Sensing signal transmission method and apparatus, device, and storage medium

Abstract

A sensing signal transmission method and apparatus, a device, and a storage medium, relating to the technical field of communications. The method comprises: a first node receives a first sensing signal, the first sensing signal comprising at least two sensing signal groups, each sensing signal group comprising at least two sensing signals, and sensing intervals corresponding to two sensing signals comprised by the at least two sensing signal groups being co-prime (510). By means of jointly receiving sensing signal groups having co-prime signal intervals, a maximum unambiguous range of continuously arranging sensing signals can be achieved, thereby reducing channel overhead while satisfying sensing performance.

Description

Methods, devices, equipment, and storage media for transmitting sensed signals Technical Field

[0001] This application relates to the field of communication technology, and in particular to a method, apparatus, device, and storage medium for transmitting sensing signals. Background Technology

[0002] The integration of communication and sensing refers to the fusion of communication and sensing functions, enabling future communication systems to simultaneously possess both communication and sensing capabilities.

[0003] In conventional reference signal design, the reference signal maintains a uniform spacing in both the frequency and time domains. However, for sensing, sensing performance is affected by the parameters of the sensing signal. For example, a smaller frequency spacing results in a larger unambiguous range for distance, and a shorter transmission period results in a larger unambiguous range for velocity. To meet sensing performance requirements, such as a larger unambiguous range for distance and velocity, the sensing signal needs to have a higher density, leading to significant resource overhead.

[0004] Summary of the Invention

[0005] This application provides a method, apparatus, device, and storage medium for transmitting sensing signals. The technical solutions provided by this application are as follows.

[0006] According to one aspect of the embodiments of this application, a method for transmitting a sensing signal is provided, the method being executed by a first node, the method comprising:

[0007] A first sensing signal is received, the first sensing signal comprising at least two sensing signal groups, each sensing signal group comprising at least two sensing signals, wherein at least two of the at least two sensing signal groups have signal intervals that are coprime, and the signal intervals corresponding to the sensing signal groups are the intervals between two adjacent sensing signals included in the sensing signal groups.

[0008] According to one aspect of the embodiments of this application, a method for transmitting a sensing signal is provided, the method being executed by a second node, the method comprising:

[0009] Send and / or configure a first sensing signal, the first sensing signal comprising at least two sensing signal groups, each sensing signal group comprising at least two sensing signals, wherein at least two of the at least two sensing signal groups have signal intervals that are coprime, and the signal intervals corresponding to the sensing signal groups are the intervals between two adjacent sensing signals included in the sensing signal groups.

[0010] According to one aspect of the embodiments of this application, a means for transmitting sensing signals is provided, the means comprising:

[0011] A receiving module is configured to receive a first sensing signal, the first sensing signal comprising at least two sensing signal groups, each sensing signal group comprising at least two sensing signals, wherein at least two of the at least two sensing signal groups have coprime signal intervals, and the signal interval between the sensing signal groups is the interval between two adjacent sensing signals included in the sensing signal group.

[0012] According to one aspect of the embodiments of this application, a transmission device for sensing signals is provided, the device comprising: a transmitting module and / or a processing module;

[0013] The transmitting module is used to transmit a first sensing signal, and the processing module is used to configure the first sensing signal. The first sensing signal includes at least two sensing signal groups, and each sensing signal group includes at least two sensing signals. At least two of the at least two sensing signal groups have coprime signal intervals, and the signal interval between the sensing signal groups is the interval between two adjacent sensing signals included in the sensing signal group.

[0014] According to one aspect of the embodiments of this application, a communication device is provided, the communication device including a processor and a memory, the memory storing a computer program, the processor executing the computer program to implement the method executed by the first node or the second node described above.

[0015] According to one aspect of the embodiments of this application, a computer-readable storage medium is provided, the storage medium storing a computer program for execution by a processor to implement the method of executing the first node or the second node described above.

[0016] According to one aspect of the embodiments of this application, a chip is provided, the chip including programmable logic circuits and / or program instructions, which, when the chip is running, are used to implement the method executed by the first node or the second node described above.

[0017] According to one aspect of the embodiments of this application, a computer program product is provided, the computer program product including computer instructions stored in a computer-readable storage medium, wherein a processor reads from the computer-readable storage medium and executes the computer instructions to implement the method of executing the first node or the second node described above.

[0018] The technical solution provided in this application can bring the following beneficial effects: by jointly receiving a group of sensing signals with mutually prime intervals, the maximum unambiguous range obtained by continuous arrangement of sensing signals can be achieved, thereby saving channel overhead while satisfying sensing performance. Attached Figure Description

[0019] Figure 1 is a schematic diagram of a network architecture provided in one embodiment of this application;

[0020] Figure 2 is a schematic diagram of eight sensing modes provided in one embodiment of this application;

[0021] Figure 3 is a schematic diagram of a sensing system including multiple sensing nodes provided in an embodiment of this application;

[0022] Figure 4 is a schematic diagram of a 5G NR CSI-RS pattern provided in an embodiment of this application;

[0023] Figure 5 is a flowchart of a method for transmitting sensing signals according to an embodiment of this application;

