Sensing method and apparatus

Abstract

A sensing method and apparatus. A first sensing device receives first information, the first information indicating a first delay range and a first angle range, the first delay range being associated with the first angle range, the first delay range being a delay range associated with a transmission delay of a signal used for sensing, and the first angle range being a range of an arrival angle of a transmission path corresponding to the first delay range. The first sensing device determines a point cloud of a sensing target on the basis of an association relationship between the first delay range and the first angle range. By means of the association relationship, it is clear that an angle of arrival corresponding to a transmission delay comprised by the first delay range is in the first angle range. When a transmission delay of a particular transmission path is in the first delay range but the angle of arrival of the transmission path is not in the first angle range, it can be determined that a target point corresponding to the transmission path is not included in the point cloud. Thus, the accuracy of the point cloud can be improved, improving sensing precision.

Description

A sensing method and device

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411496231.6, 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] For sensing services, such as environmental imaging or reconstruction applications, the position or shape of the target in the environment can be sensed by utilizing the reflection, scattering, or diffraction of signals transmitted by user equipment (UE) or base stations as they propagate through space. Sensing services involve the transmission and reception of sensing signals. If the spacing between antenna arrays is large, grating lobes will be generated; the presence of grating lobes will reduce 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 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 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 in the terminal equipment. Alternatively, the first device is, for example, a network-side device, also referred to as a network device. This network device is, for example, an access network device, or other equipment including access network device functions, or a circuit, or a system-on-a-chip (or chip), or other functional module, which can implement the functions of a network device, and is, for example, disposed in 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 may be located on the ground, or it may be a satellite, or located on a satellite. In the following description, the first device is taken as a first sensing device. According to the above description, the first sensing device is, for example, a terminal device or an access network device. The method includes: receiving first information, the first information indicating a first time delay range and a first angle range, the first time delay range being associated with the first angle range, wherein the first time delay range is a time delay range associated with the transmission delay of a signal used for sensing, and the first angle range is a range of angles of arrival of the transmission path corresponding to the first time delay range; and determining a point cloud of the sensing target based on the association between the first time delay range and the first angle range.

[0007] In this embodiment, the first information can indicate a first time delay range and a first angle range, and the first time delay range and the first angle range can be correlated. For example, if the first sensing device determines the transmission delay corresponding to the signal used for sensing and determines the transmission path corresponding to the transmission delay, it can determine the angle of arrival corresponding to the transmission path. For example, if the transmission delay is included in the first time delay range, then the first angle range is the range of reasonable angles of arrival corresponding to the transmission delay. Based on the angle of arrival and the first angle range, the first sensing device can determine whether the target point corresponding to the transmission path is available, thereby enabling the first sensing device to determine the point cloud of the sensing target. It is evident that through the correlation between the first time delay range and the first angle range, the first sensing device can eliminate unusable target points or target points with low reliability from the point cloud, thereby making the determined point cloud more accurate and improving sensing accuracy.

[0008] In one optional implementation, determining the point cloud of the sensing target based on the correlation between the first time delay range and the first angle range includes: receiving a first signal for sensing, the first signal being a signal reflected, scattered, or diffracted by the sensing target; determining a first transmission delay based on a measurement result of the first signal, the first transmission delay being associated with a first transmission path for transmitting the first signal, the first transmission delay being included within the first time delay range; determining a first angle of arrival corresponding to the first transmission path; and determining the point cloud of the sensing target based on the first angle range and the first angle of arrival. An implementation of a first sensing device determining a point cloud is provided. In this implementation, the first sensing device can determine whether a target point corresponding to the transmission path is available based on the first angle of arrival and the first angle range, thereby determining the point cloud of the sensing target. It can be seen that by using the correlation between the first time delay range and the first angle range, the first sensing device can eliminate unusable target points or target points with low reliability from the point cloud, thereby making the determined point cloud more accurate and improving sensing accuracy.

[0009] In one optional implementation, the first transmission delay is the transmission delay corresponding to the peak power of the first signal determined based on the measurement result. For example, a power delay spectrum can be determined based on the measurement result, which includes one or more peak powers, and the first transmission delay may be the transmission delay corresponding to one of these peak powers.

[0010] In one optional implementation, determining the point cloud of the perceived target based on the first angle range and the first angle of arrival includes: if the first angle of arrival belongs to the first angle range, the point cloud includes the target point corresponding to the first transmission path; or, if the first angle of arrival does not belong to the first angle range, the point cloud does not include the target point corresponding to the first transmission path. If the first angle of arrival belongs to the first angle range, the target point corresponding to the first transmission path can be considered valid, usable, or reliable, and thus the target point can be included in the point cloud, or it can be left unremoved from the point cloud; or, if the first angle of arrival does not belong to the first angle range, the target point corresponding to the first transmission path can be considered invalid, unusable, or unreliable, and thus the target point can be left unremoved from the point cloud, or it can be left unremoved from the point cloud, thereby improving the accuracy of the point cloud.

[0011] In an optional implementation, the method further includes: transmitting the point cloud. For example, the first sensing device can transmit the point cloud to a sensing network element, which can then reconstruct the sensing target based on the point cloud.

[0012] In one optional implementation, the first information indicates a first delay range, including: the first information indicating an upper delay limit and / or a lower delay limit of the first delay range; or, the first information indicating a center delay and a delay extension range of the first delay range, wherein the center delay and the delay extension range are used to determine the first delay range. The first information can indicate the first delay range in various ways, providing considerable flexibility.

[0013] In one optional implementation, the first information indicates a first angle range, including: the first information indicating an upper angle limit and / or a lower angle limit of the first angle range; or, the first information indicating a center angle and an angle extension range of the first angle range, wherein the center angle and the angle extension range are used to determine the first angle range. The first information can indicate the first angle range in various ways, providing considerable flexibility.

[0014] In one optional implementation, the first transmission path is an NLoS path, and the first transmission delay is the transmission delay of the first transmission path; or, the first transmission delay is the delay difference between the first transmission path and the LoS path. The transmission delay included in the first delay range can be the transmission delay of the transmission path, or it can be the delay difference between the transmission delay of the transmission path and the transmission delay of the LoS path. For example, in a dual-station sensing mode where the second sensing device transmits and the first sensing device receives, if there is a timing deviation between the first sensing device and the second sensing device, the transmission delay of the transmission path determined by the first sensing device may be inaccurate. In this case, the transmission delay included in the first delay range can be the delay difference between the transmission delay of the transmission path and the transmission delay of the LoS path. Even if there is a timing deviation between the first sensing device and the second sensing device, the delay difference determined by the first sensing device is relatively accurate, thereby improving sensing accuracy.

[0015] Secondly, a second sensing method is provided, which can be applied to a second device. The second device is, for example, a network-side device, also referred to as a network device. This network device is, for example, a core network device or an access network device, or other device including the functions of a core network device or access network device, or a circuit, or a chip system (or chip) or other functional module capable of implementing the functions of the core network device or access network device, and is, for example, disposed within the core network device or access network device. Optionally, the network device is a sensing network element, such as an SF, SMF, or LMF. The method includes: sending first information, the first information indicating a first time delay range and a first angle range, the first time delay range being associated with the first angle range, the association between the first time delay range and the first angle range being used to determine a point cloud of a sensing target, wherein the first time delay range is the range of transmission delay of the signal used for sensing, and the first angle range is the range of the angle of arrival of the transmission path corresponding to the first time delay range; and receiving the point cloud.

[0016] In one optional implementation, the first information indicates a first delay range, including: the first information indicating an upper delay limit and / or a lower delay limit of the first delay range; or, the first information indicating a center delay and a delay extension range of the first delay range, wherein the center delay and the delay extension range are used to determine the first delay range.

