Sensing method and apparatus

Abstract

A sensing method and apparatus. The method comprises: a network device receiving first information according to a first period, wherein the first information comprises location information of a terminal, the first period is related to a period of a first signal, and the first signal is used for sensing; and on the basis of the location information, the network device determining a transmission delay of the received first signal on a first transmission path, wherein the first transmission path is a transmission path on which the first signal is reflected, scattered or diffracted by a sensing target. In the embodiments of the present application, the network device can determine the transmission delay of the first signal on the first transmission path on the basis of the location information, instead of directly determining the transmission delay of the first signal on the first transmission path on the basis of a measurement result, which is equivalent to eliminating the impact caused by a timing offset when the transmission delay is determined, and improving the accuracy of the determined transmission delay, thereby improving the sensing accuracy.

Description

A sensing method and device

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411493409.1, filed on October 24, 2024, entitled "A Sensing Method and Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of communication technology, and in particular to a sensing method and apparatus. Background Technology

[0004] In sensing applications, such as environmental imaging or reconstruction, the position or shape of a target in the environment can be perceived by utilizing the reflection, scattering, or diffraction of signals transmitted by user equipment (UE) or base stations as they propagate through space. In sensing scenarios where the UE transmits signals and the base station receives them, the base station can determine information such as the transmission delay of the received signal, thereby determining the point cloud of the target. However, timing discrepancies may exist between the base station and the UE, leading to inaccurate transmission delay determination by the base station, thus reducing sensing accuracy. Summary of the Invention

[0005] This application provides a sensing method and apparatus to improve sensing accuracy. The sensing method and apparatus can also be considered a communication method and apparatus, or an integrated sensing and communication method and apparatus.

[0006] Firstly, a first sensing method is provided, which can be applied to a first device. The first device is, for example, a network-side device, also referred to as a network device. The network device is, for example, an access network device, or other device including access network device functions, or a circuit, or a system-on-a-chip (or chip), or other functional module capable of implementing the functions of the network device, and is, for example, disposed within the network device. The access network device can be a non-ORAN architecture or an ORAN architecture; or, the access network device can be a CU, DU, or RU under an ORAN architecture. The access network device is, for example, located on the ground, or the access network device is, for example, a satellite, or located on a satellite. In the following description, the first device is taken as a network device. The method includes: receiving first information according to a first period, the first information including the location information of a terminal, the first period being related to the period of a first signal used for sensing; determining, based on the location information, the transmission delay of the received first signal in a first transmission path, the first transmission path being the transmission path through which the first signal is reflected, scattered, or diffracted by the sensing target.

[0007] In this embodiment, the network device can determine the transmission delay of the first signal on the first transmission path based on location information, rather than directly based on measurement results. Determining the transmission delay based on location information eliminates the impact of timing deviations, improving the accuracy of the determined transmission delay and thus enhancing sensing precision. Furthermore, the terminal can report its location information according to a first cycle, ensuring the network device can promptly ascertain the terminal's location even when it is in motion.

[0008] In one optional implementation, the first period is the period of the first signal; or, the first period is an integer multiple of the period of the first signal. The first signal is transmitted, for example, according to a second period, and the network device can perform sensing for the first signal received within each second period. The location of the terminal may be fixed or may change. If, when performing sensing for the first signal within a certain second period, the network device uses first information received at other times (e.g., the first period corresponding to that other time is unrelated to the second period, for example, the first period does not include the second period, and / or the first period has no intersection with the second period) as a reference factor, then when the terminal transmits the first signal within that second period, the terminal's location may not be the location used as a reference factor by the network device, or the first signal within that second period may not correspond to the location information used as a reference factor by the network device. This could lead to a deviation in the sensing results of the network device. Therefore, in this embodiment of the application, the first period is associated with the second period. When the network device performs sensing on the first signal in a certain second period, it can use the first information in the first period associated with the second period as a reference factor. For example, when the terminal sends the first signal in the second period, the position of the terminal is likely to be the position of the network device as a reference factor, thereby improving the sensing accuracy.

[0009] In an optional implementation, the first information is further used to indicate the association between the location information and the period of the first signal, or to indicate the transmission time of the location information. Based on the indication of the first information, the network device can determine which second period of the first signal the location information is specifically associated with, thereby enabling the location information to be applied to sensing processes performed based on that first signal.

[0010] In one alternative implementation, the first signal is an SRS. Alternatively, the first signal can be any other uplink reference signal, without limitation.

[0011] In one optional implementation, determining the transmission delay of the first signal on the first transmission path based on the location information includes: determining the transmission delay of the first signal on the Loss of Space (LoS) path based on the location information; and determining the transmission delay of the first signal on the first transmission path based on the transmission delay of the first signal on the LoS path and a first delay difference, wherein the first delay difference is the delay difference between the first transmission path and the LoS path. This provides an optional implementation method for a network device to determine the transmission delay of the first signal on the first transmission path, but the embodiments of this application are not limited thereto.

[0012] In one alternative implementation, the first delay difference is determined based on the power delay spectrum corresponding to the first signal. For example, the power delay spectrum may include one or more peak powers, where each peak power may correspond to a transmission path, and the first transmission path is, for example, the transmission path corresponding to one of the peak powers.

[0013] In an optional implementation, the method further includes sending a request message, the request message being used to request the terminal to report the location information. The network device can send this request message to the terminal, thereby enabling the terminal to report the location information. For example, the terminal may not report location information if it does not receive the request, in order to save transmission overhead.

[0014] In an optional implementation, the method further includes: determining the point cloud of the sensing target based on the transmission delay of the first signal in the first transmission path. The network device determines the transmission delay of the first transmission path and can perform sensing accordingly, such as determining the point cloud of the sensing target; there are no restrictions on the implementation behavior of the network device.

[0015] Secondly, a second sensing method is provided, which can be applied to a second device. The second device is, for example, a terminal-side device, also referred to as a terminal device. This terminal device is, for example, a terminal equipment, or other equipment including terminal equipment functions, or a circuit, or a system-on-a-chip (or, a chip, such as a modem chip, also known as a baseband chip, or a system-on-a-chip (SoC) chip containing a modem core, or a system-in-package (SIP) chip) or other functional module, which can implement the functions of the terminal equipment, and is, for example, disposed within the terminal equipment. The method includes: transmitting first information according to a first cycle, the first information including the location information of the terminal, the first cycle being related to the cycle of a first signal used for sensing, wherein the location information is used to determine the transmission delay of the first signal in a first transmission path, the first transmission path being the transmission path of the first signal after reflection, scattering, or diffraction by the sensing target.

[0016] In one alternative implementation, the first period is the period of the first signal; or, the first period is an integer multiple of the period of the first signal.

[0017] In an optional implementation, the first information is further used to indicate the correlation between the location information and the period of the first signal, or to indicate the transmission time of the location information.

[0018] In one alternative implementation, the first signal is an SRS.

[0019] In one optional implementation, the method further includes: receiving request information, the request information being used to request the terminal to report the location information.

[0020] For the technical effects of the optional implementation methods of the second aspect, please refer to the introduction of the technical effects of the first aspect or corresponding implementation methods.

[0021] Thirdly, a third sensing method is provided, which can be applied to a sensing system, including terminals and network devices. For an introduction to terminals, please refer to the description of terminal devices in the second aspect; for an introduction to network devices, please refer to the first aspect. The method includes: the terminal transmitting first information according to a first cycle, the first information including the terminal's location information; the first cycle being related to the cycle of a first signal used for sensing; the network device receiving the first information according to the first cycle; and the network device determining, based on the location information, the transmission delay of the received first signal on a first transmission path, the first transmission path being the transmission path of the first signal after reflection, scattering, or diffraction by the sensing target.

[0022] In one alternative implementation, the first period is the period of the first signal; or, the first period is an integer multiple of the period of the first signal.

[0023] In an optional implementation, the first information is further used to indicate the correlation between the location information and the period of the first signal, or to indicate the transmission time of the location information.

[0024] In one alternative implementation, the first signal is an SRS.

[0025] In one optional implementation, the network device determines the transmission delay of the first signal on the first transmission path based on the location information, including: the network device determining the transmission delay of the first signal on the Loss Path based on the location information; the network device determining the transmission delay of the first signal on the first transmission path based on the transmission delay of the first signal on the Loss Path and a first delay difference, wherein the first delay difference is the delay difference between the first transmission path and the Loss Path.

[0026] In one optional implementation, the method further includes: the network device sending request information, the request information being used to request the terminal to report the location information.

[0027] In an optional implementation, the method further includes: a sensing network element sending a first request, the first request being used to request the execution of sensing and to request the terminal to report the location information; and the network device receiving the first request. For example, the sensing system may further include the sensing network element, such as an SF, SMF, or LMF.

[0028] For the technical effects of the optional implementation methods of the third aspect, please refer to the introduction of the technical effects of the first aspect or corresponding implementation methods.

[0029] Fourthly, an apparatus is provided. The apparatus can be the first apparatus described in the first aspect above. The apparatus possesses the functions of the first apparatus described above. For example, the apparatus is capable of implementing the functions described in the first aspect above. For instance, the apparatus includes modules, units, or means corresponding to performing the operations involved in the first aspect above. These modules, units, or means can be implemented through software, hardware, or a combination of software and hardware. The apparatus is, for example, a network device, or other device including network device functions, or a chip system (or chip or circuit) or other functional module capable of implementing the functions of a network device. This chip system or functional module is, for example, disposed within a network device. The network device includes, for example, core network equipment and / or access network equipment. In one optional implementation, the apparatus includes a baseband device and a radio frequency device. In another optional implementation, the apparatus includes a processing unit (sometimes also called a processing module) and a transceiver unit (sometimes also called a transceiver module). A transceiver unit can perform both sending and receiving functions. When the transceiver unit performs the sending function, it can be called a sending unit (sometimes also called a sending module), and when it performs the receiving function, it can be called a receiving unit (sometimes also called a receiving module). The sending unit and the receiving unit can be the same functional module, which is called the transceiver unit and can perform both sending and receiving functions; or, the sending unit and the receiving unit can be different functional modules, and the transceiver unit is a collective term for these functional modules.

