiver module 1120 can be configured to perform all receiving or transmitting operations performed by the second node in the embodiments of FIG. 6, FIG. 7, FIG. 9, FIG. 10. The processing module 1110 can be configured to perform all operations performed by the second node in the embodiments of FIG. 6, FIG. 7, FIG. 9, FIG. 10, except for the transceiver operations.

[0491] In some possible implementation, the communication apparatus 1100 can be configured to implement behaviors and functions of a third node in the above method embodiments. For example, the communication apparatus 1100 can be the third node, or a component (for example, a chip or circuit) applied in the third node. The transceiver module 1120 can be configured to perform all receiving or transmitting operations performed by the third node in the embodiments of FIG. 6, FIG. 7, FIG. 8, FIG. 9, FIG. 10. The processing module 1110 can be configured to perform all operations performed by the third node in the embodiments of FIG. 6, FIG. 7, FIG. 8, FIG. 9, FIG. 10, except for the transceiver operations.

[0492] FIG. 12 is a structural schematic diagram of another apparatus 120 provided by embodiments of the present application. The apparatus in FIG. 12 can be the above-mentioned first node or a chip for the above-mentioned first node, or the above-mentioned second node or a chip for the above-mentioned second node, or the above-mentioned third node or a chip for the above-mentioned third node. As shown in FIG. 12, the apparatus 120 includes processing circuitry 1210 and transceiver circuitry 1220.

[0493] In some embodiments of the present application, the processing circuitry 1210 and the transceiver circuitry 1220 can be configured to perform functions or operations performed by the first node. The transceiver circuitry 1220 can be configured to perform all receiving or transmitting operations performed by the first node in the embodiments of FIG. 6, FIG. 7, FIG. 9, FIG. 10. The processing circuitry 1210 can be configured to perform all operations performed by the first node in the embodiments of FIG. 6, FIG. 7, FIG. 9, FIG. 10, except for the transceiver operations.

[0494] In some embodiments of the application, the processing circuit 1210 and the transceiver circuit 1220 can be configured to perform functions or operations performed by the second node. The transceiver circuit 1220 is configured to perform, for example, all receiving or transmitting operations performed by the second node in the embodiments of FIG. 6, FIG. 7, FIG. 9, FIG. 10. The processing circuit 1210 is configured to perform, for example, all operations performed by the second node in the embodiments of FIG. 6, FIG. 7, FIG. 9, FIG. 10, except for the transceiving operations.

[0495] In some embodiments of the application, the processing circuit 1210 and the transceiver circuit 1220 can be configured to perform functions or operations performed by the third node. The transceiver circuit 1220 is configured to perform, for example, all receiving or transmitting operations performed by the third node in the embodiments of FIG. 6, FIG. 7, FIG. 8, FIG. 9, FIG. 10. The processing circuit 1210 is configured to perform, for example, all operations performed by the third node in the embodiments of FIG. 6, FIG. 7, FIG. 8, FIG. 9, FIG. 10, except for the transceiving operations.

[0496] In a possible implementation, the apparatus is the first node or the second node or the third node, the transceiver circuit 1220 includes at least one transceiver, and the processing circuit 1210 includes at least one processor, or a circuit in the at least one processor for processing or control.

[0497] The transceiver is configured to communicate with other devices / apparatuses via a transmission medium. The processor is configured to transceive data and / or signaling with the transceiver, and is configured to implement the methods in the method embodiments described above. The processor can implement the functions of the processing module 1110, and the transceiver can implement the functions of the transceiving module 1120. Optionally, the transceiver can include a radio frequency circuit and an antenna, where the radio frequency circuit is mainly configured to convert a baseband signal and a radio frequency signal and process the radio frequency signal. The antenna is mainly configured to transceive a radio frequency signal in the form of an electromagnetic wave.

[0498] Optionally, the apparatus 120 can further include at least one memory configured to store program instructions and / or data. The memory and the processor are coupled. The coupling in the embodiments of the application is indirect coupling or communication connection between the apparatuses, units or modules, which can be electrical, mechanical or other forms, and is used for information interaction between the apparatuses, units or modules. The processor can operate in cooperation with the memory. The processor can execute the program instructions stored in the memory. At least one of the at least one memory can be included in the processor.