[0024] Figure 6 is a schematic diagram of the signal time-domain interval provided in an embodiment of this application;

[0025] Figure 7 is a schematic diagram of the signal frequency domain spacing provided in an embodiment of this application;

[0026] Figure 8 is a schematic diagram of two sensing signal groups with coprime signal time-domain intervals provided in an embodiment of this application;

[0027] Figure 9 is a schematic diagram of two sensing signal groups with coprime signal frequency domain spacing provided in an embodiment of this application;

[0028] Figure 10 is a schematic diagram of two sensing signal groups whose signal time-domain interval and frequency-domain interval are coprime, provided in an embodiment of this application;

[0029] Figure 11 is a schematic diagram of the sequential arrangement of two sensing signal groups with coprime time-domain intervals provided in an embodiment of this application;

[0030] Figure 12 is a schematic diagram of the sequential arrangement of two sensing signal groups with coprime frequency domain spacing provided in an embodiment of this application;

[0031] Figure 13 is a schematic diagram of two sensing signal groups with coprime time-domain intervals arranged in an overlapping manner according to an embodiment of this application;

[0032] Figure 14 is a schematic diagram of two sensing signal groups with coprime frequency domain spacing arranged in an overlapping manner according to an embodiment of this application;

[0033] Figure 15 is a schematic diagram of the nested arrangement of two sensing signal groups with coprime time-domain intervals provided in an embodiment of this application;

[0034] Figure 16 is a schematic diagram of the nested arrangement of two sensing signal groups with coprime frequency domain spacing provided in an embodiment of this application;

[0035] Figure 17 is a schematic diagram of a plurality of second sensing signal groups uniformly nested within a plurality of signal time-domain intervals of a first sensing signal group according to an embodiment of the present application;

[0036] Figure 18 is a schematic diagram of two sequentially arranged sensing signal groups periodically arranged in the time domain according to an embodiment of this application;

[0037] Figure 19 is a flowchart of a method for transmitting sensing signals according to another embodiment of this application;

[0038] Figure 20 is a schematic diagram of the time-domain arrangement of multiple sensing signal groups provided in an embodiment of this application;

[0039] Figure 21 is a schematic diagram of the frequency domain arrangement of multiple sensing signal groups provided in an embodiment of this application;

[0040] Figure 22 is a schematic diagram of the arrangement of multiple sensing signal groups in the time and frequency domains according to an embodiment of this application;

[0041] Figure 23 is a schematic diagram of the sequential arrangement of multiple sensing signal groups in the time domain or frequency domain according to an embodiment of this application;

[0042] Figure 24 is a schematic diagram of the time-domain arrangement of the various sensing signals included in the first sensing signal provided in an embodiment of this application;

[0043] Figure 25 is a schematic diagram of the speed measurement performance of three arrangement methods provided in one embodiment of this application;

[0044] Figure 26 is a schematic diagram of the frequency domain arrangement of the various sensing signals included in the first sensing signal provided in an embodiment of this application;

[0045] Figure 27 is a schematic diagram of the ranging performance of three arrangement methods provided in one embodiment of this application;

[0046] Figure 28 is a schematic diagram of multiple sensing signal groups arranged in an overlapping manner in the time domain or frequency domain according to an embodiment of this application;

[0047] Figure 29 is a schematic diagram of the time-domain arrangement of the various sensing signals included in the first sensing signal provided in another embodiment of this application;

[0048] Figure 30 is a schematic diagram of the time-domain arrangement of the various sensing signals included in the first sensing signal provided in another embodiment of this application;

[0049] Figure 31 is a schematic diagram of the speed measurement performance of four arrangement methods provided in one embodiment of this application;

[0050] Figure 32 is a schematic diagram of the frequency domain arrangement of the various sensing signals included in the first sensing signal provided in another embodiment of this application;

[0051] Figure 33 is a schematic diagram of the frequency domain arrangement of the various sensing signals included in the first sensing signal provided in another embodiment of this application;

[0052] Figure 34 is a schematic diagram of the ranging performance of four arrangement methods provided in one embodiment of this application;

[0053] Figure 35 is a schematic diagram comparing the performance of different arrangement methods under low signal-to-noise ratio conditions according to an embodiment of this application;

[0054] Figure 36 is a block diagram of a sensing signal transmission device provided in one embodiment of this application;

[0055] Figure 37 is a block diagram of a sensing signal transmission device provided in another embodiment of this application;

[0056] Figure 38 is a schematic diagram of the structure of a communication device provided in an embodiment of this application. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0058] The network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0059] Please refer to Figure 1, which shows a schematic diagram of a network architecture 100 provided in one embodiment of this application. The network architecture 100 may include: a terminal device 10, an access network device 20, and a core network element 30.

[0060] Terminal device 10 can refer to UE (User Equipment), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, wireless communication device, user agent, or user equipment. Optionally, terminal device 10 can also be a cellular phone, cordless phone, SIP (Session Initiation Protocol) phone, WLL (Wireless Local Loop) station, PDA (Personal Digital Assistant), handheld device with wireless communication function, computing device or other processing device connected to a wireless modem, vehicle-mounted device, wearable device, terminal device in 5GS (5th Generation System), or terminal device in the future evolved PLMN (Public Land Mobile Network), etc., and this application embodiment is not limited in this respect. For ease of description, the devices mentioned above are collectively referred to as terminal devices. The number of terminal devices 10 is usually multiple, and one or more terminal devices 10 can be distributed within the cell managed by each access network device 20. Terminal equipment can also be simply referred to as terminal or UE, the meaning of which can be understood by those skilled in the art.

