Sensing method and apparatus, communication device, storage medium, and computer program product

Abstract

Provided in the present disclosure are a sensing method and apparatus, and a communication device, a storage medium, and a computer program product. The method comprises: a first communication device sending a first reference signal set and first information, wherein the first information indicates that all reference signals in the first reference signal set are used for sensing the same target, and / or indicates that the reference signals in the first reference signal set are used for sensing a plurality of points of the same target, and there is an association relationship between large-scale channel information of the plurality of points of the target.

Description

Sensing methods, devices, communication equipment, storage media, and computer program products

[0001] Cross-references to related applications

[0002] This disclosure claims priority to Chinese Patent Application No. 202411554360.6, filed in China on November 1, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to the field of communication technology, and in particular to a sensing method, apparatus, communication device, storage medium, and computer program product. Background Technology

[0004] In related technologies, under collaborative sensing mode, the first node sends a sensing signal, and the second node receives the reflected or echoed signal of the sensing signal to achieve target sensing. However, when using existing sensing methods to sense multi-point targets modeled by point sets, the sensing results are inaccurate, mistakenly identifying the existence of multiple sensing targets. Summary of the Invention

[0005] To address the related technical problems, embodiments of this disclosure provide a sensing method, apparatus, communication device, storage medium, and computer program product.

[0006] The technical solution of this disclosure embodiment is implemented as follows:

[0007] This disclosure provides a sensing method applied to a first communication device, the method comprising:

[0008] Send a first set of reference signals and first information; wherein the first information indicates that all reference signals in the first set of reference signals are used to sense the same target, and / or indicates that the reference signals in the first set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated.

[0009] In the above scheme, the first information includes one or more of the following:

[0010] A quasi-co-location (QCL) type is defined, wherein the defined QCL type is used to indicate that all reference signals in the first set of reference signals are suitable for sensing the same target;

[0011] Co-target (CT) type, wherein the CT type is used to indicate information about the target;

[0012] A first Transmission Configuration Indicator state (TCI state) list, the first TCI state list indicates at least the offset of each first reference signal relative to a second reference signal in terms of large-scale channel information, the second reference signal representing the reference signal corresponding to the reference point of the target in the first reference signal set, the first reference signal representing the reference signal corresponding to the non-reference point of the target in the first reference signal set, and the reference signal corresponding to the non-reference point being associated with the reference signal corresponding to the reference point.

[0013] The second TCI state list indicates at least whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated, where i and j are both positive integers, and i is less than or equal to the total number of sub-regions of the sensing area, and j is less than or equal to the number of points or the total number of the target.

[0014] In the above scheme, the first TCI state list includes one or more of the following:

[0015] The second information represents the type of large-scale channel information;

[0016] The third information represents the offset of each first reference signal relative to the second reference signal in terms of large-scale channel information.

[0017] The first number represents the number of points of the target or the number of reference signals;

[0018] The second number represents the number of sensing types or the number of types of large-scale channel information;

[0019] The third number represents the number of candidate TCI states of the reference point of the target;

[0020] Candidate TCI state identifiers for reference points among multiple points of the target.

[0021] In the above scheme, the second TCI state list includes one or more of the following:

[0022] The fourth information indicates whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated;

[0023] The first number represents the number of points of the target or the number of reference signals;

[0024] The TCI state identifier of some or all points in some or all sub-regions of the sensing area.

[0025] In the above scheme, the offset of large-scale channel information between reference signals is determined based on the direction and speed of motion of the target relative to the transceiver node of the reference signal.

[0026] In the above scheme, after sending the first reference signal set and the first information, the method further includes:

[0027] Send a second set of reference signals and a fifth set of information; wherein the second set of reference signals represents the updated first set of reference signals, and the fifth set of information indicates that the reference signals in the second set of reference signals are used to sense the same target, and / or indicates that the reference signals in the second set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated.

[0028] The method in the above scheme further includes:

[0029] The fifth piece of information is determined based on one or more of the following:

[0030] The location information of the target;

[0031] The target is located in the sensing area;

[0032] The perception result of the target;

[0033] The preceding reference signal of the reference signal QCL used to sense at least one point on the target;

[0034] The relationship of large-scale channel information between multiple points of the target.

[0035] In the above scheme, the fifth information is obtained by updating one or more of the following in the first information:

[0036] The QCL type is set;

[0037] CT type;

[0038] First TCI state list;

[0039] Second TCI state list.

[0040] The above scheme, the method further includes one or more of the following:

[0041] If the preceding reference signal of the second reference signal is outside the range of the reference signal pointed to by the TCI state identifier of the second reference signal, update the TCI state identifier of the second reference signal.

[0042] If the number of points representing the target or the number of reference signals in the perception result of the target changes, update the offset of the large-scale channel information of each first reference signal relative to the second reference signal;

[0043] If the sensing area where the target is located changes, update the second TCI state list.

[0044] In the above scheme, the first information also includes:

[0045] A third TCI state list, which is used to indicate the TCI state identifier of the preceding reference signal to the reference signal QCL; or

[0046] The first QCL is used to indicate the association relationship between the reference signal and the preceding reference signal.

[0047] This disclosure also provides a sensing method applied to a second communication device, the method comprising:

[0048] Receive the echo signal of the first information and the first set of reference signals; wherein the first information indicates that all reference signals in the first set of reference signals are used to sense the same target, and / or indicates that the reference signals in the first set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated.

[0049] The first perception result of the target is sent to the first communication device. The first perception result is obtained by fusing the perception results of each reference signal in the first reference signal set.

[0050] In the above scheme, the first information includes one or more of the following:

[0051] The set QCL type is used to indicate that all reference signals in the first reference signal set are suitable for sensing the same target;

[0052] CT type, the CT type being used to indicate information about the target;

[0053] The first TCI state list indicates at least the offset of each first reference signal relative to the large-scale channel information of the second reference signal. The second reference signal represents the reference signal corresponding to the reference point of the target in the first reference signal set. The first reference signal represents the reference signal corresponding to the non-reference point of the target in the first reference signal set. The reference signal corresponding to the non-reference point is associated with the reference signal corresponding to the reference point.

[0054] The second TCI state list indicates at least whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated, where i and j are both positive integers, and i is less than or equal to the total number of sub-regions of the sensing area, and j is less than or equal to the number of points or the total number of the target.

[0055] In the above scheme, the first TCI state list includes one or more of the following:

[0056] The second information represents the type of large-scale channel information;

[0057] The third information represents the offset of each first reference signal relative to the second reference signal in terms of large-scale channel information.

[0058] The first number represents the number of points of the target or the number of reference signals;

[0059] The second number represents the number of sensing types or the number of types of large-scale channel information;

[0060] The third number represents the number of candidate TCI states of the reference point of the target;

[0061] Candidate TCI state identifiers for reference points among multiple points of the target.

[0062] In the above scheme, the second TCI state list includes one or more of the following:

[0063] The fourth information indicates whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated;

[0064] The first number represents the number of points of the target or the number of reference signals;

[0065] The TCI state identifier of some or all points in some or all sub-regions of the sensing area.

[0066] In the above scheme, the offset of large-scale channel information between reference signals is determined based on the direction and speed of motion of the target relative to the transceiver node of the reference signal.

[0067] In the above scheme, after receiving the first reference signal set and the first information, the method further includes:

[0068] Receive the echo signal of the fifth information and the second reference signal set; wherein the second reference signal set represents the updated first reference signal set, the fifth information indicates that the reference signals in the second reference signal set are used to sense the same target, and / or indicates that the reference signals in the second reference signal set are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target has a correlation relationship;

[0069] The second perception result of the target is sent to the first communication device. The second perception result is obtained by fusing the perception results of each reference signal in the second reference signal set.

[0070] In the above scheme, the fifth information is obtained by updating one or more of the following in the first information:

[0071] The QCL type is set;

[0072] CT type, the CT type indicates information about the target;

[0073] First TCI state list;

[0074] Second TCI state list.

