Communication method and apparatus, device, and storage medium

Abstract

The present disclosure provides a communication method and apparatus, a device, and a storage medium. The method comprises: receiving a sensing reference signal sent by a first node; measuring the sensing reference signal to obtain target information, wherein the target information comprises at least one of the following: a channel frequency domain response (CFR), a CFR time difference value, and a sensing measurement value; and sending the target information to a second node. The present disclosure improves the positioning accuracy of a sensing target.

Description

Communication methods, devices, equipment and storage media

[0001] This disclosure claims priority to Chinese Patent Application No. 202411213575.1, filed with the Chinese Patent Office on August 30, 2024, entitled "Communication Method, Apparatus, Device and Storage Medium", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of communication technology, and to a communication method, apparatus, device and storage medium. Background Technology

[0003] The Integrated Sensing and Communication (ISAC) channel model can introduce wireless sensing capabilities into wireless mobile communication systems. For example, ISAC can determine the location of a target using wireless signals.

[0004] Currently, sensing transmitting nodes can transmit wireless signals to the environment where the sensing target is located, and sensing receiving nodes can receive wireless signals that have been reflected, scattered, and transmitted through multiple paths in the environment, and determine the location of the sensing target in the environment based on the received wireless signals. However, the wireless signals received by the sensing receiving nodes contain a lot of interference signals, resulting in low accuracy in locating the sensing target. Summary of the Invention

[0005] This disclosure provides a communication method, apparatus, device, and storage medium to solve the technical problem of low positioning accuracy in related technologies.

[0006] In a first aspect, this disclosure provides a communication method, which includes:

[0007] Receive the sensing reference signal sent by the first node;

[0008] The sensing reference signal is measured to obtain target information, which includes at least one of the following: channel frequency response (CFR), CFR time difference value, and sensing measurement value;

[0009] Send the target information to the second node.

[0010] In one implementation, the target information further includes at least one of the following:

[0011] Interference cancellation indication information, which is used to indicate whether the sensed measurement value is the sensed measurement value after interference cancellation;

[0012] Sensing and measurement related information.

[0013] In one implementation, the sensing measurement-related information includes at least one of the following:

[0014] Receive beam direction;

[0015] Receive antenna group;

[0016] The timestamp information of the sensed measurement value includes the start timestamp and / or end timestamp of the sensed measurement value.

[0017] The timestamp information of the CFR includes the start timestamp and / or end timestamp of the CFR;

[0018] The timestamp information of the CFR time difference value includes the start timestamp and / or end timestamp of the CFR time difference value;

[0019] Signal quality indication information.

[0020] In one implementation, the CFR in the target information is determined based on the sensing reference signal; and / or,

[0021] The CFR time difference value in the target information is determined based on the CFR corresponding to the sensing reference signals at different transmission times on the same subcarrier position; and / or,

[0022] The perceived measurement values ​​in the target information are determined based on the available subcarriers or the CFR time difference values ​​corresponding to the available subcarrier positions.

[0023] In one implementation, receiving the sensing reference signal sent by the first node includes:

[0024] The resource configuration information of the sensing reference signal sent by the second node is received, wherein the resource configuration information includes the relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal;

[0025] Based on the resource configuration information, the sensing reference signal sent by the first node is received.

[0026] In one implementation, receiving the sensing reference signal sent by the first node according to the resource configuration information includes:

[0027] The sensing reference signal sent by the first node is received based on the time domain resource location indicated by the relevant configuration information of the time domain resource, the frequency domain resource location indicated by the relevant configuration information of the frequency domain resource, and / or the spatial beam weight indicated by the relevant configuration information of the spatial domain resource.

[0028] In one implementation, in the case of single-base sensing, the first node and the third node are the same node; or...

[0029] In the case of dual-base sensing, the first node and the third node are different nodes.

[0030] Secondly, this disclosure provides a communication method, which includes:

[0031] Receive target information sent by at least one third node, the target information including at least one of the following: channel frequency response (CFR), CFR time difference value, and sensing measurement value;

[0032] Based on the target information, determine the location of the perceived target.

[0033] In one implementation, the target information further includes at least one of the following:

[0034] Interference cancellation indication information, which is used to indicate whether the sensed measurement value is the sensed measurement value after interference cancellation;

[0035] Sensing and measurement related information.

[0036] In one implementation, the sensing measurement-related information includes at least one of the following:

[0037] Receive beam direction;

[0038] Receive antenna group;

[0039] The timestamp information of the sensed measurement value includes the start timestamp and / or end timestamp of the sensed measurement value.

[0040] The timestamp information of the CFR includes the start timestamp and / or end timestamp of the CFR;

[0041] The timestamp information of the CFR time difference value includes the start timestamp and / or end timestamp of the CFR time difference value;

[0042] Signal quality indication information.

[0043] In one implementation, determining the location of the perceived target based on the target information includes:

[0044] The perceived measurement value is determined based on the target information;

[0045] The location of the perceived target is determined based on the perceived measurement values.

[0046] In one embodiment, when the target information includes the CFR, the sensing measurement value is determined based on the available subcarrier or the CFR time difference value corresponding to the available subcarrier position, wherein the CFR time difference value is determined based on the CFR corresponding to the sensing reference signal at different transmission times at the same subcarrier position.

[0047] In one implementation, when the target information includes the CFR time difference value, the sensing measurement value is determined based on the available subcarrier or the CFR time difference value corresponding to the location of the available subcarrier.

[0048] In one implementation, determining the location of the sensed target based on the sensed measurement value includes:

[0049] The sensing measurement values ​​include sensing measurement values ​​in the velocity domain, distance domain, and / or angle domain;

[0050] If the number of sensing measurements in each domain is 1, then the location of the sensing target is determined based on the sensing measurements in each domain; or,

[0051] If the number of perceived measurements in each domain is greater than 1, then multiple weights corresponding to the multiple perceived measurements in each domain are determined, and the position of the perceived target is determined based on the multiple perceived measurements in each domain and the multiple weights.

[0052] In one implementation, determining the location of the perceived target based on a plurality of perceived measurements in each domain and a plurality of weights includes:

[0053] For any one of the velocity domain, the distance domain, and the angle domain, the multiple sensing measurement values ​​in the domain are weighted according to the multiple sensing measurement values ​​in the domain and the multiple weights to obtain the target sensing measurement value;

[0054] The location of the perceived target is determined based on the target perception measurement value of each domain.

[0055] In one implementation, the weight is related to the timestamp information and / or the signal quality indication information in the sensing measurement-related information.

[0056] In one implementation, before receiving target information sent by at least one third node, the method further includes:

[0057] Resource configuration information of the sensing reference signal is sent to the first node and the at least one third node. The resource configuration information includes relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal.

[0058] Thirdly, this disclosure provides a communication method, which includes:

[0059] The resource configuration information of the sensing reference signal sent by the second node is received, wherein the resource configuration information includes the relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal;

[0060] Based on the resource configuration information, the perception reference signal is sent to at least one third node.

[0061] In one implementation, sending the sensing reference signal to at least one third node based on the resource configuration information includes:

[0062] The sensing reference signal is sent to at least one third node based on the time domain resource location indicated by the relevant configuration information of the time domain resource, the frequency domain resource location indicated by the relevant configuration information of the frequency domain resource, and / or the spatial beam weight indicated by the relevant configuration information of the spatial domain resource.

[0063] In one implementation, in the case of single-base sensing, the first node and the third node are the same node; or...

[0064] In the case of dual-base sensing, the first node and the third node are different nodes.

[0065] Fourthly, this disclosure provides a communication device applied to a third node, the communication device comprising a receiving module, a measuring module, and a transmitting module, wherein:

[0066] The receiving module is used to receive the sensing reference signal sent by the first node;

[0067] The measurement module is used to measure the sensing reference signal and obtain target information, the target information including at least one of the following: channel frequency response (CFR), CFR time difference value, and sensing measurement value;

[0068] The sending module is used to send the target information to the second node.

[0069] Fifthly, this disclosure provides a communication device applied to a second node, the communication device comprising a receiving module and a determining module, wherein:

[0070] The receiving module is used to receive target information sent by at least one third node, the target information including at least one of the following: channel frequency response (CFR), CFR time difference value, and sensing measurement value;

[0071] The determining module is used to determine the location of the perceived target based on the target information.

[0072] Sixthly, this disclosure provides a communication device applied to a first node, the communication device including a receiving module and a transmitting module, wherein:

[0073] The receiving module is used to receive resource configuration information of the sensing reference signal sent by the second node. The resource configuration information includes relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal.

[0074] The sending module is used to send the sensing reference signal to at least one third node according to the resource configuration information.

[0075] In a seventh aspect, this disclosure provides a processor-readable storage medium storing a computer program that causes a processor to perform the method described in the first aspect or to perform the method described in the second aspect.

[0076] This disclosure provides a communication method, apparatus, device, and storage medium. A first node can receive configuration information of a sensing reference signal sent by a second node. The configuration information may include relevant configuration information of the time-domain resources, frequency-domain resources, and / or spatial resources of the sensing reference signal. The first node can send the sensing reference signal to at least one third node according to the configuration information. The third node can receive the sensing reference signal sent by the first node, measure the sensing reference signal to obtain target information, and send the target information to the second node. The target information may include at least one of the following: channel frequency response (CFR), CFR time difference value, and sensing measurement value. The second node can receive the target information sent by at least one third node and determine the location of the sensing target according to the target information. In the above method, since the second node can flexibly configure the configuration information of the sensing reference signal, the utilization rate of communication resources can be improved. Furthermore, since the CFR in the target information can be used to eliminate interference of the sensing reference signal, and the interference signals of direct path and environmental objects have been eliminated in the CFR time difference value, the second node can accurately determine the position of the sensing target based on the target information, avoid the impact of direct path and reflection of environmental objects on the positioning accuracy of the sensing target, and improve the positioning accuracy of the sensing target.

[0077] It should be understood that the description in the foregoing summary section is not intended to limit the key or essential features of the embodiments of this disclosure, nor is it intended to restrict the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0078] To more clearly illustrate the technical solutions in this disclosure or related technologies, the accompanying drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0079] Figure 1A is a schematic diagram of a single-base sensing scenario provided by an embodiment of this disclosure;

[0080] Figure 1B is a schematic diagram of another single-base sensing scenario provided by an embodiment of this disclosure;

[0081] Figure 2A is a schematic diagram of a dual-base sensing scenario provided by an embodiment of this disclosure;

[0082] Figure 2B is a schematic diagram of another dual-base sensing scenario provided by an embodiment of this disclosure;

[0083] Figure 2C is a schematic diagram of another dual-base sensing scenario provided by an embodiment of this disclosure;

[0084] Figure 2D is a schematic diagram of another dual-base sensing scenario provided by an embodiment of this disclosure;

[0085] Figure 2E is a schematic diagram of another dual-base sensing scenario provided by an embodiment of this disclosure;

[0086] Figure 3A is a schematic diagram of the architecture of a communication system provided in an embodiment of this disclosure;

[0087] Figure 3B is a schematic diagram of the architecture of another communication system provided in an embodiment of this disclosure;

[0088] Figure 4 is a schematic diagram of a communication method provided in an embodiment of this disclosure;

[0089] Figure 5 is a schematic diagram of another communication method provided in an embodiment of this disclosure;

[0090] Figure 6 illustrates another communication method provided in an embodiment of this disclosure;

[0091] Figure 7 is a schematic diagram of a method for transmitting and receiving sensing reference signals according to an embodiment of this disclosure;

[0092] Figure 8 is a schematic diagram of time-domain resource location and frequency-domain resource location provided in an embodiment of this disclosure;

[0093] Figure 9 is a schematic diagram of another method for transmitting and receiving sensing reference signals provided in an embodiment of this disclosure;

[0094] Figure 10 is a schematic diagram of a method for sending target information according to an embodiment of this disclosure;

[0095] Figure 11 is a schematic diagram of a method for determining the position of a sensing target by a second node according to an embodiment of the present disclosure;

[0096] Figure 12 is a schematic diagram of another communication method provided in an embodiment of this disclosure;

[0097] Figure 13 is a schematic diagram of the structure of a communication device provided in an embodiment of this disclosure;

[0098] Figure 14 is a schematic diagram of the structure of a communication device provided in an embodiment of this disclosure;

[0099] Figure 15 is a schematic diagram of another communication device provided in an embodiment of this disclosure;

[0100] Figure 16 is a schematic diagram of the structure of a terminal device provided in an embodiment of this disclosure;

[0101] Figure 17 is a schematic diagram of the structure of a network device provided in an embodiment of this disclosure. Detailed Implementation

[0102] In this disclosure, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0103] In this disclosure, the term "multiple" refers to two or more, and other quantifiers are similar.