[0499] The processor can read a software program in the memory, execute instructions of the software program, and process data of the software program. When data needs to be sent wirelessly, the processor outputs a baseband signal to the radio frequency circuit after baseband processing of the data to be sent, and the radio frequency circuit converts the baseband signal into a radio frequency signal and sends the radio frequency signal in the form of an electromagnetic wave to the outside through the antenna. When data is sent to the device 120, the radio frequency circuit receives a radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor, and the processor converts the baseband signal into data and processes the data.

[0500] In another implementation, the radio frequency circuit and the antenna described above can be arranged independently of the processor that performs baseband processing, for example, in a distributed scenario, the radio frequency circuit and the antenna can be arranged remotely from the device 120.

[0501] The specific connection medium between the transceiver, the processor, and the memory in the embodiments of the present application is not limited.

[0502] In the embodiments of the present application, the processor can be one of the following devices: a general processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, or all or part of the circuit of the foregoing devices for processing functions, which can implement or execute the disclosed methods, steps, and logic block diagrams in the embodiments of the present application. The general processor can be a microprocessor or any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as execution completed by a hardware processor, or executed by a combination of hardware and software modules in the processor.

[0503] In a possible implementation, the device is a chip for the first node, the second node, or the third node, the processing circuit 1210 includes at least one logic circuit, and the transceiver circuit 1220 includes at least one interface. The processing module 1110 in FIG. 11 can be implemented by a logic circuit, and the transceiver module 1120 in FIG. 11 can be implemented by an interface. The logic circuit can be a chip, a processing circuit, an integrated circuit, or a system on chip (SoC) chip, and the interface can be a communication interface, an input / output interface, and the like. In the embodiments of the present application, the logic circuit and the interface can also be coupled to each other. The specific connection mode of the logic circuit and the interface is not limited in the embodiments of the present application.

[0504] The present application also provides a computer readable storage medium, which stores a computer program or instructions, when the computer program or instructions run on a computer, the computer executes the method of the above embodiments.

[0505] The application further provides a computer program product comprising instructions or computer programs which, when executed on a computer, cause the method in the above embodiments to be performed.

[0506] The application further provides a communication system comprising the first node, the second node and the third node.

[0507] The application further provides a communication system comprising the first node and the second node.

[0508] The application further provides a chip comprising a communication interface and a processor; the communication interface is used for signal transceiving of the chip; the processor is used for executing computer program instructions, so that a communication device comprising the chip executes the method in the above embodiments.

[0509] The explanations and beneficial effects of the related contents in any of the above provided devices can refer to the corresponding method embodiments provided above, and will not be repeated here.

[0510] In several embodiments provided in the application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of the units is only a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0511] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable apparatus. For example, the computer can be a personal computer, a server, a network device, etc. The computer instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions can be transferred from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media sets. The available media can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD), etc. For example, the foregoing available media includes but is not limited to: a variety of media that can store program codes such as a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0512] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A communication method characterized by comprising: Comprising: generating a sensing signal, time domain resources occupied by the sensing signal comprising L first symbols, each first symbol being one symbol in a slot, a time domain offset between any two first symbols adjacent in time domain in the L first symbols being K symbols, the L being an integer greater than 2, the K being an integer greater than 1; sending the sensing signal.

2. The method of claim 1, wherein, The L first symbols are contained in N slots consecutive in time domain, the N being an integer greater than 1.

3. The method of claim 2, wherein, Each slot of the N slots contains M symbols, the K being less than or equal to the M, the M being an integer greater than 2, the M, the K, the L and the N satisfying M*N / K=L.

4. The method according to claim 2 or 3, characterized in that, The M symbols in each of the N time slots are sequentially ordered in time as a symbol with index 0 to a symbol with index (M-1), and the index of each first symbol contained in the nth time slot sequentially ordered in time satisfies the following formula: index = rem(k start +(l-1)*K,M); (1) wherein the index is an index of each first symbol contained in an n th time slot of the N time slots sorted in chronological order, the k start is an index of a first first symbol in a first time slot of the N time slots sorted in chronological order, the k start has a value range of 0 to (K-1), rem() represents a remainder operation, and the l has a value range satisfying all values of Denotes a ceiling operation, the value of l being an integer, the value of n ranging from 1 to N.

