Sensing method and communication apparatus

Abstract

The present application provides a sensing method and a communication apparatus, capable of improving sensing performance and applicable to communication systems. The method comprises: a first node acquires first information, and sends, on the basis of the first information, sensing signals respectively corresponding to K target positions. The first information is used for indicating that information of the sensing signals respectively corresponding to the K target positions comprises one or more of the following information: transmission power, transmission duration, or number of occupied time domain units. The information of the sensing signal corresponding to the k-th target position among the K target positions satisfies a preset condition. k and K are both positive integers, and k≤K.

Description

Sensing method and communication device

[0001] The present application claims priority from the Chinese patent application No. 202411135523.7 filed on August 16, 2024, and entitled "Sensing method and communication device", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

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

[0003] In an integrated sensing and communication (ISAC) scenario, wireless signals of a communication system can be used for environment sensing, such as sensing imaging.

[0004] In a scenario of sensing, due to different surface materials and / or directions of target objects, the strengths of scattering coefficients corresponding to different positions in a target region (a region that needs to be sensed) are inconsistent. Positions with stronger scattering coefficients interfere with sensing of positions with weaker scattering coefficients, resulting in poor sensing performance. The stronger the scattering coefficient of a position, the greater the impact on sensing of other positions, and the weaker the scattering coefficient of a position, the more easily the sensing is affected by other positions, thereby resulting in poor sensing performance.

[0005] Therefore, how to improve sensing performance is a technical problem to be solved. SUMMARY

[0006] Embodiments of the present application provide a sensing method and a communication device, which can improve the interference of positions with stronger scattering coefficients on positions with weaker scattering coefficients, thereby improving sensing performance.

[0007] To achieve the above object, the present application adopts the following technical solutions:

[0008] In a first aspect, a sensing method is provided. The method comprises: a first node obtaining first information and transmitting sensing signals corresponding to K target positions respectively according to the first information. The first information is used to indicate information of the sensing signals corresponding to the K target positions respectively, which includes one or more of the following information: transmission power, transmission duration, or the number of occupied time domain units. The information of the sensing signal corresponding to the kth target position in the K target positions satisfies a preset condition. k and K are both positive integers, and k≤K.

[0009] According to the method provided in the first aspect, the first node can send the sensing signals corresponding to the K target positions respectively according to the information of the sensing signals corresponding to the K target positions indicated by the first information. Since the information of the sensing signals corresponding to the K target positions satisfies the preset condition, the actual transmitted sensing signals can satisfy the corresponding condition, for example, the actual transmitted sensing signals can be matched with the scattering coefficients of the target positions in the actual scene, the dynamic range of the strength of the scattered signals in the channel is reduced, and thus the sensing performance is improved.

[0010] For example, the first node can be a terminal device, or a communication module, a circuit with a communication function, a chip, a chip system or other components or assemblies in the terminal device. Alternatively, the first node can be an access network device, or a communication module, a circuit with a communication function, a chip, a chip system or other components or assemblies in the access network device.

[0011] In a possible implementation, the first node obtaining the first information includes that the first node receiving the first information. In this way, the first node can obtain the first information from other nodes, and the calculation complexity of the first node can be reduced.

[0012] In a possible implementation, the preset condition includes one or more of the following: at least one of the transmission power, the transmission duration or the number of occupied time domain units of the sensing signal corresponding to the kth target position is negatively correlated with the first imaging intensity corresponding to the kth target position. In this way, the energy of the sensing signal transmitted to the position with a large scattering coefficient can be reduced, so that the energy of the scattered signal corresponding to the position with a large scattering coefficient can be reduced, and the interference of the scattered signal to other positions can be reduced. Alternatively, Alternatively, wherein, is the transmission power of the sensing signal transmitted for the nth time at the kth target position, is the transmission duration of the sensing signal transmitted for the nth time at the kth target position, E noise represents the power of the noise at the first node, min represents the minimum value, SNR threshold represents the signal-to-noise ratio threshold of the signal transmitted by the first node, W threshold represents the energy threshold of the signal transmitted by the first node. n is a positive integer, E noise or W threshold are positive numbers. In this way, the sensing signal can satisfy the signal-to-noise ratio requirement, so that the influence of noise can be suppressed, and a more accurate sensing result can be obtained.

[0013] In a possible implementation, the transmission power and the transmission duration of the sensing signal corresponding to the kth target position satisfy the following relationship: Alternatively, Or, Or, Or, Or, Wherein, a represents a proportional relationship, The imaging intensity of the sensing signal sent for the n-1th time at the kth target position is represented by I k n-1, and the first imaging intensity is represented by I k 0. is a positive number, and β1, β2 or β3 are constants.

[0014] In a possible implementation, the transmission power and the transmission duration of the kth sensing signal are determined according to the noise at the first node and a signal-to-noise ratio threshold of the signal sent by the first node. In this way, the sensing signal can meet the signal-to-noise ratio requirement, so that the influence of noise can be suppressed, and a more accurate sensing result can be obtained.

[0015] In a possible implementation, the transmission power and the transmission duration of the sensing signal corresponding to the kth target position meet the capability of the first node. The capability of the first node includes one or more of the following: a power range of the sensing signal supported by the first node, a duration range of the sensing signal supported by the first node, an angle range of the sensing signal supported by the first node, a frequency band or a carrier supported by the first node, a number of antenna elements of the first node, or an interval of the antenna elements of the first node. In this way, the sensing signal can be sent within the capability range of the first node.

[0016] In a possible implementation, the method provided in the first aspect can further include that the first node sends second information. The second information is used to indicate the capability of the first node. In this way, the sensing signal can be sent within the capability range of the first node.

[0017] In a possible implementation, the method provided in the first aspect can further include that the first node receives third information. The third information is obtained by scattering, by the target object, the sensing signals corresponding to the K target positions respectively. In this way, the first node can process the third information, so as to obtain the sensing result.

[0018] In a second aspect, a sensing method is provided. The method includes that a second node obtains and sends first information. The first information is used to indicate information of sensing signals corresponding to K target positions respectively, and the information includes one or more of the following: transmission power, transmission duration or a number of occupied time domain units. The information of the sensing signal corresponding to the kth target position in the K target positions meets a preset condition. Wherein, k and K are positive integers, and k≤K.

[0019] Based on the method provided in the second aspect, the second node generates the first information and sends the first information, so that the first node can send the perception signal corresponding to each of the K target positions according to the information of the perception signal corresponding to the K target positions indicated by the first information. Since the information of the perception signal corresponding to the K target positions satisfies the preset condition, the actually sent perception signal can satisfy the corresponding condition, for example, the actually sent perception signal can be matched with the scattering coefficient of the target position in the actual scene, the dynamic range of the strength of the scattered signal in the channel is reduced, and thus the perception performance is improved.

[0020] As an example, the second node can be an access network device, or a communication module, a circuit with a communication function, a chip, a chip system, or other components or assemblies in the access network device. Alternatively, the second node can be a terminal device, or a communication module, a circuit with a communication function, a chip, a chip system, or other components or assemblies in the terminal device.

[0021] In a possible implementation, the preset condition includes one or more of the following: at least one of the transmission power, the transmission duration, or the number of occupied time domain units of the perception signal corresponding to the kth target position is negatively correlated with the first imaging intensity corresponding to the kth target position. Alternatively, Alternatively, wherein, is the transmission power of the perception signal sent for the nth time at the kth target position, is the transmission duration of the perception signal sent for the nth time at the kth target position, E noise represents the power size of the noise at the first node, min represents taking the minimum value, SNR threshold represents the signal-to-noise ratio threshold of the signal sent by the first node, W threshold represents the energy threshold of the signal sent by the first node. n is a positive integer, E noise , W threshold are positive numbers.

[0022] In a possible implementation, the transmission power and the transmission duration of the perception signal corresponding to the kth target position satisfy the following relationship: Alternatively, Alternatively, Alternatively, Alternatively, Alternatively, wherein, represents a proportional relationship, represents the imaging intensity of the perception signal sent for the nth time at the kth target position, and the first imaging intensity is is a positive number, and β1, β2, or β3 are all constants.

[0023] In a possible implementation, the transmission power and the transmission duration of the kth perception signal are determined according to a noise at the first node and a signal-to-noise ratio threshold of a signal transmitted by the first node.

[0024] In a possible implementation, the transmission power and the transmission duration of the perception information corresponding to the kth target position satisfy a capability of the first node. The capability of the first node includes: a power range of the first node for transmitting the perception signal, a duration range of the first node for transmitting the perception signal, an angle range of the first node for transmitting the perception signal, a frequency band or a carrier supported by the first node, a number of antenna elements of the first node, or an interval of antenna elements of the first node.

[0025] In a possible implementation, the method provided in the second aspect further includes: receiving, by the second node, second information. The second information is used to indicate the capability of the first node.

[0026] In a possible implementation, the method provided in the second aspect further includes: receiving, by the second node, third information. The third information is obtained by scattering, by the target object, the perception signal corresponding to each of the K target positions.

[0027] In addition, the technical effects of the perception method provided in the second aspect can refer to the technical effects of the perception method provided in the first aspect, which will not be described here again.

[0028] In a third aspect, a communication apparatus is provided. The communication apparatus is configured to perform the perception method in any of the implementations of the first aspect or the second aspect.

[0029] In this application, the communication apparatus in the third aspect can be a terminal device, or a communication module, a circuit with a communication function, a chip, a chip system, or other components or assemblies in the terminal device. Alternatively, the communication apparatus can be an access network device, or a communication module, a circuit with a communication function, a chip, a chip system, or other components or assemblies in the access network device.

[0030] It should be understood that the communication apparatus in the third aspect includes a module, a unit, or a means corresponding to the perception method in any of the first aspect to the second aspect, which can be implemented by hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units for performing the functions involved in the perception method.

[0031] In a fourth aspect, a communication apparatus is provided. The communication apparatus includes a processor configured to perform the perception method in any of the implementations of the first aspect to the second aspect.

[0032] In a possible design, the communication apparatus in the fourth aspect can further include a transceiver. The transceiver can be a transceiving circuit or an interface circuit. The transceiver can be used for the communication apparatus in the fourth aspect to communicate with other communication apparatuses.

[0033] In a possible design, the communication apparatus in the fourth aspect can further include a memory. The memory can be integrated with the processor, or can be separately arranged. The memory can be used to store a computer program and / or data related to the perception method in any of the first aspect to the second aspect.

[0034] Optionally, the memory can be arranged outside the communication apparatus.

[0035] In this application, the communication apparatus in the fourth aspect can be a terminal device, or a communication module, a circuit with communication function, a chip, a chip system, or other components or assemblies in the terminal device. Alternatively, the communication apparatus can be an access network device, or a communication module, a circuit with communication function, a chip, a chip system, or other components or assemblies in the access network device.

[0036] In a possible design, the communication apparatus in the fifth aspect can further include a transceiver. The transceiver can be a transceiving circuit or an interface circuit. The transceiver can be used for the communication apparatus in the fifth aspect to communicate with other communication apparatuses.

[0037] In this application, the communication apparatus in the fifth aspect can be a terminal device, or a communication module, a circuit with communication function, a chip, a chip system, or other components or assemblies in the terminal device. Alternatively, the communication apparatus can be an access network device, or a communication module, a circuit with communication function, a chip, a chip system, or other components or assemblies in the access network device.

[0038] In a possible design, the communication apparatus in the sixth aspect can further include a transceiver. The transceiver can be a transceiving circuit or an interface circuit. The transceiver can be used for the communication apparatus in the sixth aspect to communicate with other communication apparatuses.

