Sensing method and apparatus

Abstract

A sensing method and apparatus. The sensing method comprises: a first sensing device receiving first information, wherein the first information is used for indicating suppression information of a clutter signal, which is a signal reflected or scattered by a non-sensing object; and on the basis of the first information, the first sensing device processing a first signal that is used for sensing. For example, the first sensing device can suppress the clutter signal on the basis of the first information. If the first sensing device performs sensing by using a signal obtained after suppressing the clutter signal, interference caused by the clutter signal is reduced, and therefore sensing precision can be improved.

Description

A sensing method and apparatus

[0001] Cross Reference to Related Applications

[0002] The present application claims priority to the Chinese patent application No. 202411106734.8, filed on August 12, 2024, and entitled "A sensing method and apparatus", the entire content of which is incorporated herein by reference. TECHNICAL FIELD

[0003] The present application relates to the field of communication technology, and in particular to a sensing method and apparatus. BACKGROUND

[0004] For sensing services, such as environmental imaging or reconstruction application scenarios, the reflection, scattering or diffraction of signals sent by a user equipment (UE) or a base station on a sensing target when the signals propagate in space can be used to sense the position or shape of the sensing target in the environment. Among them, the base station or the UE can measure the signals reflected, scattered or diffracted by the sensing target, and report the measurement results to a sensing network element, so as to realize sensing of the sensing target by the sensing network element. However, the current sensing accuracy is not high. SUMMARY

[0005] Embodiments of the present application provide a sensing method and apparatus for improving sensing accuracy. The sensing method and apparatus can also be considered as a communication method and apparatus, or a sensing and communication integrated method and apparatus.

[0006] In a first aspect, a first sensing method is provided, which can be applied to a first device. The first device can be a terminal device, for example, also referred to as a terminal apparatus. The terminal device can be a terminal equipment, or other equipment including a terminal equipment function, or a circuit, or a chip system (or a chip, such as a modem chip, also referred to as a baseband chip, or a system on chip (SoC) chip or a system in package (SIP) chip containing a modem core) or other functional module capable of realizing the function of a terminal equipment, which is arranged in a terminal equipment, for example. Alternatively, the first device can be a network device, for example, also referred to as a network apparatus. The network device can be an access network equipment, or other equipment including an access network equipment function, or a circuit, or a chip system (or a chip) or other functional module capable of realizing the function of a network equipment, which is arranged in a network equipment, for example. The access network equipment can be a non-ORAN architecture or an ORAN architecture; or the access network equipment can be a CU, a DU or a RU under the ORAN architecture. The access network equipment can be located on the ground, or the access network equipment can be a satellite, or located on a satellite. In the following description, the first device is taken as an example of a first sensing device. According to the above description, the first sensing device can be a terminal device or an access network equipment. The method comprises: receiving first information, the first information being used to indicate suppression information of a clutter signal, wherein the clutter signal is a signal reflected or scattered by a non-sensing target; and processing a first signal for sensing according to the first information.

[0007] In the embodiments of the present application, the first information can indicate the suppression information of the clutter signal, for example, the first sensing device can suppress the clutter signal according to the first information. Optionally, the first sensing device can perform sensing by using the signal after suppressing the clutter signal, and thus the sensing accuracy can be improved due to the reduction of the interference caused by the clutter signal.

[0008] In an optional implementation, the suppression information comprises one or more of the following: indication information of the clutter signal; a manner of suppressing the clutter signal; suppressing the moving clutter signal and / or the stationary clutter signal; suppressing the clutter signal in a first region; suppressing the clutter signal in a first subspace; or Doppler feature information of the clutter signal to be suppressed. The suppression information can indicate the one or more, and the first sensing device can suppress the clutter according to the indication of the suppression information, so that the suppression result is more in line with the requirements.

[0009] In an optional implementation, the method further comprises: receiving the first signal; and processing the first signal for sensing according to the first information, which comprises: suppressing the clutter signal in the first signal according to the first information. The first signal can comprise a signal after the third signal is reflected, scattered or diffracted by a sensing target in the environment (which can comprise an intended sensing target and a non-sensing target), and the signal after the third signal is reflected, scattered or diffracted by the non-sensing target is the clutter signal. Therefore, the first signal can comprise the clutter signal, and the first sensing device can process the first signal according to the first information. For example, the first sensing device can suppress the clutter signal in the first signal according to the first information.

[0010] In an optional implementation, the method further comprises: obtaining a sensing result according to the first signal after the clutter signal is suppressed; and sending the sensing result. The first sensing device can obtain a sensing result according to the first signal after the clutter signal is suppressed. Since the clutter signal is suppressed, the sensing result can be more accurate. For example, the first sensing device can send the sensing result to a second sensing device, and the second sensing device can perform further sensing according to the sensing result.

[0011] In an optional implementation, the method further comprises: sending second information, which is used to indicate information of the clutter signal or information of suppressing the clutter signal. The first sensing device can send the information of the clutter signal to the second sensing device, or send the information of how to suppress the clutter signal to the second sensing device. The second sensing device can determine whether the suppression of the first sensing device is accurate according to the second information. For example, if the second sensing device considers that the suppression of the first sensing device is not accurate, the second sensing device can ignore the sensing result of the first sensing device, for example, does not perform sensing according to the sensing result, so that the inaccurate sensing result can not affect the final sensing process, thereby improving the sensing accuracy.

[0012] In an optional implementation, the method further comprises: determining first channel information and second channel information according to the first information, wherein the first channel information is channel information corresponding to the first signal, and the second channel information is channel information corresponding to the clutter signal; and suppressing the clutter signal according to the first channel information and the second channel information. The first sensing device can suppress the clutter signal at the channel level, and this suppression manner can comprehensively suppress the clutter signal.

[0013] In an optional implementation, the suppressing the clutter signal in the first signal according to the first information comprises: determining first autocorrelation information and second autocorrelation information according to the first information, the first autocorrelation information being autocorrelation information corresponding to the first signal, and the second autocorrelation information being autocorrelation information corresponding to the clutter signal; and suppressing the clutter signal according to the first autocorrelation information and the second autocorrelation information. The amount of information of channel information is large, and if the first sensing device is to suppress the clutter signal at the channel level, it needs to obtain relatively complete channel information (for example, the first channel information can be relatively complete channel information corresponding to the first signal, and the second channel information can be relatively complete channel information corresponding to the second signal). This may bring about a large overhead and may also require a long time. Therefore, the first sensing device can suppress the clutter signal according to autocorrelation information, in which case it is not necessary to obtain complete channel information, and the overhead and / or processing delay can be saved.

[0014] In an optional implementation, the suppressing the clutter signal in the first signal according to the first information comprises: suppressing the clutter signal in the first signal according to the first information and information of a subspace corresponding to the first signal. For example, the first sensing device can only suppress the clutter signal in part of the subspace, and does not need to suppress the clutter signal in all subspaces, which can improve processing efficiency.

[0015] In an optional implementation, the suppressing the clutter signal in the first signal according to the first information comprises: suppressing the clutter signal according to the first information and Doppler information corresponding to the first signal. For example, the first sensing device only needs to transform the first signal to the Doppler domain to achieve suppression of the clutter signal, which is relatively simple to implement.

[0016] In a second aspect, a second sensing method is provided, which can be applied to a network side device, for example, also referred to as a network device. The network device is, for example, a core network device or an access network device, or other equipment including the function of the core network device or the access network device, or a circuit, or a chip system (or chip) or other functional module capable of implementing the function of the core network device or the access network device, for example, provided in the core network device or the access network device. Optionally, the network device is an SF, an SMF, an LMF, or the like. Hereinafter, the network device is taken as an example of a second sensing device, and according to the above description, the second sensing device can be a core network device or an access network device, for example, the second sensing device is an SF, an SMF, an LMF, or the like. The method comprises: sending first information, the first information being used to indicate suppression information of a clutter signal, wherein the clutter signal is a signal reflected or scattered by a non-sensing target; and receiving a sensing result.

[0017] In an optional implementation, the suppression information comprises one or more of the following: indication information of the clutter signal; a manner of suppressing the clutter signal; suppressing the moving clutter signal and / or the stationary clutter signal; suppressing the clutter signal in the first region; suppressing the clutter signal in the first subspace; or Doppler feature information of the clutter signal to be suppressed.

[0018] In an optional implementation, the method further comprises: reconstructing the perception target according to the perception result.

[0019] In an optional implementation, the method further comprises: receiving second information, the second information being used to indicate information of the clutter signal.

[0020] The technical effects brought by the optional implementations of the second aspect can be referred to the introduction of the technical effects of the first aspect or the corresponding implementations.

[0021] In a third aspect, a device is provided. The device can be the first device of the first aspect. The device has the functions of the first device. For example, the device has the functions of the first aspect, for example, the device includes modules or units or means corresponding to the operations of the first aspect. The modules or units or means can be implemented by software, or by hardware, or by a combination of software and hardware. The device is, for example, a terminal device, or a device including a terminal device, or a chip system (or a chip or a circuit) or a functional module capable of implementing the functions of the terminal device, for example, the chip system or the functional module is arranged in the terminal device. Alternatively, the device is, for example, a network device, or a device including a network device, or a chip system (or a chip or a circuit) or a functional module capable of implementing the functions of the network device, for example, the chip system or the functional module is arranged in the network device. The network device includes, for example, a core network device and / or an access network device. In an optional implementation, the device includes a baseband device and a radio frequency device. In another optional implementation, the device includes a processing unit (also referred to as a processing module) and a transceiver unit (also referred to as a transceiver module). The transceiver unit can implement the transmitting function and the receiving function. When the transceiver unit implements the transmitting function, it can be referred to as a transmitting unit (also referred to as a transmitting module). When the transceiver unit implements the receiving function, it can be referred to as a receiving unit (also referred to as a receiving module). The transmitting unit and the receiving unit can be the same functional module, which is referred to as a transceiver unit and can implement the transmitting function and the receiving function. Alternatively, the transmitting unit and the receiving unit can be different functional modules, and the transceiver unit refers to these functional modules in general.

[0022] In an optional implementation, the transceiver (or the receiving unit) is configured to receive first information, the first information being used to indicate clutter signal suppression information, wherein the clutter signal is a signal reflected or scattered by a non-perception target; and the processing unit is configured to process the first signal for perception according to the first information.

[0023] In an optional implementation, the apparatus further includes a storage unit (also referred to as a storage module), and the processing unit is configured to be coupled with the storage unit and execute programs or instructions in the storage unit, so as to enable the apparatus to perform the functions of the second apparatus in the first aspect.

[0024] In a fourth aspect, a device is provided. The device can be the second device in the second aspect. The device has the functions of the second device. For example, the device has the functions of the second aspect, and includes modules or units or means corresponding to the operations in the second aspect. The modules or units or means can be implemented in software, hardware or a combination of software and hardware. The device can be a network device, or another device having the functions of the network device, or a chip system (or a chip or a circuit) or another functional module, which can implement the functions of the network device, and can be arranged in the network device. The network device can include a core network device and / or an access network device. Optionally, the network device can be an SF, an SMF, an LMF or the like. In an optional implementation, the device includes a baseband device and a radio frequency device. In another optional implementation, the device includes a processing unit (also referred to as a processing module) and a transceiver (also referred to as a transceiver module). The transceiver can be implemented as described in the third aspect.

[0025] In an optional implementation, the transceiver (or the sending unit) is configured to send first information, the first information being used to indicate clutter signal suppression information, wherein the clutter signal is a signal reflected or scattered by a non-perception target; and the transceiver (or the receiving unit) is configured to receive a perception result.

[0026] In an optional implementation, the apparatus further includes a storage unit (also referred to as a storage module), and the processing unit is configured to be coupled with the storage unit and execute programs or instructions in the storage unit, so as to enable the apparatus to perform the functions of the second apparatus in the second aspect.

[0027] In a fifth aspect, a device is provided, which includes a memory and one or more processors. The memory is configured to store part or all of the necessary computer programs or instructions for implementing the functions related to the first aspect described above. The one or more processors are configured to execute the computer programs or instructions, which, when executed, cause the device to implement the method in any possible design or implementation manner of the first aspect described above.

[0028] In a possible design of the device, the device further includes an interface circuit, and the processor is configured to communicate with other devices or components through the interface circuit.

[0029] In a possible design of the device, the device further includes the memory.

[0030] The device described above can be a terminal, or a communication module in the terminal, or a chip responsible for communication functions such as a modem chip (also referred to as a baseband chip) or an SoC or SIP chip containing a modem module in the terminal.