5. The method according to any one of claims 2 to 4, characterized in that, The time-domain resources occupied by the sensing signal also include R second symbols, each of which is adjacent to one of the L first symbols in the time domain and precedes the adjacent first symbol. R is an integer less than L, M is 14, and the 0th and 7*2nd symbols in the N time slots are ordered chronologically. μ The time length of each symbol is (T+ΔCP), and the time length of other symbols is T. Among the L first symbols, the g-th first symbol, ordered chronologically, is adjacent to one of the R second symbols in the time domain. The value of g ranges from 1 to L. When a time length of the gth first symbol is T, the g satisfies the following formula: and / or, when the time length of the gth first symbol is (T+ACP), the g satisfies the following formula: Wherein, the T s represents a duration for sensing processing in a sensing symbol, and the k start represents an index of a first symbol in a first time slot of the N time slots in time sequence, and the k start has a value range of 0~(K-1), denotes a floor operation, μ is in the range of 0 to 6, 2 μ *15 [KHz] denotes the subcarrier spacing.

6. The method of claim 5, wherein, The hth first symbol in the L first symbols in time sequence is not adjacent to each second symbol in the R second symbols in time domain, the value of h ranging from 1 to L; When the time length of the hth first symbol is T, the h satisfies the following formula: Or, when the time length of the hth first symbol is (T + ACp), the h satisfies the following formula: Wherein, the T s represents a duration for sensing processing in a sensing symbol, and the k start represents an index of a first symbol in a first time slot of the N time slots in time sequence, and the k start has a value range of 0~(K-1), Denotes a floor operation.

7. The method according to any one of claims 2 to 6, characterized in that, The M is 14, the M symbols in each slot of the N slots in time sequence being sequentially a symbol with an index of 0 to a symbol with an index of (M-1); The index of the first first symbol in the 1st slot in time sequence of the N slots is 0 or 1, the K being 2; or, The index of the first first symbol in the 1st slot in time sequence of the N slots is 0, 1 or 2, the K being 3, the N being an integer multiple of 3; or, The index of the first first symbol in the 1st slot in time sequence of the N slots is 0, 1, 2 or 3, the K being 4, the N being an integer multiple of 2; or, The index of the first first symbol in the 1st slot in time sequence of the N slots is 0, 1, 2, 3 or 4, the K being 5, the N being an integer multiple of 5; or, The index of the first first symbol in the 1st slot in time sequence of the N slots is 0, 1, 2, 3, 4 or 5, the K being 6, the N being an integer multiple of 3; or, The index of the first first symbol in the 1st slot in time sequence of the N slots is 0, 1, 2, 3, 4, 5 or 6, the K being 7; or, The index of the first first symbol in the 1st slot in time sequence of the N slots is 0, 1, 2, 3, 4, 5, 6 or 7, the K being 8, the N being an integer multiple of 4; or, The index of the first first symbol in the 1st slot in time sequence of the N slots is 0, 1, 2, 3, 4, 5, 6, 7 or 8, the K being 9, the N being an integer multiple of 9; or, The index of the first first symbol in the 1st slot in time sequence of the N slots is 0, 1, 2, 3, 4, 5, 6, 7, 8 or 9, the K being 10, the N being an integer multiple of 5; or, the index of the first first symbol in the 1st slot of the N slots in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 or 11, the K is 12, and the N is an integer multiple of 6; or, the index of the first first symbol in the 1st slot of the N slots in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 or 11, the K is 12, and the N is an integer multiple of 6; or, the index of the first first symbol in the 1st slot of the N slots in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 or 12, the K is 13, and the N is an integer multiple of 13; or, the index of the first first symbol in the 1st slot of the N slots in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12 or 13, the K is 14.

8. The method according to any one of claims 2 to 4, characterized in that, the M is 12, and the M symbols in each of the N slots are sequentially 0th symbol to (M-1)th symbol in time sequence; the index of the first first symbol in the 1st slot of the N slots in time sequence is 0 or 1, the K is 2; or, the index of the first first symbol in the 1st slot of the N slots in time sequence is 0, 1 or 2, the K is 3; or, the index of the first first symbol in the 1st slot of the N slots in time sequence is 0, 1, 2 or 3, the K is 4; or, the index of the first first symbol in the 1st slot of the N slots in time sequence is 0, 1, 2, 3 or 4, the K is 5, and the N is an integer multiple of 5; or, the index of the first first symbol in the 1st slot of the N slots in time sequence is 0, 1, 2, 3, 4 or 5, the K is 6; or, the index of the first first symbol in the 1st slot of the N slots in time sequence is 0, 1, 2, 3, 4, 5 or 6, the K is 7, and the N is an integer multiple of 7; or, the index of the first first symbol in the 1st slot of the N slots in time sequence is 0, 1, 2, 3, 4, 5, 6 or 7, the K is 8, and the N is an integer multiple of 2; or, the index of the first first symbol in the 1st slot of the N slots in time sequence is 0, 1, 2, 3, 4, 5, 6, 7 or 8, the K is 9, and the N is an integer multiple of 3; or, the index of the first first symbol in the 1st slot of the N slots in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8 or 9, the K is 10, and the N is an integer multiple of 5; or, the index of the first first symbol in the 1st slot of the N slots in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9 or 10, the K is 11, and the N is an integer multiple of 11; or, An index of a first symbol in a first slot of the N slots in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or 11, and the K is 12.