[0030] In one optional implementation, the transceiver unit (or the receiving unit) is configured to receive first information according to a first period, the first information including the location information of the terminal, the first period being related to the period of a first signal, the first signal being used for sensing; the processing unit is configured to determine the transmission delay of the received first signal in a first transmission path based on the location information, the first transmission path being the transmission path of the first signal through reflection, scattering, or diffraction of the sensing target.

[0031] In an alternative embodiment, the device further includes a storage unit (sometimes also called a storage module), the processing unit being coupled to the storage unit and executing programs or instructions in the storage unit to enable the device to perform the functions of the first device described in the first aspect above.

[0032] Fifthly, an apparatus is provided. The apparatus can be the second apparatus described in the second aspect above. The apparatus possesses the functions of the second apparatus described above. For example, the apparatus is capable of implementing the functions described in the second aspect above. For instance, the apparatus includes modules, units, or means corresponding to the operations described in the second aspect above. These modules, units, or means can be implemented through software, hardware, or a combination of software and hardware. The apparatus is, for example, a terminal device, or other device including terminal device functions, or a chip system (or chip or circuit) or other functional module capable of implementing the functions of a terminal device. This chip system or functional module is, for example, disposed within a terminal device. In one optional implementation, the apparatus includes a baseband device and a radio frequency device. In another optional implementation, the apparatus includes a processing unit (sometimes also called a processing module) and a transceiver unit (sometimes also called a transceiver module). For details on the implementation of the transceiver unit, please refer to the relevant description in the fourth aspect.

[0033] In one optional implementation, the transceiver unit (or the sending unit) is configured to send first information according to a first cycle, the first information including the location information of the terminal, the first cycle being related to the cycle of a first signal, the first signal being used for sensing, wherein the location information is used to determine the transmission delay of the first signal in a first transmission path, the first transmission path being the transmission path of the first signal through reflection, scattering or diffraction of the sensing target.

[0034] In an alternative embodiment, the device further includes a storage unit (sometimes also called a storage module), the processing unit being coupled to the storage unit and executing programs or instructions in the storage unit to enable the device to perform the functions of the second device described in the second aspect above.

[0035] A sixth aspect provides an apparatus comprising a memory and one or more processors. The memory is used to store part or all of a computer program or instructions necessary for implementing the functions described in the first or third aspect above. The one or more processors are executable to carry out the computer program or instructions, such that, when executed, the apparatus implements the methods in any possible design or implementation of the first or third aspect above.

[0036] In one possible design, the device may further include interface circuitry, wherein the processor is configured to communicate with other devices or components via the interface circuitry.

[0037] In one possible design, the device may also include the memory.

[0038] The aforementioned device may be a network device, a communication module in a network device, or a chip in a network device that is responsible for communication functions, such as a modem chip (also known as a baseband chip) or a SoC or SIP chip that contains a modem module.

[0039] A seventh aspect provides an apparatus comprising a memory and one or more processors. The memory is used to store part or all of a computer program or instructions necessary for implementing the functions described in the second or third aspect above. The one or more processors are executable to carry out the computer program or instructions, such that, when executed, the apparatus implements the methods in any possible design or implementation of the second or third aspect above.

[0040] In one possible design, the device may further include interface circuitry, wherein the processor is configured to communicate with other devices or components via the interface circuitry.

[0041] In one possible design, the device may also include the memory.

[0042] The aforementioned device may be a terminal, or a communication module in the terminal, or a chip in the terminal responsible for communication functions such as a modem chip (also known as a baseband chip) or a SoC or SIP chip containing a modem module.

[0043] Eighthly, a sensing system is provided, including a network device. The network device is used to perform the method described in the first aspect, executed by the first means. For example, the network device can be implemented using the means described in the fourth or sixth aspect.

[0044] Optionally, the sensing system further includes a terminal for performing the method described in the second aspect by the second device. For example, the terminal can be implemented using the device described in the fifth or seventh aspect.

[0045] Optionally, the sensing system further includes a sensing network element, which is used to send the first request. For example, the sensing network element can be implemented using the means described in the fourth or sixth aspect.

[0046] A ninth aspect provides a computer-readable storage medium for storing a computer program or instructions that, when executed, cause the method performed by the first or second means in the preceding aspects to be implemented.

[0047] In a tenth aspect, a computer program product containing instructions is provided, which, when the computer program or instructions are run on a computer, causes the methods described in the above aspects to be implemented.

[0048] Eleventhly, a chip system is provided, including a processor and an interface, wherein the processor is configured to call and execute instructions from the interface to enable the chip system to implement the methods described above. Attached Figure Description

[0049] Figure 1A is a schematic diagram of the access network equipment structure under the ORAN architecture;

[0050] Figure 1B is a schematic diagram of one structure of the RAN chip;

[0051] Figures 2A and 2B are schematic diagrams of single-station sensing mode and dual-station sensing mode, respectively.

[0052] Figures 3 and 4 are schematic diagrams of two network architectures applied in the embodiments of this application;

[0053] Figures 5 and 9 are flowcharts of several sensing methods provided in the embodiments of this application;

[0054] Figure 6 shows an example of the first cycle and the second cycle in the embodiments of this application;

[0055] Figure 7 is a schematic diagram of a first time delay difference in an embodiment of this application;

[0056] Figure 8A is an exemplary flowchart of a network device determining the transmission delay of the first transmission path in an embodiment of this application;

[0057] Figure 8B is a schematic diagram of a network device determining the target point corresponding to the transmission path in an embodiment of this application;

[0058] Figure 10 is a schematic diagram of a device provided in an embodiment of this application;

[0059] Figure 11 is a schematic diagram of another device provided in an embodiment of this application. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0061] In this application embodiment, the number of nouns, unless otherwise specified, refers to "singular nouns or plural nouns," that is, "one or more." "At least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. For example, A / B means: A or B. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c means: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0062] The ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish multiple objects, and are not used to limit the size, content, order, timing, priority, or importance of the multiple objects. Furthermore, the numbering of steps in the various embodiments described in this application is only to distinguish different steps and is not used to limit the order in which the steps are performed.

[0063] The following explanations of some terms or concepts used in the embodiments of this application are provided to facilitate understanding by those skilled in the art.

[0064] In this embodiment, the terminal device is a device with wireless transceiver capabilities, which can be a fixed device, a mobile device, a handheld device (e.g., a mobile phone), a wearable device, an in-vehicle device, or a wireless device (e.g., a communication module, a modem, or a chip system, etc.) built into the aforementioned devices. The terminal device is used to connect people, objects, machines, etc., and can be widely used in various scenarios, including but not limited to the following: sensing scenarios, cellular communication, device-to-device (D2D) communication, vehicle-to-everything (V2X) communication, machine-to-machine / machine-type communications (M2M / MTC) communication, Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical care, smart grid, smart furniture, smart office, smart wearables, smart transportation, smart city, drones, robots, and indoor commercial scenarios (such as mobile phone screen mirroring, file sharing, and mobile phone to VR glasses video transmission). When the terminal equipment is applied to V2X, it can also be called a V2X device, such as a smart car, digital car, unmanned car, driverless car, pilotless car, or automobile, self-driving car, or autonomous car, pure electric vehicle (EV), hybrid electric vehicle (HEV), range-extended electric vehicle (REEV), plug-in hybrid electric vehicle (PHEV), new energy vehicle, or roadside unit (RSU). The terminal equipment can also be a device used in D2D communication, such as an electricity meter or water meter.

[0065] Furthermore, in this embodiment of the application, the terminal device can also be a terminal device in an Internet of Things (IoT) system. IoT is an important component of the future development of information technology. Its main technical feature is to connect objects to the network through communication technology, thereby realizing an intelligent network of human-machine interconnection and object-to-object interconnection.

[0066] The various terminal devices described above, if located in a vehicle (e.g., placed inside or installed inside a vehicle), can all be considered in-vehicle terminal devices, also known as on-board units (OBUs). The terminal device of this application can also be an in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit built into a vehicle as one or more components or units. The vehicle can implement the methods of this application through the built-in in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit.

[0067] The terminal equipment may sometimes be referred to as user equipment (UE), terminal, access station, UE station, remote station, wireless communication equipment, or user device, etc.

[0068] In this application embodiment, the device for implementing the terminal device function can be a terminal device, which can be a terminal device or a device capable of supporting the terminal device in implementing the function, such as a chip system. This device can be installed in the terminal device. In the technical solutions provided in this application embodiment, the example of a terminal device being used to implement the terminal device function is used to describe the technical solutions provided in this application embodiment.

[0069] The network devices in this application embodiment include, for example, access network devices (or access network elements) and / or core network devices (or core network elements). The access network devices are devices with wireless transceiver capabilities, used to communicate with the terminal devices. The access network devices include, but are not limited to, base stations (base transceiver stations, BTS, Node B, evolved Node B (eNodeB) / eNB, or the next generation Node B (gNodeB) / gNB), transmission reception points (TRPs), base stations evolved from the 3rd generation partnership project (3GPP), access nodes in wireless fidelity (Wi-Fi) systems, wireless relay nodes, wireless backhaul nodes, etc. The base stations can be: macro base stations, micro base stations, pico base stations, small cells, relay stations, etc. Multiple base stations can support networks using the same access technology or networks using different access technologies. A base station can contain one or more co-located or non-co-located transmission and reception points. The access network equipment can also be a radio controller, centralized unit (CU), and / or distributed unit (DU) in a cloud radio access network (CRAN) scenario. The access network equipment can also be a server, etc. For example, the network equipment in V2X technology can be a roadside unit (RSU). The following description uses a base station as an example to illustrate the access network equipment. A base station can communicate with a terminal device, or it can communicate with a terminal device through a relay station. A terminal device can communicate with multiple base stations in different access technologies. The core network equipment is used to implement functions such as mobility management, data processing, session management, policy and billing. The names of the equipment implementing core network functions may differ in systems using different access technologies; this application does not limit this.Taking the 5th generation (5G) mobile communication technology system as an example, the core network equipment includes, for example, access and mobility management function (AMF), session management function (SMF), policy control function (PCF), or user plane function (UPF), etc.