[0031] In a sixth aspect, a device is provided, which includes a memory and one or more processors. The memory is configured to store part or all of the necessary computer programs or instructions for implementing the functions related to the first aspect or the second aspect described above. The one or more processors are configured to execute the computer programs or instructions, which, when executed, cause the device to implement the method in any possible design or implementation manner of the first aspect or the second aspect described above.

[0032] In a possible design of the device, the device further includes an interface circuit, and the processor is configured to communicate with other devices or components through the interface circuit.

[0033] In a possible design of the device, the device further includes the memory.

[0034] The device described above can be a network device, or a communication module in the network device, or a chip responsible for communication functions such as a modem chip (also referred to as a baseband chip) or an SoC or SIP chip containing a modem module in the network device.

[0035] In a seventh aspect, a communication system is provided, which includes a first network-side device and a second network-side device. The first network-side device is configured to perform the method performed by the first device described in the first aspect described above, and the second network-side device is configured to perform the method performed by the second device described in the second aspect described above. For example, the first network-side device can be implemented by the device described in the fourth aspect or the sixth aspect, and the second network-side device can be implemented by the device described in the fourth aspect or the sixth aspect.

[0036] Optionally, the communication system further comprises a terminal-side device, wherein the terminal-side device is configured to transmit a signal for sensing, e.g., the first signal. For example, the terminal-side device can be implemented by the device of the third aspect or the fifth aspect.

[0037] In an eighth aspect, a communication system is provided, comprising a first device and a second device. The first device is configured to perform the method performed by the first device according to the first aspect, and the second device is configured to perform the method performed by the second device according to the second aspect. For example, the first device can be implemented by the device of the fourth aspect or the sixth aspect, or by the device of the third aspect or the fifth aspect; and the second device can be implemented by the device of the fourth aspect or the sixth aspect.

[0038] In a ninth aspect, a computer-readable storage medium is provided, configured to store a computer program or instructions, which, when executed, cause the method performed by the first device or the second device according to the aspects to be implemented.

[0039] In a tenth aspect, a computer program product is provided, comprising instructions, which, when executed on a computer, cause the method according to the aspects to be implemented.

[0040] In an eleventh aspect, a chip system is provided, comprising a processor and an interface, wherein the processor is configured to call and execute instructions from the interface, so that the chip system implements the method according to the aspects. BRIEF DESCRIPTION OF DRAWINGS

[0041] FIG. 1A is a schematic diagram of an access network device structure under an ORAN architecture;

[0042] FIG. 1B is a schematic diagram of a structure of a RAN chip;

[0043] FIG. 2A and FIG. 2B are schematic diagrams of single-station sensing mode and double-station sensing mode, respectively;

[0044] FIG. 3 and FIG. 4 are schematic diagrams of two network architectures to which embodiments of the present application are applied;

[0045] FIG. 5, FIG. 6, FIG. 7, FIG. 8, and FIG. 9 are flowcharts of several sensing methods provided by embodiments of the present application;

[0046] FIG. 10 is a schematic diagram of a device provided by an embodiment of the present application;

[0047] FIG. 11 is a schematic diagram of another device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0048] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the following further describes the embodiments of the present application with reference to the drawings.

[0049] In the embodiments of the present application, the number of nouns, unless otherwise specified, represents "a singular noun or a plural noun", that is, "one or more". "At least one" refers to one or more, and "multiple" refers to two or more. "And / or" describes the association relationship of the associated objects, which means that there can be three kinds of relationships, for example, A and / or B can represent the following three cases: A exists alone, A and B exist together, and B exists alone, where A and B can be singular or plural. The character " / " generally represents that the associated objects before and after it are in an "or" relationship. For example, A / B represents A or B. "At least one of the following" or similar expressions means any combination of these items, including any combination of single item or multiple items. For example, at least one of a, b, or c represents a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0050] The ordinal numbers "first", "second", and the like mentioned in the embodiments of the present application are used to distinguish a plurality of objects, and are not used to limit the size, content, order, time sequence, priority, or importance of the plurality of objects. In addition, the numbering of the steps in each embodiment introduced in the present application is only used to distinguish different steps, and is not used to limit the order of the steps.

[0051] The following explains some terms or concepts in the embodiments of the present application, so as to facilitate understanding by those skilled in the art.

[0052] In the embodiments of the present application, the terminal device is a device with wireless transceiving function, which can be a fixed device, a mobile device, a handheld device (for example, a mobile phone), a wearable device, a vehicle-mounted device, or a wireless device (for example, a communication module, a modem, or a chip system, etc.) built in the above devices. The terminal device is used to connect people, things, machines, etc., and can be widely used in various scenarios, for example, including but not limited to the following scenarios: sensing scenarios, cellular communication, device-to-device (D2D) communication, vehicle to everything (V2X) communication, machine-to-machine / machine-type communications (M2M / MTC), internet of things (IoT), virtual reality (VR), augmented reality (AR), industrial control, self driving, remote medical, smart grid, smart furniture, smart office, smart wear, smart transportation, smart city, unmanned aerial vehicle, robot, indoor commercial scenarios (such as mobile phone screen projection, file sharing, mobile phone to VR glasses video transmission) and other scenarios. When the terminal device is applied to V2X, it can also be referred to as a V2X device, for example, a smart car, a digital car, an unmanned car, a self-driving car, a pure EV, a hybrid electric vehicle (HEV), a range extended EV (REEV), a plug-in HEV (PHEV), a new energy vehicle, a road site unit (RSU), etc. The terminal device can also be a device in D2D communication, for example, a water meter, a gas meter, etc.

[0053] In addition, in the embodiments of the present application, the terminal device can also be a terminal device in an internet of things (IoT) system. The IoT is an important part of future information technology development, and its main technical feature is to connect objects through communication technology and network, so as to realize the intelligent network of man-machine interconnection and object-object interconnection.

[0054] As introduced above, various terminal devices can be considered as vehicle-mounted terminal devices if they are located on a vehicle (for example, placed in or installed in a vehicle), and the vehicle-mounted terminal device is also referred to as an on-board unit (OBU). The terminal device of the present application can also be a vehicle-mounted module, a vehicle-mounted module group, a vehicle-mounted component, a vehicle-mounted chip or a vehicle-mounted unit built in a vehicle as one or more components or units, and the vehicle can implement the method of the present application through the built-in vehicle-mounted module, vehicle-mounted module group, vehicle-mounted component, vehicle-mounted chip or vehicle-mounted unit.

[0055] The terminal device can also be referred to as a UE, a terminal, an access station, a UE station, a remote station, a wireless communication device, or a user device, etc.

[0056] In the embodiments of the present application, the device for implementing the function of the terminal device can be a terminal device, which can be a terminal device or a device capable of supporting the terminal device to implement the function, such as a chip system, which can be installed in the terminal device. In the technical solutions provided in the embodiments of the present application, the device for implementing the function of the terminal device is taken as an example of the terminal device to describe the technical solutions provided in the embodiments of the present application.

[0057] The network device in the embodiments of the present application, for example, includes an access network device (or an access network network element) and / or a core network device (or a core network network element). The access network device is a device with wireless transceiving function, used for communicating with the terminal device. The access network device includes but is not limited to a base station (a base transceiver station (BTS), a Node B, an evolved Node B (eNodeB) / eNB, or a next generation Node B (gNodeB) / gNB), a transmission reception point (TRP), a base station evolved in the future of the 3rd generation partnership project (3GPP), an access node in a wireless fidelity (Wi-Fi) system, a wireless relay node, a wireless backhaul node, and the like. The base station can be a macro base station, a micro base station, a pico base station, a small station, a relay station, and the like. A plurality of base stations can support a network of the same access technology or a network of different access technologies. A base station can include one or more co-sited or non-co-sited transmission reception points. The access network device can also be a wireless controller, a centralized unit (CU), and / or a distributed unit (DU) in a cloud radio access network (CRAN) scenario. The access network device can also be a server and the like. For example, the network device in the V2X technology can be a road side unit (RSU). The access network device is described below by taking a base station as an example. The base station can communicate with the terminal device or communicate with the terminal device through a relay station. The terminal device can communicate with a plurality of base stations in different access technologies. The core network device is used to implement mobile management, data processing, session management, policy and charging, and the like. The names of devices implementing core network functions in systems of different access technologies can be different, and the embodiments of the present application do not limit this.Taking a 5th generation (5G) system as an example, the core network device includes, for example, an access and mobility management function (AMF), a session management function (SMF), a policy control function (PCF), a user plane function (UPF), and the like.

[0058] In the CU-DU architecture, or in an open RAN (ORAN) system, the access network device can include one or more of a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), and the like. The CU and the DU can be separately arranged, 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). For a structure of the access network device, refer to FIG. 1A. The core network device and the access network device can communicate through a backhaul link; the CU and the DU in the access network device can communicate through a middlehaul link, and the DU and the RU can communicate through a front-haul link.

[0059] Alternatively, another structure of the access network device can refer to FIG. 1B, which takes the example of the access network device being implemented by a chip, for example, referred to as a RAN chip. The RAN chip can include a CU, a DU, and a RU. The CU can perform L2 functions, L3 functions, and the like. The DU can perform L1 functions, part of L2 functions, and the like. The RU can perform calculation of L1 and radio frequency (RF) digital part functions, and the like. The CU communicates with the core network device through a backhaul interface, which carries traffic between the CU and the core network device. The CU can include a central processing unit (CPU) of an X86 architecture or an ARM architecture, and an accelerator including a field programmable gate array (FPGA), a graphics processing unit (GPU), or other accelerators, and the like. The CPU and the FPGA, GPU, or other accelerators can communicate through a peripheral component interconnect express (PCIe) interface.

[0060] The CU communicates with the DU through a midhaul interface, which carries traffic between the CU and the DU. The DU can include a CPU of an X86 architecture or an ARM architecture, and an accelerator including an FPGA, a GPU, or other accelerators, and the like. The CPU and the FPGA, GPU, or other accelerators can communicate through a PCIe interface.

[0061] The DU communicates with the RU through a fronthaul interface, which carries traffic between the DU and the RU. If the access network device adopts an integrated DU, the integrated DU can include the functions of the DU and the RU described above, and the RAN can no longer separately include the RU. The RU can include a RAN fronthaul processing unit (RAN FH processing unit), a digital processing unit, and a radio frequency processing unit (RF processing unit). The RAN FH processing unit is implemented by, for example, an FPGA or an application specific integrated circuit (ASIC). The digital processing unit is implemented by, for example, an FPGA or an ASIC.

[0062] The RU can be connected with an antenna to communicate with the UE through the antenna.

[0063] The CU (or CU-CP and CU-UP), DU or RU can also have different names in different systems, but those skilled in the art can understand their meanings. For example, in an ORAN system, the CU can also be referred to as an open CU (O-CU), the DU can also be referred to as an open DU (O-DU), the CU-CP can also be referred to as an open CU-CP (O-CU-CP), the CU-UP can also be referred to as an open CU-UP (O-CU-UP), and the RU can also be referred to as an open RU (O-RU). For the convenience of description, the CU, CU-CP, CU-UP, DU and RU are taken as examples for description in the embodiments of the present application. Any one of the CU (or CU-CP, CU-UP), DU and RU in the embodiments of the present application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0064] The CU and the DU can be configured according to the protocol layer functions of the wireless network they implement. For example, the CU is configured to implement the functions of the packet data convergence protocol (PDCP) layer and the protocol layers above the PDCP layer (such as the radio resource control (RRC) layer and / or the service data adaption protocol (SDAP) layer, etc.); the DU is configured to implement the functions of the protocol layers below the PDCP layer (such as one or more of the radio link control (RLC) layer, the media access control (MAC) layer, or the physical (PHY) layer). For another example, the CU is configured to implement the functions of the PDCP layer and the protocol layers above the PDCP layer (such as the RRC layer and / or the SDAP layer), and the DU is configured to implement the functions of the protocol layers below the PDCP layer (such as one or more of the RLC layer, the MAC layer, or the PHY layer).

[0065] The configuration of the above CU and DU is merely an example, and the CU and DU can be configured to have functions as needed. For example, the CU or the DU can be configured to have more protocol layer functions, or the CU or the DU can be configured to have partial processing functions of the protocol layer. For example, partial functions of the RLC layer and functions of protocol layers above the RLC layer are arranged in the CU, and the remaining functions of the RLC layer and functions of protocol layers below the RLC layer are arranged in the DU. For another example, the functions of the CU or the DU can be divided according to a service type or other system requirements, for example, according to a delay requirement. Functions that require a processing time to meet a relatively low delay requirement are arranged in the DU, and functions that do not require the processing time to meet the delay requirement are arranged in the CU.