9. The method according to any one of claims 1 to 8, characterized in that, The method further includes: sending or receiving configuration information, the configuration information being used for configuring time domain resources occupied by the sensing signal.

10. The method of claim 9, wherein, The configuration information includes an index of a first slot format or information indicating the first slot format, the first slot format indicating symbols for sensing and symbols for communication in N slots that are continuous in time domain, the time domain resources occupied by the sensing signal being the symbols for sensing in the N slots, and the N being an integer greater than 1.

11. A communication method, comprising: includes: determining time domain resources occupied by a sensing signal; receiving the sensing signal according to the time domain resources occupied by the sensing signal, the time domain resources occupied by the sensing signal including L first symbols, each first symbol being a symbol in a slot, and a time domain offset between any two first symbols adjacent in time domain in the L first symbols being K symbols, the L being an integer greater than 2, and the K being an integer greater than 1.

12. The method of claim 11, wherein, The L first symbols are contained in N slots that are continuous in time domain, the N being an integer greater than 1, and each of the N slots containing M symbols, the M being an integer greater than or equal to the K.

13. The method of claim 12, wherein, Each of the N slots contains M symbols, the K being less than or equal to the M, the M being an integer greater than 2, and the M, the K, the L, and the N satisfying M*N / K=L.

14. The method according to claim 12 or 13, characterized in that, The M symbols in each of the N time slots are sequentially ordered in time as a symbol with index 0 to a symbol with index (M-1), and the index of each first symbol contained in the nth time slot sequentially ordered in time satisfies the following formula: index = rem(k start + (1-1) *K, M); (1) wherein the index is an index of each first symbol contained in an nth time slot of the N time slots sorted in chronological order, and the k start is an index of a first first symbol in a first time slot of the N time slots sorted in chronological order, and the k start The value range of the k is 0-(K-1), rem() represents a remainder operation, and the value range of the l is to satisfy all values of represents a ceiling operation, the value of the l being an integer, and the value of the n ranging from 1 to N.

15. The method according to any one of claims 12 to 14, characterized in that, The time-domain resources occupied by the sensing signal also include R second symbols, each of which is adjacent to one of the L first symbols in the time domain and precedes the adjacent first symbol. R is an integer less than L, M is 14, and the 0th and 7*2nd symbols in the N time slots are ordered chronologically. μ The time length of each symbol is (T+ΔCP), and the time length of other symbols is T. Among the L first symbols, the g-th first symbol, ordered chronologically, is adjacent to one of the R second symbols in the time domain. The value of g ranges from 1 to L. When a time length of the gth first symbol is T, the g satisfies the following formula: Or, when the time length of the gth first symbol is (T + ACp), the g satisfies the following formula: Wherein, the T s represents a time length for sensing processing in a sensing symbol, and the k start represents an index of a first symbol in a first time slot of the N time slots in time sequence, and the k start has a value range of 0-(K-1), denotes a floor operation, μ is in the range of 0 to 6, 2 μ *15 [KHz] denotes the subcarrier spacing.

16. The method of claim 15, wherein, An hth first symbol in time sequence in the L first symbols is not adjacent to each of the R second symbols in time domain, the value of the h ranging from 1 to L. When a time length of the hth first symbol is T, the h satisfies the following formula: Alternatively, when the time length of the hth first symbol is (T + ΔCP), the h satisfies the following formula: Wherein, the T s represents a time length for sensing processing in a sensing symbol, and the k start represents an index of a first symbol in a first time slot of the N time slots in time sequence, and the k start has a value range of 0-(K-1), represents a floor operation.