[0061] Access network device 20 is a device deployed in an access network to provide wireless communication functionality to terminal device 10. Access network device 20 may include various forms of macro base stations, micro base stations, relay stations, access points, etc. In systems employing different wireless access technologies, the name of the device with access network device functionality may differ; for example, in a 5G NR system, it is called gNodeB or gNB. As communication technologies evolve, the name "access network device" may change. For ease of description, in this embodiment, the aforementioned devices providing wireless communication functionality to terminal device 10 are collectively referred to as access network devices. Optionally, a communication relationship can be established between terminal device 10 and core network element 30 through access network device 20. For example, in an LTE (Long Term Evolution) system, access network device 20 may be one or more eNodeBs in an EUTRAN (Evolved Universal Terrestrial Radio Access Network) or EUTRAN; in a 5G NR system, access network device 20 may be one or more gNBs in a RAN (Radio Access Network). In the embodiments of this application, unless otherwise specified, the term "network device" refers to access network device 20, such as a base station.

[0062] Core network element 30 is a network element deployed in the core network. Its main functions are to provide user connectivity, manage users, and bear services, serving as an interface to external networks. For example, core network elements in a 5G NR system may include AMF (Access and Mobility Management Function) entities, UPF (User Plane Function) entities, and SMF (Session Management Function) entities.

[0063] In some embodiments, the access network device 20 and the core network element 30 communicate with each other via some air interface technology, such as the NG interface in a 5G NR system. The access network device 20 and the terminal device 10 communicate with each other via some air interface technology, such as the Uu interface.

[0064] The "5G NR system" in this application embodiment can also be referred to as a 5G system or an NR system, but those skilled in the art will understand its meaning. The technical solutions described in this application embodiment can be applied to LTE systems, 5G NR systems, and subsequent evolution systems of 5G NR systems (such as 6G systems (6th Generation System)). They can also be applied to other communication systems such as NB-IoT (Narrow Band Internet of Things) systems, and this application does not limit them in this regard.

[0065] In this embodiment, the network device can provide services to a cell. The terminal device communicates with the network device through the transmission resources (e.g., frequency domain resources, or spectrum resources) on the carrier used by the cell. The cell can be the cell corresponding to the network device (e.g., a base station). The cell can belong to a macro base station or to a base station corresponding to a small cell. The small cell can include: metro cell, micro cell, pico cell, femto cell, etc. These small cells have the characteristics of small coverage area and low transmission power, and are suitable for providing high-speed data transmission services.

[0066] Integrated communication and sensing refers to the fusion of communication and sensing functions, enabling future communication systems to simultaneously possess both communication and sensing capabilities. While transmitting information over a wireless channel, the system actively recognizes and analyzes the channel's characteristics to perceive the physical features of the surrounding environment, thus enhancing both communication and sensing functions. For example, by using base station signals to sense information about the surrounding environment and designing communication links, obstacles can be avoided, improving communication performance.

[0067] Next-generation networks (such as 6G networks) are expected to be a fusion of mobile communication networks, sensing networks, and computing networks. In a narrow sense, a sensing network refers to a system with capabilities such as target localization (range measurement, velocity measurement, angle measurement), target imaging, target detection, target tracking, and target recognition. In a broad sense, a sensing network refers to a system that possesses the attributes and states of all services, networks, users, terminals, and environmental objects. From the perspective of sensing applications, sensing can be categorized as follows:

[0068] Outdoor, wide-area, or local applications include smart cities (e.g., weather monitoring), smart transportation / high-speed rail (e.g., high-precision map building, road monitoring, intrusion detection), and low-altitude applications (e.g., drone monitoring and obstacle avoidance, flight intrusion detection, flight path management).

[0069] Indoor or local area applications include smart home and health management (e.g., respiratory monitoring, intrusion detection, gesture / posture recognition, motion monitoring, movement tracking, etc.) and smart factories (e.g., intrusion detection, material detection, defect detection, etc.).

[0070] The above are just examples to provide some classifications of sensing applications; the application areas of sensing are not limited to the examples above.

[0071] Wireless communication and sensing are two major applications of modern radio frequency (RF) technology. Sensing utilizes radio waves to detect parameters of the physical environment to achieve environmental perception such as target localization, action recognition, and imaging. Traditionally, sensing and wireless communication exist independently, and this separate design leads to a waste of wireless spectrum and hardware resources. With the advent of B5G (Beyond 5G) and 6G, communication spectrum is moving towards millimeter waves, terahertz, and visible light communication. In the future, the spectrum of wireless communication will overlap with the spectrum of traditional sensing. Integrated communication and sensing technology merges these two functions. It can utilize the wireless resources of wireless communication to achieve sensing capabilities; it can leverage widely deployed cellular networks to achieve sensing services over larger areas; it can utilize base stations and multiple terminals for joint sensing to achieve higher sensing accuracy; and it can reuse wireless communication hardware modules to achieve sensing functions, reducing costs. In short, integrated communication and sensing technology enables future wireless communication systems to possess sensing capabilities, providing a foundation for the development of future smart transportation, smart cities, smart factories, drones, and other related businesses.