[0066] The DU and the RU can cooperate to jointly implement the functions of the PHY layer. One DU can be connected to one or more RUs. The functions of the DU and the RU can be configured in various ways according to design. For example, the DU is configured to implement baseband functions, and the RU is configured to implement intermediate radio frequency functions. For another example, the DU is configured to implement high-layer functions in the PHY layer, and the RU is configured to implement low-layer functions in the PHY layer or to implement the low-layer functions and radio frequency functions. The high-layer functions in the PHY layer can include a part of the functions of the PHY layer that are closer to the MAC layer, and the low-layer functions in the PHY layer can include another part of the functions of the PHY layer that are closer to the intermediate radio frequency side.

[0067] In the embodiments of the present application, the device for implementing the function of the network device can be referred to as a network device, which can be a network element or a network device, or a device capable of supporting the network device or the network element to implement the function, such as a chip system, which can be installed in the network device. In the technical solutions provided in the embodiments of the present application, the device for implementing the function of the network device is taken as an example (for example, the device for implementing the function of the access network device is the access network device, and the device for implementing the function of the core network device is the core network device), and the technical solutions provided in the embodiments of the present application are described.

[0068] A sensing signal is a signal used for sensing (or detecting) a target (or target object). The sensing signal can also be referred to as a detection signal, a chirp signal, a radar signal, a radar sensing signal, a radar detection signal, or an environmental sensing signal, etc. The sensing signal can be a pulse signal or a signal in a wireless communication system. For example, the sensing signal can be an orthogonal frequency division multiplexing (OFDM) signal modulated on a subcarrier with a specific sequence, which can be any one of the following sequences: a Zadoff-Chu sequence (ZC sequence), a pseudo-random sequence, or a predefined sequence. The pseudo-random sequence includes any one of the following sequences: a maximum length linear feedback shift register sequence (m-sequence), or a Gold sequence. The predefined sequence is, for example, a random data symbol, for example, a random data symbol modulated by quadrature phase shift keying (QPSK) or 16 quadrature amplitude modulation (QAM).

[0069] A return signal is a signal reflected by a target from a sensing signal. The return signal and the sensing signal can reflect parameters of the target, for example, a time delay of the return signal relative to the sensing signal can reflect a distance of the target relative to a transmitter, and a Doppler frequency shift of the return signal relative to the sensing signal can reflect a speed of the target.

[0070] A communication-sensing fusion signal, also referred to as a communication-sensing fusion signal, a communication-sensing signal, or a communication-sensing integrated signal, is a signal used for both communication and sensing. The communication-sensing fusion signal is used for communication, which can be understood as the signal carrying communication data or a communication reference signal sequence that needs to be transmitted between communication devices. The communication-sensing fusion signal is used for sensing, which can be understood as the communication-sensing fusion signal being used for sensing (or detecting) a target.

[0071] For example, the signal used for sensing described herein can include a sensing signal and / or a communication-sensing fusion signal, etc.

[0072] A target can be any tangible object in an environment that can reflect electromagnetic waves, such as mountains, forests, or buildings, etc., and can also include movable objects such as vehicles, unmanned aerial vehicles, pedestrians, terminal devices, etc. The target can also be referred to as a sensing target, a detection target, a sensed target, a detected target, a sensed object, a detected object, or a sensed device, etc., which is not limited by the embodiments of the present application.

[0073] For a long time, wireless sensing is a technology developed independently. Sensing services are provided by various specialized sensing devices, such as ordinary radar, laser radar, computer tomography, magnetic resonance imaging, and the like. In 5G and earlier communication systems, positioning is a sensing service that can be provided by a mobile communication system. In future mobile communication systems, in addition to positioning, general sensing will be integrated into the communication system as a new function, opening up new services such as high-precision positioning, environment reconstruction, gesture and motion recognition, and the like.

[0074] Among them, the sensing network element can reconstruct the target area environment through laser, radar, or base station, etc. For example, the sensing network element can reconstruct the real physical environment based on the measurement results reported by the laser, radar, or base station, etc. For example, the sensing network element can reconstruct the environment information based on the measurement results, using methods such as scattering polygons, etc. to depict various scatterers (also known as sensing targets, targets, or target objects, etc.) in the environment, such as walls, furniture, etc.

[0075] For sensing, according to the difference between the sender and the receiver of the sensing signal, the sensing mode can be divided into two modes: single-station sensing and double-station sensing. Among them, the single-station sensing mode is also called self-transmitting and self-receiving mode, or single-end sensing mode, or single-base sensing mode, etc. It refers to the device that transmits the sensing signal and the device that receives the echo signal reflected by the target are the same device, as shown in FIG. 2A, the device that transmits the sensing signal and the device that receives the echo signal are device 1; the double-station sensing mode is also called A-transmitting and B-receiving mode or self-transmitting and other-receiving mode, which refers to the device that transmits the sensing signal and the device that receives the echo signal reflected by the target are different devices, as shown in FIG. 2B, the device that transmits the sensing signal is device 2, and the device that receives the echo signal is device 3. FIG. 2A and FIG. 2B both take the sensing target as a vehicle as an example. For example, in FIG. 2A, device 1 is a base station or a UE, in the single-station sensing mode, device 1 transmits the sensing signal, and device 1 receives the echo signal generated by the sensing target (e.g. the vehicle in FIG. 2A) in the environment reflecting, scattering or diffracting the sensing signal, to perform environment sensing. For another example, in FIG. 2B, device 2 is a base station or a UE, and device 3 is a base station or a UE, in the double-station sensing mode, device 1 transmits the sensing signal, and device 2 receives the echo signal generated by the scattering body (e.g. the vehicle in FIG. 2B) in the environment reflecting, scattering or diffracting the sensing signal, to perform environment sensing.

[0076] In the embodiment of the present application, the first information can indicate the suppression information of the clutter signal, for example, the sensing device can suppress the clutter signal according to the first information. Optionally, the sensing device can use the signal after suppressing the clutter signal for sensing, and since the interference caused by the clutter signal is reduced, the sensing accuracy can be improved.

[0077] Referring to FIG. 3, FIG. 3 is based on a 5G core network (5GC). The network architecture shown in FIG. 3 can also be an application scenario of the embodiments of the present application.

[0078] In the architecture shown in FIG. 3, a sensing function (SF) network element is added, which can also be referred to as a sensing network element. The SF can be a device or component that provides sensing functions for the network, which can also be referred to as a sensing management function (SMF), or can also have other names. The SF can be deployed on the core network side or the RAN side, and FIG. 3 takes the deployment on the core network side as an example. In the network architecture shown in FIG. 3, the SF can reuse the interfaces between the location management function (LMF) and the AMF, the network exposure function (NEF), the unified data management (UDM), the network data analytics function (NWDAF), the PCF, and other 5GC network elements for sensing interaction. The sensing signaling between the SF and the radio access network (RAN) or the UE can be transmitted through the AMF; the sensing measurement data obtained by the RAN or the UE can be transmitted to the SF through the control plane, for example, by reusing the long term evolution (LTE) positioning protocol (LPP) or the new radio (NR) positioning protocol annex (NRPPa) protocol, or can also be transmitted through the user plane, forwarded to the SF through the UPF, or directly transmitted to the SF.

[0079] The SF added in the network architecture can implement basic sensing functions, such as sensing authorization, sensing control, sensing measurement data processing, or result output. Among them, interfaces are set between the SF and the AMF, the NEF, the UDM, the NWDAF, the PCF, the LMF, and the UPF, and other 5GC network elements, and interact with each other, which are defined as follows.

[0080] NS1: The interface added between the SF and the AMF, which can transmit sensing control signaling. In addition, for the scenario of transmitting sensing measurement data on the control plane, the interface can also transmit sensing measurement data.

[0081] NS2: The newly added interface between SF and NEF, which can deliver signaling messages of the interaction between the sensing network element through NEF and the application function (AF) on the service side, and open the sensing result to the AF.

[0082] NS3: The newly added interface between SF and UDM, through which authentication or authorization can be achieved, and UE sensing subscription information, service AMF information or other information can be obtained.

[0083] NS4: The newly added interface between SF and NWDAF, through which the SF can complete artificial intelligence (AI) processing related to sensing services together with the NWDAF.

[0084] NS5: The newly added interface between SF and PCF, through which the SF can deliver sensing requirements, quality of service (QoS) requirements or sensing results of sensing services to the PCF, and the PCF can generate policy control and charging (PCC) policies related to sensing services.

[0085] NS6: The newly added interface between SF and LMF, through which the SF can obtain location-related information such as sensing area, RAN information of sensing target, and location information of the sensed UE.

[0086] NS7: The newly added interface between SF and UPF, through which sensing measurement data can be transmitted directly from (R)AN to SF via UPF, or indirectly forwarded to SF via UPF. In the scenario where (R)AN performs sensing, the function of UPF can be improved to support (R)AN-granularity data transmission.

[0087] In addition to the above-mentioned newly added interfaces, existing interfaces (such as N1, N2, N5, N8, N33, etc.) can also support the delivery of one or more of the following information related to sensing services: authentication information, sensing service type, sensing service quality requirement, sensing measurement data, or sensing result.

[0088] Figure 3 is an example of SF being a standalone device; or SF can also be combined with LMF, i.e., the network element for processing perception services and the network element for processing positioning services can be the same network element; or SF can also be combined with other core network elements, such as AMF, etc. Among them, LMF is a core network element in 5GC that provides control plane positioning, can complete the calculation and feedback of location information in the 5G network, and provides functions such as positioning process management, UE capability acquisition, assistance data provision, and UE location estimation. Optionally, if SF is combined with LMF, the LMF and the gateway mobile location center (GMLC) can be functionally enhanced to support basic perception functions. Among them, the GMLC can be the first network element in the operator network to process perception requests, perform privacy checks or authorization functions, route perception requests to the AMF, or perform LMF selection, etc.

[0089] For example, if SF is combined with LMF, an interface can be added between LMF and GMLC to deliver perception service related information, such as the addition of NL9 interface. In addition, the interfaces related to LMF and GMLC (such as one or more of the NL1 interface between AMF and LMF, the NL2 interface between AMF and GMLC, the NL5 interface between NEF and GMLC, or the NL6 interface between UDM and GMLC) can also support the delivery of perception service related information, which is described in detail as follows.

[0090] N33: Interface between AF and NEF, through which perception service type information, service requirements, and perception results, etc. can be delivered.

[0091] NL5: Interface between NEF and GMLC, through which perception service type information, service requirements, and perception results, etc. can be delivered.

[0092] NL6: Interface between GMLC and UDM, through which privacy check data can be delivered.

[0093] NL2: Interface between NEF and AMF, through which perception service type information, service requirements, and perception results, etc. can be delivered.

[0094] NL1: Interface between AMF and LMF, through which perception service type information, service requirements, and perception results, etc. can be delivered.

[0095] NL9: Newly added interface between GMLC and LMF, through which perception service type information, service requirements, and perception results, etc. can be delivered.

[0096] Referring back to FIG. 4, FIG. 4 is another potential sensing network architecture based on 5GC. The network architecture shown in FIG. 4 can also be another application scenario of the embodiments of the present application.

[0097] In the network architecture shown in FIG. 4, the SF is relatively independent of the existing core network elements, and the SF does not need to interact with the core network elements or performs less interaction. For scenarios where there is only a sensing demand in a specific area or there is only a sensing demand, this network architecture can provide sensing services without the control of 5GC or with the participation of only part of the network elements, and can also achieve that the sensing measurement data or sensing results do not go out of the park through the local deployment of the SF, thereby meeting the needs of enterprises for the security and privacy of sensing measurement data or sensing results, and reducing the sensing latency. This network architecture is relatively simple, flexible, efficient, has fewer transmission nodes, and is easy to deploy. Optionally, this network architecture can support UE-related sensing demands, and can consider implementation schemes of authorization, mobility management, and charging functions as needed.