[0070] In a CU-DU architecture, or in an open RAN (ORAN) system, access network equipment can include one or more logical network elements such as a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). CUs and DUs can be separate entities or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio equipment or radio units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs). One possible structure for access network equipment is shown in Figure 1A. In this structure, core network equipment and access network equipment can communicate via a backhaul link; within the access network equipment, CUs and DUs can communicate via a midhaul link, and DUs and RUs can communicate via a fronthaul link.

[0071] Alternatively, another architecture for the access network device can be seen in Figure 1B, which illustrates an access network device implemented using a chip, such as a RAN chip. The RAN chip may include a CU, DU, and RU. The CU can perform L2 and L3 functions, etc.; the DU can perform L1 functions and some L2 functions, etc.; and the RU can perform L1 computation and radio frequency (RF) digital functions, etc. The CU communicates with the core network device via a backhaul interface, which carries the traffic between the CU and the core network device. The CU may include a central processing unit (CPU) based on x86 or ARM architecture, and may include a field-programmable gate array (FPGA), graphics processing unit (GPU), or other accelerators. The CPU can communicate with the FPGA, GPU, or other accelerators via a peripheral component interconnect express (PCIe) interface.

[0072] The CU and DU communicate via a midhaul interface, which carries the traffic between the CU and DU. The DU may include an x86 or ARM architecture CPU, as well as FPGAs, GPUs, or other accelerators, which can communicate with the FPGA, GPU, or other accelerators via a PCIe interface.

[0073] The DU and RU communicate via a fronthaul interface, which carries the traffic between the DU and RU. If the access network equipment uses an integrated DU, the integrated DU can include the functions of both the DU and RU, and the RAN may no longer need to include a separate RU. The RU may include a RAN fronthaul processing unit, a digital processing unit, and an RF processing unit. The RAN fronthaul processing unit is implemented, for example, using an FPGA or an application-specific integrated circuit (ASIC). The digital processing unit is implemented, for example, using an FPGA or an ASIC.

[0074] The RU can be connected to an antenna to communicate with the UE via the antenna.

[0075] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called an open CU (O-CU), DU can also be called an open DU (O-DU), CU-CP can also be called an open CU-CP (O-CU-CP), CU-UP can also be called an open CU-UP (O-CU-CP), and RU can also be called an open RU (O-RU). For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples in its embodiments. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in the embodiments of this application can be implemented through software modules, hardware modules, or a combination of software modules and hardware modules.

[0076] The CU and DU can be configured according to the protocol layer functions of the wireless network they implement. For example, the CU can be configured to implement the functions of the Packet Data Convergence Protocol (PDCP) layer and above (such as the Radio Resource Control (RRC) layer and / or the Service Data Adaptation Protocol (SDAP) layer); the DU can be configured to implement the functions of protocol layers below the PDCP layer (such as one or more of the Radio Link Control (RLC) layer, Media Access Control (MAC) layer, or Physical (PHY) layer). As another example, the CU can be configured to implement the functions of protocol layers above the PDCP layer (such as the RRC and / or SDAP layers), and the DU can be configured to implement the functions of protocol layers below the PDCP layer (such as one or more of the RLC, MAC, or PHY layers).

[0077] The above CU and DU configurations are merely examples; the functions of the CU and DU can be configured as needed. For instance, the CU or DU can be configured to have more protocol layer functions, or only some protocol layer processing functions. For example, some RLC layer functions and protocol layer functions above the RLC layer can be placed in the CU, while the remaining RLC layer functions and protocol layer functions below the RLC layer can be placed in the DU. Furthermore, the functions of the CU or DU can be divided according to service type or other system requirements, such as by latency. Functions that require low latency can be placed in the DU, while functions that do not require low latency can be placed in the CU.

[0078] DU and RU can cooperate to implement the functions of the PHY layer. A DU can be connected to one or more RUs. The functions of DU and RU can be configured in various ways depending on the design. For example, a DU can be configured to implement baseband functions, and an RU can be configured to implement mid-RF functions. Another example is that a DU can be configured to implement higher-level functions in the PHY layer, and an RU can be configured to implement lower-level functions in the PHY layer, or to implement both lower-level and RF functions. Higher-level functions in the physical layer can include a portion of the physical layer's functions that are closer to the MAC layer, while lower-level functions in the physical layer can include another portion of the physical layer's functions that are closer to the mid-RF side.

[0079] In this application embodiment, the apparatus for implementing the functions of a network device can be referred to as a network apparatus. This network apparatus can be a network element, a network device, or an apparatus capable of supporting the network device or network element in implementing the function, such as a chip system. This apparatus can be installed within the network device. In the technical solutions provided in this application embodiment, the apparatus for implementing the functions of a network device is described as a network apparatus (for example, an apparatus for implementing the functions of an access network apparatus is an access network apparatus, and an apparatus for implementing the functions of a core network apparatus is a core network apparatus).

[0080] A sensing signal is a signal used to sense (or detect) a target (or object). Sensing signals can also be called detection signals, linear frequency modulated signals, radar signals, radar sensing signals, radar detection signals, or environmental sensing signals, etc. Sensing signals can be pulse signals or signals from wireless communication systems. For example, a sensing signal can be an orthogonal frequency division multiplexing (OFDM) signal obtained by modulating a specific sequence on a subcarrier. This specific sequence can be any of the following sequences: Zadoff-Chu sequence (ZC sequence), pseudo-random sequence, or predefined sequence. Pseudo-random sequences include any of the following sequences: longest linear feedback shift register sequence (m-sequence) or Gold sequence. Predefined sequences can be, for example, random data symbols, such as random data symbols modulated by quadrature phase shift keying (QPSK) or quadrature amplitude modulation (QAM).

[0081] An echo signal is a signal generated when a sensed signal is reflected by a target. Both the echo signal and the sensed signal can reflect the parameters of the target. For example, the time delay of the echo signal relative to the sensed signal can reflect the distance of the target relative to the transmitter, and the Doppler shift of the echo signal relative to the sensed signal can reflect the velocity of the target.

[0082] Communication-sensing fusion signals, also known as synthetic-sensing fusion signals, synthetic signals, or integrated synthetic-sensing signals, are signals used for both communication and sensing. When used for communication, the fusion signal carries the communication data or reference signal sequence that needs to be transmitted between communication devices. When used for sensing, the fusion signal can be understood as being used to sense (or detect) targets.

[0083] For example, the signals used for sensing described herein (such as the first signal described below) may include sensing signals and / or synesthetic fusion signals, etc.

[0084] The target can be any tangible object in the environment that can reflect electromagnetic waves, such as mountains, forests, or buildings, and can also include mobile objects such as vehicles, drones, pedestrians, and terminal devices. The target can also be referred to as a sensing target, detection target, perceived target, detected target, perceived object, detected object, or sensed device, etc., and the embodiments of this application do not limit it.

[0085] For a long time, wireless sensing has been an independently developed technology. Sensing services are provided by various specialized sensing devices, such as conventional radar, lidar, computed tomography (CT), and magnetic resonance imaging (MRI). In 5G and earlier communication systems, positioning was the sensing service that mobile communication systems could provide. In future mobile communication systems, general sensing services other than positioning will be integrated into the communication system, becoming a completely new function, thereby opening up entirely new services, such as high-precision positioning, environmental reconstruction, and gesture and motion recognition.

[0086] Among them, sensing network elements can reconstruct the environment of a target area through means such as lasers, radars, or base stations. For example, sensing network elements can reconstruct the real physical environment based on the measurement results reported by devices such as lasers, radars, or base stations. For example, based on the measurement results, sensing network elements can reconstruct environmental information using methods such as scattering polygons to characterize various scattering objects in the environment, such as walls and furniture (also known as sensing targets, targets, or target objects).

[0087] For sensing, based on the different senders and receivers of the sensing signal, sensing modes can be divided into two types: single-site sensing and dual-site sensing. Single-site sensing mode, also known as self-transmitting and self-receiving mode, single-end sensing mode, or monocentric sensing mode, refers to the same device transmitting the sensing signal and receiving the echo signal reflected from the target, as shown in Figure 2A, where both the transmitting and receiving devices are device 1. Dual-site sensing mode, also known as A-transmitting and B-receiving mode or self-transmitting and other-receiving mode, refers to different devices transmitting the sensing signal and receiving the echo signal reflected from the target, as shown in Figure 2B, where the transmitting device is device 2 and the receiving device is device 3. Figures 2A and 2B both use a vehicle as an example of the sensing target. For example, in Figure 2A, device 1 is a base station or UE. In single-site sensing mode, device 1 transmits the sensing signal, and device 1 receives the echo signal generated by the reflection, scattering, or diffraction of the sensing signal by a sensing target in the environment (e.g., the vehicle in Figure 2A) for environmental sensing. For example, in Figure 2B, device 2 is a base station or UE, and device 3 is a base station or UE. In the dual-station sensing mode, device 1 sends a sensing signal, and device 2 receives the echo signal generated by the reflection, scattering or diffraction of the sensing signal by a scatterer in the environment (such as a vehicle in Figure 2B) to perform environmental sensing.