[0072] The "perception" mentioned in the embodiments of this application refers to the process of directly or indirectly obtaining perception information of a target or environment based on at least one perception signal such as sound waves, electromagnetic waves, and light waves (including but not limited to lasers). For example, by sending and receiving perception signals and measuring or otherwise processing the perception signals, perception information of the target or environment can be obtained, such as realizing services like positioning, ranging, speed measurement, angle measurement, target imaging, target detection, target tracking, and target recognition.

[0073] In addition, the term "perception" mentioned in the embodiments of this application can be replaced by any other word that can express the meaning of perception, such as positioning, ranging, speed measurement, angle measurement, pattern recognition, motion characteristics, target imaging, target detection, target tracking, and target recognition.

[0074] The nodes involved in sensing are as follows:

[0075] Sensing transmitting node: The node that transmits sensing signals.

[0076] Sensing receiving node: The node that receives the sensing signal.

[0077] Sensing Nodes: The sensing sending node and the sensing receiving node are collectively referred to as sensing nodes, which are the nodes that perform sensing.

[0078] Perception Management Node: A node that manages and controls perception tasks. The perception management node configures perception tasks for perception nodes, and the perception nodes report the perception results back to the perception management node after executing the perception tasks. The perception management node may also be called a perception control node or other names; this application does not limit the terminology.

[0079] Perception trigger node: The node that initiates perception, sets the configuration of the perception scene, and parses the perception feedback sent by the perception node.

[0080] Perception can be divided into 8 modes, as shown in Figure 2.

[0081] Mode 1, Base Station Self-Transmitting and Receiving Sensing: The base station transmits sensing signals and receives echo signals. In Mode 1, the sensing transmitting node and the sensing receiving node are the same base station. That is, the base station transmits sensing signals to the sensing target, and after the sensing signal is reflected by the sensing target, the same base station receives the echo signal (i.e., the sensing signal after reflection by the sensing target).

[0082] Mode 2, Terminal Self-Sensing: The terminal sends a sensing signal and receives the echo signal. In Mode 2, the sensing sending node and the sensing receiving node are the same terminal. That is, the terminal sends a sensing signal to the sensing target, and after the sensing signal is reflected by the sensing target, the same terminal receives the echo signal.

[0083] Mode 3, Base Station Cooperative Sensing: One base station (Base Station A in the diagram) transmits a sensing signal, and another base station (Base Station B in the diagram) receives the echo signal. In Mode 3, the sensing transmitting node and the sensing receiving node are different base stations. That is, one base station sends a sensing signal to the sensing target, and after the sensing signal is reflected by the sensing target, the echo signal is received by another base station.

[0084] Mode 4, Terminal Collaborative Sensing: One terminal (terminal A in the figure) sends a sensing signal, and another terminal (terminal B in the figure) receives the echo signal. In Mode 4, the sensing transmitting node and the sensing receiving node are different terminals. That is, one terminal sends a sensing signal to the sensing target, and after the sensing signal is reflected by the sensing target, the echo signal is received by another terminal.

[0085] Mode 5, Base Station-Terminal Cooperative Sensing: The base station sends a sensing signal, and the terminal receives the echo signal. In Mode 5, the sensing transmitting node is the base station, and the sensing receiving node is the terminal. That is, the base station sends a sensing signal to the sensing target, and after the sensing signal is reflected by the sensing target, the terminal receives the echo signal.

[0086] Mode 6, Terminal-Base Station Collaborative Sensing: The terminal sends a sensing signal, and the base station receives the echo signal. In Mode 6, the sensing sending node is the terminal, and the sensing receiving node is the base station. That is, the terminal sends a sensing signal to the sensing target, and after the sensing signal is reflected by the sensing target, the base station receives the echo signal.

[0087] In Mode 7, the sensing target is the sensing signal transmitting node. In Mode 7, the sensing transmitting node is the terminal, and the sensing receiving node is the base station. Since the sensing target (terminal) is the sensing transmitting node, the sensing signal, after being sent from the sensing transmitting node (terminal) to the sensing receiving node (base station), does not require reflection and can be directly analyzed by the base station after reception.

[0088] In Mode 8, the sensing target is the sensing signal receiving node. In Mode 8, the sensing transmitting node is the base station, and the sensing receiving node is the terminal. Since the sensing target (terminal) is the sensing receiving node, after receiving the sensing signal, the terminal needs to feed back the sensing result to the base station so that the base station is aware of the sensing result.

