Sensing measurement method and apparatus, device, storage medium, and program product

Abstract

The present application relates to the technical field of communications, and provides a sensing measurement method and apparatus, a device, a storage medium, and a program product. The method comprises: receiving a first sensing reference signal; and on the basis of the first sensing reference signal, obtaining a first measurement quantity related to a sensing target.

Description

Perception measurement method, apparatus, device, storage medium and program product

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 202411080012.X, filed on August 7, 2024, the contents of which are incorporated herein by reference in its entirety. TECHNICAL FIELD

[0003] The present application relates to the field of communication technology, and in particular to a perception measurement method, apparatus, device, storage medium and program product. BACKGROUND

[0004] A communication and perception fusion system aims to utilize shared signal waveforms, spectrum resources, and hardware resources to simultaneously achieve communication and perception functions. Perception behavior relies on the interaction between a perception sender, a perception receiver, and a perception object, and the acquisition of perception information mainly depends on the processing of the perception receiver. However, the process of the perception receiver acquiring perception information is not uniformly regulated at present. SUMMARY

[0005] The present application provides a perception measurement method, apparatus, device, storage medium and program product, which solves the problem that the process of the perception receiver acquiring perception information is not uniformly regulated in the integration of communication and perception.

[0006] In a first aspect, embodiments of the present application provide a perception measurement method applied to a first device, comprising:

[0007] receiving a first perception reference signal;

[0008] obtaining a first measurement quantity related to a perception target according to the first perception reference signal.

[0009] Optionally, obtaining the first measurement quantity related to the perception target according to the first perception reference signal comprises:

[0010] measuring the first perception reference signal passing through the perception target to obtain a first channel path passing through the perception target;

[0011] obtaining the first measurement quantity based on the first channel path.

[0012] Optionally, the first channel path comprises at least one of:

[0013] the first M detected channel paths among channel paths passing through the perception target, wherein M is a positive integer;

[0014] the first N strongest channel paths among channel paths passing through the perception target, wherein N is a positive integer;

[0015] a Pth channel path through the sensing target, where P is a positive integer.

[0016] Optionally, the channel path through the sensing target is a path having at least one of the following characteristics:

[0017] a same or similar Doppler measurement result;

[0018] a same or similar micro-Doppler distribution characteristic;

[0019] a same or similar time delay;

[0020] a same or similar angle of arrival;

[0021] a same or similar angle of departure;

[0022] a same or similar velocity measurement result;

[0023] a same or similar time of arrival of the first device from the sensing target;

[0024] a same or similar distance measurement result between the sensing target and the first device;

[0025] a same or similar path received power of the first sensing reference signal;

[0026] a same or similar received power of the first sensing reference signal.

[0027] Optionally, the method further comprises:

[0028] classifying a plurality of the channel paths according to a characteristic of the channel path through the sensing target, wherein each class of the channel paths is associated with one of the sensing targets;

[0029] determining a number and / or a type of the sensing targets in the channel environment according to a classification result of the channel paths.

[0030] Optionally, the first measurement quantity comprises at least one of:

[0031] a time of arrival of the first sensing reference signal;

[0032] a propagation time of the first sensing reference signal;

[0033] a time difference of the first sensing reference signal;

[0034] a received power of the first sensing reference signal;

[0035] a received path power of the first sensing reference signal;

[0036] an angle of arrival of the first sensing reference signal;

[0037] Doppler shift obtained by measuring the first sensing reference signal;

[0038] sensing target presence indication;

[0039] channel response statistical property within the first time duration;

[0040] time delay Doppler value;

[0041] micro-Doppler frequency distribution property obtained by measuring the first sensing reference signal;

[0042] one-dimensional channel state information;

[0043] two-dimensional channel state information.

[0044] Optionally, the first sensing reference signal time of arrival is a time at which the first device receives a starting boundary of a first subframe containing the first sensing reference signal passing through the sensing target.

[0045] wherein the starting boundary of the first subframe is determined by a time of the first channel path passing through the sensing target detected in time domain; and the time at which the starting boundary of the first subframe is located is a time relative to a reference time.

[0046] Optionally, the first sensing reference signal propagation time is a difference between a first time and a second time, the first time being a time at which the first device receives a starting boundary of a second subframe containing the first sensing reference signal passing through the sensing target, and the second time being a time at which the starting boundary of the second subframe of the first device is located.

[0047] wherein the first time is determined by a time of the first channel path passing through the sensing target detected in time domain.

[0048] Optionally, the first sensing reference signal time difference is a relative timing difference between a sensing transmitting device and a reference sensing transmitting device, the sensing transmitting device being a device transmitting the first sensing reference signal, and the reference sensing transmitting device being a predetermined one of a plurality of devices transmitting the first sensing reference signal to the first device.

[0049] Optionally, the relative timing difference between the sensing transmitting device and the reference sensing transmitting device is represented as: T SubframeRxj -T SubframeRxi ; wherein T SubframeRxj represents a time at which the first device receives a starting boundary of a third subframe from the sensing transmitting device, and the T SubframeRxiindicates a time at which the first device receives a starting boundary of a fourth subframe from the reference perception transmitting device;

[0050] wherein the fourth subframe is a corresponding subframe closest to the third subframe in time domain, a time at which a starting boundary of the third subframe is determined by a time of a first channel path related to the perception transmitting device detected in time domain, and a time at which a starting boundary of the fourth subframe is determined by a time of a first channel path related to the reference perception transmitting device detected in time domain; wherein the first channel path related to the perception transmitting device is a first channel path obtained by measuring the first perception reference signal transmitted by the perception transmitting device and passing through the perception target, and the first channel path related to the reference perception transmitting device is a first channel path obtained by measuring the first perception reference signal transmitted by the reference perception transmitting device and passing through the perception target.

[0051] Optionally, the received power of the first perception reference signal is a linear average of the power of the first perception reference signal passing through the perception target measured on resource elements (REs) carrying the first perception reference signal.

[0052] Optionally, the received path power of the first perception reference signal is a linear average of the power corresponding to a channel response at a time delay of the first channel path passing through the perception target on REs carrying the first perception reference signal.

[0053] Optionally, the time delay in the time delay Doppler value is a first perception reference signal propagation time or a first perception reference signal arrival time, or the time delay is determined by the first channel path passing through the perception target; and the Doppler value in the time delay Doppler value is a Doppler shift obtained by measuring the first channel path passing through the perception target.

[0054] wherein the time delay and the Doppler shift are obtained based on the same first channel path.

[0055] Optionally, the method further comprises:

[0056] transmitting a second perception reference signal;

[0057] The first measurement quantity includes:

[0058] a first time difference between a time at which the first device receives the first perception reference signal and a time at which the second perception reference signal is transmitted.