[0017] In one optional implementation, the first information indicates a first angle range, including: the first information indicating an upper angle limit and / or a lower angle limit of the first angle range; or, the first information indicating a center angle and an angle extension range of the first angle range, wherein the center angle and the angle extension range are used to determine the first angle range.

[0018] In one optional implementation, the first transmission path is an NLoS path, and the first transmission delay is the transmission delay of the first transmission path; or, the first transmission delay is the delay difference between the first transmission path and the LoS path.

[0019] For the technical effects of the second aspect or various alternative implementation methods, please refer to the introduction of the technical effects of the first aspect or corresponding implementation methods.

[0020] Thirdly, a third sensing method is provided, which can be applied to a sensing system, including a first device and a second device. For a description of the first device, please refer to the first aspect; for a description of the second device, please refer to the second aspect. In this third aspect, an example is taken where the first device is a network device and the second device is a sensing network element. The method includes: the sensing network element sending first information, the first information indicating a first time delay range and a first angle range, the first time delay range being associated with the first angle range, wherein the first time delay range is the range of transmission delay of the signal used for sensing, and the first angle range is the range of the angle of arrival of the transmission path corresponding to the first time delay range; the network device receiving the first information and determining the point cloud of the sensing target based on the association between the first time delay range and the first angle range.

[0021] In one optional implementation, the method further includes: the network device sending the point cloud; and the sensing element receiving the point cloud.

[0022] In one optional implementation, the network device determines the point cloud of the perceived target based on the correlation between the first delay range and the first angle range, comprising: the network device receiving a first signal for sensing, the first signal being a signal reflected, scattered, or diffracted via the perceived target; the network device determining a first transmission delay based on a measurement result of the first signal, the first transmission delay being associated with a first transmission path for transmitting the first signal, the first transmission delay being included within the first delay range; the network device determining a first angle of arrival corresponding to the first transmission path; and the network device determining the point cloud of the perceived target based on the first angle range and the first angle of arrival.

[0023] In an optional implementation, the method further includes: the network device sending the first signal; or, the terminal sending the first signal. For example, the sensing system may also include the terminal.

[0024] In one optional implementation, the network device determines the point cloud of the perceived target based on the first angle range and the first angle of arrival, including: if the first angle of arrival belongs to the first angle range, the point cloud includes the target point corresponding to the first transmission path; or, if the first angle of arrival does not belong to the first angle range, the point cloud does not include the target point corresponding to the first transmission path.

[0025] For information on the technical effects of the third aspect or various alternative implementation methods, please refer to the description of the technical effects of the first aspect or corresponding implementation methods.

[0026] Fourthly, an apparatus is provided. The apparatus may be the first apparatus described in the first aspect above. The apparatus possesses the functions of the first apparatus. For example, the apparatus may implement the functions described in the first aspect above, such as including modules, units, or means corresponding to performing the operations involved in the first aspect above. These modules, units, or means may be implemented in software, hardware, or a combination of software and hardware. The apparatus may be, 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, and such chip system or functional module may be disposed in a terminal device. Alternatively, the apparatus may be, 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, and such chip system or functional module may be disposed in a network device. The network device may include, for example, core network equipment and / or access network equipment. In an optional implementation, the apparatus includes a baseband device and a radio frequency device. In another optional implementation, the device includes a processing unit (sometimes also called a processing module) and a transceiver unit (sometimes also called a transceiver module). The transceiver unit is capable of 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); when the transceiver unit 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; alternatively, the sending unit and the receiving unit can be different functional modules, and the transceiver unit is a collective term for these functional modules.

[0027] In one optional implementation, the transceiver unit (or the receiving unit) is configured to receive first information, the first information indicating a first time delay range and a first angle range, the first time delay range being associated with the first angle range, wherein the first time delay range is a time delay range associated with the transmission delay of the signal used for sensing, and the first angle range is a range of the angle of arrival of the transmission path corresponding to the first time delay range; the processing unit is configured to determine the point cloud of the sensing target based on the association between the first time delay range and the first angle range.

[0028] 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.

[0029] 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 performing the operations involved 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 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. For example, the network device is a sensing network element, such as SF, SMF, or LMF. 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.

[0030] In one optional implementation, the transceiver unit (or the sending unit) is configured to send first information, the first information indicating a first time delay range and a first angle range, the first time delay range being associated with the first angle range, the association between the first time delay range and the first angle range being used to determine the point cloud of the sensing target, wherein the first time delay range is the range of transmission delay of the signal used for sensing, and the first angle range is the range of the angle of arrival of the transmission path corresponding to the first time delay range; the transceiver unit (or the receiving unit) is configured to receive the point cloud.

[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 second device described in the second aspect above.

[0032] 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 second 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 second aspect above.

[0033] 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.

[0034] In one possible design, the device may also include the memory.

[0035] 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.

[0036] A seventh aspect provides a sensing system, including a first sensing device and a sensing network element. The first sensing device is used to perform the method described in the first aspect by a first apparatus, and the sensing network element is used to perform the method described in the second aspect by a second apparatus. For example, the first sensing device can be implemented using the apparatus described in the fourth or sixth aspect, and the sensing network element can be implemented using the apparatus described in the fifth or sixth aspect.

[0037] Eighthly, a sensing system is provided, including a network device and a sensing network element. The network device is used to perform the method executed by the first apparatus as described in the first or third aspect above, and the sensing network element is used to perform the method executed by the second apparatus as described in the second or third aspect above. For example, the network device can be implemented using the apparatus described in the fourth or sixth aspect, and the sensing network element can be implemented using the apparatus described in the fifth or sixth aspect.

[0038] Optionally, the sensing system may also include a terminal, for example, a terminal for performing the method described in the third aspect above.

[0039] 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.

[0040] 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.

[0041] 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

[0042] Figure 1A is a schematic diagram of the access network equipment structure under the ORAN architecture;

[0043] Figure 1B is a schematic diagram of one structure of the RAN chip;

[0044] Figures 2 and 3 are schematic diagrams of single-station sensing mode and dual-station sensing mode, respectively;

[0045] Figures 4 and 5 are schematic diagrams of two network architectures applied in the embodiments of this application;

[0046] Figures 6 and 9 to 12 are flowcharts of several sensing methods provided in the embodiments of this application;

[0047] Figure 7 shows an example of a PDP determined by the first sensing device in an embodiment of this application;

[0048] Figure 8 is a schematic diagram of the first sensing device determining the target point corresponding to the transmission path in an embodiment of this application;

[0049] Figure 13 is a schematic diagram of a device provided in an embodiment of this application;

[0050] Figure 14 is a schematic diagram of another device provided in an embodiment of this application. Detailed Implementation

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] 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.

[0056] Furthermore, in this embodiment, 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] The RU can be connected to an antenna to communicate with the UE via the antenna.

[0066] 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.

[0067] 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).

[0068] 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.

[0069] 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.

[0070] 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).

[0071] 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).

[0072] 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.

[0073] 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.

[0074] 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.

[0075] 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.

[0076] 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.

[0077] 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).

[0078] 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 2, 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 3, where the transmitting device is device 2 and the receiving device is device 3. Figures 2 and 3 both use a vehicle as an example of the sensing target. For example, in Figure 2, 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 2) to perform environmental sensing. For example, in Figure 3, 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 3) to perform environmental sensing.

[0079] If the spacing between the antenna elements (or antenna array components) of a sensing device is less than half a wavelength, the directivity of the antenna will increase as the spacing increases. Simply put, when all antenna elements overlap, there is no phase difference or the phase difference is zero between the beams, and all antennas of the sensing device are equivalent to an omnidirectional antenna. However, as the spacing between the antenna elements gradually increases, phase differences will appear between the beams, or the phase difference will increase, resulting in different signal strengths in different directions. When all antenna elements of the sensing device are in phase (e.g., all antenna elements overlap), the direction of the strongest signal is perpendicular to the antenna array axis (normal direction). When the spacing between the antenna elements reaches half a wavelength, the phase differences between adjacent elements cancel each other out, and the signal strength in the direction of the antenna array axis is zero. When the spacing between the antenna elements is greater than half a wavelength, grating lobes will appear. For the signal receiver, when measuring the signal, the grating lobe may be mistaken for the main lobe, leading to measurement errors.