17. The method according to any one of claims 12 to 16, characterized in that, The M is 14, and the M symbols in each of the N slots in time sequence are sequentially a symbol with an index of 0 to a symbol with an index of (M-1). An index of a first symbol in a first slot of the N slots in time sequence is 0 or 1, and the K is 2; or An index of a first symbol in a first slot of the N slots in time sequence is 0, 1, or 2, the K is 3, and the N is an integer multiple of 3; or An index of a first symbol in a first slot of the N slots in time sequence is 0, 1, 2, or 3, the K is 4, and the N is an integer multiple of 2; or An index of a first symbol in a first slot of the N slots in time sequence is 0, 1, 2, 3, or 4, the K is 5, and the N is an integer multiple of 5; or An index of a first symbol in a first slot of the N slots in time sequence is 0, 1, 2, 3, 4, or 5, the K is 6, and the N is an integer multiple of 3; or An index of a first symbol in a first slot of the N slots in time sequence is 0, 1, 2, 3, 4, 5, or 6, the K is 7; or the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, or 9, the K is 10, and the N is an integer multiple of 5; or, the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, the K is 11, and the N is an integer multiple of 11; or, the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or 11, the K is 12, and the N is an integer multiple of 6; or, the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, or 12, the K is 13, and the N is an integer multiple of 13; or, the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, or 13, the K is 14. the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, or 13, the K is 14. the M is 12, and the M symbols in each of the N time slots in time sequence order are sequentially a symbol with an index of 0 to a symbol with an index of (M-1); 18. The method according to any one of claims 12 to 14, characterized in that, the index of the first first symbol in the first time slot in time sequence order is 0 or 1, the K is 2; or, the index of the first first symbol in the first time slot in time sequence order is 0, 1, or 2, the K is 3; or, the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, or 3, the K is 4; or, the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, or 4, the K is 5, and the N is an integer multiple of 5; or, the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, or 5, the K is 6; or, the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, or 6, the K is 7, and the N is an integer multiple of 7; or, the index of the first first symbol in the first time slot in time sequence order is 0, 1, 2, 3, 4, 5, 6, or 7, the K is 8, and the N is an integer multiple of 2; or, ​ The index of the first first symbol in the first slot in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, or 8, the K is 9, and the N is an integer multiple of 3; or, The index of the first first symbol in the first slot in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, or 9, the K is 10, and the N is an integer multiple of 5; or, The index of the first first symbol in the first slot in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, or 10, the K is 11, and the N is an integer multiple of 11; or, The index of the first first symbol in the first slot in time sequence is 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or 11, the K is 12.

19. The method according to any one of claims 11 to 18, characterized in that, The method further includes: receiving configuration information, the configuration information being used to configure time domain resources occupied by the sensing signal.

20. The method of claim 19, wherein, The configuration information includes an index of a first slot format or information indicating the first slot format, the first slot format indicating symbols for sensing and symbols for communication in N slots that are continuous in time domain, the time domain resources occupied by the sensing signal being the symbols for sensing in the N slots, and the N being an integer greater than 1.

21. A method of communication, comprising: comprising: generating configuration information, the configuration information being used to configure time domain resources occupied by a sensing signal, the time domain resources occupied by the sensing signal including L first symbols, each first symbol being a symbol in a slot, a time domain offset between any two first symbols adjacent in time domain in the L first symbols being K symbols, the L being an integer greater than 2, and the K being an integer greater than 1; sending the configuration information.

22. The method of claim 21, wherein, The configuration information includes an index of a first slot format or information indicating the first slot format, the first slot format indicating symbols for sensing and symbols for communication in N slots that are continuous in time domain, the time domain resources occupied by the sensing signal being the symbols for sensing in the N slots, and the N being an integer greater than 1.

23. The method of claim 21 or 22, wherein, The method further includes: receiving sensing capability requirement information, the sensing capability requirement information including indication information of a maximum speed range requirement, the configuration information including an index of a first slot format or information indicating the first slot format, the first slot format indicating symbols for sensing and symbols for communication in N slots that are continuous in time domain, the time domain resources occupied by the sensing signal being the symbols for sensing in the N slots, and the first slot format satisfying the maximum speed range requirement.

24. The method of claim 23, wherein, The first slot format satisfying the maximum speed range requirement includes the K satisfying the maximum speed range requirement.

25. A communications device, characterized by The communication device includes an apparatus or a chip.

26. The communication apparatus according to claim 25, wherein, The computer program or instructions are stored on the computer readable storage medium, and when the computer program or instructions are executed, the method as claimed in any of claims 1-24 is implemented.

27. A computer-readable storage medium, characterized in that, The computer readable storage medium has the computer program or instructions stored thereon, and when the computer program or instructions are executed, the method as claimed in any of claims 1-24 is implemented.

28. A computer program product, characterised in that, When the computer program product is run, it causes the method of any one of claims 1-24 to be implemented.

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