[0088] In a sensing scenario where the UE transmits signals and the base station receives signals, the base station can determine information such as the transmission delay of the received signal by measuring it, thereby determining the point cloud of the sensing target. However, there may be a timing deviation between the base station and the UE, which can lead to inaccurate transmission delay determined by the base station, thus reducing the sensing accuracy.

[0089] Therefore, in this embodiment of the application, the network device can determine the transmission delay of the first signal on the first transmission path based on location information, rather than directly determining the transmission delay of the first signal on the first transmission path based on measurement results. Determining the transmission delay based on location information is equivalent to eliminating the influence of timing deviation when determining the transmission delay, improving the accuracy of the determined transmission delay, and thus improving the sensing accuracy.

[0090] Referring to Figure 3, which is a schematic diagram of a potential sensing network architecture, Figure 3 is based on a 5G core network (5G core, 5GC). The network architecture shown in Figure 3 can also be an application scenario of an embodiment of this application.

[0091] In the architecture shown in Figure 3, a new sensing function (SF) network element has been added, which can also be simply referred to as the sensing network element. This SF can be a device or component that provides sensing functionality to the network; it can also be called a sensing management function (SMF), or have other names. This SF can be deployed on the core network side or the RAN side; Figure 3 shows an example of deployment on the core network. In the network architecture shown in Figure 3, the SF can reuse the interfaces between the location management function (LMF) and other 5GC network elements such as the AMF, network exposure function (NEF), unified data management (UDM), network data analytics function (NWDAF), and PCF for sensing interaction. Sensing signaling between the SF and the radio access network (RAN) or UE can be transmitted through the AMF; sensing measurement data acquired by the RAN or UE can be transmitted to the SF via the control plane, for example, by using the reused long term evolution (LTE) positioning protocol (LPP) or new radio (NR) positioning protocol annex (NRPPa) protocol, or it can be transmitted through the user plane, forwarded to the SF via the UPF, or directly transmitted to the SF.

[0092] The newly added SF in this network architecture can realize basic sensing functions, such as sensing authorization, sensing control, sensing measurement data processing, or result output. Specifically, interfaces are set up and interaction is established between the SF and 5GC network elements such as AMF, NEF, UDM, NWDAF, PCF, LMF, and UPF, as defined below.

[0093] NS1: A new interface between SF and AMF, which can transmit sensing and control signaling. Additionally, this interface can also transmit sensing measurement data in scenarios where sensing measurement data is uploaded to the control plane.

[0094] NS2: A new interface between SF and NEF. This interface can transmit signaling messages between sensing network elements relayed through NEF and application functions (AF) on the service side, and at the same time open the sensing results to the AF.

[0095] NS3: A new interface between SF and UDM. This interface can be used for authentication or authorization, and to obtain UE-aware subscription information, service AMF information, or other information.

[0096] NS4: A new interface between SF and NWDAF. Through this interface, SF and NWDAF can jointly complete artificial intelligence (AI) processing related to perception services.

[0097] NS5: A new interface between SF and PCF. Through this interface, SF can transmit information such as sensing requirements, quality of service (QoS) requirements, or sensing results of sensing services to PCF. PCF can then make decisions to generate policy control and charging (PCC) policies related to sensing services.

[0098] NS6: A new interface between SF and LMF. Through this interface, SF can obtain location-related information, such as the sensing area, the RAN information of the sensing target, and the location information of the sensed UE.

[0099] NS7: A new interface between SF and UPF. Sensing measurement data can be directly transmitted from (R)AN to SF via UPF, or indirectly forwarded to SF via UPF. In scenarios where (R)AN performs sensing, forwarding via UPF can improve the functionality of UPF to support data transmission at the (R)AN granularity.

[0100] In addition to the newly added interfaces mentioned above, existing interfaces (such as N1, N2, N5, N8, N33, etc.) can also support the transmission of information related to sensing services, such as authentication information, sensing service type, sensing service quality requirements, sensing measurement data, or sensing results, etc.

[0101] Figure 3 illustrates an example where the SF (Sensitive Detection) is an independent device. Alternatively, the SF and LMF (Local Management Detector) can be co-located, meaning the network element handling sensing services and the network element handling location services can be the same. Alternatively, the SF can be co-located with other core network elements, such as the AMF (Auxiliary Location Detector). The LMF is the core network element in the 5GC that provides control plane positioning. It can calculate and feedback location information in the 5G network, providing functions such as positioning process management, UE capability acquisition, auxiliary data provision, and UE location estimation. Optionally, if the SF and LMF are co-located, the LMF and the gateway mobile location center (GMLC) can be functionally enhanced to support basic sensing functions. The GMLC can be the first network element within the operator's network to process sensing requests, performing privacy checks or authorization functions, routing sensing requests to the AMF, or performing LMF selection, etc.

[0102] For example, if the SF and LMF are co-located, an additional interface can be added between the LMF and GMLC to transmit information related to awareness services, such as adding an NL9 interface. Additionally, interfaces related to the LMF and GMLC (such as one or more of the following: NL1 interface between AMF and LMF, NL2 interface between AMF and GMLC, NL5 interface between NEF and GMLC, or NL6 interface between UDM and GMLC) can also support the transmission of information related to awareness services, as detailed below.

[0103] N33: The interface between AF and NEF, through which information such as the type of sensing business, business requirements, and sensing results can be transmitted.

[0104] NL5: The interface between NEF and GMLC, through which information such as the type of sensing business, business requirements, and sensing results can be transmitted.

[0105] NL6: The interface between GMLC and UDM, through which privacy inspection data can be transferred.

[0106] NL2: The interface between NEF and AMF, through which information such as the perceived business type, business requirements, and perceived results can be transmitted.

[0107] NL1: The interface between AMF and LMF, through which information such as perceived business type, business requirements, and perceived results can be transmitted.

[0108] NL9: A new interface between GMLC and LMF, through which information such as the type of sensing business, business requirements, and sensing results can be transmitted.

[0109] Referring again to Figure 4, which is a schematic diagram of another potential sensing network architecture based on 5GC, the network architecture shown in Figure 4 can also be another application scenario of the embodiments of this application.

[0110] In the network architecture shown in Figure 4, the SF (Sensitive Detection) is relatively independent of the existing core network elements. The SF does not need to interact with the core network elements, or only needs to perform minimal interaction. For scenarios where there is only a sensing requirement within a specific area, or scenarios where there is only a sensing requirement, this network architecture can provide sensing services without requiring 5GC control or only requiring some network elements to participate in control. Furthermore, by deploying the SF locally, sensing measurement data or results can remain within the campus, thus meeting the enterprise's requirements for the security and privacy of sensing measurement data or results, and reducing sensing latency. This network architecture is relatively simple, flexible, efficient, has few transmission nodes, and is easy to deploy. Optionally, this network architecture can support UE-related sensing requirements, and implementation schemes for functions such as authorization, mobility management, and billing can be considered as needed.

[0111] In this network architecture, the SF can directly establish a connection with the RAN node. Control plane sensing signaling and user plane sensing measurement data can be transmitted via the newly defined interface NS1. When the UE participates in sensing, control plane signaling can be forwarded to the SF via the AMF, and sensing measurement data can be transmitted via NS1. Furthermore, there can also be an interface between the SF and 5GC network elements (such as AMF, NEF, or NWDAF) to control the AF to provide sensing service requirements to the SF through core network functions. The interface between the SF and 5GC network elements is described below.

[0112] NS1: A new interface between the SF and (R)AN, which can transmit sensing control signaling or sensing measurement data. In one implementation, the SF can also be deployed on the RAN side; for example, the SF can be co-located with access network devices (e.g., base stations), or the SF can be a standalone device within the access network.

[0113] NS2: A new interface that may be added between SF and AMF. This interface can receive awareness service requirements from UE, or transmit signaling between SF and other network elements in the core network, such as transmitting interaction messages between SF and UDM.

[0114] NS3: A potential new interface between SF and NEF. This interface can transmit signaling between SF and the service-side AF via NEF, and can also expose the sensing results to the AF. The interaction between SF and AF may not go through NEF. In actual deployment, NS2 and NS3 may be chosen as one of the two options. That is, the AF can send sensing service requests indirectly to SF or directly to SF (without NEF) via NS2 (NEF); or, the AF can send sensing service requests to SF via N33 (NEF) and NS2 (AMF).

[0115] NS4: A potential new interface between SF and NWDAF, through which SF and NWDAF can jointly perform intelligent analysis and prediction to generate perception results.

[0116] Figure 3 or Figure 4 both use a network that includes SF as an example. Alternatively, the network may not include SF, but rather other network elements implement the sensing-related functions, such as AMF and / or LMF.

[0117] The technical solutions provided in this application can be applied to fourth-generation (4G) mobile communication systems, such as LTE systems, or to 5G systems, such as NR systems, or to next-generation mobile communication systems or other similar communication systems, such as 6G systems, or to existing satellite mobile communication technology systems. No specific limitations are imposed. For example, Figures 3 and 4 are based on 5G. In addition, SF can also be deployed in other networks, such as 6G networks, or other future communication networks.

[0118] The embodiments of this application can be applied to the scenarios shown in Figure 2B, Figure 3 or Figure 4, or they can also be used in other scenarios, such as any scenario involving sensing services.

[0119] The method provided in the embodiments of this application is described below with reference to the accompanying drawings. In various embodiments of this application, the signal used to implement the sensing function or sensing service is referred to as the sensing signal. The sensing signal is transmitted through reflection, scattering, or diffraction, etc. The sensing device (e.g., a network device) can determine the relevant characteristics of the sensing target based on the received sensing signal, such as estimating time delay, Doppler, or angular spectrum information based on the received sensing signal to determine information such as the distance, angle, or velocity of the sensing target. In addition, the network device can also send measurement results to the sensing network element, such as the point cloud, distance, angle, or velocity information of the sensing target. In various embodiments of this application, the non-line-of-sight (NLoS) path is, for example, a scattering path, a reflection path, or a diffraction path. In the accompanying drawings corresponding to the various embodiments of this application, all steps indicated by dashed lines are optional steps.