[0089] The nodes that transmit and receive sensing signals can be collectively referred to as sensing nodes. In the eight sensing modes mentioned above, only one or a pair of sensing nodes exist. However, in wireless communication systems, the number of terminal devices (such as mobile phones and IoT devices) is large. When multiple sensing nodes (i.e., base stations, mobile phones, IoT devices, etc. that transmit and / or receive sensing signals) exist around a sensed object, the joint participation of multiple sensing nodes can improve the accuracy of sensing and meet more complex sensing service requirements, providing richer sensing services. As shown in Figure 3, when multiple sensing nodes exist in the system (as shown in Figure 3, sensing node 1, sensing node 2, and sensing node 3), a sensing management node 31 may exist to control and manage the entire sensing service to improve efficiency. This sensing management node 31 can be a base station, a terminal device, or a core network element.

[0090] In conventional reference signal design, the reference signal maintains a uniform spacing in both the frequency and time domains. For example, as shown in Figure 4, the 5G NR CSI-RS (Channel State Information-Reference Signal) has uniform spacing in the frequency domain, with an interval of 4 REs (Resource Elements), and appears periodically in the time domain with a configurable period length.

[0091] However, for perception, the perception performance is affected by the parameters of the perception signal. For example, the smaller the frequency-domain interval of the perception signal, the larger the range of non-ambiguous distance, and the shorter the transmission period of the perception signal, the larger the range of non-ambiguous speed, etc. To meet the perception performance, such as a larger range of non-ambiguous distance and speed, the perception signal requires a higher density, resulting in a large amount of resource overhead. The resources occupied by the perception signal and the resources occupied by the communication signal are usually orthogonal, and the excessive resource overhead of the perception signal will damage the communication performance.

[0092] Taking the arrangement of OFDM (Orthogonal Frequency Division Multiplexing) pilot signals as an example, and taking the self-transmission and self-reception as an example, the maximum non-ambiguous distance and the maximum non-ambiguous speed that the perception signal can achieve under the basic configuration can be deduced.

[0093] In the perception system, the maximum non-ambiguous distance refers to the maximum distance at which the system can accurately measure the distance of the perception target. Here, "non-ambiguous" means that the perception receiving node can distinguish the echo signals from different perception targets without signal confusion or misjudgment. In addition, the maximum phase shift from one echo signal that the perception receiving node can measure to the next echo signal is 360°, and the value of the radial speed of the perception target corresponding to the 360° phase shift is the maximum non-ambiguous speed.

[0094] N perception signals on a certain symbol are uniformly arranged at the center frequency of f c with a frequency-domain interval of N f Δf, where Δf is the subcarrier interval. Then the frequency-domain channel response H composed of perception signals on this symbol is:

[0095] Among them, N f is the coefficient of Δf. For example, the value of N f can be greater than 0; r is the distance between the perception target and the perception node; c is the speed of light; a0, etc. represent different coefficients.

[0096] Performing IFFT (Inverse Fast Fourier Transform) or IDFT (Inverse Discrete Fourier Transform) on this matrix can obtain the distance r between the perception target and the perception node. However, since the Fourier transform reflects the phase change between elements, once the phase change is greater than or equal to 2π, it cannot be recognized. Therefore, the maximum non-ambiguous distance is

[0097] Similarly, frequency point f c wavelength λ c M sensing signals on subcarriers at time intervals M t The Δt elements are uniformly distributed, where Δt is a time-domain unit. This time-domain unit can be a symbol or a slot, thus obtaining the time-domain channel response H as follows:

[0098] Among them, M t The coefficient of Δt, such as M t The value of can be greater than 0; It is determined by frequency point f c The initial phase is determined by the initial distance r0. Performing an FFT (Fast Fourier Transform) on H(t) yields the velocity v of the target's motion. However, since the Fourier Transform reflects the phase changes between elements, it cannot detect phase changes greater than or equal to 2π. Therefore, the maximum unambiguous velocity can be obtained as follows:

[0099] As deduced above, under the OFDM equally spaced pilot signal arrangement, the maximum unambiguous distance and speed will decrease as the time-frequency domain placement interval of the sensing signals increases. In some scenarios, to meet the requirements of sensing services for maximum unambiguous distance and speed, the sensing signals require significant resource overhead.

[0100] Please refer to Figure 5, which shows a flowchart of a method for transmitting sensing signals according to an embodiment of this application. This method can be applied to the scenarios or architectures shown in Figures 1 to 3. The method may include the following step 510.

[0101] Step 510: The first node receives a first sensing signal. The first sensing signal includes at least two sensing signal groups, and each sensing signal group includes at least two sensing signals. At least two of the at least two sensing signal groups have coprime signal intervals.

[0102] In some embodiments, the first node is a sensing receiving node, the first sensing signal is sent by the sensing sending node, and the sensing receiving node receives the first sensing signal sent by the sensing sending node.

[0103] In some embodiments, the second node sends and / or configures the first sensing signal. In some embodiments, the second node is a sensing sending node or a sensing management node. Exemplarily, the sensing sending node sends the first sensing signal. Exemplarily, the sensing sending node configures the first sensing signal and sends the first sensing signal. Exemplarily, the sensing management node configures the first sensing signal, and the sensing sending node sends the first sensing signal.

