Sensing method, device and apparatus, and storage medium

Abstract

The present disclosure provides a sensing method, device and apparatus, and a storage medium. The sensing method is applied to a computational functional entity, and comprises: acquiring sensing signal related information, wherein the sensing signal related information is related information obtained by transmitting a first sensing signal and / or a second sensing signal between sensing signal transceiver functional entity pairs; and on the basis of the sensing signal related information, obtaining related information of a non-line-of-sight path between the sensing signal transceiver functional entity pairs.

Description

Perception method, device, apparatus and storage medium

[0001] Cross-reference to Related Applications

[0002] This application claims priority to Chinese Patent Application No. 202411334619.6, filed on September 24, 2024, entitled “Perception method, device, apparatus and storage medium”, which is incorporated by reference herein in its entirety. TECHNICAL FIELD

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

[0004] Communication perception fusion refers to a unified design of communication and perception functions through air interface and protocol joint design, time-frequency-space resource multiplexing, hardware device sharing and other means, which can enable a wireless network to realize perception functions while performing communication interaction, thereby improving the overall performance and service capability of the network. Wireless perception is a technology that uses wireless signals to obtain feature information (such as shape, size, direction, speed, position, distance between objects or relative motion, etc.) of an environment and / or objects in the environment.

[0005] In the process of measuring the distance information of a wireless perception environment and / or objects in the environment, what needs to be measured is the time of the path of a perception signal reflected or scattered by a perception target, while in related positioning technologies, what is measured is the round-trip time of the direct path between the transmitting and receiving ends, so the perception is not suitable for the positioning method in the related technologies. SUMMARY

[0006] Embodiments of the present disclosure provide a perception method, device, apparatus and storage medium to solve the technical problem that in related technologies, perception cannot be measured by the positioning method in related technologies.

[0007] In a first aspect, embodiments of the present disclosure provide a perception method applied to a computing function entity, comprising:

[0008] Obtaining perception signal related information, the perception signal related information being related information obtained by a pair of perception signal transmitting and receiving function entities transmitting a first perception signal and / or a second perception signal;

[0009] Based on the perception signal related information, obtaining related information of a non-direct path between the pair of perception signal transmitting and receiving function entities.

[0010] In a second aspect, embodiments of the present disclosure provide a perception method applied to a first perception signal transmitting and receiving function entity, comprising:

[0011] send, to a computing function entity, sensing signal related information, the sensing signal related information being used to obtain related information of a non-line-of-sight path between the first sensing signal transceiving function entity and the second sensing signal transceiving function entity;

[0012] The sensing signal related information is related information obtained by transmitting the first sensing signal and / or the second sensing signal between the first sensing signal transceiving function entity and the second sensing signal transceiving function entity.

[0013] In a third aspect, the embodiments of the present disclosure provide a computing function entity, including a memory, a transceiver, and a processor.

[0014] The memory is configured to store a computer program; the transceiver is configured to transceive data under control of the processor; and the processor is configured to read the computer program in the memory and perform the following operations:

[0015] obtain sensing signal related information, the sensing signal related information being related information obtained by transmitting the first sensing signal and / or the second sensing signal between a pair of sensing signal transceiving function entities;

[0016] obtain, based on the sensing signal related information, related information of a non-line-of-sight path between the pair of sensing signal transceiving function entities.

[0017] In a fourth aspect, the embodiments of the present disclosure provide a first sensing signal transceiving function entity, including a memory, a transceiver, and a processor.

[0018] The memory is configured to store a computer program; the transceiver is configured to transceive data under control of the processor; and the processor is configured to read the computer program in the memory and perform the following operations:

[0019] send, to a computing function entity, sensing signal related information, the sensing signal related information being used to obtain related information of a non-line-of-sight path between the first sensing signal transceiving function entity and the second sensing signal transceiving function entity;

[0020] The sensing signal related information is related information obtained by transmitting the first sensing signal and / or the second sensing signal between the first sensing signal transceiving function entity and the second sensing signal transceiving function entity.

[0021] In a fifth aspect, the embodiments of the present disclosure provide a sensing device, including:

[0022] a first obtaining module configured to obtain sensing signal related information, the sensing signal related information being related information obtained by transmitting the first sensing signal and / or the second sensing signal between a pair of sensing signal transceiving function entities;

[0023] The computing module is configured to obtain the correlation information of the non-line-of-sight path between the first and second perception signal transceiver function entities based on the perception signal correlation information.

[0024] In a sixth aspect, the embodiments of the present disclosure provide a perception device, comprising:

[0025] The sending module is configured to send the perception signal correlation information to the computing function entity, wherein the perception signal correlation information is used to obtain the correlation information of the non-line-of-sight path between the first and second perception signal transceiver function entities.

[0026] The perception signal correlation information is the correlation information obtained by transmitting the first and / or second perception signals between the first and second perception signal transceiver function entities.

[0027] In a seventh aspect, the embodiments of the present disclosure further provide a non-transitory readable storage medium, which stores a computer program, and the computer program is used to make a processor execute the perception method in the first aspect or the second aspect.

[0028] In an eighth aspect, the embodiments of the present disclosure further provide a processor readable storage medium, which stores a computer program, and the computer program is used to make a processor execute the perception method in the first aspect or the second aspect.

[0029] In a ninth aspect, the embodiments of the present disclosure further provide a computer readable storage medium, which stores a computer program, and the computer program is used to make a computer execute the perception method in the first aspect or the second aspect.

[0030] In a tenth aspect, the embodiments of the present disclosure further provide a communication device, which stores a computer program, and the computer program is used to make the communication device execute the perception method in the first aspect or the second aspect.

[0031] In an eleventh aspect, the embodiments of the present disclosure further provide a chip product, which stores a computer program, and the computer program is used to make the chip product execute the perception method in the first aspect or the second aspect.

[0032] The perception method, device, apparatus and storage medium provided by the embodiments of the present disclosure can obtain the related information of the non-line-of-sight path between the pair of perception signal transceiving function entities through the transmission of the first perception signal and / or the second perception signal between the pair of perception signal transceiving function entities, and the related information of the perception signal transceiving function entities can be obtained by the calculation function entity according to the related information of the perception signal, so that the environment and / or the distance information of the objects in the environment can be effectively measured through wireless perception. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure or the related art, the drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, the drawings in the following description are some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without creative labor.

[0034] FIG. 1 is a flow diagram of a perception method provided by an embodiment of the present disclosure;

[0035] FIG. 2 is a flow diagram of a perception signal transmission process of a pair of perception signal transceiving function entities provided by an embodiment of the present disclosure;

[0036] FIG. 3 is a flow diagram of a perception method provided by an embodiment of the present disclosure;

[0037] FIG. 4 is a flow diagram of a perception measurement embodiment provided by an embodiment of the present disclosure;

[0038] FIG. 5 is a flow diagram of a perception measurement embodiment provided by an embodiment of the present disclosure;

[0039] FIG. 6 is a flow diagram of a perception measurement embodiment provided by an embodiment of the present disclosure;

[0040] FIG. 7 is a flow diagram of a perception measurement embodiment provided by an embodiment of the present disclosure;

[0041] FIG. 8 is a structural diagram of a calculation function entity provided by an embodiment of the present disclosure;

[0042] FIG. 9 is a structural diagram of a first perception signal transceiving function entity provided by an embodiment of the present disclosure;

[0043] FIG. 10 is a structural diagram of a perception apparatus provided by an embodiment of the present disclosure;

[0044] FIG. 11 is a structural diagram of a perception apparatus provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0045] In the perception integration system, a perception node can perform transmission and / or reception of a perception signal. After the perception signal is transmitted by a transmitting perception node, a perception echo signal is obtained through reflection or scattering of the perception signal by a perception target, and the perception echo signal is received by a receiving perception node. When the transmitting perception node and the receiving perception node are the same in space, it is single-baseline perception, that is, self-transmission and self-reception. When the transmitting perception node and the receiving perception node are different in space, it is double-baseline perception, that is, A transmits and B receives. The perception node can be a base station or a user equipment (UE). According to the perception echo signal, time delay, angle, Doppler, and other information of the perception echo signal can be obtained, and then the distance, angle, speed, and other information of the perception target can be obtained. In the case of double-baseline perception, the timing deviation between the transmitting perception node and the receiving perception node will cause the obtained time delay, distance, and other information to be inaccurate.

[0046] In related positioning and ranging technologies, a round-trip time (RTT) method can be used to measure the distance between a base station and a terminal. For example, for a downlink signal, a base station records the transmission time t0 using a base station local clock, and a terminal measures the arrival time t1 of the downlink signal using a terminal local clock; for an uplink signal, a terminal records the transmission time t2 using a terminal local clock, and a base station measures the arrival time t3 of the uplink signal using a base station local clock. The system finally measures the signal round-trip time as (t3-t0)-(t2-t1). According to the signal round-trip time, the distance between the terminal and the base station can be calculated as the round-trip time / 2×light speed. This ranging method can eliminate the influence of timing deviation between the base station and the terminal on ranging accuracy.

[0047] However, in related positioning and ranging technologies, the round-trip time of the direct path between the transmitting and receiving ends is measured, while in perception, the time of the path through which the perception signal is reflected or scattered by a perception target needs to be measured, and therefore perception is not suitable for being measured using the positioning method in related technologies.

[0048] To solve the technical problem that perception cannot be measured by using the ranging method in related positioning technologies that uses RTT to eliminate timing deviation between a transmitting node and a receiving node, the embodiments of the present disclosure propose a perception method, device, apparatus, and storage medium.

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present disclosure clearer, the technical solutions in the embodiments of the present disclosure will be described clearly and completely below with reference to the drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the protection scope of the present disclosure.

[0050] FIG. 1 is a flowchart of a perception method according to an embodiment of the present disclosure. As shown in FIG. 1, the perception method according to an embodiment of the present disclosure is applied to a computing function entity and includes the following steps.

[0051] In step 100, perception signal related information is obtained. The perception signal related information is related information obtained by a pair of perception signal transceiving function entities transmitting first perception signals and / or second perception signals.

[0052] In step 101, based on the perception signal related information, related information of a non-line-of-sight path between the pair of perception signal transceiving function entities is obtained.

[0053] Specifically, the computing function entity is a logical function entity having a function of computing a perception signal propagation time and / or distance, and a network entity having the function can be the computing function entity. The computing function entity can be a network device or a user equipment / terminal. In the case where the computing function entity is a network device, the computing function entity can be an access network node, an access network distribution unit, an access network centralized unit, an access network perception distribution unit, an access network perception centralized unit, an access network perception unit, a core network network function, or a core network network element, etc. The core network network element can be a perception network element, a positioning network element, or a location management network element, etc. The core network network function can be a perception function, a positioning function, or a location management function, etc.

[0054] In some embodiments of the present disclosure, the pair of perception signal transceiving function entities includes two perception signal transceiving function entities. For the convenience of description, the two perception signal transceiving function entities in the pair of perception signal transceiving function entities are referred to as a first perception signal transceiving function entity and a second perception signal transceiving function entity hereinafter.

[0055] The perception signal transceiving function entity is a logical function entity having a function of transmitting and receiving perception signals, and thus the two perception signal transceiving function entities in the pair of perception signal transceiving function entities can transmit perception signals. A network entity having the function can be the perception signal transceiving function entity. The perception signal transceiving function entity can also be understood as a perception signal transmission function entity.

[0056] In the case where the pair of perception signal transceiving function entities includes two perception signal transceiving function entities, the first perception signal transceiving function entity and the second perception signal transceiving function entity can both transmit and receive perception signals.

[0057] The perception signal transceiving function entity can be a network device or a user equipment / terminal. In the case that the perception signal transceiving function entity is a network device, the perception signal transceiving function entity can be a transmission / reception point of the network side, an access network distribution unit, an access network perception distribution unit, an access network perception unit, or an access network node, etc. The transmission / reception point of the network side can transmit and / or receive signals.

[0058] In some embodiments of the present disclosure, the pair of perception signal transceiving function entities includes a perception signal sending function entity and a perception signal receiving function entity.

[0059] The perception signal sending function entity is a logical function entity with a perception signal transmission function, and the perception signal receiving function entity is a logical function entity with a perception signal receiving function. Therefore, the perception signal sending function entity and the perception signal receiving function entity in the pair of perception signal transceiving function entities can transmit the perception signal. It can be understood that all network entities with a perception signal transmission function can be the perception signal sending function entity, and all network entities with a perception signal receiving function can be the perception signal receiving function entity.

[0060] In the case that the pair of perception signal transceiving function entities includes the perception signal sending function entity and the perception signal receiving function entity, the perception signal is transmitted by the perception signal sending function entity and received by the perception signal receiving function entity.

[0061] It should be noted that in the embodiments of the present disclosure, the transmission of the perception signal includes the transmission of the perception signal; or the transmission of the perception signal includes the reception of the perception signal; or the transmission of the perception signal includes the transmission of the perception signal and the reception of the perception signal.

[0062] It can be understood that for one transmission of the perception signal, from the perspective of the perception signal sending side, the transmission of the perception signal is the transmission of the perception signal, and from the perspective of the perception signal receiving side, the transmission of the perception signal is the reception of the perception signal.

[0063] It should be noted that the concepts of the computing function entity, the perception signal transceiving function entity, the perception signal sending function entity, and the perception signal receiving function entity in the embodiments of the present disclosure are consistent throughout the text, and will not be repeated hereinafter.

[0064] The network device, user equipment / terminal, network-side transmission / reception point, access network distribution unit, access network centralized unit, access network perception centralized unit, access network perception distribution unit, access network perception unit, access network node, core network network function, and core network network element in the embodiments of the present disclosure can be understood as entities in a network, which are referred to as network entities herein. The network entities can be implemented as network elements on a dedicated hardware, as software instances running on a dedicated hardware, or as virtualized functions instantiated on a platform, and the present disclosure does not limit the network entities.

[0065] In some embodiments, the computing function entity and the perception signal transceiving function entity can be independent network entities. For example, the perception signal transceiving function entity pair includes the perception signal transceiving function entity 1 and the perception signal transceiving function entity 2, and the computing function entity, the perception signal transceiving function entity 1, and the perception signal transceiving function entity 2 are independent network entities, that is, three network entities.

[0066] In some embodiments, the computing function entity and the perception signal transceiving function entity can be the same network entity. For example, the perception signal transceiving function entity pair includes the perception signal transceiving function entity 1 and the perception signal transceiving function entity 2, and the computing function entity and the perception signal transceiving function entity 1 can be the same network entity; or the computing function entity and the perception signal transceiving function entity 2 can be the same network entity.

[0067] In some embodiments, the pair of sensing signal transceiving function entities can be two independent network entities. For example, the pair of sensing signal transceiving function entities includes sensing signal transceiving function entity 1 and sensing signal transceiving function entity 2, and the sensing signal transceiving function entity 1 and the sensing signal transceiving function entity 2 are different network-side transmission / reception points, different access network distribution units, different access network sensing distribution units, different access network sensing units, different access network nodes, or different user equipment. For another example, the pair of sensing signal transceiving function entities includes sensing signal transceiving function entity 1 and sensing signal transceiving function entity 2, and the sensing signal transceiving function entity 1 is a network-side transmission / reception point, an access network distribution unit, an access network sensing distribution unit, an access network sensing unit, or an access network node, and the sensing signal transceiving function entity 2 is user equipment. For another example, the pair of sensing signal transceiving function entities includes a sensing signal sending function entity and a sensing signal receiving function entity, and the sensing signal sending function entity and the sensing signal receiving function entity are different network-side transmission / reception points, different access network distribution units, different access network sensing distribution units, different access network sensing units, different access network nodes, or different user equipment. For another example, the pair of sensing signal transceiving function entities includes a sensing signal sending function entity and a sensing signal receiving function entity, and the sensing signal sending function entity is a network-side transmission / reception point, an access network distribution unit, an access network sensing distribution unit, an access network sensing unit, or an access network node, and the sensing signal receiving function entity is user equipment.

[0068] In some embodiments, the pair of sensing signal transceiving function entities can be the same network entity. For example, the pair of sensing signal transceiving function entities includes sensing signal transceiving function entity 1 and sensing signal transceiving function entity 2, and the sensing signal transceiving function entity 1 and the sensing signal transceiving function entity 2 are the same access network distribution unit, the same access network sensing distribution unit, the same access network sensing unit, or the same access network node. For another example, the pair of sensing signal transceiving function entities includes a sensing signal sending function entity and a sensing signal receiving function entity, and the sensing signal sending function entity and the sensing signal receiving function entity are the same access network distribution unit, the same access network sensing distribution unit, the same access network sensing unit, or the same access network node.

[0069] The perception signal in the embodiments of the present disclosure refers to a wireless signal used for perception. The perception signal can be a wireless signal dedicated for perception, or the perception signal can be a wireless signal used for both perception and communication. The perception signal can be some reference signals in a related communication system, such as a positioning reference signal (PRS), an uplink sounding reference signal (SRS), a channel state information reference signal (CSI-RS), a synchronization signal (SS), or the like, or the perception signal can be a newly defined reference signal, or the perception signal can be a signal carrying user data.

[0070] In the embodiments of the present disclosure, the pair of perception signal transceiver function entities can transmit two perception signals, which are a first perception signal and a second perception signal.

[0071] In some embodiments, the sender of the first perception signal and the second perception signal is different.

[0072] Specifically, the pair of perception signal transceiver function entities includes a first perception signal transceiver function entity and a second perception signal transceiver function entity. The first perception signal transceiver function entity transmits the first perception signal, and the second perception signal transceiver function entity receives the first perception signal. The second perception signal transceiver function entity transmits the second perception signal, and the first perception signal transceiver function entity receives the second perception signal.

[0073] In the perception method provided by the embodiments of the present disclosure, the calculation function entity can first obtain perception signal related information. The perception signal related information can be related information of the first perception signal, or the perception signal related information can be related information of the second perception signal, or the perception signal related information can be related information of the first perception signal and the second perception signal. The perception signal related information can be obtained by transmitting the first perception signal between the pair of perception function transceiver entities, or the perception signal related information can be obtained by transmitting the second perception signal between the pair of perception function transceiver entities, or the perception signal related information can be obtained by transmitting the first perception signal and the second perception signal between the pair of perception function transceiver entities.

[0074] It is understood that, when the perception signal transceiving function entity 1 sends the perception signal to the perception signal transceiving function entity 2, the perception signal transceiving function entity 2 can receive the perception signal at multiple time instants due to multiple paths.

[0075] For example, FIG. 2 is a flowchart of a process of transmission of perception signals by a pair of perception signal transceiving function entities according to an embodiment of the present disclosure. As shown in FIG. 2, the perception signal transceiving function entity 1 sends a first perception signal at time instant t0, the perception signal transceiving function entity 2 receives the first perception signal transmitted via multiple paths at time instants t1, t2, t3, etc., the perception signal transceiving function entity 2 sends a second perception signal at time instant t4, and the perception signal transceiving function entity 1 receives the second perception signal transmitted via multiple paths at time instants t5, t6, t7, etc. The multiple paths can include a direct view path between the perception signal transceiving function entity 1 and the perception signal transceiving function entity 2 without reflection or scattering by the perception target, and a non-direct view path via one or more reflections or scatterings by the perception target.