[0080] Sensing devices need to measure the received signals to determine parameters such as transmission delay and angle, thereby enabling sensing. However, angle measurement may be affected by grating lobes, leading to inaccurate angle measurements and reducing sensing accuracy.

[0081] Therefore, in this embodiment, the first information can indicate a first time delay range and a first angle range, and the first time delay range and the first angle range can be correlated. For example, if the first sensing device determines the transmission delay corresponding to the signal used for sensing and determines the transmission path corresponding to the transmission delay, it can determine the angle of arrival corresponding to the transmission path. For example, if the transmission delay is included in the first time delay range, then the first angle range is the range of reasonable angles of arrival corresponding to the transmission delay. Then, based on the angle of arrival and the first angle range, the first sensing device can determine whether the target point corresponding to the transmission path is available, thereby the first sensing device can determine the point cloud of the sensing target. It can be seen that by indicating the correlation between the first time delay range and the first angle range, the first sensing device can eliminate unusable target points in the point cloud, or eliminate target points with low reliability in the point cloud, which is equivalent to reducing the influence of the grating lobes, thereby making the determined point cloud more accurate and thus improving the sensing accuracy.

[0082] Referring to Figure 4, which is a schematic diagram of a potential sensing network architecture, Figure 4 is based on a 5G core network (5G core, 5GC). The network architecture shown in Figure 4 can also be an application scenario of an embodiment of this application.

[0083] In the architecture shown in Figure 4, 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. The SF can be deployed on the core network side or the RAN side; Figure 4 shows an example of deployment on the core network. In the network architecture shown in Figure 4, 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.

[0084] 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.

[0085] 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.

[0086] 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.

[0087] 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.

[0088] 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.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] Figure 4 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.

[0094] 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.

[0095] 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.

[0096] 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.

[0097] NL6: The interface between GMLC and UDM, through which privacy inspection data can be transferred.

[0098] NL2: The interface between NEF and AMF, through which information such as the perceived business type, business requirements, and perceived results can be transmitted.

[0099] NL1: The interface between AMF and LMF, through which information such as perceived service type, service requirements, and perceived results can be transmitted.

[0100] NL9: A new interface between GMLC and LMF, through which information such as the perceived service type, service requirements, and perceived results can be transmitted.

[0101] Referring again to Figure 5, which is a schematic diagram of another potential sensing network architecture based on 5GC, the network architecture shown in Figure 5 can also be another application scenario of the embodiments of this application.

[0102] In the network architecture shown in Figure 5, 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.

[0103] 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.

[0104] 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 equipment (e.g., a base station), or the SF can be a standalone device within the access network.

[0105] 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.

[0106] 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).

[0107] 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.

[0108] Figure 4 or Figure 5 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.

[0109] 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.

[0110] The embodiments of this application can be applied to the scenarios shown in Figure 2, Figure 3, Figure 4 or Figure 5, or can also be used in other scenarios, such as any scenario involving sensing services.

[0111] 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, and the sensing device (e.g., a network device) can determine relevant characteristics of the sensing target based on the received sensing signal. For example, it can estimate 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. Additionally, 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 angle of arrival corresponding to the transmission path refers to the angle of arrival of the signal on that transmission path, which includes, for example, the azimuth angle of arrival (AoA) and / or the zenith angle of arrival (ZoA). In the accompanying drawings corresponding to the various embodiments of this application, all steps indicated by dashed lines are optional steps.

[0112] The various embodiments described herein can be applied to the network architectures shown in Figures 2, 3, 4, or 5. For example, the first sensing device described in the various embodiments of this document can be device 1 shown in Figure 2, and the second sensing device described in the various embodiments of this document can also be device 1 shown in Figure 2. As another example, the first sensing device described in the various embodiments of this document can be device 3 shown in Figure 3, and the second sensing device described in the various embodiments of this document can be device 2 shown in Figure 3. As another example, the first sensing device described in the various embodiments of this document can be (R)AN shown in Figure 4 or 5; the second sensing device described in the various embodiments of this document can also be (R)AN shown in Figure 4 or 5. As another example, the first sensing device described in the various embodiments of this document can be UE shown in Figure 4 or 5; the second sensing device described in the various embodiments of this document can also be UE shown in Figure 4 or 5. As another example, the first sensing device described in the various embodiments of this document can be (R)AN shown in Figure 4 or 5; the second sensing device described in the various embodiments of this document can be UE shown in Figure 4 or 5. For example, the first sensing device described in the various embodiments of this document may be the UE shown in FIG4 or FIG5; the second sensing device described in the various embodiments of this document may be the (R)AN shown in FIG4 or FIG5.

[0113] This application provides a first sensing method, please refer to Figure 6, which is a flowchart of the method.

[0114] S601, The first sensing device receives the first information.

[0115] Optionally, the first information may be sent by a sensing network element, or it may be sent by other network elements. Figure 6 shows an example of a sensing network element sending the first information. This sensing network element may be, for example, an SF (Secure Sensing Element), or other network elements such as an LMF (Low-Level Filter). Optionally, if the first sensing device is a network device, and the network device is a network device under the ORAN architecture, for example, the network device includes a CU (Core Controller), or the network device is a CU, then the first information can be received by the CU.

[0116] The first information can indicate M time delay ranges and N angle ranges, where M and N are both positive integers, and M and N can be equal or unequal. Optionally, there can be an association (or correspondence; or mapping) between the M time delay ranges and the N angle ranges. For example, any one of the M time delay ranges can be associated with at least one of the N angle ranges; and / or, any one of the N angle ranges can be associated with at least one of the M time delay ranges. Wherein, any one of the M time delay ranges can be a time delay range associated with the transmission delay of the signal used for sensing; any one of the N angle ranges can be a range of the angles of arrival of the transmission path corresponding to the time delay range associated with that angle range. For example, the M delay ranges include a first delay range, the N angle ranges include a first angle range, the first delay range is associated with the first angle range, the first delay range can be a delay range associated with the transmission delay of the signal used for sensing, and the first angle range can be the range of the angle of arrival of the transmission path corresponding to the first delay range.

[0117] Optionally, any one of the N angle ranges may include the range of AoA and / or the range of ZoA.

[0118] Optionally, the delay range associated with the transmission delay of the signal used for sensing may be, for example, the range of transmission delays of the signal used for sensing. For example, a first delay range may include at least one transmission delay, which may correspond to at least one transmission path of the signal used for sensing, for example, the at least one transmission delay corresponds one-to-one with the at least one transmission path. It can be understood that the first delay range includes the transmission delay of the at least one transmission path; or it can be understood that the first delay range is the range of transmission delays of the at least one transmission path.

[0119] Alternatively, the delay range associated with the transmission delay of the signal used for sensing can also be a range of delay differences. This delay difference can be the difference between the transmission delay of the signal used for sensing on a non-line-of-sight (NLoS) path and the transmission delay of the signal on a line-of-sight (LoS) path. For example, the first delay range includes at least one transmission delay for at least one transmission path of the signal applied to the sensing, the at least one transmission path may include a LoS path and / or an NLoS path. The first delay range may include at least one delay difference, any one of which is the difference between the transmission delay of the signal used for sensing on one of the at least one transmission paths and the transmission delay of the signal on the LoS path. For example, one of the at least one transmission delays included in the first delay range is a first transmission delay, for example corresponding to a first transmission path, which can be the difference between the transmission delay of the signal used for sensing on the first transmission path and the transmission delay of the signal on the LoS path.