[0059] Optionally, the first time difference is represented as T Sensing UE-RX -T Sensing UE-TX ; wherein TSensing UE-RX represents a receiving timing of a fifth subframe of the first device from a sensing transmitting device, T Sensing UE-TX represents a transmitting timing of a sixth subframe of the first device, or, when the first device reports a transmission time stamp of the second sensing reference signal, T Sensing UE-TX represents a transmitting timing of a subframe containing the second sensing reference signal transmitted by the first device;

[0060] The sixth subframe is a corresponding subframe closest to the fifth subframe in time domain; and the receiving timing of the fifth subframe is determined by a time of the first channel path of the sensing target detected in time domain.

[0061] Optionally, in the case that the first channel path includes multiple channel paths, the first measurement quantity includes a measurement quantity corresponding to each channel path of the first channel path.

[0062] Alternatively, the first measurement quantity includes a measurement quantity obtained by data processing on a measurement quantity corresponding to each channel path of the first channel path.

[0063] Optionally, the method further includes:

[0064] performing a target operation based on the first measurement quantity, the target operation including measurement reporting and / or data calculation.

[0065] Optionally, performing measurement reporting based on the first measurement quantity includes:

[0066] grouping the first measurement quantity according to different sensing targets, wherein each group of sensing results includes at least one type of measurement quantity, and each group of sensing results is associated with one sensing target;

[0067] reporting the grouped first measurement quantity.

[0068] In a second aspect, an embodiment of the present application provides a sensing measurement device applied to a first device, including:

[0069] a receiving module configured to receive a first sensing reference signal;

[0070] an obtaining module configured to obtain a first measurement quantity related to a sensing target according to the first sensing reference signal.

[0071] In a third aspect, an embodiment of the present application provides a sensing measurement device, including a transceiver, a processor, a memory, and a computer program stored in the memory and executable on the processor, the computer program being executed by the processor to implement the sensing measurement method of the first aspect.

[0072] In a fourth aspect, an embodiment of the present application provides a readable storage medium, and the readable storage medium stores a computer program, and the computer program is executed by a processor to implement the perception measurement method in the first aspect.

[0073] In a fifth aspect, an embodiment of the present application provides a computer program product, and the computer program product comprises computer instructions, and the computer instructions are executed by a processor to implement the perception measurement method in the first aspect.

[0074] The above technical solutions of the present application have the following beneficial effects:

[0075] The perception measurement method of the embodiment of the present application firstly receives a first perception reference signal, and secondly measures a first measurement quantity related to a perception target according to the first perception reference signal. In this way, in the integrated sensing and communication scenario, the process of acquiring perception information by a sensing receiver is uniformly regulated, so that the first device performs subsequent operations based on the measurement result of the first measurement quantity, thereby improving the implementability of the integrated sensing and communication measurement and the accuracy of the perception performance. BRIEF DESCRIPTION OF DRAWINGS

[0076] FIG. 1 is a flowchart of a perception measurement method according to an embodiment of the present application;

[0077] FIG. 2 is a schematic diagram of a first perception reference signal arrival time according to an embodiment of the present application;

[0078] FIG. 3 is a structural diagram of a perception measurement device according to an embodiment of the present application;

[0079] FIG. 4 is a structural diagram of a perception measurement device according to an embodiment of the present application. DETAILED DESCRIPTION

[0080] To make the technical problems, technical solutions and advantages of the present application clearer, specific embodiments will be described in detail below with reference to the accompanying drawings. In the following description, specific details such as specific configurations and components are provided only to help a comprehensive understanding of the embodiments of the present application. Therefore, it should be clear to those skilled in the art that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, descriptions of known functions and structures are omitted for clarity and brevity.

[0081] It should be understood that the "one embodiment" or "an embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner.

[0082] In various embodiments of the present application, it should be understood that the size of the serial number of the following processes does not mean the order of execution, and the execution order of the processes should be determined according to its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0083] In addition, the terms "system" and "network" are often used interchangeably herein.

[0084] In the embodiments provided in the present application, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that the determination of B according to A does not mean that B is determined only according to A, but B can also be determined according to A and / or other information.

[0085] In the following, the sensing measurement method, device, equipment, storage medium and program product provided by the embodiments of the present application are described in detail in combination with the drawings.

[0086] The embodiments of the present application provide a sensing measurement method, which is applied to a first device, as shown in FIG. 1, and the method comprises the following steps:

[0087] Step 101, receiving a first sensing reference signal (Sensing Reference Signal, Sensing RS); here, the first sensing reference signal is sent by a sensing sending device (Sensing Tx);

[0088] As a specific example, step 101 can be specifically that the first device receives a first sensing reference signal based on the perception assistance information / sensing measurement indication information, wherein the perception assistance information / sensing measurement indication information can be sent by a third device; wherein the third device can be a base station, a user equipment (UE), etc. Specifically, the perception assistance information / sensing measurement indication information includes but is not limited to at least one of the following: sensing Tx position / coordinate information, Sensing Tx ID information, sensing reference signal sequence ID (Sensing RS sequence ID), antenna reference point ID (ARP ID), ARP position / coordinate information, sensing area information, sensing target information, sensing performance requirement, Sensing RS resource configuration information, measurement reporting type (periodic / aperiodic), measurement period, measurement quality, measurement beam information (determined based on sensing area information), search window information, response time, measurement quantity type indication (such as channel state information, channel statistical characteristics, Doppler information, time delay information, micro-Doppler information, reference signal received power (RSRP), reference signal received path power (RSRPP), angle of arrival (AoA), angle of departure (AoD), time stamp, etc.), service delay (time interval from triggering to obtain sensing results at the sensing system interface), sensing refresh rate (frequency of sensing system generating sensing results), and predetermined time.

[0089] Step 102, obtaining a first measurement quantity related to a sensing target according to the first sensing reference signal; in this step, "obtaining a first measurement quantity related to a sensing target" can be specifically obtaining a first measurement quantity of the first sensing reference signal passing through the sensing target. Specifically, the first sensing reference signal passing through the sensing target is specifically, for example, the first sensing reference signal reflected / scattered by the sensing target, or the first sensing reference signal affected by the sensing target.

[0090] The sensing measurement method of the embodiments of the present application first receives a first sensing reference signal, and then measures a first measurement quantity related to a sensing target according to the first sensing reference signal. In this way, in the integrated sensing and communication scenario, the process of the sensing receiver (the first device) obtaining sensing information is uniformly regulated, so that the first device performs subsequent operations based on the measurement result of the first measurement quantity, thereby improving the implementability of the integrated sensing and communication measurement and the accuracy of the sensing performance.