[0076] It is to be noted that the perception target or object in the non-direct view path in the embodiments of the present disclosure can be a scattering point or a reflection point. Reflection or scattering of a signal by a perception target or object can be understood as reflection or scattering of the signal by a scattering point or reflection point.

[0077] In some embodiments, the perception signal related information is obtained by:

[0078] The perception signal related information sent by the pair of perception signal transceiving function entities is received.

[0079] Specifically, in the case that the pair of perception signal transceiving function entities are the same network entity, the computing function entity can receive the perception signal related information sent by the pair of perception signal transceiving function entities. That is, the computing function entity receives the perception signal related information sent by the network entity having the pair of perception signal transceiving function entities.

[0080] For example, the pair of perception signal transceiving function entities are an access network distribution unit, an access network perception distribution unit, an access network perception unit, or an access network node, and the computing function entity can receive the perception signal related information sent by the access network distribution unit, the access network perception distribution unit, the access network perception unit, or the access network node.

[0081] In some embodiments, the perception signal related information is obtained by:

[0082] The computing function entity can receive the sensing signal related information sent by at least one of the pair of sensing signal transceiving function entities.

[0083] Specifically, in the case that the pair of sensing signal transceiving function entities are two independent network entities, the computing function entity can receive the sensing signal related information sent by at least one of the pair of sensing signal transceiving function entities.

[0084] For example, the pair of sensing signal transceiving function entities includes sensing signal transceiving function entity 1 and sensing signal transceiving function entity 2, and the sensing signal transceiving function entity 1 and the sensing signal transceiving function entity 2 are different network side transmission / reception points, different access network distribution units, different access network sensing distribution units, different access network sensing units, or different access network nodes. The computing function entity can receive the sensing signal related information sent by the sensing signal transceiving function entity 1; or the computing function entity can receive the sensing signal related information sent by the sensing signal transceiving function entity 2; or the computing function entity can receive the sensing signal related information sent by the sensing signal transceiving function entity 1 and the sensing signal related information sent by the sensing signal transceiving function entity 2.

[0085] It can be understood that if the computing function entity and the sensing signal transceiving function entity are the same network entity, the computing function entity can directly obtain the sensing signal related information obtained by the sensing signal transceiving function entity in the sensing signal transmission process.

[0086] For example, the pair of sensing signal transceiving function entities includes sensing signal transceiving function entity 1 and sensing signal transceiving function entity 2, and the computing function entity and the sensing signal transceiving function entity 1 are the same network entity, and the computing function entity can directly obtain the sensing signal related information obtained by the sensing signal transceiving function entity 1 in the sensing signal transmission process; or the computing function entity and the sensing signal transceiving function entity 2 are the same network entity, and the computing function entity can directly obtain the sensing signal related information obtained by the sensing signal transceiving function entity 2 in the sensing signal transmission process.

[0087] It can be understood that if the computing function entity and one of the pair of sensing signal transceiving function entities are the same network entity, the computing function entity can receive the sensing signal related information sent by the other sensing signal transceiving function entity of the pair of sensing signal transceiving function entities.

[0088] For example, the pair of sensing signal transceiving function entities includes sensing signal transceiving function entity 1 and sensing signal transceiving function entity 2, and the computing function entity and the sensing signal transceiving function entity 1 are the same network entity, and the computing function entity can receive the sensing signal related information sent by the sensing signal transceiving function entity 2.

[0089] In some embodiments, the sensing signal related information can comprise one or more of the following:

[0090] (1) a transmission time of the first sensing signal.

[0091] Specifically, the first sensing signal refers to the sensing signal sent by the sensing signal transceiver functional entity pair in the first sensing signal transmission process, and this concept is consistent in each embodiment of the present disclosure, and will not be described hereinafter. The sensing signal related information can comprise the transmission time of the first sensing signal, for example, the t0 time in FIG. 2.

[0092] The sender and receiver of the first sensing signal are not limited in the embodiments of the present disclosure. For example, the sensing signal transceiver functional entity pair comprises the sensing signal transceiver functional entity 1 and the sensing signal transceiver functional entity 2, the first sensing signal can be the sensing signal sent by the sensing signal transceiver functional entity 1 to the sensing signal transceiver functional entity 2, or the first sensing signal can be the sensing signal sent by the sensing signal transceiver functional entity 2 to the sensing signal transceiver functional entity 1.

[0093] (2) a transmission time of the second sensing signal.

[0094] Specifically, the second sensing signal refers to the sensing signal sent by the sensing signal transceiver functional entity pair in the second sensing signal transmission process, and this concept is consistent in each embodiment of the present disclosure, and will not be described hereinafter. The sensing signal related information can comprise the transmission time of the second sensing signal, for example, the t4 time in FIG. 2.

[0095] The sender and receiver of the second sensing signal are not limited in the embodiments of the present disclosure. For example, the sensing signal transceiver functional entity pair comprises the sensing signal transceiver functional entity 1 and the sensing signal transceiver functional entity 2, the second sensing signal can be the sensing signal sent by the sensing signal transceiver functional entity 1 to the sensing signal transceiver functional entity 2, or the second sensing signal can be the sensing signal sent by the sensing signal transceiver functional entity 2 to the sensing signal transceiver functional entity 1.

[0096] (3) a receiving time of the first sensing signal transmitted through the direct path.

[0097] Specifically, the sensing signal related information can comprise the receiving time of the first sensing signal transmitted through the direct path. For example, assuming that the t1 time in FIG. 2 is the receiving time of the first sensing signal transmitted through the direct path, the sensing signal related information can comprise the t1 time.

[0098] In the case that the first sensing signal is transmitted by the first sensing signal transceiving function entity, the receiving time of the first sensing signal transmitted through the direct path is the time when the second sensing signal transceiving function entity receives the first sensing signal transmitted through the direct path.

[0099] It should be noted that the first sensing signal transmitted through the direct path can be referred to as the first sensing signal in the line of sight (LOS), or can be referred to as a direct signal, which contains the first sensing signal. The direct signal is not reflected or scattered by an object between the sensing signal transceiving function entities, that is, the sensing signal directly reaches the receiving end after being transmitted by the sending end. This concept is consistent in each embodiment of the present disclosure, and will not be described again later.

[0100] (4) The receiving time of the second sensing signal transmitted through the direct path.

[0101] Specifically, the sensing signal related information can include the receiving time of the second sensing signal transmitted through the direct path. For example, assuming that t5 in FIG. 2 is the receiving time of the second sensing signal transmitted through the direct path, the sensing signal related information can include the t5 time.

[0102] In the case that the second sensing signal is transmitted by the second sensing signal transceiving function entity, the receiving time of the second sensing signal transmitted through the direct path is the time when the first sensing signal transceiving function entity receives the second sensing signal transmitted through the direct path.

[0103] It should be noted that the second sensing signal transmitted through the direct path can be referred to as the second sensing signal in the line of sight (LOS), or can be referred to as a direct signal, which contains the second sensing signal. The direct signal is not reflected or scattered by an object between the sensing signal transceiving function entities, that is, the sensing signal directly reaches the receiving end after being transmitted by the sending end. This concept is consistent in each embodiment of the present disclosure, and will not be described again later.

[0104] (5) The receiving time of the first sensing signal transmitted through the indirect path.

[0105] Specifically, there can be multiple indirect paths, and the sensing signal related information can include the receiving time of the first sensing signal transmitted through at least one indirect path. For example, assuming that t2 and t3 in FIG. 2 are the receiving times of the first sensing signal transmitted through different indirect paths, the sensing signal related information can include the t2 time; or the sensing signal related information can include the t3 time; or the sensing signal related information can include the t2 and t3 times.

[0106] In the case that the first sensing signal is transmitted by the first sensing signal transceiving function entity, the receiving time of the first sensing signal transmitted via the non-line-of-sight path is the time when the second sensing signal transceiving function entity receives the first sensing signal transmitted via the non-line-of-sight path.

[0107] It should be noted that the first sensing signal transmitted via the non-line-of-sight path can be said to be a non-line-of-sight (NLOS) first sensing signal, or can be said to be a non-line-of-sight signal containing the first sensing signal. The non-line-of-sight signal is reflected or scattered by an object between the sensing signal transceiving function entities, that is, the sensing signal transmitted from the sender is reflected or scattered by an object, and the sensing signal reaching the receiver is a non-line-of-sight signal. The non-line-of-sight signal reaching the receiver can also be referred to as a sensing echo signal. This concept is consistent in each embodiment of the present disclosure and will not be described again later.

[0108] In the case of multiple non-line-of-sight paths, the sensing signal can be reflected or scattered by different objects between the sensing signal transceiving function entities.

[0109] (6) The receiving time of the second sensing signal transmitted via the non-line-of-sight path.

[0110] Specifically, there can be multiple non-line-of-sight paths, and the sensing signal related information can include the receiving time of the second sensing signal transmitted via at least one non-line-of-sight path. For example, assuming that t6 and t7 in FIG. 2 are the receiving times of the second sensing signal transmitted via different non-line-of-sight paths, the sensing signal related information can include t6; or the sensing signal related information can include t7; or the sensing signal related information can include t6 and t7.

[0111] In the case that the second sensing signal is transmitted by the second sensing signal transceiving function entity, the receiving time of the second sensing signal transmitted via the non-line-of-sight path is the time when the first sensing signal transceiving function entity receives the second sensing signal transmitted via the non-line-of-sight path.

[0112] It should be noted that the second sensing signal transmitted via the non-line-of-sight path can be said to be a non-line-of-sight (NLOS) second sensing signal, or can be said to be a non-line-of-sight signal containing the second sensing signal. The non-line-of-sight signal is reflected or scattered by an object between the sensing signal transceiving function entities, that is, the sensing signal transmitted from the sender is reflected or scattered by an object, and the sensing signal reaching the receiver is a non-line-of-sight signal. The non-line-of-sight signal reaching the receiver can also be referred to as a sensing echo signal. This concept is consistent in each embodiment of the present disclosure and will not be described again later.

[0113] (7) The time difference between the receiving time of the second sensing signal transmitted via the line-of-sight path and the transmitting time of the first sensing signal.

[0114] Specifically, the sensing signal related information can include a time difference between the reception time of the second sensing signal transmitted via the direct path and the transmission time of the first sensing signal. For example, assuming that t5 in FIG. 2 is the reception time of the second sensing signal transmitted via the direct path, the sensing signal related information can include the value of t5-t0.

[0115] (8) a time difference between the reception time of the second sensing signal transmitted via the indirect path and the transmission time of the first sensing signal.

[0116] Specifically, there can be multiple indirect paths, and the sensing signal related information can include a time difference between the reception time of the second sensing signal transmitted via at least one indirect path and the transmission time of the first sensing signal. For example, assuming that t6 and t7 in FIG. 2 are the reception times of the second sensing signal transmitted via different indirect paths, the sensing signal related information can include the value of t6-t0; or, the sensing signal related information can include the value of t7-t0; or, the sensing signal related information can include the values of t6-t0 and t7-t0.

[0117] Preferably, the sensing signal related information can include a time difference between the reception time of the second sensing signal transmitted via the first direct path and the transmission time of the first sensing signal.

[0118] (9) a time difference between the transmission time of the second sensing signal and the reception time of the first sensing signal transmitted via the direct path.

[0119] Specifically, the sensing signal related information can include a time difference between the transmission time of the second sensing signal and the reception time of the first sensing signal transmitted via the direct path. For example, assuming that t1 in FIG. 2 is the reception time of the first sensing signal transmitted via the direct path, the sensing signal related information can include the value of t4-t1.

[0120] (10) a time difference between the transmission time of the second sensing signal and the reception time of the first sensing signal transmitted via the indirect path.

[0121] Specifically, there can be multiple indirect paths, and the sensing signal related information can include a time difference between the transmission time of the second sensing signal and the reception time of the first sensing signal transmitted via at least one indirect path. For example, assuming that t2 and t3 in FIG. 2 are the reception times of the first sensing signal transmitted via different indirect paths, the sensing signal related information can include the value of t4-t2; or, the sensing signal related information can include the value of t4-t3; or, the sensing signal related information can include the values of t4-t2 and t4-t3.

[0122] Preferably, the sensing signal related information can comprise a time difference between a transmission time of the second sensing signal and a reception time of the first sensing signal transmitted via the first non-line-of-sight path.

[0123] (11) a time difference between two consecutive reception times of the first sensing signal.

[0124] Specifically, the sensing signal related information can comprise a time difference between two consecutive reception times of the first sensing signal, the different reception times of the first sensing signal indicating that the first sensing signal is transmitted via multiple different paths. For example, the sensing signal related information can comprise a value of t2-t1 in FIG. 2; or, the sensing signal related information can comprise a value of t3-t2 in FIG. 2; or, the sensing signal related information can comprise values of t2-t1 and t3-t2 in FIG. 2.

[0125] The multiple paths can comprise a line-of-sight path and at least one non-line-of-sight path; or, the multiple paths can comprise at least two non-line-of-sight paths.

[0126] (12) a time difference between two consecutive reception times of the second sensing signal.

[0127] Specifically, the sensing signal related information can comprise a time difference between two consecutive reception times of the second sensing signal, the different reception times of the second sensing signal indicating that the second sensing signal is transmitted via multiple different paths. For example, the sensing signal related information can comprise a value of t6-t5 in FIG. 2; or, the sensing signal related information can comprise a value of t7-t6 in FIG. 2; or, the sensing signal related information can comprise values of t6-t5 and t7-t6 in FIG. 2.

[0128] The multiple paths can comprise a line-of-sight path and at least one non-line-of-sight path; or, the multiple paths can comprise at least two non-line-of-sight paths.

[0129] (13) a time difference between a reception time of the first sensing signal transmitted via a non-line-of-sight path and a reception time of the first sensing signal transmitted via a line-of-sight path.

[0130] Specifically, there can be multiple non-line-of-sight paths, and the sensing signal related information can comprise a time difference between a reception time of the first sensing signal transmitted via one or more non-line-of-sight paths and a reception time of the first sensing signal transmitted via a line-of-sight path. For example, assuming that t1 in FIG. 2 is a reception time of the first sensing signal transmitted via a line-of-sight path, t2 and t3 are reception times of the first sensing signal transmitted via different non-line-of-sight paths, the sensing signal related information can comprise a value of t2-t1; or, the sensing signal related information can comprise a value of t3-t1; or, the sensing signal related information can comprise values of t2-t1 and t3-t1.

[0131] It should be noted that different non-line-of-sight paths are paths passing through different perception targets, and this concept is consistent throughout the text and will not be repeated hereinafter.

[0132] (14) The time difference between the reception time of the second perception signal transmitted through the non-line-of-sight path and the reception time transmitted through the line-of-sight path.

[0133] Specifically, there can be multiple non-line-of-sight paths, and the perception signal related information can include the time difference between the reception time of the second perception signal transmitted through one or more non-line-of-sight paths and the reception time transmitted through the line-of-sight path. For example, assuming that t5 in FIG. 2 is the reception time of the second perception signal transmitted through the line-of-sight path, t6 and t7 are the reception times of the second perception signal transmitted through different non-line-of-sight paths, then the perception signal related information can include the value of t6-t5; or, the perception signal related information can include the value of t7-t5; or, the perception signal related information can include the value of t6-t5 and the value of t7-t5.

[0134] (15) The order of the reception time of the first perception signal.

[0135] Specifically, since there are multiple paths, there are multiple reception times of the first perception signal, and the perception signal related information can include the order of the reception time of the first perception signal, for example, the reception time of the first perception signal in FIG. 2 is arranged in order as t1, t2, t3.

[0136] (16) The order of the reception time of the second perception signal.

[0137] Specifically, since there are multiple paths, there are multiple reception times of the second perception signal, and the perception signal related information can include the order of the reception time of the second perception signal, for example, the reception time of the second perception signal in FIG. 2 is arranged in order as t5, t6, t7.

[0138] (17) The association relationship between the reception time of the first perception signal and the reception time of the second perception signal.

[0139] Specifically, it can be understood that the first perception signal and the second perception signal are transmitted between the same group of perception signal transceiver function entities, and therefore the paths passed by the received first perception signal and the paths passed by the received second perception signal can have the same path.

[0140] The reception time of the first perception signal and the reception time of the second perception signal passing through the same path have an association relationship.

[0141] The perception signal related information can include a correlation relationship between a receiving time of the first perception signal and a receiving time of the second perception signal. For example, assuming that the t1 moment in FIG. 2 is the receiving time of the first perception signal transmitted through the direct view path, the t2 and t3 moments are the receiving times of the first perception signal transmitted through the two non-direct view paths, the t5 moment is the receiving time of the second perception signal transmitted through the direct view path, and the t6 and t7 moments are the receiving times of the second perception signal transmitted through the two non-direct view paths, there is a correlation relationship between the t1 moment and the t5 moment, there is a correlation relationship between the t2 moment and the t6 moment, and there is a correlation relationship between the t3 moment and the t7 moment. It can also be understood that the t1 moment is associated with the t5 moment, the t2 moment is associated with the t6 moment, and the t3 moment is associated with the t7 moment.

[0142] After the computing function entity obtains the perception signal related information, the computing function entity can obtain the non-direct view path related information between the pair of perception signal transceiving function entities based on the perception signal related information. According to different contents of the perception signal related information, the computing function entity can adopt different computing manners to perform calculation, so as to obtain the non-direct view path related information between the pair of perception signal transceiving function entities.

[0143] In some embodiments, the non-direct view path related information between the pair of perception signal transceiving function entities can include one or more of the following:

[0144] (1) Signal propagation time information of the non-direct view path between the pair of perception signal transceiving function entities, that is, one-way signal propagation time of the non-direct view path.

[0145] (2) Signal transmission round trip time information of the non-direct view path between the pair of perception signal transceiving function entities, that is, signal round trip time of the non-direct view path.

[0146] (3) Distance information of the non-direct view path between the pair of perception signal transceiving function entities, that is, one-way signal propagation distance of the non-direct view path.

[0147] Specifically, it can be understood that, since the non-direct view path between the pair of perception signal transceiving function entities is a path through which the perception signal is transmitted by reflection or scattering of the perception target, the non-direct view path related information between the pair of perception signal transceiving function entities can also be understood as perception target related information.

[0148] The signal propagation time information of the non-direct view path between the pair of perception signal transceiving function entities is the transmission time of the signal from the sender of the pair of perception signal transceiving function entities to the receiver of the pair of perception signal transceiving function entities through reflection or scattering of the perception target.

[0149] The signal transmission time information of the non-line-of-sight path between the pair of sensing signal transceiver function entities is the transmission time of the signal from the first sensing signal transceiver function entity of the pair of sensing signal transceiver function entities to the second sensing signal transceiver function entity of the pair of sensing signal transceiver function entities via reflection or scattering of the sensing target, plus the transmission time of the signal from the second sensing signal transceiver function entity of the pair of sensing signal transceiver function entities to the first sensing signal transceiver function entity of the pair of sensing signal transceiver function entities via reflection or scattering of the sensing target.

[0150] The distance information of the non-line-of-sight path between the pair of sensing signal transceiver function entities is the sum of the distances from the sensing target to the pair of sensing signal transceiver function entities.

[0151] In some embodiments, the computing function entity can obtain the relevant information of the non-line-of-sight path based on the time information of the transmission of the first sensing signal and the second sensing signal of the pair of sensing signal transceiver function entities via the non-line-of-sight path.