[0120] For example, there are K sets of association relationships (or K sets of correspondence relationships; or K sets of mapping relationships) between the M time delay ranges and the N angle ranges, where K is a positive integer. These K sets of association relationships can be used to determine the point cloud of the perceived target. For example, these K sets of association relationships can be used by a first sensing device to determine the target point corresponding to the transmission path, thereby determining the point cloud of the perceived target. Any one of the K sets of association relationships is an association relationship between a time delay range and an angle range. For example, in one set of association relationships in the K sets, a time delay range may correspond to at least one angle range; and / or in one set of association relationships, an angle range may correspond to at least one time delay range. Any set of correlations indicates that if the transmission delay of a signal on a certain transmission path is within the delay range indicated by the set of correlations, then the angle of arrival corresponding to the transmission path should be within the angle range associated with the delay range. Alternatively, it can be understood that the antenna of the second sensing device transmits the signal according to the transmission angle corresponding to the angle of arrival within the angle range, and / or the antenna of the first sensing device receives the signal according to the angle of arrival within the angle range, so that the signal reaches the first sensing device with a transmission delay within the delay range associated with the angle range.

[0121] For example, when K=3, the first set of these three associations is: angle range [10°, 30°] associated with time delay range [50 nanoseconds (ns), 100 ns]; the second set is: angle range [20°, 35°] associated with time delay range [100 nanoseconds (ns), 200 ns]; and the third set is: angle range [50°, 70°] associated with time delay range [200 nanoseconds (ns), 400 ns]. The above three sets of associations are an example of a one-to-one association between time delay range and angle range.

[0122] Optionally, the first information may indicate the K sets of associations. For example, in addition to indicating the M time delay ranges and N angle ranges, the first information may also indicate the K sets of associations; or, the first information may indicate the K sets of associations, thereby indicating the M time delay ranges and the N angle ranges. Optionally, the K sets of associations may be determined by the sensing network element based on prior information or other information about the target sensing area.

[0123] Alternatively, the first information may not indicate the K-group association relationship, but rather the M time delay ranges and the N angle ranges. The K-group association relationship may be pre-configured by the second sensing device or sensing network element, or the first sensing device may determine the K-group association relationship in other ways.

[0124] As an optional implementation of the first information indicating a delay range, the first information may indicate an upper delay limit and / or a lower delay limit of the delay range. For example, if the first information indicates a delay range as a first delay range, then the first information may specifically indicate an upper delay limit and / or a lower delay limit of the first delay range. For example, if the first delay range is [50ns, 100ns], then the first information may indicate a lower delay limit of 50ns and an upper delay limit of 100ns.

[0125] As another optional implementation of the first information indicating the time delay range, the first information may indicate the center delay of the time delay range and the extended range of the time delay, which can be used to determine the time delay range. For example, if the time delay range indicated by the first information is a first time delay range, then the first information may specifically indicate the center delay of the first time delay range and the extended range of the time delay, which can be used to determine the first time delay range. For example, if the first time delay range is [50ns, 100ns], then the first information may indicate a center delay of 75ns and a time delay extended range of 25ns. This can be understood as the first time delay range being centered at 75ns and having a time delay extended range of ±25ns, that is, the first time delay range is [(75-25)ns, (75+25)ns].

[0126] In the above indication method, the first information indicates the delay (or delay range) by indicating the duration. Besides this, the first information can also indicate the delay or delay range by indicating other parameters. For example, the first information can indicate the delay or delay range by indicating a distance, which could be the distance between the sensing target and the first sensing device. For instance, a distance range indicated by the first information is called a first distance range, which is associated with a first delay range; therefore, the first information can also be considered to indicate a first delay range.

[0127] As an optional implementation of the first information indicating an angle range, the first information may indicate the upper and / or lower limits of the angle range. For example, if the first information indicates an angle range as a first angle range, then the first information may specifically indicate the upper and / or lower limits of the first angle range. For example, if the first angle range is [10°, 30°], then the first information may indicate that the lower limit of the angle is 10° and the upper limit of the angle is 30°.

[0128] As another optional implementation of the first information indicating the angle range, the first information may indicate the center angle of the angle range and the angle extension range, which can be used to determine the angle range. For example, if the angle range indicated by the first information is a first angle range, then the first information may specifically indicate the center angle of the first angle range and the angle extension range, which can be used to determine the first angle range. For example, if the first angle range is [10°, 30°], then the first information may indicate a center angle of 20° and an angle extension range of 10°. This can be understood as the first angle range being centered at 20° and having a time delay extension range of ±10°, that is, the first time delay range is [(20-10)°, (20+10)°].

[0129] These K sets of association relationships can be used to determine the point cloud of the sensing target. For example, these K sets of association relationships can be used by the first sensing device to determine the target point corresponding to the transmission path, thereby determining the point cloud of the sensing target. For example, after receiving a signal, the first sensing device can determine the transmission delay of the signal on a certain transmission path, and determine the angle of arrival corresponding to that transmission path. For example, if the transmission delay is within a certain delay range indicated by the first information, and the angle of arrival corresponding to the transmission path is not within the angle range associated with that delay range, it indicates that there is no sensing target on that transmission path, or that the target point corresponding to that transmission path is unreliable, unavailable, or invalid; or, if the angle of arrival corresponding to the transmission path is within the angle range associated with that delay range, it indicates that there is a sensing target on that transmission path, or that the target point corresponding to that transmission path is reliable, available, or valid. It can be seen that through the association relationship between the delay range and the angle range, the first sensing device can eliminate unavailable, unreliable, or invalid target points in the point cloud of the sensing target, making the determined point cloud more accurate, thereby improving the sensing accuracy.

[0130] S602, The first sensing device determines the point cloud of the sensing target based on the correlation between M time delay ranges and N angle ranges.

[0131] To determine the point cloud of the sensing target, the first sensing device needs to receive signals for sensing. Optionally, the method may further include S603, in which the second sensing device sends a second signal. Correspondingly, the first sensing device receives the first signal. S603 may occur before, after, or simultaneously with S601. Optionally, S603 may occur before S602.

[0132] Optionally, if the second sensing device is a network device, and the network device is a network device under the ORAN architecture, such as the network device including a RU, or the network device being a RU, then the second signal can be sent by the RU. If the first sensing device is a network device, and the network device is a network device under the ORAN architecture, such as the network device including a RU, or the network device being a RU, then the first signal can be received by the RU.

[0133] 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 second sensing device sends the first signal, and the first sensing device receives the first signal, but the first signal received by the first sensing device is the signal of the first signal sent by the second sensing device after reflection, scattering, or diffraction by the sensing target.

[0134] Optionally, the first signal may include a sensing signal and / or a synesthetic fusion signal, etc. It is evident that the embodiments of this application do not limit the type or function of the first signal. Therefore, 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.

[0135] The first sensing device can measure a first signal, and based on the measurement results, it can determine P transmission delays, where P is a positive integer. For example, by measuring the first signal, the first sensing device can determine the power delay profile (PDP) corresponding to the first signal. This PDP may contain 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. The first sensing device can determine the transmission delays corresponding to all or part of the peak powers in the PDP. For example, if the first sensing device can determine the transmission delay corresponding to each peak power, then the first sensing device can determine a total of P transmission delays.