[0091] As an optional implementation, step 102 comprises:

[0092] measuring the first sensing reference signal passing through the sensing target to obtain a first channel path passing through the sensing target; here, the first channel path passing through the sensing target can also be described as a first channel path related to the sensing target;

[0093] obtaining the first measurement quantity based on the first channel path.

[0094] As a specific implementation, the first channel path comprises at least one of the following:

[0095] the first M detected channel paths among the channel paths passing through the sensing target, where M is a positive integer;

[0096] the first N strongest channel paths among the channel paths passing through the sensing target, where N is a positive integer;

[0097] the Pth channel path among the channel paths passing through the sensing target, where P is a positive integer.

[0098] That is, the number of first channel paths can be one, two or more. M, N and P are configuration or pre-configuration parameters, or are predefined by a protocol.

[0099] As a specific implementation, the channel path passing through the sensing target is a path with at least one of the following characteristics:

[0100] the same or similar Doppler measurement result; here, the similar Doppler measurement result can be that the difference between different Doppler measurement results belongs to a preset range;

[0101] the same or similar micro-Doppler distribution characteristics; here, the micro-Doppler distribution characteristics include but are not limited to at least one of the following: distribution type, mean and variance; and the distribution type is a distribution to which micro-Doppler is subject, such as Gaussian distribution, exponential distribution, uniform distribution, etc.

[0102] the same or similar time delay;

[0103] the same or similar angle of arrival;

[0104] the same or similar;

[0105] the same or similar;

[0106] the same or similar;

[0107] the same or similar;

[0108] the same or similar;

[0109] the same or similar;

[0110] the same or similar;

[0111] the same or similar.

[0112] Here, it should be noted that in the above specific implementation, the multiple channel paths with the at least one feature are channel paths passing through the same sensing target.

[0113] Further, as an optional implementation, the method further comprises:

[0114] classifying the multiple channel paths according to features of the channel paths passing through the sensing target, wherein each category of the channel paths is related to a category of the sensing target; that is, each category of the channel paths is related to the same category of the sensing target, or each category of the channel paths passes through the same category of the sensing target, where "category" refers to a category of the sensing target, such as a motor vehicle, a pedestrian, a building, etc., and one category of the sensing target can include one or more sensing targets.

[0115] determining the number and / or the category number of the sensing targets in the channel environment according to the classification result of the channel paths. Here, the category number of the sensing targets is the same as the category number of the channel paths in the classification result, and the category number of the sensing targets can be determined based on micro-Doppler, speed, channel state information, etc.

[0116] In the above optional implementation, the classification of the sensing targets based on the features of the channel paths can improve the measurement accuracy.

[0117] As an optional implementation, the first measurement quantity includes at least one of the following:

[0118] a first sensing reference signal arrival time; here, the first sensing reference signal arrival time can also be referred to as a sensing reference time of arrival (Sensing RTOA);

[0119] a first sensing reference signal time of fly (Sensing RS ToF);

[0120] a first sensing reference signal time difference (Sensing RSTD);

[0121] a received power of the first sensing reference signal;

[0122] a reference signal received path power (RSRPP) of the first sensing reference signal;

[0123] a sensing angle of arrival (Sensing AoA) of the first sensing reference signal; the Sensing AoA is expressed as a horizontal angle and a vertical angle of a sensing target relative to a reference direction, wherein the reference direction is defined as: in a global coordinate system (GCS), an estimated azimuth angle is measured relative to the geographic north pole, positive in the counterclockwise direction, and an estimated vertical angle is measured relative to the zenith, positive in the horizontal direction; in a local coordinate system (LCS), an estimated azimuth angle is measured relative to the x-axis of the LCS, positive in the counterclockwise direction, and an estimated vertical angle is measured relative to the z-axis of the LCS, positive in the x-y plane direction; the specific reference coordinate system information can be reported together with the Sensing AoA;

[0124] a sensing doppler shift obtained by measuring the first sensing reference signal;

[0125] a sensing target existence indication;

[0126] a channel response statistical characteristic within a first time duration; the statistical characteristic can include but is not limited to at least one of the following: mean, variance, signal to interference plus noise ratio (SINR) and distribution characteristic;

[0127] a delay-Doppler value; wherein the delay in the delay-Doppler value is at least one of: a first sensing reference signal time of arrival, a first sensing reference signal propagation time, a time difference between a time at which the first device receives the first sensing reference signal and a time at which the second sensing reference signal is transmitted;

[0128] a micro-Doppler frequency distribution characteristic obtained by measuring the first sensing reference signal; here, the micro-Doppler frequency distribution characteristic includes a distribution type (such as a Gaussian distribution, an exponential distribution, a uniform distribution, and the like) to which a micro-Doppler frequency is subject, a mean value, a variance, and the like;

[0129] one-dimensional channel state information, such as time-domain channel estimation information, specifically for example: a power delay profile (PDP), a channel impulse response (CIR); wherein the one-dimensional channel state information is constituted by N sampling points of an estimated channel response in the time domain; the timing information of the N sampling points has a reporting granularity of the first time, and all of the timing information is defined relative to a reference time, which can be the same as the reference time defined by the sensing RTOA or an additional reference time; in addition, the power value and / or the phase value corresponding to each sampling point also needs to be reported;

[0130] two-dimensional channel state information, such as delay-Doppler domain channel estimation information, specifically for example: delay-Doppler; wherein the two-dimensional channel state information is constituted by N sampling points of an estimated channel response in the delay-Doppler domain; the timing information of the N sampling points has a reporting granularity of the first time, and all of the timing information is defined relative to a reference time, which can be the same as the reference time defined by the sensing RTOA; the Doppler shift of the N sampling points has a reporting granularity of the first frequency, and all of the Doppler shift information is defined relative to a reference frequency, which is 0 Hz or a configured or pre-configured numerical value; in addition, the power value corresponding to each sampling point also needs to be reported.

[0131] As a specific implementation, the first sensing reference signal time of arrival is: a time at which the first device receives a starting boundary of a first subframe containing the first sensing reference signal that passes through the sensing target;

[0132] wherein the starting boundary of the first subframe is determined by a time of the first channel path that passes through the sensing target detected in the time domain; and the time at which the starting boundary of the first subframe is located is a time relative to a reference time.

[0133] Here, the first channel path is, as previously described, the first M detected channel paths among the channel paths passing through the sensing target, and / or the first N strongest channel paths among the channel paths passing through the sensing target, and / or the Pth channel path among the channel paths passing through the sensing target, where M is a positive integer, N is a positive integer, and P is a positive integer.