[0098] In this network architecture, the SF can directly establish a connection with the RAN node, and the sensing signaling of the control plane and the sensing measurement data of the user plane can be transmitted via a newly defined interface NS1. When the UE participates in sensing, the control plane signaling can be forwarded to the SF through the AMF, and the sensing measurement data can be transmitted via NS1. In addition, there can be an interface between the SF and the 5GC network elements (such as AMF, NEF, or NWDAF) to control the AF to provide sensing service requirements to the SF through the core network functions. The interface between the SF and the 5GC network elements is described as follows.

[0099] NS1: a newly added interface between the SF and the (R)AN, which can transmit sensing control signaling or sensing measurement data. In an implementation manner, the SF can also be deployed on the RAN side, for example, the SF can be co-located with the access network device (such as a base station), or the SF can be a separate device within the access network.

[0100] NS2: a possible newly added interface between the SF and the AMF, which can receive sensing service requirements from the UE or transmit signaling between the SF and other network elements in the core network, such as transmitting interaction messages between the SF and the UDM.

[0101] NS3: a possible newly added interface between the SF and the NEF, which can transmit signaling of the interaction between the SF and the service-side AF through the NEF, and can also expose the sensing results to the AF, wherein the interaction between the SF and the AF can also not pass through the NEF. In actual deployment, NS2 and NS3 can be selected from one of them, that is, the AF can send a sensing service request to the SF indirectly through NS2 (NEF) or directly to the SF (without NEF); or the AF can send a sensing service request to the SF through N33 (NEF) and NS2 (AMF).

[0102] NS4: A possible new interface between the SF and the NWDAF, through which the SF and the NWDAF can jointly perform intelligent analysis and prediction to generate a perception result.

[0103] The technical solutions provided by the embodiments of the present application can be applied in a fourth generation mobile communication technology (4th generation, 4G) system, such as an LTE system, or can be applied in a 5G system, such as an NR system, or can also be applied in a next generation mobile communication system or other similar communication systems, such as a 6G system, etc., or can be applied in an existing satellite mobile communication technology system, and the specific application is not limited. For example, both FIG. 3 and FIG. 4 are based on 5GC, in addition to this, the SF can also be deployed in other networks, such as a 6G network, or other future communication networks, etc.

[0104] The embodiments of the present application can be applied to the scenarios shown in FIG. 2A, FIG. 2B, FIG. 3 or FIG. 4, or can also be used in other scenarios, such as any scenario involving a perception service.

[0105] The method provided by the embodiments of the present application will be described below with reference to the accompanying drawings. In various embodiments of the present application, the signal used to implement the perception function or the perception service is referred to as a perception signal. Among them, the perception signal is transmitted through reflection, scattering or diffraction, etc., and the perception device (such as a network device) can determine the related characteristics of the perception target according to the received perception signal, such as estimating the time delay, Doppler or angle spectrum information according to the received perception signal to determine the distance, angle or speed information of the perception target. In addition, the network device can also send the measurement result to the perception network element, such as the point cloud information, distance, angle or speed information of the perception target. In the corresponding drawings of various embodiments of the present application, the steps represented by the dashed line are optional steps.

[0106] The various embodiments herein can be applied to the network architecture shown in FIG. 2A, FIG. 2B, FIG. 3 or FIG. 4. For example, the first perception device described in various embodiments herein can be device 1 shown in FIG. 2A, and the second perception device described in various embodiments herein can also be device 1 shown in FIG. 2A. For another example, the first perception device described in various embodiments herein can be device 2 shown in FIG. 2B, and the second perception device described in various embodiments herein can be device 3 shown in FIG. 2B. For another example, the first perception device described in various embodiments herein can be a UE shown in FIG. 3 or FIG. 4; and the second perception device described in various embodiments herein can be a (R)AN shown in FIG. 3 or FIG. 4. For another example, the first perception device described in various embodiments herein can be a (R)AN shown in FIG. 3 or FIG. 4; and the second perception device described in various embodiments herein can be a UE shown in FIG. 3 or FIG. 4.

[0107] The embodiment of the present application provides a first sensing method. Please refer to FIG. 5 for a flowchart of the method.

[0108] S501, the SF sends first information. Correspondingly, the first sensing device receives the first information.

[0109] The first information may, for example, be included in a sensing request or a sensing measurement request, or the first information may, for example, be a sensing request or a sensing measurement request.

[0110] The first sensing device may, for example, be a UE or a network device (for example, an access network device), or may also be other devices, for example, a third-party server, etc. Wherein, if the first sensing device is a network device, the network device may be a non-ORAN architecture or an ORAN architecture. Optionally, if the network device is a network device under the ORAN architecture, for example, the network device includes an RU, or the network device is an RU, S501 may be performed by the RU.

[0111] Wherein, the first sensing device may directly receive the first information from the SF. For example, the first sensing device is a network device (for example, an access network device), the SF may directly communicate with the network device, and the network device may directly receive the first information from the SF. Alternatively, the first sensing device may also receive the first information forwarded by other devices. For example, the first sensing device is a UE, the SF and the UE may forward information through a network device (for example, an access network device), and the first information sent by the SF may be forwarded to the UE through the network device, and the UE receives the first information forwarded through the network device.

[0112] The first information can indicate or include suppression information of the clutter signal. The clutter signal can be a signal reflected, scattered or diffracted by a non-perception target. The non-perception target can also be referred to as an unintended perception target, etc., which refers to a target other than the target to be perceived. For example, the first perception device performs perception with an intended perception target or a target to be perceived. The first perception device expects to receive a signal reflected, scattered or diffracted by the intended perception target, and performs perception based on the signal, so as to determine the relevant parameters of the intended perception target. However, the actual environment is more complex, and in addition to the intended perception target, there can be other targets in the environment. In addition to receiving a signal reflected, scattered or diffracted by the intended perception target, the first perception device can also receive a signal reflected, scattered or diffracted by a non-perception target. The signal reflected, scattered or diffracted by the non-perception target can be referred to as a clutter signal. The clutter signal is a kind of interference for perception, and can affect the perception accuracy. For example, the target that the first perception device expects to perceive is building A, but in the environment where building A is located (for example, on the street where building A is located), in addition to building A, there are other targets, such as other buildings, or vehicles, pedestrians, etc. The signal for perception emitted by the second perception device can reach the first perception device via reflection, scattering or diffraction of building A, and can also reach the first perception device via reflection, scattering or diffraction of other targets other than building A. The signal reflected, scattered or diffracted by other targets other than building A to the first perception device can be referred to as a clutter signal.

[0113] Since the clutter signal is interference for perception, the SF can indicate that the first perception device suppresses the clutter signal. The first information can indicate or include suppression information of the clutter signal. The suppression information can include or indicate one or more of the following: indication information of the clutter signal, suppression of the moving clutter signal and / or the stationary clutter signal, suppression of the clutter signal in the first region, suppression of the clutter signal in the first subspace, eigenvalue information corresponding to the clutter signal to be suppressed, or Doppler feature information of the clutter signal to be suppressed.

[0114] The indication information of the clutter signal can also be described as information for indicating suppression of the clutter signal. The indication information can indicate suppression of the clutter signal.

[0115] The moving clutter signal refers to a clutter signal reflected, scattered or diffracted by a non-perception target in a moving state. For example, a clutter signal reflected, scattered or diffracted by a vehicle or a pedestrian in motion (which is a non-perception target) and then reaching the first perception device can be referred to as a moving clutter signal. The static clutter signal refers to a clutter signal reflected, scattered or diffracted by a non-perception target in a stationary state. For example, a clutter signal reflected, scattered or diffracted by a building in a fixed position and then reaching the first perception device can be referred to as a static clutter signal.

[0116] The first area can refer to a certain geographical area, or can also be an area composed of certain cells. For example, the suppression information indicates to suppress the clutter signal in the first area, which can specifically indicate the coordinates (such as longitude and / or latitude) corresponding to the first area, or indicate the identity of the cell included in the first area.

[0117] The first subspace can include one or more subspaces, such as a signal subspace and / or a noise subspace, etc.

[0118] The eigenvalue information corresponding to the clutter signal to be suppressed refers to that the corresponding channel information can be determined according to the signal received by the first perception device, and the channel information can correspond to at least one eigenvalue. If there is an eigenvalue that satisfies the eigenvalue information in the at least one eigenvalue, it indicates that the eigenvalue represents a clutter signal.

[0119] The Doppler feature information of the clutter signal to be suppressed refers to that the Doppler information of the signal received by the first perception device can be determined, and if there is information A that satisfies the Doppler feature information in the Doppler information, the information A represents a clutter signal.

[0120] As can be seen, the suppression information of the clutter signal indicated by the first information can be used by the first perception device to determine whether to suppress the clutter signal, and / or to determine the clutter signal. Therefore, the suppression information can also be referred to as auxiliary information or clutter auxiliary information, or can also have other names.

[0121] S502, the first perception device processes the first signal for perception according to the first information.

[0122] Optionally, the second perception device can send a third signal for perception; correspondingly, the first perception device can receive the first signal. This step occurs, for example, before S502. After the first perception device receives the first signal, S502 can be executed. If the first perception device is a network device, and the network device is a network device under the ORAN architecture, for example, the network device includes an RU, or the network device is an RU, the first signal can be received by the RU.

[0123] The first signal can be a signal reflected, scattered or diffracted by a perceived target in the environment (which can include an intended perceived target and a non-perceived target) after the third signal, for example, the first signal can be an echo signal of the third signal. Alternatively, the first signal and the third signal are the same signal, except that the transmission path of the first signal may have changed compared to the third signal after being reflected, scattered or diffracted by the perceived target, so it is called the first signal. It can also be understood that the second sensing device transmits the first signal, and the first sensing device also receives the first signal, but the first signal received by the first sensing device is the first signal reflected, scattered or diffracted by the perceived target.

[0124] Alternatively, the first signal can include a sensing signal and / or a sensing-communication fusion signal, etc. It can be seen that the embodiments of the present application do not limit the type or function of the first signal, so the method provided by the embodiments of the present application can be a "sensing method", or it can also be a "communication-sensing method", or it can also be a "sensing-communication integrated method" (ISAC), etc. The type or name of the method provided by the embodiments of the present application is not limited.

[0125] The first sensing device processes the first signal for sensing, for example, one processing manner includes that the first sensing device suppresses a clutter signal in the first signal. If the first sensing device is a network device, the network device can be a non-ORAN architecture or an ORAN architecture. Alternatively, if the network device is a network device under the ORAN architecture, for example, the network device includes a CU, or the network device is a CU, the CU can be used to suppress the clutter signal in the first signal.

[0126] Alternatively, if the first information indicates that the suppression information includes indication information of the clutter signal, the first sensing device can suppress the clutter signal in the first signal according to the indication information. Alternatively, if the first information indicates that the suppression information includes corresponding information of the clutter signal, for example, one or more of suppression of a moving clutter signal and / or a stationary clutter signal, suppression of a clutter signal in a first region, suppression of a clutter signal in a first subspace, a threshold of a feature value corresponding to a clutter signal to be suppressed, or Doppler feature information of the clutter signal to be suppressed, the first sensing device can suppress the clutter signal in the first signal according to the suppression information.

[0127] For example, the suppression information indicates that the moving clutter signal is suppressed, and the first sensing device can suppress the moving clutter signal in the first signal.

[0128] For example, the suppression information indicates to suppress the static and clutter signals, and the first perception device can suppress the static and clutter signals in the first signal.

[0129] For example, the suppression information indicates to suppress the clutter signals in the first region, and the first perception device can suppress the clutter signals in the first region, and can not suppress the clutter signals in other regions. For example, if the first perception device receives a signal for perception in the first region, the first perception device can suppress the clutter signals in the signal. If the first perception device receives a signal for perception in a region other than the first region, the first perception device can not suppress the clutter signals in the signal. For example, the first region can be a region with high requirements for perception accuracy, or a region with strong clutter signals, and the like. In this way, the first perception device can selectively suppress the clutter signals in the corresponding region to improve the perception accuracy in the region. Moreover, the first perception device can not suppress the clutter signals in too many regions, and the processing of the first perception device can be simplified.

[0130] For example, the suppression information indicates to suppress the clutter signals in the first subspace, and the first perception device can suppress the clutter signals in the first subspace, and can not suppress the clutter signals in other subspaces. For example, the first subspace can be a subspace with high requirements for perception accuracy, or a subspace with strong clutter signals, and the like. In this way, the first perception device can selectively suppress the clutter signals in the corresponding subspace to improve the perception accuracy in the subspace. Moreover, the first perception device can not suppress the clutter signals in too many subspaces, and the processing of the first perception device can be simplified.