[0136] Optionally, if any one of the M delay ranges is the range of transmission delays of the signal used for sensing, then the P transmission delays can be the transmission delays of the first signal in the P transmission paths; or, if any one of the M delay ranges is the range of delay differences between the transmission delays of the signal used for sensing in the NLoS path and the transmission delays in the LoS path, then the P transmission delays can include the delay differences between the transmission delays of the first signal in each of the P transmission paths and the transmission delay of the first signal in the LoS path. If there is a timing deviation between the first sensing device and the second sensing device, the transmission delay determined by the first sensing device based on the PDP may be less accurate, but the first sensing device can determine the delay difference between the first signal in the NLoS path and the LoS path based on the PDP, and this difference is relatively accurate. Any one of the M delay ranges is also the range of delay difference between the transmission delay of the signal used for sensing on the NLoS path and the transmission delay on the LoS path. Based on this delay difference and the correlation between the M delay ranges and the N angle ranges, the first sensing device can determine whether to include the target point corresponding to the corresponding transmission path in the point cloud of the sensing target. Therefore, even if there is a timing deviation between the first and second sensing devices, the first sensing device can still accurately determine the point cloud of the sensing target.

[0137] Given P transmission delays, the first sensing device can determine the angle of arrival corresponding to each of the P transmission delays, for a total of P angles of arrival. Based on these P angles of arrival and the correlation between the M delay ranges and the N angle ranges, the first sensing device can determine the point cloud of the sensing target.

[0138] Taking the processing of the first transmission delay out of the P transmission delays by the first sensing device as an example, the processing method for the other transmission delays out of the P transmission delays is similar, so the details for the other transmission delays will not be elaborated. The first sensing device can determine which of the M delay ranges the first transmission delay belongs to; for example, the first transmission delay belongs to the first delay range of the M delay ranges. The first delay range is related to the first angle range, so the first sensing device can determine, based on the first angle of arrival and the first angle range, whether it is necessary to remove the target point corresponding to the first transmission path from the point cloud of the sensed target, or whether the target point corresponding to the first transmission path is available, reliable, or effective. Here, the first transmission path is the transmission path corresponding to the first transmission delay.

[0139] As an optional implementation, if the first angle of arrival is within the first angle range, the point cloud may include the target point corresponding to the first transmission path, or the first sensing device may not remove the target point corresponding to the first transmission path from the point cloud, or the first sensing device determines that the target point corresponding to the first transmission path is available, reliable, or valid; or, if the first angle of arrival is not within the first angle range, the point cloud may not include the target point corresponding to the first transmission path, or the first sensing device may remove the target point corresponding to the first transmission path from the point cloud, or the first sensing device determines that the target point corresponding to the first transmission path is unavailable, unreliable, or invalid.

[0140] The first angle of arrival may include, for example, the AoA and / or ZoA corresponding to the first transmission path; any one of the N angle ranges may include the range of AoA and / or the range of ZoA. For example, if the first angle of arrival includes the AoA corresponding to the first transmission path, the first sensing device can determine whether the first angle of arrival belongs to the range of AoA included in the first angle range; or, for example, if the first angle of arrival includes the ZoA corresponding to the first transmission path, the first sensing device can determine whether the first angle of arrival belongs to the range of ZoA included in the first angle range. Optionally, if the first angle of arrival includes the AoA and ZoA corresponding to the first transmission path, then if the AoA included by the first angle of arrival falls within the range of AoA included by the first angle range, and the ZoA included by the first angle of arrival falls within the range of ZoA included by the first angle range, then the point cloud may include the target point corresponding to the first transmission path, or the first sensing device may not remove the target point corresponding to the first transmission path from the point cloud, or the first sensing device determines that the target point corresponding to the first transmission path is available, reliable, or valid; or, if the AoA included by the first angle of arrival does not fall within the range of AoA included by the first angle range, and / or the ZoA included by the first angle of arrival does not fall within the range of ZoA included by the first angle range, then the point cloud may not include the target point corresponding to the first transmission path, or the first sensing device may remove the target point corresponding to the first transmission path from the point cloud, or the first sensing device determines that the target point corresponding to the first transmission path is unavailable, unreliable, or invalid.

[0141] For example, referring to Figure 7, which shows an example of a PDP, the horizontal axis represents the angle of arrival (Angle of Arrival) and the vertical axis represents the power. Figure 7 uses an Angle of Arrival (ZoA) as an example. Alternatively, Figure 7 could show the case where the antenna array spacing of the first sensing device is 2.17 × wavelength, and / or the antenna array spacing of the second sensing device is 2.17 × wavelength. Based on this PDP, the first sensing device can determine three peak powers, and thus determine the transmission delay corresponding to each of these three peak powers. The first sensing device determines the angle range corresponding to each of the three transmission delay ranges. Based on the Angle of Arrival corresponding to the three peak powers and their respective angle ranges, the first sensing device can determine whether the target point corresponding to the three peak powers is available, reliable, or valid. For example, if the first sensing device determines that the target points corresponding to the two peak powers on the left and right sides of Figure 7 are unavailable, unreliable, or invalid, the first sensing device can remove these two target points from the point cloud of the sensed target; if the first sensing device determines that the target point corresponding to the peak power in the middle of Figure 7 is available, reliable, or valid, the first sensing device can include this target point in the point cloud of the sensed target.

[0142] As mentioned earlier, the first sensing device can determine whether the point cloud of the sensed target includes the target point corresponding to the transmission path based on the correlation between M time delay ranges and N angle ranges, and the angle of arrival of the corresponding transmission path. Optionally, the first sensing device can first determine the target point corresponding to the transmission path, and then determine whether the point cloud of the sensed target includes the target point corresponding to the transmission path based on the correlation between the M time delay ranges and N angle ranges, and the angle of arrival of the transmission path. The following describes an optional method for the first sensing device to determine the target point corresponding to a transmission path, where the coordinates of the target point are, for example, (x0, y0), and the transmission path is, for example, a reflection path.

[0143] Please refer to Figure 8. Assuming the first sensing device is a network device (Figure 8 uses an access network device as an example), this access network device can communicate with UE1 and U2. For example, 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 8 uses reflection as an example). The access network device receives and measures this signal; that is, the access network device measures the signal that arrives 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 8 uses reflection as an example). The access network device receives and measures this signal; that is, the access network device measures the signal that arrives 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 sent 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 sent 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 8.

[0144] 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.

[0145] Optionally, the access network device can obtain the signal from UE1 by measuring the signal, for example, through ranging technology. as well as Access network equipment can obtain information by measuring signals from UE2, for example, through ranging technology. as well as 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).

[0146] For example, according to the Law of Cosines, we have the following Formula 1 and / or Formula 2:

[0147] Access network equipment can be based on d is determined by one or more of Δd1 or α0-α1. BS,S For example, d BS,S The following relationship must be satisfied:

[0148] 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:

[0149] Furthermore, the access network device can determine (x0, y0), for example, (x0, y0) satisfies the following relationship:

[0150] Where (x0,y0) can be the target point corresponding to the reflection path between UE1 and the first sensing device, or the target point corresponding to the reflection path between UE2 and the first sensing device.

[0151] The following describes another optional method for the first sensing device to determine the target point corresponding to a transmission path, such as a scattering path. For example, the coordinates of the target point corresponding to this scattering path satisfy the following relationship:

[0152] in, This represents the coordinates of the target point. θ represents the coordinates of the first sensing device. l Indicate the scattering path AoA, φ l This represents the ZoA of the scattering path. ρ l The following relationship must be satisfied:

[0153] a l a represents the major axis of the ellipse corresponding to the scattering path. l The following relationship must be satisfied:

[0154] d l This indicates the propagation delay of the scattering path.

[0155] e l e represents the eccentricity of the ellipse corresponding to the scattering path. l The following relationship must be satisfied:

[0156] d represents the distance between the first sensing device and the second sensing device.

[0157] cosβ represents the cosine of the angle between the direction of the second sensing device relative to the first sensing device and the direction of the echo signal (e.g., the first signal) on the scattering path relative to the first sensing 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:

[0158] express The transpose of θ0. θ0 represents the AoA of the LoS path between the first sensing device and the second sensing device, and φ0 represents the ZoA of the LoS path.

[0159] 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 first sensing device and the second sensing device 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 first sensing device and the second sensing device.