[0134] Briefly, the first sensing reference signal time of arrival can be defined as: the time at which device j receives the start boundary of subframe i containing the first sensing reference signal, the start boundary of the subframe i being determined by the time of the first channel path passing through sensing target k detected in the time domain, the time at which the start boundary is calculated relative to a reference time;

[0135] Here, the first channel path is, as previously described, the first M detected channel paths among the channel paths passing through the sensing target, and / or the first N strongest channel paths among the channel paths passing through the sensing target, and / or the Pth channel path among the channel paths passing through the sensing target, where M is a positive integer, N is a positive integer, and P is a positive integer.

[0136] Here, in the specific implementation, the reference time is T0+T1, where T0 is the start time of System Frame Number (SFN) 0 or Direct Frame Number (DFN) 0 defined by the system, and T1 is determined by the SFN and subframe number in which the first sensing reference signal is located.

[0137] In addition, in the above definition, device j corresponds to the first device in the present application, subframe i corresponds to the first subframe in the present application, and the first sensing reference signal is transmitted by device s.

[0138] For the determination method of the first sensing reference signal time of arrival, as shown in FIG. 2, both single-base and double-base modes are available, and the sensing RTOA reported by different sensing Rxs is subtracted, which requires synchronization between different sensing Rxs, but since different sensing RTOAs can come from different positions of the object, joint calculation of the position will introduce errors; based on this, the first sensing reference signal time of arrival can be calculated in the following two ways:

[0139] Method 1: Sensing RTOA = RTOA+offset (only applicable to double-base bi-static sensing mode); where:

[0140] RTOA represents the start time of subframe i containing the sensing RS received by sensing Rx j, which is calculated relative to a reference time;

[0141] Offset represents the time difference AB between the timing of the first detected path passing through the sensing target i (A) and the timing of the path used to determine the RTOA value (B).

[0142] Method 2: Sensing RTOA represents the start time of subframe i containing sensing RS received by sensing Rx j. This subframe i is determined by the first detected channel path among multiple channel paths related to the sensing target detected in the time domain. This start time is calculated relative to the reference time; where Reference time = T0 + T1, T0 is the nominal start time of SFN 0 or DFN 0, and T1 = (10n f +n sf )×10 -3 , where n f To sense the system frame number of the reference signal, n sf The system subframe number where the sensing reference signal is located.

[0143] As another specific implementation, the propagation time of the first sensing reference signal is the difference between a first time and a second time. The first time is the time when the first device receives the starting boundary of the second subframe containing the first sensing reference signal passing through the sensing target. The second time is the time when the starting boundary of the second subframe of the first device is located. Here, the second subframe of the first device is the second subframe of the first device itself, or in other words, the second subframe of the first device is the second subframe maintained by the first device according to local timing.

[0144] The first time is determined by the time of the first channel path passing through the sensing target as detected in the time domain.

[0145] Here, as mentioned above, the first channel path is the first M detected channel paths among the channel paths passing through the sensing target, and / or the first N channel paths with the strongest power among the channel paths passing through the sensing target, and / or the Pth channel path among the channel paths passing through the sensing target, where M is a positive integer, N is a positive integer, and P is a positive integer.

[0146] In brief, the first sensing reference signal propagation time is defined as the difference between a first time at which device j receives the start boundary of subframe i containing the first sensing reference signal from device k, and a second time corresponding to the start boundary of subframe i of device j itself;

[0147] wherein the first time is determined by the time of the first channel path impacted by sensing target k detected in time domain;

[0148] The first time and the second time are both relative to the local timing maintained by device j itself;

[0149] wherein the first channel path is the first M detected channel paths, the first N strongest channel paths, or the first P channel paths among the channel paths impacted by the sensing target, as previously described. As a specific example, the first channel path is the first detected path or the strongest path.

[0150] Here, it should be noted that another expression of the first sensing reference signal propagation time (Sensing TOF) is: Sensing TOF = Sensing RTOA - Reference time; wherein:

[0151] Sensing RTOA represents the start time of subframe i containing the sensing RS received by sensing Rx j, which is determined by the first detected path impacted by the sensing target detected in time domain, and the start time is calculated relative to the Reference Time;

[0152] Reference time = T0 + T1, T0 is the nominal start time of SFN 0 or DFN 0, and T1 = (10n f +n sf )×10 -3 , wherein n f is the system frame number of the sensing reference signal, and n sf is the system subframe number of the sensing reference signal.

[0153] As a further specific implementation, the first sensing reference signal time difference is the relative timing difference between the sensing transmitting device and the reference sensing transmitting device, wherein the sensing transmitting device is the device transmitting the first sensing reference signal, and the reference sensing transmitting device is a predetermined one of the devices transmitting the first sensing reference signal to the first device.

[0154] Specifically, as an example, the relative timing difference between the sensing transmitting device and the reference sensing transmitting device is expressed as: T SubframeRxj -T SubframeRxi Among them, T SubframeRxj T represents the time at which the first device receives the start boundary of the third subframe from the sensing transmitting device. SubframeRxi This indicates the time at which the first device receives the start boundary of the fourth subframe from the reference sensing transmitting device;

[0155] Wherein, the fourth subframe is the corresponding subframe that is closest to the third subframe in the time domain. The time of the starting boundary of the third subframe is determined by the time of the first channel path related to the sensing transmitting device detected in the time domain. The time of the starting boundary of the fourth subframe is determined by the time of the first channel path related to the reference sensing transmitting device detected in the time domain. Wherein, the first channel path related to the sensing transmitting device is: the first channel path obtained by measuring the first sensing reference signal transmitted by the sensing transmitting device and passing through the sensing target. The first channel path related to the reference sensing transmitting device is: the first channel path obtained by measuring the first sensing reference signal transmitted by the reference sensing transmitting device and passing through the sensing target.

[0156] Specifically, as another example, the relative timing difference between the sensing transmitting device and the reference sensing transmitting device is expressed as: T SubframeRxi -T SubframeRxj Among them, T SubframeRxi The meaning of T SubframeRxj The meaning of is the same as the one mentioned above, and will not be repeated here.

[0157] In simple terms, the time difference of the first sensing reference signal can be defined as the relative timing difference between sensing Txj and reference sensing Txi, denoted as T. SubframeRxj –T SubframeRxi Or T SubframeRxi –T SubframeRxj ;in:

[0158] T SubframeRxj This represents the time at which the sensing receiving device (sensing Rx) receives the start boundary of a subframe x from the sensing transmitting device (sensing Tx j), the time of which is determined by the time of the first channel path through the sensing target k detected in the time domain;

[0159] T SubframeRxiT x (i) represents the time of the starting boundary of a subframe x received by the sensing Rx device from the sensing Tx i, the subframe x being the corresponding subframe closest to the subframe x in the time domain, the time of the starting boundary of the subframe x being determined by the time of the first channel path impacted by the sensing target detected in the time domain;

[0160] The first channel path is, for example, the first M detected channel paths / the first N strongest channel paths / the first P channel paths among the channel paths impacted by the sensing target. As a special case, the first channel path is, for example, the first detected path or the strongest path.