[0104] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0105] This disclosure provides a communication method, apparatus, device, and storage medium that can perform interference cancellation processing on a sensing reference signal and determine the position of a sensing target based on the interference-cancelled sensing reference signal, thereby improving the accuracy of determining the position of the sensing target.

[0106] The method and apparatus are based on the same disclosed concept. Since the methods and apparatus solve problems in similar ways, the implementation of the apparatus and methods can refer to each other, and repeated parts will not be described again.

[0107] The technical solutions provided in this disclosure can be applied to a variety of systems. For example, applicable systems may include Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Long Term Evolution Advanced (LTE-A) systems, Universal Mobile Telecommunications System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) systems, 5G New Radio (NR) systems and their evolved communication systems, and 6G (sixth generation mobile communication technology) systems. These systems may include terminal equipment and network equipment. The systems may also include a core network component, such as the Evolved Packet Core (EPC) or the 5G Core Network (5GC).

[0108] The terminal devices involved in the embodiments of this disclosure can be devices that provide voice and / or data connectivity to users, handheld devices with wireless connectivity, or other processing devices connected to a wireless modem. The names of the terminal devices may differ in different systems; for example, in 5G or 6G systems, the terminal device may be called User Equipment (UE). Wireless terminal devices can be USB storage devices, other personal computer memory devices, and dongles. They can also communicate with one or more core networks (CNs) via a Radio Access Network (RAN). Wireless terminal devices can be mobile terminal devices, such as mobile phones (or "cellular" phones) and computers with mobile terminal devices. For example, they can be portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile devices that exchange voice and / or data with the radio access network. Examples of such devices include Personal Communication Service (PCS) telephones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (PDAs), personal computers, tablets, and Machine-type Communication (MTC) terminal devices. Wireless terminal devices can also be referred to as systems, subscriber units, subscriber stations, mobile stations, mobile devices, remote stations, access points, remote terminals, access terminals, user terminals, user agents, user devices, and wireless access devices and routers / modems that meet the limitations of this definition, but are not limited to these in the embodiments of this disclosure.

[0109] The network device involved in this disclosure can be a base station, which may include multiple cells providing services to terminals. Depending on the application, the base station may also be called an access point, or a device in the access network that communicates with wireless terminal devices through one or more sectors on the air interface, or other names. The network device can be used to exchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, where the rest of the access network may include an Internet Protocol (IP) communication network. The network device can also coordinate the attribute management of the air interface. For example, the network device involved in this disclosure can be an evolved Node B (eNB or e-NodeB) in a long term evolution (LTE) system, a 5G base station (gNB) in a next generation system, or a Home evolved Node B (HeNB), relay node, femto, pico, network testing equipment, etc., and is not limited in this disclosure. In some network architectures, network devices may include centralized unit (CU) nodes and distributed unit (DU) nodes, which may also be geographically separated.

[0110] The architecture of the communication system provided in this disclosure can include a single-base sensing scenario and a dual-base sensing scenario. In the single-base sensing scenario, the sensing transmitting node (the node that transmits the sensing reference signal) and the sensing receiving node (the node that receives the sensing reference signal) can be the same node, while in the dual-base sensing scenario, the sensing transmitting node and the sensing receiving node can be different nodes.

[0111] The single-base sensing scenario provided by the embodiments of this disclosure will now be described with reference to Figures 1A and 1B.

[0112] Figure 1A is a schematic diagram of a single-base sensing scenario provided by an embodiment of this disclosure. Referring to Figure 1A, it includes a base station and a sensing target. The base station can be a sensing transmitting node or a sensing receiving node. The base station can transmit a sensing reference signal (for sensing the sensing target in the environment) to the environment where the sensing target is located. The sensing target can reflect the sensing reference signal, and the base station can receive the sensing reference signal reflected by the sensing target.

[0113] Figure 1B is a schematic diagram of another single-base sensing scenario provided by an embodiment of this disclosure. Referring to Figure 1B, it includes a terminal device and a sensing target. The terminal device can be a sensing transmitting node or a sensing receiving node. The terminal device can transmit a sensing reference signal to the environment where the sensing target is located. The sensing target can reflect the sensing reference signal, and the terminal device can receive the sensing reference signal reflected by the sensing target.

[0114] It should be noted that Figures 1A and 1B are examples of single-base sensing scenarios in the embodiments of this disclosure, and are not intended to limit the scope of single-base sensing scenarios.

[0115] The following description, in conjunction with Figures 2A-2E, illustrates the dual-base sensing scenario provided in the embodiments of this disclosure.

[0116] Figure 2A is a schematic diagram of a dual-base sensing scenario provided by an embodiment of this disclosure. Referring to Figure 2A, it includes: a base station, a sensing target, and a terminal device. The base station can be a sensing transmitting node, and the terminal device can be a sensing receiving node. The base station can transmit a sensing reference signal to the environment where the sensing target is located; the sensing target can reflect the sensing reference signal; and the terminal device can receive the sensing reference signal reflected by the sensing target.

[0117] Figure 2B is a schematic diagram of another dual-base sensing scenario provided by an embodiment of this disclosure. Referring to Figure 2B, it includes: a terminal device, a sensing target, and a base station. The terminal device can be a sensing transmitting node, and the base station can be a sensing receiving node. The terminal device can transmit a sensing reference signal to the environment where the sensing target is located; the sensing target can reflect the sensing reference signal; and the base station can receive the sensing reference signal reflected by the sensing target.

[0118] Figure 2C is a schematic diagram of another dual-base sensing scenario provided by an embodiment of this disclosure. Referring to Figure 2C, it includes: a first base station, a sensing target, and a second base station. The first base station can be a sensing transmitting node, and the second base station can be a sensing receiving node. The first base station can transmit a sensing reference signal to the environment where the sensing target is located; the sensing target can reflect the sensing reference signal; and the second base station can receive the sensing reference signal reflected by the sensing target.

[0119] Figure 2D is a schematic diagram of another dual-base sensing scenario provided by an embodiment of this disclosure. Referring to Figure 2D, it includes: a first terminal device, a sensing target, and a second terminal device. The first terminal device can be a sensing transmitting node, and the second terminal device can be a sensing receiving node. The first terminal device can transmit a sensing reference signal to the environment where the sensing target is located; the sensing target can reflect the sensing reference signal; and the second terminal device can receive the sensing reference signal reflected by the sensing target.

[0120] Figure 2E is a schematic diagram of another dual-base sensing scenario provided by an embodiment of this disclosure. Referring to Figure 2E, it includes: a terminal device, a sensing target, and a base station. The terminal device can be either a sensing transmitting node or a sensing receiving node, and the base station can be either a sensing transmitting node or a sensing receiving node. The terminal device can transmit a sensing reference signal 1 to the environment where the sensing target is located. The sensing target can reflect the sensing reference signal 1, and the base station can receive the sensing reference signal 1 reflected by the sensing target. The base station can transmit a sensing reference signal 2 to the environment where the sensing target is located. The sensing target can reflect the sensing reference signal 2, and the terminal device can receive the sensing reference signal 2 reflected by the sensing target.

[0121] It should be noted that Figures 2A-2E are examples of dual-base sensing scenarios in the embodiments of this disclosure, and are not intended to limit the dual-base sensing scenarios.

[0122] The architecture of the communication system according to an embodiment of this disclosure will now be described with reference to Figures 3A and 3B.

[0123] Figure 3A is a schematic diagram of the architecture of a communication system provided in an embodiment of this disclosure. In the embodiment shown in Figure 3A, the architecture of the communication system may include a single-base sensing scenario, as shown in Figure 3A, including: a sensing transmitting node (sensing receiving node) and a network control node. The sensing transmitting node (sensing receiving node) can be communicatively connected to the network control node. The sensing transmitting node (sensing receiving node) can be a terminal device or a network device. The network control node can be a base station, a sensing function (SF), or other network entity. The network control node can locate the sensing target.

[0124] Figure 3B is a schematic diagram of another communication system architecture provided in an embodiment of this disclosure. In the embodiment shown in Figure 3B, the architecture of the communication system may include a dual-base sensing scenario, as shown in Figure 3B, including: a sensing transmitting node, a sensing receiving node, and a network control node. The network control node can communicate with both the sensing transmitting node and the sensing receiving node, and the sensing transmitting node can communicate with the sensing receiving node.

[0125] It should be noted that Figures 3A and 3B are examples of the architecture of the communication system in the embodiments of this disclosure, and are not intended to limit the architecture of the communication system.

[0126] In related technologies, integrated sensing and communication channel models can introduce wireless sensing functionality into the field of wireless mobile communication. For example, ISAC can determine the location of a sensed target in the environment using wireless signals. Currently, a sensing transmitting node can transmit a sensing reference signal to the environment where the sensed target is located, and a sensing receiving node can receive this sensing reference signal and determine the location of the sensed target in the environment based on the received sensing reference signal. However, because objects in the environment can reflect and scatter the sensing reference signal, and the direct path between the sensing transmitting and receiving nodes can also interfere with the sensing reference signal, the sensing reference signal received by the sensing receiving node includes environmental interference and direct path interference. Therefore, the positioning accuracy of the sensed target based on the received sensing reference signal is relatively low.

[0127] To address the technical problems in related technologies, this disclosure provides a communication method in which a third node receives a sensing reference signal sent by a first node and determines the Channel Frequency Response (CFR) corresponding to the sensing reference signal. The third node performs time difference processing on the CFRs corresponding to sensing reference signals at different transmission times at the same subcarrier position to obtain CFR time difference values. Based on the available subcarrier or the CFR time difference value corresponding to the available subcarrier position, a sensing measurement value is determined. The third node can determine at least one of the CFR, CFR time difference value, and sensing measurement value as target information and send the target information to a second node. The second node can then determine the location of the sensing target based on the target information. This avoids interference signals from direct sunlight and environmental objects from affecting the positioning of the sensing target, thus improving the positioning accuracy of the sensing target.

[0128] The communication method provided in this disclosure will be described below with reference to embodiments.

[0129] Figure 4 is a schematic diagram of a communication method provided in an embodiment of this disclosure. Applied to a third node, as shown in Figure 4, the communication method includes:

[0130] S401, Receive the sensing reference signal sent by the first node.

[0131] In the case of single-base sensing, the first node and the third node can be the same node. For example, in the case of single-base sensing, the sensing transmitting node and the sensing receiving node are the same node. Therefore, the sensing reference signal received by the third node can be the sensing reference signal transmitted by the third node (i.e., the first node). For example, the third node in Figure 1A can be a base station, and the third node in Figure 1B can be a terminal device.

[0132] In the case of dual-base sensing, the first node and the third node can be different nodes. For example, in the case of dual-base sensing, the first node can be a sensing transmitting node, and the third node can be a sensing receiving node. The first node can transmit a sensing reference signal, which can be reflected by objects in the environment, and the third node can receive the reflected reference signal.

[0133] The sensing reference signal can be used to detect sensing targets in the environment. For example, it can be used to detect sensing targets in the environment, and also to detect the location of those targets. For instance, the environment may include a moving car; the sensing reference signal can be used to detect the car and its location. For example, the sensing receiving node can determine the characteristics of the received sensing reference signal (e.g., time delay, frequency offset, and phase change), and then, based on these characteristics, determine the sensing targets in the environment and their locations.

[0134] S402. Measure the sensing reference signal to obtain target information.