[0039] In this application, the communication apparatus in the sixth aspect can be a terminal device, or a communication module, a circuit with communication function, a chip, a chip system, or other components or assemblies in the terminal device. Alternatively, the communication apparatus can be an access network device, or a communication module, a circuit with communication function, a chip, a chip system, or other components or assemblies in the access network device.

[0040] In a possible design, the communication apparatus in the sixth aspect can further include a transceiver. The transceiver can be a transceiving circuit or an interface circuit. The transceiver can be used for the communication apparatus in the sixth aspect to communicate with other communication apparatuses.

[0041] In the present application, the communication apparatus of the sixth aspect can be a terminal device, or a communication module, a circuit with communication function, a chip, a chip system, or other components or assemblies in the terminal device. Alternatively, the communication apparatus can be an access network device, or a communication module, a circuit with communication function, a chip, a chip system, or other components or assemblies in the access network device.

[0042] In the seventh aspect, a communication system is provided. The communication system includes one or more terminal devices, and one or more network devices.

[0043] In the eighth aspect, a computer readable storage medium is provided, including a computer program or instructions; when the computer program or instructions are run on a computer, the computer is caused to perform the perception method of any possible implementation manner of the first aspect to the second aspect.

[0044] In the ninth aspect, a computer program product is provided, including a computer program or instructions; when the computer program or instructions are run on a computer, the computer is caused to perform the perception method of any possible implementation manner of the first aspect to the second aspect.

[0045] In addition, the technical effects of the communication apparatuses of the third aspect to the ninth aspect can refer to the technical effects of the perception methods of the first aspect to the second aspect, which will not be described herein. BRIEF DESCRIPTION OF DRAWINGS

[0046] FIG. 1 is a schematic diagram of an architecture of a communication system according to an embodiment of the present application;

[0047] FIG. 2 is a schematic diagram of a perception scenario according to an embodiment of the present application;

[0048] FIG. 3 is a schematic diagram of a scattering point according to an embodiment of the present application;

[0049] FIG. 4 is a schematic diagram of a relationship between power and time delay of a scattering point according to an embodiment of the present application;

[0050] FIG. 5 is a schematic diagram of a perception result of a scattering point according to an embodiment of the present application;

[0051] FIG. 6 is a schematic diagram of a perception method according to an embodiment of the present application;

[0052] FIG. 7 is a schematic diagram of a relationship between power and time delay of another scattering point according to an embodiment of the present application;

[0053] FIG. 8 is a schematic diagram of a perception result of a scattering point with the same power according to an embodiment of the present application;

[0054] FIG. 9 is a diagram of a measured perception result according to an embodiment of the present application;

[0055] FIG. 10 is a diagram of a scenario according to an embodiment of the present application;

[0056] FIG. 11 is a diagram of a perception method according to an embodiment of the present application;

[0057] FIG. 12 is a diagram of a scenario according to an embodiment of the present application;

[0058] FIG. 13 is a diagram of a perception method according to an embodiment of the present application;

[0059] FIG. 14 is a diagram of a scenario according to an embodiment of the present application;

[0060] FIG. 15 is a diagram of a perception method according to an embodiment of the present application;

[0061] FIG. 16 is a diagram of a scenario according to an embodiment of the present application;

[0062] FIG. 17 is a diagram of a perception method according to an embodiment of the present application;

[0063] FIG. 18 is a diagram of a structure of a communication device according to an embodiment of the present application;

[0064] FIG. 19 is a diagram of a structure of a communication device according to an embodiment of the present application. DETAILED DESCRIPTION

[0065] In the description of the present application, unless otherwise specified, " / " means that the objects before and after the " / " are in an "or" relationship, for example, A / B can mean A or B; "and / or" in the present application is only a description of the relationship between the associated objects, which means that there can be three relationships, for example, A and / or B, which can mean: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural.

[0066] In the description of the present application, unless otherwise specified, "multiple" means two or more than two. "At least one of the following" or the like means any combination of the items, including any combination of single item or multiple items. For example, at least one of a, b, or c can mean a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0067] In addition, in order to facilitate clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the terms "first", "second", etc. are used to distinguish the same or similar items with basically the same functions and effects. Those skilled in the art can understand that the terms "first", "second", etc. do not limit the quantity and execution order, and the terms "first", "second", etc. also do not necessarily mean that they are different.

[0068] It can be understood that in the embodiments of the present application, the words "exemplary", "for example", etc. are used to represent an example, illustration or description. Any embodiment or implementation described as "exemplary" in the present application should not be interpreted as more preferred or more advantageous than other embodiments or implementations. Rather, the word "exemplary" is intended to present the concept in a specific manner.

[0069] It can be understood that "information", "signal", "message", "channel", and "signaling" can be used interchangeably, and it should be pointed out that when the distinction is not emphasized, the meanings expressed are consistent. "Of", "corresponding" and "corresponding" can be used interchangeably, and it should be pointed out that when the distinction is not emphasized, the meanings expressed are consistent.

[0070] It can be understood that "embodiments" mentioned throughout the specification mean that the specific features, structures or characteristics related to the embodiments are included in at least one embodiment of the present application. Therefore, the various embodiments throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in any suitable manner in one or more embodiments. It can be understood that in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and inherent logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0071] It can be understood that 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 that includes a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0072] It can be understood that in the present application, "when" and "if" both refer to making corresponding processing under certain objective circumstances, and are not limited by time, and do not require judgment actions when implemented, nor do they mean that there are other limitations.

[0073] 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, it can also be combined with other features according to needs. Correspondingly, the apparatus given in the embodiments of the present application can also implement these features or functions accordingly, which will not be described here.

[0074] It can be understood that in the present application, "indication" can include direct indication and indirect indication, and can also include explicit indication and implicit indication. When describing "a certain indication information indicates A" or "indication information of A", it can include that the indication information directly indicates A or indirectly indicates A, and does not mean that A is necessarily carried in the indication information. The information indicated by a certain information is called to be indicated information, and there are many ways to indicate the to-be-indicated information in the implementation process, for example but not limited to, the to-be-indicated information can be directly indicated, such as the to-be-indicated information itself or the index of the to-be-indicated information. The to-be-indicated information can also be indirectly indicated by indicating other information, where the other information and the to-be-indicated information have an association relationship. The to-be-indicated information can also be only indicated a part, and the other part of the to-be-indicated information is known or agreed in advance. For example, the arrangement order of each information agreed in advance (for example, a protocol) can be used to implement the indication of a specific information, thereby reducing the indication overhead to a certain extent. At the same time, the common part of each information can be identified and indicated uniformly, so as to reduce the indication overhead caused by separately indicating the same information. In addition, the specific indication method can also be various existing indication methods, for example but not limited to, the above indication methods and various combinations thereof. As can be seen from the above, for example, when multiple information of the same type needs to be indicated, the indication methods of different information can be different. In the implementation process, the required indication method can be selected according to the specific needs, and the selected indication method is not limited in the embodiments of the present application. In this way, the indication method involved in the embodiments of the present application should be understood as covering various methods that can enable the to-be-indicated party to know the to-be-indicated information. The to-be-indicated information can be sent as a whole, or can be sent separately as multiple sub-information, and the sending period or sending time of the sub-information can be the same or different. The specific sending method is not limited in the present application. The sending period or sending time of the sub-information can be pre-defined, for example, pre-defined according to a protocol, or configured by the transmitting end device by sending configuration information to the receiving end device.

[0075] In this application, "sending" and "receiving" represent the direction of signal transmission. For example, "sending information to XX" can be understood as that the destination of the information is XX, which can include direct transmission through the air interface, and also includes indirect transmission through the air interface by other units or modules. "Receiving information from YY" can be understood as that the source of the information is YY, which can include direct reception from YY through the air interface, and also can include indirect reception 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. In other words, sending and receiving can be carried out between devices, such as between network devices and terminal devices, or can be carried out within a device, such as between components, modules, chips, software modules or hardware modules within a device through a bus, wire or interface.

[0076] In this application, the same or similar parts between various embodiments can be mutually referred to, unless otherwise specified. In this application, the terms and / or descriptions of different embodiments can be consistent and can be mutually referred to, unless otherwise specified and logically conflicted. 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.

[0077] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as a wireless fidelity (WiFi) system, a vehicle to everything (V2X) communication system, a device-to-device (D2D) communication system, a vehicle networking communication system, a 4th generation (4G) mobile communication system such as a long term evolution (LTE) system, a 5th generation (5G) mobile communication system such as a new radio (NR) system, and a future communication system, etc.

[0078] The present application will present various aspects, embodiments or features around a system which can include a plurality of devices, components, modules, etc. It should be understood and appreciated that each system can include additional devices, components, modules, etc., and / or can not include all the devices, components, modules, etc. discussed in connection with the drawings. In addition, combinations of these solutions can also be used.

[0079] The network architecture and service scenarios described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. It can be known by those skilled in the art that, with the evolution of network architecture and the appearance of new service scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0080] The network architecture and service scenarios described in the embodiments of the present application are for more clearly illustrating the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application. It can be known by those skilled in the art that, with the evolution of network architecture and the appearance of new service scenarios, the technical solutions provided by the embodiments of the present application are also applicable to similar technical problems.

[0081] To facilitate understanding of the embodiments of the present application, first, a communication system shown in FIG. 1 is taken as an example to illustrate the communication system applicable to the embodiments of the present application in detail. Exemplarily, FIG. 1 is a schematic diagram of the architecture of a communication system to which the method provided by the embodiments of the present application is applicable. As shown in FIG. 1, the communication system includes a network device and a terminal device.

[0082] As shown in FIG. 1, the communication system includes at least one network device (such as network device 110a and network device 110b) and at least one terminal device (such as terminal devices 120a to 120j).

[0083] The terminal device can be connected to the network device in a wireless manner, and the network device can be connected to a core network (not shown in FIG. 1) in a wired or wireless manner.

[0084] The network device and the terminal device can interact information.

[0085] The terminal device can be a terminal with a transceiving function. The terminal device can also be referred to as a user equipment (UE), an access terminal, a subscriber unit, a user station, a mobile station (MS), a mobile station, a remote station, a remote terminal, a mobile device, a user terminal, a terminal, a wireless communication device, a user agent, or a user apparatus. The terminal device in the embodiments of the present application can be a mobile phone, a cellular phone, a smart phone, a Pad, a wireless data card, a personal digital assistant (PDA), a wireless modem, a handset, a laptop computer, a machine type communication (MTC) terminal, a computer with a wireless transceiving function, a virtual reality (VR) terminal, an augmented reality (AR) terminal, a smart home device (for example, a refrigerator, a television, an air conditioner, an electricity meter, a sound box, etc.), a smart robot, a mechanical arm, a plant device, a wireless terminal in a self-driving vehicle, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in telemedicine, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, a vehicle-mounted terminal, a road side unit (RSU) with a terminal function, etc., a flight device (for example, a smart robot, a hot air balloon, a drone, an airplane), an automated guided vehicle (AGV), an electronic door lock, an internet of things (IoT) device, etc. The terminal device of the present application can also be a car, or a vehicle-mounted module, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip, or a vehicle-mounted unit built as one or more components or units. The terminal device can also be other devices with terminal functions, for example, the terminal device can also be a device with terminal functions in D2D communication.Embodiments of the present application do not limit the device form of the terminal device, and the device for implementing the function of the terminal device can be a terminal device; or can be a device capable of supporting the terminal device to implement the function, such as a communication module, a chip, a chip system, other components or assemblies, or a circuit or functional assembly, etc. The device can be applied in the terminal device or used in matching with the terminal device. Among them, the chip system can be composed of a chip, or can include a chip and other discrete devices. Among them, the terminal device in various forms described above can also be referred to as a terminal-side device.