[0075] This disclosure also provides a sensing device, including:

[0076] The first transmitting unit is configured to transmit a first set of reference signals and first information; wherein the first information indicates that all reference signals in the first set of reference signals are used to sense the same target, and / or indicates that the reference signals in the first set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated.

[0077] This disclosure also provides a sensing device, including:

[0078] The first receiving unit is configured to receive first information and echo signals of a first set of reference signals; wherein the first information indicates that all reference signals in the first set of reference signals are used to sense the same target, and / or indicates that the reference signals in the first set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target has a correlation relationship.

[0079] The second transmitting unit is used to transmit a first perception result of the target to the first communication device. The first perception result is obtained by fusing the perception results of each reference signal in the first set of reference signals.

[0080] This disclosure also provides a first communication device, including: a first processor and a first communication interface; wherein,

[0081] The first communication interface is used to send a first set of reference signals and first information; wherein, the first information indicates that all reference signals in the first set of reference signals are used to sense the same target, and / or indicates that the reference signals in the first set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated.

[0082] This disclosure also provides a second communication device, including: a second processor and a second communication interface; wherein,

[0083] The second communication interface is used to receive the first information and the echo signal of the first reference signal set, and send the first perception result of the target to the first communication device; wherein, the first information indicates that all reference signals in the first reference signal set are used to perceive the same target, and / or indicates that the reference signals in the first reference signal set are used to perceive multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated; the first perception result is obtained by fusing the perception results of each reference signal in the first reference signal set.

[0084] This disclosure also provides a communication device, including a processor and a memory for storing a computer program capable of running on the processor.

[0085] Wherein, when the processor is used to run the computer program, it executes the steps of any method on the first communication device side, or executes the steps of any method on the second communication device side.

[0086] This disclosure also provides a storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of any method on the first communication device side, or implements the steps of any method on the second communication device side.

[0087] This disclosure also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of any of the above methods.

[0088] In the sensing method, apparatus, communication device, storage medium, and computer program product provided in the embodiments of this disclosure, a first communication device transmits a first reference signal set and first information, and a second communication device receives the first information and the echo signal of the first reference signal set; wherein, the first information indicates that all reference signals in the first reference signal set are used to sense the same target, and / or indicates that the reference signals in the first reference signal set are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated. It can be seen that in the embodiments of this disclosure, the first information can indicate that all reference signals in the first reference signal set are used to sense the same target, and / or indicate that the reference signals in the first reference signal set are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated, enabling the second communication device to know which reference signals are used to sense multiple points of the same target, and the correlation between the large-scale channel information / sensing measurement quantities between different reference signals of the same target, thereby assisting the second communication device in realizing functions such as target positioning and tracking, posture and motion recognition, and imaging, improving sensing accuracy and precision. Attached Figure Description

[0089] Figure 1 is an example of a related technology that sends multiple reference signals to detect multiple points of the same target;

[0090] Figure 2 is a schematic diagram of the QCL when the related technology transmits the reference signal;

[0091] Figure 3 is an example of the receiver misjudging the number of targets in the absence of RS association indication;

[0092] Figure 4 is a schematic flowchart of a sensing method according to an embodiment of the present disclosure;

[0093] Figure 5 is a structural example diagram of a MAC CE for TCI state ID in multi-point target perception according to an embodiment of this disclosure;

[0094] Figure 6 is a structural example diagram of a MAC CE for TCI state ID in multi-point target perception according to an embodiment of the present disclosure;

[0095] Figure 7 is an example diagram of dividing the sensing area into multiple sub-regions according to an embodiment of this disclosure;

[0096] Figure 8 is a schematic flowchart of a sensing method according to an embodiment of the present disclosure;

[0097] Figure 9 is a schematic diagram of a sensing device according to an embodiment of the present disclosure;

[0098] Figure 10 is a schematic diagram of a sensing device according to an embodiment of the present disclosure;

[0099] Figure 11 is a schematic diagram of the structure of the first communication device according to an embodiment of this disclosure;

[0100] Figure 12 is a schematic diagram of the structure of the second communication device according to an embodiment of this disclosure. Detailed Implementation

[0101] With the development of mobile communication systems, in addition to traditional communication services, sensing will become an important function of mobile communication systems, with potential application value in scenarios such as drones, connected vehicles, and smart factories. Related technologies, because they model targets as ideal single-point targets, only send a single sensing signal for perception, which cannot perform attitude recognition and imaging of the target. However, real targets being sensed, such as buildings, vehicles, and pedestrians, often have a certain size and need to be modeled as multi-point targets. The sensing signal can be a reference signal, which can be understood as a sensing reference signal, including but not limited to Channel State Information-Reference Signal (CSI-RS).

[0102] For multi-point targets, multiple reference signals (RS) need to be transmitted to detect multiple points of the same target, and then the sensing results are obtained by combining them, as shown in Figure 1. In order to achieve this technical effect, the transmitter needs to indicate the correlation relationship of the multiple reference signals to the receiver, and the receiver needs to perform joint processing of the multiple reference signals and fusion of the sensing results.

[0103] In related technologies, the correlation between multiple reference signals is mainly indicated by QCL or TCI state configuration. QCL means that the large-scale parameters of the channel experienced by the reference signal on one antenna port can be inferred from the channel experienced by the reference signal on another antenna port.

[0104] There are currently four QCL types in the protocol, as shown in Table 1.

[0105] Table 1

[0106] To configure the QCL relationship between reference signals, New Radio (NR) introduced the Transmission Configuration Indicator State (TCI state). Each TCI state contains QCL parameters for configuring multiple reference signals with one or two source reference signals. For example, CSI-RS can be QCLed with SSB signals. The CSI-RS resource and QCL relationship can be indicated by the parameter nzp-CSI-RS-Resource ToAddModList in the Physical Downlink Shared Channel (PDSCH) configuration. The QCL relationship indicates the SSB associated with the CSI-RS resource, and nzp refers to non-zero power. The TCI state is configured through the TCI state list (e.g., tci-StatesToAddModList) in the PDSCH configuration. Existing multi-reference signal association methods, i.e., QCL or TCI state configuration, have the following three drawbacks:

[0107] QCL Configuration Defects: The four QCL types in Table 1 are designed to indicate the channel information correlation when different reference signals experience similar channels. These four QCL types are not applicable in multi-point target sensing scenarios because each point of a multi-point target typically experiences a different channel. Therefore, if existing QCLs are used, they can only indicate the preceding (source) reference signal of each point's reference signal QCL (e.g., a point corresponds to a CSI-RS, and this CSI-RS has a QCL relationship with the previous SSB emitted from the same port), but cannot indicate the correlation between these reference signals, as shown in Figure 2.

[0108] TCI state configuration defects: Related technologies directly configure a TCI state associated with the preceding reference signal for each point of a multi-point target. This configuration method has the following three drawbacks:

[0109] The relevant technology cannot explicitly indicate that "multiple reference signals correspond to the same target", which leads the receiver to mistakenly believe that multiple reference signals are for detecting different targets. After obtaining the perception results using each reference signal, it is impossible to correspond each perception result to the same target, perform result fusion, and obtain a judgment on the target's attitude and motion changes, as shown in Figure 3.

[0110] When configuring the TCI state of reference signals corresponding to different points on the same target, related technologies do not consider the relationship between the reference signals corresponding to multiple points of a multi-point target in terms of sensing quantity / large-scale channel information. For example, an unmanned aerial vehicle (UAV) is a two-point target. Compared with the first point, the beam angle of the reference signal corresponding to the second point is offset by about 2° and the distance is offset by about 10cm. It cannot implicitly indicate that these reference signals belong to the same multi-point target.

[0111] Related technologies configure TCI states one by one for multiple points of the same target. As the number of target point sets increases, the list of MAC CE TCI states that need to be configured increases, leading to higher signaling overhead. MAC CE stands for Control Element, and MAC stands for Media Access Control. However, in existing protocols, the number of TCI state IDs that MAC CE can support is limited. As the size of the point set expands, the number of TCI state IDs will become insufficient. Configuring a smaller table and then updating it is a possible solution, but when updating the TCI state ID list, related technologies have not yet considered the impact of target size, number of point sets, sensing area, etc., on the list update frequency and conditions. ID refers to Identifier.