[0135] The target information can be used to determine the location of the perceived target. The target information may include at least one of the following:

[0136] CFR;

[0137] CFR time difference score;

[0138] Perceived measurement values.

[0139] The CFR corresponding to the sensing reference signal can indicate the transmission characteristics of the sensing reference signal at multiple frequencies. For example, the CFR can indicate information such as phase information, time delay information, and Doppler frequency offset of the sensing reference signal at multiple frequencies.

[0140] The CFR time difference value indicates the difference between the CFRs corresponding to the sensing reference signals at different times. For example, the first node can transmit sensing reference signal A at time 1 and sensing reference signal B at time 2. The CFR time difference value corresponding to time 1 and time 2 can indicate the difference between the CFR corresponding to sensing reference signal A and the CFR corresponding to sensing reference signal B. Since the CFR time difference value can reflect the channel changes over time, this CFR time difference value can reflect the channel changes from time 1 to time 2.

[0141] The sensed measurements can be used to determine the location of the sensed target. For example, the sensed measurements can include values ​​in the velocity domain, range domain, and / or angle domain. For example, the sensed measurements can include values ​​for ranging (time delay), angle, and velocity (Doppler frequency offset). For example, the third node can determine the sensed measurements using a sensed reference signal after interference cancellation. For example, the third node can eliminate direct path interference and environmental interference in the sensed reference signal by performing time difference processing on the CFR corresponding to the sensed reference signal.

[0142] S403, Send target information to the second node.

[0143] The second node can be a network control node. For example, the sensing receiving node can send a CFR (Constant Free Frame) to the network control node; the sensing receiving node can determine the CFR time difference value based on the CFR and send the CFR time difference value to the network control node; the sensing receiving node can determine the sensing measurement value based on the CFR time difference value and send the sensing measurement value to the network control node. For example, the network control node can receive the CFR, CFR time difference value, and / or sensing measurement value sent by the sensing receiving node, and determine the location of the sensing target based on the CFR, CFR time difference value, and / or sensing measurement value.

[0144] This disclosure provides a communication method in which a third node can receive a sensing reference signal sent by a first node, measure the sensing reference signal to obtain target information, and send the target information to a second node. Since the target information may include at least one of CFR, CFR time difference value, and sensing measurement value, and since CFR or CFR time difference value can eliminate interference signals in the sensing reference signal, the second node can accurately determine the position of the sensing target based on the target information, avoiding interference signals from direct sunlight and the environment that could interfere with the position of the sensing target, thus improving the positioning accuracy of the sensing target.

[0145] Based on any of the above embodiments, the process of another communication method will be described below with reference to Figure 5.

[0146] Figure 5 is a schematic diagram of another communication method provided in an embodiment of this disclosure. Applied to the second node, as shown in Figure 5, the method flow includes:

[0147] S501, Receive target information sent by at least one third node.

[0148] The target information includes at least one of the following:

[0149] CFR;

[0150] CFR time difference score;

[0151] Perceived measurement values.

[0152] In some embodiments, the second node can receive target information sent by one third node, or it can receive target information sent by multiple third nodes. For example, if the communication system includes one third node, the second node can receive the target information sent by that third node; if the communication system includes multiple third nodes, the second node can receive target information sent by multiple third nodes. Similarly, if the communication system includes one sensing receiving node, the network control node can receive the target information sent by that sensing receiving node; if the communication system includes multiple sensing receiving nodes, the network control node can receive target information sent by multiple sensing receiving nodes. This improves the robustness of target localization.

[0153] S502. Determine the location of the perceived target based on the target information.

[0154] In some embodiments, the perceived target can be any moving target in the environment, and this disclosure does not limit this. For example, the perceived target can be a moving vehicle, a moving pedestrian, etc.

[0155] In this system, if a second node receives target information from a third node, it can determine the location of the perceived target based on that information. If a second node receives target information from multiple third nodes, it can determine the location of the perceived target based on the multiple target nodes. For example, the sensing receiving nodes in a communication system may include sensing receiving node A and sensing receiving node B. If sensing receiving node A successfully sends target information to the network control node, but sensing receiving node B fails to send target information, the network control node can determine the location of the perceived target based on the target information sent by sensing receiving node A. If both sensing receiving nodes A and B successfully send target information to the network control node, the network control node can determine the location of the perceived target based on the target information sent by both sensing receiving nodes A and B.

[0156] In some embodiments, the network control node can determine sensing measurement values ​​based on target information, and determine the location of the sensed target based on the sensing measurement values. For example, the network control node can determine the sensing result based on the sensing measurement values, wherein the sensing result may include the location, speed, or identification result of the presence or absence of the sensed target, and the number of sensed targets, etc.

[0157] This disclosure provides a communication method in which a second node can receive target information sent by at least one third node and determine the location of a sensed target based on the target information. Since CFR or CFR time difference can eliminate interference signals in the sensed reference signal, the third node can accurately determine the location of the sensed target based on the target information, avoiding interference from direct-path interference signals and environmental interference signals that could interfere with the location of the sensed target. Furthermore, the second node can locate the sensed target based on target information sent by multiple third nodes, thereby improving the accuracy and robustness of the sensed target's location.

[0158] Based on any of the above embodiments, another communication method will be described below with reference to FIG6.

[0159] Figure 6 illustrates another communication method provided in an embodiment of this disclosure. Applied to the first node, as shown in Figure 6, the method flow includes:

[0160] S601, Receive resource configuration information of the sensing reference signal sent by the second node.

[0161] The resource configuration information may include configuration information related to the time-domain resources, frequency-domain resources, and / or spatial resources of the sensing reference signal. For example, the resource configuration information may include configuration information related to the time-domain resources of the sensing reference signal, which may indicate the location of the time-domain resources for transmitting the sensing reference signal; the resource configuration information may include configuration information related to the frequency-domain resources of the sensing reference signal, which may indicate the location of the frequency-domain resources for transmitting the sensing reference signal; the resource configuration information may include configuration information related to the spatial resources of the sensing reference signal, which may indicate the spatial beam weights for transmitting the sensing reference signal. For example, the resource configuration information may include the index of the time-domain resources, the index of the frequency-domain resources, and the index of the beam weight set.

[0162] S602. Based on the resource configuration information, send a sensing reference signal to at least one third node.

[0163] The first node can determine the time-domain resource location, frequency-domain resource location, and / or spatial beam weight of the sensing reference signal based on the resource configuration information, and send the sensing reference signal to at least one third node based on the time-domain resource location, frequency-domain resource location, and / or spatial beam weight.

[0164] This disclosure provides a communication method in which a first node can receive resource configuration information of a sensing reference signal sent by a second node, and send the sensing reference signal to at least one third node according to the resource configuration information. The resource configuration information may include relevant configuration information of the time-domain resources, frequency-domain resources, and / or spatial resources of the sensing reference signal. Therefore, the third node can accurately receive the sensing reference signal sent by the first node based on the same resource configuration information, thereby reducing interference to the sensing reference signal and improving its accuracy. This, in turn, improves the accuracy of target localization.

[0165] Based on any of the above embodiments, the method for the first node to send a sensing reference signal to at least one third node will be described below with reference to FIG7.

[0166] Figure 7 is a schematic diagram of a method for transmitting and receiving sensing reference signals according to an embodiment of this disclosure. Referring to Figure 7, it includes:

[0167] S701, The second node sends resource configuration information of the sensing reference signal to the first node and at least one third node.

[0168] The second node can notify the first and third nodes in advance of the type of sensing reference signal. The type of sensing reference signal can include aperiodic, semi-persistent, and periodic sensing reference signals. For example, the second node can notify or activate aperiodic, semi-persistent, and periodic sensing reference signals based on Downlink Control Information (DCI) signaling, Radio Resource Control (RRC) signaling, Media Access Control (MAC) Control Element (CE) signaling, X2 interface (used to connect different base stations), and higher-layer sensing signaling.

[0169] Within this configuration, only one type of sensing reference signal can be configured at any given time. For example, a periodic sensing reference signal, a semi-continuous sensing reference signal, or an aperiodic sensing reference signal can be transmitted at 10ms. The resource configuration information can set the priorities of various sensing reference signal types. If multiple types of sensing reference signals exist simultaneously, the type of sensing reference signal at that time will be the one with the highest priority. For example, the newly configured sensing reference signal type will have the highest priority, or the priorities of the reference signal types, from highest to lowest, will be: aperiodic, semi-continuous, or periodic.

[0170] The second node can pre-configure the resource configuration information of the sensing reference signal (the relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal) and send the resource configuration information to the first node and the second node.

[0171] The time-domain resources of the sensing reference signal can be the locations of the time-domain resources for transmitting or receiving the sensing reference signal. For example, the time-domain resources of semi-persistent sensing reference signals and periodic sensing reference signals can include the time interval T_duration for transmitting the sensing reference signal, the number of durations N1 for transmitting the sensing reference signal, and the repetition period T_period. For example, the units of T_duration and T_period can be OFDM symbols, slots, subframes, radio frames, or seconds. For example, if T_duration is 10ms, N1 is 100, and T_period is 1s, then the time-domain resource locations can be the locations of 100 sensing reference signals transmitted within one period (the number of repetition periods is 1), where each sensing reference signal is 10ms apart.

[0172] The value of T_duration is determined based on the maximum unambiguous measurement range of the Doppler frequency offset of the perceived target. For example, T_duration ≥ 1 / fd_max, where fd_max represents the maximum unambiguous measurement range of the Doppler frequency offset in Hz. For example, if fd_max = 200Hz, then T_duration ≥ 0.005s (1 / 200).

[0173] It should be noted that the second node can determine the maximum unambiguous measurement value of Doppler frequency offset based on factors such as the sensing application scenario, the type of candidate sensing targets in the system, and the range of motion speed. This embodiment of the present disclosure does not limit this.

[0174] The second node can determine N1 and T_period based on T_duration. For example, if T_duration is 0.01s, then N1 can satisfy the following relationship: N1*T_duration≥1 / delta_fd, where delta_fd represents the resolution of the Doppler frequency offset in Hz. For example, if T_duration is 0.01 and delta_fd is 2Hz, then N1≥50(0.5 / 0.01). For example, if N1 is 100 and T_duration is 0.01s, then T_period≥N1*T_duration, that is, T_period≥1s.

[0175] It should be noted that the non-periodic sensing reference signal does not include T_period.

[0176] The configuration information related to time-domain resources can indicate the location of time-domain resources for transmitting or receiving sensing reference signals. For example, if T_duration is 0.01s, N1 is 100, and T_period is 1s, then the configuration information related to time-domain resources can include an identifier indicating that T_duration is 0.01s, an identifier indicating that N1 is 100, and an identifier indicating that T_period is 1s.

[0177] The frequency domain resources of the sensing reference signal can be the frequency domain resource locations for transmitting or receiving the sensing reference signal. For example, if the sensing reference signal can be transmitted or received on subcarrier 1, then the frequency domain resources of the sensing reference signal can be subcarrier 1 (frequency domain resource location). If the sensing reference signal can be transmitted or received on both subcarrier 1 and subcarrier 2, then the frequency domain resources of the sensing reference signal can be both subcarrier 1 and subcarrier 2.

[0178] The relevant configuration information of frequency domain resources can indicate the location of frequency domain resources for transmitting or receiving sensing reference signals. For example, the relevant configuration information of frequency domain resources can include the index of a subcarrier, which indicates that the subcarrier can be a subcarrier for transmitting or receiving sensing reference signals (frequency domain resource location). For example, if the relevant configuration information of frequency domain resources includes the index of subcarrier 1 and the index of subcarrier 2, then the sensing reference signal can be transmitted or received on subcarrier 1 and subcarrier 2.

[0179] The spatial resources of the sensing reference signal can be the spatial beam weights for transmitting or receiving the sensing reference signal. For example, if the sensing reference signal can be transmitted or received through spatial beam weight 1, then the spatial resources of the sensing reference signal can be spatial beam weight 1. If the sensing reference signal can be transmitted or received through both spatial beam weight 1 and spatial beam weight 2, then the spatial resources of the sensing reference signal can be both spatial beam weight 1 and spatial beam weight 2.