[0104] In some embodiments, the signal interval corresponding to a sensing signal group is the interval between two adjacent sensing signals included in the sensing signal group. The signal interval can be a time-domain interval or a frequency-domain interval. Specifically, the time-domain interval refers to the time-domain interval between two time-adjacent sensing signals included in the sensing signal group. The frequency-domain interval refers to the frequency-domain interval between two frequency-adjacent sensing signals included in the sensing signal group. The time-domain interval can include one or more time-domain units, which can be any of the following: symbols, time slots, subframes, or frames. The frequency-domain interval can include one or more frequency-domain units, which can be any of the following: subcarriers, subbands, RBs (Resource Blocks), or RBGs (Resource Block Groups). The above signal interval can be understood as the number of time-domain units or frequency-domain units separating two adjacent sensing signals included in the sensing signal group. The signal interval is a positive integer, such as 1, 2, 3, 4, etc.

[0105] The signal time-domain interval refers to the number of time-domain units that separate two temporally adjacent sensed signals in a sensed signal group. Optionally, the signal time-domain interval refers to the number of time-domain units that separate the start positions of two temporally adjacent sensed signals in a sensed signal group. Optionally, the signal time-domain interval refers to the number of time-domain units that separate the end positions of two temporally adjacent sensed signals in a sensed signal group.

[0106] The signal frequency domain spacing refers to the number of frequency domain units that separate two adjacent sensing signals in the frequency domain within a sensing signal group. Optionally, the signal frequency domain spacing refers to the number of frequency domain units that separate the start positions of two adjacent sensing signals in the frequency domain within a sensing signal group. Optionally, the signal frequency domain spacing refers to the number of frequency domain units that separate the end positions of two adjacent sensing signals in the frequency domain within a sensing signal group.

[0107] For example, as shown in Figure 6, each small square represents a time-domain unit. The sensing signal group includes multiple sensing signals, and the time-domain unit occupied by each sensing signal is shown by the time-domain unit filled with diagonal lines in Figure 6. As can be seen from the figure, any two time-adjacent sensing signals in this sensing signal group are separated by 3 time-domain units, that is, the time-domain interval of the signals corresponding to this sensing signal group is 3 time-domain units.

[0108] For example, as shown in Figure 7, each small square represents a frequency domain unit. The sensing signal group includes multiple sensing signals, and the frequency domain unit occupied by each sensing signal is shown by the time domain unit filled with diagonal lines in Figure 7. As can be seen from the figure, any two adjacent sensing signals in the frequency domain are separated by 4 frequency domain units, that is, the frequency domain interval of the signals corresponding to the sensing signal group is 4 frequency domain units.

[0109] In some embodiments, coprime refers to a relationship where the greatest common divisor (GCD) of two or more integers is 1. In this application embodiment, coprime means that the GCD of the signal intervals corresponding to two sensing signal groups is 1. For example, if the signal interval of sensing signal group 1 is 1 and the signal interval of sensing signal group 2 is 2, then the signal intervals of sensing signal group 1 and sensing signal group 2 are coprime. Alternatively, if the signal interval of sensing signal group 1 is 2 and the signal interval of sensing signal group 2 is 5, then the signal intervals of sensing signal group 1 and sensing signal group 2 are coprime.

[0110] In some embodiments, the coprime signal intervals of the two sensing signal groups refer to the coprime signal time-domain intervals of the two sensing signal groups. For example, as shown in FIG8, the signal time-domain interval of sensing signal group 1 shown in FIG8 sub-figure (a) is 2, and the signal time-domain interval of sensing signal group 2 shown in FIG8 sub-figure (b) is 3. Then the signal time-domain intervals of sensing signal group 1 and sensing signal group 2 are coprime.

[0111] In some embodiments, the coprime signal intervals between two sensing signal groups refer to the coprime frequency domain intervals between the two sensing signal groups. For example, as shown in FIG9, the frequency domain interval of the sensing signal group 1 shown in FIG9 sub-figure (a) is 3, and the frequency domain interval of the sensing signal group 2 shown in FIG9 sub-figure (b) is 5. Therefore, the frequency domain intervals of the sensing signal group 1 and the sensing signal group 2 are coprime.

[0112] In some embodiments, the coprime signal intervals between two sensing signal groups mean that the time-domain intervals and frequency-domain intervals of the signals corresponding to the two sensing signal groups are coprime. For example, as shown in Figure 10, sensing signal group 1 (a) is distributed in two dimensions in both the time and frequency domains, with a time-domain interval of 2 and a frequency-domain interval of 3. Sensing signal group 2 (b) is also distributed in two dimensions in both the time and frequency domains, with a time-domain interval of 3 and a frequency-domain interval of 5. Therefore, the time-domain intervals and frequency-domain intervals of the signals corresponding to sensing signal group 1 and sensing signal group 2 are coprime.

[0113] In some embodiments, among the at least two sensing signal groups included in the first sensing signal, at least two sensing signal groups have coprime signal intervals. For example, the first sensing signal includes the following three sensing signal groups, sensing signal groups 1 to 3, wherein the signal interval corresponding to sensing signal group 1 is 1, the signal interval corresponding to sensing signal group 2 is 2, and the signal interval corresponding to sensing signal group 3 is 4. In this case, the signal intervals corresponding to sensing signal group 1 and sensing signal group 2 are coprime, the signal intervals corresponding to sensing signal group 1 and sensing signal group 3 are coprime, and the signal intervals corresponding to sensing signal group 2 and sensing signal group 3 are not coprime.