[0112] In summary, using existing perception methods to perceive multi-point targets modeled by point sets yields inaccurate perception results, leading to the mistaken assumption that multiple targets exist.

[0113] Based on this, in various embodiments of this disclosure, a first communication device sends a first set of reference signals and first information, and a second communication device receives the first information and the echo signal of the first set of reference signals; wherein, the first information indicates that all reference signals in the first set of reference signals are used to sense the same target, and / or indicates that the reference signals in the first set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated. It can be seen that in the embodiments of this disclosure, the first information can indicate that all reference signals in the first set of reference signals are used to sense the same target, and / or indicate that the reference signals in the first set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated, enabling the second communication device to know which reference signals are used to sense multiple points of the same target, and the correlation between the large-scale channel information / sensing measurement quantities between different reference signals of the same target, thereby assisting the second communication device in realizing functions such as target positioning and tracking, posture and motion recognition, and imaging, improving sensing accuracy and precision.

[0114] The present disclosure will now be described in further detail with reference to the accompanying drawings and embodiments.

[0115] This disclosure provides a sensing method applied to a first communication device, which can be understood as a reference signal transmitting node. The first communication device includes a terminal and / or a network device, and the network device includes a base station. As shown in Figure 4, the method includes:

[0116] Step 401: Send the first set of reference signals and the first information.

[0117] Wherein, the first information indicates that all reference signals in the first reference signal set are used to sense the same target, and / or indicates that the reference signals in the first reference signal set are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated.

[0118] Here, the first communication device sends a first set of reference signals and first information to the second communication device. The second communication device and the first communication device operate in a cooperative sensing mode, meaning that the first communication device and the second communication device cooperate to sense the same target. This target is a multi-point target, that is, the number of points in the target's point set is greater than or equal to 2. The number of point sets can be understood as the number or total number of points on the target. The second communication device can be understood as a receiving node for the reference signals. The second communication device includes network devices and / or base stations. For example, if the first communication device is a network device, the second communication device can be a network device or a terminal.

[0119] The first reference signal set includes multiple different reference signals. In other words, the first reference signal set can be understood as a set of reference signals composed of multiple different reference signals. "Multiple" can be understood as two or more. For example, the first reference signal set can be represented as RSset_1 = {RS... 1,1 ,…,RS 1,N}, N≥2; multiple different reference signals are used to sense multiple points of the same target, with one reference signal corresponding to one point of the target. Different reference signals can be different configurations of the same reference signal (such as CSI-RS), and / or different kinds or types of reference signals. Reference signals include, but are not limited to, one or more of the following: SSB, CSI-RS, Demodulation Reference Signal (DMRS), Positioning Reference Signal (PRS), Tracking Reference Signal (TRS), Phase-tracking Reference Signal (PT-RS), and Sounding Reference Signal (SRS).

[0120] In practical applications, the first communication device can obtain the sixth information of the target to be sensed from a higher layer, and / or configure the sixth information of the target to be sensed locally; configure the first reference signal set and the first information based on the sixth information, and send the first reference signal set and the first information.

[0121] The fifth piece of information includes one or more of the following:

[0122] The type of target to be perceived, such as UAV, vehicle, pedestrian, etc.;

[0123] Information about the point set of the target to be perceived, including the number of points, the relative positions and / or relative distances and / or relative angles between multiple points, etc.

[0124] The motion area and / or trajectory of the target to be sensed.

[0125] It should be noted that the first information can be a newly designed QCL type or a common-target CT type. When multiple reference signals are indicated as a newly designed QCL type or a common-target CT type, it means that multiple reference signals are used to sense the same target. The first information can also be represented by a set of TCI state IDs with certain correlations. When multiple reference signals are associated with this set of TCI state IDs, it indicates that these reference signals are used to sense multiple points of the same target, and there is a certain correlation between their large-scale channel information.

[0126] To flexibly indicate that different reference signals in the first set of reference signals are used to sense the same target or multiple points of the same target, in one embodiment, the first information includes one or more of the following:

[0127] The set QCL type is used to indicate that all reference signals in the first reference signal set are suitable for sensing the same target;

[0128] Co-target (CT) type, wherein the CT type is used to indicate information about the target;

[0129] The first TCI state list indicates at least the offset of each first reference signal relative to the large-scale channel information of the second reference signal. The second reference signal represents the reference signal corresponding to the reference point of the target in the first reference signal set. The first reference signal represents the reference signal corresponding to the non-reference point of the target in the first reference signal set. The reference signal corresponding to the non-reference point is associated with the reference signal corresponding to the reference point.

[0130] The second TCI state list indicates at least whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing region, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing region is activated. Both i and j are positive integers, and i is less than or equal to the total number of sub-regions of the sensing region, and j is less than or equal to the number or total number of points of the target. Specifically, i can be less than or equal to j, or i can be greater than j.

[0131] Here, the defined QCL can be understood as a newly designed QCL, such as QCL Type-E. This defines that when multiple reference signals are QCL Type-E, they represent different points used to sense the same target. Correspondingly, Type-E can be added to the QCL information involving QCL types in existing protocols, and the Type-E option can be added to all places involving the QCL-Info IE. Info is short for information. For example, in the IE QCL-Info, qcl-Type ENUMERATED{typeA,typeB,typeC,typeD,typeE} is defined, where IE refers to Information Element. Table 2 provides examples of the modified QCL types.

[0132] Table 2

[0133] Alternatively, analogous to QCL, a new association can be designed, named CT type. A new IE, CT-Info, can be established, where ct-Type ENUMERATED{typeF,typeG,...,typeN} can be defined. ct-Type can represent the type of multi-point target, such as typeF corresponding to UAV, typeG corresponding to vehicle, etc. Each type corresponds to the number of target points (the number of points on the target), the relative positions of different points on the target, and other information. With these relative positions, combined with the large-scale channel information of the target's reference points, the large-scale information of the reference signal corresponding to the non-reference points of the target can be obtained. Specifically, analogous to the QCL type table, a CT Type table can be established. Table 3 provides an example of CT Type.

[0134] Table 3

[0135] The first information can be carried in the MAC CE. For example, the first information may include a first TCI state list and / or a second TCI state list. Where the sensing area is divided into multiple sub-regions, the first information includes a second TCI state list.

[0136] The first TCI state list contains one or more TCI state IDs, and the first reference signal set contains one first reference signal and one or more second reference signals. Specifically, among multiple points on the target, one point can be selected as a reference point, and a TCI state ID is configured for the reference signal corresponding to that reference point. This TCI state ID indicates the preceding reference signal ID of the QCL of that reference signal; the preceding reference signal can be understood as the source reference signal. Reference signals corresponding to other points on the target (non-reference points) are all associated with the reference signal corresponding to this first reference point, and no new TCI state IDs are assigned. The target's reference point can be updated. Furthermore, F needs to be set in the first TCI state list. v,w This indicates the offset of each reference signal relative to the large-scale channel information of the reference signal corresponding to the reference point. If the target is located in any sub-region of the sensing area, and some or all points of the target are also located in that sub-region, then if any point of the target is not obstructed by an obstacle, that point can reflect the sensing signal to generate an echo signal.

[0137] In one embodiment, the offset of large-scale channel information between reference signals is determined based on the direction and velocity of the target relative to the transceiver node of the reference signal.

[0138] Here, the offset of large-scale channel information between reference signals can be determined by the direction and speed of the target's movement relative to the transceiver nodes (first communication device, second communication device), and some typical values ​​can be agreed upon in advance between the transceiver nodes.

[0139] To facilitate the second communication device in obtaining the offset of large-scale channel information between reference signals, in one embodiment, the first TCI state list includes one or more of the following:

[0140] The second information represents the type of large-scale channel information;

[0141] The third information represents the offset of each first reference signal relative to the second reference signal in terms of large-scale channel information.