[0152] In this way, the signal round-trip time of the non-line-of-sight path satisfies: (the receiving time of the second sensing signal via the non-line-of-sight path - the transmission time of the first sensing signal) - (the transmission time of the second sensing signal - the receiving time of the first sensing signal via the non-line-of-sight path). The one-way signal time of the non-line-of-sight path satisfies: the signal round-trip time of the non-line-of-sight path / 2. The one-way signal propagation distance of the non-line-of-sight path satisfies: the signal round-trip time of the non-line-of-sight path / 2 x light speed. It should be noted that the calculation formula in the embodiments of the present disclosure can have rounding, approximation, quantization, etc. operations, and the calculation by the calculation formula using the above operations can be understood as satisfying the calculation formula, and the concept is consistent throughout the text, which will not be repeated hereinafter.

[0153] As shown in FIG. 2, it is assumed that t1 and t5 are the sensing signal receiving times of the line-of-sight path between the sensing signal transceiver function entity 1 and the sensing signal transceiver function entity 2, t2 and t6 are the sensing signal receiving times of the path of the sensing signal reflected or scattered by the sensing target 1, and t3 and t7 are the sensing signal receiving times of the path of the sensing signal reflected or scattered by the sensing target 2. For the path of the sensing signal reflected or scattered by the sensing target 1, the signal round-trip time is (t6-t0)-(t4-t2). For the path of the sensing signal reflected or scattered by the sensing target 2, the signal round-trip time is (t7-t0)-(t4-t3).

[0154] In some embodiments, the computing function entity can obtain the one-way time of the non-line-of-sight path based on the time information of the line-of-sight path of the two sensing signals (i.e. the first sensing signal and the second sensing signal) and the time information of the non-line-of-sight path of one of the sensing signals (i.e. the first sensing signal or the second sensing signal).

[0155] In this way, the round-trip time of the direct-path signal satisfies: (the receiving time of the direct-path signal of the second sensing signal - the transmitting time of the first sensing signal) - (the transmitting time of the second sensing signal - the receiving time of the direct-path signal of the first sensing signal). The one-way time of the non-direct-path signal satisfies: the round-trip time of the direct-path signal / 2 + the receiving time of the non-direct-path signal - the receiving time of the direct-path signal. The one-way propagation distance of the non-direct-path signal satisfies: the one-way time of the non-direct-path signal x light speed.

[0156] As shown in FIG. 2, it is assumed that t1 and t5 are the receiving times of the direct-path signal between the sensing signal transceiving function entity 1 and the sensing signal transceiving function entity 2, respectively, t2 and t6 are the receiving times of the sensing signal reflected or scattered by the sensing target 1, respectively, and t3 and t7 are the receiving times of the sensing signal reflected or scattered by the sensing target 2, respectively. The round-trip time of the direct-path signal is (t5-t0)-(t4-t1). For the path of the sensing signal reflected or scattered by the sensing target 1, the one-way time is (the round-trip time of the direct-path signal / 2+t2-t1), or the one-way time is (the round-trip time of the direct-path signal / 2+t6-t5). For the path of the sensing signal reflected or scattered by the sensing target 2, the one-way time is (the round-trip time of the direct-path signal / 2+t3-t1), or the one-way time is (the round-trip time of the direct-path signal / 2+t7-t5).

[0157] In some embodiments, the computing function entity can obtain the relevant information of the non-direct-path based on the time information of the sensing signal transceiving function entity on the transmission of the first sensing signal or the second sensing signal through the non-direct-path.

[0158] For example, the sensing signal sending function entity sends the sensing signal and obtains the transmitting time of the sensing signal. The sensing signal receiving function entity receives the sensing signal and obtains the receiving time of the sensing signal transmitted through one or more paths. The one or more paths can include the direct-path and one or more non-direct-paths. The computing function entity can obtain the timing difference between the sensing signal receiving function entity and the sensing signal sending function entity, the transmitting time of the sensing signal, and the receiving time of the sensing signal of the one or more paths, and calculate the one-way time of the signal of the one or more paths based on the above information.

[0159] It should be noted that the time information indicated by various manners can enable the computing function entity to calculate the relevant information of the non-direct-path. The above embodiments of the computing function entity obtaining the relevant information of the non-direct-path are only part of the examples of implementing the present disclosure, and are not limited thereto. The actual implementation can be transformed according to equivalent numerical relationships.

[0160] In some embodiments, the method further comprises:

[0161] determining the distance information of the non-line-of-sight path based on the related information of the non-line-of-sight path.

[0162] For example, in the case that the related information of the non-line-of-sight path comprises the signal propagation time information between the pair of aware signal transceiver function entities via the non-line-of-sight path, and / or the signal transmission round trip time information between the pair of aware signal transceiver function entities via the non-line-of-sight path, the distance information of the non-line-of-sight path can be calculated according to the signal propagation time information or the signal transmission round trip time information. It should be noted that the value of (X-Y) in the examples of the aware signal related information herein can also be replaced by the value of (Y-X).

[0163] It should be noted that the time of reception herein can also be replaced by the time of arrival. For example, the time of reception of the first aware signal by the second aware signal transceiver function entity is the time of arrival of the first aware signal at the second aware signal transceiver function entity. The line-of-sight path herein can also be replaced by the first path, the first detected path, or the earliest detected path. The non-line-of-sight path is the path with the time of arrival later than the time of arrival of the line-of-sight path.

[0164] The path herein does not distinguish the direction. That is, the path of the aware signal sent from the first aware transceiver function entity directly to the second aware transceiver function entity without reflection or scattering by the object is the same as the path of the aware signal sent from the second aware transceiver function entity directly to the first aware transceiver function entity without reflection or scattering by the object; the path of the aware signal sent from the first aware transceiver function entity to the second aware transceiver function entity via reflection or scattering by the object is the same as the path of the aware signal sent from the second aware transceiver function entity to the first aware transceiver function entity via reflection or scattering by the same object.

[0165] In some embodiments, the aware signal transceiver function entity comprises a transmission and reception point, and the path herein refers to the path between the transmission and reception points. Taking the pair of aware signal transceiver function entities as an example, the aware signal transceiver function entity 1 and the aware signal transceiver function entity 2, that is, the line-of-sight path between the aware signal transceiver function entity 1 and the aware signal transceiver function entity 2 refers to the line-of-sight path between the transmission and reception points of the aware signal transceiver function entity 1 and the transmission and reception points of the aware signal transceiver function entity 2. The non-line-of-sight path between the aware signal transceiver function entity 1 and the aware signal transceiver function entity 2 refers to the non-line-of-sight path between the transmission and reception points of the aware signal transceiver function entity 1 and the transmission and reception points of the aware signal transceiver function entity 2.

[0166] In the case that the perception signal transceiving function entity 1 and the perception signal transceiving function entity 2 are different network entities, the perception signal transceiving function entity 1 and the perception signal transceiving function entity 2 are two perception signal transceiving function entities with different spatial positions. It can also be understood that the transmission and reception points of the perception signal transceiving function entity 1 and the perception signal transceiving function entity 2 are different in spatial position.

[0167] In the case that the perception signal transceiving function entity 1 and the perception signal transceiving function entity 2 are different network entities, the perception signal transceiving function entity 1 and the perception signal transceiving function entity 2 are two perception signal transceiving function entities with different spatial positions. It can also be understood that the transmission and reception points of the perception signal transceiving function entity 1 and the perception signal transceiving function entity 2 are different in spatial position.

[0168] In some embodiments, the perception signal sending function entity contains a transmission point, and the perception signal receiving function entity contains a reception point. The path herein refers to the path between the transmission point and the reception point. Taking a pair of perception signal transceiving function entities as an example, the perception signal sending function entity and the perception signal receiving function entity, the direct path between the perception signal sending function entity and the perception signal receiving function entity refers to the direct path between the transmission point of the perception signal sending function entity and the reception point of the perception signal receiving function entity. The non-direct path between the perception signal sending function entity and the perception signal receiving function entity refers to the non-direct path between the transmission point of the perception signal sending function entity and the reception point of the perception signal receiving function entity.

[0169] In the case that the perception signal transceiving function entity 1 and the perception signal transceiving function entity 2 are different network entities, the perception signal transceiving function entity 1 and the perception signal transceiving function entity 2 are two perception signal transceiving function entities with different spatial positions. It can also be understood that the transmission and reception points of the perception signal transceiving function entity 1 and the perception signal transceiving function entity 2 are different in spatial position.

[0170] In the case that the perception signal transceiving function entity 1 and the perception signal transceiving function entity 2 are different network entities, the perception signal transceiving function entity 1 and the perception signal transceiving function entity 2 are two perception signal transceiving function entities with different spatial positions. It can also be understood that the transmission and reception points of the perception signal transceiving function entity 1 and the perception signal transceiving function entity 2 are different in spatial position.

[0171] In the case that the computing function entity, the perception signal transceiving function entity 1 and the perception signal transceiving function entity 2 are respectively independent network entities, the computing function entity in the embodiment of the present disclosure can be alternatively expressed as a first network entity, and the two function entities in the pair of perception signal transceiving function entities can be alternatively expressed as a second network entity and a third network entity. That is, the first network entity can acquire the perception signal related information, the perception signal related information being related information of transmission of the first perception signal and / or the second perception signal between the second network entity and the third network entity, so that the first network entity can obtain the related information of the non-line-of-sight path between the second network entity and the third network entity based on the perception signal related information.

[0172] In the case that the computing function entity and one of the pair of perception signal transceiving function entities are the same network entity, and the other of the pair of perception signal transceiving function entities is another network entity, the computing function entity and the one of the pair of perception signal transceiving function entities in the embodiment of the present disclosure can be alternatively expressed as a fourth network entity, and the other of the pair of perception signal transceiving function entities can be alternatively expressed as a fifth network entity. That is, the fourth network entity can acquire the perception signal related information, the perception signal related information being related information of transmission of the first perception signal and / or the second perception signal between the fourth network entity and the fifth network entity, so that the fourth network entity can obtain the related information of the non-line-of-sight path between the fourth network entity and the fifth network entity based on the perception signal related information.

[0173] In the case that the pair of perception signal transceiving function entities is the same network entity, and the computing function entity is another network entity, the computing function entity in the embodiment of the present disclosure can be alternatively expressed as a sixth network entity, and the pair of perception signal transceiving function entities can be alternatively expressed as a seventh network entity. That is, the sixth network entity can acquire the perception signal related information, the perception signal related information being related information of transmission of the first perception signal and / or the second perception signal by the seventh network entity, so that the sixth network entity can obtain the related information of the non-line-of-sight path of the seventh network entity based on the perception signal related information.

[0174] In the case that the computing function entity, the sensing signal sending function entity and the sensing signal receiving function entity are independent network entities, the computing function entity in the embodiment of the present disclosure can be alternatively expressed as an eighth network entity, and the two function entities in the sensing signal transceiving function entity pair can be alternatively expressed as a ninth network entity and a tenth network entity. That is, the eighth network entity can obtain sensing signal related information, the sensing signal related information being related information of transmission of the first sensing signal and / or the second sensing signal between the ninth network entity and the tenth network entity, so that the eighth network entity can obtain related information of the non-line-of-sight path between the ninth network entity and the tenth network entity based on the sensing signal related information.

[0175] In the case that one of the computing function entity and the function entity in the sensing signal transceiving function entity pair is the same network entity, and the other function entity in the sensing signal transceiving function entity pair is another network entity, the computing function entity and the function entity in the sensing signal transceiving function entity pair in the embodiment of the present disclosure can be alternatively expressed as an eleventh network entity and a twelfth network entity. That is, the eleventh network entity can obtain sensing signal related information, the sensing signal related information being related information of transmission of the first sensing signal and / or the second sensing signal between the eleventh network entity and the twelfth network entity, so that the eleventh network entity can obtain related information of the non-line-of-sight path between the eleventh network entity and the twelfth network entity based on the sensing signal related information.

[0176] In the case that the sensing signal transceiving function entity pair is the same network entity, and the computing function entity is another network entity, the computing function entity in the embodiment of the present disclosure can be alternatively expressed as a thirteenth network entity, and the sensing signal transceiving function entity pair can be alternatively expressed as a fourteenth network entity. That is, the thirteenth network entity can obtain sensing signal related information, the sensing signal related information being related information of transmission of the first sensing signal and / or the second sensing signal by the fourteenth network entity, so that the thirteenth network entity can obtain related information of the non-line-of-sight path of the fourteenth network entity based on the sensing signal related information.

[0177] The sensing method provided by the embodiment of the present disclosure obtains the sensing signal related information through transmission of the first sensing signal and / or the second sensing signal between the sensing signal transceiving function entity pair, and the computing function entity can obtain related information of the non-line-of-sight path between the sensing signal transceiving function entity pair based on the sensing signal related information after obtaining the sensing signal related information, so that the distance information of the environment and / or the object in the environment can be effectively measured through wireless sensing.

[0178] In some embodiments, the correlation information of the non-line-of-sight path between the pair of perception signal transceiving function entities is obtained based on the perception signal related information, including:

[0179] The correlation information of the non-line-of-sight path between the pair of perception signal transceiving function entities is obtained based on the correlation information of the first perception signal and the second perception signal transmitted via the same non-line-of-sight path in the perception signal related information.

[0180] Specifically, the perception signal propagates from the sender to the receiver via multiple paths, so that the receiver can obtain multiple reception time instants for the perception signal transmitted at a certain time. The two receivers of the perception signal transmitted at two times can respectively obtain multiple reception time instants. The round-trip time of the perception signal is calculated by using the reception time instants of the perception signal transmitted via the same path at two times. Therefore, the computing function entity can obtain the correlation information of the same non-line-of-sight path between the pair of perception signal transceiving function entities according to the correlation information of the first perception signal and the second perception signal transmitted via the same non-line-of-sight path.

[0181] It can be understood that the correlation information of the first perception signal and the second perception signal transmitted via the same non-line-of-sight path is the perception signal related information related to the non-line-of-sight path, for example, the reception time instant of the first perception signal transmitted via the non-line-of-sight path, the reception time instant of the second perception signal transmitted via the non-line-of-sight path, the time difference between the reception time instant of the second perception signal transmitted via the non-line-of-sight path and the transmission time instant of the first perception signal, the time difference between the transmission time instant of the second perception signal and the reception time instant of the first perception signal transmitted via the non-line-of-sight path, etc.

[0182] In some embodiments, the correlation information of the first perception signal and the second perception signal transmitted via the same non-line-of-sight path is determined by any one of the following methods:

[0183] (1) The correlation information of the first perception signal and the second perception signal transmitted via the same non-line-of-sight path is determined based on the order of the reception time instant of the first perception signal and the order of the reception time instant of the second perception signal.

[0184] Specifically, the computing function entity can determine the same non-line-of-sight path in the multiple non-line-of-sight paths passed by the first perception signal and the multiple non-line-of-sight paths passed by the second perception signal according to the order of the reception time instant of the first perception signal and the order of the reception time instant of the second perception signal, and then determine that the correlation information of the first perception signal and the second perception signal transmitted via the non-line-of-sight path is the correlation information of the first perception signal and the second perception signal transmitted via the same non-line-of-sight path.

[0185] It can be understood that the receiving time of the first sensing signal and the receiving time of the second sensing signal are respectively sorted in chronological order, and the receiving time of the first sensing signal and the receiving time of the second sensing signal with the same serial number are the receiving time of the first sensing signal and the second sensing signal transmitted through the same non-line-of-sight path.

[0186] Therefore, the receiving time of the first sensing signal and the receiving time of the second sensing signal can be sorted in chronological order, and the non-line-of-sight path corresponding to the receiving time of the first sensing signal and the receiving time of the second sensing signal with the same serial number is the same non-line-of-sight path, and the related information of the first sensing signal and the second sensing signal transmitted through the non-line-of-sight path is the related information of the first sensing signal and the second sensing signal transmitted through the same non-line-of-sight path.

[0187] For example, the receiving time of the first sensing signal in FIG. 2 is arranged in order as t1, t2, t3; the receiving time of the second sensing signal is arranged in order as t5, t6, t7; assuming that the paths corresponding to these receiving times are all non-line-of-sight paths, it can be determined that the non-line-of-sight path corresponding to t1 time and the non-line-of-sight path corresponding to t5 time are the same non-line-of-sight path; it can be determined that the non-line-of-sight path corresponding to t2 time and the non-line-of-sight path corresponding to t6 time are the same non-line-of-sight path; the non-line-of-sight path corresponding to t3 time and the non-line-of-sight path corresponding to t7 time are the same non-line-of-sight path. The computing function entity can further determine the related information of the first sensing signal and the second sensing signal transmitted through the three non-line-of-sight paths, respectively.

[0188] (2) Based on the time difference between the two consecutive receiving times of the first sensing signal, and the time difference between the two consecutive receiving times of the second sensing signal, the related information of the first sensing signal and the second sensing signal transmitted through the same non-line-of-sight path is determined.

[0189] Specifically, the computing function entity can determine the same non-line-of-sight path in the multiple non-line-of-sight paths through which the first sensing signal passes and the multiple non-line-of-sight paths through which the second sensing signal passes according to the time difference between the two consecutive receiving times of the first sensing signal and the time difference between the two consecutive receiving times of the second sensing signal, and further determine that the related information of the first sensing signal and the second sensing signal transmitted through the non-line-of-sight path is the related information of the first sensing signal and the second sensing signal transmitted through the same non-line-of-sight path.

[0190] It can be understood that if the time difference between the two continuous receiving instants of the first sensing signal is equal to the time difference between the two continuous receiving instants of the second sensing signal, the first receiving instant of the first sensing signal and the first receiving instant of the second sensing signal are the receiving instants of the first sensing signal and the second sensing signal transmitted through the same non-line-of-sight path, and the second receiving instant of the first sensing signal and the second receiving instant of the second sensing signal are the receiving instants of the first sensing signal and the second sensing signal transmitted through the same non-line-of-sight path.

[0191] Therefore, if the time difference between the two continuous receiving instants of the first sensing signal is equal to the time difference between the two continuous receiving instants of the second sensing signal, it can be determined that the paths corresponding to the first receiving instant of the first sensing signal and the first receiving instant of the second sensing signal are the same path, and the related information of the first sensing signal and the second sensing signal transmitted through the path is the related information of the first sensing signal and the second sensing signal transmitted through the same path; the paths corresponding to the second receiving instant of the first sensing signal and the second receiving instant of the second sensing signal are the same path, and the related information of the first sensing signal and the second sensing signal transmitted through the path is the related information of the first sensing signal and the second sensing signal transmitted through the same path.

[0192] For example, assuming that t1 in FIG. 2 is the receiving instant of the first sensing signal through the line-of-sight path, t2 and t3 are the receiving instants of the first sensing signal through different non-line-of-sight paths, t5 is the receiving instant of the second sensing signal through the line-of-sight path, t6 and t7 are the receiving instants of the second sensing signal through different non-line-of-sight paths, the value of t2-t1 is equal to the value of t6-t5, and the value of t3-t2 is equal to the value of t7-t6, it can be determined that the non-line-of-sight path corresponding to t2 is the same as the non-line-of-sight path corresponding to t6, and the non-line-of-sight path corresponding to t3 is the same as the non-line-of-sight path corresponding to t7. Further, the computing function entity can determine the related information of the first sensing signal and the second sensing signal transmitted through the two non-line-of-sight paths.