[0114] In some embodiments, the signal intervals corresponding to any two of the at least two sensing signal groups included in the first sensing signal are coprime. For example, the first sensing signal includes the following three sensing signal groups, sensing signal groups 1 to 3, wherein the signal interval corresponding to sensing signal group 1 is 1, the signal interval corresponding to sensing signal group 2 is 2, and the signal interval corresponding to sensing signal group 3 is 5. Then, the signal intervals corresponding to sensing signal group 1 and sensing signal group 2 are coprime, the signal intervals corresponding to sensing signal group 1 and sensing signal group 3 are coprime, and the signal intervals corresponding to sensing signal group 2 and sensing signal group 3 are also coprime.

[0115] In some embodiments, when the sensing signal group includes at least three sensing signals, the at least three sensing signals in the sensing signal group are arranged at equal intervals. For example, when the sensing signal group includes at least three sensing signals, the at least three sensing signals in the sensing signal group are arranged at equal intervals in the time domain, and the time interval between any two time-adjacent sensing signals in the sensing signal group is the signal time-domain interval corresponding to the sensing signal group. For example, when the sensing signal group includes at least three sensing signals, the at least three sensing signals in the sensing signal group are arranged at equal intervals in the frequency domain, and the frequency interval between any two frequency-adjacent sensing signals in the sensing signal group is the signal frequency-domain interval corresponding to the sensing signal group.

[0116] The technical solution provided in this application embodiment can achieve the maximum unambiguous range obtained by continuously arranging sensing signals by jointly receiving sensing signal groups with mutually prime intervals, thereby saving channel overhead while satisfying sensing performance.

[0117] The following describes the arrangement of sensing signal groups where any two signals are coprime.

[0118] Method 1: Sequential arrangement

[0119] In some embodiments, the first sensing signal includes at least two sensing signal groups, including a first sensing signal group and a second sensing signal group, wherein the signal interval corresponding to the first sensing signal group and the signal interval corresponding to the second sensing signal group are coprime, and the first sensing signal group and the second sensing signal group are arranged sequentially.

[0120] In some embodiments, where the signal interval includes a signal time-domain interval, the time-domain position of the earliest sensing signal in the second sensing signal group is after the time-domain position of the latest sensing signal in the first sensing signal group. That is, the time-domain position of the second sensing signal group is after the time-domain position of the first sensing signal group.

[0121] For example, as shown in Figure 11, the first sensing signal includes a first sensing signal group and a second sensing signal group. The time-domain interval of the first sensing signal group is 3, and the time-domain interval of the second sensing signal group is 4. The time-domain intervals of the first and second sensing signal groups are coprime, and the first and second sensing signal groups are arranged sequentially in the time domain. As can be seen from Figure 11, the time-domain position of the earliest sensing signal in the second sensing signal group (i.e., sensing signal 112 shown in the figure) is after the time-domain position of the latest sensing signal in the first sensing signal group (i.e., sensing signal 111 shown in the figure).

[0122] In some embodiments, where the signal spacing includes a signal frequency domain spacing, the frequency domain position of the sensing signal with the smallest frequency in the second sensing signal group is after the frequency domain position of the sensing signal with the largest frequency in the first sensing signal group. That is, the frequency domain position of the second sensing signal group is after the frequency domain position of the first sensing signal group.

[0123] For example, as shown in Figure 12, the first sensing signal includes a first sensing signal group and a second sensing signal group. The frequency domain interval of the first sensing signal group is 2, and the frequency domain interval of the second sensing signal group is 3. The frequency domain intervals of the first and second sensing signal groups are coprime, and the first and second sensing signal groups are arranged sequentially in the frequency domain. As can be seen from Figure 12, the frequency domain position of the sensing signal with the smallest frequency in the second sensing signal group (i.e., sensing signal 122 shown in the figure) is after the frequency domain position of the sensing signal with the largest frequency in the first sensing signal group (i.e., sensing signal 121 shown in the figure).

[0124] Method 2: Overlapping arrangement

[0125] In some embodiments, the first sensing signal includes at least two sensing signal groups, including a first sensing signal group and a second sensing signal group, wherein the signal interval corresponding to the first sensing signal group and the signal interval corresponding to the second sensing signal group are coprime, and the first sensing signal group and the second sensing signal group are arranged in an overlapping manner.

[0126] In some embodiments, where the signal interval includes a signal time-domain interval, the time-domain position of the earliest sensing signal in the second sensing signal group precedes the time-domain position of the latest sensing signal in the first sensing signal group. That is, the time-domain positions of the second sensing signal group overlap with those of the first sensing signal group.

[0127] For example, as shown in Figure 13, the first sensing signal includes a first sensing signal group and a second sensing signal group. The time-domain interval of the first sensing signal group is 3, and the time-domain interval of the second sensing signal group is 4. The time-domain intervals of the first and second sensing signal groups are coprime, and the first and second sensing signal groups overlap in the time domain. As can be seen from Figure 13, the time-domain position of the earliest sensing signal in the second sensing signal group (i.e., sensing signal 132 shown in the figure) precedes the time-domain position of the latest sensing signal in the first sensing signal group (i.e., sensing signal 131 shown in the figure).