[0142] The first number represents the number of points of the target or the number of reference signals;

[0143] The second number represents the number of sensing types or the number of types of large-scale channel information;

[0144] The third number represents the number of candidate TCI states of the reference point of the target;

[0145] Candidate TCI state identifiers for reference points among multiple points of the target.

[0146] Here, the first TCI state list can be carried in the MAC CE. Figure 5 shows a structural example of the MAC CE for TCI state IDs used in multi-point target perception. The meanings of the parameters in Figure 5 are as follows:

[0147] F v , representing the type of large-scale channel information, such as angle, distance, Doppler shift, etc., where v is greater than or equal to 1 and less than or equal to M;

[0148] F v,w , represents the offset of each reference signal relative to the first reference signal in the large-scale channel information. The offset can be the actual offset, or the quantized value of the offset, or the string representation of the offset or the string representation of the quantized value of the offset. w is greater than or equal to 1 and less than or equal to N.

[0149] N is the first number, representing the number of points of the target, that is, the number of reference signals;

[0150] M is the second number, representing the number of sensing types or the number of types of large-scale channel information;

[0151] P is the third number, representing the number of candidate TCI states for the target's reference point;

[0152] TCI state ID p represents the p-th candidate TCI state ID of the target's reference point, where p is greater than or equal to 1 and less than or equal to P.

[0153] In Figure 5, P represents a reserved bit region, which may include one or more bits; Oct represents octal; and Serving Cell ID represents the identifier of the serving cell.

[0154] It should be noted that, due to the different positions and orientations of the target relative to the transmitting and receiving nodes, in some cases, the F values ​​of the two points of the target may differ. v,w They might be the same; for example, two points might be on the same straight line as the transmitting and receiving nodes, with the same angle and angular offset. Therefore, if the two points correspond to points F1 to F... M If the offsets (i.e. the values ​​of two columns in the F field) are the same, it means that only one of these two points needs to send a reference signal, while there is no reference signal on the overlapping or invisible points. This implies that the number of reference signals sent is less than the number of points.

[0155] For the TCI state ID field, downlink control information (DCI) can be used to select one from P candidate TCI state IDs. For example, a specific TCI state ID can be selected by indicating the selection through the CSI Request Field field of the DCI, and the indication process can reuse existing protocols.

[0156] To facilitate the second communication device in knowing which points of the target need to be sensed, in one embodiment, the second TCI state list includes one or more of the following:

[0157] The fourth information indicates whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated;

[0158] The first number represents the number of points of the target or the number of reference signals;

[0159] The TCI state identifier of some or all points in some or all sub-regions of the sensing area.

[0160] Here, activation can be described as whether it is silent. A 1 indicates that there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or that the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated; a 0 indicates that there is no reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or that the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is not activated; of course, the reverse is also possible. It should be noted that whether the fourth piece of information is 1 or 0 depends on the target's position and attitude; in some cases, the transmitting and receiving nodes may only be able to sense some points among all the target's points.

[0161] The second TCI state list can be carried in the MAC CE. Taking the sensing area as an example, which divides the sensing area into 8 sub-regions, with a maximum of 4 targets in each sub-region, Figure 6 shows a structural example of the MAC CE for TCI state IDs used for multi-point target sensing.

[0162] Considering that in practical applications, the complete first information sent by the first communication device to the second communication device is a QCL+TCI state list, the first information can be an improvement on the QCL or TCI state list. Therefore, in one embodiment, the first information further includes:

[0163] A third TCI state list, which is used to indicate the TCI state identifier of the preceding reference signal to the reference signal QCL; or

[0164] The first QCL is used to indicate the association relationship between the reference signal and the preceding reference signal.

[0165] Here, the third TCI state list is the existing TCI state list, and the first QCL is the existing QCL.

[0166] If the first information includes the set QCL type and / or CT type, the first information also includes a third TCI state list; if the first information includes a first TCI state list and / or a third TCI state list, the first information also includes a first QCL.

[0167] It should be noted that after the first communication device sends the first reference signal set and the first information, it also receives the sensing results fed back by the second communication device based on the echo signal of the first information and the first reference signal set.

[0168] After transmitting a first set of reference signals and first information, the first communication device determines whether it needs to adjust the transmission of the next sensing reference signal and updates the first information of the reference signal accordingly to improve sensing accuracy and precision. Based on this, in one embodiment, after transmitting the first set of reference signals and first information, the method further includes:

[0169] Send a second set of reference signals and a fifth set of information; wherein the second set of reference signals represents the updated first set of reference signals, and the fifth set of information indicates that the reference signals in the second set of reference signals are used to sense the same target, and / or indicates that the reference signals in the second set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated.

[0170] Here, if the target's location changes, and / or the accuracy of the target's perception results does not meet the accuracy requirements, a second set of reference signals and a fifth set of information can be sent. The second set of reference signals is obtained by updating the first set of reference signals, and the fifth set of information is obtained by updating the first information based on the second set of reference signals, or it can be determined based on relevant information about the target.

[0171] To improve the accuracy and precision of perception, in one embodiment, the method further includes:

[0172] The fifth piece of information is determined based on one or more of the following:

[0173] The location information of the target;

[0174] The target is located in the sensing area;

[0175] The perception result of the target;

[0176] The preceding reference signal of the reference signal QCL used to sense at least one point on the target;

[0177] The relationship of large-scale channel information between multiple points of the target.

[0178] Here, as shown in Figure 7, when the perception area is divided into multiple sub-regions, the fifth information is determined based on the perception area where the target is located.

[0179] To improve the efficiency of the fifth piece of information, the first piece of information can be updated. Therefore, in one embodiment, the fifth piece of information is obtained by updating one or more of the following aspects of the first information:

[0180] The QCL type is set;

[0181] CT type;

[0182] First TCI state list;

[0183] Second TCI state list.

[0184] Here, if the first information includes a set QCL type and the number of set QCL types is greater than or equal to 2, the set QCL type can be updated; if the first information includes a CT type and the number of CT types is greater than or equal to 2, the CT type can be updated; if the first information includes a first TCI state list, the first TCI state list can be updated; if the first information includes a second TCI state list, the second TCI state list can be updated to obtain the fifth information.

[0185] For example, if the first information includes a first TCI state list, as the target moves, if the preceding reference signal of the reference signal QCL corresponding to the reference point deviates from the reference signal range pointed to by P TCI state IDs, then the TCI state ID in Figure 5 is updated; and / or, if the number of reference signals or the number of sensed target points determined based on a certain sensing result received by the first communication device changes, then F in Figure 5 is updated. v,w The value of . The reference signal range can be understood as the coverage area of ​​the reference signal.

[0186] For example, if the first information includes a second TCI state list, and the target moves to another sensing region or to another sub-region of the sensing region, then F in Figure 6 is updated or reconfigured. i,j The value of .

[0187] To improve the accuracy and precision of the sensing results, in addition to sending the fifth piece of information, in one embodiment, the method further includes one or more of the following:

[0188] If the preceding reference signal of the second reference signal is outside the range of the reference signal pointed to by the TCI state identifier of the second reference signal, update the TCI state identifier of the second reference signal.

[0189] If the number of points representing the target or the number of reference signals in the perception result of the target changes, update the offset of the large-scale channel information of each first reference signal relative to the second reference signal;

[0190] If the sensing area where the target is located changes, update the second TCI state list.

[0191] It should be noted that after the first communication device sends the second reference signal set and the fifth information, it also receives the sensing results fed back by the second communication device based on the echo signal of the fifth information and the second reference signal set.

[0192] Correspondingly, this disclosure also provides a sensing method applied to a second communication device, which can be understood as a receiving node for a reference signal. The second communication device includes a terminal and / or a network device, and the network device includes a base station. As shown in FIG8, the method includes:

[0193] Step 801: Receive the echo signal of the first information and the first reference signal set.

[0194] Wherein, the first information indicates that all reference signals in the first reference signal set are used to sense the same target, and / or indicates that the reference signals in the first reference signal set are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated.