[0180] The configuration information related to airspace resources can indicate the airspace beam weights for transmitting or receiving sensing reference signals. For example, the configuration information may include an index for the airspace beam weights, which indicates the airspace beam weights for transmitting or receiving sensing reference signals. For instance, if the configuration information includes an index for airspace beam weight 1 and an index for airspace beam weight 2, then the sensing reference signal can be transmitted or received using airspace beam weight 1 and airspace beam weight 2.

[0181] In some embodiments, the second node may send resource configuration information based on the sensing mode (e.g., single-base sensing mode or dual-base sensing mode), and the type of the second node (terminal device or base station) and the type of the third node (terminal device or base station). For example, in a single-base sensing mode where a base station sends and receives a sensing reference signal, the second node can send resource configuration information for the sensing reference signal based on the higher-layer sensing signaling of the SF. In a single-base sensing mode where a terminal device sends and receives a sensing reference signal, in a Sidelink (for device-to-device communication) scenario covered by the network, the second node can notify the resource configuration information of the sensing reference signal based on the higher-layer sensing signaling of the SF or DCI, MAC-CE, and RRC signaling between the base station and the terminal device. In a dual-base sensing mode where a first base station sends and a second base station receives the sensing reference signal, the second node can notify the resource configuration information of the sensing reference signal based on the higher-layer sensing signaling of the SF or the X2 interface. In a dual-base sensing mode where a base station sends and a terminal device receives the sensing reference signal, or where a terminal device sends and a base station receives the sensing reference signal, the second node can notify the resource configuration information of the sensing reference signal based on the higher-layer sensing signaling of the SF or signaling between the base station and the terminal device.

[0182] In some embodiments, the third node may also receive resource configuration information of the reference signal sent by the first node. For example, the first node may be a base station, which may configure resource configuration information for the sensing reference signal and send the resource configuration information to the third node. After sending the resource configuration information, the first node may send the sensing reference signal to the third node according to the resource configuration information.

[0183] S702. The first node sends a sensing reference signal to at least one third node based on the resource configuration information.

[0184] The first node can send a sensing reference signal to at least one third node according to the following feasible implementation: the sensing reference signal is sent to at least one third node based on the time-domain resource location indicated by the relevant configuration information of the time-domain resources, the frequency-domain resource location indicated by the relevant configuration information of the frequency-domain resources, and / or the spatial beam weight indicated by the relevant configuration information of the spatial-domain resources. For example, the first node can send the sensing reference signal at the same frequency-domain resource location, the same spatial beam weight, and multiple equally spaced time-domain resource locations. The same frequency-domain location refers to the same carrier frequency point and the same subcarrier frequency-domain location index value; the same spatial beam weight refers to the same transmit filter and the same transmit beam direction (or the same quasi-co-location (QCL) association); and the multiple equally spaced time-domain resource locations have the same T_duration, where the unit of T_duration can be OFDM symbol, slot, radio frame, or ms.

[0185] For example, if the relevant configuration information of the time domain resources indicates that the time domain resource location is to send a sensing reference signal every 10ms, and 100 sensing reference signals are sent in one cycle, and the number of repetition cycles is 1 (i.e., only one cycle is sent), the relevant configuration information of the frequency domain resources indicates that the frequency domain resource location is subcarrier 1 and subcarrier 2, and the relevant configuration information of the spatial domain resources indicates that the spatial beam weights are spatial beam weight 1 and spatial beam weight 2, then the first node can send sensing reference signals on subcarrier 1 and subcarrier 2. The beam direction of the sent sensing reference signals includes the beam direction corresponding to spatial beam weight 1 and the beam direction corresponding to spatial beam weight 2. Furthermore, on subcarrier 1 and subcarrier 2, a sensing reference signal is sent every 10ms, and 100 sensing reference signals are sent on each subcarrier.

[0186] The location of time-domain resources and the location of frequency-domain resources will be explained in detail below with reference to Figure 8.

[0187] Figure 8 is a schematic diagram of time-domain resource locations and frequency-domain resource locations provided in an embodiment of this disclosure. Referring to Figure 8, it includes frequency-domain resources and time-domain resources. The frequency-domain resources include subcarrier 1, subcarrier 2, subcarrier 3, and subcarrier 4, and the time-domain resources include symbol A, symbol B, symbol C, and symbol D. The location corresponding to subcarrier 1 and symbol A is marked as 1, the location corresponding to subcarrier 1 and symbol C is marked as 1, the location corresponding to subcarrier 3 and symbol A is marked as 1, and the location corresponding to subcarrier 3 and symbol C is marked as 1. That is, in Figure 8, the time-domain resource locations are symbols A and C, and the frequency-domain resource locations are subcarrier 1 and subcarrier 2. The first node (not shown in Figure 8) can transmit sensing reference signals at the locations corresponding to symbols A, symbol B, subcarrier 1, and subcarrier 2.

[0188] S703, the third node receives the sensing reference signal sent by the first node based on the resource configuration information.

[0189] The third node may receive the sensing reference signal sent by the first node in the following feasible implementation manner: according to the time domain resource location indicated by the relevant configuration information of the time domain resource, the frequency domain resource location indicated by the relevant configuration information of the frequency domain resource, and / or the spatial beam weight indicated by the relevant configuration information of the spatial domain resource, the third node may receive the sensing reference signal sent by the first node.

[0190] It should be noted that the method by which the third node receives the sensing reference signal sent by the first node based on the resource configuration information can refer to the method by which the first node sends the sensing reference signal to at least one third node based on the resource configuration information, and this disclosure does not limit this method.

[0191] This disclosure provides a method for transmitting and receiving sensing reference signals. A second node transmits resource configuration information for the sensing reference signals to a first node and a third node. The first node, based on the resource configuration information, transmits the sensing reference signals to at least one third node. The third node, based on the resource configuration information, receives the sensing reference signals transmitted by the first node. In this way, the first node can transmit sensing reference signals at the same frequency domain resource location, the same spatial domain beam weight, and multiple equally spaced time domain resource locations based on the resource configuration information transmitted by the second node. Similarly, the third node can receive sensing reference signals at the same frequency domain resource location, the same spatial domain beam weight, and multiple equally spaced time domain resource locations based on the resource configuration information transmitted by the second node. This improves the accuracy of transmitting and receiving sensing reference signals, thereby enhancing the overall accuracy of the sensing reference signals.

[0192] Based on any of the above embodiments, the following describes another method for a first node to send a sensing reference signal to at least one third node, with reference to FIG9.

[0193] Figure 9 is a schematic diagram of another method for transmitting and receiving sensing reference signals provided in an embodiment of this disclosure. Referring to Figure 9, it includes:

[0194] S901. The first node sends a sensing reference signal to at least one third node based on resource configuration information and / or preset agreements.

[0195] The preset agreement can be a method for the first node and the third node to send sensing reference signals in advance. The preset agreement can include relevant configuration information of time domain resources, frequency domain resources and / or spatial domain resources for sending sensing reference signals. In this way, the first node and the third node do not need to be notified by the second node to send and receive sensing reference signals synchronously, saving signaling overhead and improving the stability of sensing signal transmission.

[0196] In some embodiments, the first node can determine the time-domain resource location, frequency-domain resource location, and / or spatial beam weight of the sensing reference signal based on the resource configuration information, and transmit the sensing reference signal based on the time-domain resource location, frequency-domain resource location, and / or spatial beam weight.

[0197] In some embodiments, the first node may determine the time-domain resource location, frequency-domain resource location, and / or spatial beam weight of the sensing reference signal according to a preset agreement, and transmit the sensing reference signal according to the time-domain resource location, frequency-domain resource location, and / or spatial beam weight.

[0198] In some embodiments, the first node can determine the time-domain resource location, frequency-domain resource location, and / or spatial beam weight of the sensing reference signal according to a preset agreement. If the first node receives resource configuration information sent by the second node, it can determine new time-domain resource locations, frequency-domain resource locations, and / or spatial beam weights based on the resource configuration information sent by the second node, and send the sensing reference signal to at least one third node based on the new time-domain resource locations, frequency-domain resource locations, and / or spatial beam weights. Thus, even if the second node does not send resource configuration information, the first node can send the sensing reference signal to at least one third node according to the preset agreement; even if the second node sends resource configuration information, the first node can send the sensing reference signal to at least one third node based on the resource configuration information, thereby improving the robustness and flexibility of the sensing reference signal transmission.

[0199] S902, the third node receives the sensing reference signal sent by the first node according to the resource configuration information and / or preset agreement.

[0200] In some embodiments, the third node can determine the time-domain resource location, frequency-domain resource location, and / or spatial beam weight of the sensing reference signal based on the resource configuration information, and receive the sensing reference signal based on the time-domain resource location, frequency-domain resource location, and / or spatial beam weight.

[0201] In some embodiments, the third node may determine the time-domain resource location, frequency-domain resource location, and / or spatial beam weight of the sensing reference signal according to a preset agreement, and receive the sensing reference signal according to the time-domain resource location, frequency-domain resource location, and / or spatial beam weight.

[0202] In some embodiments, the third node may determine the time-domain resource location, frequency-domain resource location, and / or spatial beam weight of the sensing reference signal according to a preset agreement. If the third node receives resource configuration information sent by the second node, the third node may determine a new time-domain resource location, frequency-domain resource location, and / or spatial beam weight according to the resource configuration information sent by the second node, and receive the sensing reference signal sent by the first node according to the new time-domain resource location, frequency-domain resource location, and / or spatial beam weight.

[0203] This disclosure provides another method for transmitting and receiving sensing reference signals. A first node transmits the sensing reference signal to at least one third node according to resource configuration information and / or a preset agreement. The third node receives the sensing reference signal transmitted by the first node according to the resource configuration information and / or the preset agreement. Thus, even when the second node does not transmit resource configuration information, the first and third nodes can transmit and receive the sensing reference signal according to the preset agreement. Conversely, even when the second node transmits resource configuration information, the first and third nodes can transmit and receive the sensing reference signal according to the resource configuration information, thereby improving the robustness and flexibility of sensing reference signal transmission.

[0204] Based on any of the above embodiments, the method for the third node to send target information to the second node will be described below with reference to FIG10.

[0205] Figure 10 is a schematic diagram of a method for sending target information according to an embodiment of this disclosure. Referring to Figure 10, it includes:

[0206] S1001, the third node measures the sensing reference signal to obtain target information.

[0207] The target information includes at least one of the following:

[0208] Channel frequency response (CFR);

[0209] CFR time difference score;

[0210] Perceived measurement values.

[0211] Specifically, the CFR in the target information is determined based on the sensing reference signal, and / or, the CFR time difference value in the target information is determined based on the CFR corresponding to the sensing reference signal at different transmission times at the same subcarrier position, and / or, the sensing measurement value in the target information is determined based on the available subcarrier or the CFR time difference value corresponding to the available subcarrier position. For example, the third node can determine the CFR corresponding to the sensing reference signal based on the sensing reference signal; the third node can perform time difference processing on the CFR corresponding to the sensing reference signal at different transmission times at the same subcarrier position to obtain the CFR time difference value; the third node can determine the sensing measurement value based on the available subcarrier or the CFR time difference value corresponding to the available subcarrier position. For example, the available subcarrier can be used to transmit the sensing reference signal. For example, the available subcarrier can be a pre-set subcarrier used to transmit the sensing reference signal. For example, the available subcarrier position can be used to indicate the available subcarrier. For example, the available subcarrier position can be an index of the available subcarrier.

[0212] The third node can determine the CFR corresponding to the sensing reference signal based on the transmitted and received sensing reference signals. For example, if the transmitted sensing reference signal is a known sensing reference signal, the third node can perform Fast Fourier Transform (FFT) processing on the transmitted and received sensing reference signals, and determine the CFR corresponding to the sensing reference signal based on the transmitted and received sensing reference signals after the FFT processing.