[0193] It should be noted that the equality of the values in the embodiments of the present disclosure can be the equality within a certain accuracy or within a certain range, and the equality can be replaced by the same, similar or consistent. The concept is consistent throughout the text, and will not be described hereinafter.

[0194] (3) determining the related information of the first sensing signal and the second sensing signal transmitted through the same non-line-of-sight path based on the time difference between the receiving instant of the first sensing signal transmitted through the non-line-of-sight path and the receiving instant of the first sensing signal transmitted through the line-of-sight path, and the time difference between the receiving instant of the second sensing signal transmitted through the non-line-of-sight path and the receiving instant of the second sensing signal transmitted through the line-of-sight path.

[0195] Specifically, the computing function entity can determine one or more same non-line-of-sight paths from the time difference between the receiving time of the first perception signal transmitted via one or more non-line-of-sight paths and the receiving time of the first perception signal transmitted via the line-of-sight path, and the time difference between the receiving time of the second perception signal transmitted via one or more non-line-of-sight paths and the receiving time of the second perception signal transmitted via the line-of-sight path, and further determine the correlation information of the first perception signal and the second perception signal transmitted via any one of the one or more same non-line-of-sight paths as the correlation information of the first perception signal and the second perception signal transmitted via the same non-line-of-sight path.

[0196] It can be understood that if the time difference between the receiving time of the first perception signal transmitted via the non-line-of-sight path and the receiving time of the first perception signal transmitted via the line-of-sight path is equal to the time difference between the receiving time of the second perception signal transmitted via the non-line-of-sight path and the receiving time of the second perception signal transmitted via the line-of-sight path, the receiving time of the first perception signal transmitted via the non-line-of-sight path and the receiving time of the second perception signal transmitted via the non-line-of-sight path are the receiving times of the first perception signal and the second perception signal transmitted via the same non-line-of-sight path.

[0197] Therefore, if the time difference between the receiving time of the first perception signal transmitted via the non-line-of-sight path and the receiving time of the first perception signal transmitted via the line-of-sight path is equal to the time difference between the receiving time of the second perception signal transmitted via the non-line-of-sight path and the receiving time of the second perception signal transmitted via the line-of-sight path, it can be determined that the non-line-of-sight paths corresponding to the receiving time of the first perception signal transmitted via the non-line-of-sight path and the receiving time of the second perception signal transmitted via the non-line-of-sight path are the same non-line-of-sight path, and the correlation information of the first perception signal and the second perception signal transmitted via the non-line-of-sight path is the correlation information of the first perception signal and the second perception signal transmitted via the same non-line-of-sight path.

[0198] For example, assuming that t1 in FIG. 2 is the receiving time of the first perception signal via the line-of-sight path, t2 and t3 are the receiving times of the first perception signal via different non-line-of-sight paths, t5 is the receiving time of the second perception signal via the line-of-sight path, t6 and t7 are the receiving times of the second perception signal via different non-line-of-sight paths, the value of t2-t1 is equal to the value of t6-t5, and the value of t3-t1 is equal to the value of t7-t5, it can be determined that the non-line-of-sight path corresponding to t2 is the same non-line-of-sight path as the non-line-of-sight path corresponding to t6, and the non-line-of-sight path corresponding to t3 is the same non-line-of-sight path as the non-line-of-sight path corresponding to t7. Further, the computing function entity can determine the correlation information of the first perception signal and the second perception signal transmitted via the two non-line-of-sight paths.

[0199] (4) determining the related information of the first sensing signal and the second sensing signal transmitted via the same non-line-of-sight path based on the association between the receiving time of the first sensing signal and the receiving time of the second sensing signal.

[0200] Specifically, the computing function entity can determine the same non-line-of-sight path in the multiple non-line-of-sight paths through which the first sensing signal passes and the multiple non-line-of-sight paths through which the second sensing signal passes based on the association between the receiving time of the first sensing signal and the receiving time of the second sensing signal, and then determine the related information of the first sensing signal and the second sensing signal transmitted via the non-line-of-sight path as the related information of the first sensing signal and the second sensing signal transmitted via the same non-line-of-sight path.

[0201] In some embodiments, the method further comprises:

[0202] determining the related information of the non-line-of-sight path between the pair of sensing signal transceiving function entities using the sensing signal related information based on the first information.

[0203] Specifically, since some cases can cause some contents of the sensing signal related information to be inaccurate, and then cause the related information of the non-line-of-sight path calculated to be unreliable. Therefore, in the embodiments of the present application, the computing function entity can determine the related information of the non-line-of-sight path between the pair of sensing signal transceiving function entities using the sensing signal related information based on the first information, and in the case of determining the related information of the non-line-of-sight path between the pair of sensing signal transceiving function entities using the sensing signal related information, obtain the related information of the non-line-of-sight path between the pair of sensing signal transceiving function entities based on the sensing signal related information.

[0204] The way in which the computing function entity obtains the first information can be similar to the way in which the computing function entity obtains the sensing signal related information, which will not be described in detail here. The computing function entity can also obtain the first information from a function entity other than the pair of sensing signal transceiving function entities.

[0205] In some embodiments, the first information can include one or more of the following:

[0206] (1) distance information of the line-of-sight path between the pair of sensing signal transceiving function entities.

[0207] (2) signal propagation time information via the line-of-sight path between the pair of sensing signal transceiving function entities.

[0208] (3) position information of the pair of sensing signal transceiving function entities.

[0209] (4) first indication information for indicating the existence of the line-of-sight path.

[0210] (5) the second indication information is used for indicating that the first sensing signal transmitted via the direct path is received.

[0211] (6) the third indication information is used for indicating that the second sensing signal transmitted via the direct path is received.

[0212] (7) the fourth indication information is used for indicating that the first non-direct path through which the first sensing signal passes is a path between the pair of sensing signal transceiving function entities, and the path is reflected or scattered by an object, the sensing signal related information comprises related information of the first sensing signal transmitted via the first non-direct path, and the non-direct path between the pair of sensing signal transceiving function entities comprises the first non-direct path.

[0213] (8) the fifth indication information is used for indicating that the second non-direct path through which the second sensing signal passes is a path between the pair of sensing signal transceiving function entities, and the path is reflected or scattered by an object, the sensing signal related information comprises related information of the second sensing signal transmitted via the second non-direct path, and the non-direct path between the pair of sensing signal transceiving function entities comprises the second non-direct path.

[0214] In some embodiments, the first non-direct path and the second non-direct path are the same path.

[0215] In some embodiments, based on the first information, it is determined to obtain, using the sensing signal related information, related information of the non-direct path between the pair of sensing signal transceiving function entities, comprising:

[0216] based on the sensing signal related information, obtaining related information of the direct path between the pair of sensing signal transceiving function entities;

[0217] based on the related information of the direct path and the first information, determining to obtain, using the sensing signal related information, related information of the non-direct path between the pair of sensing signal transceiving function entities.

[0218] Specifically, in some cases, the calculation of the related information of the non-direct path by the calculation function entity depends on the correct acquisition of the receiving time of the sensing signal transmitted via the direct path by the sensing signal transceiving function entity, and in the case of incorrect acquisition of the receiving time of the sensing signal transmitted via the direct path by the sensing signal transceiving function entity, the calculated related information of the non-direct path will also be incorrect.

[0219] In order to avoid such errors, in the case that the sensing signal transceiving function entity correctly acquires the receiving time of the sensing signal transmitted via the direct path, the calculation function entity uses the sensing signal related information to obtain the related information of the non-direct path between the pair of sensing signal transceiving function entities. The calculation function entity can determine, based on the first information, that the sensing signal transceiving function entity correctly acquires the receiving time of the sensing signal transmitted via the direct path.

[0220] The computing function entity obtains the relevant information of the direct path between the pair of sensing signal transceiving function entities according to the sensing signal related information. It can be understood that the relevant information of the direct path is the measurement information of the direct path.

[0221] In some embodiments, the first information includes one or more of the distance information of the direct path between the pair of sensing signal transceiving function entities, the signal propagation time information of the direct path between the pair of sensing signal transceiving function entities, and the location information of the pair of sensing signal transceiving function entities. It can be understood that the first information indicates the real information of the direct path.

[0222] The computing function entity determines to obtain the relevant information of the non-direct path between the pair of sensing signal transceiving function entities using the sensing signal related information in the case that the relevant information of the direct path and the first information are the same according to the relevant information of the direct path and the first information. It can also be understood that the measurement information of the direct path is the same as the real information of the direct path in the case that the relevant information of the direct path and the first information are the same.

[0223] For example, the first information includes the distance information of the direct path between the pair of sensing signal transceiving function entities. The computing function entity can calculate the distance of the direct path (hereinafter referred to as the measured distance of the direct path) according to the receiving time of the sensing signal transmitted between the pair of sensing signal transceiving function entities through the direct path. In the case that the measured distance of the direct path is the same as the distance information of the direct path between the pair of sensing signal transceiving function entities, the computing function entity determines to obtain the relevant information of the non-direct path between the pair of sensing signal transceiving function entities using the sensing signal related information.

[0224] For another example, the first information includes the location information of the pair of sensing signal transceiving function entities. The computing function entity can calculate the actual distance of the direct path between the pair of sensing signal transceiving function entities according to the location information of the pair of sensing signal transceiving function entities, and calculate the distance of the direct path according to the receiving time of the sensing signal transmitted between the pair of sensing signal transceiving function entities through the direct path. In the case that the measured distance of the direct path is the same as the actual distance of the direct path between the pair of sensing signal transceiving function entities calculated by the first information, the computing function entity determines to obtain the relevant information of the non-direct path between the pair of sensing signal transceiving function entities using the sensing signal related information.

[0225] It can be understood that the above examples compare the measured distance of the direct path with the actual distance of the direct path. Equivalently, the measured signal propagation time of the direct path can be compared with the actual signal propagation time of the direct path (i.e., the signal propagation time corresponding to the actual distance of the direct path), or the measured round trip time of the direct path can be compared with the actual round trip time of the direct path (i.e., the round trip time corresponding to the actual distance of the direct path).

[0226] It should be noted that the same is the same within a certain precision, or the same within a certain range. In the comparison between the measurement information and the true information, the same can be replaced by similar or consistent.

[0227] In some embodiments, based on the first information, determining the correlation information of the non-line-of-sight path between the pair of perception signal transceiver function entities using the perception signal correlation information is implemented in one or more of the following ways:

[0228] (1) The first information includes first indication information. In the case where the calculation function entity obtains the first indication information, it is determined that the correlation information of the non-line-of-sight path between the pair of perception signal transceiver function entities is obtained using the perception signal correlation information.

[0229] Specifically, if the first indication information indicates that the line-of-sight path exists, it can be avoided that the correlation information of the non-line-of-sight path is calculated incorrectly due to the non-reception of the line-of-sight path.

[0230] The calculation function entity can determine that the line-of-sight path exists based on the implementation, and thus determine the correlation information of the non-line-of-sight path between the pair of perception signal transceiver function entities using the perception signal correlation information.

[0231] Alternatively, the perception signal transceiver function entity can determine that the line-of-sight path exists based on the implementation. In the case where the calculation function entity obtains the first indication information from the pair of perception signal transceiver function entities, it is determined that the correlation information of the non-line-of-sight path between the pair of perception signal transceiver function entities is obtained using the perception signal correlation information; or in the case where the calculation function entity obtains the first indication information from at least one of the pair of perception signal transceiver function entities, it is determined that the correlation information of the non-line-of-sight path between the pair of perception signal transceiver function entities is obtained using the perception signal correlation information.

[0232] Therefore, the first information includes the first indication information. In the case where the calculation function entity obtains the first indication information, the calculation function entity can determine the correlation information of the non-line-of-sight path between the pair of perception signal transceiver function entities using the perception signal correlation information.

[0233] (2) The first information includes second indication information and / or third indication information. In the case where the calculation function entity obtains the second indication information and / or the third indication information, it is determined that the correlation information of the non-line-of-sight path between the pair of perception signal transceiver function entities is obtained using the perception signal correlation information.

[0234] Specifically, the second indication information indicates that the first perception signal transmitted through the line-of-sight path is received, and the third indication information indicates that the second perception signal transmitted through the line-of-sight path is received, so that it can be avoided that the correlation information of the non-line-of-sight path is calculated incorrectly due to the non-reception of the line-of-sight path.

[0235] The computing function entity can determine, based on implementation, that the first sensing signal and / or the second sensing signal transmitted via the line-of-sight path is received by the pair of sensing signal transceiving function entities, so as to determine the relevant information of the non-line-of-sight path between the pair of sensing signal transceiving function entities using the sensing signal related information.

[0236] Alternatively, the pair of sensing signal transceiving function entities can determine, based on implementation, that the first sensing signal and / or the second sensing signal transmitted via the line-of-sight path is received. In a case where the computing function entity obtains the second indication information and / or the third indication information from the pair of sensing signal transceiving function entities, the relevant information of the non-line-of-sight path between the pair of sensing signal transceiving function entities is determined using the sensing signal related information; or in a case where the computing function entity obtains the second indication information and / or the third indication information from at least one of the pair of sensing signal transceiving function entities, the relevant information of the non-line-of-sight path between the pair of sensing signal transceiving function entities is determined using the sensing signal related information.

[0237] Therefore, the first information includes the second indication information and / or the third indication information, and in a case where the computing function entity obtains the second indication information and / or the third indication information, the computing function entity can determine the relevant information of the non-line-of-sight path between the pair of sensing signal transceiving function entities using the sensing signal related information.

[0238] (3) The first information includes the fourth indication information, and in a case where the computing function entity obtains the fourth indication information, the relevant information of the first non-line-of-sight path is determined using the sensing signal related information.

[0239] Specifically, since the sensing method provided by the present disclosure is more suitable for the case that the sensing signal is received by the receiver after passing through only one sensing target, for a path through which the sensing signal passes through multiple sensing targets and is received by the receiver, it can be difficult to calculate the relevant information of the path.

[0240] Therefore, the fourth indication information indicates that the first non-line-of-sight path through which the first sensing signal passes is a path passing through one object reflection or scattering between the pair of sensing signal transceiving function entities, so as to avoid errors in calculating the relevant information of the non-line-of-sight path due to the first non-line-of-sight path being a path passing through multiple sensing targets.

[0241] The computing function entity can determine, based on implementation, that the first non-line-of-sight path through which the first sensing signal passes is a path passing through one object reflection or scattering between the pair of sensing signal transceiving function entities, so as to determine the relevant information of the non-line-of-sight path between the pair of sensing signal transceiving function entities using the sensing signal related information.

[0242] Alternatively, the perception signal transceiving function entity can determine, based on implementation, that the first non-line-of-sight path through which the first perception signal passes is a path between the pair of perception signal transceiving function entities, reflected or scattered by an object. In a case where the computing function entity obtains the fourth indication information from the pair of perception signal transceiving function entities, the computing function entity determines, using the perception signal related information, the related information of the non-line-of-sight path between the pair of perception signal transceiving function entities; or in a case where the computing function entity obtains the fourth indication information from at least one of the pair of perception signal transceiving function entities, the computing function entity determines, using the perception signal related information, the related information of the non-line-of-sight path between the pair of perception signal transceiving function entities.

[0243] If the perception signal related information includes the related information of the first non-line-of-sight path through which the first perception signal passes, and the non-line-of-sight path between the pair of perception signal transceiving function entities includes the first non-line-of-sight path, the computing function entity can determine, using the perception signal related information, the related information of the first non-line-of-sight path between the pair of perception signal transceiving function entities.

[0244] (4) The first information includes the fifth indication information, and in a case where the computing function entity obtains the fifth indication information, the computing function entity determines, using the perception signal related information, the related information of the second non-line-of-sight path.

[0245] Specifically, the perception method provided by the present disclosure is more suitable for the case where the perception signal is received by the receiver after passing through only one perception target. For the path through which the perception signal passes through multiple perception targets and is received by the receiver, it can be difficult to calculate the related information of the path.

[0246] Therefore, the fifth indication information indicates that the second non-line-of-sight path through which the second perception signal passes is a path between the pair of perception signal transceiving function entities, reflected or scattered by an object, so that the error in calculating the related information of the non-line-of-sight path caused by the second non-line-of-sight path being a path passing through multiple perception targets can be avoided.

[0247] The computing function entity can determine, based on implementation, that the second non-line-of-sight path through which the second perception signal passes is a path between the pair of perception signal transceiving function entities, reflected or scattered by an object, and thereby determine, using the perception signal related information, the related information of the non-line-of-sight path between the pair of perception signal transceiving function entities.

[0248] Alternatively, the perception signal transceiving function entity can determine, based on implementation, that the second non-line-of-sight path through which the second perception signal passes is a path that is reflected or scattered by an object between the pair of perception signal transceiving function entities. In a case where the computing function entity obtains the fifth indication information from the pair of perception signal transceiving function entities, the computing function entity determines, using the perception signal related information, the related information of the non-line-of-sight path between the pair of perception signal transceiving function entities; or in a case where the computing function entity obtains the fifth indication information from at least one of the pair of perception signal transceiving function entities, the computing function entity determines, using the perception signal related information, the related information of the non-line-of-sight path between the pair of perception signal transceiving function entities.

[0249] If the perception signal related information contains the related information of the transmission of the second perception signal through the second non-line-of-sight path, and the non-line-of-sight path between the pair of perception signal transceiving function entities includes the second non-line-of-sight path, the computing function entity can determine, using the perception signal related information, the related information of the first non-line-of-sight path between the pair of perception signal transceiving function entities.

[0250] It can be understood that, in a case where the first information contains both the fourth indication information and the fifth indication information, the first non-line-of-sight path can be the same non-line-of-sight path as the second non-line-of-sight path.

[0251] In some embodiments, the computing function entity can determine, based on the second information, that part of the information in the perception signal related information is not used to obtain the related information of the non-line-of-sight path between the pair of perception signal transceiving function entities, so as to prevent an error result from being obtained according to the information.

[0252] The computing function entity can obtain the second information in a manner similar to that in which the computing function entity obtains the first information, which will not be described in detail herein. The computing function entity can also obtain the second information from a function entity other than the pair of perception signal transceiving function entities.

[0253] In some embodiments, the second information can include one or more of the following:

[0254] (1) Distance information of a line-of-sight path between the pair of perception signal transceiving function entities.

[0255] (2) Signal propagation time information of a perception signal transmitted through the line-of-sight path between the pair of perception signal transceiving function entities.

[0256] (3) Position information of the pair of perception signal transceiving function entities.

[0257] (4) Sixth indication information indicating that the line-of-sight path does not exist.

[0258] (5) Seventh indication information indicating that the first perception signal transmitted through the line-of-sight path is not received.

[0259] (6) The eighth indication information is used for indicating that the second sensing signal transmitted via the direct path is not received.

[0260] (7) The ninth indication information is used for indicating that the first non-direct path via which the first sensing signal passes is a path via which the sensing signal passes between the pair of sensing signal transceiving function entities and is reflected or scattered by multiple objects, the sensing signal related information comprises related information of the first sensing signal transmitted via the first non-direct path, and the non-direct path between the pair of sensing signal transceiving function entities comprises the first non-direct path.