[0195] Here, the echo signal of the first reference signal set can be understood as the echo signal of each reference signal in the first reference signal set. The echo signal is obtained by the target reflecting the reference signal.

[0196] Step 802: Send the first perception result of the target to the first communication device. The first perception result is obtained by fusing the perception results of each reference signal in the first reference signal set.

[0197] Here, the second communication device determines the perception result corresponding to each reference signal, i.e. the perception result of each point of the target, based on the echo signal of each reference signal in the first reference signal set; and fuses the perception results corresponding to each reference signal in the first reference signal set based on the first information to obtain the first perception result of the target.

[0198] To facilitate the second communication device in determining which reference signals are used to sense the same target or multiple points of the same target, and to avoid mistakenly identifying the existence of multiple sensing targets, in one embodiment, the first information includes one or more of the following:

[0199] The set QCL type is used to indicate that all reference signals in the first reference signal set are suitable for sensing the same target;

[0200] CT type, the CT type being used to indicate information about the target;

[0201] The first TCI state list indicates at least the offset of each first reference signal relative to the large-scale channel information of the second reference signal. The second reference signal represents the reference signal corresponding to the reference point of the target in the first reference signal set. The first reference signal represents the reference signal corresponding to the non-reference point of the target in the first reference signal set. The reference signal corresponding to the non-reference point is associated with the reference signal corresponding to the reference point.

[0202] The second TCI state list indicates at least whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated, where i and j are both positive integers, and i is less than or equal to the total number of sub-regions of the sensing area, and j is less than or equal to the number of points or the total number of the target.

[0203] The first reference signal set includes one first reference signal and one or more second reference signals.

[0204] To facilitate the second communication device in obtaining the offset of large-scale channel information between reference signals, in one embodiment, the first TCI state list includes one or more of the following:

[0205] The second information represents the type of large-scale channel information;

[0206] The third information represents the offset of each first reference signal relative to the second reference signal in terms of large-scale channel information.

[0207] The first number represents the number of points of the target or the number of reference signals;

[0208] The second number represents the number of sensing types or the number of types of large-scale channel information;

[0209] The third number represents the number of candidate TCI states of the reference point of the target;

[0210] Candidate TCI state identifiers for reference points among multiple points of the target.

[0211] To facilitate the second communication device in knowing which points of the target need to be sensed, in one embodiment, the second TCI state list includes one or more of the following:

[0212] The fourth information indicates whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated;

[0213] The first number represents the number of points of the target or the number of reference signals;

[0214] The TCI state identifier of some or all points in some or all sub-regions of the sensing area.

[0215] In one embodiment, the offset of large-scale channel information between reference signals is determined based on the direction and velocity of the target relative to the transceiver node of the reference signal.

[0216] In one embodiment, the first information further includes:

[0217] A third TCI state list, which is used to indicate the TCI state identifier of the preceding reference signal to the reference signal QCL; or

[0218] The first QCL is used to indicate the association relationship between the reference signal and the preceding reference signal.

[0219] To improve the accuracy and precision of perception, in one embodiment, after receiving the first reference signal set and the first information, the method further includes:

[0220] Receive the echo signal of the fifth information and the second reference signal set; wherein the second reference signal set represents the updated first reference signal set, the fifth information indicates that the reference signals in the second reference signal set are used to sense the same target, and / or indicates that the reference signals in the second reference signal set are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target has a correlation relationship;

[0221] The second perception result of the target is sent to the first communication device. The second perception result is obtained by fusing the perception results of each reference signal in the second reference signal set.

[0222] Here, the second communication device determines the perception result corresponding to each reference signal, i.e. the perception result of each point of the target, based on the echo signal of each reference signal in the second reference signal set; and fuses the perception results corresponding to each reference signal in the second reference signal set based on the fifth information to obtain the second perception result of the target.

[0223] In one embodiment, the fifth information is obtained by updating one or more of the following in the first information:

[0224] The QCL type is set;

[0225] CT type, the CT type indicates information about the target;

[0226] First TCI state list;

[0227] Second TCI state list.

[0228] To implement the method on the first communication device side of this disclosure embodiment, this disclosure embodiment also provides a sensing device disposed on the first communication device, as shown in FIG9, the device comprising:

[0229] The first transmitting unit 901 is used to transmit a first set of reference signals and first information; wherein the first information indicates that all reference signals in the first set of reference signals are used to sense the same target, and / or indicates that the reference signals in the first set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target has a correlation relationship.

[0230] In one embodiment, the first information includes one or more of the following:

[0231] The set QCL type is used to indicate that all reference signals in the first reference signal set are suitable for sensing the same target;

[0232] CT type, the CT type being used to indicate information about the target;

[0233] A first transmission configuration indication state TCI state list, the first TCI state list at least indicates the offset of each first reference signal relative to a second reference signal in terms of large-scale channel information, the second reference signal characterizing the reference signal corresponding to the reference point of the target in the first reference signal set, the first reference signal characterizing the reference signal corresponding to the non-reference point of the target in the first reference signal set, and the reference signal corresponding to the non-reference point being associated with the reference signal corresponding to the reference point.

[0234] The second TCI state list indicates at least whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated, where i and j are both positive integers, and i is less than or equal to the total number of sub-regions of the sensing area, and j is less than or equal to the number of points or the total number of the target.

[0235] In one embodiment, the first TCI state list includes one or more of the following:

[0236] The second information represents the type of large-scale channel information;

[0237] The third information represents the offset of each first reference signal relative to the second reference signal in terms of large-scale channel information.

[0238] The first number represents the number of points of the target or the number of reference signals;

[0239] The second number represents the number of sensing types or the number of types of large-scale channel information;

[0240] The third number represents the number of candidate TCI states of the reference point of the target;

[0241] Candidate TCI state identifiers for reference points among multiple points of the target.

[0242] In one embodiment, the second TCI state list includes one or more of the following:

[0243] The fourth information indicates whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated;

[0244] The first number represents the number of points of the target or the number of reference signals;

[0245] The TCI state identifier of some or all points in some or all sub-regions of the sensing area.

[0246] In one embodiment, the offset of large-scale channel information between reference signals is determined based on the direction and velocity of the target relative to the transceiver node of the reference signal.

[0247] In one embodiment, the device further includes:

[0248] The third transmitting unit is used to transmit a second set of reference signals and fifth information; wherein the second set of reference signals represents the updated first set of reference signals, and the fifth information indicates that the reference signals in the second set of reference signals are used to sense the same target, and / or indicates that the reference signals in the second set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target has a correlation relationship.

[0249] In one embodiment, the device further includes:

[0250] The determining unit is configured to determine the fifth information based on one or more of the following:

[0251] The location information of the target;

[0252] The target is located in the sensing area;

[0253] The perception result of the target;

[0254] The preceding reference signal of the reference signal QCL used to sense at least one point on the target;

[0255] The relationship of large-scale channel information between multiple points of the target.

[0256] In one embodiment, the fifth information is obtained by updating one or more of the following in the first information:

[0257] The QCL type is set;

[0258] CT type;

[0259] First TCI state list;

[0260] Second TCI state list.

[0261] In one embodiment, the device further includes an updating unit for performing one or more of the following:

[0262] If the preceding reference signal of the second reference signal is outside the range of the reference signal pointed to by the TCI state identifier of the second reference signal, update the TCI state identifier of the second reference signal.

[0263] If the number of points representing the target or the number of reference signals in the perception result of the target changes, update the offset of the large-scale channel information of each first reference signal relative to the second reference signal;

[0264] If the sensing area where the target is located changes, update the second TCI state list.

[0265] In one embodiment, the first information further includes:

[0266] A third TCI state list, which is used to indicate the TCI state identifier of the preceding reference signal to the reference signal QCL; or

[0267] The first QCL is used to indicate the association relationship between the reference signal and the preceding reference signal.

[0268] In practical applications, the first sending unit 901 and the third sending unit can be implemented by a processor in the sensing device combined with a communication interface, and the determining unit and the updating unit can be implemented by a processor in the sensing device.