[0161] That is, the sensing RSTD represents the relative timing difference between the sensing Tx j and the reference sensing Tx i, and is expressed as T SubframeRxj -T SubframeRxi or T SubframeRxi -T SubframeRxj ;

[0162] wherein T SubframeRxj T x (i) represents the time of the starting boundary of a subframe x received by the sensing Rx device from the sensing Tx i, the subframe x being the corresponding subframe closest to the subframe x in the time domain, the time of the starting boundary of the subframe x being determined by the time of the first channel path impacted by the sensing target detected in the time domain; SubframeRxi T x (i) represents the time of the starting boundary of a subframe x received by the sensing Rx device from the sensing Tx i, the subframe x being the corresponding subframe closest to the subframe x in the time domain, the time of the starting boundary of the subframe x being determined by the time of the first channel path impacted by the sensing target detected in the time domain;

[0163] As still another specific implementation, the received power of the first sensing reference signal is a linear average of the power of the first sensing reference signal impacted by the sensing target measured on the resource elements (REs) carrying the first sensing reference signal. The first sensing reference signal is a sensing reference signal used for measurement.

[0164] As still another specific implementation, the received path power of the first sensing reference signal is a linear average of the channel response on the corresponding delay of the first channel path impacted by the sensing target on the REs carrying the first sensing reference signal. The first sensing reference signal is a sensing reference signal used for measurement.

[0165] In brief, the received path power of the first sensing reference signal is defined as the linear average of the channel response over the REs carrying the sensing signal corresponding to the first channel delay of the sensing target k.

[0166] The first channel delay is, for example, the first detected channel delay, the first N strongest channel delays, or the Pth channel delay among the channel delays of the sensing target.

[0167] The received path power of the sensing reference signal is described as follows:

[0168] (1) The received path power of the sensing reference signal is defined as the linear average of the channel response over the REs carrying the sensing RS for measurement corresponding to the path delay impacted by the sensing target k, where the sensing RS RPP of the ith path delay is the power corresponding to the ith detected path impacted by the sensing target k in the time domain.

[0169] (2) The received path power of the sensing reference signal is defined as the linear average of the channel response over the REs carrying the sensing RS for measurement corresponding to the first detected path delay impacted by the sensing target k.

[0170] (3) The received path power of the sensing reference signal is defined as the linear average of the channel response over the REs carrying the sensing RS for measurement corresponding to the strongest path delay of the sensing target k.

[0171] As a further specific implementation, the delay in the delay-doppler value is the first perceived reference signal propagation time or the first perceived reference signal arrival time; or, the delay is determined by the first channel path passing through the perceived target; the doppler in the delay-doppler value is a doppler shift obtained by measuring the first channel path passing through the perceived target.

[0172] Wherein, the delay and the doppler shift are obtained based on the same first channel path.

[0173] That is, in the delay-doppler value, the delay can refer to the definition of the first perceived reference signal propagation time passing through the perceived target k, the doppler is a doppler shift obtained by measuring the first perceived reference signal passing through the perceived target k, and both need to be measured and reported in pairs.

[0174] Further, as an optional implementation, the method further comprises:

[0175] sending a second perceived reference signal;

[0176] The first measurement quantity comprises:

[0177] A first time difference, the first time difference being a time difference between a time at which the first device receives the first perceived reference signal and a time at which the second perceived reference signal is sent.

[0178] Specifically, the first time difference is expressed as T Sensing UE-RX -T Sensing UE-TX ; wherein, T Sensing UE-RX represents a receiving timing of a fifth subframe from a perceived sending device by the first device, T Sensing UE-TX represents a sending timing of a sixth subframe by the first device, or, when the first device reports a transmission time stamp of the second perceived reference signal, T Sensing UE-TX represents a sending timing of a subframe containing the second perceived reference signal sent by the first device; here, the sending timing is an actual sending timing of the subframe containing the second perceived reference signal sent by the first device.

[0179] Wherein, the sixth subframe is a corresponding subframe closest to the fifth subframe in time domain; the receiving timing of the fifth subframe is determined by a time of the first channel path passing through the perceived target detected in time domain.

[0180] The first channel path is, for example, the first M detected channel paths, the first N strongest channel paths, or the Pth channel path among the channel paths passing through the sensing target.

[0181] In brief, the first time difference is defined as the difference between the time at which the device receives the sensing reference signal passing through the sensing target and the time at which the device transmits the sensing reference signal, and is denoted as T Sensing UE-RX -T Sensing UE-TX ; wherein:

[0182] T Sensing UE-RX is the reception timing of the device j for the subframe i from the device k, which is determined by the time of the first channel path passing through the sensing target k detected in the time domain, and the first channel path is, for example, the first M detected channel paths, the first N strongest channel paths, or the Pth channel path among the channel paths passing through the sensing target; as a special case, the first channel path is, for example, the first detected path or the strongest path;

[0183] T Sensing UE-TX is the transmission timing of the device j for the subframe I, which is the corresponding subframe closest to the subframe I in the time domain; or, if the device k reports the transmission timestamp information of the sensing reference signal, T Sensing UE-TX is the transmission timing of the device j for the subframe I containing the sensing reference signal.

[0184] As an optional implementation, in the case where the first channel path includes multiple channel paths, such as the case where the first channel path includes the first M detected channel paths, the first N strongest channel paths, or the Pth channel path among the channel paths passing through the sensing target;

[0185] The first measurement quantity includes a measurement quantity corresponding to each channel path of the first channel path; that is, the first measurement quantity includes multiple groups, and the measurement quantity in each group is obtained based on the same first channel path, so the number of groups of the first measurement quantity is the same as the number of first channel paths;

[0186] Alternatively, the first measurement quantity includes a measurement quantity obtained by data processing on the measurement quantity corresponding to each channel path of the first channel path. Here, the "data processing" can be data processing on each measurement result of the same measurement quantity (each measurement result is obtained based on a first channel path, such as taking the average, weighted summation, median, etc.

[0187] Further, as an optional implementation, the method further includes:

[0188] perform a target operation based on the first measurement quantity, the target operation comprising: measurement reporting and / or data calculation. For example, measurement reporting is reporting the measurement result of the first measurement quantity to a second device, for example, the second device is a Sensing Tx or a data calculation entity.