[0120] The various embodiments described herein can be applied to the network architectures shown in Figures 2B, 3, or 4. For example, the network device described in the various embodiments of this document can be device 3 shown in Figure 2B, and the UE described in the various embodiments of this document can be device 2 shown in Figure 2B. As another example, the network device described in the various embodiments of this document can be (R)AN shown in Figure 3 or 4; and the UE described in the various embodiments of this document can be the UE shown in Figure 3 or 4.

[0121] This application provides a sensing method, please refer to Figure 5, which is a flowchart of the method.

[0122] S501, the UE sends the first information according to the first cycle. Correspondingly, the network device receives the first information according to the first cycle.

[0123] Optionally, if the network device is a network device under the ORAN architecture, such as the network device including an RU, or the network device being an RU, then the first information can be received by the RU.

[0124] Optionally, the method may further include S502, in which the network device sends a request message, and the UE receives the request message accordingly. S502 occurs, for example, before S501. The request message, for example, requests the UE to report location information. Optionally, the request message may be included in a sensing measurement request, which can configure reference signal resources for the UE, and the UE can send a first signal based on the reference signal resources. Optionally, if the network device is a network device under an ORAN architecture, for example, if the network device includes an RU, or if the network device is an RU, then the request message may be sent by the RU.

[0125] The first piece of information may include the UE's location information, such as its coordinates. Optionally, the coordinate information may include one or more of the UE's longitude, latitude, or altitude. The UE's location may be fixed or may change. By transmitting its location information according to the first cycle, the UE can enable network devices to know the UE's latest location, which helps improve sensing accuracy. Optionally, the UE can determine its location information based on methods such as Global Positioning System (GPS), Real-time Kinematic (RTK), or Inertial Navigation System.

[0126] The first period can be related to the period of the first signal, which is a signal used for sensing. For example, the first signal may include a sensing signal and / or a synesthetic fusion signal. Therefore, the embodiments of this application do not limit the type or function of the first signal. Thus, the method provided in the embodiments of this application can be a "sensing method," a "communication sensing method," a "synesthetic fusion method," or an "integrated sensing and communication (ISAC) method," etc. The type or name of the method provided in the embodiments of this application is not limited.

[0127] Optionally, the first signal may be, for example, a channel sounding reference signal (SRS), or it may be other signals used for sensing, such as a demodulation reference signal (DMRS).

[0128] The first signal can be a periodically transmitted signal, for example, the period of the first signal is the second period. The first period is related to the second period; for example, one implementation is that the first period is the second period, or the first period and the second period are the same. For the first period to be the same as the second period, or the first period being the second period, it can be understood that the duration of the first period and the second period are the same. For example, the duration of both the first period and the second period is 40 milliseconds (ms), or both are 80 ms, etc. Optionally, the first period and the second period can overlap in the time domain; for example, the start time of the first period and the duration of the second period are the same.

[0129] Alternatively, the first cycle can be related to the second cycle. For example, another implementation is that the first cycle is an integer multiple of the second cycle, such as a positive integer multiple of the second cycle. This can be understood as the duration of the first cycle being an integer multiple of the duration of the second cycle; for example, the first cycle is 80ms and the second cycle is 40ms. Optionally, the start time of the first cycle can be aligned with the start time of the second cycle; for example, one first cycle may contain N second cycles, where N is a positive integer.

[0130] Optionally, the UE's location information (or, first information) may be associated with the second period, and / or the UE's location information (or, first information) may be associated with the first signal. This can be understood as the first signal transmitted by the UE within a certain second period being associated with the first information of that second period, or with the first information within the first period associated with that second period. The first information associated with a certain second period is, for example, the first information of the current first period that includes the second period, or the first information of the current first period that intersects with the second period. The first period associated with a certain second period is, for example, the first period that includes the second period, or the first period that intersects with the second period. For example, referring to Figure 6, an example of a first period and a second period is shown, which includes four second periods and two first periods. Figure 6 uses the example where the start time of the first period is aligned with the start time of the second period, and the duration of the first period is twice the duration of the second period. In Figure 6, the first period associated with second period a and second period b is both first period a; the first period associated with second period c and second period d is both first period b. Alternatively, in Figure 6, the first information associated with the first signal in the second period a and the first signal in the second period b are all the first information in the first period a; the first information associated with the first signal in the second period c and the first signal in the second period d are all the first information in the first period b. For example, a first signal transmitted by the UE in the second period a or the second period b can be associated with the first information transmitted by the UE in the first period a; a first signal transmitted by the UE in the second period c or the second period d can be associated with the first information transmitted by the UE in the first period b. This association can be used by network devices to perform sensing. For example, if a network device performs sensing using a first signal received in a certain second period, it can use the first information in the first period associated with that second period as a reference factor.

[0131] The first signal is transmitted according to the second cycle, and the network device can perform sensing for the first signal received in each second cycle. The UE's position may be fixed or it may change. If, when performing sensing for the first signal in a certain second cycle, the network device uses first information received at other times (e.g., the first cycle corresponding to that other time is unrelated to the second cycle, or the first cycle does not include the second cycle, and / or the first cycle and the second cycle have no overlap) as a reference factor, then when the UE transmits the first signal in that second cycle, the UE's position may not be the position used as a reference factor by the network device, or the first signal in that second cycle may not correspond to the position information used as a reference factor by the network device. This could lead to deviations in the network device's sensing results. Therefore, this application embodiment associates the UE's position information with the second cycle, and / or associates the UE's position information with the first signal. Thus, when performing sensing for the first signal in a certain second cycle, the network device can use the first information in the first cycle associated with that second cycle as a reference factor. For example, when the UE transmits the first signal in that second cycle, the UE's position is highly likely to be the position used as a reference factor by the network device, thereby improving sensing accuracy.

[0132] The network device can determine the association between the UE's location information and the second cycle, and / or the association between the UE's location information and the first signal, based on the UE's instructions. Optionally, the first information may also indicate the association between the UE's location information and the second cycle, and / or the first information may also indicate the transmission time of the location information. Based on the indication of the first information, the network device can determine which second cycle or which second signal the currently received location information is specifically associated with. For example, the first information may include a timestamp, which may indicate the association between the UE's location information and the second cycle, and / or indicate the transmission time of the location information.

[0133] S503. The network device determines the transmission delay of the first signal on the first transmission path based on the location information. The first transmission path can be the transmission path of the first signal after it is emitted, through reflection, scattering, or diffraction by a sensing target in the environment.

[0134] Optionally, this embodiment may further include S504, whereby the UE sends a second signal, and correspondingly, the network device receives the first signal. Optionally, if the network device is a network device under an ORAN architecture, for example, the network device includes an RU, or the network device is an RU, then the first signal can be received by the RU.

[0135] S504 occurs, for example, before S503. S504 can occur before S501, after S501, or simultaneously with S501. The first signal can be the signal of the second signal after reflection, scattering, or diffraction by a sensing target in the environment; for example, the first signal can be the echo signal of the second signal. Optionally, the first signal and the second signal are the same signal, but after reflection, scattering, or diffraction by the sensing target, the transmission path of the first signal may have changed compared to the second signal, hence it is called the first signal. It can also be understood that the UE sends the first signal, and the network device receives the first signal, but the first signal received by the network device is the signal of the first signal sent by the UE after reflection, scattering, or diffraction by the sensing target.

[0136] As an optional implementation method for a network device to determine the transmission delay of a first signal on a first transmission path based on the location information, the network device can determine the transmission delay of the first signal on the line-of-sight (LoS) path based on the location information; based on the transmission delay of the first signal on the LoS path and a first delay difference, the network device can determine the transmission delay of the first signal on the first transmission path. Here, the first delay difference is the delay difference between the first transmission path and the LoS path; for example, the first delay difference can also be called the additional propagation delay difference, etc., and the name is not limited.

[0137] For example, based on the location information of the UE and the network device, the network device can determine the transmission delay of the direct path (e.g., the Loss of Spectrum) between the UE and the network device. This is the transmission delay of the first signal on that Loss of Spectrum path. Additionally, the network device can measure the first signal and determine its corresponding power delay profile (PDP). This PDP may include one or more peak powers, each peak power corresponding to a transmission delay, and each transmission delay also corresponding to a transmission path of the first signal. For example, among the peak powers included in the PDP, the transmission path corresponding to the peak power with the smallest transmission delay can be a Loss of Spectrum path. All other transmission paths corresponding to peak powers with other transmission delays are non-line-of-sight (NLoS) paths; for example, the first transmission path could be one of these NLoS paths. The first sensing device can determine the delay difference between part or all of the transmission delay corresponding to the NLoS path and the transmission delay corresponding to the LoS path. For example, the first sensing device can determine a total of Q delay differences, which correspond to Q NLoS paths of the first signal, where Q is a positive integer. For example, these Q delay differences include a first delay difference, which is the delay difference between the transmission delay of the first transmission path in the PDP and the transmission delay of the LoS path. For example, referring to Figure 7, there is an example of a first delay difference. The transmission delay of the first signal in the first transmission path is generally greater than the transmission delay of the first signal in the LoS path, and the first delay difference reflects this difference. In Figure 7, the solid lines represent transmission paths of LoS, and the dashed lines represent transmission paths of NLoS.