[0269] To implement the method on the second communication device side of this disclosure embodiment, this disclosure embodiment also provides a sensing device disposed on the second communication device, as shown in FIG10, the device comprising:

[0270] The first receiving unit 1001 is configured to receive first information and echo signals of a first set of reference signals; wherein the first information indicates that all reference signals in the first set of reference signals are used to sense the same target, and / or indicates that the reference signals in the first set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target has a correlation relationship.

[0271] The second transmitting unit 1002 is used to transmit a first perception result of the target to the first communication device. The first perception result is obtained by fusing the perception results of each reference signal in the first reference signal set.

[0272] In one embodiment, the first information includes one or more of the following:

[0273] The set QCL type is used to indicate that all reference signals in the first reference signal set are suitable for sensing the same target;

[0274] CT type, the CT type being used to indicate information about the target;

[0275] The first TCI state list indicates at least the offset of each first reference signal relative to the large-scale channel information of the second reference signal. The second reference signal represents the reference signal corresponding to the reference point of the target in the first reference signal set. The first reference signal represents the reference signal corresponding to the non-reference point of the target in the first reference signal set. The reference signal corresponding to the non-reference point is associated with the reference signal corresponding to the reference point.

[0276] The second TCI state list indicates at least whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated, where i and j are both positive integers, and i is less than or equal to the total number of sub-regions of the sensing area, and j is less than or equal to the number of points or the total number of the target.

[0277] In one embodiment, the first TCI state list includes one or more of the following:

[0278] The second information represents the type of large-scale channel information;

[0279] The third information represents the offset of each first reference signal relative to the second reference signal in terms of large-scale channel information.

[0280] The first number represents the number of points of the target or the number of reference signals;

[0281] The second number represents the number of sensing types or the number of types of large-scale channel information;

[0282] The third number represents the number of candidate TCI states of the reference point of the target;

[0283] Candidate TCI state identifiers for reference points among multiple points of the target.

[0284] In one embodiment, the second TCI state list includes one or more of the following:

[0285] The fourth information indicates whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated;

[0286] The first number represents the number of points of the target or the number of reference signals;

[0287] The TCI state identifier of some or all points in some or all sub-regions of the sensing area.

[0288] In one embodiment, the offset of large-scale channel information between reference signals is determined based on the direction and velocity of the target relative to the transceiver node of the reference signal.

[0289] In one embodiment, the device further includes:

[0290] The second receiving unit is used to receive the echo signal of the fifth information and the second reference signal set; wherein the second reference signal set represents the updated first reference signal set, the fifth information indicates that the reference signals in the second reference signal set are used to sense the same target, and / or indicates that the reference signals in the second reference signal set are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target has a correlation relationship.

[0291] The fourth transmitting unit is used to transmit the second perception result of the target to the first communication device. The second perception result is obtained by fusing the perception results of each reference signal in the second reference signal set.

[0292] In one embodiment, the fifth information is obtained by updating one or more of the following in the first information:

[0293] The QCL type is set;

[0294] CT type, the CT type indicates information about the target;

[0295] First TCI state list;

[0296] Second TCI state list.

[0297] In practical applications, the first receiving unit 1001, the second sending unit 1002, the second receiving unit, and the fourth sending unit can be implemented by a processor in the sensing device combined with a communication interface.

[0298] It should be noted that the sensing device provided in the above embodiments is only illustrated by the division of the above program modules. In practical applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the device can be divided into different program modules to complete all or part of the processing described above. In addition, the sensing device and sensing method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0299] Based on the hardware implementation of the above program modules, and in order to implement the method on the first communication device side of this disclosure embodiment, this disclosure embodiment also provides a first communication device, as shown in FIG11, the first communication device 1100 includes:

[0300] The first communication interface 1101 is capable of exchanging information with other network nodes;

[0301] The first processor 1102 is connected to the first communication interface 1101 to enable information interaction with other network nodes. When running a computer program, it executes the methods provided by one or more technical solutions on the first communication device side. The computer program is stored in the first memory 1103.

[0302] Specifically, the first communication interface 1101 is used to send a first set of reference signals and first information; wherein, the first information indicates that all reference signals in the first set of reference signals are used to sense the same target, and / or indicates that the reference signals in the first set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target has a correlation relationship.

[0303] In one embodiment, the first information includes one or more of the following:

[0304] The set QCL type is used to indicate that all reference signals in the first reference signal set are suitable for sensing the same target;

[0305] CT type, the CT type being used to indicate information about the target;

[0306] A first transmission configuration indication state TCI state list, the first TCI state list at least indicates the offset of each first reference signal relative to a second reference signal in terms of large-scale channel information, the second reference signal characterizing the reference signal corresponding to the reference point of the target in the first reference signal set, the first reference signal characterizing the reference signal corresponding to the non-reference point of the target in the first reference signal set, and the reference signal corresponding to the non-reference point being associated with the reference signal corresponding to the reference point.

[0307] The second TCI state list indicates at least whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated, where i and j are both positive integers, and i is less than or equal to the total number of sub-regions of the sensing area, and j is less than or equal to the number of points or the total number of the target.

[0308] In one embodiment, the first TCI state list includes one or more of the following:

[0309] The second information represents the type of large-scale channel information;

[0310] The third information represents the offset of each first reference signal relative to the second reference signal in terms of large-scale channel information.

[0311] The first number represents the number of points of the target or the number of reference signals;

[0312] The second number represents the number of sensing types or the number of types of large-scale channel information;

[0313] The third number represents the number of candidate TCI states of the reference point of the target;

[0314] Candidate TCI state identifiers for reference points among multiple points of the target.

[0315] In one embodiment, the second TCI state list includes one or more of the following:

[0316] The fourth information indicates whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated;

[0317] The first number represents the number of points of the target or the number of reference signals;

[0318] The TCI state identifier of some or all points in some or all sub-regions of the sensing area.

[0319] In one embodiment, the offset of large-scale channel information between reference signals is determined based on the direction and velocity of the target relative to the transceiver node of the reference signal.

[0320] In one embodiment, the first communication interface 1101 is further configured to transmit a second set of reference signals and fifth information; wherein the second set of reference signals represents the updated first set of reference signals, and the fifth information indicates that the reference signals in the second set of reference signals are used to sense the same target, and / or indicates that the reference signals in the second set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target has a correlation relationship.

[0321] In one embodiment, the first processor 1102 is configured to determine the fifth information based on one or more of the following:

[0322] The location information of the target;

[0323] The target is located in the sensing area;

[0324] The perception result of the target;

[0325] The preceding reference signal of the reference signal QCL used to sense at least one point on the target;

[0326] The relationship of large-scale channel information between multiple points of the target.

[0327] In one embodiment, the fifth information is obtained by updating one or more of the following in the first information:

[0328] The QCL type is set;

[0329] CT type;

[0330] First TCI state list;

[0331] Second TCI state list.

[0332] In one embodiment, the first processor 1102 is further configured to include one or more of the following:

[0333] If the preceding reference signal of the second reference signal is outside the range of the reference signal pointed to by the TCI state identifier of the second reference signal, update the TCI state identifier of the second reference signal.

[0334] If the number of points representing the target or the number of reference signals in the perception result of the target changes, update the offset of the large-scale channel information of each first reference signal relative to the second reference signal;

[0335] If the sensing area where the target is located changes, update the second TCI state list.

[0336] In one embodiment, the first information further includes:

[0337] A third TCI state list, which is used to indicate the TCI state identifier of the preceding reference signal to the reference signal QCL; or

[0338] The first QCL is used to indicate the association relationship between the reference signal and the preceding reference signal.

[0339] It should be noted that the specific processing procedures of the first processor 1102 and the first communication interface 1101 can be understood by referring to the above method.

[0340] Of course, in practical applications, the various components in the first communication device 1100 are coupled together through the bus system 1104. It can be understood that the bus system 1104 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 1104 also includes a power bus, a control bus, and a status signal bus. However, for clarity, all buses are labeled as bus system 1104 in Figure 11.