[0189] As a specific implementation, performing measurement reporting based on the first measurement quantity comprises:

[0190] grouping the first measurement quantity according to different sensing targets, wherein each group of sensing results comprises at least one type of measurement quantity, and each group of sensing results is associated with one sensing target; here, grouping the first measurement quantity based on the sensing target can be determining the first channel path passing through the same sensing target based on the characteristics of the first channel path corresponding to the first measurement quantity, and dividing the first channel path corresponding to the same sensing target into a group of measurement quantities;

[0191] reporting the grouped first measurement quantity.

[0192] Here, it should also be noted that when reporting the grouped first measurement quantity, different groups of first measurement quantities can also be numbered, that is, different sensing targets can be numbered; wherein the numbering can be simply indexed incrementally according to the number of detected sensing targets, or can be specifically numbered based on the type of detected sensing target. That is, each group of first measurement quantities should have a corresponding ID information. In addition, when reporting the first measurement quantity, the ID information of the sensing sending device and the ID information of the sensing receiving device corresponding to the first measurement quantity can also be reported.

[0193] A specific example of the above implementation is as follows:

[0194] When the Sensing Rx device performs sensing measurement, it can measure multiple types of measurement quantities at a time. Since there can be multiple sensing targets or objects in the environment, in the case where the first channel path includes multiple paths, each sensing target or object corresponds to multiple groups of measurement results; in the case where the first channel path includes one path, each sensing target or object will correspond to a group of measurement results, and each group of measurement results contains multiple measurement quantities. In order to distinguish them when reporting, each group of measurement results needs to be indexed and numbered, and a specific example is as follows:

[0195] In the case where the first channel path includes multiple channel paths, the reported measurement quantity includes multiple measurement sets, each measurement set (corresponding to a sensing target or object) includes multiple groups of measurement quantities, and each group of measurement quantities (corresponding to one path in the first channel path) includes multiple types of measurement quantities; for example, the reported measurement quantity can be represented in the following way:

[0196] Measurement set#1;

[0197] Measurement set#2;

[0198] ...

[0199] Measurement set#A;

[0200] wherein each measurement set comprises:

[0201] 1) Measurement group#1: {sensing RS ToF, sensing AoA, sensing doppler shift};

[0202] 2) Measurement group#2: {sensing RS ToF, sensing AoA, sensing doppler shift};

[0203] ...

[0204] Q) Measurement group#Q: {sensing RS ToF, sensing AoA, sensing doppler shift}.

[0205] Here, A denotes the number of sensing targets detected in the channel environment, and Q denotes the number of first channel paths.

[0206] In the case where the first channel path comprises one channel path, the reported measurement quantities comprise a plurality of measurement groups, each group of measurement quantities (corresponding to one sensing target or object) comprising a plurality of types of measurement quantities; for example, the reported measurement quantities can be expressed in the following manner:

[0207] 1) Measurement group#1: {sensing RS ToF, sensing AoA, sensing doppler shift};

[0208] 2) Measurement group#2: {sensing RS ToF, sensing AoA, sensing doppler shift};

[0209] ...

[0210] B) Measurement group#B: {sensing RS ToF, sensing AoA, sensing doppler shift}.

[0211] Here, B represents the number of sensing targets detected in the channel environment.

[0212] In the sensing measurement method of the embodiments of the present application, the process of sensing measurement, reporting or calculation after the first sensing measurement reference signal is received by the first device (sensing receiving device) is defined, and the sensing measurement quantity (first measurement quantity) is defined. Thus, the present application designs corresponding sensing measurement quantities in combination with the sensing characteristics, to cope with the needs of different sensing scenarios, improve the measurement accuracy and implementability of sensing integration, reduce the influence of synchronization problems on sensing performance, and reduce the difficulty of sensing calculation and fusion calculation.

[0213] The embodiments of the present application also provide a sensing measurement device, which is applied to a first device, as shown in FIG. 3, and the device comprises:

[0214] The receiving module 301 is configured to receive a first sensing reference signal.

[0215] The obtaining module 302 is configured to obtain a first measurement quantity related to a sensing target according to the first sensing reference signal.

[0216] Optionally, the obtaining module 302 comprises:

[0217] The measurement submodule is configured to measure the first sensing reference signal passing through the sensing target to obtain a first channel path passing through the sensing target.

[0218] The obtaining submodule is configured to obtain the first measurement quantity based on the first channel path.

[0219] Optionally, the first channel path comprises at least one of the following:

[0220] The first M detected channel paths in the channel paths passing through the sensing target, wherein M is a positive integer;

[0221] The first N strongest channel paths in the channel paths passing through the sensing target, wherein N is a positive integer;

[0222] The Pth channel path in the channel paths passing through the sensing target, wherein P is a positive integer.

[0223] Optionally, the channel path passing through the sensing target is a path with at least one of the following characteristics:

[0224] The same or similar Doppler measurement result;

[0225] the micro-Doppler distribution characteristics are the same or similar;

[0226] the time delays are the same or similar;

[0227] the angles of arrival are the same or similar;

[0228] the angles of departure are the same or similar;

[0229] the velocity measurements are the same or similar;

[0230] the times at which the sensing targets arrive at the first device are the same or similar;

[0231] the measurements of the distances between the sensing targets and the first device are the same or similar;

[0232] the path received powers of the first sensing reference signals are the same or similar;

[0233] the received powers of the first sensing reference signals are the same or similar.

[0234] Further, the apparatus further comprises:

[0235] a classification module, configured to classify a plurality of channel paths according to characteristics of the channel paths passing through the sensing targets, wherein each category of the channel paths is associated with a sensing target;

[0236] a determination module, configured to determine the number and / or the category number of the sensing targets in a channel environment according to a classification result of the channel paths.

[0237] Optionally, the first measurement quantity comprises at least one of the following:

[0238] a time of arrival of the first sensing reference signal;

[0239] a propagation time of the first sensing reference signal;

[0240] a time difference of the first sensing reference signal;

[0241] a received power of the first sensing reference signal;

[0242] a received path power of the first sensing reference signal;

[0243] an angle of arrival of the first sensing reference signal;

[0244] a Doppler shift obtained by measuring the first sensing reference signal;

[0245] a sensing target presence indication;

[0246] a channel response statistical characteristic within a first time length;

[0247] a time delay Doppler value;

[0248] a micro-Doppler frequency distribution characteristic obtained by measuring the first sensing reference signal;

[0249] one-dimensional channel state information;

[0250] two-dimensional channel state information.

[0251] Optionally, the first sensing reference signal time of arrival is a time at which the first device receives a starting boundary of a first subframe containing the first sensing reference signal passing through the sensing target.

[0252] wherein the starting boundary of the first subframe is determined by a time of the first channel path passing through the sensing target detected in a time domain; and the time at which the starting boundary of the first subframe is located is a time relative to a reference time.