[0261] (8) The tenth indication information is used for indicating that the second non-direct path via which the second sensing signal passes is a path via which the sensing signal passes between the pair of sensing signal transceiving function entities and is reflected or scattered by multiple objects, the sensing signal related information comprises related information of the second sensing signal transmitted via the second non-direct path, and the non-direct path between the pair of sensing signal transceiving function entities comprises the second non-direct path.

[0262] In some embodiments, based on the second information, it is determined that the related information of the non-direct path between the pair of sensing signal transceiving function entities is not obtained using the sensing signal related information, comprising:

[0263] Based on the sensing signal related information, the related information of the direct path between the pair of sensing signal transceiving function entities is obtained.

[0264] Based on the related information of the direct path and the second information, it is determined that the related information of the non-direct path between the pair of sensing signal transceiving function entities is not obtained using the sensing signal related information.

[0265] In the case that the sensing signal transceiving function entity does not correctly obtain the receiving moment of the sensing signal transmitted via the direct path, the computing function entity does not obtain the related information of the non-direct path between the pair of sensing signal transceiving function entities using the sensing signal related information. The computing function entity can determine that the sensing signal transceiving function entity does not correctly obtain the receiving moment of the sensing signal transmitted via the direct path based on the second information.

[0266] The computing function entity obtains the related information of the direct path between the pair of sensing signal transceiving function entities according to the sensing signal related information. It can be understood that the related information of the direct path is the measurement information of the direct path.

[0267] In some embodiments, the second information comprises one or more of distance information of the direct path between the pair of sensing signal transceiving function entities, signal propagation time information of the direct path between the pair of sensing signal transceiving function entities, and position information of the pair of sensing signal transceiving function entities. It can be understood that the second information indicates the real information of the direct path.

[0268] The computing function entity determines, according to the relevant information of the direct-view path and the second information, that the relevant information of the non-direct-view path between the pair of perception signal transceiving function entities is not obtained using the perception signal related information, in a case where the relevant information of the direct-view path and the second information are not identical. The relevant information of the direct-view path and the first information are not identical, and it can also be understood that the measurement information of the direct-view path is not identical to the real information of the direct-view path.

[0269] It should be noted that not identical is not identical in a certain precision or not identical within a certain range. In the comparison between the measurement information and the real information, not identical can be replaced by not similar or not consistent.

[0270] In some embodiments, the second information includes one or more of sixth indication information, seventh indication information, eighth indication information, ninth indication information, and tenth indication information, and in a case where the computing function entity obtains any one of them, it is determined that the relevant information of the non-direct-view path between the pair of perception signal transceiving function entities is not obtained using the perception signal related information.

[0271] The specific implementation of the computing function entity obtaining the sixth indication information, the seventh indication information, the eighth indication information, the ninth indication information, or the tenth indication information can be referred to the specific implementation of the computing function entity obtaining the first indication information, the second indication information, the third indication information, the fourth indication information, or the fifth indication information respectively, which will not be described here.

[0272] In some embodiments, the method can further include:

[0273] Obtaining the position of the same perception target based on the relevant information of a plurality of third non-direct-view paths;

[0274] The plurality of third non-direct-view paths are signal transmission paths between a plurality of different pairs of perception signal transceiving function entities, which pass through the same perception target for reflection or scattering; and the relevant information of the plurality of third non-direct-view paths includes relevant information of non-direct-view paths between the pair of perception signal transceiving function entities obtained based on the perception signal related information.

[0275] Specifically, through the relevant information of the non-direct-view path of each of the plurality of different pairs of perception signal transceiving function entities, the sum of distances of the perception target from the pair of perception signal transceiving function entities of the non-direct-view path (i.e., the one-way signal propagation distance of the non-direct-view path) can be obtained.

[0276] In the embodiments of the present application, the third non-line-of-sight path is defined as a signal transmission path passing through a specific sensing target reflection or scattering. The third non-line-of-sight path between different pairs of sensing signal transceiving function entities passes through the same sensing target, but the paths are different. Therefore, the computing function entity can obtain the relevant information of the third non-line-of-sight path between the other pairs of sensing signal transceiving function entities in addition to the relevant information of the third non-line-of-sight path obtained by the sensing signal related information of the current pair of sensing signal transceiving function entities, so as to obtain the sum of the distances of the specific sensing target from the multiple pairs of sensing signal transceiving function entities, and further calculate the position of the same sensing target according to the position information of the multiple pairs of different sensing signal transceiving function entities. For example, the position of the same sensing target is the intersection point of multiple ellipses with the positions of the multiple pairs of sensing signal transceiving function entities as the foci. For each ellipse, the sum of the distances between the points on the ellipse track and the two foci is the one-way signal propagation distance of the third non-line-of-sight path.

[0277] It should be noted that the manner of obtaining the relevant information of the multiple third non-line-of-sight paths is not limited in the embodiments of the present application.

[0278] For example, in some embodiments, the relevant information of all the third non-line-of-sight paths is calculated by the computing function entity. That is, the computing function entity can also obtain the sensing signal related information of the other pairs of sensing signal transceiving function entities, obtain the relevant information of the third non-line-of-sight path between the other pairs of sensing signal transceiving function entities, and then obtain the position of the same sensing target based on the relevant information of the multiple third non-line-of-sight paths.

[0279] For example, in some embodiments, only the relevant information of the third non-line-of-sight path of the current pair of sensing signal transceiving function entities is calculated by the computing function entity. The computing function entity can obtain the relevant information of the third non-line-of-sight path between the other pairs of sensing signal transceiving function entities from other devices (such as other computing function entities or other pairs of sensing signal transceiving function entities), and then obtain the position of the same sensing target in combination with the relevant information of the non-line-of-sight path between the current pair of sensing signal transceiving function entities.

[0280] In some embodiments, the third non-line-of-sight path and the first non-line-of-sight path between the current pair of sensing signal transceiving function entities are the same path.

[0281] In some embodiments, the third non-line-of-sight path and the first non-line-of-sight path between the current pair of sensing signal transceiving function entities are the same path.

[0282] In some embodiments, the third non-line-of-sight path, the first non-line-of-sight path and the second non-line-of-sight path between the current pair of sensing signal transceiving function entities are the same path.

[0283] FIG. 3 is a flow diagram of a sensing method according to an embodiment of the present disclosure. As shown in FIG. 3, the sensing method is applied to a first sensing signal transceiver function entity, and the method comprises the following steps:

[0284] In step 300, sensing signal related information is sent to a computing function entity, and the sensing signal related information is used to obtain related information of a non-line-of-sight path between the first sensing signal transceiver function entity and a second sensing signal transceiver function entity.

[0285] In the embodiment, the sensing signal related information is related information obtained by transmitting the first sensing signal and / or the second sensing signal between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity.

[0286] Specifically, the concepts of the computing function entity and the sensing signal transceiver function entity in the embodiments of the present disclosure can be referred to the embodiments of the sensing method side with the execution subject being the computing function entity, which will not be described herein.

[0287] In the embodiments of the present disclosure, the first sensing signal transceiver function entity and the second sensing signal transceiver function entity are any two sensing signal transceiver function entities, and the first sensing signal transceiver function entity and the second sensing signal transceiver function entity can transmit sensing signals and obtain related information of the sensing signal transmission process, i.e., sensing signal related information.

[0288] It should be noted that, in the embodiments of the present disclosure, the transmission of the sensing signal includes the sending of the sensing signal; or, the transmission of the sensing signal includes the receiving of the sensing signal; or, the transmission of the sensing signal includes the sending and the receiving of the sensing signal.

[0289] It can be understood that, for one transmission of the sensing signal, from the perspective of the sensing signal sender, the transmission of the sensing signal is the sending of the sensing signal, and from the perspective of the sensing signal receiver, the transmission of the sensing signal is the receiving of the sensing signal.

[0290] In some embodiments, the computing function entity and the sensing signal transceiver function entity can be independent network entities. For example, the computing function entity, the first sensing signal transceiver function entity, and the second sensing signal transceiver function entity can be independent network entities, i.e., three network entities.

[0291] In some embodiments, the computing function entity and the sensing signal transceiver function entity can be the same network entity. For example, the computing function entity and the first sensing signal transceiver function entity can be the same network entity; or, the computing function entity and the second sensing signal transceiver function entity can be the same network entity.

[0292] In some embodiments, the first and second sensing signal transceiving function entities can be two independent network entities. For example, the first and second sensing signal transceiving function entities are different network-side transmission / reception points, different access network distribution units, different access network sensing distribution units, different access network sensing units, different access network nodes, or different user equipment. For another example, the first sensing signal transceiving function entity is a network-side transmission / reception point, an access network distribution unit, an access network sensing distribution unit, an access network sensing unit, or an access network node, and the second sensing signal transceiving function entity is user equipment.

[0293] In some embodiments, the first and second sensing signal transceiving function entities can be the same network entity. For example, the first and second sensing signal transceiving function entities are the same access network distribution unit, the same access network sensing distribution unit, the same access network sensing unit, or the same access network node.

[0294] The sensing signal in the embodiments of the present disclosure refers to a wireless signal used for sensing. The sensing signal can be a wireless signal dedicated for sensing, or the sensing signal can be a wireless signal used for both sensing and communication. The sensing signal can be some reference signal in a related communication system, such as a PRS, a SRS, a CSI-RS, an SS, or the like, or the sensing signal can be a newly defined reference signal, or the sensing signal can be a signal carrying user data.

[0295] In the embodiments of the present disclosure, the first and second sensing signal transceiving function entities can transmit two sensing signals, which are a first sensing signal and a second sensing signal, respectively.

[0296] In some embodiments, the method further includes:

[0297] transmitting the first sensing signal, or receiving the first sensing signal transmitted by the second sensing signal transceiving function entity;

[0298] transmitting the second sensing signal, or receiving the second sensing signal transmitted by the second sensing signal transceiving function entity;

[0299] obtaining sensing signal related information based on the first and / or second sensing signal.

[0300] Specifically, in the embodiments of the present disclosure, the first sensing signal can be transmitted by the first sensing signal transceiving function entity, and the first sensing signal can be received by the second sensing signal transceiving function entity. The second sensing signal can be transmitted by the second sensing signal transceiving function entity, and the second sensing signal can be received by the first sensing signal transceiving function entity.

[0301] Alternatively, the first sensing signal can be sent by the second sensing signal transceiver function entity, and the first sensing signal transceiver function entity receives the first sensing signal; the second sensing signal transceiver function entity sends the second sensing signal, and the first sensing signal transceiver function entity receives the second sensing signal.

[0302] Alternatively, the first sensing signal can be sent by the first sensing signal transceiver function entity, and the second sensing signal transceiver function entity receives the first sensing signal; the first sensing signal transceiver function entity sends the second sensing signal, and the second sensing signal transceiver function entity receives the second sensing signal.

[0303] Alternatively, the first sensing signal can be sent by the second sensing signal transceiver function entity, and the first sensing signal transceiver function entity receives the first sensing signal; the second sensing signal transceiver function entity sends the second sensing signal, and the first sensing signal transceiver function entity receives the second sensing signal.

[0304] In the sensing method provided by the embodiments of the present disclosure, the first sensing signal transceiver function entity can obtain sensing signal related information by transmitting and / or receiving the sensing signal. The sensing signal related information can be related information of transmitting the first sensing signal between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity; or, the sensing signal related information can be related information of transmitting the first sensing signal between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity; or, the sensing signal related information can be related information of transmitting the first sensing signal and the second sensing signal between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity.

[0305] In the process of transmitting the sensing signal between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity, it can be understood that when the first sensing signal transceiver function entity sends the sensing signal to the second sensing signal transceiver function entity, the second sensing signal transceiver function entity can receive the sensing signal at multiple time instants due to multiple paths; similarly, when the second sensing signal transceiver function entity sends the sensing signal to the first sensing signal transceiver function entity, the first sensing signal transceiver function entity can receive the sensing signal at multiple time instants.

[0306] As shown in FIG. 2, the perception signal transceiving function entity 1 transmits the first perception signal at time t0, the perception signal transceiving function entity 2 receives the first perception signal transmitted through multiple paths at times t1, t2, t3, etc., the perception signal transceiving function entity 2 transmits the second perception signal at time t4, and the perception signal transceiving function entity 1 receives the second perception signal transmitted through multiple paths at times t5, t6, t7, etc. The multiple paths can include a direct path between the perception signal transceiving function entity 1 and the perception signal transceiving function entity 2 without reflection or scattering of the perception target, and a non-direct path through reflection or scattering of one or more perception targets.

[0307] It should be noted that the perception target or object in the non-direct path in the embodiments of the present disclosure can be a scattering point or a reflection point. Reflection or scattering of a signal by a perception target or object can be understood as reflection or scattering of a signal by a scattering point or reflection or scattering of a signal by a reflection point.

[0308] In the case where the first perception signal transceiving function entity and the second perception signal transceiving function entity are the same network entity, the perception signal related information can be transmitted by the network entity to the computing function entity.

[0309] For example, in the case where the first perception signal transceiving function entity and the second perception signal transceiving function entity are an access network distribution unit, an access network perception distribution unit, an access network perception unit, or an access network node, the perception signal related information can be transmitted by the access network distribution unit, the access network perception distribution unit, the access network perception unit, or the access network node to the computing function entity.

[0310] In the case where the first perception signal transceiving function entity and the second perception signal transceiving function entity are two independent network entities, the perception signal related information can be transmitted by at least one of the first perception signal transceiving function entity and the second perception signal transceiving function entity to the computing function entity.

[0311] For example, in the case where the first perception signal transceiving function entity and the second perception signal transceiving function entity are different transmission / reception points on the network side, different access network distribution units, different access network perception distribution units, different access network perception units, or different access network nodes, the perception signal related information can be transmitted by the first perception signal transceiving function entity to the computing function entity, or the perception signal related information can be transmitted by the second perception signal transceiving function entity to the computing function entity, or the perception signal related information can be transmitted by the first perception signal transceiving function entity and the second perception signal transceiving function entity to the computing function entity.

[0312] It can be understood that if the computing function entity and one of the first and second perception signal transceiving function entities are the same network entity, the computing function entity can directly obtain the perception signal related information obtained by the one perception signal transceiving function entity in the perception signal transmission process, and receive the perception signal related information sent by the other perception signal transceiving function entity.

[0313] For example, the computing function entity and the first perception signal transceiving function entity are the same network entity, the computing function entity can directly obtain the perception signal related information obtained by the first perception signal transceiving function entity in the perception signal transmission process, and receive the perception signal related information sent by the second perception signal transceiving function entity; or, the computing function entity and the second perception signal transceiving function entity are the same network entity, the computing function entity can directly obtain the perception signal related information obtained by the second perception signal transceiving function entity in the perception signal transmission process, and receive the perception signal related information sent by the first perception signal transceiving function entity.

[0314] In some embodiments, the specific content included in the perception signal related information can be referred to the perception method embodiment on the computing function entity side, which will not be repeated here.

[0315] After the computing function entity obtains the perception signal related information, the computing function entity can obtain the related information of the non-line-of-sight path between the first and second perception signal transceiving function entities based on the perception signal related information.

[0316] In some embodiments, the specific content included in the related information of the non-line-of-sight path between the first and second perception signal transceiving function entities can be referred to the perception method embodiment on the computing function entity side, which will not be repeated here.

[0317] The perception method provided by the embodiments of the present disclosure obtains the perception signal related information by transmitting the first and / or second perception signals between the first and second perception signal transceiving function entities, the first perception signal transceiving function entity sends the perception signal related information to the computing function entity, and the computing function entity can obtain the related information of the non-line-of-sight path between the first and second perception signal transceiving function entities according to the perception signal related information, so that the distance information of the environment and / or the objects in the environment can be effectively measured through wireless perception.

[0318] In some embodiments, the method further includes:

[0319] The first information is sent to a computing function entity, and the first information is used to determine the related information of the non-line-of-sight path between the first perception signal transceiver function entity and the second perception signal transceiver function entity by using the perception signal related information.

[0320] Specifically, due to the fact that the partial content of the perception signal related information is inaccurate in some cases, the related information of the non-line-of-sight path calculated is unreliable.

[0321] Therefore, in the embodiment of the present application, the first perception signal transceiver function entity can send the first information to the computing function entity, so that the computing function entity can determine the related information of the non-line-of-sight path between the pair of perception signal transceiver function entities by using the perception signal related information based on the first information, and in the case of determining the related information of the non-line-of-sight path between the pair of perception signal transceiver function entities by using the perception signal related information, the computing function entity obtains the related information of the non-line-of-sight path between the pair of perception signal transceiver function entities based on the perception signal related information.

[0322] In some embodiments, the specific content included in the first information can refer to the perception method embodiment on the computing function entity side, which will not be described here.

[0323] In some embodiments, the first perception signal transceiver function entity can send the second information to the computing function entity, so that the computing function entity can determine the related information of the non-line-of-sight path between the pair of perception signal transceiver function entities without using part of the information in the perception signal related information based on the second information, thereby preventing incorrect results from being obtained according to the information.

[0324] In some embodiments, the specific content included in the second information can refer to the perception method embodiment on the computing function entity side, which will not be described here.

[0325] Specifically, the perception method provided by the embodiment of the present application can refer to the perception method embodiment of the computing function entity described above, and can achieve the same technical effects. Here, the same parts and beneficial effects in this embodiment as the above-mentioned method embodiments will not be described in detail.

[0326] The perception method provided by each of the above embodiments will be further described below through embodiments in specific application scenarios.

[0327] Embodiment one: the computing function entity, the first perception signal transceiver function entity, and the second perception signal transceiver function entity are independent network entities.

[0328] FIG. 4 is a flowchart of a perception measurement embodiment provided by an embodiment of the present application, as shown in FIG. 4, the flowchart includes the following steps:

[0329] 1. The sensing signal transceiving function entity 1 transmits a sensing signal 1. The sensing signal transceiving function entity 1 obtains a transmission time of the sensing signal 1.

[0330] 2. The sensing signal transceiving function entity 2 receives the sensing signal 1. The sensing signal transceiving function entity 2 obtains one or more reception times of the sensing signal 1.

[0331] 3. The sensing signal transceiving function entity 2 transmits a sensing signal 2. The sensing signal transceiving function entity 2 obtains a transmission time of the sensing signal 2.

[0332] 4. The sensing signal transceiving function entity 1 receives the sensing signal 2. The sensing signal transceiving function entity 1 obtains one or more reception times of the sensing signal 2.

[0333] 5. The sensing signal transceiving function entity 1 sends first information to the computing function entity, the first information indicating at least one of:

[0334] a value of (a reception time of one or more non-line-of-sight paths of the sensing signal 2 - the transmission time of the sensing signal 1);

[0335] a reception time of one or more non-line-of-sight paths of the sensing signal 2;

[0336] the transmission time of the sensing signal 1;

[0337] a value of (a reception time of a first non-line-of-sight path of the sensing signal 2 - the transmission time of the sensing signal 1);

[0338] a difference value of reception times of two consecutive non-line-of-sight paths of the sensing signal 2;

[0339] a reception time of a first non-line-of-sight path of the sensing signal 2;

[0340] a difference value of reception times of one or more non-line-of-sight paths of the sensing signal 2 relative to a reception time of a line-of-sight path;

[0341] a reception time of a line-of-sight path of the sensing signal 2;

[0342] a difference value of a reception time of a first non-line-of-sight path of the sensing signal 2 and a reception time of a line-of-sight path;

[0343] a value of (a reception time of a line-of-sight path of the sensing signal 2 - the transmission time of the sensing signal 1).