[0086] In embodiments of the present application, the network device can be a device with wireless transceiving function. For example, the network device can be a device located in an access network (AN) of a communication system, which can be used to provide access services for terminals. In a possible scenario, the network device can be a radio access network (RAN) device, such as a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a base station in a future communication system, etc. In a future mobile communication system, the network device can also have other naming, which is all included in the protection scope of embodiments of the present application, and the present application does not make any limitation on this. Alternatively, the network device can also include one or a group (including multiple antenna panels) of antenna panels of a 5G, such as a gNB in a new radio (NR) system, or a base station in a 5G, or can also be a network node constituting a gNB, a transmission and reception point (TRP or transmission point, TP) or a transmission measurement function (TMF). Alternatively, the network device can be a macro base station (such as 110a in FIG. 1), a micro base station or an indoor station (such as 110b in FIG. 1), a relay node or a donor node, or a wireless controller in a cloud radio access network (CRAN) scenario. Optionally, the network device can also be a wireless router, a server, a wearable device, a vehicle or a vehicle-mounted device, etc. For example, the access network device in a V2X technology can be a road side unit (RSU). The network device can also be a terminal assuming a network device function in a D2D communication system or a machine to machine (M2M) system. All or part of the functions of the network device in the present application can also be realized by software functions running on hardware, or by virtualized functions instantiated on a platform (such as a cloud platform). The network device in the present application can also be a logic node, a logic module or software capable of realizing all or part of the functions of the network device.

[0087] In another possible scenario, a terminal device accesses a network device to perform wireless access. The network device can be a base station, or also be referred to as a Node B, an access point, or some other names. In a network device composed of multiple network devices, each network device can be a central unit (CU), a distributed unit (DU), a CU-control plane (CU-CP), a CU-user plane (CU-UP), or a radio unit (RU), etc. The CU and the DU can be separately configured, or can be included in the same network element, such as a baseband unit (BBU). The RU can be included in a radio frequency device or a radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0088] In different systems, the CU (or centralized unit control plane (CU-CP)) and the centralized unit user plane (CU-UP), the DU, or the RU can also have different names, but those skilled in the art can understand their meanings. For example, in an open radio access network (O-RAN or ORAN) system, the CU can also be referred to as an open centralized unit (O-CU) (open CU), the DU can also be referred to as an open distributed unit (O-DU), the CU-CP can also be referred to as an open centralized unit control plane (O-CU-CP), the CU-UP can also be referred to as an open centralized unit user plane (O-CU-UP), and the RU can also be referred to as an open radio unit (O-RU). For the convenience of description, the CU, the CU-CP, the CU-UP, the DU, and the RU are taken as examples for description in this application. Any one of the CU (or the CU-CP, the CU-UP), the DU, and the RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0089] In the embodiments of the present application, the form of the network device is not limited, and the device for implementing the function of the network device can be the network device; or can be a device capable of supporting the network device to implement the function, such as a communication module, a chip, a chip system, other components or assemblies, or a circuit or functional assembly, etc. The device can be applied in the network device or matched with the network device. Among them, the chip system can be composed of a chip, or can include a chip and other discrete devices. Among them, the network device in various forms described above can also be referred to as a network side device.

[0090] It should be pointed out that the scheme in the embodiments of the present application can also be applied in other communication systems, and the corresponding names can also be replaced by the names of corresponding functions in other communication systems.

[0091] It should be understood that FIG. 1 is only a simplified schematic diagram for illustration, and other network devices and / or other terminal devices can also be included in the communication system, which are not shown in FIG. 1.

[0092] The technologies related to the embodiments of the present application are introduced below.

[0093] Perception imaging: The perception imaging technology can perform environment imaging through a perception signal. As an example, the imaging result of the environment can be obtained through a scattering signal (hereinafter referred to as a scattering signal, which can also be referred to as a return signal) of a perception signal (such as a wireless signal). Among them, in the integrated sensing and communication (ISAC) scene, the wireless signal of the communication system can be used for perception imaging. In this case, the device that transmits the perception signal (i.e., the wireless signal) can be a device in the communication system, such as an access network device or a terminal device, etc. The way of radio frequency imaging can include double-base sensing and single-base sensing. The perception signal can also be referred to as a probe signal or other possible names, which are not limited in the embodiments of the present application.

[0094] Among them, in the double-base sensing, the one end that transmits the perception signal and the one end that receives the scattering signal are different devices, and the one end that receives the scattering signal can process the scattering signal to obtain the perception result, such as the imaging result of the environment. Optionally, the perception signal can also be used for communication. As an example, the one end that transmits the perception signal can be a terminal device, and the one end that receives the scattering signal can be an access network device (such as a base station).

[0095] In the single-base sensing, the one end that transmits the perception signal and the one end that receives the scattering signal are the same device, and the device can obtain the perception result, such as the imaging result of the environment, according to the received scattering signal. For example, the device that transmits the perception signal and the device that receives the scattering signal are both the same access network device (such as a base station).

[0096] By way of example in connection with FIG. 2, in the sensing scenario shown in FIG. 2, including terminal devices 1-3, network devices 1-3, and an object (e.g., a building) to be sensed, the terminal devices 1-3 and the network devices 1-3 are all located around the building. In the case of sensing the building in a double-base sensing manner, it is assumed that the terminal device 1 sends a sensing signal #1 to a target region on the building. The sensing signal #1 scatters to generate a scattered signal #1 after passing through the building, and the network device 1 can receive the scattered signal #1. The network device 1 can obtain sensing of the target region of the building by processing the received scattered signal #1. Similarly, in the double-base sensing manner, the terminal device 2 can also send a sensing signal #2 to form a scattered signal #2. The terminal device 3 can also send a sensing signal #3 to form a scattered signal #3. The network device 1 can obtain the sensing result of the target region of the building by processing the received scattered signal #2 or the received scattered signal #3.

[0097] In the case of imaging the building in a single-base sensing manner, the network device 1 can send a sensing signal #4 to a target region of the building, the building scatters the sensing signal #4 to obtain a scattered signal #4, and the network device 1 receives the scattered signal #4. The network device 1 can obtain the sensing result of the target region of the building by processing the scattered signal #4. Similarly, in the single-base sensing scenario, the network device 2 can also send a sensing signal #5 and receive a scattered signal #5 of the sensing signal #5. The network device 3 can also send a sensing signal #6 and receive a scattered signal #6 of the sensing signal #6. The network device 2 can obtain the sensing result of the target region of the building by processing the received scattered signal #5 or the received scattered signal #6.

[0098] In sensing, the sensing performance can be represented by a chamfer distance (CD) and an F-score. The chamfer distance is used to represent the distance between the ground truth point cloud of the target region and the reconstructed point cloud (which can also be referred to as the imaging point cloud) of the target region. The smaller the chamfer distance, the better the sensing performance, and the larger the chamfer distance, the worse the sensing performance. The F-score is used to represent the coverage of the reconstructed point cloud of the target region and the ground truth point cloud. The larger the F-score, the better the sensing performance, and the smaller the F-score, the worse the sensing performance.

[0099] Optionally, the CD distance can satisfy the relationship shown in the following formula (1):

[0100] Optionally, the F-score can satisfy the relationship shown in the following formula (2):

[0101] P(d) is, and satisfies the relationship shown in the following formula (3):

[0102] R(d) is, and satisfies the relationship shown in the following formula (4):

[0103] Wherein, S1 represents the true point cloud, S2 represents the reconstructed point cloud, || represents the modulo operation, ‖‖2 represents the two norm, P(d) represents the precision of the predicted imaging point cloud when the error threshold is d, and R(d) represents the recall rate of the predicted imaging point cloud when the error threshold is d.

[0104] It should be understood that the calculation method of the CD distance and the F score described above is used for example, and in actual implementation, the calculation method of the CD distance and / or the F score. There can also be other variations, which will not be described.

[0105] It should be understood that the value range in the above formula (3) and formula (4) is only used for example, and in actual implementation, any one “≤” in formula (3) and formula (4) can also be replaced by “<”.

[0106] In an actual radio frequency sensing scene, due to the differences in surface material and / or direction of the target object, the strengths of the scattering coefficients corresponding to different positions in the target region (the region that needs to be sensed) will be inconsistent.

[0107] Wherein, the position with stronger scattering coefficient will interfere with the sensing of the position with weaker scattering coefficient, resulting in poor sensing performance. Wherein, the stronger the scattering coefficient of a position, the greater the impact on the sensing of other positions, and the weaker the scattering coefficient of a position, the more susceptible it is to the influence of other positions, thereby resulting in poor sensing performance.

[0108] The following is described by way of example in connection with sensing imaging, assuming that the distribution positions of the scattering points are as shown in FIG. 3, wherein any two axes of the x-axis, y-axis, and z-axis are perpendicular to each other, and in FIG. 3, the unit is meter (meter, m). The relationship between the power and the time delay of the channel corresponding to each scattering point is as shown in FIG. 4, wherein the power of the channel corresponding to the scattering points in FIG. 3 varies in the range of 55 decibels (decibel, dB), or in other words, the dynamic range of the intensity of the scattering signals of the scattering points is about 55 dB, at this time, there is a strong scattering point in the sensing scene. At this time, the side view of the sensing imaging result corresponding to the scattering points in FIG. 3 is as shown in (a) of FIG. 5, and the top view of the sensing imaging result corresponding to the scattering points in FIG. 3 is as shown in (b) of FIG. 5. It can be seen from FIG. 5 that a relatively obvious sidelobe is generated near the strong scattering point, thereby resulting in relatively low imaging quality, in which case, the inverted corner CD distance of the reconstructed point cloud is 2.3620 m, and the F score is 0.7963.

[0109] Therefore, how to improve the sensing performance is a technical problem to be solved.

[0110] To improve the sensing performance, an embodiment of the present application provides a sensing method. In the method, a first node can send a sensing signal corresponding to each of K target positions according to the information of the sensing signal corresponding to the K target positions indicated by first information. Since the information of the sensing signal corresponding to the K target positions satisfies a preset condition, the actually sent sensing signal can satisfy the corresponding condition, for example, the actually sent sensing signal can be matched with the scattering coefficient of the target position in the actual scene, the dynamic range of the strength of the scattered signal in the channel is reduced, and thus the sensing performance is improved.

[0111] It should be noted that the sensing method provided by the embodiment of the present application can be applied between any two devices shown in FIG. 1, such as between terminal devices, between network devices, and between terminal devices and network devices. The specific implementation can refer to the following method embodiment, which will not be described here.

[0112] The sensing method provided by the embodiment of the present application will be described in detail below with reference to FIGS. 6-17.

[0113] Exemplarily, FIG. 6 is a flowchart of a sensing method provided by an embodiment of the present application. The sensing method can be applied to communication between any two devices shown in FIG. 1.

[0114] As shown in FIG. 6, the sensing method includes the following steps:

[0115] S601, a first node acquires first information.

[0116] The first node can be a terminal device, or a communication module, a circuit with communication function, a chip, a chip system, or other components or assemblies in the terminal device. Alternatively, the first node can be an access network device, or a communication module, a circuit with communication function, a chip, a chip system, or other components or assemblies in the access network device.

[0117] The first information is used to indicate the information of the sensing signal corresponding to each of the K target positions, and the information of the sensing signal includes one or more of the following information: transmission power, transmission duration, or the number of occupied time domain units. The information of the sensing signal corresponding to the kth target position in the K target positions satisfies a preset condition. Wherein, k and K are positive integers, and k≤K.

[0118] A time domain unit can include one or more slots or one or more time domain symbols, such as OFDM symbols. The time length of a slot is different under different sub-carrier spacing (SCS). The greater the sub-carrier spacing, the shorter the time length of the slot; the smaller the sub-carrier spacing, the greater the time length of the slot. For ease of understanding, in the following embodiments, one time domain unit includes one slot is exemplified, and subsequent details will not be repeated. It can be understood that the time domain unit can also be divided according to other time granularity, which will not be repeated here.