[0160] It is evident that regardless of whether the transmission path is a scattering path or a reflection path, the first sensing device can determine the target point corresponding to the transmission path, and thus determine whether the target point should be included in the point cloud of the sensing target based on the correlation relationship.

[0161] Optionally, this embodiment may further include S604, whereby the first sensing device sends a point cloud of the sensing target. For example, the point cloud can be sent to a sensing network element, as shown in Figure 6. The sensing network element can process the point cloud, for example, it can construct the sensing target based on the point cloud.

[0162] In this embodiment of the application, by establishing the correlation between the time delay range and the angle range, the first sensing device can eliminate unusable target points in the point cloud or target points with low reliability in the point cloud, thereby making the determined point cloud more accurate and thus improving the sensing accuracy.

[0163] To better understand the technical solutions of the embodiments of this application, several embodiments are described below. The embodiments shown in Figures 9 to 12 below can be understood as several examples of the embodiments shown in Figure 6. For example, the embodiments shown in Figures 9 to 12 are applications of the embodiments shown in Figure 6 in different scenarios.

[0164] In this embodiment, a large spacing between the antenna arrays of the first sensing device (e.g., greater than half a wavelength) and / or a large spacing between the antenna arrays of the second sensing device (e.g., greater than half a wavelength) may result in grating lobes. Therefore, this embodiment can be applied to both single-site and dual-site sensing modes. Furthermore, the solution of this embodiment is applicable regardless of whether the first sensing device is a network device or a UE, or regardless of whether the second sensing device is a network device or a UE. The embodiments shown in Figures 9 to 12 illustrate these scenarios. Since the embodiments shown in Figures 9 to 12 are examples of the embodiments shown in Figure 6, dashed lines are no longer used in Figures 9 to 12 to indicate whether a step is optional.

[0165] Please refer to Figure 9, which is a flowchart of an embodiment of this application applied to a single-site sensing mode. In the embodiment shown in Figure 9, taking the example that both the first sensing device and the second sensing device are network devices, that is, the single-site sensing mode is a sensing mode in which the network device transmits and receives signals independently.

[0166] S901, Sensing network elements interact with network devices to exchange sensing capability information. This sensing network element may be, for example, an SF or LMF.

[0167] For example, a network device can send its sensing capability information to a sensing network element, which indicates whether the network device has sensing capabilities. Optionally, the sensing capability information can also indicate whether the network device supports determining the point cloud of the sensing target in accordance with the method provided in the embodiments of this application.

[0168] Optionally, the sensing element can also send information to the network device, such as indicating the sensing mode used, for example, indicating the use of a single-site sensing mode.

[0169] S901 is an optional step. The sensing network element and the network device may not interact with each other's sensing capability information. For example, the sensing network element may know the sensing capability of the network device in advance, or the sensing network element may assume that the sensing capability of the network device is default, such as having sensing capability by default.

[0170] S902, the sensing 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.

[0171] The first request may request the network device to measure signals, perform a sensing task, report sensing results, determine the point cloud of the sensing target according to the method provided in the embodiments of this application, or perform a sensing task according to the method provided in the embodiments of this application. Optionally, the first request may also indicate the sensing mode to be used, such as indicating the use of a single-site sensing mode. If the sensing network element in S901 has already indicated the sensing mode to the network device, then the first request does not need to indicate the sensing mode again.

[0172] Optionally, the sensing measurement request may also include the first information described in the embodiment shown in FIG6. In this case, S902 and S601 in the embodiment shown in FIG6 may be the same step. Alternatively, the first information may also be included in other messages sent by the sensing network element, but not in the first request. In this case, S902 and S601 in the embodiment shown in FIG6 may be different steps.

[0173] S903. The network device determines the point cloud of the perceived target based on the correlation between M time delay ranges and N angle ranges.

[0174] For example, a network device can send a second signal and receive the signal after the second signal has been reflected, scattered, or diffracted by a sensing target in the environment (Figure 9 uses reflection as an example). This received signal is called the first signal. By measuring the first signal and the correlation, the network device can determine the point cloud of the sensing target. For a specific determination method, please refer to the description of the embodiment shown in Figure 6.

[0175] Optionally, the first signal (or the second signal) may be, for example, a channel state information reference signal (CSI-RS), a synchronization signal and a 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).

[0176] S903 and S602 in the embodiment shown in Figure 6 can be the same step. For more details on S903, please refer to the relevant introduction of S602.

[0177] S904. The network device sends the point cloud of the sensed target. Correspondingly, the sensing network element receives the point cloud.

[0178] S904 and S604 in the embodiment shown in Figure 6 can be the same step. For more details on S904, please refer to the relevant introduction of S604.

[0179] Please refer to Figure 10, which is another flowchart of an embodiment of this application applied to a single-site sensing mode. In the embodiment shown in Figure 10, taking the example that both the first sensing device and the second sensing device are UEs, that is, the single-site sensing mode is a sensing mode in which the UE transmits and receives signals on its own.

[0180] S1001, Sensing network element interacts with UE to obtain sensing capability information. This sensing network element is, for example, SF or LMF.

[0181] For example, the UE can send the sensing capability information of the network device to the sensing network element, which indicates whether the UE has sensing capabilities. Optionally, the sensing capability information can also indicate whether the UE supports determining the point cloud of the sensing target in accordance with the method provided in the embodiments of this application. The sensing network element can communicate directly with the UE, or it can communicate through other network elements (such as network devices).

[0182] Optionally, the sensing network element can also send information to the UE, such as indicating the sensing mode to be used, for example, indicating the use of single-site sensing mode.

[0183] S1001 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.

[0184] S1002, the sensing network element sends a first request. Correspondingly, the UE receives the first request. Optionally, the first request may be, for example, a sensing measurement request.

[0185] The first request may request the UE to measure signals, perform a sensing task, report sensing results, determine the point cloud of a sensing target according to the method provided in the embodiments of this application, or perform a sensing task according to the method provided in the embodiments of this application. Optionally, the first request may also indicate the sensing mode adopted, such as indicating the adoption of a single-site sensing mode. If the sensing network element in S901 has already indicated the sensing mode to the UE, then the first request does not need to indicate the sensing mode again.

[0186] Optionally, the sensing measurement request may also include the first information described in the embodiment shown in FIG. 6. In this case, S1002 and S601 in the embodiment shown in FIG. 6 may be the same step. Alternatively, the first information may also be included in other messages sent by the sensing network element, but not in the first request. In this case, S1002 and S601 in the embodiment shown in FIG. 6 may be different steps.

[0187] S1003. The UE determines the point cloud of the perceived target based on the correlation between M time delay ranges and N angle ranges.

[0188] For example, the UE can send a second signal and receive the signal after the second signal has been reflected, scattered, or diffracted by a sensing target in the environment (Figure 10 uses reflection as an example). This received signal is called the first signal. By measuring the first signal and the correlation, the UE can determine the point cloud of the sensing target. For a specific determination method, please refer to the description of the embodiment shown in Figure 6.

[0189] Optionally, the first signal (or the second signal) may be, for example, a channel sounding reference signal (SRS), or other signals used for sensing, such as DMRS.

[0190] S1003 and S602 in the embodiment shown in Figure 6 can be the same step. For more details on S1003, please refer to the relevant introduction of S602.

[0191] S1004, the UE sends the point cloud of the perceived target. Correspondingly, the sensing network element receives the point cloud.

[0192] S1004 and S604 in the embodiment shown in Figure 6 can be the same step. For more details on S1004, please refer to the relevant introduction of S604.

[0193] Please refer to Figure 11, which is a flowchart of an embodiment of this application applied to a dual-site sensing mode. In the embodiment shown in Figure 11, taking the second sensing device as a UE and the first sensing device as a network device as an example, the dual-site sensing mode is a sensing mode in which the UE transmits and the network device receives.