[0138] Because of timing discrepancies between the network device and the UE, the transmission delay of the NLoS path included in the PDP may be inaccurate. For example, the transmission delay corresponding to the first transmission path in the PDP may not be accurate. However, the delay difference between the transmission delay of the NLoS path and the transmission delay of the LoS path reflected by the PDP corresponds to the timing on the network device side, and is therefore relatively accurate. Therefore, this embodiment of the application can utilize this delay difference to determine the transmission delay of the NLoS path. Taking the first transmission path as an example, the network device can determine the transmission delay of the first signal in the first transmission path based on the transmission delay of the first signal in the LoS path and the first delay difference. For example, the network device can add the transmission delay of the first signal in the LoS path and the first delay difference; the sum is the transmission delay of the first signal in the first transmission path.

[0139] As another optional implementation for the network device to determine the transmission delay of the first signal on the first transmission path based on the location information, the network device can determine the transmission delay of the first signal on the LoS path based on the location information; determine correction information based on the transmission delay of the first signal on the LoS path; and determine the transmission delay of the first signal on the first transmission path based on the correction information and the corresponding transmission delay of the first transmission path in the PDP. Optionally, the correction information may indicate a second delay difference, which may be, for example, the delay difference between the transmission delay of the LoS path in the PDP and the transmission delay of the LoS path determined by the network device based on the UE's location information.

[0140] For example, based on the location information of the UE and the network device, the network device can determine the transmission delay of the direct path (e.g., the Loss of Speed ​​path) between the UE and the network device. This is the transmission delay of the first signal on that Loss of Speed ​​path. Additionally, the network device can measure the first signal and determine the PDP corresponding to it. This PDP may include one or more peak powers, each peak power corresponding to a transmission delay, and each transmission delay also corresponding to a transmission path of the first signal. For example, among the peak powers included in the PDP, the transmission path corresponding to the peak power with the smallest transmission delay can be a Loss of Speed ​​path. Other transmission paths corresponding to peak powers with other transmission delays are non-NLoS paths; for example, the first transmission path could be one of the NLoS paths. The first sensing device determines a second delay difference, which is the difference between the transmission delay of the Loss-of-Sight (LoS) path in the PDP and the transmission delay of the LoS path determined by the network device based on the UE's location information. Alternatively, it can be understood as the difference between the transmission delay of the LoS path in the PDP and the actual transmission delay of that LoS path. Therefore, the second delay difference also reflects the difference between the transmission delay of any NLoS path in the PDP and the actual transmission delay of that NLoS path. Thus, the network device can determine the transmission delay of the first signal in the first transmission path based on the second delay difference and the transmission delay of the first transmission path in the PDP. For example, the network device can add the second delay difference to the transmission delay of the first transmission path in the PDP; the sum is the transmission delay of the first signal in the first transmission path.

[0141] Referring to Figure 8A, one processing flow for a network device to determine the transmission delay of a first transmission path is illustrated. For example, the network device measures a first signal and can determine the transmission delays corresponding to multiple transmission paths, i.e., the transmission delays corresponding to multiple peak powers in the PDP (i.e., "multipath extraction" in Figure 8A). The first path refers to the transmission path with the smallest corresponding transmission delay among these multiple transmission paths, i.e., the Loss-of-Sight (LoS) path. The network device determines the transmission delay of the LoS path based on the UE's location information; this transmission delay can be understood as the actual transmission delay of the LoS path. The network device determines correction information based on this actual transmission delay and the transmission delay corresponding to the LoS in the PDP. Based on this correction information and the transmission delays corresponding to other NLoS paths in the PDP, the network device can determine the transmission delay of the NLoS path. The network device can perform sensing imaging on the perceived target based on the transmission delays of each NLoS path (e.g., the network device can determine the point cloud of the perceived target based on the transmission delays of each NLoS path; this process can be considered a sensing imaging process), etc.

[0142] Optionally, the method may further include S505, whereby the network device determines the point cloud of the perceived target based on the transmission delay of the first signal on the first transmission path. For example, the network device can determine the transmission delay of part or all of the NLoS path of the first signal according to the method provided in the embodiments of this application, and the network device can determine one or more transmission delays. The first transmission path is, for example, one of the NLoS paths. The network device can determine the point cloud of the perceived target based on the one or more transmission delays. For example, the network device can determine the point cloud of the perceived target based on the one or more transmission delays and information such as the angle of arrival of each of the transmission paths corresponding to the one or more transmission delays. The angle of arrival of a transmission path includes, for example, the horizontal angle of arrival (AoA) and / or the vertical angle of arrival (ZoA) of the transmission path.

[0143] Network devices determine the point cloud of a sensed target based on one or more transmission delays. For example, the network device determines the target point corresponding to one or more NLoS paths based on the one or more transmission delays, and then determines the point cloud of the sensed target based on the target point. The following describes an optional method for a network device to determine the target point corresponding to an NLoS path, where the coordinates of the target point are, for example, (x0, y0), and the NLoS path is, for example, a reflection path.

[0144] Please refer to Figure 8B. Assume the network device can communicate with UE1 and U2 (Figure 8B uses an access network device as an example). For instance, the access network device and UE1 can use a bi-site sensing mode for sensing. UE1 sends a signal, which can reach the access network device through scattering, reflection, or diffraction from the sensing target (Figure 8B uses reflection as an example). The access network device receives and measures this signal; that is, the access network device measures the signal arriving through the reflection path between UE1 and the access network device. Alternatively, the access network device and UE2 can also use a bi-site sensing mode for sensing. UE2 sends a signal, which can reach the access network device through scattering, reflection, or diffraction from the sensing target (Figure 8B uses reflection as an example). The access network device receives and measures this signal; that is, the access network device measures the signal arriving through the reflection path between UE2 and the access network device. For example, the coordinates of the first sensing device are (x, y), the coordinates of UE1 are (x1, y1), and the coordinates of UE2 are (x2, y2). In addition, besides the path of reflection, scattering, or diffraction from the sensing target, the signal transmitted by UE1 also has a direct path (e.g., a LoS path) to reach the access network device; besides the path of reflection, scattering, or diffraction from the sensing target, the signal transmitted by UE2 also has a direct path (e.g., a LoS path) to reach the access network device. These two direct paths are shown by the dashed arrows in Figure 8B.

[0145] in, This indicates the distance of the direct path between UE1 and the access network equipment. This indicates the distance of the direct path between UE2 and the access network equipment. This represents the distance along the reflection path of UE1 from the sensed target to the access network device. This represents the distance traveled by UE2 after being reflected from the sensing target to the access network equipment. This indicates the distance from UE1 to the perceived target. d represents the distance from UE1 to the perceived target. BS,S This represents the distance from the sensing target to the access network device (e.g., the distance from (x0, y0) on the sensing target to the access network device). α0-α1 represents the angle between the reflection path corresponding to UE1 and the direct path corresponding to UE1, and α0-α2 represents the angle between the reflection path corresponding to UE2 and the direct path corresponding to UE1.

[0146] Optionally, the access network device can determine the location information of UE1. Access network equipment according to It can be confirmed The access network equipment can determine the location of UE2 based on its location information. Access network equipment according to It can be confirmed The access network device can determine the distance difference between the reflected path and the direct path corresponding to UE1 based on the distance of the direct path and the distance of the reflected path corresponding to UE1. This distance difference is expressed as... The access network device can determine the distance difference between the reflected path and the direct path corresponding to UE2 based on the distance of the direct path and the distance of the reflected path corresponding to UE2. This distance difference is expressed as... Furthermore, the access network device can obtain α0-α1 by measuring the signal from UE1, for example, through angle estimation techniques; and it can obtain α0-α2 by measuring the signal from UE2, for example, through angle estimation techniques. Based on the obtained parameters, the access network device can determine (x0, y0).

[0147] For example, according to the Law of Cosines, we have the following Formula 1 and / or Formula 2:

[0148] Access network equipment can be based on d can be determined by one or more of the terms α0-α1. BS,S For example, d BS,S The following relationship must be satisfied:

[0149] Alternatively, the access network device can... d is determined by one or more of Δd2 or α0-α2. BS,S For example, d BS,S The following relationship must be satisfied:

[0150] Furthermore, the access network device can determine (x0, y0), for example, (x0, y0) satisfies the following relationship:

[0151] Where (x0,y0) can be the target point corresponding to the reflection path between UE1 and the access network device, or it can be the target point corresponding to the reflection path between UE2 and the access network device.

[0152] The following describes another optional method for network devices to determine the target point corresponding to an NLoS path, such as a scattering path. For example, the coordinates of the target point corresponding to this scattering path satisfy the following relationship:

[0153] in, This represents the coordinates of the target point. Represents the coordinates of the network device. θ l Indicate the scattering path AoA, φ l This represents the ZoA of the scattering path. ρ lThe following relationship must be satisfied:

[0154] a l a represents the major axis of the ellipse corresponding to the scattering path. l The following relationship must be satisfied:

[0155] d l This indicates the transmission delay of the scattering path. The transmission delay of the scattering path can be determined by the network device according to the method provided in the embodiments of this application. For example, the network device can determine the transmission delay of the scattering path based on the location information of the UE. For specific methods, please refer to the preceding text.

[0156] e l e represents the eccentricity of the ellipse corresponding to the scattering path. l The following relationship must be satisfied:

[0157] d represents the distance between the network device and the UE. For example, the network device can determine d based on the UE's location information.

[0158] cosβ represents the cosine of the angle between the direction of the UE relative to the network device and the direction of the echo signal (e.g., the first signal) on the scattering path relative to the network device. Here, β can be replaced by φ. l or θ l Therefore, we can substitute this into Equation 6. The cosβ satisfies the following relationship:

[0159] express The transpose of θ0. θ0 represents the AoA of the LoS path between the network device and the UE, and φ0 represents the ZoA of the LoS path.

[0160] The principle behind the above formula is the polar coordinate equation of an ellipse. Because the target point corresponding to the scattering path can be determined by ranging, it is located on an ellipsoid with the positions of the network device and the UE as its foci. The major axis of the ellipsoid is half the transmission delay of the scattering path, and the focal length of the ellipsoid is half the distance between the network device and the UE.