[0119] The K target positions are positions that the first node needs to perceive. The K target positions can be positions on different target objects or positions on the same target object. For example, in the case of one target object, the K target positions can be positions on the same target object; in the case of multiple target objects, the K target positions are positions on different target objects.

[0120] The K target positions each correspond to a perception signal corresponding to each of the K target positions. The perception signal corresponding to each target position is a signal for perceiving each target position, or a signal for perceiving each target position.

[0121] The transmission power is the power used to transmit the perception signal; the transmission duration is the duration of the perception signal, or the duration of transmitting the perception signal, or the number of time domain units occupied by the perception signal; the transmission duration is proportional to the number of time domain units occupied by the perception signal, and the number of time domain units occupied by the perception signal can be used to determine the transmission duration. The information of the perception signals corresponding to different two target positions in the K target positions can be the same or different. The information of the perception signal corresponding to the kth target position in the K target positions is used to transmit the perception signal corresponding to the kth target position. As an example, the transmission power in the information of the perception signal corresponding to the kth target position is the power used to transmit the perception signal of the kth target position. The transmission duration in the information of the perception signal corresponding to the kth target position is the duration used to transmit the perception signal corresponding to the kth target position.

[0122] Optionally, the information of the perception signal can further include a transmission angle. The transmission angle refers to the angle of the beam used to transmit the perception signal. Optionally, the transmission angle includes an elevation angle and / or an azimuth angle. The elevation angle is the elevation angle of the beam used to transmit the perception signal, and the azimuth angle is the azimuth angle of the beam used to transmit the perception signal. The transmission angle in the information of the perception signal corresponding to the kth target position is the angle used to transmit the perception signal corresponding to the kth target position.

[0123] The transmission angle in the information of the sensing signal corresponding to the kth target position can be the angle of the sensing signal corresponding to the last target position that has been transmitted. The angle of the sensing signal corresponding to the 0th transmission of the kth target position is preset, in other words, if n = 1, the transmission angle of the sensing signal corresponding to the kth target position can be preset. n is an integer greater than or equal to 1.

[0124] Alternatively, the transmission angle in the information of the sensing signal corresponding to the kth target position can be preset.

[0125] In a possible implementation, the transmission power and the transmission duration of the sensing signal corresponding to the kth target position satisfy the capability of the first node. The capability of the first node includes one or more of the following: a power range of the first node for transmitting the sensing signal, a duration range of the first node for transmitting the sensing signal, an angle range of the first node for transmitting the sensing signal, a frequency band or a carrier supported by the first node, a number of antenna elements of the first node, or an interval of antenna elements of the first node. In this way, the sensing signal can be transmitted within the capability of the first node.

[0126] That is, the transmission power of the sensing signal corresponding to the kth target position is within the power range of the first node for transmitting the sensing signal; the transmission duration of the sensing signal corresponding to the kth target position is within the duration range of the first node for transmitting the sensing signal. In addition, in the case that the information of the sensing signal further includes the transmission angle, optionally, the transmission angle of the sensing signal corresponding to the kth target position satisfies the capability of the first node. As an example, the elevation angle of the sensing signal corresponding to the kth target position is within the range of the elevation angle supported by the first node, and the azimuth angle of the sensing signal corresponding to the kth target position is within the range of the azimuth angle supported by the first node. For example, the range of the elevation angle supported by the first node is [θ min ,θ max ], and the range of the azimuth angle supported by the first node is θ min is the minimum elevation angle supported by the first node for sensing, max is the maximum elevation angle supported by the first node for sensing, is the minimum azimuth angle supported by the first node for sensing, and is the maximum azimuth angle supported by the first node for sensing. Then, the elevation angle θ k of the sensing signal corresponding to the kth target position satisfies the following relationship shown in formula (5): min ≤θ k ≤θ max ; (5)

[0127] an azimuth angle of the sensing signal corresponding to the kth target position The following formula (6) is satisfied:

[0128] It should be understood that the value range in the above formula (5) and formula (6) is only for example, and in actual implementation, any one of “≤” in formula (5) and formula (6) can also be replaced by “<”.

[0129] In one possible implementation, the preset condition includes at least one of condition 1 to condition 3.

[0130] Condition 1: At least one of the transmission power, the transmission duration, or the number of occupied time domain units of the sensing signal corresponding to the kth target position is negatively correlated with the first imaging intensity corresponding to the kth target position.

[0131] The first imaging intensities corresponding to different two target positions in the K target positions can be the same or different.

[0132] Optionally, the first imaging intensity corresponding to the kth target position can be preset.

[0133] Alternatively, optionally, for the nth transmission of the sensing signal on the kth target position, the first imaging intensity corresponding to the kth target position can refer to the imaging intensity of the sensing signal corresponding to the kth target position transmitted for the n-1th time. Wherein, the imaging intensity of the sensing signal corresponding to the kth target position transmitted for the 0th time is preset, in other words, if n = 1, the first imaging intensity corresponding to the kth target position can be preset. Alternatively, the imaging intensity of the sensing signal corresponding to the 0th time transmitted on different target positions in the K target positions can also be randomly determined. It should be understood that the imaging intensity of the sensing signal corresponding to the 0th time transmitted on different target positions in the K target positions can be the same or different. n is an integer greater than or equal to 1.

[0134] Optionally, the transmission power and the transmission duration of the sensing signal corresponding to the kth target position satisfy the following formula (7) to formula (12):

[0135] Wherein, P(k) is the transmission power of the sensing signal corresponding to the kth target position, T(k) is the transmission duration of the sensing signal corresponding to the kth target position, and ∝ represents a proportional relationship, I(k, n-1) represents the imaging intensity of the sensing signal transmitted for the n-1th time on the kth target position, and the first imaging intensity is β1, β2, or β3 are all constants.

[0136] In this way, the energy of the perception signal sent to the position with a large scattering coefficient can be reduced, so that the energy of the scattering signal of the position with a large scattering coefficient can be reduced, and the interference of the scattering signal of other positions can be reduced.

[0137] It should be understood that the relationship between the transmission power and / or transmission duration of the perception signal corresponding to the kth target position and the first imaging intensity in the embodiments of the present application is used as an example, and other possible implementation manners can also exist in actual implementation, which will not be described herein.

[0138] Condition 2: the transmission power of the perception signal corresponding to the kth target position satisfies the relationship shown in the following formula (13):

[0139] Condition 3: the transmission power and transmission duration of the perception signal corresponding to the kth target position satisfy the relationship shown in the following formula (14):

[0140] wherein, E noise represents the power of the noise at the first node, min represents taking the minimum value, SNR threshold represents the signal-to-noise ratio threshold of the signal sent by the first node, W threshold represents the energy threshold of the signal sent by the first node. n is a positive integer, E noise , W threshold are positive numbers.

[0141] It should be understood that the value range in the above formula (13) and formula (14) is used as an example, and in actual implementation, any one of “≥” in the formula (13) and formula (14) can also be replaced by “>”.

[0142] In this way, the perception signal can satisfy the signal-to-noise ratio requirement, so that the influence of noise can be suppressed, and more accurate perception results can be obtained.

[0143] Optionally, the signal-to-noise ratio threshold of the signal sent by the first node is related to the requirement of the perception result. As an example, the higher the resolution requirement of the perception result is, the higher the signal-to-noise ratio threshold of the signal sent by the first node is; the lower the resolution requirement of the perception result is, the lower the signal-to-noise ratio threshold of the signal sent by the first node is.

[0144] Alternatively, the signal-to-noise ratio threshold of the first node for sending the signal is related to the sensing algorithm used. As an example, the stronger the anti-interference capability of the sensing algorithm used, the lower the signal-to-noise ratio threshold of the first node for sending the signal; the weaker the anti-noise capability of the sensing algorithm used, the higher the signal-to-noise ratio threshold of the first node for sending the signal. For example, the signal-to-noise ratio threshold of the first node for sending the signal in the case where the sensing algorithm used is a beamforming algorithm is higher than the signal-to-noise ratio threshold of the first node for sending the signal in the case where the sensing algorithm used is a compressed sensing algorithm.

[0145] Alternatively, similar to the signal-to-noise ratio threshold of the first node for sending the signal, the energy threshold of the first node for sending the signal is related to the requirement of the sensing result, or the energy threshold of the first node for sending the signal is related to the sensing algorithm used. At this time, the implementation of the energy threshold of the first node for sending the signal can refer to the related introduction of the signal-to-noise ratio threshold of the first node for sending the signal, and will not be described here.

[0146] Alternatively, the energy threshold of the first node for sending the signal is related to the coverage corresponding to the first node. The larger the coverage corresponding to the first node, the larger the energy threshold of the first node for sending the signal; the smaller the coverage corresponding to the first node, the smaller the energy threshold of the first node for sending the signal.

[0147] It should be understood that in the embodiments of the present application, the above-mentioned preset conditions are used for example, and in actual implementation, other possible implementation manners of the preset conditions can also exist, which will not be described here.

[0148] In a possible implementation, the transmission power and / or transmission duration of the kth sensing signal is determined according to the noise on the first node and the signal-to-noise ratio threshold of the signal sent by the first node.

[0149] For example, the transmission power of the kth sensing signal satisfies the relationship shown in the above formula (13), or the transmission power of the kth sensing signal satisfies the relationship shown in the above formula (14).

[0150] In this way, the sensing signal can satisfy the signal-to-noise ratio requirement, so that the influence of noise can be suppressed, and more accurate sensing results can be obtained.

[0151] The S601 can be implemented in any one of the following manner one or manner two:

[0152] Manner one, the first node determines the first information by itself.

[0153] The first node can determine the first information according to at least one of the following: the second information, and the first imaging intensity corresponding to each of the K target positions.

[0154] The second information is used to indicate the capability of the first node.

[0155] In the second mode, the first node acquires the first information, including that the second node sends the first information. Correspondingly, the first node receives the first information.

[0156] In this way, the first node can acquire the first information from other nodes, and the calculation complexity of the first node can be reduced.

[0157] Optionally, the second node can determine the first information by itself. The principle of the second node determining the first information by itself can be referred to the related description of the first information determining the first information by itself, and will not be described herein.

[0158] S602, the first node sends the perception signal corresponding to each of the K target positions according to the first information.

[0159] In other words, the first node sends the perception signal corresponding to the kth target position according to the information of the perception signal corresponding to the kth target position in the K target positions.

[0160] For example, if the first information indicates that the transmission power of the perception signal corresponding to the kth target position in the K target positions is the transmission duration is the first node uses the transmission power to send the perception signal corresponding to the kth target position in the K target positions, and the first node sends the perception signal corresponding to the kth target position for a duration of

[0161] The perception signal corresponding to each of the K target positions is carried on the resource allocated for the perception signal corresponding to each target position, in other words, the perception signal corresponding to the kth target position is carried on the resource corresponding to the kth target position. The resource described in the embodiments of the present application can be one or more of the following: time domain resource, frequency domain resource, space domain resource or code domain resource.

[0162] In the embodiments of the present application, the time domain resource can include one or more time domain units.

[0163] The power at which the first node sends the perception signal corresponding to the kth target position is the transmission power in the information of the perception signal corresponding to the kth target position.

[0164] As an example, the first node can perform resource configuration according to the first information, so as to send the perception signal corresponding to each of the K target positions.

[0165] In a possible implementation, the method provided in FIG. 6 can further include S603.

[0166] S603, the first node sends the second information. Correspondingly, the second node receives the second information.