[0344] The first information can further indicate an order of the time information. For example, by implicitly indicating or explicitly indicating an order of the time information.

[0345] The first information can further indicate that a line-of-sight path is received / exists, or, indicate that a line-of-sight path is not received / does not exist.

[0346] The first information can also indicate that one or more of the non-line-of-sight paths passes through only one sensing target (reflection / scattering point), and / or, indicate that one or more of the non-line-of-sight paths passes through multiple sensing targets (reflection / scattering points).

[0347] 6. The sensing signal transceiving function entity 2 sends the second information to the computing function entity, the second information indicating at least one of:

[0348] a value of (a transmission time of the sensing signal 2 - a reception time of the first non-line-of-sight path of the sensing signal 1);

[0349] a reception time of the one or more non-line-of-sight paths of the sensing signal 1;

[0350] a transmission time of the sensing signal 2;

[0351] a value of (a transmission time of the sensing signal 2 - a reception time of the first non-line-of-sight path of the sensing signal 1);

[0352] a difference between reception times of two consecutive non-line-of-sight paths of the sensing signal 1;

[0353] a reception time of the first non-line-of-sight path of the sensing signal 1;

[0354] a difference between the reception time of the one or more non-line-of-sight paths of the sensing signal 1 and a reception time of the line-of-sight path;

[0355] a reception time of the line-of-sight path of the sensing signal 1;

[0356] a difference between the reception time of the first non-line-of-sight path of the sensing signal 1 and the reception time of the line-of-sight path;

[0357] a value of (a transmission time of the sensing signal 2 - a reception time of the line-of-sight path of the sensing signal 1).

[0358] The second information can also indicate an order of the time information. For example, by implicitly indicating or explicitly indicating an order of the time information.

[0359] The second information can also indicate that the line-of-sight path is received / exists, or, indicate that the line-of-sight path is not received / does not exist.

[0360] The second information can also indicate that one or more of the non-line-of-sight paths passes through only one sensing target (reflection / scattering point), and / or, indicate that one or more of the non-line-of-sight paths passes through multiple sensing targets (reflection / scattering points).

[0361] 7. The computing function entity calculates a round-trip time, a one-way time, or a propagation distance of the non-line-of-sight path according to the content indicated by the first information and the content indicated by the second information.

[0362] For example, the computing function entity determines, from the first information and the second information, time information related to the same path in the time information indicated by the first information and the time information indicated by the second information. The computing function entity determines the round-trip time, the one-way time, or the propagation distance of the non-line-of-sight path from the time information related to the same path.

[0363] For example, the computing function entity determines, from the order of the time information indicated by the first information and the order of the time information indicated by the second information, the above-mentioned time information related to the same path.

[0364] The computing function entity calculates the round-trip time, the one-way time, or the propagation distance of the non-line-of-sight path from the time information indicated by the first information and the time information indicated by the second information.

[0365] For example, the computing function entity calculates the distance / one-way time / round-trip time of the line-of-sight path (hereinafter referred to as the measured distance / one-way time / round-trip time of the line-of-sight path) from the time information indicated by the first information and the time information indicated by the second information. If the measured distance / one-way time / round-trip time of the line-of-sight path is the same as the actual distance / one-way time / round-trip time of the line-of-sight path, the computing function entity calculates the round-trip time, the one-way time, or the propagation distance of the non-line-of-sight path using the time information indicated by the first information and the time information indicated by the second information. If the measured distance / one-way time / round-trip time of the line-of-sight path is different from the actual distance / one-way time / round-trip time of the line-of-sight path, the computing function entity does not calculate the round-trip time, the one-way time, or the propagation distance of the non-line-of-sight path using the time information indicated by the first information and the time information indicated by the second information.

[0366] For example, in a case where the first information indicates that the line-of-sight path is received / exists, and the second information indicates that the line-of-sight path is received / exists, the computing function entity calculates the round-trip time, the one-way time, or the propagation distance of the non-line-of-sight path using the time information indicated by the first information and the time information indicated by the second information. In a case where the first information indicates that the line-of-sight path is not received / does not exist, or the second information indicates that the line-of-sight path is not received / does not exist, the computing function entity does not calculate the round-trip time, the one-way time, or the propagation distance of the non-line-of-sight path using the time information indicated by the first information and the time information indicated by the second information.

[0367] For example, the computing function entity determines, from the first information and the second information, time information related to the same path in the time information indicated by the first information and the time information indicated by the second information, which passes through only one sensing target (reflection / scattering point). The computing function entity determines the round-trip time, the one-way time, or the propagation distance of the non-line-of-sight path from the time information related to the same path which passes through only one sensing target (reflection / scattering point).

[0368] 8、In some embodiments, the computing function entity obtains the distance / one-way time / round-trip time of the direct path between the actual sensing signal transceiving function entity 1 and the sensing signal receiving function entity 2.

[0369] In some embodiments, the computing function entity calculates the one-way time / round-trip time of the actual direct path according to the distance of the actual direct path.

[0370] 9、In some embodiments, the computing function entity obtains the location of the sensing signal transmitting and receiving point of the sensing signal transceiving function entity 1 and the location of the sensing signal transmitting and receiving point of the sensing signal transceiving function entity 2. The sensing signal transceiving function entity 1 can indicate the location of its sensing signal transmitting and receiving point to the computing function entity. The sensing signal transceiving function entity 2 can indicate the location of its sensing signal transmitting and receiving point to the computing function entity. The computing function entity calculates the one-way time / round-trip time of the actual direct path according to the two locations.

[0371] Embodiment two: the computing function entity is the same network entity as the sensing signal transceiving function entity 1.

[0372] The sensing signal transceiving function entity 1 and the computing function entity below can be replaced by the network entity 1. The sensing signal transceiving function entity 2 can be replaced by the network entity 2.

[0373] Fig. 5 is a flowchart of another embodiment of the sensing measurement method provided by the present disclosure. As shown in Fig. 5, the flowchart includes the following steps:

[0374] 1-4, same as 1-4 in Embodiment one.

[0375] 5, same as 6 in Embodiment one.

[0376] 6, the computing function entity calculates the round-trip time, one-way time or propagation distance of the non-direct path according to the content indicated by the second information and the time information obtained by the sensing signal transceiving function entity 1.

[0377] For example, the computing function entity determines the time information related to the same path in the time information indicated by the second information and the time information obtained by the sensing signal transceiving function entity 1 according to the second information. The computing function entity determines the round-trip time, one-way time or propagation distance of the non-direct path according to the time information related to the same path.

[0378] For example, the computing function entity determines the above-mentioned time information related to the same path according to the order of the time information indicated by the second information.

[0379] The computing function entity calculates the round-trip time, one-way time or propagation distance of the non-direct path according to the time information indicated by the second information and the time information obtained by the sensing signal transceiving function entity 1.

[0380] For example, the computing function entity calculates the distance / one-way time / round-trip time of the direct path using the time information indicated by the second information and the time information acquired by the perception signal transceiving function entity 1. If the measured distance / one-way time / round-trip time of the direct path is the same as the actual distance / one-way time / round-trip time of the direct path, the round-trip time, one-way time, or propagation distance of the non-direct path is calculated using the time information indicated by the second information and the time information acquired by the perception signal transceiving function entity 1. If the measured distance / one-way time / round-trip time of the direct path is different from the actual distance / one-way time / round-trip time of the direct path, the round-trip time, one-way time, or propagation distance of the non-direct path is not calculated using the time information indicated by the second information and the time information acquired by the perception signal transceiving function entity 1.

[0381] For example, in a case where the perception signal transceiving function entity 1 determines that the direct path is received / exists, and the second information indicates that the direct path is received / exists, the round-trip time, one-way time, or propagation distance of the non-direct path is calculated using the time information indicated by the second information and the time information acquired by the perception signal transceiving function entity 1. In a case where the perception signal transceiving function entity 1 determines that the direct path is not received / does not exist, or the second information indicates that the direct path is not received / does not exist, the round-trip time, one-way time, or propagation distance of the non-direct path is not calculated using the time information indicated by the second information and the time information acquired by the perception signal transceiving function entity 1.

[0382] For example, the computing function entity determines, from the second information, time information related to the same path that passes through only one perception target (reflection / scattering point) among the time information acquired by the perception signal transceiving function entity 1 and the time information indicated by the second information. The computing function entity determines the round-trip time, one-way time, or propagation distance of the non-direct path from the time information related to the same path that passes through only one perception target (reflection / scattering point).

[0383] 7. In some embodiments, the computing function entity acquires the actual distance / one-way time / round-trip time of the direct path between the perception signal transceiving function entity 1 and the perception signal receiving function entity 2.

[0384] In some embodiments, the computing function entity calculates the one-way time / round-trip time of the actual direct path from the actual distance of the direct path.

[0385] 8、In some embodiments, the computing function entity obtains the location of the sensing signal transmission and reception point of the sensing signal transceiver function entity 1 and the location of the sensing signal transmission and reception point of the sensing signal transceiver function entity 2. The sensing signal transceiver function entity 2 can indicate the location of its sensing signal transmission and reception point to the computing function entity. The computing function entity calculates the one-way time / round-trip time of the actual line-of-sight path according to the two locations.

[0386] Embodiment three: the computing function entity and the sensing signal transceiver function entity 2 are the same network entity.

[0387] The following sensing signal transceiver function entity 2 and computing function entity can be replaced by the network entity 2. The sensing signal transceiver function entity 1 can be replaced by the network entity 1.

[0388] Figure 6 is a flowchart of the sensing measurement embodiment method provided by the embodiment of the present disclosure, as shown in Figure 6, the flowchart includes the following steps:

[0389] 1-5, same as 1-5 in embodiment one.

[0390] 6、The computing function entity calculates the round-trip time, one-way time or propagation distance of the non-line-of-sight path according to the content indicated by the first information and the time information obtained by the sensing signal transceiver function entity 2.

[0391] For example, the computing function entity determines the time information related to the same path in the time information indicated by the first information and the time information obtained by the sensing signal transceiver function entity 2 according to the first information. The computing function entity determines the round-trip time, one-way time or propagation distance of the non-line-of-sight path according to the time information related to the same path.

[0392] For example, the computing function entity determines the above-mentioned time information related to the same path according to the order of the time information indicated by the first information.

[0393] The computing function entity calculates the round-trip time, one-way time or propagation distance of the non-line-of-sight path according to the time information indicated by the first information and the time information obtained by the sensing signal transceiver function entity 2.

[0394] For example, the computing function entity calculates the distance / one-way time / round-trip time of the direct path using the time information indicated by the first information and the time information acquired by the sensing signal transceiving function entity 2. If the measured distance / one-way time / round-trip time of the direct path is the same as the actual distance / one-way time / round-trip time of the direct path, the round-trip time, one-way time, or propagation distance of the non-direct path is calculated using the time information indicated by the first information and the time information acquired by the sensing signal transceiving function entity 2. If the measured distance / one-way time / round-trip time of the direct path is different from the actual distance / one-way time / round-trip time of the direct path, the round-trip time, one-way time, or propagation distance of the non-direct path is not calculated using the time information indicated by the first information and the time information acquired by the sensing signal transceiving function entity 2.

[0395] For example, in a case where the sensing signal transceiving function entity 2 determines that the direct path is received / exists, and the first information indicates that the direct path is received / exists, the round-trip time, one-way time, or propagation distance of the non-direct path is calculated using the time information indicated by the first information and the time information acquired by the sensing signal transceiving function entity 2. In a case where the sensing signal transceiving function entity 2 determines that the direct path is not received / does not exist, or the first information indicates that the direct path is not received / does not exist, the round-trip time, one-way time, or propagation distance of the non-direct path is not calculated using the time information indicated by the first information and the time information acquired by the sensing signal transceiving function entity 2.

[0396] For example, the computing function entity determines, from the first information, time information related to the same path that passes through only one sensing target (reflection / scattering point) among the time information indicated by the first information and the time information acquired by the sensing signal transceiving function entity 2. The computing function entity determines the round-trip time, one-way time, or propagation distance of the non-direct path from the time information related to the same path that passes through only one sensing target (reflection / scattering point).

[0397] 7. In some embodiments, the computing function entity acquires the actual distance / one-way time / round-trip time of the direct path between the sensing signal transceiving function entity 1 and the sensing signal transceiving function entity 2.

[0398] In some embodiments, the computing function entity calculates the actual one-way time / round-trip time of the direct path from the actual distance of the direct path.

[0399] 8. In some embodiments, the computing function entity obtains the location of the sensing signal transmission and reception point of the sensing signal transceiver function entity 1 and the location of the sensing signal transmission and reception point of the sensing signal transceiver function entity 2. The sensing signal transceiver function entity 1 can indicate its location of the sensing signal transmission and reception point to the computing function entity. The computing function entity calculates the one-way time / round-trip time of the actual line-of-sight path according to the two locations.

[0400] Embodiment four: The sensing signal transceiver function entity 1 and the sensing signal transceiver function entity 2 are the same network entity.

[0401] The following sensing signal transceiver function entity 1 and sensing signal transceiver function entity 2 can be replaced by the network entity 1. The computing function entity can be replaced by the network entity 2.

[0402] Figure 7 is a flowchart of a sensing measurement embodiment method provided by the embodiments of the present disclosure. As shown in Figure 7, the flowchart includes the following steps:

[0403] 1-4, same as 1-4 in Embodiment one.

[0404] 5. The sensing signal transceiver function entity 1 & 2 sends the first information to the computing function entity, and the first information indicates at least one of the following:

[0405] the value of (the reception time of the one or more non-line-of-sight paths of the sensing signal 2 - the transmission time of the sensing signal 1);

[0406] the reception time of the one or more non-line-of-sight paths of the sensing signal 2;

[0407] the transmission time of the sensing signal 1;

[0408] the value of (the reception time of the first non-line-of-sight path of the sensing signal 2 - the transmission time of the sensing signal 1);

[0409] the difference between the reception times of the two consecutive non-line-of-sight paths of the sensing signal 2;

[0410] the reception time of the first non-line-of-sight path of the sensing signal 2;

[0411] the difference between the reception time of the one or more non-line-of-sight paths of the sensing signal 2 and the reception time of the line-of-sight path;

[0412] the reception time of the line-of-sight path of the sensing signal 2;

[0413] the difference between the reception time of the first non-line-of-sight path of the sensing signal 2 and the reception time of the line-of-sight path;

[0414] the value of (the reception time of the line-of-sight path of the sensing signal 2 - the transmission time of the sensing signal 1).

[0415] The first information further indicates at least one of:

[0416] a value of (a transmission time of the second sensing signal - a reception time of the first non-line-of-sight path of the first sensing signal);

[0417] a reception time of the one or more non-line-of-sight paths of the first sensing signal;

[0418] a transmission time of the second sensing signal;

[0419] a value of (a transmission time of the second sensing signal - a reception time of the first non-line-of-sight path of the first sensing signal);

[0420] a difference of reception times of two consecutive non-line-of-sight paths of the first sensing signal;

[0421] a reception time of the first non-line-of-sight path of the first sensing signal;

[0422] a difference of reception times of the one or more non-line-of-sight paths of the first sensing signal relative to a reception time of the line-of-sight path;

[0423] a reception time of the line-of-sight path of the first sensing signal;

[0424] a difference of the reception time of the first non-line-of-sight path of the first sensing signal and the reception time of the line-of-sight path;

[0425] a value of (a transmission time of the second sensing signal - a reception time of the line-of-sight path of the first sensing signal).

[0426] The first information can further indicate an order of the time information. For example, by implicitly indicating or explicitly indicating the order of the time information.

[0427] The first information can further indicate that at least one pair of time information is time information of a same path.

[0428] The first information can further indicate that a line-of-sight path is received / existed or not received / existed.

[0429] The first information can further indicate that at least one pair of time information is time information of a path passing through only one sensing target (reflection / scattering point).

[0430] 6、The computing function entity calculates the round-trip time, one-way time or propagation distance of the non-line-of-sight path according to the content indicated by the first information.

[0431] For example, the computing function entity determines, according to the first information, time information related to a same path in the time information indicated by the first information. The computing function entity determines the round-trip time, one-way time or propagation distance of the non-line-of-sight path according to the time information related to the same path.

[0432] For example, the computing function entity determines the time information related to the same path according to the order of the time information indicated by the first information.

[0433] The computing function entity calculates the round-trip time, one-way time or propagation distance of the non-line-of-sight path according to the time information indicated by the first information.

[0434] For example, the computing function entity calculates the distance / one-way time / round-trip time of the line-of-sight path (hereinafter referred to as the measured distance / one-way time / round-trip time of the line-of-sight path) according to the time information indicated by the first information. If the measured distance / one-way time / round-trip time of the line-of-sight path is the same as the actual distance / one-way time / round-trip time of the line-of-sight path, the computing function entity calculates the round-trip time, one-way time or propagation distance of the non-line-of-sight path according to the time information indicated by the first information. If the measured distance / one-way time / round-trip time of the line-of-sight path is different from the actual distance / one-way time / round-trip time of the line-of-sight path, the computing function entity does not calculate the round-trip time, one-way time or propagation distance of the non-line-of-sight path according to the time information indicated by the first information.

[0435] For example, in the case where the first information indicates that the line-of-sight path is received / exists, the computing function entity calculates the round-trip time, one-way time or propagation distance of the non-line-of-sight path according to the time information indicated by the first information. In the case where the first information indicates that the line-of-sight path is not received / does not exist, the computing function entity does not calculate the round-trip time, one-way time or propagation distance of the non-line-of-sight path according to the time information indicated by the first information.

[0436] For example, the computing function entity determines the time information related to the same path that passes through only one sensing target (reflection / scattering point) from the time information indicated by the first information. The computing function entity determines the round-trip time, one-way time or propagation distance of the non-line-of-sight path according to the time information related to the same path that passes through only one sensing target (reflection / scattering point).

[0437] 7. In some embodiments, the computing function entity obtains the distance / one-way time / round-trip time of the line-of-sight path between the actual sensing signal transceiver function entity 1 and the sensing signal receiver function entity 2. Optionally, the computing function entity calculates the one-way time / round-trip time of the actual line-of-sight path according to the distance of the actual line-of-sight path.

[0438] 8. In some embodiments, the computing function entity obtains the positions of the sensing signal transmission and reception points of the sensing signal transceiver function entity 1 and the positions of the sensing signal transmission and reception points of the sensing signal transceiver function entity 2. The sensing signal transceiver function entities 1 & 2 can indicate the positions of the sensing signal transmission and reception points of the sensing signal transceiver function entities 1 & 2 to the computing function entity. The computing function entity calculates the one-way time / round-trip time of the actual line-of-sight path according to the two positions.

[0439] Embodiment five and embodiment six are embodiments of the method for determining the location of the sensing target.

[0440] Embodiment five: determining the location of the sensing target by using three network-side transmission / reception points and one terminal.