[0131] For example, the suppression information indicates a threshold of eigenvalue corresponding to the clutter signals to be suppressed, and the first perception device can suppress the clutter signals according to the threshold of eigenvalue. By indicating the threshold of eigenvalue, the first perception device can more quickly determine the clutter signals, and thus suppress the clutter signals.

[0132] For example, the suppression information indicates Doppler feature information of the clutter signals to be suppressed, and the first perception device can suppress the clutter signals according to the Doppler feature information. By indicating the Doppler feature information, the first perception device can more quickly determine the clutter signals, and thus suppress the clutter signals.

[0133] The first perception device can suppress the clutter signals in the first signal in various ways, which are described below.

[0134] 1. A first kind of optional implementation of the first perception device suppressing the clutter signals in the first signal.

[0135] The first sensing device determines the first channel information and the second channel information, and suppresses the clutter signal according to the first channel information and the second channel information. This suppression manner can also be regarded as a channel-level clutter suppression manner. The first channel information can be channel information corresponding to the first signal. For example, the first sensing device receives the first signal, and can determine the channel information corresponding to the first signal through measurement. The second channel information can be channel information corresponding to the second signal. The second signal is, for example, a clutter signal, or is understood to be a signal that only includes a clutter signal. For example, the first sensing device receives the second signal, and can determine the channel information corresponding to the second signal through measurement.

[0136] For example, the target (or, the target to be sensed) to be sensed by the first sensing device is a vehicle. The first signal can include a signal reflected, scattered or diffracted by the vehicle, for example, a third signal emitted by the second sensing device, which reaches the first sensing device after being reflected, scattered or diffracted by the vehicle, and the signal reaching the first sensing device is signal A, and the first signal can include signal A. In addition, the first signal can also include a signal reflected, scattered or diffracted by a non-sensing target (for example, a building on the roadside, etc.) other than the vehicle, for example, a third signal emitted by the second sensing device, which can reach the first sensing device after being reflected, scattered or diffracted by the non-sensing target, and the signal reaching the first sensing device is signal B, and the first signal can include signal B. The signal B is a clutter signal, and the signal A can be referred to as a non-clutter signal. As can be seen, the first signal includes a clutter signal.

[0137] The second signal can include a signal reaching the first sensing device after being reflected, scattered or diffracted by a non-sensing target other than the vehicle. For example, a fourth signal emitted by the second sensing device for sensing, which can reach the first sensing device after being reflected, scattered or diffracted by the non-sensing target, and the signal reaching the first sensing device is the second signal, and the second signal is a clutter signal. As can be seen, the second signal includes a clutter signal and does not include a non-clutter signal. For example, the second sensing device can send the fourth signal when there is no vehicle to be sensed on the street, so that the first sensing device can receive the second signal that does not include a clutter signal; the second sensing device can send the second signal when there is a vehicle to be sensed on the street, so that the first sensing device can receive the first signal that includes a clutter signal. The relationship between the fourth signal and the second signal is similar to the relationship between the third signal and the first signal described above, and will not be described in detail.

[0138] For example, the first channel information is represented as H sen (k), and the second channel information is represented as H pre (k). The first sensing device suppresses the clutter signal in the first signal according to the first channel information and the second channel information, and can obtain suppressed channel information, for example, the suppressed channel information satisfies the following relationship: Heff (k) = H sen (k) - H pre (k) (Equation 1)

[0139] wherein, H eff (k) represents the channel information after the suppression. H eff (k) can be considered as the channel information corresponding to the first signal without the clutter signal. The first sensing device, after obtaining H eff (k), is equivalent to suppressing the clutter signal in the first signal.

[0140] Optionally, the first sensing device can further perform sensing according to the first signal after the suppression of the clutter signal. For example, the first sensing device can perform sensing according to H eff (k) to obtain a sensing result, which for example includes one or more parameters of the expected sensing target, such as point cloud information, speed, time delay, distance, etc. of the expected sensing target. The point cloud information of the expected sensing target can include or indicate the coordinates of part or all points on the expected sensing target.

[0141] 2. A second optional implementation of the first sensing device suppressing the clutter signal in the first signal.

[0142] The first sensing device determines the first autocorrelation information and the second autocorrelation information, and suppresses the clutter signal according to the first autocorrelation information and the second autocorrelation information. The first autocorrelation information can be the autocorrelation information corresponding to the first signal, for example, the first sensing device receives the first signal, and then determines the autocorrelation information corresponding to the first signal. The second autocorrelation information can be the autocorrelation information corresponding to the second signal, and the second signal is for example the clutter signal, or is understood as the second signal only including the clutter signal. For example, the first sensing device receives the second signal, and then determines the autocorrelation information corresponding to the second signal.

[0143] Optionally, the first autocorrelation information can be determined according to the third channel information, and the second autocorrelation information can be determined according to the fourth channel information. For example, the first sensing device receives the first signal, determines the third channel information corresponding to the first signal according to the measurement, and then determines the first autocorrelation information according to the third channel information. Optionally, the first autocorrelation information is for example the autocorrelation matrix corresponding to the third channel information. For another example, the first sensing device receives the second signal, determines the fourth channel information corresponding to the second signal according to the measurement, and then determines the second autocorrelation information according to the fourth channel information. Optionally, the second autocorrelation information is for example the autocorrelation matrix corresponding to the fourth channel information. The third channel information for example includes part or all of the information in the first channel information, and the fourth channel information for example includes part or all of the information in the second channel information.

[0144] It can be understood that the amount of information of the channel information is large, and if the first sensing device wants to suppress the clutter signal according to the first optional implementation manner, the first sensing device needs to obtain relatively complete channel information (for example, the first channel information can be relatively complete channel information corresponding to the first signal, and the second channel information can be relatively complete channel information corresponding to the second signal), which may bring large overhead and may need a long time. Therefore, the first sensing device can obtain third channel information and fourth channel information. The amount of information of the third channel information can be smaller than that of the first channel information, for example, the third channel information includes part of the information in the first channel information. The amount of information of the fourth channel information can be smaller than that of the second channel information, for example, the fourth channel information includes part of the information in the second channel information. The first sensing device can also suppress the clutter according to the third channel information and the fourth channel information, and can save overhead and / or reduce processing delay.

[0145] The manner in which the first sensing device determines the third channel information is similar or identical to the manner in which the first sensing device determines the first channel information, and the manner in which the first sensing device determines the fourth channel information is similar or identical to the manner in which the first sensing device determines the second channel information. Please refer to the foregoing description.

[0146] Optionally, the autocorrelation information is, for example, an autocorrelation matrix. For example, the first autocorrelation information is a first autocorrelation matrix, and the second autocorrelation information is a second autocorrelation matrix. Therefore, the second suppression manner can also be considered as an autocorrelation matrix level clutter suppression manner. For example, the first autocorrelation matrix is denoted as RHH sen , and the second autocorrelation matrix is denoted as RHH pre . The first sensing device suppresses the clutter signal in the first signal according to the first autocorrelation information and the second autocorrelation information, and can obtain suppressed autocorrelation information, for example, the suppressed autocorrelation information satisfies the following relationship: RHH eff = RHH sen - RHH pre (Formula 2)

[0147] Wherein, RHH eff represents the suppressed autocorrelation information, for example, a suppressed autocorrelation matrix. RHH eff may be considered as an autocorrelation matrix corresponding to the first signal without the clutter signal. The first sensing device obtains RHH eff , which is equivalent to suppressing the clutter signal in the first signal.

[0148] Wherein, the autocorrelation information (for example, the autocorrelation matrix) can satisfy the following relationship:

[0149] In formula 3, i and l both represent the number of subcarriers. For example, the first autocorrelation matrix and the second autocorrelation matrix can both satisfy formula 3. rhh i The following relationship can be satisfied:

[0150] In formula 4, * represents a multiplication operation, for example, * can also be replaced by ×. MN represents the number of subcarriers. MN (i:l:MN) represents that, in the channel information, elements on subcarriers are extracted every l subcarriers from subcarrier i to subcarrier MN, and the extracted elements are rhh i And RHH in formula 3 represents a matrix composed of the extracted elements. represents H MN The conjugate transpose matrix of (i:l:MN).

[0151] For example, if formula 3 and formula 4 are used for the third channel information, H MN (i:l:MN) in formula 4 represents that, in the third channel information, elements on subcarriers are extracted every l subcarriers from subcarrier i to subcarrier MN; and RHH in formula 3 represents the first autocorrelation information. For another example, if formula 3 and formula 4 are used for the fourth channel information, H MN (i:l:MN) in formula 4 represents that, in the fourth channel information, elements on subcarriers are extracted every l subcarriers from subcarrier i to subcarrier MN; and RHH in formula 3 represents the second autocorrelation information.

[0152] Optionally, the first sensing device can also perform sensing according to the first signal after suppressing the clutter signal. For example, the first sensing device can perform sensing according to RHH eff to obtain a sensing result, which for example includes one or more parameters of the expected sensing target, such as point cloud information, speed, distance, and the like of the expected sensing target.

[0153] 3. A third alternative implementation of the first sensing device suppressing the clutter signal in the first signal.

[0154] The first sensing device suppresses the clutter signal in the first signal according to information of a subspace corresponding to the first signal. This suppression method can also be considered as a subspace-level clutter suppression method.

[0155] For example, the first sensing device can perform singular value decomposition (SVD) on the channel information corresponding to the first signal (e.g., the aforementioned first channel information) to obtain a feature subspace matrix. The feature subspace matrix includes at least one eigenvector corresponding to at least one eigenvalue. The at least one eigenvalue and the at least one eigenvector can be one-to-one corresponding. For example, the first sensing device determines that M eigenvalues in the at least one eigenvalue are eigenvalues corresponding to the clutter signal, and then the first sensing device can suppress the M eigenvalues to achieve suppression of the clutter signal. For example, the first sensing device can set the values of the M eigenvalues to a first value to achieve suppression of the clutter signal. Optionally, the first value is 0, or can also be other values. The first sensing device reconstructs the channel according to the result after resetting the values of the M eigenvalues, and then obtains the channel information after suppressing the clutter.

[0156] For example, the channel information corresponding to the first signal satisfies the following relationship:

[0157] Wherein, H represents the channel information corresponding to the first signal. CIR(t) represents an element in the channel information.

[0158] The first sensing device performs SVD on the channel information, for example, in the following manner: H = UΣV H (Formula 6)

[0159] Wherein, U represents an m-order orthogonal matrix. V represents an n-order orthogonal matrix. Σ is an m×n-order rectangular diagonal matrix composed of non-negative diagonal elements arranged in descending order. V H represents the conjugate transpose matrix of V. Wherein, UΣV H is called the SVD of H.

[0160] Σ can satisfy the following relationship: Σ = diag(σ1, σ2, …, σ p ) (Formula 7)

[0161] Wherein, diag represents a diagonal matrix, σ i represents the diagonal elements in the diagonal matrix, and σ i also represents the singular value or eigenvalue of H.

[0162] For example, the first sensing device determines that σ1, σ2, …, σ pAmong the eigenvalues, M eigenvalues are eigenvalues corresponding to the clutter signals, and the first sensing device can suppress the M eigenvalues to achieve suppression on the clutter signals. Optionally, the M eigenvalues are, for example, M strongest eigenvalues (for example, M eigenvalues with the largest values). For example, the first sensing device can set the M eigenvalues to 0 to obtain Σ after resetting the eigenvalues. According to formula 6, the first sensing device can reconstruct the channel H, for example, the reconstructed channel H is referred to as H', and H' is the channel after suppressing the clutter.

[0163] Optionally, the first sensing device can also perform sensing according to the channel after suppressing the clutter signals. For example, the first sensing device can perform sensing according to H' to obtain a sensing result, which for example includes one or more parameters of the expected sensing target, such as point cloud information, speed, distance, and the like of the expected sensing target.

[0164] Optionally, which of the at least one eigenvalue corresponding to the channel information of the first signal is an eigenvalue corresponding to the clutter signal can be indicated by the first information or the suppression information. For example, the first information indicates eigenvalue information corresponding to the clutter signal to be suppressed, and the eigenvalue information indicates that the M strongest eigenvalues in the channel information correspond to the clutter signal. The first sensing device can determine the eigenvalue corresponding to the clutter signal according to the indication of the eigenvalue information, and reset the value of the eigenvalue.