[0213] For example, the first node sends sensing reference signal 1 to the third node, and the third node receives sensing reference signal 2 (the two sensing reference signals may be different due to interference). The third node performs FFT processing on sensing reference signal 1 to obtain sensing reference signal 3 (frequency domain signal). The third node can perform FFT processing on sensing reference signal 2 to obtain sensing reference signal 4 (frequency domain signal). The third node can compare the differences between sensing reference signal 3 and sensing reference signal 4 to obtain CFR.

[0214] The third node can determine the CFR time difference value based on the CFR corresponding to the sensing reference signals at different transmission times on the same subcarrier position. For example, sensing reference signal A and sensing reference signal B are transmitted on the same subcarrier, and sensing reference signal A is transmitted at time t1, and sensing reference signal B is transmitted at time t2. If the CFR corresponding to sensing reference signal A is H(k, t1) and the CFR corresponding to sensing reference signal B is H(k, t2), then the CFR time difference value corresponding to t1-t2 can be H(k, t2)-H(k, t1). It should be noted that t1 and t2 can be two adjacent times with an interval of T_duration, or two times with an interval of N2 T_durations (2≤N2≤N1, if N1 is 100, N2 can also be 100). This embodiment of the present disclosure does not limit this. For example, in the embodiment shown in Figure 8, the third node can determine the CFR time difference value based on the CFR of the sensing reference signal corresponding to symbol A and the CFR of the sensing reference signal corresponding to symbol C on subcarrier 1. In this way, the influence of direct sunlight and environmental objects (stationary objects in the environment) with zero Doppler frequency offset between the first and third nodes can be eliminated by using CFR time difference values, thereby improving the accuracy of the localization of the perceived target.

[0215] It should be noted that after receiving multiple sensing reference signals, the third node can determine one CFR time difference value or multiple CFR time difference values; this embodiment of the present disclosure does not limit this. For example, if there are 100 sensing reference signals on the same subcarrier, the third node can obtain a CFR time difference value based on the CFR of the first sensing reference signal and the CFR of the last sensing reference signal, or it can perform time difference processing on the CFRs of two adjacent sensing reference signals to obtain multiple CFR time difference values.

[0216] The third node can determine the sensing measurement value according to the following feasible implementation method: process the CFR time difference value corresponding to the available subcarrier or the location of the available subcarrier to obtain the sensing measurement value.

[0217] For example, the third node can process the CFR time difference value using autocorrelation algorithms, two-dimensional FFT algorithms, or super-resolution algorithms (e.g., MUSIC or ESPRIT algorithms) to obtain time delay, angle, and Doppler frequency offset. For instance, the third node can estimate the joint measurement of distance (i.e., time delay) and Doppler frequency offset using a two-dimensional FFT algorithm based on the range-Doppler map (RDM) spectrum.

[0218] The following is a detailed explanation of the constant false alarm rate (CFAR) detection process for two-dimensional RDM spectra. The CFAR detection for two-dimensional RDM spectra includes the following three steps:

[0219] Step 1: Construct the time difference CFR matrix H_matrix_diff, where H_matrix_diff is a matrix obtained based on the CFR time difference values ​​of different frequency domain subcarriers (each subcarrier in the same frequency domain has at least one CFR time difference value).

[0220] Step 2: Perform an Inverse Fast Fourier Transform (IFFT) operation on the time difference CFR matrix H_matrix_diff in the time delay dimension (corresponding to the distance dimension), and perform an FFT operation on the time difference CFR matrix H_matrix_diff in the velocity dimension to obtain the two-dimensional RDM spectrum.

[0221] Step 3: Determine the threshold value based on the CFAR algorithm and determine whether the target exists. The input to the CFAR detector typically includes a detection unit D (the region to be detected in the RDM spectrum) and 2n reference units (regions in the RDM spectrum), with n reference units located on either side of the detection unit, one in front and one behind. A protection unit can be used in single-target cases to prevent target energy leakage into the reference units and affecting detection performance.

[0222] Here, let the reference threshold level be S, S = T × Z, where Z can be an estimate of the total clutter power level and T is the threshold factor. Then, if the level of D (signal strength or power level) is greater than S, the third node can determine that there is a target in the area corresponding to the detection unit. If the level of D is less than or equal to S, the third node can determine that there is no target in the area corresponding to the detection unit.

[0223] In this way, when the existence of the sensing target is confirmed, the third node can determine the sensing measurement value based on the position of the sensing target in the two-dimensional RDM spectrum, thereby improving the accuracy of the sensing measurement value.

[0224] In some embodiments, the third node can calculate the average of the CFR time difference values ​​at two different subcarriers, i.e., H_ave(t2) – H_ave(t1) = average[H(k,t2) - H(k,t1)], and perform FFT processing on the average of the CFR time difference values ​​at different times to obtain the Doppler frequency offset value.

[0225] In some embodiments, if the third node predetermines that the sensing reference signal does not contain interference signals reflected by environmental objects (e.g., there are no objects in the environment), then the calculated Doppler frequency offset satisfies the following formula:

[0226] Where A can be the proportional value of the Doppler frequency offset correlation; H(k, t3)=exp(j*2pi*fc*Tao+j*2pi*k*Tao)*exp(j*2pi*fd*t3)+H background (t3) H(k,t2)=exp(j*2pi*fc*Tao+j*2pi*k*Tao)*exp(j*2pi*fd*t2)+H background (t2) H(k,t1)=exp(j*2pi*fc*Tao+j*2pi*k*Tao)*exp(j*2pi*fd*t1)+H background (t1)

[0227] Among them, H background (t3)=H background (t2)=H background (t1) represents the channel response without passing through the sensing target at times t1, t2, and t3, respectively. fc represents the carrier frequency, fd represents the Doppler frequency offset, and Tao represents the air interface transmission delay. <t2<t3。 H(k,t3)-H(k,t1)=exp(j*2pi*fc*Tao+j*2pi*k*Tao)*[exp(j*2pi*fd*t3)-exp(j*2pi*fd*t1)]; H(k,t2)-H(k,t1)=exp(j*2pi*fc*Tao+j*2pi*k*Tao)*[exp(j*2pi*fd*t2)-exp(j*2pi*fd*t1)]; [H(k,t3)-H(k,t1)] / [H(k,t2)-H(k,t1)]=[exp(j*2pi*fd*t3)-exp(j*2pi*fd*t1)] / [exp(j*2pi*fd*t2) exp(j*2pi*fd*t1)];

[0228] If t1 = 0 ms, t2 = t1 + T_duration = T_duration, t3 = t1 + 2*T_duration = 2*T_duration, substituting into the above formula, we can get: [H(k,t3)-H(k,t1)] / [H(k,t2)-H(k,t1)] = [exp(j*2pi*fd*t3)-1] / [exp(j*2pi*fd*t2)-1].

[0229] Assuming X = exp(j*2pi*fd*t2), A = [H(k,t3)-H(k,t1)] / [H(k,t2)-H(k,t1)], we can obtain:

[0230] X^2-A*X+(A-1)=0, solving this equation yields X_est, from which the Doppler frequency offset can be calculated: fd=angle(X_est) / (2*pi*t2).

[0231] Here, angle represents the phase value, and the unit is [0, 2*pi].

[0232] Where the target information includes perceived measurement values, the target information may also include at least one of the following:

[0233] Interference cancellation instruction information;

[0234] Sensing and measurement related information.

[0235] The interference cancellation indication information can be used to indicate whether the perceived measurement value is a value after interference cancellation. For example, the interference cancellation indication information can be 1 (the perceived measurement value is determined based on the CFR time difference value, i.e., the perceived measurement value is a value after interference cancellation). In this way, after the second node receives the target information, it can determine that the perceived measurement value has been processed based on interference cancellation based on the interference cancellation indication information. Therefore, the second node can determine the location of the perceived target based on the perceived measurement value. For example, the interference cancellation indication information can also be 0 (the perceived measurement value is not determined based on the CFR time difference value, i.e., the perceived measurement value is not a value after interference cancellation). In this way, after the second node receives the target information, it can determine that the perceived measurement value has not been processed based on interference cancellation. Therefore, the second node can re-determine a new perceived measurement value based on the CFR or CFR time difference value in the target information, and determine the location of the perceived target based on the new perceived measurement value. This can improve the positioning accuracy of the perceived target.

[0236] The sensing measurement-related information may include at least one of the following:

[0237] Receive beam direction;

[0238] Receive antenna group;

[0239] The timestamp information of the perceived measurement value;

[0240] CFR timestamp information;

[0241] CFR time difference value timestamp information;

[0242] Signal quality indication information.

[0243] The receiving beam direction can indicate the receiving direction of the sensing reference signal corresponding to the sensing measurement value, and the receiving antenna group can also indicate the receiving direction of the sensing reference signal corresponding to the sensing measurement value. In this way, the second node can determine whether multiple sensing measurement values ​​transmitted by the same third node can be merged based on the receiving beam direction and the receiving antenna group. For example, if sensing measurement value 1 and sensing measurement value 2 are of the same type, and the receiving directions of the sensing reference signals corresponding to sensing measurement value 1 and sensing measurement value 2 are the same, then the second node can merge sensing measurement value 1 and sensing measurement value 2. If the receiving directions of the sensing reference signals corresponding to sensing measurement value 1 and sensing measurement value 2 are different, then the second node can process sensing measurement value 1 and sensing measurement value 2 separately.

[0244] The timestamp information of the sensed measurement values ​​includes the start timestamp and / or end timestamp of the sensed measurement values. For example, the third node can measure multiple sensed signals to obtain sensed measurement values, where the start timestamp of the sensed measurement value can be the timestamp when the measurement begins, and the end timestamp of the sensed measurement value can be the timestamp when the measurement ends.

[0245] The timestamp information for the CFR can include the start and / or end timestamp of the CFR. For example, the timestamp information for the CFR can be used to indicate the time range for measuring the CFR. For example, the start timestamp of the CFR can be the time when the CFR measurement begins, and the end timestamp of the CFR can be the time when the CFR measurement ends.

[0246] The timestamp information for the CFR time difference value includes the start timestamp and / or end timestamp. For example, if the CFR time difference value is H(k, t2) - H(k, t1), then the start timestamp can correspond to time t1, and the end timestamp can correspond to time t2, i.e., t1 is less than t2; or, the start timestamp can correspond to time t2, and the end timestamp can correspond to time t1, i.e., t2 is less than t1.

[0247] Among them, signal quality indication information can be used to indicate the quality of the sensing reference signal corresponding to the sensing measurement value. For example, signal quality indication information can indicate the reference signal receiving power (RSRP) and reference signal receiving quality (RSRQ) of the sensing reference signal corresponding to the sensing measurement value.

[0248] S1002, The third node sends the target information to the second node.

[0249] The target information sent by the third node to the second node may include CFR, CFR and CFR time difference value, or CFR, CFR time difference value and sensed measurement value, etc., which are not limited in this embodiment.

[0250] This disclosure provides a method for transmitting target information. A third node measures a sensing reference signal to obtain target information, and then transmits the target information to a second node. The target information includes at least one of the following: channel frequency response (CFR), CFR time difference value, and sensing measurement value. Furthermore, if the target information includes sensing measurement value, it also includes interference cancellation indication information and / or sensing measurement-related information. This allows the second node to quickly and accurately locate the sensed target based on the target information, improving the location efficiency and accuracy of the sensed target.

[0251] Based on any of the above embodiments, the method for determining the location of the sensing target by the second node will be described below with reference to Figure 11.

[0252] Figure 11 is a schematic diagram of a method for determining the location of a sensing target by a second node according to an embodiment of this disclosure. Referring to Figure 11, it includes:

[0253] S1101, The second node receives target information sent by at least one third node.

[0254] S1102. The second node determines the location of the perceived target based on the target information.

[0255] The second node can determine the location of the sensing target in the following feasible way: determine the sensing measurement value based on the target information, and determine the location of the sensing target based on the sensing measurement value.

[0256] In cases where the target information includes CFR, the sensing measurement value is determined based on the available subcarrier or the CFR time difference value corresponding to the location of the available subcarrier. The CFR time difference value is determined based on the CFR corresponding to the sensing reference signal at different transmission times at the same subcarrier location.