[0441] 1-6, the network entity 1 and the terminal correspond to the sensing signal transceiver function entities 1 and 2 respectively, and 1-6 in embodiment one is executed.

[0442] 7-12, the network entity 2 and the terminal correspond to the sensing signal transceiver function entities 1 and 2 respectively, and 1-6 in embodiment one is executed.

[0443] 13-18, the network entity 3 and the terminal correspond to the sensing signal transceiver function entities 1 and 2 respectively, and 1-6 in embodiment one is executed.

[0444] Among them, the sensing signal transmission and reception points of the network entity 1, the sensing signal transmission and reception points of the network entity 2, and the sensing signal transmission and reception points of the network entity 3 are all different in space. Any two of the network entity 1, the network entity 2, and the network entity 3 can be the same network entity, or the three can be independent network entities.

[0445] 19, the computing function entity determines the location of one or more sensing targets according to the contents indicated by the three first information and the three second information. Specifically, the computing function entity can calculate the round-trip time, one-way time or propagation distance of the non-line-of-sight path according to the contents indicated by a pair of first information and the contents indicated by the second information (such as 7 in embodiment one). The computing function entity determines the location of one or more sensing targets according to the obtained propagation distances of multiple non-line-of-sight paths.

[0446] Embodiment six: determining the location of the sensing target by using three network-side transmission / reception points.

[0447] 1-6, the network entity 1 and the network entity 2 correspond to the sensing signal transceiver function entities 1 and 2 respectively, and 1-6 in embodiment one is executed.

[0448] 7-12, the network entity 2 and the network entity 3 correspond to the sensing signal transceiver function entities 1 and 2 respectively, and 1-6 in embodiment one is executed.

[0449] 13-18, the network entity 3 and the network entity 1 correspond to the sensing signal transceiver function entities 1 and 2 respectively, and 1-6 in embodiment one is executed.

[0450] The perception signal transmitting and receiving point of the network entity 1, the perception signal transmitting and receiving point of the network entity 2, and the perception signal transmitting and receiving point of the network entity 3 are all different in space. Any two of the network entity 1, the network entity 2, and the network entity 3 can be the same network entity, or the three can be independent network entities.

[0451] 19. The same as 19 in Embodiment Five.

[0452] It should be noted that some steps in the embodiments of the present disclosure can be executed in parallel. Different indication information in the embodiments can be sent in one message or in different messages. In the embodiments, the indication information can be sent directly or through forwarding by other network entities.

[0453] FIG. 8 is a structural schematic diagram of a computing function entity provided by an embodiment of the present disclosure. As shown in FIG. 8, the computing function entity includes a memory 803, a transceiver 801, and a processor 802, wherein:

[0454] The memory 803 is configured to store a computer program; the transceiver 801 is configured to transceive data under control of the processor 802; and the processor 802 is configured to read the computer program in the memory 803 and perform the following operations:

[0455] Obtain perception signal related information, wherein the perception signal related information is related information obtained by a pair of perception signal transmitting and receiving function entities through transmission of the first perception signal and / or the second perception signal;

[0456] Based on the perception signal related information, obtain related information of a non-line-of-sight path between the pair of perception signal transmitting and receiving function entities.

[0457] In FIG. 8, the bus architecture can include any number of interconnecting buses and bridges, and the various circuits represented by the processor 802 and the memory 803 are linked by the bus architecture. The bus architecture can also link various other circuits such as peripheral devices, voltage stabilizers, and power management circuits, which are well known in the art, and thus, are not further described herein. The bus interface provides an interface. The transceiver 801 can be multiple elements, i.e., including a transmitter and a receiver, and provides a unit for communicating with various other devices on a transmission medium, including wireless channels, wired channels, optical cables, and the like.

[0458] The processor 802 is responsible for managing the bus architecture and general processing, and the memory 803 can store data used by the processor 802 in performing operations.

[0459] In some embodiments, the processor 802 can 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 can also be implemented in a multi-core architecture.

[0460] The processor is configured to execute any of the methods provided by the embodiments of the present disclosure by invoking the computer program stored in the memory.

[0461] It should be noted that the above computing function entity provided by the embodiments of the present disclosure can implement all the method steps of the method embodiments in which the execution subject is the computing function entity, and achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiments will not be described in detail herein.

[0462] FIG. 9 is a structural schematic diagram of a first sensing signal transceiver function entity provided by an embodiment of the present disclosure. As shown in FIG. 9, the first sensing signal transceiver function entity includes a memory 903, a transceiver 901 and a processor 902, wherein:

[0463] The memory 903 is configured to store a computer program; the transceiver 901 is configured to transceive data under the control of the processor 902; and the processor 902 is configured to read the computer program in the memory 903 and perform the following operations:

[0464] The processor 902 is configured to send sensing signal related information to the computing function entity, wherein the sensing signal related information is used to obtain the related information of the non-line-of-sight path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity.

[0465] The sensing signal related information is related information obtained by transmitting the first sensing signal and / or the second sensing signal between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity.

[0466] In FIG. 9, the bus architecture can include any number of interconnected buses and bridges, specifically the various circuitry of the one or more processors represented by the processor 902 and the memory represented by the memory 903 linked together. The bus architecture can also link various other circuitry such as peripheral devices, voltage regulators, and power management circuitry, which are well known in the art and thus, are not further described herein. The bus interface provides an interface. The transceiver 901 can be a plurality of elements, i.e., including a transmitter and a receiver, providing a means for communicating with various other apparatuses over transmission media, including wireless channels, wired channels, optical cables, and the like. The processor 902 is responsible for managing the bus architecture and general processing, and the memory 903 can store data used by the processor 902 in executing operations.

[0467] The processor 902 can 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 can also adopt a multi-core architecture.

[0468] Specifically, the first perception signal transceiver function entity provided by the embodiments of the present disclosure can implement all the method steps of the method embodiments in which the execution subject is the first perception signal transceiver function entity, and achieve the same technical effects. Here, the same parts and beneficial effects of the method embodiments in the present embodiment are not described in detail.

[0469] FIG. 10 is a structural schematic diagram of a perception device provided by an embodiment of the present disclosure. As shown in FIG. 10, the present embodiment provides a perception device, which includes:

[0470] The first acquisition module 1000 is configured to acquire perception signal related information, the perception signal related information being related information obtained by a pair of perception signal transceiver function entities transmitting first perception signals and / or second perception signals.

[0471] The calculation module 1010 is configured to obtain related information of a non-line-of-sight path between the pair of perception signal transceiver function entities based on the perception signal related information.

[0472] The perception device provided by the embodiment of the present disclosure can realize all the method steps of the method embodiment in which the execution subject is the computing function entity, and achieve the same technical effects. Here, the same parts and beneficial effects of the method embodiment in this embodiment will not be described in detail.

[0473] FIG. 11 is a structural schematic diagram of the perception device provided by the embodiment of the present disclosure. As shown in FIG. 11, the embodiment of the present disclosure provides a perception device, which comprises:

[0474] The sending module 1100 is configured to send the perception signal related information to the computing function entity, and the perception signal related information is used to obtain the related information of the non-line-of-sight path between the first perception signal transceiving function entity and the second perception signal transceiving function entity.

[0475] The perception signal related information is related information obtained by transmitting the first perception signal and / or the second perception signal between the first perception signal transceiving function entity and the second perception signal transceiving function entity.

[0476] The perception device provided by the embodiment of the present disclosure can realize all the method steps of the method embodiment in which the execution subject is the first perception signal transceiving function entity, and achieve the same technical effects. Here, the same parts and beneficial effects of the method embodiment in this embodiment will not be described in detail.

[0477] It should be noted that the division of the units / modules in the above embodiments of the present disclosure is illustrative, and is only a logical function division. When actually implemented, another division mode can be used. In addition, each functional unit in each embodiment of the present disclosure can be integrated in one processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0478] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a processor-readable storage medium. Based on such understanding, the technical solutions of the present disclosure, essentially or in other words, the part that contributes to the related art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to perform all or part of the steps of the methods described in the various embodiments of the present disclosure. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various other media that can store program codes.

[0479] In some embodiments, a non-transitory readable storage medium is also provided, which stores a computer program for causing a processor to perform the perception method provided by each of the method embodiments.

[0480] Specifically, the aforementioned non-transitory readable storage medium provided by the embodiments of the present disclosure can implement all the method steps implemented by each of the method embodiments, and achieve the same technical effects. Here, the same parts and beneficial effects in the method embodiments will not be described in detail.

[0481] It should be noted that the non-transitory readable storage medium can be any available medium or data storage device accessible by the processor, including but not limited to a magnetic memory (such as a floppy disk, a hard disk, a magnetic tape, a magneto-optical disk (MO), etc.), an optical memory (such as a CD, a DVD, a BD, a HVD, etc.), and a semiconductor memory (such as a ROM, an EPROM, an EEPROM, a non-volatile memory (NAND FLASH), a solid state disk (SSD), etc.).

[0482] In some embodiments, a processor-readable storage medium is also provided, which stores a computer program for causing a processor to perform the perception method provided by each of the method embodiments.

[0483] Specifically, the aforementioned processor-readable storage medium provided by the embodiments of the present disclosure can implement all the method steps implemented by each of the method embodiments, and achieve the same technical effects. Here, the same parts and beneficial effects in the method embodiments will not be described in detail.

[0484] In some embodiments, a computer readable storage medium is also provided, which stores a computer program for causing a computer to perform the perception method provided by any of the above method embodiments.

[0485] Specifically, the above computer readable storage medium provided by the embodiments of the present disclosure can implement all the method steps implemented by the above method embodiments, and achieve the same technical effects. Therefore, the parts and advantages of the embodiments of the present disclosure that are the same as the method embodiments will not be described in detail here.

[0486] In some embodiments, a communication device is also provided, which stores a computer program for causing the communication device to perform the perception method provided by any of the above method embodiments.

[0487] Specifically, the above communication device provided by the embodiments of the present disclosure can implement all the method steps implemented by the above method embodiments, and achieve the same technical effects. Therefore, the parts and advantages of the embodiments of the present disclosure that are the same as the method embodiments will not be described in detail here.

[0488] In some embodiments, a chip product is also provided, which stores a computer program for causing the chip product to perform the perception method provided by any of the above method embodiments.

[0489] Specifically, the above chip product provided by the embodiments of the present disclosure can implement all the method steps implemented by the above method embodiments, and achieve the same technical effects. Therefore, the parts and advantages of the embodiments of the present disclosure that are the same as the method embodiments will not be described in detail here.

[0490] In addition, it should be noted that the terms "first", "second" and the like in the embodiments of the present disclosure are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present disclosure can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second" are usually a category, not limited to the number of objects, for example, the first object can be one or more.

[0491] The term "and / or" in the embodiments of the present disclosure describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent: A exists alone, A and B exist together, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after it.

[0492] The term "multiple" in the embodiments of the present disclosure means two or more, and other quantifiers are similar.

[0493] The technical solutions provided by the embodiments of the present disclosure can be applied to various systems, especially 5G systems or 6G systems. For example, the applicable systems can be global system of mobile communication (GSM) systems, code division multiple access (CDMA) systems, Wideband Code Division Multiple Access (WCDMA) general packet radio service (GPRS) systems, 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 systems (UMTS), worldwide interoperability for microwave access (WiMAX) systems, 5G new radio (NR) systems, 6G systems, and the like. Among these various systems, there are terminal devices and network devices. The system can also include a core network part, such as an evolved packet system (EPS), a 5G system (5GS), and the like.

[0494] The terminal device to which the embodiments of the present disclosure relate can refer to a device providing voice and / or data connectivity to a user, a handheld device with a wireless connection function, or other processing devices connected to a wireless modem, etc. In different systems, the name of the terminal device can also be different, for example, in the 5G system, the terminal device can be referred to as a user equipment (UE). The wireless terminal device can communicate with one or more core networks (CN) through a radio access network (RAN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (or called "cellular" phone) and a computer with a mobile terminal device, for example, it can be a portable, pocket, handheld, computer built-in or vehicle-mounted mobile device, which exchanges language and / or data with the radio access network. For example, personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), etc. The wireless terminal device can also be referred to as a system, a subscriber unit, a subscriber station, a mobile station, a mobile, a remote station, an access point, a remote terminal, an access terminal, a user terminal, a user agent, a user device, which is not limited in the embodiments of the present disclosure.

[0495] The network device related to the embodiments of the present disclosure can be a base station, which can include a plurality of cells serving terminals. According to different application scenarios, the base station can also be referred to as an access point, or can be a device in an access network that communicates with wireless terminal devices through one or more sectors over an air interface, or other names. The network device can be used to exchange received air frames and Internet Protocol (IP) packets as a router between the wireless terminal device and the rest of the access network, which can include an Internet Protocol (IP) communication network. The network device can also coordinate the management of the properties of the air interface. For example, the network device related to the embodiments of the present disclosure can be a network device (Base Transceiver Station, BTS) in the Global System for Mobile Communications (GSM) or Code Division Multiple Access (CDMA), and can also be a network device (NodeB) in Wide-band Code Division Multiple Access (WCDMA), and can also be an evolved network device (evolutional Node B, eNB or e-NodeB) in a long term evolution (LTE) system, a 5G base station (gNB) in a next generation system (5G network architecture), and can also be a home evolved Node B (HeNB), a relay node, a femto, a pico, etc., which are not limited in the embodiments of the present disclosure. In some network structures, the network device can include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit can also be arranged geographically apart.

[0496] In the present disclosure, “determining B based on A” means that A is considered as a factor when determining B. It is not limited to “B can be determined based on A only”, but also includes “B is determined based on A and C”, “B is determined based on A, C and E”, “C is determined based on A, and B is further determined based on C”, and the like. In addition, it can also include that A is used as a condition for determining B, for example, “when A meets a first condition, B is determined using a first method”; for example, “when A meets a second condition, B is determined”; for example, “when A meets a third condition, B is determined based on a first parameter”; and the like. Of course, A can also be used as a condition for determining B, for example, “when A meets a first condition, C is determined using a first method, and B is further determined based on C”; and the like.

[0497] The network device and the terminal device can each use one or more antennas for multi-input multi-output (MIMO) transmission, which can be single-user MIMO (SU-MIMO) or multi-user MIMO (MU-MIMO). According to the shape and number of root antenna combinations, MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO, or massive-MIMO, and can also be diversity transmission, precoding transmission, or beamforming transmission, etc.

[0498] Those skilled in the art should understand that embodiments of the present disclosure can be provided as a method, a system, or a computer program product. Therefore, the present disclosure can take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present disclosure can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage, etc.) containing computer-usable program code.

[0499] The present disclosure is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present disclosure. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, and the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer executable instructions. These computer executable instructions can be provided to a general purpose computer, a special purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce a means for implementing the functions specified in one or more flows in the flowcharts and / or one or more blocks in the block diagrams.

[0500] These processor-executable instructions can also be stored in a processor-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart(s) or flowchart block or blocks and / or the function specified in the block diagram block or blocks.

[0501] 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 the flowchart(s) or flowchart block or blocks and / or the functions specified in the block diagram block or blocks.

[0502] Obviously, numerous modifications and variations of the present disclosure are possible in light of the above teachings. It is therefore to be understood that within the scope of the present disclosure, the present disclosure can be practiced otherwise than as specifically set out herein. Accordingly, any one of the modifications or variations above can be combined with any other of the modifications or variations above to produce yet further modifications and variations within the scope of the present disclosure.

Claims

1. A sensing method applied to a computing function entity, comprising: obtaining sensing signal related information, the sensing signal related information being related information obtained by a pair of sensing signal transceiving function entities transmitting a first sensing signal and / or a second sensing signal; and obtaining, based on the sensing signal related information, related information of a non-line-of-sight path between the pair of sensing signal transceiving function entities. The obtaining of the sensing signal related information comprises: receiving the sensing signal related information transmitted by the pair of sensing signal transceiving function entities; or receiving the sensing signal related information transmitted by at least one of the pair of sensing signal transceiving function entities. The sensing signal related information comprises one or more of: a transmission time of the first sensing signal; a transmission time of the second sensing signal; a receiving time of the first sensing signal transmitted via a line-of-sight path; a receiving time of the second sensing signal transmitted via the line-of-sight path; a receiving time of the first sensing signal transmitted via a non-line-of-sight path; a receiving time of the second sensing signal transmitted via the non-line-of-sight path; a time difference between the receiving time of the second sensing signal transmitted via the line-of-sight path and the transmission time of the first sensing signal; a time difference between the receiving time of the second sensing signal transmitted via the non-line-of-sight path and the transmission time of the first sensing signal; a time difference between the transmission time of the second sensing signal and the receiving time of the first sensing signal transmitted via the line-of-sight path; a time difference between the transmission time of the second sensing signal and the receiving time of the first sensing signal transmitted via the non-line-of-sight path; a time difference between two consecutive receiving times of the first sensing signal; a time difference between two consecutive receiving times of the second sensing signal; a time difference between the receiving time of the first sensing signal transmitted via the non-line-of-sight path and the receiving time of the first sensing signal transmitted via the line-of-sight path; a time difference between the receiving time of the second sensing signal transmitted via the non-line-of-sight path and the receiving time of the second sensing signal transmitted via the line-of-sight path; an order of the receiving time of the first sensing signal; an order of the receiving time of the second sensing signal; and a correlation between the receiving time of the first sensing signal and the receiving time of the second sensing signal.

2. The perception method of claim 1, wherein, The obtaining, based on the sensing signal related information, of the related information of the non-line-of-sight path between the pair of sensing signal transceiving function entities comprises: obtaining, based on related information of the first sensing signal and the second sensing signal transmitted via a same non-line-of-sight path in the sensing signal related information, the related information of the non-line-of-sight path between the pair of sensing signal transceiving function entities. The related information of the first sensing signal and the second sensing signal transmitted via the same non-line-of-sight path is determined in any one of the following manners: based on the order of the receiving time of the first sensing signal and the order of the receiving time of the second sensing signal; based on a time difference between two consecutive receiving times of the first sensing signal and a time difference between two consecutive receiving times of the second sensing signal. ​ 3. The perception method of claim 1 or 2, wherein, ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ 4. The perception method of claim 1, wherein, ​ ​ 5. The perception method of claim 4, wherein, ​ ​ ​ determine the correlation information of the first sensing signal and the second sensing signal transmitted via the same non-line-of-sight path based on a time difference between a receiving time of the first sensing signal transmitted via the non-line-of-sight path and a receiving time of the first sensing signal transmitted via the line-of-sight path, and a time difference between a receiving time of the second sensing signal transmitted via the non-line-of-sight path and a receiving time of the second sensing signal transmitted via the line-of-sight path; determine the correlation information of the first sensing signal and the second sensing signal transmitted via the same non-line-of-sight path based on a correlation relationship between a receiving time of the first sensing signal and a receiving time of the second sensing signal.