[0165] Among the eigenvalues, M eigenvalues are eigenvalues corresponding to the clutter signals, and the first sensing device can suppress the M eigenvalues to achieve suppression on the clutter signals. Optionally, the M eigenvalues are, for example, M strongest eigenvalues (for example, M eigenvalues with the largest values). For example, the first sensing device can set the M eigenvalues to 0 to obtain Σ after resetting the eigenvalues. According to formula 6, the first sensing device can reconstruct the channel H, for example, the reconstructed channel H is referred to as H', and H' is the channel after suppressing the clutter.

[0166] Alternatively, the first information or the suppression information can not indicate that the strongest M eigenvalues in the channel information correspond to the clutter signals, but the first information or the suppression information indicates that the clutter signals in the first subspace are to be suppressed, the first sensing device can also determine the eigenvalues corresponding to the clutter signals according to this. For example, the first sensing device can determine that, among the at least one eigenvalue corresponding to the channel information of the first signal, the eigenvalue corresponding to the first subspace is reset by the first sensing device, so as to suppress the clutter signals in the first subspace. For the eigenvalues not corresponding to the first subspace, the first sensing device can not reset the values, that is, the first sensing device can not suppress the clutter signals in the other subspaces except the first subspace. The first subspace can include one or more subspaces. The at least one eigenvalue can correspond to at least one eigenvector, each eigenvector can be regarded as a subspace. For example, the first sensing device determines that M eigenvectors in the at least one eigenvector belong to the first subspace, and the first sensing device can reset the values of the M eigenvalues corresponding to the M eigenvectors.

[0167] 4. A fourth alternative implementation of the first sensing device suppressing the clutter signals in the first signal.

[0168] The first sensing device suppresses the clutter signals in the first signal according to the Doppler information of the first signal. This suppression method can also be regarded as a Doppler domain clutter suppression method.

[0169] For example, the first signal is initially a signal in the time domain, corresponding to a range-time spectrum. The first sensing device can perform fast Fourier transform (FFT) on the first signal to transform the first signal to a range-Doppler spectrum, which is equivalent to obtaining the Doppler information of the first signal. In the Doppler information, the first sensing device can determine the frequency corresponding to the clutter signals. The first sensing device can set the frequency corresponding to the clutter signals to the first frequency to suppress the clutter signals. Alternatively, the first frequency is 0, or it can also be other frequencies.

[0170] Optionally, in the Doppler information, the frequency not satisfying the threshold condition can be the frequency corresponding to the clutter signal. The threshold condition can be indicated by the first information or the suppression information, or set by the first awareness device itself. For example, the threshold condition includes: the frequency in the Doppler information is greater than a first threshold, and / or, the frequency in the Doppler information is less than a second threshold. For example, if the threshold condition includes that the frequency in the Doppler information is greater than the first threshold, if a certain frequency in the Doppler information is greater than the first threshold, it indicates that the frequency satisfies the threshold condition, and also indicates that the frequency is not the frequency corresponding to the clutter signal; or, if a certain frequency in the Doppler information is less than or equal to the first threshold, it indicates that the frequency does not satisfy the threshold condition, and also indicates that the frequency is the frequency corresponding to the clutter signal.

[0171] For another example, if the threshold condition includes that the frequency in the Doppler information is less than the second threshold, if a certain frequency in the Doppler information is less than the second threshold, it indicates that the frequency satisfies the threshold condition, and also indicates that the frequency is not the frequency corresponding to the clutter signal; or, if a certain frequency in the Doppler information is greater than or equal to the second threshold, it indicates that the frequency does not satisfy the threshold condition, and also indicates that the frequency is the frequency corresponding to the clutter signal.

[0172] Optionally, in the Doppler information, if a certain frequency is greater than the first threshold, it indicates that the frequency corresponding to the possible static clutter. For example, if the static clutter signal is to be suppressed from the first signal, the static clutter signal can be determined by the first threshold. If a certain frequency is less than the second threshold, it indicates that the frequency corresponding to the possible dynamic clutter. For example, if the dynamic clutter is to be suppressed from the first signal, the dynamic clutter signal can be determined by the second threshold.

[0173] Optionally, the first awareness device can further perform awareness according to the first signal after suppressing the clutter signal, for example, the first awareness device can perform awareness according to the first signal in the range-Doppler domain, or can perform awareness according to the first signal in the range-time domain by inverse fast fourier transform (IFFT) to transform the first signal in the range-Doppler domain to the range-time domain. For example, the first awareness device can obtain an awareness result, which for example includes one or more parameters of the intended awareness target, such as point cloud information, speed, distance, etc.

[0174] 5. A fifth optional implementation of the first awareness device suppressing the clutter signal in the first signal.

[0175] The first sensing device can perform K measurements on the signal corresponding to the target path in the first signal, where different measurements of the K measurements correspond to different phases and same amplitudes of the first signal. K can be an integer greater than or equal to 2. The first sensing device can determine the clutter signal in the first signal according to the measurement results of the K measurements. For example, the first sensing device can determine the clutter signal by fitting the measurement results of the K measurements. This suppression method can also be considered as a circular fitting clutter suppression method. The first signal includes a non-clutter signal and a clutter signal, and the transmission path corresponding to the non-clutter signal can be the target path.

[0176] After the first sensing device determines the clutter signal, the first sensing device can remove the clutter signal from the first signal to achieve suppression of the clutter signal. Optionally, the first sensing device can also perform sensing according to the first signal after suppressing the clutter signal. For example, the first sensing device can obtain a sensing result, which can include one or more parameters of the intended sensing target, such as point cloud information, speed, distance, and the like.

[0177] In addition to the above method, the first sensing device can suppress the clutter signal in the first signal according to other methods, which are not limited.

[0178] Optionally, the first sensing device can send the sensing result to the SF, so that the SF can perform further sensing according to the sensing result, for example, the SF can reconstruct objects in the environment according to the sensing result from one or more sensing devices. Wherein, the first sensing device can directly send the sensing result to the SF without forwarding by other devices, for example, the first sensing device is a network device (such as an access network device), which can send the sensing result to the SF. Alternatively, the first sensing device can also forward the sensing result to the SF through other devices, for example, the second sensing device, for example, the first sensing device is a UE, and the second sensing device is a network device, and the UE can send the sensing result to the SF through the network device.

[0179] Optionally, the first sensing device can also send second information, which can indicate information of the clutter signal or information of the first sensing device suppressing the clutter signal. For example, the second information can include or indicate one or more of the following: a moving clutter signal and / or a static clutter signal, a second region, a second subspace, eigenvalue information of the suppressed clutter signal, or Doppler feature information of the suppressed clutter signal.

[0180] If the second information indicates the dynamic clutter signal, it indicates that the first sensing device suppresses the dynamic clutter signal, or indicates that the sensing result from the first sensing device is the sensing result after suppressing the dynamic clutter signal.

[0181] If the second information indicates the second region, it indicates that the first sensing device suppresses the clutter signal in the second region, or indicates that the sensing result from the first sensing device is the sensing result after suppressing the clutter signal in the second region. The second region can be the same region as the first region or a different region.

[0182] If the second information indicates the second subspace, it indicates that the first sensing device suppresses the clutter signal in the second subspace, or indicates that the sensing result from the first sensing device is the sensing result after suppressing the clutter signal in the second subspace. The second subspace can be the same subspace as the first subspace or a different subspace.

[0183] The eigenvalue information corresponding to the suppressed clutter signal indicated by the second information can include which eigenvalues are suppressed by the first sensing device. For example, the eigenvalue information indicates the order information of the eigenvalues suppressed by the first sensing device in at least one eigenvalue corresponding to the channel information corresponding to the first signal (for example, indicating that the Xth eigenvalue is suppressed).

[0184] The Doppler feature information of the suppressed clutter signal indicated by the second information can include which Doppler spectrum is suppressed by the first sensing device. For example, the second information can indicate a threshold condition, indicating that the first sensing device suppresses the Doppler spectrum that does not meet the threshold condition. The threshold condition can refer to the foregoing description.

[0185] The second information can be sent to the second sensing device or to the SF. Alternatively, if the second information is sent to the second sensing device, the second sensing device can also send the second information to the SF. For example, the SF receives the second information and determines whether the sensing result from the first sensing device is accurate according to the second information. For example, the second information indicates the dynamic clutter signal, indicating that the first sensing device suppresses the dynamic clutter signal, and the first information or the suppression information also indicates that the dynamic clutter signal is suppressed, so the SF determines that the sensing result is accurate. Or, the second information does not indicate the dynamic clutter signal, indicating that the first sensing device does not suppress the dynamic clutter signal, and the first information or the suppression information indicates that the dynamic clutter signal is suppressed, so the SF determines that the sensing result is not accurate.

[0186] For example, the second information indicates a second region, and the first information or the suppression information indicates to suppress a clutter signal in a first region. If the second region is the same as the first region, the SF determines that the perception result is accurate; or if the second region is different from the first region, the SF determines that the perception result is inaccurate.

[0187] For example, the second information indicates a second subspace, and the first information or the suppression information indicates to suppress a clutter signal in a first subspace. If the second subspace is the same as the first subspace, the SF determines that the perception result is accurate; or if the second subspace is different from the first subspace, the SF determines that the perception result is inaccurate.

[0188] For example, the second information indicates eigenvalue information of a suppressed clutter signal, and the first information or the suppression information indicates eigenvalue information of a clutter signal to be suppressed. If the eigenvalue information indicated by the first information or the suppression information is consistent with the eigenvalue information indicated by the second information, the SF can determine that the perception result is accurate; or if the eigenvalue information indicated by the first information or the suppression information is inconsistent with the eigenvalue information indicated by the second information, the SF can determine that the perception result is inaccurate.

[0189] For example, the second information indicates Doppler feature information of a suppressed clutter signal, and the first information or the suppression information indicates Doppler feature information of a clutter signal to be suppressed. If the Doppler feature information indicated by the first information or the suppression information is consistent with the Doppler feature information indicated by the second information, the SF can determine that the perception result is accurate; or if the Doppler feature information indicated by the first information or the suppression information is inconsistent with the Doppler feature information indicated by the second information, the SF can determine that the perception result is inaccurate.

[0190] If the SF determines that the perception result is accurate, the SF can perform further perception according to the perception result; or if the SF determines that the perception result is inaccurate, the SF can ignore the perception result, for example, does not perform further perception according to the perception result.

[0191] In the embodiments of the present application, the first information can indicate suppression information of a clutter signal, for example, the first perception device can suppress the clutter signal according to the first information. Optionally, the first perception device can perform perception by using a signal after suppressing the clutter signal, and thus the perception accuracy can be improved due to the reduced interference caused by the clutter signal.

[0192] Please refer to FIG. 6 for a second sensing method provided by the embodiments of the present application. FIG. 6 can be considered as an example of the embodiment shown in FIG. 5, and the scenario applied in FIG. 6 is a single-station sensing scenario of a network device, in which the first sensing device and the second sensing device are both network devices in the embodiments of the present application. Each step in FIG. 6 can be considered as an optional step, and in FIG. 6, the optional steps are no longer represented by dashed lines.

[0193] S601, the network device interacts with the SF the capability information of the network device.

[0194] For example, the network device can send the capability information of the network device to the SF. The capability information can indicate the sensing capability of the network device, for example, indicating whether the network device supports suppressing the clutter signal. In various embodiments of the present application, the SF can also be replaced by the LMF, for example, the SF and the LMF are combined, or the LMF has a sensing capability, etc. The embodiments of the present application take the SF as an example.

[0195] The network device and the SF can also not interact the capability information of the network device, for example, the SF can obtain the capability information of the network device by other means. Therefore, S601 is an optional step.

[0196] S602, the SF sends a first request message to the network device. Correspondingly, the network device receives the first request message.

[0197] If the network device is a network device under the ORAN architecture, for example, the network device includes a CU, or the network device is a CU, the CU can receive the first request message.

[0198] The first request message is, for example, a sensing request or a sensing measurement request, etc. The first request message can include the first information described in the embodiment shown in FIG. 5, for example, S602 and S501 in the embodiment shown in FIG. 5 can be the same step.

[0199] S603, the network device processes the first signal for sensing according to the first information.

[0200] For example, the network device transmits a third signal for sensing, and receives a signal (referred to as a first signal) after the third signal is reflected, scattered or diffracted by a sensing target (for example, including an intended sensing target and / or a non-sensing target) in the environment. The network device receives the first signal, and can perform S603. Optionally, the network device can also obtain a sensing result according to the first signal after suppressing a clutter signal. The third signal is, for example, a channel state information reference signal (CSI-RS) and / or a synchronization signal and physical broadcast channel (PBCH) block (SSB).