[0161] It is evident that regardless of whether the NLoS path is a scattering path or a reflection path, the network device can determine the target point corresponding to the NLoS path, thereby determining the point cloud of the perceived target.

[0162] Optionally, the method may further include S506, whereby the network device sends a point cloud of the perceived target, and correspondingly, the sensing network element receives the point cloud. Optionally, if the network device is a network device under an ORAN architecture, for example, if the network device includes a CU, or if the network device is a CU, then the point cloud may be sent by the CU.

[0163] The sensing network element can perform sensing based on the point cloud, such as reconstructing the sensing target based on the point cloud. This sensing network element could be, for example, a SF (Sensitive Element), or other network elements capable of sensing functions, such as an LMF (Learning Element Filter).

[0164] Optionally, this application embodiment uses a dual-site sensing scenario where the UE transmits signals and the network device measures signals as an example. However, this application embodiment can also be applied to dual-site sensing scenarios where the network device transmits signals and the UE measures signals. For example, when applying this application embodiment to a dual-site sensing scenario where the network device transmits signals and the UE measures signals, S501 can be executed by the network device, S502 by the UE, S503 by the UE, S504 by the network device, and S505 and S506 by the UE. Optionally, in this dual-site sensing scenario, the first signal can be, for example, a channel state information reference signal (CSI-RS), a synchronization signal and physical broadcast channel (PBCH) block (SSB), or a positioning reference signal (PRS), or other signals used for sensing, such as a demodulation reference signal (DMRS).

[0165] In this embodiment, the network device can determine the transmission delay of the first signal on the first transmission path based on location information, rather than directly based on measurement results. Determining the transmission delay based on location information eliminates the influence of timing deviations, improving the accuracy of the determined transmission delay and thus enhancing sensing precision.

[0166] To better understand the technical solutions of the embodiments of this application, other embodiments are described below. The embodiments shown in FIG9 below can be understood as several examples of the embodiments shown in FIG5. For example, the embodiments shown in FIG9 are applications of the embodiments shown in FIG5 in a corresponding scenario. Since the embodiments shown in FIG9 are all examples of the embodiments shown in FIG5, dashed lines are no longer used in FIG9 to indicate whether a step is optional.

[0167] Please refer to Figure 9, which is a flowchart of an embodiment of this application applied to a dual-site sensing mode. In the embodiment shown in Figure 9, taking the UE transmitting signals and the network device measuring signals as an example, that is, the dual-site sensing mode is a sensing mode in which the UE transmits and the network device receives.

[0168] S901, The sensing network element interacts with the UE and / or network equipment to exchange sensing capability information. This sensing network element is, for example, SF or LMF.

[0169] For example, a UE can send its sensing capability information, such as sensing capability information A, to a sensing network element; and / or, a network device can send its sensing capability information, such as sensing capability information B, to a sensing network element. Sensing capability information A can indicate whether the UE has sensing capabilities. Sensing capability information B can indicate whether the network device has sensing capabilities. Optionally, sensing capability information B can also indicate whether the network device supports determining transmission delay or determining the point cloud of a sensing target in accordance with the methods provided in the embodiments of this application.

[0170] Optionally, the sensing network element can also send information to the UE and / or network device, such as indicating the sensing mode used, for example, indicating the use of a dual-site sensing mode.

[0171] S901 is an optional step. The sensing network element and the UE may not interact with each other's sensing capability information. For example, the sensing network element may know the UE's sensing capability in advance, or the sensing network element may assume that the UE's sensing capability is default, such as having sensing capability by default. The sensing network element and the network device may also not interact with each other's sensing capability information. For example, the sensing network element may know the network device's sensing capability in advance, or the sensing network element may assume that the network device's sensing capability is default, such as having sensing capability by default.

[0172] S902, the sensing network element sends a first request. Correspondingly, the network device receives the first request. Optionally, the first request may be, for example, a sensing measurement request. In this embodiment, the sensing measurement is performed by the network device; therefore, the sensing network element can send the first request to the network device.

[0173] The first request may request the network device to measure a signal (the signal is used for sensing measurement), or request the network device to configure a signal (e.g., configure a signal for the UE, the signal is used for sensing measurement), or request the network device to perform a sensing task, or request the network device to report sensing results, or request the network device to determine the transmission delay in accordance with the method provided in the embodiments of this application, or request the network device to determine the point cloud of the sensing target in accordance with the method provided in the embodiments of this application, or request the network device to perform a sensing task in accordance with the method provided in the embodiments of this application, etc.

[0174] S903, the network device sends first configuration information to the UE. Correspondingly, the UE receives the first configuration information. The first configuration information can be used to configure reference signal resources. The reference signal corresponding to this reference signal resource can be a signal used for sensing.

[0175] S903 and S502 of the embodiment shown in FIG5 can be the same step.

[0176] S904, the UE sends a second signal. Correspondingly, the network device receives the first signal.

[0177] The UE can transmit a second signal based on the reference signal resource. The first signal can be the signal after the second signal has been reflected, scattered, or diffracted by a sensing target in the environment.

[0178] Optionally, the first signal (or the second signal) may be, for example, SRS, or other signals used for sensing, such as DMRS.

[0179] S904 and S504 of the embodiment shown in FIG5 can be the same step.

[0180] S905 and UE send the first information according to the first cycle. Correspondingly, network devices receive the first information according to the first cycle.

[0181] S905 and S501 in the embodiment shown in Figure 5 can be the same step. For more details on S905, please refer to the relevant introduction of S501.

[0182] S906. The network device determines the transmission delay of the first signal in the first transmission path based on the location information.

[0183] S906 and S503 in the embodiment shown in Figure 5 can be the same step. For more details on S906, please refer to the relevant introduction of S503.

[0184] S907. The network device determines the point cloud of the perceived target based on the transmission delay of the first signal in the first transmission path.

[0185] S907 and S505 in the embodiment shown in Figure 5 can be the same step. For more details on S907, please refer to the relevant introduction of S505.

[0186] S908: The network device sends the point cloud of the sensed target. Correspondingly, the sensing network element receives the point cloud.

[0187] S908 and S506 in the embodiment shown in Figure 5 can be the same step. For more details on S908, please refer to the relevant introduction of S506.

[0188] In summary, in this embodiment, the network device can determine the transmission delay of the first signal on the first transmission path without relying on measurement results, but rather based on location information. Determining the transmission delay based on location information eliminates the influence of timing deviations when determining the transmission delay, improving the accuracy of the determined transmission delay and thus enhancing sensing precision.

[0189] Figure 10 shows a schematic diagram of a device provided in an embodiment of this application. The device 1000 may be a network device or its circuit system as shown in the embodiments of Figure 5 or Figure 9, used to implement the method corresponding to the network device in the above method embodiments. Alternatively, the device 1000 may be a UE or its circuit system as shown in the embodiments of Figure 5 or Figure 9, used to implement the method corresponding to the UE in the above method embodiments. Alternatively, the device 1000 may be a sensing network element or its circuit system as shown in the embodiments of Figure 5 or Figure 9, used to implement the method corresponding to the sensing network element in the above method embodiments. For example, one type of circuit system is a chip system.

[0190] Since the device 1000 in the embodiments of this application can implement the sensing method, the device 1000 can also be called a sensing device. In implementation, the device 1000 may have sensing function but no communication function, or it may have both sensing and communication functions. If the device 1000 has communication function, it may also be called a communication device, etc., without limitation.

[0191] The device 1000 includes at least one processor 1001. The processor 1001 can be used for internal processing within the device to implement certain control processing functions. Optionally, the processor 1001 includes instructions. Optionally, the processor 1001 can store data. Optionally, different processors can be independent devices, located in different physical locations, or located on different integrated circuits. Optionally, different processors can be integrated into one or more processors, for example, integrated onto one or more integrated circuits.

[0192] Optionally, the device 1000 includes one or more memories 1003 for storing instructions. Optionally, the memories 1003 may also store data. The processor and the memories may be separate or integrated together.

[0193] Optionally, the device 1000 includes a communication line 1002 and at least one communication interface 1004. Since the memory 1003, communication line 1002, and communication interface 1004 are all optional, they are all represented by dashed lines in FIG10.

[0194] Optionally, device 1000 may further include a transceiver and / or an antenna. The transceiver can be used to send information to or receive information from other devices. The transceiver may be referred to as a transceiver unit, transceiver circuit, input / output interface, etc., and is used to implement the transmission and reception functions of device 1000 via the antenna. Optionally, the transceiver includes a transmitter and a receiver. For example, the transmitter can be used to generate a radio frequency (RF) signal from a baseband signal, and the receiver can be used to convert the RF signal back into a baseband signal.

[0195] The processor 1001 may include a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs according to the present application.

[0196] The communication line 1002 may include a path for transmitting information between the aforementioned components.

[0197] Communication interface 1004 uses any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area network (WLAN), wired access network, etc.

[0198] The memory 1003 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. The memory 1003 may exist independently and be connected to the processor 1001 via communication line 1002. Alternatively, the memory 1003 may be integrated with the processor 1001.

[0199] The memory 1003 stores computer execution instructions for implementing the scheme of this application, and the processor 1001 controls the execution of these instructions. The processor 1001 executes the computer execution instructions stored in the memory 1003 to implement the steps performed by the network device, sensing network element, or UE as shown in the embodiments of FIG5 or FIG9.

[0200] Optionally, the computer execution instructions in the embodiments of this application may also be referred to as application code, and the embodiments of this application do not specifically limit this.

[0201] In a specific implementation, as one embodiment, the processor 1001 may include one or more CPUs, such as CPU0 and CPU1 in FIG10.