[0194] S1101, 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.

[0195] 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 the point cloud of a sensing target according to the method provided in the embodiments of this application.

[0196] 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.

[0197] S1101 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.

[0198] S1102, 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.

[0199] The first request may request the network device to measure a signal (used for sensing measurement), or request the network device to configure a signal (e.g., configure a signal for the UE, 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 point cloud of the sensing target according to the method provided in the embodiments of this application, or request the network device to perform a sensing task according to the method provided in the embodiments of this application, etc. For more details regarding this first request, please refer to the relevant description of S902 in the embodiment shown in Figure 9.

[0200] S1103, 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.

[0201] S1104, the UE sends a second signal. Correspondingly, the network device receives the first signal.

[0202] The UE can transmit a second signal based on the reference signal resource. The first signal can be the signal of the second signal after being reflected, scattered, or diffracted by a sensing target in the environment (Figure 11 uses reflection as an example).

[0203] Optionally, the first signal (or the second signal) may be, for example, SRS, or other signals used for sensing, such as DMRS.

[0204] S1105. The network device determines the point cloud of the perceived target based on the correlation between M time delay ranges and N angle ranges.

[0205] S1105 and S603 in the embodiment shown in Figure 6 can be the same step. For more details on S1105, please refer to the relevant introduction of S603.

[0206] S1106. The network device sends the point cloud of the sensed target. Correspondingly, the sensed network element receives the point cloud.

[0207] S1106 and S604 in the embodiment shown in Figure 6 can be the same step. For more details on S1106, please refer to the relevant introduction of S604.

[0208] Please refer to Figure 12, which is another flowchart of an embodiment of this application applied to a dual-site sensing mode. In the embodiment shown in Figure 12, taking the first sensing device as a UE and the second sensing device as a network device as an example, that is, the dual-site sensing mode is a sensing mode in which the network device transmits and the UE receives.

[0209] S1201, 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.

[0210] 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. Optionally, sensing capability information A can also indicate whether the UE supports determining the point cloud of a sensing target according to the method provided in the embodiments of this application. Sensing capability information B can indicate whether the network device has sensing capabilities.

[0211] For more information on S1201, please refer to S1101 in the embodiment shown in Figure 11.

[0212] S1202, the sensing network element sends a first request. Correspondingly, the UE 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 UE, therefore the sensing network element can send the first request to the UE.

[0213] The first request may request the UE to measure a signal (used for sensing measurement), or request the UE to perform a sensing task, or request the UE to report sensing results, or request the UE to determine the point cloud of the sensing target in accordance with the method provided in the embodiments of this application, or request the UE to perform a sensing task in accordance with the method provided in the embodiments of this application, etc. For more details regarding this first request, please refer to the relevant description of S1002 in the embodiment shown in Figure 10.

[0214] S1203, 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.

[0215] Optionally, the sensing element can also send information A to the network device, and the network device receives information A accordingly. Information A can instruct the network device to configure signals or resources, whereby the signals are used for sensing and the resources carry the signals used for sensing. This step, for example, occurs before S1203; after the network device receives information A, it can execute S1203.

[0216] S1204, The network device sends a second signal. Correspondingly, the UE receives the first signal.

[0217] The network device can transmit a second signal based on the reference signal resource, and the UE can receive a first signal based on the reference signal resource. The first signal can be the signal of the second signal after being reflected, scattered, or diffracted by a sensing target in the environment (Figure 12 uses reflection as an example).

[0218] Optionally, the first signal (or the second signal) may be, for example, CSI-RS, SSB, or PRS, or other signals used for sensing, such as DMRS.

[0219] S1205. The UE determines the point cloud of the perceived target based on the correlation between M time delay ranges and N angle ranges.

[0220] S1205 and S603 in the embodiment shown in Figure 6 can be the same step. For more details on S1205, please refer to the relevant introduction of S603.

[0221] S1206, the UE sends the point cloud of the perceived target. Correspondingly, the sensing network element receives the point cloud.

[0222] S1206 and S604 in the embodiment shown in Figure 6 can be the same step. For more details on S1206, please refer to the relevant introduction of S604.

[0223] In summary, in the various embodiments of this application, by establishing the correlation between the time delay range and the angle range, the first sensing device can eliminate unusable target points in the point cloud or target points with low reliability in the point cloud, thereby making the determined point cloud more accurate and thus improving the sensing accuracy.

[0224] Figure 13 shows a schematic diagram of a device provided in an embodiment of this application. The device 1300 may be the first sensing device or its circuit system as shown in the embodiment of Figure 6, used to implement the method corresponding to the first sensing device in the above method embodiments. Alternatively, the device 1300 may be a sensing network element or its circuit system as shown in any of the figures shown in Figures 6, 9-12, used to implement the method corresponding to the sensing network element in the above method embodiments. Alternatively, the device 1300 may be a network device or its circuit system as shown in any of the figures shown in Figures 9, 11, or 12, used to implement the method corresponding to the network device in the above method embodiments. Alternatively, the device 1300 may be a UE or its circuit system as shown in any of the figures shown in Figures 10, 11, or 12, used to implement the method corresponding to the UE in the above method embodiments. For example, one type of circuit system is a chip system.

[0225] Since the device 1300 in the embodiments of this application can implement the sensing method, the device 1300 can also be called a sensing device. In implementation, the device 1300 may have sensing function but no communication function, or it may have both sensing function and communication function. If the device 1300 has communication function, it may also be called a communication device, etc., without limitation.

[0226] The device 1300 includes at least one processor 1301. The processor 1301 can be used for internal processing within the device to implement certain control processing functions. Optionally, the processor 1301 includes instructions. Optionally, the processor 1301 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 on one or more integrated circuits.

[0227] Optionally, the device 1300 includes one or more memories 1303 for storing instructions. Optionally, the memories 1303 may also store data. The processor and the memories may be separate or integrated together.

[0228] Optionally, the device 1300 includes a communication line 1302 and at least one communication interface 1304. Since the memory 1303, communication line 1302, and communication interface 1304 are all optional, they are all represented by dashed lines in FIG13.

[0229] Optionally, device 1300 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 1300 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.

[0230] Processor 1301 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.

[0231] Communication line 1302 may include a path for transmitting information between the aforementioned components.

[0232] Communication interface 1304 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.

[0233] The memory 1303 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 1303 may exist independently and be connected to the processor 1301 via communication line 1302. Alternatively, the memory 1303 may be integrated with the processor 1301.

[0234] The memory 1303 stores computer execution instructions for implementing the scheme of this application, and the processor 1301 controls the execution of these instructions. The processor 1301 executes the computer execution instructions stored in the memory 1303 to implement the steps performed by the first sensing device, network device, sensing network element, or UE as described in any of the embodiments shown in Figures 6, 9 to 12.

[0235] 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.

[0236] In a specific implementation, as one embodiment, processor 1301 may include one or more CPUs, such as CPU0 and CPU1 in FIG13.

[0237] In a specific implementation, as one embodiment, device 1300 may include multiple processors, such as processor 1301 and processor 1305 in FIG. 13. 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).

[0238] When the device shown in Figure 13 is a chip, such as a UE chip, a network device chip, a sensing network element chip, or a first sensing device chip, the chip includes a processor 1301 (and may also include a processor 1305), a communication line 1302, and a communication interface 1304. Optionally, it may include a memory 1303. Specifically, the communication interface 1304 may be an input interface, pins, or circuits, etc. The memory 1303 may be a register, cache, etc. The processor 1301 and processor 1305 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.