[0341] The first memory 1103 in this embodiment is used to store various types of data to support the operation of the first communication device 1100. Examples of such data include any computer program used to operate on the first communication device 1100.

[0342] The methods disclosed in the above embodiments of this disclosure can be applied to the first processor 1102, or implemented by the first processor 1102. The first processor 1102 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the integrated logic circuit of the hardware or by instructions in the form of software in the first processor 1102. The first processor 1102 may be a general-purpose processor, a digital signal processor (DSP), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The first processor 1102 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this disclosure. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this disclosure can be directly manifested as being executed by a hardware decoding processor, or being executed by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, which is located in the first memory 1103. The first processor 1102 reads the information in the first memory 1103 and completes the steps of the aforementioned method in conjunction with its hardware.

[0343] In an exemplary embodiment, the first communication device 1100 may be implemented by one or more application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, microcontrollers (MCUs), microprocessors, or other electronic components to perform the aforementioned method.

[0344] Based on the hardware implementation of the above-mentioned program modules, and in order to implement the method on the second communication device side of this disclosure embodiment, this disclosure embodiment also provides a second communication device. As shown in FIG12, the second communication device 1200 includes:

[0345] The second communication interface 1201 is capable of exchanging information with other network nodes;

[0346] The second processor 1202 is connected to the second communication interface 1201 to enable information interaction with other network nodes. When running a computer program, it executes the methods provided by one or more technical solutions on the second communication device side. The computer program is stored in the second memory 1203.

[0347] Specifically, the second communication interface 1201 is used to receive the echo signal of the first information and the first reference signal set, and to send the first sensing result of the target to the first communication device; wherein,

[0348] The first information indicates that all reference signals in the first reference signal set are used to sense the same target, and / or indicates that the reference signals in the first reference signal set are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated; the first sensing result is obtained by fusing the sensing results of each reference signal in the first reference signal set.

[0349] In one embodiment, the first information includes one or more of the following:

[0350] The set QCL type is used to indicate that all reference signals in the first reference signal set are suitable for sensing the same target;

[0351] CT type, the CT type being used to indicate information about the target;

[0352] The first TCI state list indicates at least the offset of each first reference signal relative to the large-scale channel information of the second reference signal. The second reference signal represents the reference signal corresponding to the reference point of the target in the first reference signal set. The first reference signal represents the reference signal corresponding to the non-reference point of the target in the first reference signal set. The reference signal corresponding to the non-reference point is associated with the reference signal corresponding to the reference point.

[0353] The second TCI state list indicates at least whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated, where i and j are both positive integers, and i is less than or equal to the total number of sub-regions of the sensing area, and j is less than or equal to the number of points or the total number of the target.

[0354] In one embodiment, the first TCI state list includes one or more of the following:

[0355] The second information represents the type of large-scale channel information;

[0356] The third information represents the offset of each first reference signal relative to the second reference signal in terms of large-scale channel information.

[0357] The first number represents the number of points of the target or the number of reference signals;

[0358] The second number represents the number of sensing types or the number of types of large-scale channel information;

[0359] The third number represents the number of candidate TCI states of the reference point of the target;

[0360] Candidate TCI state identifiers for reference points among multiple points of the target.

[0361] In one embodiment, the second TCI state list includes one or more of the following:

[0362] The fourth information indicates whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated;

[0363] The first number represents the number of points of the target or the number of reference signals;

[0364] The TCI state identifier of some or all points in some or all sub-regions of the sensing area.

[0365] In one embodiment, the offset of large-scale channel information between reference signals is determined based on the direction and velocity of the target relative to the transceiver node of the reference signal.

[0366] In one embodiment, the second communication interface 1201 is further configured to receive the echo signal of the fifth information and the second reference signal set, and to send the second sensing result of the target to the first communication device; wherein,

[0367] The second reference signal set represents the updated first reference signal set. The fifth information indicates that the reference signals in the second reference signal set are used to sense the same target, and / or indicates that the reference signals in the second reference signal set are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated. The second sensing result is obtained by fusing the sensing results of each reference signal in the second reference signal set.

[0368] In one embodiment, the fifth information is obtained by updating one or more of the following in the first information:

[0369] The QCL type is set;

[0370] CT type, the CT type indicates information about the target;

[0371] First TCI state list;

[0372] Second TCI state list.

[0373] It should be noted that the specific processing procedures of the second processor 1202 and the second communication interface 1201 can be understood by referring to the above method.

[0374] Of course, in practical applications, the various components in the second communication device 1200 are coupled together through the bus system 1204. It can be understood that the bus system 1204 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 1204 also includes a power bus, a control bus, and a status signal bus. However, for clarity, all buses are labeled as bus system 1204 in Figure 12.

[0375] The second memory 1203 in this embodiment of the present disclosure is used to store various types of data to support the operation of the second communication device 1200. Examples of such data include any computer program used to operate on the second communication device 1200.

[0376] The methods disclosed in the above embodiments of this disclosure can be applied to, or implemented by, the second processor 1202. The second processor 1202 may be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by the integrated logic circuitry of the hardware or by instructions in the form of software within the second processor 1202. The second processor 1202 may be a general-purpose processor, a DSP, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The second processor 1202 can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this disclosure. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of the methods disclosed in the embodiments of this disclosure can be directly manifested as execution by a hardware decoding processor, or execution by a combination of hardware and software modules in the decoding processor. The software modules may be located in a storage medium, specifically a second memory 1203. The second processor 1202 reads information from the second memory 1203 and, in conjunction with its hardware, completes the steps of the aforementioned method.

[0377] In an exemplary embodiment, the second communication device 1200 may be implemented by one or more ASICs, DSPs, PLDs, CPLDs, FPGAs, general-purpose processors, controllers, MCUs, microprocessors, or other electronic components to perform the aforementioned method.

[0378] It is understood that the memories (first memory 1103 and second memory 1203) in the embodiments of this disclosure can be volatile memory or non-volatile memory, or both. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), ferromagnetic random access memory (FRAM), flash memory, magnetic surface memory, optical disc, or compact disc read-only memory (CD-ROM); magnetic surface memory can be disk storage or magnetic tape storage. Volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as Static Random Access Memory (SRAM), Synchronous Static Random Access Memory (SSRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic Random Access Memory (SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), SyncLink Dynamic Random Access Memory (SLDRAM), and Direct Rambus Random Access Memory (DRRAM).The memories described in the embodiments of this disclosure are intended to include, but are not limited to, these and any other suitable types of memories.

[0379] In an exemplary embodiment, this disclosure also provides a storage medium, namely a computer storage medium, specifically a computer-readable storage medium, such as a first memory 1103 storing a computer program, which can be executed by a first processor 1102 of a first communication device 1100 to complete the steps described in the aforementioned first communication device-side method. Another example is a second memory 1203 storing a computer program, which can be executed by a second processor 1202 of a second communication device 1200 to complete the steps described in the aforementioned second communication device-side method. The computer-readable storage medium may be a memory such as FRAM, ROM, PROM, EPROM, EEPROM, Flash Memory, magnetic surface memory, optical disc, or CD-ROM.

[0380] By way of example, this disclosure also provides a computer program product, including a computer program that can be executed by a first processor 1102 of a first communication device 1100 to complete the steps described in the aforementioned first communication device-side method. The computer program can also be executed by a second processor 1202 of a second communication device 1200 to complete the steps described in the aforementioned second communication device-side method.

[0381] It should be noted that terms such as "first" and "second" are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. "Multiple" can refer to two or more items, and "multiple" can refer to two or more items. The term "and / or" in this document merely describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, the term "one or more" in this document refers to any combination of at least two of the multiple elements, such as including one or more of A, B, and C, which can represent including any one or at least two or more elements selected from the set consisting of A, B, and C.

[0382] Furthermore, the technical solutions described in the embodiments of this disclosure can be combined arbitrarily without conflict.

[0383] The above description is merely a preferred embodiment of this disclosure and is not intended to limit the scope of protection of this disclosure.