[0167] The second node can be a terminal device, or a communication module, a circuit with a communication function, a chip, a chip system, or other components or assemblies in the terminal device. Alternatively, the communication device can be an access network device, or a communication module, a circuit with a communication function, a chip, a chip system, or other components or assemblies in the access network device.

[0168] In this way, the sensing signal can be transmitted within the capability range of the first node.

[0169] In a possible implementation, in the single-basis sensing scenario, the method provided in FIG. 6 can further include S604.

[0170] S604, the first node receives third information.

[0171] The third information is obtained by scattering, by the target object, the sensing signal corresponding to each of the K target positions.

[0172] Optionally, the third information includes scattering signals corresponding to each of the K target positions. The scattering signal corresponding to the kth target position in the K target positions is a signal obtained by scattering, by the kth target position, the sensing signal corresponding to the kth target position. The scattering signal corresponding to each of the K target positions can be used to generate an imaging result of the K target positions.

[0173] Alternatively, optionally, the third information includes a signal obtained by processing the scattering signal corresponding to each of the K target positions, such as an imaging result of the K target positions or information that can be used to generate an imaging result of the K target positions.

[0174] In this way, the first node can process the third information to obtain a sensing result.

[0175] In a possible implementation, in the double-basis sensing scenario, the method provided in FIG. 6 can further include S605.

[0176] S605, the second node receives third information.

[0177] The third information is obtained by scattering, by the target object, the sensing signal corresponding to each of the K target positions.

[0178] It should be understood that, in S604 and S605, the transmission path of the third information can be the same or different, and therefore, the signal strength of the third signal can be the same or different.

[0179] It should be understood that S604 and S605 are optional steps. In the case of performing S604, S605 need not be performed. In the case of performing S605, S604 need not be performed.

[0180] In a possible implementation, the method provided in FIG. 6 can further include S606.

[0181] S606: The second node obtains the first imaging intensity corresponding to each of the K target positions.

[0182] The second node can obtain the first imaging intensity corresponding to each of the target positions from the internal storage of the second node, or obtain the first imaging intensity corresponding to each of the target positions from other nodes, which will not be described herein.

[0183] The technical effects of the embodiments of the present application are analyzed below in combination with the scattering points shown in FIG. 3. As shown in FIG. 7, it is assumed that there is no strong scattering point in the scattering points shown in FIG. 3, or the powers of the channels corresponding to the scattering points shown in FIG. 3 are all the same, that is, the dynamic range of the intensity of the scattering signals of the scattering points is 0 dB. In this case, the side view of the perception imaging result of the scattering points shown in FIG. 3 is shown in (a) of FIG. 8, and the top view of the radio frequency imaging result of the scattering points shown in FIG. 3 is shown in (b) of FIG. 8. As can be seen from FIG. 8, the obtained imaging result is located near the real scattering points. In addition, the CD distance corresponding to the imaging result is 1.4265 m, and the F score is 0.9346. As can be seen, the perception performance is better than that of the dynamic range shown in FIG. 4.

[0184] Based on the method provided in FIG. 6, the side view of the imaging result of the scattering points shown in FIG. 3 is shown in (a) of FIG. 9, and the top view is shown in (b) of FIG. 9. As can be known in combination with FIG. 9, the imaging result of the scattering points is located near the scattering points. In addition, the CD distance corresponding to the imaging result of the scattering points is 1.6562 m (less than 2.3620 m), and the F score is 0.8260 (greater than 0.7963). As can be seen, the CD distance corresponding to the imaging result of the scattering points obtained by using the scheme provided in FIG. 6 is less than the CD distance corresponding to the imaging result in FIG. 5, and the F score corresponding to the imaging result of the scattering points obtained by using the scheme provided in FIG. 6 is greater than the F score corresponding to the imaging result in FIG. 5. In combination with the fact that the smaller the chamfer distance is, the better the perception performance is, and the greater the F score is, the better the perception performance is, it can be known that the method provided in FIG. 6 can improve the perception performance.

[0185] As can be known from the above, based on the method provided in FIG. 6, the first node can send the perception signals corresponding to the K target positions respectively according to the information of the perception signals corresponding to the K target positions indicated by the first information. Since the information of the perception signals corresponding to the K target positions satisfies the preset condition, the actual sent perception signals can satisfy the corresponding condition, for example, the actual sent perception signals can be matched with the actual scene, thereby improving the perception performance.

[0186] The method provided in FIG. 6 can be applied to a dual-base sensing scenario or a single-base sensing scenario, where the node for sending the sensing signal and the node for receiving the scattered signal of the sensing signal are different nodes. For ease of understanding, the method provided in FIG. 6 is further described below in combination with different embodiments.

[0187] In some possible embodiments, there is one receiving node and multiple transmitting nodes, where the receiving node can be configured with information of the sensing signal and receive information (e.g., scattered signals of the sensing signal) scattered by the sensing signal transmitted by each of the multiple transmitting nodes. Each of the multiple transmitting nodes can send the sensing signal. For example, in combination with transmitting node #1, transmitting node #2, and receiving node #1, as shown in FIG. 10, the receiving node #1 can interact with the transmitting node #1 and the transmitting node #2, for example, the receiving node #1 can configure the transmitting node #1 and the transmitting node #2 with information of the sensing signal, the transmitting node #1 can send the sensing signal based on the configured information of the sensing signal, and the transmitting node #2 can also send the sensing signal based on the configured information of the sensing signal. The receiving node #1 can receive information scattered by the sensing signal sent by the transmitting node #1 and the transmitting node #2, such as scattered signals. In this case, a flowchart of the sensing method is shown in FIG. 11.

[0188] S1101, the transmitting node #1 sends information #1. Correspondingly, the receiving node #1 receives the information #1.

[0189] The information #1 is used to indicate the capability of the transmitting node #1. The capability of the transmitting node #1 includes one or more of the following: a power range supported by the transmitting node #1 for sending the sensing signal, a time range supported by the transmitting node #1 for sending the sensing signal, an angle range supported by the transmitting node #1 for sending the sensing signal, a frequency band or a carrier supported by the transmitting node #1, a number of antenna elements of the transmitting node #1, or an interval of the antenna elements of the transmitting node #1.

[0190] For implementation of the capability of the transmitting node #1, reference can be made to the related description of the capability of the first node. For implementation of the information #1, reference can be made to the related description of the second information in the method provided in FIG. 6. For implementation of S1101, reference can be made to the related description of S603, which is not repeated here.

[0191] It should be understood that the transmitting node #1 can be the first node in the method provided in FIG. 6, and in this case, the information #1 is the second information relative to the transmitting node #1.

[0192] S1102, the transmitting node #2 sends information #2. Correspondingly, the receiving node #1 receives the information #2.

[0193] Information #2 is used to indicate the capability of the transmitting node #2. The capability of the transmitting node #2 includes one or more of the following: a power range of the transmitting node #2 for transmitting the sensing signal, a time range of the transmitting node #2 for transmitting the sensing signal, an angle range of the transmitting node #2 for transmitting the sensing signal, a frequency band or a carrier of the transmitting node #2, a number of antenna elements of the transmitting node #2, or an interval of the antenna elements of the transmitting node #2.

[0194] The implementation of the capability of the transmitting node #2 can refer to the related description of the capability of the first node, the implementation of information #2 can refer to the related description of the second information in the method provided in FIG. 6, and the implementation of S1102 can refer to the related description of S603, which is not described herein.

[0195] It should be understood that the transmitting node #2 can be the first node in the method provided in FIG. 6, and at this time, information #1 is the second information with respect to the transmitting node #2.

[0196] S1103, the receiving node #1 obtains information #3.

[0197] Information #3 is used to indicate the information of the sensing signal corresponding to each of the K1 target positions. The information of the sensing signal includes one or more of the following: a transmitting power, a transmitting time, or a number of time domain units occupied by the sensing signal. The information of the sensing signal corresponding to the k1th target position among the K1 target positions satisfies a preset condition #1. Wherein, k1 and K1 are positive integers, and k1≤K1.

[0198] In addition, information #3 can also include resources for transmitting the sensing signal corresponding to each of the K1 target positions.

[0199] The implementation of the K1 target positions, the preset condition #1, and information #1 can refer to the related description of the K target positions, the preset condition, and the first information in the method provided in FIG. 6. The difference is that the preset condition #1 is for the k1th target position. The implementation principle of S1103 can refer to the related description of the first mode in S601 in the method provided in FIG. 6, which is not described herein.

[0200] If the transmitting node #1 is the first node in the method provided in FIG. 6, at this time, information #3 is the first information with respect to the transmitting node #1.

[0201] S1104, the receiving node #1 obtains information #4.

[0202] The information #4 is used for indicating information of the K2 target positions respectively corresponding to the sensing signals, and the information of the sensing signals comprises one or more of the following: a transmission power, a transmission duration, or a number of time domain units occupied by the sensing signal. The information of the sensing signal corresponding to the k2th target position in the K2 target positions satisfies a preset condition #2. Wherein, k2 and K2 are positive integers, and k2≤K2.

[0203] In addition, the information #4 can further comprise resources used for transmitting the sensing signals respectively corresponding to the K2 target positions.

[0204] The K2 target positions, the preset condition #2, and the information #2 can be implemented in the same way as the K target positions, the preset condition, and the first information in the method provided in FIG. 6, with the difference that the preset condition #2 is for the k1th target position. The implementation principle of S1104 can refer to the related description of the first mode of S601 in the method provided in FIG. 6, and will not be repeated here.

[0205] If the transmitting node #2 is the first node in the method provided in FIG. 6, the information #4 is the first information for the transmitting node #2.

[0206] In a possible implementation, the information of the sensing signals respectively corresponding to the K1 target positions further comprises resources used for transmitting the sensing signals respectively corresponding to the K1 target positions. The information of the sensing signals respectively corresponding to the K2 target positions further comprises resources used for transmitting the sensing signals respectively corresponding to the K2 target positions. It can be understood that the resources used for transmitting the sensing signals respectively corresponding to the K1 target positions and the resources used for transmitting the sensing signals respectively corresponding to the K2 target positions can be determined by the receiving node #1.

[0207] Optionally, the resources used for transmitting the sensing signals respectively corresponding to the K1 target positions and the resources used for transmitting the sensing signals respectively corresponding to the K2 target positions are different. It should be understood that in the embodiments of the present application, the resources can comprise one or more of the following: time domain resources, frequency domain resources, space domain resources, or code domain resources; and the resources being different can mean that the time domain resources are different, the frequency domain resources are different, the space domain resources are different, or the code domain resources are different, and will not be repeated here.

[0208] S1105, the receiving node #1 transmits the information #3. Correspondingly, the transmitting node #1 receives the information #3.

[0209] The implementation of S1105 can refer to the related description of the second mode of S601 in the method provided in FIG. 6, and will not be repeated here.

[0210] S1106, the receiving node #1 transmits the information #4. Correspondingly, the transmitting node #2 receives the information #4.

[0211] The implementation of S1106 can refer to the implementation of S601 in the method provided in FIG. 6, and details are not described herein again.

[0212] S1107, the transmitting node #1 sends K1 target positions respectively corresponding sensing signals according to the information #3.

[0213] As an example, the transmitting node #1 can perform resource configuration according to the information #3, and then send K1 target positions respectively corresponding sensing signals.

[0214] The implementation of S1107 can refer to the implementation of S602 in the method provided in FIG. 6, and details are not described herein again. In the case that the transmitting node #1 is the first node, for the transmitting node #1, the K1 target positions are the K target positions in the method provided in FIG. 6, that is, K1 is equivalent to K in the method provided in FIG. 6, and k1 is equivalent to k in the method provided in FIG. 6. The K1 target positions respectively corresponding sensing signals are the K target positions respectively corresponding sensing signals.