[0253] Optionally, the first sensing reference signal propagation time is a difference between a first time and a second time, the first time being a time at which the first device receives a starting boundary of a second subframe containing the first sensing reference signal passing through the sensing target, and the second time being a time at which a starting boundary of a second subframe of the first device is located.

[0254] wherein the first time is determined by a time of the first channel path passing through the sensing target detected in a time domain.

[0255] Optionally, the first sensing reference signal time difference is a relative timing difference between a sensing sending device and a reference sensing sending device, the sensing sending device being a device sending the first sensing reference signal, and the reference sensing sending device being a predetermined one of a plurality of devices sending the first sensing reference signal to the first device.

[0256] Optionally, the relative timing difference between the sensing sending device and the reference sensing sending device is represented as: T SubframeRxj -T SubframeRxi ; wherein T SubframeRxj represents a time at which the first device receives a starting boundary of a third subframe from the sensing sending device, and T SubframeRxi represents a time at which the first device receives a starting boundary of a fourth subframe from the reference sensing sending device.

[0257] The fourth subframe is a corresponding subframe closest to the third subframe in the time domain, a time at which a starting boundary of the third subframe is determined by a time of a first channel path related to the sensing sending device detected in the time domain, and a time at which a starting boundary of the fourth subframe is determined by a time of a first channel path related to the reference sensing sending device detected in the time domain; wherein the first channel path related to the sensing sending device is a first channel path obtained by measuring the first sensing reference signal sent by the sensing sending device and passing through the sensing target, and the first channel path related to the reference sensing sending device is a first channel path obtained by measuring the first sensing reference signal sent by the reference sensing sending device and passing through the sensing target.

[0258] Optionally, the received power of the first sensing reference signal is a linear average value of the power of the first sensing reference signal passing through the sensing target measured on a resource element (RE) carrying the first sensing reference signal.

[0259] Optionally, the received path power of the first sensing reference signal is a linear average value of the power corresponding to a channel response at a time delay of the first channel path passing through the sensing target on an RE carrying the first sensing reference signal.

[0260] Optionally, the time delay in the time delay Doppler value is a first sensing reference signal propagation time or a first sensing reference signal arrival time; or the time delay is determined by the first channel path passing through the sensing target; and the Doppler value in the time delay Doppler value is a Doppler shift obtained by measuring the first channel path passing through the sensing target.

[0261] The time delay and the Doppler shift are obtained based on the same first channel path.

[0262] Optionally, the apparatus further comprises:

[0263] a sending module configured to send a second sensing reference signal;

[0264] On this basis, the first measurement quantity comprises:

[0265] a first time difference between a time at which the first device receives the first sensing reference signal and a time at which the second sensing reference signal is sent.

[0266] Optionally, the first time difference is represented as T Sensing UE-RX -T Sensing UE-TX ; wherein T Sensing UE-RX represents a receiving timing of the first device receiving a fifth subframe from a sensing sending device, and T Sensing UE-TXa sixth subframe of the first device, or, when the first device reports a transmission time stamp of the second sensing reference signal, T Sensing UE-TX a sixth subframe of the first device, or, when the first device reports a transmission time stamp of the second sensing reference signal, T

[0267] wherein the sixth subframe is a corresponding subframe closest to the fifth subframe in time domain; and a receiving timing of the fifth subframe is determined by a time of the first channel path of the sensing target detected in time domain.

[0268] Optionally, in the case that the first channel path includes multiple channel paths, the first measurement quantity includes a measurement quantity corresponding to each channel path of the first channel path.

[0269] Alternatively, the first measurement quantity includes a measurement quantity obtained by data processing on a measurement quantity corresponding to each channel path of the first channel path.

[0270] Optionally, the apparatus further includes:

[0271] an execution module, configured to perform a target operation based on the first measurement quantity, the target operation including measurement reporting and / or data calculation.

[0272] Optionally, when the execution module is configured to perform measurement reporting based on the first measurement quantity, the execution module is specifically configured to:

[0273] group the first measurement quantity according to different sensing targets, wherein each group of sensing results includes at least one type of measurement quantity, and each group of sensing results is associated with one sensing target;

[0274] report the grouped first measurement quantity.

[0275] It should be noted that the above sensing measurement apparatus provided by the embodiments of the present application can realize all the method steps achieved by the above sensing measurement method applied to the first device, and can achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiments will not be described in detail.

[0276] The embodiments of the present application further provide a sensing measurement device, including a transceiver 410, a processor 400, a memory 420, and a program stored in the memory 420 and executable on the processor 600; wherein the processor 400 implements the sensing measurement method as described above when executing the program.

[0277] The transceiver 410 is configured to receive and send data under the control of the processor 400.

[0278] In Figure 4, the bus architecture can include any number of interconnected buses and bridges, specifically, various circuit links between the processor(s) 400 and the memory represented by the memory 420. The bus architecture can also link various other circuits such as peripheral devices, voltage stabilizers, and power management circuits, which are well known in the art, and thus, are not further described herein. The bus interface provides an interface. The transceiver 410 can be a plurality of elements, i.e., including a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium. The user interface 430 can also be an interface capable of externally connecting the required device for different devices, including but not limited to a keypad, a display, a speaker, a microphone, a joystick, etc. The processor 400 is responsible for managing the bus architecture and general processing, and the memory 420 can store data used by the processor 400 in performing operations.

[0279] The embodiment of the present application further provides a readable storage medium, and the readable storage medium stores a program. The program is executed by a processor to implement each process of the perception measurement method embodiment and achieve the same technical effects. To avoid repetition, details are not described herein. The readable storage medium is, for example, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

[0280] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware, but in many cases, the former is a better embodiment. According to such understanding, the technical solutions of the present application or the part that contributes to the related art can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as a ROM / RAM, a magnetic disk, or an optical disk) and includes a plurality of instructions for executing the method described in each embodiment of the present application.

[0281] Therefore, the embodiment of the present application further provides a computer program product, which includes computer instructions. When the computer instructions are executed by a processor, the steps in the perception measurement method described above are implemented, and the same technical effects are achieved. To avoid repetition, details are not described herein.

[0282] The above describes the preferred embodiments of the present application. It should be noted that, for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should also be considered as the protection scope of the present application.

Claims

1. A method for sensing measurement, applied to a first device, the method comprising: receiving a first sensing reference signal; and obtaining a first measurement quantity related to a sensing target based on the first sensing reference signal. The obtaining a first measurement quantity related to a sensing target based on the first sensing reference signal comprises: measuring the first sensing reference signal passing through the sensing target to obtain a first channel path passing through the sensing target; and obtaining the first measurement quantity based on the first channel path. The first channel path comprises at least one of: a first M detected channel path among channel paths passing through the sensing target, where M is a positive integer; a first N strongest channel path among channel paths passing through the sensing target, where N is a positive integer; or a first P channel path among channel paths passing through the sensing target, where P is a positive integer.