[0202] In a specific implementation, as one embodiment, device 1000 may include multiple processors, such as processor 1001 and processor 1005 in FIG. 10. Each of these processors may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. Here, a processor may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0203] When the device shown in Figure 10 is a chip, such as a UE chip, a network device chip, or a sensing network element chip, the chip includes a processor 1001 (and may also include a processor 1005), a communication line 1002, and a communication interface 1004. Optionally, it may include a memory 1003. Specifically, the communication interface 1004 may be an input interface, pins, or circuits, etc. The memory 1003 may be a register, cache, etc. The processor 1001 and processor 1005 may be a general-purpose CPU, microprocessor, ASIC, or one or more integrated circuits for controlling the execution of a program for the sensing method of any of the above embodiments.

[0204] This application embodiment can divide the device into functional modules according to the above method examples. For example, each function can be divided into a separate functional module, or two or more functions can be integrated into a processing module. The integrated module can be implemented in hardware or software. The module division in this application embodiment is illustrative and only represents one logical functional division; other division methods may exist in actual implementation. For example, when dividing the functional modules according to each function, Figure 11 is a schematic diagram of a device 1100. This device 1100 can be the UE, sensing network element, or network device involved in the above method embodiments, or a chip in the UE, a chip in the network device, or a chip in the sensing network element. The device 1100 includes a processing unit 1102 and a transceiver unit 1101. Since the device 1100 in this application embodiment can implement the sensing method, the device 1100 can also be called a sensing device. In implementation, the device 1100 may have sensing functions but no communication functions, or it may have both sensing and communication functions. If device 1100 has communication function, it can also be called a communication device, etc., without limitation.

[0205] It should be understood that the device 1100 can be used to implement the steps performed by the UE, network device or sensing network element in the sensing method of the embodiments of this application. The relevant features can be referred to the embodiments shown in Figure 5 or Figure 9 above, and will not be repeated here.

[0206] Optionally, the functions / implementation processes of the transceiver unit 1101 and processing unit 1102 in Figure 11 can be implemented by the processor 1001 in Figure 10 calling computer execution instructions stored in memory 1003. Alternatively, the functions / implementation processes of the processing unit 1102 in Figure 11 can be implemented by the processor 1001 in Figure 10 calling computer execution instructions stored in memory 1003, and the functions / implementation processes of the transceiver unit 1101 in Figure 11 can be implemented by the communication interface 1004 in Figure 10.

[0207] Optionally, when the device 1100 is a chip or circuit, the function / implementation process of the transceiver unit 1101 can also be implemented through pins or circuits. Optionally, the transceiver unit 1101 may include a transmitting unit and / or a receiving unit, wherein the transmitting unit is used to implement the transmitting function and the receiving unit is used to implement the receiving function; or, the transceiver unit 1101 may be an integral module capable of implementing the transmitting and / or receiving functions. Optionally, the transceiver unit 1101 may be implemented using a transceiver.

[0208] This application also provides a computer-readable storage medium storing a computer program or instructions. When the computer program or instructions are executed, they implement the methods performed by the UE, network device, or sensing network element in the aforementioned method embodiments. Thus, the functions described in the above embodiments can be implemented as software functional units and sold or used as independent products. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to it, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0209] This application also provides a computer program product comprising: computer program code, which, when run on a computer, causes the computer to perform the method executed by the UE, network device, or sensing network element in any of the foregoing method embodiments.

[0210] This application also provides a processing apparatus, including a processor and an interface; the processor is used to execute the methods performed by the UE, network device, or sensing element involved in any of the above method embodiments.

[0211] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0212] The various illustrative logic units and circuits described in the embodiments of this application can be implemented or operate the described functions using a general-purpose processor, digital signal processor (DSP), ASIC, field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. The general-purpose processor can be a microprocessor; alternatively, it can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented using a combination of computing devices, such as a digital signal processor and a microprocessor, multiple microprocessors, one or more microprocessors combined with a digital signal processor core, or any other similar configuration.

[0213] The steps of the methods or algorithms described in the embodiments of this application can be directly embedded in hardware, software units executed by a processor, or a combination of both. The software units can be stored in RAM, flash memory, ROM, erasable programmable read-only memory (EPROM), EEPROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium in the art. Exemplarily, the storage medium can be connected to the processor so that the processor can read information from the storage medium and write information to the storage medium. Optionally, the storage medium can also be integrated into the processor. The processor and storage medium can be disposed in an ASIC, which can be disposed in the terminal device. Optionally, the processor and storage medium can also be disposed in different components of the terminal device.

[0214] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0215] The contents of the various embodiments of this application can be referenced to each other. Unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0216] It is understood that in the embodiments of this application, the UE and / or network device and / or sensing network element may perform some or all of the steps in the embodiments of this application. These steps or operations are merely examples. In the embodiments of this application, other operations or variations of various operations may also be performed. Furthermore, the steps may be performed in different orders as presented in the embodiments of this application, and it is not necessary to perform all the operations in the embodiments of this application.

Claims

1. A sensing method, characterized in that, The method includes: First information is received according to a first cycle, the first information including the location information of the terminal, the first cycle is related to the cycle of a first signal, and the first signal is used for sensing; The transmission delay of the received first signal in the first transmission path is determined based on the location information. The first transmission path is the transmission path of the first signal after reflection, scattering or diffraction by the sensing target.

2. The method according to claim 1, characterized in that, The first period is the period of the first signal; or, The first period is an integer multiple of the period of the first signal.

3. The method according to claim 1 or 2, characterized in that, The first information is also used to indicate the correlation between the location information and the period of the first signal, or to indicate the transmission time of the location information.

4. The method according to any one of claims 1 to 3, characterized in that, The first signal is the Channel Sounding Reference Signal (SRS).

5. The method according to any one of claims 1 to 4, characterized in that, Determining the transmission delay of the first signal in the first transmission path based on the location information includes: The transmission delay of the first signal in the line-of-sight (LoS) path is determined based on the location information; Based on the transmission delay of the first signal in the Loss path and the first delay difference, the transmission delay of the first signal in the first transmission path is determined, and the first delay difference is the delay difference between the first transmission path and the Loss path.

6. The method according to claim 5, characterized in that, The first time delay difference is determined based on the power time delay spectrum corresponding to the first signal.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: Send a request message, which is used to request the terminal to report the location information.

8. The method according to any one of claims 1 to 7, characterized in that, The method further includes: The point cloud of the perceived target is determined based on the transmission delay of the first signal in the first transmission path.

9. A sensing method, characterized in that, The method includes: First information is sent according to a first cycle. The first information includes the location information of the terminal. The first cycle is related to the cycle of a first signal. The first signal is used for sensing. The location information is used to determine the transmission delay of the first signal in a first transmission path. The first transmission path is the transmission path of the first signal after reflection, scattering or diffraction by the sensing target.

10. The method according to claim 9, characterized in that, The first period is the period of the first signal; or, The first period is an integer multiple of the period of the first signal.

11. The method according to claim 9 or 10, characterized in that, The first information is also used to indicate the correlation between the location information and the period of the first signal, or to indicate the transmission time of the location information.

12. The method according to any one of claims 9 to 11, characterized in that, The first signal is SRS.

13. The method according to any one of claims 9 to 12, characterized in that, The method further includes: Receive request information, the request information being used to request the terminal to report the location information.

14. A sensing method, characterized in that, The method includes: The terminal sends first information according to a first cycle. The first information includes the terminal's location information. The first cycle is related to the cycle of a first signal, which is used for sensing. The network device receives the first information according to the first cycle; The network device determines the transmission delay of the received first signal on the first transmission path based on the location information. The first transmission path is the transmission path of the first signal after reflection, scattering, or diffraction by the sensing target.

15. The method according to claim 14, characterized in that, The first period is the period of the first signal; or, The first period is an integer multiple of the period of the first signal.

16. The method according to claim 14 or 15, characterized in that, The first information is also used to indicate the correlation between the location information and the period of the first signal, or to indicate the transmission time of the location information.

17. The method according to any one of claims 14 to 16, characterized in that, The first signal is SRS.

18. The method according to any one of claims 14 to 17, characterized in that, The network device determines the transmission delay of the first signal in the first transmission path based on the location information, including: The network device determines the transmission delay of the first signal on the LoS path based on the location information; The network device determines the transmission delay of the first signal on the first transmission path based on the transmission delay of the first signal on the Loss path and the first delay difference, wherein the first delay difference is the delay difference between the first transmission path and the Loss path.

19. The method according to any one of claims 14 to 18, characterized in that, The method further includes: The network device sends a request message, which is used to request the terminal to report the location information.

20. The method according to any one of claims 14 to 19, characterized in that, The method further includes: The sensing network element sends a first request, which is used to request the execution of sensing and to request the terminal to report the location information; The network device receives the first request.

21. An apparatus, characterized in that, The apparatus includes a module for performing the method as described in any one of claims 1 to 8, or a module for performing the method as described in any one of claims 9 to 13.

22. An apparatus, characterized in that, The apparatus includes a processor for performing the method as described in any one of claims 1 to 8, or the method as described in any one of claims 9 to 13.

23. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program that, when run on a computer, causes the method as described in any one of claims 1 to 8 to be performed, or causes the method as described in any one of claims 9 to 13 to be performed, or causes the method as described in any one of claims 14 to 20 to be performed.

24. A computer program product, characterized in that, The computer program product includes a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 8, or causes the computer to perform the method as described in any one of claims 9 to 13, or causes the computer to perform the method as described in any one of claims 14 to 20.

25. A sensing system, characterized in that, The sensing system includes network devices and terminals, wherein... The network device is used to perform the method as described in any one of claims 1 to 8; The terminal is used to perform the method as described in any one of claims 9 to 13.

26. The sensing system according to claim 25, characterized in that, The sensing system also includes sensing network elements, wherein... The sensing network element is used to send a first request, which is used to request the execution of sensing and to request the terminal to report the location information.

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