[0257] In cases where the target information includes CFR time difference values, the sensed measurement values ​​are determined based on the available subcarriers or the CFR time difference values ​​corresponding to the locations of the available subcarriers.

[0258] It should be noted that the method for determining the sensing measurement based on CFR and CFR time difference in the second node can refer to the method for determining the sensing measurement in the third node. This embodiment of the present disclosure will not be described in detail here.

[0259] The sensed measurements include those in the velocity domain, distance domain, and / or angle domain. For example, the sensed measurement in the velocity domain could be velocity (Doppler frequency offset), the sensed measurement in the distance domain could be distance, and the sensed measurement in the angle domain could be angle. The third node determines the position of the sensed target based on the sensed measurements. This can be done as follows: if the number of sensed measurements in each domain is 1, then the position of the sensed target is determined based on the sensed measurements in each domain; if the number of sensed measurements in each domain is greater than 1, then multiple weights corresponding to the multiple sensed measurements in each domain are determined, and the position of the sensed target is determined based on the multiple sensed measurements and multiple weights in each domain.

[0260] In this process, the second node receives target information sent by the third node. Based on this target information, the second node determines the sensing measurement values ​​in multiple domains. If the number of sensing measurement values ​​in each domain is 1, the second node can determine the location of the sensing target based on the sensing measurement values ​​in multiple domains.

[0261] In this process, the second node receives target information from multiple third nodes and determines the perceived measurement values ​​in multiple domains based on the target information. If the number of perceived measurement values ​​in each domain is greater than one, the second node can weight the perceived measurement values ​​in each domain and determine the location of the perceived target based on the weighted perceived measurement values ​​in each domain. This improves the positioning accuracy of the perceived target. For example, if the angle domain includes one angle and the distance domain includes one Doppler frequency offset, the second node can determine the location of the perceived target based on the angle and the Doppler frequency offset. If the angle domain includes two angles and the distance domain includes two Doppler frequency offsets, the second node can weight the two angles and the two Doppler frequency offsets, and determine the location of the perceived target based on the weighted angles and the weighted Doppler frequency offsets.

[0262] The weights corresponding to the perceived measurements can be used for weighted processing of the perceived measurements. For example, the larger the weight of a perceived measurement, the greater its weighting percentage; conversely, the smaller the weight of a perceived measurement, the smaller its weighting percentage.

[0263] The third node can determine multiple weights corresponding to multiple sensed measurement values ​​in each domain based on the sensed measurement information. For example, the weights can be related to the timestamp information and / or signal quality indication information in the sensed measurement information. For example, the larger the timestamp indicated by the timestamp information of the sensed measurement value, the larger the weight of the sensed measurement value; the smaller the timestamp information of the timestamp information of the sensed measurement value, the smaller the weight of the sensed measurement value. For example, if the timestamp information of the timestamp information of the sensed measurement value is larger, it means that the measurement time that determined the sensed measurement value is relatively recent (the data is newer), and therefore the sensed measurement value has a larger weight. If the timestamp information of the timestamp information of the timestamp information of the sensed measurement value is smaller, it means that the measurement time that determined the sensed measurement value is relatively recent (the data is older), and therefore the sensed measurement value has a smaller weight. For example, if the timestamp corresponding to sensed measurement value 1 is greater than the timestamp corresponding to sensed measurement value 2, then the weight corresponding to sensed measurement value 1 can be 0.8, and the weight corresponding to sensed measurement value 2 can be 0.2.

[0264] It should be noted that the timestamp can be either a start timestamp or an end timestamp, and this embodiment of the disclosure does not limit this.

[0265] It should be noted that the method for determining weights based on the timestamp information of CFR, or the method for determining weights based on the timestamp information of CFR time difference values, can refer to the method for determining weights based on the timestamp information of perceived measurement values. This embodiment of the present disclosure will not be described in detail here.

[0266] In some embodiments, the second node determines the weight corresponding to the perceived measurement value based on multiple types of timestamp information. For example, the second node can determine the weight corresponding to the perceived measurement value based on the timestamp information of the perceived measurement value and the timestamp information of the CFR time difference value. The timestamp information of the perceived measurement value can affect sub-weight 1, the timestamp information of the CFR time difference value (which determines the CFR time difference value of the perceived measurement value) can affect sub-weight 2, the sum of sub-weight 1 and sub-weight 2 is 1, the timestamp indicated by the timestamp information of the perceived measurement value can be positively correlated with sub-weight 1, and the timestamp indicated by the timestamp information of the CFR can be positively correlated with sub-weight 2.

[0267] For example, the higher the signal quality indicated by the signal quality indicator of a perceived measurement value, the greater the weight of that perceived measurement value; conversely, the lower the signal quality indicated by the signal quality indicator, the smaller the weight of that perceived measurement value. For instance, if the signal quality indicated by the quality indicator of a perceived measurement value is higher, it means the signal quality of the sensing reference signal used to determine that perceived measurement value is better, and therefore, the weight of that perceived measurement value is larger. Conversely, if the signal quality indicated by the quality indicator of a perceived measurement value is lower, it means the signal quality of the sensing reference signal used to determine that perceived measurement value is poorer, and therefore, the weight of that perceived measurement value is smaller. For example, if the signal quality of perceived measurement value 1 is greater than that of perceived measurement value 2, then the weight of perceived measurement value 1 could be 0.6, and the weight of perceived measurement value 2 could be 0.4.

[0268] For example, the second node can determine the weight corresponding to the perceived measurement value based on the timestamp and signal quality. For instance, the timestamp can affect sub-weight 1, and signal quality can affect sub-weight 2. Sub-weight 1 has a maximum value of 0.6, and sub-weight 2 has a maximum value of 0.4. If the timestamp corresponding to perceived measurement value 1 is greater than the timestamp corresponding to perceived measurement value 2, and the signal quality corresponding to perceived measurement value 1 is lower than the signal quality corresponding to perceived measurement value 2, then the sub-weight 1 corresponding to perceived measurement value 1 is 0.4, the sub-weight 1 corresponding to perceived measurement value 2 is 0.2, the sub-weight 2 corresponding to perceived measurement value 1 is 0.1, and the sub-weight 2 corresponding to perceived measurement value 2 is 0.3. Therefore, the weight corresponding to perceived measurement value 1 is 0.5 (sub-weight 1 plus sub-weight 2), and the weight corresponding to perceived measurement value 2 is 0.5.

[0269] It should be noted that the second node can determine the weight value corresponding to the perceived measurement value according to any feasible implementation method, and this embodiment does not limit this.

[0270] The second node determines the position of the perceived target based on multiple perception measurement values ​​and multiple weights in each domain. This can be done by: for any one of the velocity, distance, and angle domains, weighting multiple perception measurement values ​​in the domain according to multiple perception measurement values ​​and multiple weights to obtain the target perception measurement value, and determining the position of the perceived target based on the target perception measurement value in each domain.

[0271] The target perception measurement value is a weighted average of multiple perception measurements within the domain. For example, the distance domain can include distance 1 and distance 2 (the distance can be the distance between the first node and the perceived target). If distance 1 is 100 meters and distance 2 is 90 meters, with a weight of 0.9 for distance 1 and a weight of 0.1 for distance 2, then the target perception measurement value (target distance) in this distance domain can be 99 meters. This can improve the accuracy of the target perception measurement value.

[0272] The second node can determine the location of the perceived target based on the target perception measurement values ​​in each domain. For example, the second node can determine the target perception measurement values ​​in each domain based on target information from different third nodes, and determine the location of the perceived target based on multiple target perception measurement values, and track the location of the perceived target, thereby improving the accuracy of the perceived target's localization.

[0273] This disclosure provides a method for a second node to determine the location of a sensed target. The second node receives target information sent by at least one third node. Based on the target information, the second node determines sensed measurement values. If the number of sensed measurement values ​​in each domain is 1, the location of the sensed target is determined based on the sensed measurement values. If the number of sensed measurement values ​​in each domain is greater than 1, multiple weights corresponding to the multiple sensed measurement values ​​in each domain are determined, and the location of the sensed target is determined based on the multiple sensed measurement values ​​and multiple weights in each domain. This improves the accuracy of target location.

[0274] Based on any of the above embodiments, another communication method will be described below with reference to FIG12.

[0275] Figure 12 is a schematic diagram of another communication method provided in an embodiment of this disclosure. Referring to Figure 12, the communication method includes:

[0276] S1201, The second node sends resource configuration information of the sensing reference signal to the first node and the third node.

[0277] The resource configuration information includes the relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal.

[0278] S1202. The first node sends a sensing reference signal to at least one third node based on the resource configuration information.

[0279] S1203. The third node receives the sensing reference signal sent by the first node based on the resource configuration information.

[0280] S1204 The third node measures the sensing reference signal to obtain target information.

[0281] The target information includes at least one of the following:

[0282] CFR;

[0283] CFR time difference score;

[0284] Perceived measurement values.

[0285] S1205, The third node sends the target information to the second node.

[0286] S1206. The second node determines the location of the perceived target based on the target information.

[0287] In some embodiments, after the second node determines the location of the sensing target, it can also send the location of the sensing target to the first node. This allows the first node to determine resource allocation and scheduling strategies related to the sensing target. For example, after the SF determines the location of a vehicle, it can send the vehicle's location to the base station, which can then allocate communication resources to the vehicle based on its location.

[0288] This disclosure provides a communication method in which a second node sends resource configuration information of a sensing reference signal to a first node and a third node. The first node, based on the resource configuration information, sends the sensing reference signal to at least one third node. The third node, based on the resource configuration information, receives the sensing reference signal sent by the first node. The third node measures the sensing reference signal to obtain target information and sends the target information to the second node. The second node determines the location of the sensed target based on the target information. In this way, the first and third nodes can accurately send and receive the sensing reference signal based on the resource configuration information, improving the accuracy of the sensing reference signal. Since CFR or CFR time difference can eliminate interference signals in the sensing reference signal, the second node can accurately determine the location of the sensed target based on the target information, avoiding interference signals from direct sunlight and the environment that could interfere with the location of the sensed target, thus improving the positioning accuracy of the sensed target.

[0289] Figure 13 is a schematic diagram of a communication device provided in an embodiment of this disclosure. Referring to Figure 13, the communication device 1300 includes a receiving module 1301, a measuring module 1302, and a transmitting module 1303, wherein:

[0290] The receiving module 1301 is used to receive the sensing reference signal sent by the first node;

[0291] The measurement module 1302 is used to measure the sensing reference signal and obtain target information, the target information including at least one of the following: channel frequency response (CFR), CFR time difference value, and sensing measurement value;

[0292] The sending module 1303 is used to send the target information to the second node.

[0293] In one implementation, the target information further includes at least one of the following:

[0294] Interference cancellation indication information, which is used to indicate whether the sensed measurement value is the sensed measurement value after interference cancellation;

[0295] Sensing and measurement related information.

[0296] In one implementation, the sensing measurement-related information includes at least one of the following:

[0297] Receive beam direction;

[0298] Receive antenna group;

[0299] The timestamp information of the sensed measurement value includes the start timestamp and / or end timestamp of the sensed measurement value.

[0300] The timestamp information of the CFR includes the start timestamp and / or end timestamp of the CFR;

[0301] The timestamp information of the CFR time difference value includes the start timestamp and / or end timestamp of the CFR time difference value;

[0302] Signal quality indication information.

[0303] In one implementation, the CFR in the target information is determined based on the sensing reference signal; and / or,

[0304] The CFR time difference value in the target information is determined based on the CFR corresponding to the sensing reference signals at different transmission times on the same subcarrier position; and / or,

[0305] The perceived measurement values ​​in the target information are determined based on the available subcarriers or the CFR time difference values ​​corresponding to the available subcarrier positions.

[0306] In one embodiment, the receiving module 1301 is used to:

[0307] The resource configuration information of the sensing reference signal sent by the second node is received, wherein the resource configuration information includes the relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal;

[0308] Based on the resource configuration information, the sensing reference signal sent by the first node is received.