[0239] 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 one 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, in the case of dividing each functional module according to its function, Figure 14 is a schematic diagram of a device. This device 1400 can be the UE, first sensing device, network device, or sensing network element involved in the above method embodiments, or a chip in the UE, first sensing device, network device, or sensing network element. The device 1400 includes a processing unit 1402 and a transceiver unit 1401. Since the device 1400 in this application embodiment can implement the sensing method, the device 1400 can also be called a sensing device. In implementation, the device 1400 may have sensing function but no communication function, or it may have both sensing and communication functions. If device 1400 has communication function, it can also be called a communication device, etc., without limitation.

[0240] It should be understood that the device 1400 can be used to implement the steps performed by the UE, the first sensing device, the network device, or the sensing network element in the sensing method of the embodiments of this application. The relevant features can be referred to the embodiments shown in any of the figures 6, 9 to 12 above, and will not be repeated here.

[0241] Optionally, the functions / implementation processes of the transceiver unit 1401 and processing unit 1402 in Figure 14 can be implemented by the processor 1301 in Figure 13 calling computer execution instructions stored in memory 1303. Alternatively, the functions / implementation processes of the processing unit 1402 in Figure 14 can be implemented by the processor 1301 in Figure 13 calling computer execution instructions stored in memory 1303, and the functions / implementation processes of the transceiver unit 1401 in Figure 14 can be implemented by the communication interface 1304 in Figure 13.

[0242] Optionally, when the device 1400 is a chip or circuit, the function / implementation process of the transceiver unit 1401 can also be implemented through pins or circuits. Optionally, the transceiver unit 1401 may include a transmitting unit and / or a receiving unit, whereby the transmitting unit implements the transmitting function and the receiving unit implements the receiving function; or, the transceiver unit 1401 may be an integral module capable of implementing both transmitting and / or receiving functions. Optionally, the transceiver unit 1401 can be implemented using a transceiver.

[0243] 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, the first sensing device, the network device, or the 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, a server, or a 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.

[0244] 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, the first sensing device, the network device, or the sensing network element in any of the foregoing method embodiments.

[0245] This application also provides a processing apparatus, including a processor and an interface; the processor is used to execute the method performed by the UE, the first sensing device, the network device, or the sensing network element involved in any of the above method embodiments.

[0246] 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)).

[0247] 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.

[0248] 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.

[0249] 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.

[0250] 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.

[0251] It is understood that in the embodiments of this application, the UE and / or the first sensing device and / or the network device and / or the 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: Receive first information, the first information being used to indicate a first time delay range and a first angle range, the first time delay range being associated with the first angle range, wherein the first time delay range is a time delay range associated with the transmission delay of the signal used for sensing, and the first angle range is a range of the angle of arrival of the transmission path corresponding to the first time delay range; The point cloud of the perceived target is determined based on the correlation between the first time delay range and the first angle range.

2. The method according to claim 1, characterized in that, Determining the point cloud of the perceived target based on the correlation between the first time delay range and the first angle range includes: Receive a first signal for sensing, the first signal being a signal reflected, scattered, or diffracted via the sensing target; A first transmission delay is determined based on the measurement result of the first signal. The first transmission delay is associated with a first transmission path used to transmit the first signal, and the first transmission delay is included within the first delay range. Determine the first angle of arrival corresponding to the first transmission path; The point cloud of the perceived target is determined based on the first angle range and the first angle of arrival.

3. The method according to claim 2, characterized in that, The first transmission delay is the transmission delay corresponding to the peak power of the first signal determined based on the measurement results.

4. The method according to claim 2 or 3, characterized in that, Determining the point cloud of the perceived target based on the first angle range and the first angle of arrival includes: If the first angle of arrival falls within the first angle range, the point cloud includes the target point corresponding to the first transmission path; or, If the first angle of arrival is not within the first angle range, the point cloud does not include the target point corresponding to the first transmission path.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: Send the point cloud.

6. The method according to any one of claims 1 to 5, characterized in that, The first information indicates a first time delay range, including: The first information indicates the upper and / or lower limit of the delay within the first delay range; or, The first information indicates the center delay of the first delay range and the delay extension range, wherein the center delay and the delay extension range are used to determine the first delay range.

7. The method according to any one of claims 1 to 6, characterized in that, The first information indicates a first angular range, including: The first information indicates the upper and / or lower limit of the angle within the first angle range; or, The first information indicates the center angle of the first angle range and the angle extension range, wherein the center angle and the angle extension range are used to determine the first angle range.

8. The method according to any one of claims 1 to 7, characterized in that, The first transmission path is a non-line-of-sight (NLoS) path. The first transmission delay is the transmission delay of the first transmission path; or, The first transmission delay is the delay difference between the first transmission path and the line-of-sight (LoS) path.

9. A sensing method, characterized in that, The method includes: Send first information, the first information is used to indicate a first time delay range and a first angle range, the first time delay range and the first angle range are associated, the association between the first time delay range and the first angle range is used to determine the point cloud of the sensing target, wherein the first time delay range is the range of the transmission time delay of the signal used for sensing, and the first angle range is the range of the angle of arrival of the transmission path corresponding to the first time delay range. Receive the point cloud.

10. The method according to claim 9, characterized in that, The first information indicates a first time delay range, including: The first information indicates the upper and / or lower limit of the delay within the first delay range; or, The first information indicates the center delay of the first delay range and the delay extension range, wherein the center delay and the delay extension range are used to determine the first delay range.

11. The method according to claim 9 or 10, characterized in that, The first information indicates a first angular range, including: The first information indicates the upper and / or lower limit of the angle within the first angle range; or, The first information indicates the center angle of the first angle range and the angle extension range, wherein the center angle and the angle extension range are used to determine the first angle range.

12. The method according to any one of claims 9 to 11, characterized in that, The first transmission path is an NLoS path. The first transmission delay is the transmission delay of the first transmission path; or, The first transmission delay is the delay difference between the first transmission path and the Loss path.

13. A sensing method, characterized in that, The method includes: The sensing network element sends first information, which is used to indicate a first time delay range and a first angle range. The first time delay range is associated with the first angle range, wherein the first time delay range is the range of transmission delay of the signal used for sensing, and the first angle range is the range of the angle of arrival of the transmission path corresponding to the first time delay range. The network device receives the first information and determines the point cloud of the perceived target based on the correlation between the first time delay range and the first angle range.

14. The method according to claim 13, characterized in that, The method further includes: The network device sends the point cloud; The sensing network element receives the point cloud.

15. The method according to claim 13 or 14, characterized in that, The network device determines the point cloud of the perceived target based on the correlation between the first time delay range and the first angle range, including: The network device receives a first signal for sensing, the first signal being a signal reflected, scattered, or diffracted by the sensing target; The network device determines a first transmission delay based on the measurement result of the first signal. The first transmission delay is associated with a first transmission path used to transmit the first signal, and the first transmission delay is included within the first delay range. The network device determines the first angle of arrival corresponding to the first transmission path; The network device determines the point cloud of the perceived target based on the first angle range and the first angle of arrival.

16. The method according to claim 15, characterized in that, The method further includes: The network device sends the first signal; or... The terminal sends the first signal.

17. The method according to claim 15 or 16, characterized in that, The network device determines the point cloud of the perceived target based on the first angle range and the first angle of arrival, including: If the first angle of arrival falls within the first angle range, the point cloud includes the target point corresponding to the first transmission path; or, If the first angle of arrival is not within the first angle range, the point cloud does not include the target point corresponding to the first transmission path.

18. 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 12.

19. 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 12.

20. 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 12 to be performed, or causes the method as described in any one of claims 13 to 17 to be performed.

21. 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 12, or causes the computer to perform the method as described in any one of claims 13 to 17.

22. A sensing system, characterized in that, The sensing system includes network devices and sensing network elements, wherein... The network device is used to perform the method as described in any one of claims 1 to 8; The sensing network element is used to perform the method as described in any one of claims 9 to 12.

23. The sensing system according to claim 22, characterized in that, The sensing system also includes a terminal, wherein... The terminal is used to send a first signal for sensing.

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