[0215] S1108, the transmitting node #2 sends K2 target positions respectively corresponding sensing signals according to the information #4.

[0216] As an example, the transmitting node #2 can perform resource configuration according to the information #4, and then send K2 target positions respectively corresponding sensing signals.

[0217] The implementation of S1108 can refer to the implementation of S602 in the method provided in FIG. 6, and details are not described herein again. In the case that the transmitting node #2 is the first node, for the transmitting node #2, the K2 target positions are the K target positions in the method provided in FIG. 6, that is, K2 is equivalent to K in the method provided in FIG. 6, and k2 is equivalent to k in the method provided in FIG. 6. The K2 target positions respectively corresponding sensing signals are the K target positions respectively corresponding sensing signals.

[0218] S1109, the receiving node #1 receives the information #5.

[0219] The information #5 is obtained by scattering the K1 target positions respectively corresponding sensing signals by the target object. In the case that the transmitting node #1 is the first node, for the transmitting node #1, the information #5 is the third information.

[0220] The implementation of the information #5 can refer to the implementation of the third information in the method provided in FIG. 6, and the implementation of S1109 can refer to the implementation of S605 in the method provided in FIG. 6, and details are not described herein again.

[0221] S1110, the receiving node #1 receives the information #6.

[0222] The information #6 is scattered by the target object from the respective perception signals corresponding to the K2 target positions. The implementation of the information #6 can refer to the description of the third information in the method provided in FIG. 6, and the implementation of S1110 can refer to the description of S605 in the method provided in FIG. 6, which will not be repeated here.

[0223] In the case that the transmitting node #2 is the first node, for the transmitting node #2, the information #6 is the third information.

[0224] The technical effects of the method provided in FIG. 11 can refer to the technical effects of the method provided in FIG. 6, which will not be repeated here.

[0225] It can be understood that the method provided in FIG. 11 can further include S1111.

[0226] S1111, the receiving node #1 obtains the information #7.

[0227] The information #7 includes the first imaging intensity corresponding to each of the K1 target positions, and the implementation of the first imaging intensity corresponding to each of the K1 target positions can refer to the description of the first imaging intensity corresponding to each of the K target positions in the method provided in FIG. 6. The information #7 further includes the first imaging intensity corresponding to each of the K2 target positions.

[0228] The implementation of the first imaging intensity corresponding to each of the K2 target positions can refer to the description of the first imaging intensity corresponding to each of the K target positions in the method provided in FIG. 6, and the implementation of S1111 can refer to the description of S606, which will not be repeated here.

[0229] The technical effects of the method provided in FIG. 11 can refer to the technical effects of the method provided in FIG. 6, which will not be repeated here.

[0230] It should be understood that the order of appearance of the steps in the method provided in FIG. 11 is only for example, and in actual implementation, the execution order of S1101-S1111 is not limited, and can be logical.

[0231] In some other possible embodiments, there are a center node, at least one transmitting node and at least one receiving node, wherein the center node can be configured to configure information of the sensing signal, the transmitting node can be configured to transmit the sensing signal, and the receiving node can be configured to receive information scattered by the sensing signal transmitted by the transmitting node. For example, the center node #1, the transmitting node #3 and the receiving node #2 are taken as an example, as shown in FIG. 12, the center node #1 can exchange information with the transmitting node #3 and the receiving node #2, for example, the center node #1 can configure the transmitting node #3 with information of the sensing signal and configure the receiving node #2 with resources for receiving scattered signals. The transmitting node #3 can transmit the sensing signal based on the configured information of the sensing signal, and the receiving node #2 can receive information scattered by the sensing signal transmitted by the transmitting node #3 based on the resources for receiving scattered signals, such as scattered signals. In this case, a flowchart of the sensing method is shown in FIG. 13.

[0232] In S1301, the transmitting node #3, i.e., the first node, transmits information #8. Correspondingly, the center node #1, i.e., the second node, receives the information #8.

[0233] The information #8, i.e., the second information, is used to indicate the capability of the transmitting node #3. The capability of the transmitting node #3 includes one or more of the following: a power range supported by the transmitting node #3 for transmitting the sensing signal, a time range supported by the transmitting node #3 for transmitting the sensing signal, an angle range supported by the transmitting node #3 for transmitting the sensing signal, a frequency band or a carrier supported by the transmitting node #3, a number of antenna elements of the transmitting node #3, or an interval of the antenna elements of the transmitting node #3.

[0234] The implementation of the capability of the transmitting node #3 can refer to the related description of the capability of the first node, the implementation of the information #8 can refer to the related description of the second information in the method provided in FIG. 6, and the implementation of S1301 can refer to the related description of S603, which is not repeated here.

[0235] In S1302, the receiving node #2 transmits information #9. Correspondingly, the center node #1 receives the information #9.

[0236] The information #9 is used to indicate the capability of the receiving node #2.

[0237] The capability of the receiving node #2 includes a bandwidth supported by the receiving node #2, an antenna port, available time domain resources, and a code division manner supported by the receiving node #2.

[0238] The code division manner can include a Gold code, a Kasami code, etc., which is not repeated here.

[0239] In S1303, the center node #1 obtains information #10, i.e., the first information.

[0240] The information #10 is used to indicate the information of the K3 target positions respectively corresponding to the sensing signals. The information of the sensing signals includes one or more of the following: the transmission power, the transmission duration, or the number of time domain units occupied by the sensing signals. The information of the sensing signal corresponding to the k3th target position in the K3 target positions satisfies the preset condition #3. Wherein, k3 and K3 are positive integers, and k3≤K3. K3 corresponds to K in the method provided in FIG. 6, and k3 corresponds to k in the method provided in FIG. 6.

[0241] In addition, the information #10 can also include resources for transmitting the sensing signals respectively corresponding to the K3 target positions. The resources for transmitting the sensing signals respectively corresponding to the K3 target positions can include one or more of the following: time domain resources, frequency domain resources, space domain resources, or code domain resources. It should be understood that the resources for transmitting the sensing signals respectively corresponding to the K3 target positions satisfy the capability of the receiving node #2. The code domain resources for transmitting the sensing signals respectively corresponding to the K3 target positions can be determined according to the code division manner supported by the receiving node #2.

[0242] The implementation of the information #10 can refer to the related description of the first information in the method provided in FIG. 6, and will not be repeated here. The implementation of S1303 can refer to the related description of mode one in S601 of the method provided in FIG. 6, and will not be repeated here.

[0243] S1304, the center node #1 obtains information #11.

[0244] The information #11 is used to indicate one or more of the following: the bandwidth, the time domain resources, the frequency domain resources, or the receiving antenna port of the receiving node #2 for receiving the scattering signals.

[0245] S1305, the center node #1 transmits the information #10. Correspondingly, the transmitting node #3 receives the information #10.

[0246] The implementation of S1305 can refer to the related description of mode two in S601 of the method provided in FIG. 6, and will not be repeated here.

[0247] S1306, the center node #1 transmits the information #11. Correspondingly, the receiving node #2 receives the information #11.

[0248] S1307, the transmitting node #3 transmits the sensing signals respectively corresponding to the K3 target positions according to the information #10.

[0249] As an example, the transmitting node #3 can perform resource configuration according to the information #10, so as to transmit the sensing signals respectively corresponding to the K3 target positions.

[0250] The implementation of S1307 can refer to the related description of S602 in the method provided in FIG. 6, and details are not described herein.

[0251] S1308, the receiving node #2 receives information #12, i.e., the third information.

[0252] It should be understood that the receiving node #2 can receive the information #12 on the resource indicated by the information #11.

[0253] The implementation of the information #12 can refer to the related description of the third information in the method provided in FIG. 6, and details are not described herein.

[0254] It should be understood that the method provided in FIG. 13 can further include S1309.

[0255] S1309, the center node #1 obtains information #13.

[0256] The information #13 includes the first imaging intensity corresponding to each of the K3 target positions, and the implementation of the first imaging intensity corresponding to each of the K3 target positions can refer to the related description in the method provided in FIG. 6. The implementation of S1309 can refer to the related description of S606 in the method provided in FIG. 6, and details are not described herein.

[0257] The technical effects of the method provided in FIG. 13 can refer to the technical effects of the method provided in FIG. 6, and details are not described herein.

[0258] It should be understood that the order of appearance of the steps in the method provided in FIG. 13 is only for example, and the execution order of S1301-S1309 is not limited in actual implementation, as long as it is logical.

[0259] In a single-base sensing scenario, the node for transmitting the sensing signal and the node for receiving the scattered signal of the sensing signal are the same node.

[0260] In some possible embodiments, there is one sensing node and one center node, wherein the center node can be configured to configure information of the sensing signal, the transmitting node can be configured to transmit the sensing signal, and the receiving node can be configured to receive information scattered by the sensing signal transmitted by the transmitting node. The following is illustrated by taking the sensing node #1 and the center node #2 as an example. As shown in FIG. 14, the center node #2 can interact with the sensing node #1, for example, the center node #2 can configure the sensing node #1 with information of the sensing signal. The sensing node #1 can transmit the sensing signal based on the configured information of the sensing signal, and receive information scattered by the sensing signal transmitted by the sensing node #1, such as a scattered signal. In this case, the flowchart of the sensing method is shown in FIG. 15.

[0261] S1501, the sensing node #1 (i.e., the first node) sends information #14 (i.e., the second information). Correspondingly, the center node #2 (i.e., the second node) receives the information #14.

[0262] The information #14 is used to indicate the capability of the sensing node #1. The capability of the sensing node #1 includes one or more of the following: a power range of the sensing signal supported by the sensing node #1, a time duration range of the sensing signal supported by the sensing node #1, an angle range of the sensing signal supported by the sensing node #1, a frequency band or a carrier supported by the sensing node #1, a number of antenna elements of the sensing node #1, or an antenna element interval of the sensing node #1.

[0263] The implementation of the capability of the sensing node #1 can refer to the related description of the capability of the first node, the implementation of the information #14 can refer to the related description of the second information in the method provided in FIG. 6, and the implementation of S1501 can refer to the related description of S603, which is not described herein again.

[0264] S1502, the center node #2 obtains information #15, i.e., the first information.

[0265] The information #15 is used to indicate the information of the sensing signal corresponding to each of the K4 target positions, and the information of the sensing signal includes one or more of the following: a transmission power, a transmission time duration, or a number of time domain units occupied by the sensing signal. The information of the sensing signal corresponding to the k4-th target position in the K4 target positions satisfies a preset condition #4. Wherein, k4 and K4 are positive integers, and k4≤K4. Wherein, K4 corresponds to K in the method provided in FIG. 6, and k4 corresponds to k in the method provided in FIG. 6.

[0266] In addition, the information #15 can also include resources for transmitting the sensing signal corresponding to each of the K4 target positions. The implementation of the information #15 can refer to the related description of the first information in the method provided in FIG. 6, and the implementation of the information #15 can refer to the related description of the first mode in S601 in the method provided in FIG. 6, which is not described herein again.

[0267] S1503, the center node #2 sends the information #15. Correspondingly, the sensing node #1 receives the information #15.

[0268] The implementation of S1503 can refer to the related description of S602 in the method provided in FIG. 6, which is not described herein again.

[0269] S1504, the sensing node #1 transmits the sensing signal corresponding to each of the K4 target positions according to the information #15.

[0270] As an example, the sensing node #1 can perform resource configuration according to the information #15, so as to transmit the sensing signal corresponding to each of the K4 target positions.

[0271] The implementation of S1504 can refer to the related description of S602 in the method provided in FIG. 6, and details are not described herein.

[0272] S1505, the sensing node #1 receives information #16, i.e., the third information.

[0273] The implementation of the information #16 can refer to the related description of the third information in the method provided in FIG. 6, and the implementation of S1505 can refer to the related description of S604 in the method provided in FIG. 6, and details are not described herein.