[0201] S603 can be the same step as S502 in the embodiment shown in FIG. 5, and more details can be referred to S502.

[0202] S604, the network device transmits the sensing result. Correspondingly, the SF receives the sensing result.

[0203] The network device can transmit the sensing result to the SF. Optionally, the network device can also transmit second information to the SF, and more details can be referred to the related description of the embodiment shown in FIG. 5.

[0204] S605, the SF processes the sensing result.

[0205] The SF can perform further sensing according to the sensing result, for example, the SF can reconstruct objects in the environment according to the sensing result from one or more sensing devices (including a UE and / or a network device, etc.). Optionally, if the SF also receives second information from the network device, the SF can determine whether the sensing result is accurate according to the second information. If the sensing result is accurate, the SF can perform further sensing according to the sensing result; or if the sensing result is not accurate, the SF can ignore the sensing result, for example, not perform further sensing according to the sensing result. More details can be referred to the embodiment shown in FIG. 5.

[0206] Please refer to FIG. 7, which provides a third sensing method according to an embodiment of the present application. FIG. 7 can be considered as another example of the embodiment shown in FIG. 5, and the scenario applied in FIG. 7 is a single-station sensing scenario of a UE, in which the first sensing device and the second sensing device are both UEs according to an embodiment of the present application. Each step in FIG. 7 can be considered as an optional step, and in FIG. 7, the optional steps are not represented by dashed lines.

[0207] S701, the UE interacts with the SF to obtain capability information of the network device.

[0208] For example, the UE can send the capability information of the UE to the SF. The capability information can indicate the sensing capability of the UE, for example, indicating whether the UE supports suppressing the clutter signal. Wherein, the information can be forwarded between the UE and the SF through a network device (for example, an access network device, etc.).

[0209] The UE and the SF can also not interact the capability information of the UE, for example, the SF can obtain the capability information of the UE through other ways. Therefore, S701 is an optional step.

[0210] S702, the SF sends a first request message to the UE. Correspondingly, the UE receives the first request message.

[0211] The first request message is, for example, a sensing request or a sensing measurement request, etc. The first request message can include the first information described in the embodiment shown in FIG. 5, for example, S702 and S501 in the embodiment shown in FIG. 5 can be the same step.

[0212] S703, the UE processes the first signal for sensing according to the first information.

[0213] For example, the UE sends a third signal for sensing, and receives a signal (referred to as a first signal) after the third signal is reflected, scattered or diffracted by a sensing target (for example, including an intended sensing target and / or a non-sensing target) in the environment. The UE receives the first signal, and can perform S703. Optionally, the UE can also obtain a sensing result according to the first signal after suppressing the clutter signal.

[0214] Optionally, the third signal is, for example, a sounding reference signal (SRS). The third signal can be configured by the network device. For example, in addition to sending the first request message to the UE, the SF also sends a second request message to the network device, and the second request message can request the network device to configure the third signal for the UE. After receiving the second request message, the network device can configure the third signal for the UE, and the UE can send the third signal according to the configuration of the network device.

[0215] Wherein, S703 and S502 in the embodiment shown in FIG. 5 can be the same step, and therefore more content can be referred to S502.

[0216] S704, the UE sends a sensing result. Correspondingly, the SF receives the sensing result.

[0217] The UE can send the sensing result to the SF. Optionally, the UE can also send second information to the SF, and for this, please refer to the related introduction of the embodiment shown in FIG. 5.

[0218] S705, the SF processes the sensing result.

[0219] The SF can perform further sensing according to the sensing result, for example, the SF can reconstruct an object in the environment according to the sensing result from one or more sensing devices (including a UE and / or a network device, etc.). Optionally, if the SF also receives the second information from the network device, the SF can determine whether the sensing result is accurate according to the second information. If the sensing result is accurate, the SF can perform further sensing according to the sensing result; or if the sensing result is not accurate, the SF can ignore the sensing result, for example, not to perform further sensing according to the sensing result. For more information, please refer to the embodiment shown in FIG. 5.

[0220] Please refer to FIG. 8, which is a fourth sensing method provided by the embodiments of the present application. FIG. 8 can be considered as another example of the embodiment shown in FIG. 5, and the scenario applied in FIG. 8 is a two-station sensing scenario in which the UE transmits and the network device receives, wherein the first sensing device is the network device and the second sensing device is the UE. Each step in FIG. 8 can be considered as an optional step, and in FIG. 8, the dashed line is no longer used to represent it.

[0221] S801, the UE interacts with the network device and the SF to send capability information.

[0222] For example, the UE can send the capability information of the UE to the network device and / or the SF. The capability information can indicate the sensing capability of the UE, for example, whether the UE supports suppressing clutter signals. Among them, the UE and the SF can forward information through the network device (such as an access network device, etc.).

[0223] For example, the network device can send the capability information of the network device to the SF. The capability information can indicate the sensing capability of the network device, for example, whether the network device supports suppressing clutter signals.

[0224] Alternatively, the UE and the network device and / or the SF can also not interact the capability information of the UE, for example, the network device and / or the SF can obtain the capability information of the UE through other means. The network device and the SF can also not interact the capability information of the network device, for example, the SF can obtain the capability information of the network device through other means. Therefore, S801 is an optional step.

[0225] S802, the SF sends a first request message to the network device. Correspondingly, the network device receives the first request message.

[0226] The first request message is, for example, a sensing request or a sensing measurement request, etc. The first request message can include the first information described in the embodiment shown in FIG. 5, for example, S802 and S501 in the embodiment shown in FIG. 5 can be the same step.

[0227] S803. The network device processes the first signal for sensing according to the first information.

[0228] For example, the UE transmits a third signal for sensing, which arrives at the network device via reflection, scattering or diffraction of the sensing target (e.g., including the intended sensing target and / or non-sensing target) in the environment, and the signal arriving at the network device is referred to as the first signal, which can be referred to S804. The network device receives the first signal, and then S803 can be performed. Optionally, the network device can also obtain the sensing result according to the first signal after suppressing the clutter signal.

[0229] Optionally, the third signal is, for example, SRS, etc. The third signal can be configured by the network device. For example, after the network device receives the first request message, the network device can configure the third signal for the UE, and the UE can transmit the third signal according to the configuration of the network device. Optionally, the first request message can also request the network device to configure the third signal for the UE.

[0230] S803 can be the same step as S502 in the embodiment shown in FIG. 5, and more details can be referred to S502.

[0231] S805. The network device transmits the sensing result. Correspondingly, the SF receives the sensing result.

[0232] The network device can transmit the sensing result to the SF. Optionally, the network device can also transmit the second information to the SF, which can be referred to the related description of the embodiment shown in FIG. 5.

[0233] S806. The SF processes the sensing result.

[0234] The SF can perform further sensing according to the sensing result, for example, the SF can reconstruct the object in the environment according to the sensing result from one or more sensing devices (including the UE and / or the network device, etc.). Optionally, if the SF also receives the second information from the network device, the SF can determine whether the sensing result is accurate according to the second information. If the sensing result is accurate, the SF can perform further sensing according to the sensing result; or if the sensing result is not accurate, the SF can ignore the sensing result, for example, not perform further sensing according to the sensing result. For more details, please refer to the embodiment shown in FIG. 5.

[0235] Please refer to FIG. 9, which provides a fifth sensing method according to the embodiments of the present application. FIG. 9 can be considered as another example of the embodiment shown in FIG. 5, and the scenario applied in FIG. 9 is a two-station sensing scenario of network device transmission and UE reception, in which the first sensing device is the UE and the second sensing device is the network device. Each step in FIG. 9 can be considered as an optional step, which is not represented by a dashed line in FIG. 9.

[0236] S901, the UE interacts capability information with the network device and the SF.

[0237] For example, the UE can send the capability information of the UE to the network device and / or the SF. The capability information can indicate the sensing capability of the UE, for example, indicating whether the UE supports suppressing the clutter signal. Wherein, the information between the UE and the SF can be forwarded through the network device (such as an access network device, etc.).

[0238] For example, the network device can send the capability information of the network device to the SF. The capability information can indicate the sensing capability of the network device, for example, indicating whether the network device supports suppressing the clutter signal.

[0239] Alternatively, the UE and the network device and / or the SF can also not interact the capability information of the UE, for example, the network device and / or the SF can obtain the capability information of the UE by other means. The network device and the SF can also not interact the capability information of the network device, for example, the SF can obtain the capability information of the network device by other means. Therefore, S901 is an optional step.

[0240] S902, the SF sends a first request message to the UE. Correspondingly, the UE receives the first request message.

[0241] The first request message is, for example, a sensing request or a sensing measurement request, etc. The first request message can include the first information described in the embodiment shown in FIG. 5, for example, S802 and S501 in the embodiment shown in FIG. 5 can be the same step.

[0242] S903, the UE processes the first signal for sensing according to the first information.

[0243] For example, the network device sends a third signal for sensing, the third signal reaches the UE after being reflected, scattered or diffracted by the sensing target (for example, including the intended sensing target and / or the non-sensing target) in the environment, the signal reaching the UE is called the first signal, and this step can refer to S904. The UE receives the first signal and can perform S903. Optionally, the UE can also obtain the sensing result according to the first signal after suppressing the clutter signal.

[0244] Optionally, the third signal is, for example, CSI-RS and / or SSB, etc. The third signal can be configured by the network device for the UE. For example, in addition to sending the first request message to the UE, the SF also sends a second request message to the network device, the second request message can request or instruct the network device to configure the third signal for the UE. The network device receives the second request message, and then can configure the third signal for the UE, so that the UE can receive the third signal.

[0245] S903 and S502 in the embodiment shown in Figure 5 can be the same step, so more details can be found in S502.

[0246] S905: The UE sends the sensing results. Correspondingly, the SF receives the sensing results.

[0247] The UE can send the sensing result to the SF. Optionally, the UE can also send second information to the SF, as described in the embodiment shown in Figure 5.

[0248] S906 and SF process the perception result.

[0249] The SF can perform further sensing based on the sensing result. For example, the SF can reconstruct objects in the environment based on sensing results from one or more sensing devices (including the UE and / or network devices). Optionally, if the SF also receives second information from the network device, the SF can determine whether the sensing result is accurate based on the second information. If the sensing result is accurate, the SF can perform further sensing based on the sensing result; or, if the sensing result is inaccurate, the SF can ignore the sensing result, for example, not perform further sensing based on the sensing result. For more details, please refer to the embodiment shown in Figure 5.

[0250] In summary, in the various embodiments of this application, the first information can indicate clutter signal suppression information. For example, the first sensing device can suppress the clutter signal based on the first information. Optionally, the first sensing device can use the signal after suppressing the clutter signal for sensing. Since the interference caused by the clutter signal is reduced, the sensing accuracy can be improved.

[0251] Figure 10 shows a schematic diagram of the structure of an apparatus provided in an embodiment of this application. The apparatus 1000 may be the first sensing device or its circuit system as shown in the embodiment of Figure 5, used to implement the method corresponding to the first sensing device in the above method embodiments. Alternatively, the apparatus 1000 may be the SF or its circuit system as shown in any of the figures shown in Figures 5 to 9, used to implement the method corresponding to the SF in the above method embodiments. Alternatively, the apparatus 1000 may be the network device or its circuit system as shown in any of the figures shown in Figures 6, 8, or 9, used to implement the method corresponding to the network device in the above method embodiments. Alternatively, the apparatus 1000 may be the UE or its circuit system as shown in any of the figures shown in Figures 7 to 9, used to implement the method corresponding to the UE in the above method embodiments. For example, one type of circuit system is a chip system.

[0252] Since the apparatus 1000 in the embodiments of the present application can implement the perception method, the apparatus 1000 can also be referred to as a perception apparatus. In implementation, the apparatus 1000 can have a perception function and no communication function, or can have both the perception function and the communication function. If the apparatus 1000 has the communication function, the apparatus 1000 can also be referred to as a communication apparatus, and the like, without limitation.

[0253] The apparatus 1000 includes at least one processor 1001. The processor 1001 can be used for internal processing of the apparatus, to implement certain control processing functions. Optionally, the processor 1001 includes instructions. Optionally, the processor 1001 can store data. Optionally, different processors can be independent devices, can be located at different physical positions, and can be located on different integrated circuits. Optionally, different processors can be integrated in one or more processors, for example, integrated on one or more integrated circuits.