2. The method of claim 1, wherein, The channel path passing through the sensing target is a path having at least one of the following characteristics: a same or similar Doppler measurement result; a same or similar micro-Doppler distribution characteristic; a same or similar time delay; a same or similar angle of arrival; a same or similar angle of departure; a same or similar velocity measurement result; a same or similar time of arrival at the first device from the sensing target; a same or similar distance measurement result between the sensing target and the first device; a same or similar path received power of the first sensing reference signal; or a same or similar received power of the first sensing reference signal. The method further comprises: classifying a plurality of channel paths passing through the sensing target according to a characteristic of the channel paths, wherein each class of the channel paths is related to a sensing target; and determining a number and / or a type of the sensing targets in a channel environment based on a classification result of the channel paths. The first measurement quantity comprises at least one of: a first sensing reference signal time of arrival; a first sensing reference signal propagation time; a first sensing reference signal time difference; a first sensing reference signal received power; a first sensing reference signal received path power; a first sensing reference signal angle of arrival; a Doppler shift obtained by measuring the first sensing reference signal; a sensing target presence indication; a channel response statistical characteristic within a first time duration; a time delay Doppler value; a micro-Doppler frequency distribution characteristic obtained by measuring the first sensing reference signal; one-dimensional channel state information; or two-dimensional channel state information.

3. The method of claim 2, wherein, The first sensing reference signal time of arrival is a time at which a first subframe containing the first sensing reference signal passing through the sensing target is received by the first device. The first sensing reference signal propagation time is a difference between a first time and a second time, the first time being a time at which a second subframe containing the first sensing reference signal passing through the sensing target is received by the first device, and the second time being a time at which a starting boundary of the second subframe is located at the first device. ​ ​ 4. The method of claim 3, wherein, ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 5. The method of claim 4, wherein, ​ ​ ​ 6. The method of claim 2, wherein, ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 7. The method of claim 6, wherein, ​ ​ 8. The method of claim 6, wherein, ​ The first time is determined by a time of the first channel path passing through the sensing target detected in a time domain.

9. The method of claim 6, wherein, The first sensing reference signal time difference is a relative timing difference between a sensing sending device and a reference sensing sending device, the sensing sending device being a device sending the first sensing reference signal, and the reference sensing sending device being a device previously determined from a plurality of devices sending the first sensing reference signal to the first device.

10. The method of claim 9, wherein, The relative timing difference between the sensing transmitting device and the reference sensing transmitting device is represented as: T SubframeRxj -T SubframeRxi ; wherein T SubframeRxj represents the time at which the first device receives the start boundary of a third subframe from the sensing transmitting device, the T SubframeRxi represents the time at which the first device receives the start boundary of a fourth subframe from the reference sensing transmitting device; The fourth subframe is a corresponding subframe closest to the third subframe in a time domain, a starting boundary of the third subframe being at a time determined by a time of a first channel path related to the sensing sending device detected in a time domain, and a starting boundary of the fourth subframe being at a time determined by a time of a first channel path related to the reference sensing sending device detected in a time domain; the first channel path related to the sensing sending device is a first channel path obtained by measuring the first sensing reference signal sent by the sensing sending device and passing through the sensing target, and the first channel path related to the reference sensing sending device is a first channel path obtained by measuring the first sensing reference signal sent by the reference sensing sending device and passing through the sensing target.

11. The method of claim 6, wherein, The received power of the first sensing reference signal is a linear average value of power of the first sensing reference signal passing through the sensing target measured on resource elements (REs) carrying the first sensing reference signal.

12. The method of claim 6, wherein, The received path power of the first sensing reference signal is a linear average value of power corresponding to a channel response on a time delay of the first channel path passing through the sensing target on REs carrying the first sensing reference signal.

13. The method of claim 6, wherein, The time delay in the time delay Doppler value is the first sensing reference signal propagation time or the first sensing reference signal arrival time; Or, the time delay is determined by the first channel path passing through the sensing target; and the Doppler value in the time delay Doppler value is a Doppler shift obtained by measuring the first channel path passing through the sensing target. The time delay and the Doppler shift are obtained based on the same first channel path.

14. The method of claim 2 or 6, wherein, The method further comprises: sending a second sensing reference signal; The first measurement quantity comprises: a first time difference, the first time difference being a time difference between a time at which the first device receives the first sensing reference signal and a time at which the second sensing reference signal is sent.

15. The method of claim 14, wherein, The first time difference is represented as T Sensing UE-RX -T Sensing UE-TX ; wherein T Sensing UE-RX represents the receiving timing of the fifth subframe from the sensing transmitting device by the first device, T Sensing UE-TX represents the sending timing of the sixth subframe by the first device, or, when the first device reports the transmission time stamp of the second sensing reference signal, T Sensing UE-TX represents the sending timing of the subframe containing the second sensing reference signal sent by the first device; The sixth subframe is a corresponding subframe closest to the fifth subframe in a time domain; and a receiving timing of the fifth subframe is determined by a time of the first channel path passing through the sensing target detected in a time domain.

16. The method of claim 3, wherein: In a case where the first channel path comprises a plurality of channel paths, the first measurement quantity comprises a measurement quantity corresponding to each channel path of the first channel path; Or, the first measurement quantity comprises a measurement quantity obtained by data processing on a measurement quantity corresponding to each channel path of the first channel path.

17. The method of claim 1, wherein, The method further comprises: performing a target operation based on the first measurement, the target operation comprising measurement reporting and / or data calculation.

18. The method of claim 17, wherein, performing measurement reporting based on the first measurement, comprising: grouping the first measurement according to different perception targets, wherein each group of perception results comprises at least one type of measurement, and each group of perception results is associated with one of the perception targets; reporting the grouped first measurement. 19.A perception measurement apparatus applied to a first device, the apparatus comprising: a receiving module configured to receive a first perception reference signal; an obtaining module configured to obtain, according to the first perception reference signal, a first measurement related to a perception target.

20. A perception measurement device comprising: a transceiver, a processor, a memory, and a computer program stored in the memory and executable in the processor, the computer program, when executed by the processor, implements the perception measurement method according to any one of claims 1 to 18. 21.A readable storage medium, having a computer program stored therein, the computer program, when executed by a processor, implements the perception measurement method according to any one of claims 1 to 18. 22.A computer program product, comprising computer instructions, the computer instructions, when executed by a processor, implements the perception measurement method according to any one of claims 1 to 18.

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