6. The perception method of claim 1, wherein, The method further comprises: determine the correlation information of the non-line-of-sight path between the pair of sensing signal transceiver function entities using the sensing signal correlation information based on the first information; the first information comprises one or more of: distance information of the line-of-sight path between the pair of sensing signal transceiver function entities; signal propagation time information of the line-of-sight path between the pair of sensing signal transceiver function entities; position information of the pair of sensing signal transceiver function entities; first indication information for indicating the existence of the line-of-sight path; second indication information for indicating the reception of the first sensing signal transmitted via the line-of-sight path; third indication information for indicating the reception of the second sensing signal transmitted via the line-of-sight path; fourth indication information for indicating that a first non-line-of-sight path through which the first sensing signal passes is a path between the pair of sensing signal transceiver function entities that passes through reflection or scattering of an object, the sensing signal correlation information comprises correlation information of the first sensing signal transmitted via the first non-line-of-sight path, and the non-line-of-sight path between the pair of sensing signal transceiver function entities comprises the first non-line-of-sight path; fifth indication information for indicating that a second non-line-of-sight path through which the second sensing signal passes is a path between the pair of sensing signal transceiver function entities that passes through reflection or scattering of an object, the sensing signal correlation information comprises correlation information of the second sensing signal transmitted via the second non-line-of-sight path, and the non-line-of-sight path between the pair of sensing signal transceiver function entities comprises the second non-line-of-sight path.

7. The perception method of claim 6, wherein, The determination of the correlation information of the non-line-of-sight path between the pair of sensing signal transceiver function entities using the sensing signal correlation information based on the first information comprises: obtain the correlation information of the line-of-sight path between the pair of sensing signal transceiver function entities based on the sensing signal correlation information; determine the correlation information of the non-line-of-sight path between the pair of sensing signal transceiver function entities using the sensing signal correlation information based on the correlation information of the line-of-sight path and the first information.

8. The perception method of claim 6, wherein, The determination of the correlation information of the non-line-of-sight path between the pair of sensing signal transceiver function entities using the sensing signal correlation information based on the first information is implemented in one or more of the following ways: the first information comprises the first indication information, and in the case that the computing function entity obtains the first indication information, the determination of the correlation information of the non-line-of-sight path between the pair of sensing signal transceiver function entities using the sensing signal correlation information is performed; The first information includes second indication information and / or third indication information, and in a case where the computing function entity acquires the second indication information and / or the third indication information, it is determined to use the sensing signal related information to obtain the related information of the non-line-of-sight path between the sensing signal transceiver function entity pairs. The first information includes fourth indication information, and in a case where the computing function entity acquires the fourth indication information, it is determined to use the sensing signal related information to obtain the related information of the first non-line-of-sight path. The first information includes fifth indication information, and in a case where the computing function entity acquires the fifth indication information, it is determined to use the sensing signal related information to obtain the related information of the second non-line-of-sight path.

9. The perception method of claim 1, wherein, The method further includes: Obtaining the position of the same sensing target based on the related information of a plurality of third non-line-of-sight paths; The plurality of third non-line-of-sight paths are signal transmission paths between different groups of sensing signal transceiver function entity pairs that reflect or scatter through the same sensing target, and the related information of the plurality of third non-line-of-sight paths includes the related information of the non-line-of-sight path between the sensing signal transceiver function entity pairs obtained based on the sensing signal related information.

10. The perception method of claim 1, wherein, The related information of the non-line-of-sight path between the sensing signal transceiver function entity pairs includes one or more of: Signal propagation time information of the non-line-of-sight path between the sensing signal transceiver function entity pairs; Signal transmission round trip time information of the non-line-of-sight path between the sensing signal transceiver function entity pairs; Distance information of the non-line-of-sight path between the sensing signal transceiver function entity pairs.

11. The perception method of claim 1, wherein, The method further includes: Determining the distance information of the non-line-of-sight path based on the related information of the non-line-of-sight path.

12. The perception method of claim 1, wherein, The sender of the first sensing signal and the second sensing signal is different.

13. A sensing method applied to a first sensing signal transceiver function entity, comprising: sending sensing signal related information to a computing function entity, the sensing signal related information being used to obtain the related information of the non-line-of-sight path between the first sensing signal transceiver function entity and a second sensing signal transceiver function entity; The sensing signal related information is the related information obtained by transmitting a first sensing signal and / or a second sensing signal between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity.

14. The perception method of claim 13, wherein, The sensing signal related information includes one or more of: The transmission time of the first sensing signal; The transmission time of the second sensing signal; The reception time of the first sensing signal transmitted through the line-of-sight path; The reception time of the second sensing signal transmitted through the line-of-sight path; The reception time of the first sensing signal transmitted through the non-line-of-sight path; The reception time of the second sensing signal transmitted through the non-line-of-sight path; The time difference between the reception time of the second sensing signal transmitted through the line-of-sight path and the transmission time of the first sensing signal; The time difference between the reception time of the second sensing signal transmitted through the non-line-of-sight path and the transmission time of the first sensing signal; The time difference between the transmission time of the second sensing signal and the reception time of the first sensing signal transmitted through the line-of-sight path; a time difference between a transmission time of the second sensing signal and a reception time of the first sensing signal transmitted via the non-line-of-sight path; a time difference between two consecutive reception times of the first sensing signal; a time difference between two consecutive reception times of the second sensing signal; a time difference between a reception time of the first sensing signal transmitted via the non-line-of-sight path and a reception time of the first sensing signal transmitted via the line-of-sight path; a time difference between a reception time of the second sensing signal transmitted via the non-line-of-sight path and a reception time of the second sensing signal transmitted via the line-of-sight path; an order of the reception times of the first sensing signal; an order of the reception times of the second sensing signal; a correlation between the reception times of the first sensing signal and the reception times of the second sensing signal.

15. The perception method of claim 13 or 14, wherein, The method further comprises: sending first information to the computing function entity, the first information being used to determine the information about the non-line-of-sight path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity using the sensing signal related information; the first information comprises one or more of: distance information of the line-of-sight path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity; signal propagation time information of the line-of-sight path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity; position information of the first sensing signal transceiver function entity and the second sensing signal transceiver function entity; first indication information indicating the existence of the line-of-sight path; second indication information indicating the reception of the first sensing signal transmitted via the line-of-sight path; third indication information indicating the reception of the second sensing signal transmitted via the line-of-sight path; fourth indication information indicating that a first non-line-of-sight path through which the first sensing signal passes is a path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity, reflecting or scattering through an object, the sensing signal related information comprises information about the transmission of the first sensing signal via the first non-line-of-sight path, and the non-line-of-sight path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity comprises the first non-line-of-sight path; fifth indication information indicating that a second non-line-of-sight path through which the second sensing signal passes is a path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity, reflecting or scattering through an object, the sensing signal related information comprises information about the transmission of the second sensing signal via the second non-line-of-sight path, and the non-line-of-sight path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity comprises the second non-line-of-sight path.

16. The perception method of claim 13, wherein, The method further comprises: transmitting the first sensing signal, or receiving the first sensing signal transmitted by the second sensing signal transceiver function entity; transmitting the second sensing signal, or receiving the second sensing signal transmitted by the second sensing signal transceiver function entity; obtaining the sensing signal related information based on the first sensing signal and / or the second sensing signal.

17. The perception method of claim 13, wherein, The relevant information of the non-line-of-sight path between the first and second sensing signal transceiver function entities includes one or more of the following: Signal propagation time information of the non-line-of-sight path between the first and second sensing signal transceiver function entities; Signal transmission round trip time information of the non-line-of-sight path between the first and second sensing signal transceiver function entities; Distance information of the non-line-of-sight path between the first and second sensing signal transceiver function entities.

18. A computing function entity comprising a memory, a transceiver, and a processor; The memory is configured to store a computer program; The transceiver is configured to transceive data under the control of the processor; The processor is configured to read the computer program in the memory and perform the following operations: Obtain sensing signal related information, the sensing signal related information being related information obtained by a pair of sensing signal transceiver function entities transmitting first and / or second sensing signals; Based on the sensing signal related information, obtain relevant information of a non-line-of-sight path between the pair of sensing signal transceiver function entities.

19. The computing function entity of claim 18, wherein, The obtaining of the sensing signal related information includes: Receiving the sensing signal related information transmitted by the pair of sensing signal transceiver function entities; or Receiving the sensing signal related information transmitted by at least one sensing signal transceiver function entity in the pair of sensing signal transceiver function entities.

20. The computing function entity of claim 18 or 19, wherein, The sensing signal related information includes one or more of the following: A transmission time of the first sensing signal; A transmission time of the second sensing signal; A reception time of the first sensing signal transmitted via a line-of-sight path; A reception time of the second sensing signal transmitted via a line-of-sight path; A reception time of the first sensing signal transmitted via a non-line-of-sight path; A reception time of the second sensing signal transmitted via a non-line-of-sight path; A time difference between the reception time of the second sensing signal transmitted via a line-of-sight path and the transmission time of the first sensing signal; A time difference between the reception time of the second sensing signal transmitted via a non-line-of-sight path and the transmission time of the first sensing signal; A time difference between the transmission time of the second sensing signal and the reception time of the first sensing signal transmitted via a line-of-sight path; A time difference between the transmission time of the second sensing signal and the reception time of the first sensing signal transmitted via a non-line-of-sight path; A time difference between two consecutive reception times of the first sensing signal; A time difference between two consecutive reception times of the second sensing signal; A time difference between the reception time of the first sensing signal transmitted via a non-line-of-sight path and the reception time via a line-of-sight path; A time difference between the reception time of the second sensing signal transmitted via a non-line-of-sight path and the reception time via a line-of-sight path; An order of the reception time of the first sensing signal; An order of the reception time of the second sensing signal; A correlation between the reception time of the first sensing signal and the reception time of the second sensing signal.

21. The computing function entity of claim 18, wherein, The obtaining of the relevant information of the non-line-of-sight path between the pair of sensing signal transceiver function entities based on the sensing signal related information includes: The correlation information of the first sensing signal and the second sensing signal transmitted through the same non-line-of-sight path is obtained based on the correlation information of the first sensing signal and the second sensing signal transmitted through the same non-line-of-sight path in the sensing signal correlation information.

22. The computing function entity of claim 21, wherein, The correlation information of the first sensing signal and the second sensing signal transmitted through the same non-line-of-sight path is determined in any one of the following ways: The correlation information of the first sensing signal and the second sensing signal transmitted through the same non-line-of-sight path is determined based on the order of the reception time of the first sensing signal and the order of the reception time of the second sensing signal; The correlation information of the first sensing signal and the second sensing signal transmitted through the same non-line-of-sight path is determined based on the time difference between the two consecutive reception times of the first sensing signal and the time difference between the two consecutive reception times of the second sensing signal; The correlation information of the first sensing signal and the second sensing signal transmitted through the same non-line-of-sight path is determined based on the time difference between the reception time of the first sensing signal transmitted through the non-line-of-sight path and the reception time of the first sensing signal transmitted through the line-of-sight path, and the time difference between the reception time of the second sensing signal transmitted through the non-line-of-sight path and the reception time of the second sensing signal transmitted through the line-of-sight path; The correlation information of the first sensing signal and the second sensing signal transmitted through the same non-line-of-sight path is determined based on the association relationship between the reception time of the first sensing signal and the reception time of the second sensing signal.

23. The computing function entity of claim 18, wherein, The operation further comprises: Based on the first information, it is determined that the correlation information of the sensing signal is used to obtain the correlation information of the non-line-of-sight path between the sensing signal transceiver function entity pair; The first information includes one or more of the following: Distance information of the line-of-sight path between the sensing signal transceiver function entity pair; Signal propagation time information of the line-of-sight path between the sensing signal transceiver function entity pair; Position information of the sensing signal transceiver function entity pair; First indication information for indicating the existence of the line-of-sight path; Second indication information for indicating that the first sensing signal transmitted through the line-of-sight path is received; Third indication information for indicating that the second sensing signal transmitted through the line-of-sight path is received; Fourth indication information for indicating that the first non-line-of-sight path through which the first sensing signal passes is a path between the sensing signal transceiver function entity pair that passes through a reflection or scattering of an object, the sensing signal correlation information includes the correlation information of the first sensing signal transmitted through the first non-line-of-sight path, and the non-line-of-sight path between the sensing signal transceiver function entity pair includes the first non-line-of-sight path; Fifth indication information for indicating that the second non-line-of-sight path through which the second sensing signal passes is a path between the sensing signal transceiver function entity pair that passes through a reflection or scattering of an object, the sensing signal correlation information includes the correlation information of the second sensing signal transmitted through the second non-line-of-sight path, and the non-line-of-sight path between the sensing signal transceiver function entity pair includes the second non-line-of-sight path.

24. The computing function entity of claim 23, wherein, The determining, based on the first information, of the non-line-of-sight path related information between the pair of sensing signal transceiving function entities using the sensing signal related information comprises: obtaining, based on the sensing signal related information, line-of-sight path related information between the pair of sensing signal transceiving function entities; determining, based on the line-of-sight path related information and the first information, the non-line-of-sight path related information between the pair of sensing signal transceiving function entities using the sensing signal related information.

25. The computing function entity of claim 23, wherein, The determining, based on the first information, of the non-line-of-sight path related information between the pair of sensing signal transceiving function entities using the sensing signal related information is implemented by one or more of the following manners: The first information comprises first indication information, and in a case where the computing function entity acquires the first indication information, the non-line-of-sight path related information between the pair of sensing signal transceiving function entities is determined using the sensing signal related information; The first information comprises second indication information and / or third indication information, and in a case where the computing function entity acquires the second indication information and / or the third indication information, the non-line-of-sight path related information between the pair of sensing signal transceiving function entities is determined using the sensing signal related information; The first information comprises fourth indication information, and in a case where the computing function entity acquires the fourth indication information, the related information of the first non-line-of-sight path is determined using the sensing signal related information; The first information comprises fifth indication information, and in a case where the computing function entity acquires the fifth indication information, the related information of the second non-line-of-sight path is determined using the sensing signal related information.

26. The computing function entity of claim 18, wherein, The operations further comprise: obtaining the position of the same sensing target based on the related information of a plurality of third non-line-of-sight paths; The plurality of third non-line-of-sight paths are signal transmission paths between different pairs of sensing signal transceiving function entities and reflected or scattered by the same sensing target, and the related information of the plurality of third non-line-of-sight paths comprises the non-line-of-sight path related information between the pair of sensing signal transceiving function entities based on the sensing signal related information.

27. The compute function entity of claim 18, wherein, The non-line-of-sight path related information between the pair of sensing signal transceiving function entities comprises one or more of the following: signal propagation time information of the non-line-of-sight path between the pair of sensing signal transceiving function entities; signal transmission round trip time information of the non-line-of-sight path between the pair of sensing signal transceiving function entities; distance information of the non-line-of-sight path between the pair of sensing signal transceiving function entities.

28. The compute function entity of claim 18, wherein, The operations further comprise: determining the distance information of the non-line-of-sight path based on the non-line-of-sight path related information.

29. The compute function entity of claim 18, wherein, The sender of the first sensing signal and the second sensing signal are different.

30. A first sensing signal transceiving function entity comprising a memory, a transceiver, and a processor; the memory is configured to store a computer program; the transceiver is configured to transceive data under the control of the processor; the processor is configured to read the computer program in the memory and perform the following operations: sending, to a computing function entity, sensing signal related information used to obtain related information of a non-line-of-sight path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity; The sensing signal related information is related information obtained by transmitting the first sensing signal and / or the second sensing signal between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity.

31. The first awareness signal transceiving function entity of claim 30, wherein, The sensing signal related information includes one or more of the following: a transmission time of the first sensing signal; a transmission time of the second sensing signal; a receiving time of the first sensing signal transmitted via the line-of-sight path; a receiving time of the second sensing signal transmitted via the line-of-sight path; a receiving time of the first sensing signal transmitted via the non-line-of-sight path; a receiving time of the second sensing signal transmitted via the non-line-of-sight path; a time difference between the receiving time of the second sensing signal transmitted via the line-of-sight path and the transmission time of the first sensing signal; a time difference between the receiving time of the second sensing signal transmitted via the non-line-of-sight path and the transmission time of the first sensing signal; a time difference between the transmission time of the second sensing signal and the receiving time of the first sensing signal transmitted via the line-of-sight path; a time difference between the transmission time of the second sensing signal and the receiving time of the first sensing signal transmitted via the non-line-of-sight path; a time difference between two consecutive receiving times of the first sensing signal; a time difference between two consecutive receiving times of the second sensing signal; a time difference between the receiving time of the first sensing signal transmitted via the non-line-of-sight path and the receiving time via the line-of-sight path; a time difference between the receiving time of the second sensing signal transmitted via the non-line-of-sight path and the receiving time via the line-of-sight path; an order of the receiving time of the first sensing signal; an order of the receiving time of the second sensing signal; a correlation between the receiving time of the first sensing signal and the receiving time of the second sensing signal.

32. The first perception signal transceiving function entity of claim 30 or 31, wherein, The operations further include: sending, to the computing function entity, first information used to determine related information of the non-line-of-sight path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity using the sensing signal related information; The first information includes one or more of the following: distance information of the line-of-sight path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity; signal propagation time information via the line-of-sight path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity; position information of the first sensing signal transceiver function entity and the second sensing signal transceiver function entity; first indication information indicating the existence of the line-of-sight path; second indication information indicating that the first sensing signal transmitted via the line-of-sight path is received; third indication information indicating that the second sensing signal transmitted via the line-of-sight path is received; The fourth indication information is used to indicate that the first non-line-of-sight path of the first sensing signal is a path reflected or scattered by an object between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity, the sensing signal related information comprises related information of the first sensing signal transmitted through the first non-line-of-sight path, and the non-line-of-sight path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity comprises the first non-line-of-sight path. The fifth indication information is used to indicate that the second non-line-of-sight path of the second sensing signal is a path reflected or scattered by an object between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity, the sensing signal related information comprises related information of the second sensing signal transmitted through the second non-line-of-sight path, and the non-line-of-sight path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity comprises the second non-line-of-sight path.

33. The first awareness signal transceiving function entity of claim 30, wherein, The operation further comprises: transmitting the first sensing signal or receiving the first sensing signal transmitted by the second sensing signal transceiver function entity; transmitting the second sensing signal or receiving the second sensing signal transmitted by the second sensing signal transceiver function entity; obtaining the sensing signal related information based on the first sensing signal and / or the second sensing signal.

34. The first awareness signal transceiving function entity of claim 30, wherein, The related information of the non-line-of-sight path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity comprises one or more of the following: signal propagation time information of the non-line-of-sight path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity; signal transmission round trip time information of the non-line-of-sight path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity; distance information of the non-line-of-sight path between the first sensing signal transceiver function entity and the second sensing signal transceiver function entity.

35. A sensing device, comprising: a first obtaining module configured to obtain sensing signal related information, the sensing signal related information being related information obtained by a pair of sensing signal transceiver function entities by transmitting a first sensing signal and / or a second sensing signal; a calculating module configured to obtain related information of a non-line-of-sight path between the pair of sensing signal transceiver function entities based on the sensing signal related information.

36. A sensing device, comprising: a sending module configured to send sensing signal related information to a computing function entity, the sensing signal related information being used to obtain related information of a non-line-of-sight path between a first sensing signal transceiver function entity and a second sensing signal transceiver function entity; wherein the sensing signal related information is related information obtained by the first sensing signal transceiver function entity and the second sensing signal transceiver function entity by transmitting a first sensing signal and / or a second sensing signal.

37. A non-transitory readable storage medium storing a computer program for causing a processor to execute the perception method of any one of claims 1 to 12, or the perception method of any one of claims 13 to 17.

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