Claims

1. A sensing method applied to a first communication device, the method comprising: Send a first set of reference signals and first information; wherein the first information indicates that all reference signals in the first set of reference signals are used to sense the same target, and / or indicates that the reference signals in the first set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated.

2. The method according to claim 1, wherein, The first information includes one or more of the following: The set quasi-co-address QCL type is used to indicate that all reference signals in the first reference signal set are suitable for sensing the same target; Common target CT type, wherein the CT type is used to indicate information about the target; A first transmission configuration indication state TCI state list, the first TCI state list at least indicates the offset of each first reference signal relative to a second reference signal in terms of large-scale channel information, the second reference signal characterizing the reference signal corresponding to the reference point of the target in the first reference signal set, the first reference signal characterizing the reference signal corresponding to the non-reference point of the target in the first reference signal set, and the reference signal corresponding to the non-reference point being associated with the reference signal corresponding to the reference point. The second TCI state list indicates at least whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated, where i and j are both positive integers, and i is less than or equal to the total number of sub-regions of the sensing area, and j is less than or equal to the number of points or the total number of the target.

3. The method according to claim 2, wherein, The first TCI state list includes one or more of the following: The second information represents the type of large-scale channel information; The third information represents the offset of each first reference signal relative to the second reference signal in terms of large-scale channel information. The first number represents the number of points of the target or the number of reference signals; The second number represents the number of sensing types or the number of types of large-scale channel information; The third number represents the number of candidate TCI states of the reference point of the target; Candidate TCI state identifiers for reference points among multiple points of the target.

4. The method according to claim 2, wherein, The second TCI state list includes one or more of the following: The fourth information indicates whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated; The first number represents the number of points of the target or the number of reference signals; The TCI state identifier of some or all points in some or all sub-regions of the sensing area.

5. The method according to claim 2, wherein, The offset of large-scale channel information between reference signals is determined based on the direction and velocity of the target's motion relative to the transceiver nodes of the reference signals.

6. The method according to any one of claims 1 to 5, wherein, After transmitting the first reference signal set and the first information, the method further includes: Send a second set of reference signals and a fifth set of information; wherein the second set of reference signals represents the updated first set of reference signals, and the fifth set of information indicates that the reference signals in the second set of reference signals are used to sense the same target, and / or indicates that the reference signals in the second set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated.

7. The method according to claim 6, further comprising: The fifth piece of information is determined based on one or more of the following: The location information of the target; The target is located in the sensing area; The perception result of the target; The preceding reference signal of the reference signal QCL used to sense at least one point on the target; The relationship of large-scale channel information between multiple points of the target.

8. The method according to claim 6, wherein, The fifth piece of information is obtained by updating one or more of the following from the first information: The QCL type is set; CT type; First TCI state list; Second TCI state list.

9. The method according to claim 6, further comprising one or more of the following: If the preceding reference signal of the second reference signal is outside the range of the reference signal pointed to by the TCI state identifier of the second reference signal, update the TCI state identifier of the second reference signal. If the number of points representing the target or the number of reference signals in the perception result of the target changes, update the offset of the large-scale channel information of each first reference signal relative to the second reference signal; If the sensing area where the target is located changes, update the second TCI state list.

10. The method according to any one of claims 2 to 5, 7 to 9, wherein, The first information also includes: A third TCI state list, which is used to indicate the TCI state identifier of the preceding reference signal to the reference signal QCL; or The first QCL is used to indicate the association relationship between the reference signal and the preceding reference signal.

11. A sensing method applied to a second communication device, the method comprising: Receive the echo signal of the first information and the first set of reference signals; wherein the first information indicates that all reference signals in the first set of reference signals are used to sense the same target, and / or indicates that the reference signals in the first set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated. The first perception result of the target is sent to the first communication device. The first perception result is obtained by fusing the perception results of each reference signal in the first reference signal set.

12. The method according to claim 11, wherein, The first information includes one or more of the following: The set QCL type is used to indicate that all reference signals in the first reference signal set are suitable for sensing the same target; CT type, the CT type being used to indicate information about the target; The first TCI state list indicates at least the offset of each first reference signal relative to the large-scale channel information of the second reference signal. The second reference signal represents the reference signal corresponding to the reference point of the target in the first reference signal set. The first reference signal represents the reference signal corresponding to the non-reference point of the target in the first reference signal set. The reference signal corresponding to the non-reference point is associated with the reference signal corresponding to the reference point. The second TCI state list indicates at least whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated, where i and j are both positive integers, and i is less than or equal to the total number of sub-regions of the sensing area, and j is less than or equal to the number of points or the total number of the target.

13. The method according to claim 12, wherein, The first TCI state list includes one or more of the following: The second information represents the type of large-scale channel information; The third information represents the offset of each first reference signal relative to the second reference signal in terms of large-scale channel information. The first number represents the number of points of the target or the number of reference signals; The second number represents the number of sensing types or the number of types of large-scale channel information; The third number represents the number of candidate TCI states of the reference point of the target; Candidate TCI state identifiers for reference points among multiple points of the target.

14. The method according to claim 12, wherein, The second TCI state list includes one or more of the following: The fourth information indicates whether there is a reference signal at the j-th point of the target in the i-th sub-region of the sensing area, or whether the TCI state of the reference signal at the j-th point of the target in the i-th sub-region of the sensing area is activated; The first number represents the number of points of the target or the number of reference signals; The TCI state identifier of some or all points in some or all sub-regions of the sensing area.

15. The method according to claim 12, wherein, The offset of large-scale channel information between reference signals is determined based on the direction and velocity of the target's motion relative to the transceiver nodes of the reference signals.

16. The method according to any one of claims 11 to 15, wherein, After receiving the first reference signal set and the first information, the method further includes: Receive the echo signal of the fifth information and the second reference signal set; wherein the second reference signal set represents the updated first reference signal set, the fifth information indicates that the reference signals in the second reference signal set are used to sense the same target, and / or indicates that the reference signals in the second reference signal set are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target has a correlation relationship; The second perception result of the target is sent to the first communication device. The second perception result is obtained by fusing the perception results of each reference signal in the second reference signal set.

17. The method according to claim 15, wherein, The fifth piece of information is obtained by updating one or more of the following from the first information: The QCL type is set; CT type, the CT type indicates information about the target; First TCI state list; Second TCI state list.

18. A sensing device, comprising: The first transmitting unit is configured to transmit a first set of reference signals and first information; wherein the first information indicates that all reference signals in the first set of reference signals are used to sense the same target, and / or indicates that the reference signals in the first set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated.

19. A sensing device, comprising: The first receiving unit is configured to receive first information and echo signals of a first set of reference signals; wherein the first information indicates that all reference signals in the first set of reference signals are used to sense the same target, and / or indicates that the reference signals in the first set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target has a correlation relationship. The second transmitting unit is used to transmit a first perception result of the target to the first communication device. The first perception result is obtained by fusing the perception results of each reference signal in the first set of reference signals.

20. A first communication device, comprising: A first processor and a first communication interface; wherein... The first communication interface is used to send a first set of reference signals and first information; wherein, the first information indicates that all reference signals in the first set of reference signals are used to sense the same target, and / or indicates that the reference signals in the first set of reference signals are used to sense multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated.

21. A second communication device, comprising: A second processor and a second communication interface; wherein... The second communication interface is used to receive the first information and the echo signal of the first reference signal set, and send the first perception result of the target to the first communication device; wherein, the first information indicates that all reference signals in the first reference signal set are used to perceive the same target, and / or indicates that the reference signals in the first reference signal set are used to perceive multiple points of the same target, and the large-scale channel information of the multiple points of the target is correlated; the first perception result is obtained by fusing the perception results of each reference signal in the first reference signal set.

22. A communication device, comprising a processor and a memory for storing a computer program capable of running on the processor. in, When the processor is used to run the computer program, it performs the steps of the method according to any one of claims 1 to 10, or the steps of the method according to any one of claims 11 to 17.

23. A storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 10, or implements the steps of the method according to any one of claims 11 to 17.

24. A computer program product comprising a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1 to 17.

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