[0309] In one embodiment, the receiving module 1301 is used to:

[0310] The sensing reference signal sent by the first node is received based on the time domain resource location indicated by the relevant configuration information of the time domain resource, the frequency domain resource location indicated by the relevant configuration information of the frequency domain resource, and / or the spatial beam weight indicated by the relevant configuration information of the spatial domain resource.

[0311] In one implementation, in the case of single-base sensing, the first node and the third node are the same node; or...

[0312] In the case of dual-base sensing, the first node and the third node are different nodes.

[0313] Figure 14 is a schematic diagram of a communication device provided in an embodiment of this disclosure. Referring to Figure 14, the communication device 1400 includes a receiving module 1401 and a determining module 1402, wherein:

[0314] The receiving module 1401 is used to receive target information sent by at least one third node. The target information includes at least one of the following: channel frequency response (CFR), CFR time difference value, and sensing measurement value.

[0315] The determining module 1402 is used to determine the location of the perceived target based on the target information.

[0316] In one implementation, the target information further includes at least one of the following:

[0317] Interference cancellation indication information, which is used to indicate whether the sensed measurement value is the sensed measurement value after interference cancellation;

[0318] Sensing and measurement related information.

[0319] In one implementation, the sensing measurement-related information includes at least one of the following:

[0320] Receive beam direction;

[0321] Receive antenna group;

[0322] The timestamp information of the sensed measurement value includes the start timestamp and / or end timestamp of the sensed measurement value.

[0323] The timestamp information of the CFR includes the start timestamp and / or end timestamp of the CFR;

[0324] The timestamp information of the CFR time difference value includes the start timestamp and / or end timestamp of the CFR time difference value;

[0325] Signal quality indication information.

[0326] In one embodiment, the determining module 1402 is used to:

[0327] The perceived measurement value is determined based on the target information;

[0328] The location of the perceived target is determined based on the perceived measurement values.

[0329] In one embodiment, when the target information includes the CFR, the sensing measurement value is determined based on the available subcarrier or the CFR time difference value corresponding to the available subcarrier position, wherein the CFR time difference value is determined based on the CFR corresponding to the sensing reference signal at different transmission times at the same subcarrier position.

[0330] In one implementation, when the target information includes the CFR time difference value, the sensing measurement value is determined based on the available subcarrier or the CFR time difference value corresponding to the location of the available subcarrier.

[0331] In one embodiment, the determining module 1402 is used to:

[0332] The sensing measurement values ​​include sensing measurement values ​​in the velocity domain, distance domain, and / or angle domain;

[0333] If the number of sensing measurements in each domain is 1, then the location of the sensing target is determined based on the sensing measurements in each domain; or,

[0334] If the number of perceived measurements in each domain is greater than 1, then multiple weights corresponding to the multiple perceived measurements in each domain are determined, and the position of the perceived target is determined based on the multiple perceived measurements in each domain and the multiple weights.

[0335] In one embodiment, the determining module 1402 is used to:

[0336] For any one of the velocity domain, the distance domain, and the angle domain, the multiple sensing measurement values ​​in the domain are weighted according to the multiple sensing measurement values ​​in the domain and the multiple weights to obtain the target sensing measurement value;

[0337] The location of the perceived target is determined based on the target perception measurement value of each domain.

[0338] In one implementation, the weight is related to the timestamp information and / or the signal quality indication information in the sensing measurement-related information.

[0339] In one embodiment, the communication device further includes a transmitting module 1403, the transmitting module being used for:

[0340] Resource configuration information of the sensing reference signal is sent to the first node and the at least one third node. The resource configuration information includes relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal.

[0341] Figure 15 is a schematic diagram of another communication device provided in an embodiment of this disclosure. Referring to Figure 15, the communication device 1500 includes a receiving module 1501 and a transmitting module 1502, wherein:

[0342] The receiving module 1501 is used to receive resource configuration information of the sensing reference signal sent by the second node. The resource configuration information includes relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal.

[0343] The sending module 1502 is used to send the sensing reference signal to at least one third node according to the resource configuration information.

[0344] In one embodiment, the sending module 1502 is used to:

[0345] The sensing reference signal is sent to at least one third node based on the time domain resource location indicated by the relevant configuration information of the time domain resource, the frequency domain resource location indicated by the relevant configuration information of the frequency domain resource, and / or the spatial beam weight indicated by the relevant configuration information of the spatial domain resource.

[0346] In one implementation, in the case of single-base sensing, the first node and the third node are the same node; or...

[0347] In the case of dual-base sensing, the first node and the third node are different nodes.

[0348] It should be noted that the division of units in the embodiments of this disclosure is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0349] If the integrated units described above are implemented as software functional units and sold or used as independent products, they can be stored in a processor-readable storage medium. Based on this understanding, the technical solutions of this disclosure, in essence, or the parts that contribute to related technologies, or all or part of the technical solutions, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0350] It should be noted that the apparatus provided in this disclosure can implement all the method steps implemented in the above method embodiments and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiments will not be described again here.

[0351] Figure 16 is a schematic diagram of a terminal device provided in an embodiment of this disclosure. Referring to Figure 16, the terminal device includes a memory 1610, a transceiver 1620, and a processor 1630.

[0352] The memory 1610 is used to store computer programs;

[0353] The transceiver 1620 is used to send and receive data under the control of the processor;

[0354] The processor 1630 is configured to read the computer program in the memory and perform the following operations:

[0355] Receive the sensing reference signal sent by the first node;

[0356] The sensing reference signal is measured to obtain target information, which includes at least one of the following: channel frequency response (CFR), CFR time difference value, and sensing measurement value;

[0357] Send the target information to the second node.

[0358] In one implementation, the target information further includes at least one of the following:

[0359] Interference cancellation indication information, which is used to indicate whether the sensed measurement value is the sensed measurement value after interference cancellation;

[0360] Sensing and measurement related information.

[0361] In one implementation, the sensing measurement-related information includes at least one of the following:

[0362] Receive beam direction;

[0363] Receive antenna group;

[0364] The timestamp information of the sensed measurement value includes the start timestamp and / or end timestamp of the sensed measurement value.

[0365] The timestamp information of the CFR includes the start timestamp and / or end timestamp of the CFR;

[0366] The timestamp information of the CFR time difference value includes the start timestamp and / or end timestamp of the CFR time difference value;

[0367] Signal quality indication information.

[0368] In one implementation, the CFR in the target information is determined based on the sensing reference signal; and / or,

[0369] The CFR time difference value in the target information is determined based on the CFR corresponding to the sensing reference signals at different transmission times on the same subcarrier position; and / or,

[0370] The perceived measurement values ​​in the target information are determined based on the available subcarriers or the CFR time difference values ​​corresponding to the available subcarrier positions.

[0371] In one implementation, receiving the sensing reference signal sent by the first node includes:

[0372] The resource configuration information of the sensing reference signal sent by the second node is received, wherein the resource configuration information includes the relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal;

[0373] Based on the resource configuration information, the sensing reference signal sent by the first node is received.

[0374] In one implementation, receiving the sensing reference signal sent by the first node according to the resource configuration information includes:

[0375] The sensing reference signal sent by the first node is received based on the time domain resource location indicated by the relevant configuration information of the time domain resource, the frequency domain resource location indicated by the relevant configuration information of the frequency domain resource, and / or the spatial beam weight indicated by the relevant configuration information of the spatial domain resource.

[0376] In one implementation, in the case of single-base sensing, the first node and the third node are the same node; or...

[0377] In the case of dual-base sensing, the first node and the third node are different nodes.

[0378] In some embodiments, the processor 1630 can also be used to read a computer program from the memory and perform the following operations:

[0379] The resource configuration information of the sensing reference signal sent by the second node is received, wherein the resource configuration information includes the relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal;

[0380] Based on the resource configuration information, the perception reference signal is sent to at least one third node.

[0381] In one implementation, sending the sensing reference signal to at least one third node based on the resource configuration information includes:

[0382] The sensing reference signal is sent to at least one third node based on the time domain resource location indicated by the relevant configuration information of the time domain resource, the frequency domain resource location indicated by the relevant configuration information of the frequency domain resource, and / or the spatial beam weight indicated by the relevant configuration information of the spatial domain resource.

[0383] In one implementation, in the case of single-base sensing, the first node and the third node are the same node; or...

[0384] In the case of dual-base sensing, the first node and the third node are different nodes.

[0385] In one embodiment, the terminal device may further include a user interface 1640. For different terminal devices, the user interface 1640 may also be an interface that can connect to external or internal devices, including but not limited to keypad, display, speaker, microphone, joystick, etc.

[0386] In Figure 16, the bus architecture may include any number of interconnected buses and bridges, linking various circuits of one or more processors represented by processor 1630 and memory represented by memory 1610. The bus architecture may also link various other circuits, such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described herein. The bus interface provides an interface. Transceiver 1620 may be multiple elements, including transmitters and receivers, providing a unit for communicating with various other devices over transmission media, including wireless channels, wired channels, optical fibers, etc. Processor 1630 is responsible for managing the bus architecture and general processing, and memory 1610 may store data used by processor 1630 during operation.

[0387] In some embodiments, the processor 1630 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD), and the processor may also adopt a multi-core architecture.

[0388] The processor 1630 executes any of the methods provided in the embodiments of this disclosure by calling a computer program stored in the memory 1610, according to the obtained executable instructions. The processor 1630 and the memory 1610 may also be physically separated.

[0389] It should be noted that the physical device provided in this disclosure can implement all the method steps implemented by the physical device in the above method embodiments and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiments will not be described again here.

[0390] Figure 17 is a schematic diagram of a network device provided in an embodiment of this disclosure. Referring to Figure 17, the network device includes a memory 1710, a transceiver 1720, and a processor 1730.

[0391] The memory 1710 is used to store computer programs;

[0392] The transceiver 1720 is used to send and receive data under the control of the processor;

[0393] The processor 1730 is configured to read the computer program in the memory and perform the following operations:

[0394] Receive the sensing reference signal sent by the first node;

[0395] The sensing reference signal is measured to obtain target information, which includes at least one of the following: channel frequency response (CFR), CFR time difference value, and sensing measurement value;

[0396] Send the target information to the second node.

[0397] In one implementation, the target information further includes at least one of the following:

[0398] Interference cancellation indication information, which is used to indicate whether the sensed measurement value is the sensed measurement value after interference cancellation;

[0399] Sensing and measurement related information.

[0400] In one implementation, the sensing measurement-related information includes at least one of the following:

[0401] Receive beam direction;

[0402] Receive antenna group;

[0403] The timestamp information of the sensed measurement value includes the start timestamp and / or end timestamp of the sensed measurement value.

[0404] The timestamp information of the CFR includes the start timestamp and / or end timestamp of the CFR;

[0405] The timestamp information of the CFR time difference value includes the start timestamp and / or end timestamp of the CFR time difference value;

[0406] Signal quality indication information.

[0407] In one implementation, the CFR in the target information is determined based on the sensing reference signal; and / or,

[0408] The CFR time difference value in the target information is determined based on the CFR corresponding to the sensing reference signals at different transmission times on the same subcarrier position; and / or,

[0409] The perceived measurement values ​​in the target information are determined based on the available subcarriers or the CFR time difference values ​​corresponding to the available subcarrier positions.

[0410] In one implementation, receiving the sensing reference signal sent by the first node includes:

[0411] The resource configuration information of the sensing reference signal sent by the second node is received, wherein the resource configuration information includes the relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal;

[0412] Based on the resource configuration information, the sensing reference signal sent by the first node is received.

[0413] In one implementation, receiving the sensing reference signal sent by the first node according to the resource configuration information includes:

[0414] The sensing reference signal sent by the first node is received based on the time domain resource location indicated by the relevant configuration information of the time domain resource, the frequency domain resource location indicated by the relevant configuration information of the frequency domain resource, and / or the spatial beam weight indicated by the relevant configuration information of the spatial domain resource.

[0415] In one implementation, in the case of single-base sensing, the first node and the third node are the same node; or...

[0416] In the case of dual-base sensing, the first node and the third node are different nodes.