[0274] It can be understood that the method provided in FIG. 15 can further include S1506.

[0275] S1506, the center node #2 obtains information #17.

[0276] The information #17 includes the first imaging intensity corresponding to each of the K4 target positions, and the implementation of the first imaging intensity corresponding to each of the K4 target positions can refer to the related description in the method provided in FIG. 6, and the implementation of S1506 can refer to the related description of S606, and details are not described herein.

[0277] The technical effects of the method provided in FIG. 15 can refer to the technical effects of the method provided in FIG. 6, and details are not described herein.

[0278] In another possible embodiment, there is one sensing node and one center node, wherein the center node can be configured to configure information of a sensing signal, and in addition, the center node can be configured to transmit the sensing signal and receive information scattered by the sensing signal; the transmitting node can be configured to transmit the sensing signal and receive information scattered by the sensing signal transmitted by the transmitting node. The following is illustrated by taking the sensing node #2 and the center node #3 as an example. As shown in FIG. 16, the center node #3 can interact with the sensing node #2, for example, the center node #3 can configure information of a sensing signal for the sensing node #2, and configure information of a sensing signal for itself. The sensing node #2 can send a sensing signal based on the configured information of the sensing signal, and receive information scattered by the sensing signal transmitted by the sensing node #2. The center node #3 can also send a sensing signal based on the configured information of the sensing signal, and receive information scattered by the sensing signal transmitted by the center node #3, such as scattered signals. In this case, the flowchart of the sensing method is shown in FIG. 17.

[0279] S1701, the sensing node #2 sends information #18. Correspondingly, the center node #3 receives the information #18.

[0280] Information #18 is used to indicate the capability of the sensing node #2. The capability of the sensing node #2 includes one or more of the following: a power range of the sensing signal supported by the sensing node #2, a time duration range of the sensing signal supported by the sensing node #2, an angle range of the sensing signal supported by the sensing node #2, a frequency band or carrier supported by the sensing node #2, a number of antenna elements of the sensing node #2, or an antenna element interval of the sensing node #2.

[0281] The implementation of the capability of the sensing node #2 can refer to the related description of the capability of the first node, the implementation of information #18 can refer to the related description of the second information in the method provided in FIG. 6, and the implementation of S1701 can refer to the related description of S603, which is not repeated here.

[0282] It should be understood that the sensing node #2 can be the first node in the method provided in FIG. 6, and at this time, information #18 is the second information with respect to the sensing node #2.

[0283] S1702, the center node #3 obtains information #19 according to at least information #18.

[0284] Information #19 is used to indicate the information of the sensing signal corresponding to each of the K5 target positions. The information of the sensing signal includes one or more of the following: a transmission power, a transmission time duration, or a number of time domain units occupied by the sensing signal. The information of the sensing signal corresponding to the k5-th target position in the K5 target positions satisfies a preset condition #5. Wherein, k5 and K5 are positive integers, and k5≤K5. Wherein, K5 corresponds to K in the method provided in FIG. 6, and k5 corresponds to k in the method provided in FIG. 6.

[0285] In addition, information #19 can also include resources for transmitting the sensing signal corresponding to each of the K5 target positions.

[0286] The implementation of S1702 can refer to the related description of the first mode in S601 in the method provided in FIG. 6, which is not repeated here.

[0287] If the sensing node #2 is the first node in the method provided in FIG. 6, at this time, information #19 is the first information with respect to the sensing node #2.

[0288] S1703, the center node #3 obtains information #20.

[0289] Information #20 is used to indicate information of K6 perception signals corresponding to K6 target positions respectively, and the information of the perception signals includes one or more of the following: transmission power, transmission duration, or the number of time domain units occupied by the perception signal. The information of the perception signal corresponding to the k6-th target position in the K6 target positions satisfies a preset condition #6. Wherein, k6 and K6 are positive integers, and k6≤K6. Wherein, K6 corresponds to K in the method provided in FIG. 6, and k6 corresponds to k in the method provided in FIG. 6.

[0290] In addition, information #20 can also include resources used to transmit the K6 perception signals corresponding to the K6 target positions respectively.

[0291] If the center node #3 is the first node in the method provided in FIG. 6, at this time, for the center node #3, the information #20 is the first information.

[0292] The implementation of S1703 can refer to the related description of mode one in S601 in the method provided in FIG. 6, and will not be described here.

[0293] S1704, the center node #3 sends information #19. Correspondingly, the perception node #2 receives the information #19.

[0294] The implementation of S1704 can refer to the related description of mode two in S601, and will not be described here.

[0295] S1705, the perception node #2 sends K5 perception signals corresponding to K5 target positions respectively according to the information #19.

[0296] As an example, the perception node #2 can perform resource configuration according to the information #19, so as to send K5 perception signals corresponding to K5 target positions respectively.

[0297] The implementation of S1705 can refer to the related description of S602 in the method provided in FIG. 6, and will not be described here.

[0298] S1706, the perception node #2 receives information #21.

[0299] Information #21 is obtained by scattering K5 perception signals corresponding to K5 target positions respectively by the target object. If the perception node #2 is the first node, for the perception node #2, the information #21 is the third information.

[0300] The implementation of information #21 can refer to the related description of the third information in the method provided in FIG. 6, and the implementation of S1706 can refer to the related description of S604 in the method provided in FIG. 6, and will not be described here.

[0301] S1707, the center node #3 sends K6 perception signals corresponding to K6 target positions respectively according to the information #20.

[0302] As an example, the center node #3 can perform resource configuration according to the information #20, so as to send the K6 target positions respectively corresponding sensing signals.

[0303] The implementation of S1707 can refer to the related description of S602 in the method provided in FIG. 6, and will not be repeated here.

[0304] S1708, the center node #3 receives information #22.

[0305] The information #22 is obtained by scattering the K6 target positions respectively corresponding sensing signals by the target object. If the center node #3 is the first node, for the center node #3, the information #22 is the third information.

[0306] The implementation of S1708 can refer to the related description of S602 in the method provided in FIG. 6, and will not be repeated here.

[0307] S1709, the center node #3 obtains information #23.

[0308] The information #23 includes the K5 target positions respectively corresponding first imaging intensities. The implementation of the K5 target positions respectively corresponding first imaging intensities can refer to the related description of the K target positions respectively corresponding first imaging intensities in the method provided in FIG. 6. The information #23 also includes the K6 target positions respectively corresponding first imaging intensities. The implementation of the K6 target positions respectively corresponding first imaging intensities can refer to the related description of the K target positions respectively corresponding first imaging intensities in the method provided in FIG. 6, and will not be repeated here.

[0309] The technical effects of the method provided in FIG. 17 can refer to the technical effects of the method provided in FIG. 6, and will not be repeated here.

[0310] It should be understood that the appearance order of the steps in the method provided in FIG. 17 is only for example, and the execution order of S1701-S1709 is not limited in actual implementation, as long as it is logical.

[0311] The above describes in detail the sensing method provided by the embodiments of the present application in combination with FIG. 6-FIG. 17. The communication device for executing the sensing method provided by the embodiments of the present application is described in detail in combination with FIG. 18-FIG. 19.

[0312] Exemplarily, FIG. 18 is a structural schematic diagram of a communication device provided by the embodiments of the present application. As shown in FIG. 18, the communication device 1800 includes a processing module 1801 and a transceiver module 1802. For the convenience of description, FIG. 18 only shows the main components of the communication device.

[0313] In some embodiments, the communication apparatus 1800 can be applicable in the communication system shown in Figure 1, and perform the function of the first node in the sensing method shown in Figure 6.

[0314] The processing module 1801 is configured to obtain first information. The first information is used to indicate the information of the sensing signals corresponding to the K target positions, and the information includes one or more of the following: the transmission power, the transmission duration, or the number of time domain units occupied by the sensing signal. The information of the sensing signal corresponding to the kth target position in the K target positions satisfies a preset condition. k and K are positive integers, and k≤K.

[0315] The transceiver module 1802 is configured to transmit the sensing signals corresponding to the K target positions according to the first information.

[0316] Optionally, the transceiver module 1802 can include a receiving module and a transmitting module (not shown in Figure 18). The transceiver module is configured to implement the transmitting function and the receiving function of the communication apparatus 1800.

[0317] Optionally, the communication apparatus 1800 can further include a storage module (not shown in Figure 18), which stores programs or instructions. When the processing module 1801 executes the programs or instructions, the communication apparatus 1800 can perform the function of the first node in the sensing method shown in Figure 6.

[0318] It should be understood that the processing module 1801 involved in the communication apparatus 1800 can be realized by a processor or a processor-related circuit component, and can be a processor or a processing unit; the transceiver module 1802 can be realized by a transceiver or a transceiver-related circuit component, and can be a transceiver or a transceiving unit.

[0319] In the embodiments of the present application, the communication apparatus 1800 can be a terminal device, or a communication module, a circuit with communication function, a chip, a chip system, or other components or assemblies in the terminal device. Alternatively, the communication apparatus 1800 can be an access network device, a communication module, a circuit with communication function, a chip, a chip system, or other components or assemblies in the access network device, which are not limited in the present application.

[0320] In addition, the technical effects of the communication apparatus 1800 can refer to the technical effects of the sensing method shown in Figure 6, which will not be described here.

[0321] In some embodiments, the communication apparatus 1800 can be applicable in the communication system shown in Figure 1, and perform the function of the first node in the sensing method shown in Figure 6.

[0322] The processing module 1801 is configured to obtain first information. The first information is used to indicate information of a perception signal corresponding to each of K target positions, and the information includes one or more of the following: transmit power, transmit duration, or a number of time domain units occupied by the perception signal. The information of the perception signal corresponding to the kth target position in the K target positions satisfies a preset condition. K and k are positive integers, and k≤K.

[0323] The transceiver module 1802 is configured to transmit the first information.

[0324] Optionally, the transceiver module 1802 can include a receiving module and a transmitting module (not shown in FIG. 18). The transceiver module is configured to implement the transmitting function and the receiving function of the communication apparatus 1800.

[0325] Optionally, the communication apparatus 1800 can further include a storage module (not shown in FIG. 18), which stores a program or instructions. When the processing module 1801 executes the program or instructions, the communication apparatus 1800 can perform the function of the second node in any one of the perception methods shown in FIG. 6.

[0326] It should be understood that the processing module 1801 involved in the communication apparatus 1800 can be implemented by a processor or a processor-related circuit component, and can be a processor or a processing unit; and the transceiver module 1802 can be implemented by a transceiver or a transceiver-related circuit component, and can be a transceiver or a transceiving unit.

[0327] In the embodiments of the present application, the communication apparatus 1800 can be a terminal device, or a communication module, a circuit with communication function, a chip, a chip system, or other components or assemblies in the terminal device. Alternatively, the communication apparatus 1800 can be an access network device, a communication module, a circuit with communication function, a chip, a chip system, or other components or assemblies in the access network device, which are not limited in the present application.

[0328] In addition, the technical effects of the communication apparatus 1800 can refer to the technical effects of any one of the perception methods shown in FIG. 6, which will not be described here again.

[0329] Exemplarily, FIG. 19 is a structural schematic diagram of a communication apparatus provided by the embodiments of the present application. The communication apparatus can be a terminal device or a network device, or a chip (system) or other components or assemblies that can be arranged in the terminal device or the network device. As shown in FIG. 19, the communication apparatus 1900 can include a processor 1901. Optionally, the communication apparatus 1900 can further include a memory 1902 and / or a transceiver 1903. The processor 1901 is coupled with the memory 1902 and the transceiver 1903, for example, through a communication bus.