[0254] Optionally, the apparatus 1000 includes one or more memories 1003 to store instructions. Optionally, the memory 1003 can also store data. The processor and the memory can be separately arranged, or can be integrated together.

[0255] Optionally, the apparatus 1000 includes a communication line 1002 and at least one communication interface 1004. Since the memory 1003, the communication line 1002 and the communication interface 1004 are all optional, they are all represented by dashed lines in FIG. 10.

[0256] Optionally, the apparatus 1000 can also include a transceiver and / or an antenna. The transceiver can be used to send information to other apparatuses or receive information from other apparatuses. The transceiver can be referred to as a transceiver, a transceiver circuit, an input / output interface, and the like, to implement the transceiving function of the apparatus 1000 through the antenna. Optionally, the transceiver includes a transmitter and a receiver. Illustratively, the transmitter can be used to generate a radio frequency signal from a baseband signal, and the receiver can be used to convert a radio frequency signal into a baseband signal.

[0257] The processor 1001 can include a general central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits for controlling execution of programs of the present application.

[0258] The communication line 1002 can include a path to transmit information between the above components.

[0259] The communication interface 1004, using any transceiver-like mechanism, is used to communicate with other devices or communication networks, such as an Ethernet network, a radio access network (RAN), a wireless local area network (WLAN), a wireline access network, etc.

[0260] The memory 1003 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 instructions or data that can be accessed by a computer, but not limited to. The memory 1003 can exist independently, and is connected to the processor 1001 through the communication line 1002. Alternatively, the memory 1003 can be integrated with the processor 1001.

[0261] The memory 1003 is configured to store computer-executable instructions for implementing the solutions of the present application, and the processor 1001 is configured to control the execution of the computer-executable instructions. The processor 1001 is configured to execute the computer-executable instructions stored in the memory 1003, thereby implementing the steps performed by the first sensing device or the network device or the SF or the UE in any one of the embodiments shown in FIGS. 5-9.

[0262] Optionally, the computer-executable instructions in the embodiments of the present application can also be referred to as application program codes, which are not specifically limited in the embodiments of the present application.

[0263] In a specific implementation, as an embodiment, the processor 1001 can include one or more CPUs, such as CPU0 and CPU1 in FIG. 10.

[0264] In a specific implementation, as an example, the apparatus 1000 can include multiple processors, such as the processor 1001 and the processor 1005 in FIG. 10. Each of these processors can be a single-CPU processor or a multi-CPU processor. The processor herein can refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0265] When the apparatus shown in FIG. 10 is a chip, such as a chip of a UE or a chip of a network device or a chip of an SF or a chip of a first sensing device, the chip includes the processor 1001 (and can also include the processor 1005), the communication line 1002, and the communication interface 1004, and optionally includes the memory 1003. Specifically, the communication interface 1004 can be an input interface, a pin, or a circuit, etc. The memory 1003 can be a register, a cache, etc. The processor 1001 and the processor 1005 can be a general-purpose CPU, a microprocessor, an ASIC, or one or more integrated circuits for controlling execution of a program for implementing any of the sensing methods described above.

[0266] The embodiments of the present application can divide the functions of the apparatus according to the above method examples, for example, each function module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of a software function module. The division of the modules in the embodiments of the present application is illustrative, and is only a logical function division. In actual implementation, there can be another division manner. For example, in the case of dividing each function module according to each function, FIG. 11 is a schematic diagram of an apparatus 1100. The apparatus 1100 can be a UE or a first sensing device or a network device or an SF, or a chip in the UE or a chip in the first sensing device or a chip in the network device or a chip in the SF, according to the embodiments of any of the above methods. The apparatus 1100 includes a processing unit 1102 and a transceiver unit 1101. Since the apparatus 1100 in the embodiments of the present application can implement the sensing method, the apparatus 1100 can also be referred to as a sensing apparatus. In implementation, the apparatus 1100 can have a sensing function but not a communication function, or can have both a sensing function and a communication function. If the apparatus 1100 has a communication function, the apparatus 1100 can also be referred to as a communication apparatus, etc., without limitation.

[0267] It should be understood that the apparatus 1100 can be used to implement the steps performed by the UE or the first sensing device or the network device or the SF in the sensing method of the embodiments of the present application. The related features can be referred to the embodiments shown in any of FIGS. 5-9, which will not be described herein again.

[0268] Optionally, the functions / implementation procedures of the transceiver unit 1101 and the processing unit 1102 in FIG. 11 can be implemented by the processor 1001 in FIG. 10 invoking the computer-executable instructions stored in the memory 1003. Alternatively, the functions / implementation procedures of the processing unit 1102 in FIG. 11 can be implemented by the processor 1001 in FIG. 10 invoking the computer-executable instructions stored in the memory 1003, and the functions / implementation procedures of the transceiver unit 1101 in FIG. 11 can be implemented by the communication interface 1004 in FIG. 10.

[0269] Optionally, when the apparatus 1100 is a chip or a circuit, the functions / implementation procedures of the transceiver unit 1101 can also be implemented by pins or circuits, etc. Optionally, the transceiver unit 1101 can include a sending unit and / or a receiving unit, the sending unit is configured to implement the sending function, and the receiving unit is configured to implement the receiving function; or the transceiver unit 1101 can be an integral module, which can implement the sending function and / or the receiving function. Optionally, the transceiver unit 1101 can be implemented by a transceiver.

[0270] The present application also provides a computer readable storage medium, which stores computer programs or instructions, when the computer programs or instructions are executed, the method executed by the UE or the first sensing device or the network device or the SF in the foregoing method embodiments is implemented. In this way, the functions described in the above embodiments can be implemented in the form of software function units and sold or used as independent products. Based on this understanding, the technical solutions of the present application can be embodied in the form of software products in essence or part of the contribution or part of the technical solutions. 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 method described in the embodiments of the present application. The storage medium includes: a U disk, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk, and various media that can store program codes.

[0271] The present application also provides a computer program product, which includes computer program codes, when the computer program codes are executed on a computer, the computer executes the method executed by the UE or the first sensing device or the network device or the SF in any of the foregoing method embodiments.

[0272] The embodiments of the present application also provide a processing apparatus, which includes a processor and an interface; the processor is configured to execute the method executed by the UE or the first sensing device or the network device or the SF involved in any of the foregoing method embodiments.

[0273] In the embodiments described above, all or some of the embodiments can be implemented by software, hardware, firmware or any combination thereof. When implemented by software, all or some of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded into and executed by a computer, all or some of the procedures or functions described in the embodiments of the present application are performed. 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, for example, the computer instructions can be transmitted from a website, a computer, a server or a data center to another website, computer, server or data center through a wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) manner. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media sets. The available media can be a magnetic medium (for example, floppy disk, hard disk, magnetic tape), an optical medium (for example, DVD), or a semiconductor medium (for example, solid state disk (SSD)) and the like.

[0274] The various illustrative logical blocks, modules, circuits, and algorithms described in connection with the embodiments disclosed herein can be implemented or performed by a general purpose processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the described functions. The general purpose processor can be a microprocessor, optionally, the general purpose processor can also be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented by a combination of computing devices, such as a digital signal processor and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP core, or any other similar configuration.

[0275] The steps of methods or algorithms described in the embodiments of the present application can be directly embedded in hardware, a software unit executed by a processor, or a combination of the two. The software unit can be stored in a RAM, a flash memory, a ROM, an erasable programmable read-only memory (EPROM), an EEPROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium in the art. The storage medium can be connected to the processor, so that the processor can read information from the storage medium and write information to the storage medium. Alternatively, the storage medium can also be integrated into the processor. The processor and the storage medium can be located in an ASIC, which can be located in the terminal device. Alternatively, the processor and the storage medium can also be located in different components of the terminal device.

[0276] These computer program instructions can also be loaded onto a computer or other programmable data processing device to cause a series of operations to be performed on the computer or other programmable data processing device to generate a computer implemented process, so that the instructions executed on the computer or other programmable data processing device provide steps for implementing the functions specified in one or more flows of the flowchart and / or one or more blocks of the block diagram.

[0277] The contents of various embodiments of the present application can be mutually referred to, and the terms and / or descriptions between different embodiments are consistent and can be mutually referred to if there is no special description and logical conflict. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0278] It can be understood that, in the embodiments of the present application, the UE and / or the first sensing device and / or the network device and / or the SF can perform part or all of the steps in the embodiments of the present application, and these steps or operations are only examples, and other operations or variations of various operations can also be performed in the embodiments of the present application. In addition, each step can be performed in a different order from that presented in the embodiments of the present application, and it is possible that not all the operations in the embodiments of the present application are performed.

Claims

1. A perception method, comprising: The method comprises: receiving first information, the first information being used to indicate suppression information of clutter signals, wherein the clutter signals are signals reflected or scattered by non-perception targets; processing a first signal for perception according to the first information.

2. The method of claim 1, wherein, The suppression information comprises one or more of: indication information of the clutter signals; a manner of suppressing the clutter signals; suppressing moving clutter signals and / or stationary clutter signals; suppressing clutter signals in a first region; suppressing clutter signals in a first subspace; or Doppler feature information of the clutter signals to be suppressed.

3. The method of claim 1 or 2, wherein: The method further comprises receiving the first signal; processing the first signal for perception according to the first information comprises suppressing clutter signals in the first signal according to the first information.

4. The method of claim 3, wherein, The method further comprises: obtaining a perception result according to the first signal after suppressing the clutter signals; sending the perception result.

5. The method according to any one of claims 1 to 4, characterized in that, The method further comprises: sending second information, the second information being used to indicate information of the clutter signals.

6. The method according to claim 3 or 4, characterized in that, suppressing clutter signals in the first signal according to the first information comprises: determining first channel information and second channel information according to the first information, the first channel information being channel information corresponding to the first signal, and the second channel information being channel information corresponding to the clutter signals; suppressing the clutter signals according to the first channel information and the second channel information.

7. The method according to claim 3 or 4, characterized in that, suppressing clutter signals in the first signal according to the first information comprises: determining first autocorrelation information and second autocorrelation information according to the first information, the first autocorrelation information being autocorrelation information corresponding to the first signal, and the second autocorrelation information being autocorrelation information corresponding to the clutter signals; suppressing the clutter signals according to the first autocorrelation information and the second autocorrelation information.

8. The method of claim 3 or 4, wherein, suppressing clutter signals in the first signal according to the first information comprises: suppressing the clutter signals in the first signal according to the first information and information of a subspace corresponding to the first signal.

9. The method according to claim 3 or 4, characterized in that, suppressing clutter signals in the first signal according to the first information comprises: suppressing the clutter signals according to the first information and Doppler information corresponding to the first signal.

10. A perception method comprising: The method comprises: sending first information, the first information being used to indicate suppression information of clutter signals, wherein the clutter signals are signals reflected or scattered by non-perception targets; receiving a perception result.

11. The method of claim 10, wherein, The suppression information comprises one or more of: indication information of the clutter signals; a manner of suppressing the clutter signals; suppressing moving clutter signals and / or stationary clutter signals; suppressing clutter signals in a first region; suppressing clutter signals in a first subspace; or Doppler feature information of the clutter signals to be suppressed.

12. The method according to claim 10 or 11, characterized in that, The method further comprises: reconstructing a perception target according to the perception result.

13. The method according to any one of claims 10 to 12, characterized in that, The method further comprises: receiving second information, the second information being used to indicate information of the clutter signals.

14. An apparatus, comprising: The apparatus comprises means for performing the method of any of claims 1-9, or means for performing the method of any of claims 10-13.

15. An apparatus, comprising: The apparatus comprises a processor configured to perform the method of any of claims 1-9, or to perform the method of any of claims 10-13.

16. A computer readable storage medium characterized by: The computer readable storage medium is configured to store a computer program which, when run on a computer, causes the method of any of claims 1-9 to be performed, or causes the method of any of claims 10-13 to be performed.

17. A computer program product, characterised in that, The computer program product comprises a computer program which, when run on a computer, causes the computer to perform the method of any of claims 1-9, or causes the computer to perform the method of any of claims 10-13.

18. A perception system, comprising: The perception system comprises an access network device and a perception network element, wherein The access network device is configured to perform the method of any of claims 1-9; The perception network element is configured to perform the method of any of claims 10-13.

19. The perception system of claim 18, wherein, The perception system further comprises a terminal device, wherein The terminal device is configured to transmit a first signal for perception.

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