[0417] In some embodiments, the processor 1730 can also be used to read a computer program from the memory and perform the following operations:

[0418] Receive target information sent by at least one third node, the target information including at least one of the following: channel frequency response (CFR), CFR time difference value, and sensing measurement value;

[0419] Based on the target information, determine the location of the perceived target.

[0420] In one implementation, the target information further includes at least one of the following:

[0421] Interference cancellation indication information, which is used to indicate whether the sensed measurement value is the sensed measurement value after interference cancellation;

[0422] Sensing and measurement related information.

[0423] In one implementation, the sensing measurement-related information includes at least one of the following:

[0424] Receive beam direction;

[0425] Receive antenna group;

[0426] The timestamp information of the sensed measurement value includes the start timestamp and / or end timestamp of the sensed measurement value.

[0427] The timestamp information of the CFR includes the start timestamp and / or end timestamp of the CFR;

[0428] The timestamp information of the CFR time difference value includes the start timestamp and / or end timestamp of the CFR time difference value;

[0429] Signal quality indication information.

[0430] In one implementation, determining the location of the perceived target based on the target information includes:

[0431] The perceived measurement value is determined based on the target information;

[0432] The location of the perceived target is determined based on the perceived measurement values.

[0433] In one embodiment, when the target information includes the CFR, the sensing measurement value is determined based on the available subcarrier or the CFR time difference value corresponding to the available subcarrier position, wherein the CFR time difference value is determined based on the CFR corresponding to the sensing reference signal at different transmission times at the same subcarrier position.

[0434] In one implementation, when the target information includes the CFR time difference value, the sensing measurement value is determined based on the available subcarrier or the CFR time difference value corresponding to the location of the available subcarrier.

[0435] In one implementation, determining the location of the sensed target based on the sensed measurement value includes:

[0436] The sensing measurement values ​​include sensing measurement values ​​in the velocity domain, distance domain, and / or angle domain;

[0437] If the number of sensing measurements in each domain is 1, then the location of the sensing target is determined based on the sensing measurements in each domain; or,

[0438] If the number of perceived measurements in each domain is greater than 1, then multiple weights corresponding to the multiple perceived measurements in each domain are determined, and the position of the perceived target is determined based on the multiple perceived measurements in each domain and the multiple weights.

[0439] In one implementation, determining the location of the perceived target based on a plurality of perceived measurements in each domain and a plurality of weights includes:

[0440] For any one of the velocity domain, the distance domain, and the angle domain, the multiple sensing measurement values ​​in the domain are weighted according to the multiple sensing measurement values ​​in the domain and the multiple weights to obtain the target sensing measurement value;

[0441] The location of the perceived target is determined based on the target perception measurement value of each domain.

[0442] In one implementation, the weight is related to the timestamp information and / or the signal quality indication information in the sensing measurement-related information.

[0443] In one implementation, before receiving target information sent by at least one third node, the method further includes:

[0444] Resource configuration information of the sensing reference signal is sent to the first node and the at least one third node. The resource configuration information includes relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal.

[0445] In some embodiments, the processor 1730 can also be used to read a computer program from the memory and perform the following operations:

[0446] The resource configuration information of the sensing reference signal sent by the second node is received, wherein the resource configuration information includes the relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal;

[0447] Based on the resource configuration information, the perception reference signal is sent to at least one third node.

[0448] In one implementation, sending the sensing reference signal to at least one third node based on the resource configuration information includes:

[0449] The sensing reference signal is sent to at least one third node based on the time domain resource location indicated by the relevant configuration information of the time domain resource, the frequency domain resource location indicated by the relevant configuration information of the frequency domain resource, and / or the spatial beam weight indicated by the relevant configuration information of the spatial domain resource.

[0450] In one implementation, in the case of single-base sensing, the first node and the third node are the same node; or...

[0451] In the case of dual-base sensing, the first node and the third node are different nodes.

[0452] It should be noted that the physical device provided in this disclosure can implement all the method steps implemented by the physical device in the above method embodiments and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiments will not be described again here.

[0453] This disclosure also provides a processor-readable storage medium storing a computer program for causing a processor to perform the method described in any of the above method embodiments.

[0454] Processor-readable storage media can be any available medium or data storage device that a computer can access, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MOs), etc.), optical storage (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor storage (such as ROMs, EPROMs, EEPROMs, non-volatile memory (NAND flash), solid-state drives (SSDs)).

[0455] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the method described in any of the above method embodiments.

[0456] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0457] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0458] These processor-executable instructions may also be stored in a processor-readable memory that can instruct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0459] These processor-executable instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0460] Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, this disclosure is also intended to include such modifications and variations.

Claims

1. A communication method, wherein, Applied to the third node, including: Receive the sensing reference signal sent by the first node; The sensing reference signal is measured to obtain target information, which includes at least one of the following: channel frequency response (CFR), CFR time difference value, and sensing measurement value; Send the target information to the second node.

2. The method according to claim 1, wherein, The target information also includes at least one of the following: Interference cancellation indication information, which is used to indicate whether the sensed measurement value is the sensed measurement value after interference cancellation; Sensing and measurement related information.

3. The method according to claim 2, wherein, The sensing measurement-related information includes at least one of the following: Receive beam direction; Receive antenna group; The timestamp information of the sensed measurement value includes the start timestamp and / or end timestamp of the sensed measurement value. The timestamp information of the CFR includes the start timestamp and / or end timestamp of the CFR; The timestamp information of the CFR time difference value includes the start timestamp and / or end timestamp of the CFR time difference value; Signal quality indication information.

4. The method according to claim 1, wherein, The CFR in the target information is determined based on the sensing reference signal; and / or, The CFR time difference value in the target information is determined based on the CFR corresponding to the sensing reference signals at different transmission times on the same subcarrier position; and / or, The perceived measurement values ​​in the target information are determined based on the available subcarriers or the CFR time difference values ​​corresponding to the available subcarrier positions.

5. The method according to any one of claims 1-4, wherein, The receiving of the sensing reference signal sent by the first node includes: The resource configuration information of the sensing reference signal sent by the second node is received, wherein the resource configuration information includes the relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal; Based on the resource configuration information, the sensing reference signal sent by the first node is received.

6. The method according to claim 5, wherein, The step of receiving the sensing reference signal sent by the first node according to the resource configuration information includes: The sensing reference signal sent by the first node is received based on the time domain resource location indicated by the relevant configuration information of the time domain resource, the frequency domain resource location indicated by the relevant configuration information of the frequency domain resource, and / or the spatial beam weight indicated by the relevant configuration information of the spatial domain resource.

7. The method according to any one of claims 1-4, wherein, In the case of single-base sensing, the first node and the third node are the same node; or... In the case of dual-base sensing, the first node and the third node are different nodes.

8. A communication method, wherein, Applied to the second node, including: Receive target information sent by at least one third node, the target information including at least one of the following: channel frequency response (CFR), CFR time difference value, and sensing measurement value; Based on the target information, determine the location of the perceived target.

9. The method according to claim 8, wherein, The target information also includes at least one of the following: Interference cancellation indication information, which is used to indicate whether the sensed measurement value is the sensed measurement value after interference cancellation; Sensing and measurement related information.

10. The method according to claim 9, wherein, The sensing measurement-related information includes at least one of the following: Receive beam direction; Receive antenna group; The timestamp information of the sensed measurement value includes the start timestamp and / or end timestamp of the sensed measurement value. The timestamp information of the CFR includes the start timestamp and / or end timestamp of the CFR; The timestamp information of the CFR time difference value includes the start timestamp and / or end timestamp of the CFR time difference value; Signal quality indication information.

11. The method according to any one of claims 8-10, wherein, Determining the location of the perceived target based on the target information includes: The perceived measurement value is determined based on the target information; The location of the perceived target is determined based on the perceived measurement values.

12. The method according to claim 11, wherein, When the target information includes the CFR, the sensing measurement value is determined based on the available subcarrier or the CFR time difference value corresponding to the location of the available subcarrier, wherein the CFR time difference value is determined based on the CFR corresponding to the sensing reference signal at different transmission times at the same subcarrier location.

13. The method according to claim 11, wherein, When the target information includes the CFR time difference value, the sensing measurement value is determined based on the available subcarrier or the CFR time difference value corresponding to the location of the available subcarrier.

14. The method according to claim 11, wherein, Determining the location of the perceived target based on the perceived measurement value includes: The sensing measurement values ​​include sensing measurement values ​​in the velocity domain, distance domain, and / or angle domain; If the number of sensing measurements in each domain is 1, then the location of the sensing target is determined based on the sensing measurements in each domain; or, If the number of perceived measurements in each domain is greater than 1, then multiple weights corresponding to the multiple perceived measurements in each domain are determined, and the position of the perceived target is determined based on the multiple perceived measurements in each domain and the multiple weights.

15. The method according to claim 14, wherein, Determining the location of the perceived target based on multiple sensing measurements in each domain and the multiple weights includes: For any one of the velocity domain, the distance domain, and the angle domain, the multiple sensing measurement values ​​in the domain are weighted according to the multiple sensing measurement values ​​in the domain and the multiple weights to obtain the target sensing measurement value; The location of the perceived target is determined based on the target perception measurement value of each domain.

16. The method according to claim 14 or 15, wherein, The weights are related to the timestamp information and / or the signal quality indication information in the sensing measurement-related information.

17. The method according to any one of claims 8-10, wherein, Before receiving target information sent by at least one third node, the method further includes: Resource configuration information of the sensing reference signal is sent to the first node and the at least one third node. The resource configuration information includes relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal.

18. A communication method, wherein, Applied to the first node, including: The resource configuration information of the sensing reference signal sent by the second node is received, wherein the resource configuration information includes the relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal; Based on the resource configuration information, the perception reference signal is sent to at least one third node.

19. The method according to claim 18, wherein, The step of sending the sensing reference signal to at least one third node according to the resource configuration information includes: The sensing reference signal is sent to at least one third node based on the time domain resource location indicated by the relevant configuration information of the time domain resource, the frequency domain resource location indicated by the relevant configuration information of the frequency domain resource, and / or the spatial beam weight indicated by the relevant configuration information of the spatial domain resource.

20. The method according to claim 18 or 19, wherein, In the case of single-base sensing, the first node and the third node are the same node; or... In the case of dual-base sensing, the first node and the third node are different nodes.

21. A communication device, wherein, Applied to a third node, the communication device includes a receiving module, a measuring module, and a transmitting module, wherein: The receiving module is used to receive the sensing reference signal sent by the first node; The measurement module is used to measure the sensing reference signal and obtain target information, the target information including at least one of the following: channel frequency response (CFR), CFR time difference value, and sensing measurement value; The sending module is used to send the target information to the second node.

22. A communication device, wherein, Applied to the second node, the communication device includes a receiving module and a determining module, wherein: The receiving module is used to receive target information sent by at least one third node, the target information including at least one of the following: channel frequency response (CFR), CFR time difference value, and sensing measurement value; The determining module is used to determine the location of the perceived target based on the target information.

23. A communication device, wherein, Applied to the first node, the communication device includes a receiving module and a transmitting module, wherein: The receiving module is used to receive resource configuration information of the sensing reference signal sent by the second node. The resource configuration information includes relevant configuration information of the time domain resources, frequency domain resources and / or spatial domain resources of the sensing reference signal. The sending module is used to send the sensing reference signal to at least one third node according to the resource configuration information.

24. A terminal device, wherein, Includes memory, transceiver, and processor: The memory is used to store computer programs; The transceiver is used to send and receive data under the control of the processor; The processor is configured to read a computer program from the memory and execute the method as described in any one of claims 1-7, or the method as described in any one of claims 18-20.

25. A network device, wherein, Includes memory, transceiver, and processor: The memory is used to store computer programs; The transceiver is used to send and receive data under the control of the processor; The processor is configured to read a computer program from the memory and execute the method as described in any one of claims 1-7, or the method as described in any one of claims 8-17, or the method as described in any one of claims 18-20.

26. A processor-readable storage medium, wherein, The processor-readable storage medium stores a computer program that causes the processor to perform the method as described in claims 1-7, or any one of claims 8-17, or any one of claims 18-20.

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