[0330] The various constituent components of the communication apparatus 1900 will be described below in conjunction with FIG. 19:

[0331] The processor 1901 is the control center of the communication apparatus 1900, and can be one processor or collectively refer to a plurality of processing elements. For example, the processor 1901 can be one or more central processing units (CPUs), application specific integrated circuits (ASICs), or one or more integrated circuits configured to perform the functions of the embodiments of the present application, such as one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs).

[0332] Optionally, the processor 1901 can perform various functions of the communication apparatus 1900 by running or executing software programs stored in the memory 1902, and calling data stored in the memory 1902.

[0333] In a specific implementation, as an example, the processor 1901 can include one or more CPUs, such as the CPU0 and CPU1 shown in FIG. 19.

[0334] In a specific implementation, as an example, the communication apparatus 1900 can also include a plurality of processors, such as the processor 1901 and the processor 1904 shown in FIG. 19. Each of these processors can be a single-CPU or a multi-CPU. The processor herein can refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0335] The memory 1902 is configured to store software programs for implementing the schemes of the present application, and the processor 1901 is configured to control the execution of the software programs. The specific implementation can refer to the above method embodiments, and will not be described here.

[0336] Optionally, the memory 1902 can be a read-only memory (ROM) or other type of static storage device that can store static information and instructions, a random access memory (RAM) or other type of dynamic storage device that can store information and instructions, an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disk storage, a magnetic disk storage or other magnetic storage devices, or any other medium capable of storing desired program code in the form of instructions or data structures and that can be accessed by a computer, but is not limited to this. The memory 1902 can be integrated with the processor 1901 or exist independently and be coupled to the processor 1901 through the interface circuit (not shown in FIG. 19) of the communication apparatus 1900, and the embodiments of the present application do not make a specific limitation in this regard.

[0337] Optionally, the memory can also be outside the communication apparatus.

[0338] The transceiver 1903 is configured to communicate with other communication apparatuses. For example, the communication apparatus 1900 is a terminal device, and the transceiver 1903 can be configured to communicate with a network device or another terminal device. For another example, the communication apparatus 1900 is a network device, and the transceiver 1903 can be configured to communicate with a terminal device or another network device.

[0339] Optionally, the transceiver 1903 can include a receiver and a transmitter (not shown separately in FIG. 19). The receiver is configured to implement the receiving function, and the transmitter is configured to implement the transmitting function.

[0340] Optionally, the transceiver 1903 can be integrated with the processor 1901 or exist independently and be coupled to the processor 1901 through the interface circuit (not shown in FIG. 19) of the communication apparatus 1900, and the embodiments of the present application do not make a specific limitation in this regard.

[0341] It should be noted that the structure of the communication apparatus 1900 shown in FIG. 19 does not constitute a limitation on the communication apparatus, and the actual communication apparatus can include more or fewer components than those shown, or combine certain components, or have a different arrangement of components.

[0342] In addition, the technical effects of the communication apparatus 1900 can refer to the technical effects of the perception method described in the above method embodiments, which will not be repeated here.

[0343] It should be understood that the processor in the embodiments of the present application can be a CPU, and can also be other general-purpose processors, DSPs, ASICs, FPGAs or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0344] It should also be understood that the memory in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a ROM, a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an EEPROM or a flash memory. The volatile memory can be a RAM used as an external cache. By way of example but not limitation, many forms of RAM can be used, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM) and direct rambus RAM (DR RAM).

[0345] The above-described embodiments can be implemented in part or in whole through software, hardware (e.g., circuitry), firmware, or any combination thereof. When implemented in software, the above-described embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When loaded and executed by a computer, the computer instructions or computer programs can produce the processes or functions described above in accordance with the embodiments of the present application. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable apparatus. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, such as from a website site, a computer, a server, or a data center to another website site, a computer, a server, or a data center, through a wired (e.g., infrared, wireless, microwave, etc.) manner. The computer-readable storage medium can be any available medium or a collection of medium accessible by a computer or a data storage device such as a server, a data center, etc. containing one or more available medium. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a magnetic tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state disk.

[0346] It should be understood that the term "and / or" in this document is merely used to describe an associated relationship between associated objects, and can represent three relationships, for example, A and / or B can represent three cases of A alone, A and B together, and B alone, where A and B can be singular or plural. In addition, the character " / " in this document generally represents an "or" relationship between the front and rear associated objects, but can also represent an "and / or" relationship. The specific meaning can be understood according to the context before and after.

[0347] In this application, "at least one" means one or more, and "multiple" means two or more. "At least one of the following" or similar expressions means any combination of the items, including any combination of single or multiple items. For example, at least one of a, b, or c can represent a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.

[0348] It should be understood that in various embodiments of the present application, the size of the sequence number of the above-described 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, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0349] Those skilled in the art can clearly understand that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized by electronic hardware or a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0350] Those skilled in the art can clearly understand that, for the convenience and brevity of the description, the specific working processes of the above-described system, device and unit can refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0351] In several embodiments provided in the present application, it should be understood that the disclosed system, device and method can be implemented in other ways. For example, the above-described device embodiments 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 shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0352] The units described as separate components can or can not be physically separated, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0353] In addition, each functional unit in each embodiment of the present application can be integrated into a processing unit, or each unit can exist physically independently, or two or more units can be integrated into one unit.

[0354] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes various media that can store program codes, such as a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, etc.

[0355] 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 scope 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 perception method, comprising: The method is applied to a first node, and the method comprises: obtaining first information, wherein the first information is used to indicate information of K target positions each corresponding to a sensing signal, and the information of the K target positions each corresponding to the sensing signal comprises one or more of the following: transmission power, transmission duration, or the number of occupied time domain units; the information of a kth target position in the K target positions corresponding to a sensing signal satisfies a preset condition; wherein k and K are positive integers, and k≤K; transmitting the K target positions each corresponding to the sensing signal according to the first information.

2. The method of claim 1, wherein, The obtaining of the first information comprises: receiving the first information.

3. The method according to claim 1 or 2, characterized in that, The preset condition comprises one or more of the following: at least one of the transmission power, the transmission duration, or the number of occupied time domain units of the sensing signal corresponding to the kth target position is negatively correlated with a first imaging intensity corresponding to the kth target position; or or wherein a transmit power of the sensing signal for the nth transmission at the kth target location, E is the transmission duration of the sensing signal for the nth time sending of the kth target position noise Pnoise represents the power size of the noise on the first node, min represents taking the minimum value, SNR threshold SNR represents the signal-to-noise ratio threshold of the signal sent by the first node, W threshold W represents the energy threshold of the signal sent by the first node; n is a positive integer, E noise 、W thresgold are both positive.

4. The method of claim 3, wherein, The transmission power and the transmission duration of the perception signal corresponding to the kth target position satisfy the following relationship: or or or or or wherein a represents a proportional relationship, represents the imaging intensity of the sensing signal transmitted for the n-1th time at the kth target position, and the first imaging intensity is the imaging intensity of the sensing signal transmitted for the first time at the kth target position. β1, β2, or β3 are constants.

5. The method according to any one of claims 1-4, characterized in that, The transmission power and the transmission duration of the kth sensing signal are determined according to a noise on the first node and a signal-to-noise ratio threshold of a signal transmitted by the first node.

6. The method of claim 5, wherein, The transmission power and the transmission duration of the sensing signal corresponding to the kth target position satisfy a capability of the first node; the capability of the first node comprises one or more of the following: a power range of the first node supporting the transmission of the sensing signal, a time duration range of the first node supporting the transmission of the sensing signal, an angle range of the first node supporting the transmission of the sensing signal, a frequency band or a carrier supported by the first node, a number of antenna elements of the first node, or an interval of the antenna elements of the first node.

7. The method according to any one of claims 1 to 6, characterized in that, The method further comprises: transmitting second information; wherein the second information is used to indicate the capability of the first node.

8. The method according to any one of claims 1-7, characterized in that, The method further comprises: receiving third information; the third information is obtained by scattering, by a target object, the K target positions each corresponding to the sensing signal.

9. A perception method comprising: The method comprises: obtaining first information; wherein the first information is used to indicate information of K target positions each corresponding to a sensing signal, and the information of the K target positions each corresponding to the sensing signal comprises one or more of the following: transmission power, transmission duration, or the number of occupied time domain units; the information of a kth target position in the K target positions corresponding to a sensing signal satisfies a preset condition; wherein k and K are positive integers, and k≤K; transmitting the first information.

10. The method of claim 9, wherein, The preset condition comprises one or more of the following: at least one of the transmission power, the transmission duration, or the number of occupied time domain units of the sensing signal corresponding to the kth target position is negatively correlated with a first imaging intensity corresponding to the kth target position; or or wherein a transmit power of the sensing signal for the nth transmission at the kth target location, E represents the transmission duration of the sensing signal for the nth time of sending at the kth target position noise min represents taking the minimum value, SNR represents the signal-to-noise ratio threshold of the signal sent by the first node, W represents the energy threshold of the signal sent by the first node, and n represents a positive integer, threshold min represents taking the minimum value, SNR represents the signal-to-noise ratio threshold of the signal sent by the first node, W represents the energy threshold of the signal sent by the first node, and n represents a positive integer, threehold min represents taking the minimum value, SNR represents the signal-to-noise ratio threshold of the signal sent by the first node, W represents the energy threshold of the signal sent by the first node, and n represents a positive integer, E noise 、W thrsshold are both positive.

11. The method of claim 10, wherein, The transmission power and the transmission duration of the perception signal corresponding to the kth target position satisfy the following relationship: or or or or or wherein a represents a proportional relationship, represents the imaging intensity of the sensing signal transmitted for the n-1th time at the kth target position, and the first imaging intensity is the imaging intensity of the sensing signal transmitted for the first time at the kth target position. β1, β2, or β3 are constants.

12. The method according to any one of claims 9-11, characterized in that, The transmission power and the transmission duration of the kth sensing signal are determined according to a noise on the first node and a signal-to-noise ratio threshold of a signal transmitted by the first node.

13. The method according to any one of claims 9-12, characterized in that, The transmission power and the transmission duration of the sensing signal corresponding to the kth target position satisfy a capability of the first node; The capability of the first node comprises: a power range of transmitting the sensing signal supported by the first node, a time range of transmitting the sensing signal supported by the first node, an angle range of transmitting the sensing signal supported by the first node, a frequency band or a carrier supported by the first node, a number of antenna elements of the first node, or an interval of antenna elements of the first node.

14. The method of claim 13, wherein, The method further comprises: receiving second information; wherein the second information is used to indicate the capability of the first node.

15. The method according to any one of claims 9-14, characterized in that, The method further comprises: receiving third information; the third information is obtained by scattering the sensing signal corresponding to each of the K target positions by the target object.

16. A communications device, characterized by The communication device comprises a module for executing the method according to any one of claims 1-15.

17. A communications device, characterized by comprises: a processor; when the processor executes the computer program or the code instruction, the communication device executes the method according to any one of claims 1-15.

18. A communications device, characterized by The communication device comprises a processor and a transceiver, the transceiver is used for information interaction between the communication device and other communication devices, and the processor executes a computer program to execute the method according to any one of claims 1-15.

19. The communication apparatus according to claim 17 or 18, wherein, The communication device further comprises a memory for storing the computer program.

20. The communication apparatus according to claim 17, wherein The communication device further comprises an interface circuit for receiving the code instruction and transmitting to the processor.

21. The communication apparatus according to any one of claims 16-19, wherein, The communication device is a chip.

22. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a computer program or an instruction, when the computer program or the instruction is executed on a computer, the computer executes the method according to any one of claims 1-15.

23. A computer program product, characterised in that, The computer program product comprises: a computer program or an instruction, when the computer program or the instruction is executed on a computer, the computer executes the method according to any one of claims 1-15.

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