[0128] In some embodiments, where the signal interval includes a signal frequency domain interval, the frequency domain position of the sensing signal with the smallest frequency in the second sensing signal group precedes the frequency domain position of the sensing signal with the largest frequency in the first sensing signal group. That is, the frequency domain positions of the second sensing signal group overlap with those of the first sensing signal group.

[0129] For example, as shown in Figure 14, the first sensing signal includes a first sensing signal group and a second sensing signal group. The frequency domain interval of the first sensing signal group is 2, and the frequency domain interval of the second sensing signal group is 3. The frequency domain intervals of the first and second sensing signal groups are coprime, and the first and second sensing signal groups overlap in the frequency domain. As can be seen from Figure 14, the frequency domain position of the sensing signal with the smallest frequency in the second sensing signal group (i.e., sensing signal 142 shown in the figure) precedes the frequency domain position of the sensing signal with the largest frequency in the first sensing signal group (i.e., sensing signal 141 shown in the figure).

[0130] A typical overlapping arrangement is a nested arrangement.

[0131] In some embodiments, the signal interval corresponding to the first sensing signal group is greater than the signal interval corresponding to the second sensing signal group. The second sensing signal group is located between two adjacent sensing signals included in the first sensing signal group.

[0132] In some embodiments, when the signal interval includes a signal time-domain interval, the time-domain position of each sensing signal in the second sensing signal group is located between the time-domain positions of two adjacent sensing signals included in the first sensing signal group.

[0133] For example, as shown in Figure 15, the first sensing signal includes a first sensing signal group and a second sensing signal group. The time-domain interval of the first sensing signal group is 9, and the time-domain interval of the second sensing signal group is 2. The time-domain interval of the first sensing signal group is greater than the time-domain interval of the second sensing signal group, and the time-domain intervals of the first and second sensing signal groups are coprime. As can be seen from Figure 15, the time-domain positions of each sensing signal in the second sensing signal group are all located between the time-domain positions of two adjacent sensing signals included in the first sensing signal group, forming a nested arrangement.

[0134] In some embodiments, when the signal interval includes a signal frequency domain interval, the frequency domain position of each sensing signal in the second sensing signal group is located between the frequency domain positions of two adjacent sensing signals included in the first sensing signal group.

[0135] For example, as shown in Figure 16, the first sensing signal includes a first sensing signal group and a second sensing signal group. The frequency domain interval of the first sensing signal group is 4, and the frequency domain interval of the second sensing signal group is 1. The frequency domain interval of the first sensing signal group is greater than that of the second sensing signal group, and the frequency domain intervals of the first and second sensing signal groups are coprime. As can be seen from Figure 16, the frequency domain positions of each sensing signal in the second sensing signal group are all located between the frequency domain positions of two adjacent sensing signals included in the first sensing signal group, forming a nested arrangement.

[0136] In some embodiments, when multiple second sensing signal groups exist, the positions of the multiple second sensing signal groups within the first sensing signal group are located between two different adjacent sensing signals. Optionally, the positions of the multiple second sensing signal groups within the first sensing signal group are uniformly distributed.

[0137] For example, as shown in Figure 17, the first sensing signal includes a first sensing signal group and a second sensing signal group. The time-domain interval of the first sensing signal group is 5, and the time-domain interval of the second sensing signal group is 2. The time-domain interval of the first sensing signal group is greater than that of the second sensing signal group, and the time-domain intervals of the first and second sensing signal groups are coprime. As can be seen from Figure 17, for any second sensing signal group, the time-domain position of each sensing signal in the second sensing signal group is located between the time-domain positions of two adjacent sensing signals included in the first sensing signal group, forming a nested arrangement. Furthermore, as can be seen from Figure 17, there are two second sensing signal groups, and the positions of these two second sensing signal groups within the first sensing signal group are evenly distributed.

[0138] The above describes the arrangement of sensing signal groups with coprime signal spacing. They can be arranged sequentially or overlapping. Regardless of the arrangement method, the maximum unambiguous range obtained by continuous arrangement of sensing signals can be achieved, thereby saving channel overhead while satisfying sensing performance.

[0139] In some embodiments, the first sensing signal group and the second sensing signal group are arranged periodically in the time domain and / or frequency domain, and the arrangement within each period is as described above. Optionally, when the first sensing signal group and the second sensing signal group are arranged periodically in the time domain, the time domain period of the first sensing signal group and the time domain period of the second sensing signal group are the same; when the first sensing signal group and the second sensing signal group are arranged periodically in the frequency domain, the frequency domain period of the first sensing signal group and the frequency domain period of the second sensing signal group are the same.

[0140] For example, as shown in Figure 18, a schematic diagram of the periodic arrangement in the time domain is illustrated when the first sensing signal group and the second sensing signal group are arranged sequentially. The time domain period of the first sensing signal group and the time domain period of the second sensing signal group are the same, both being T.

[0141] Considering that channel estimation in practical systems requires signals to have a certain regularity, that is, the same sub-time period or sub-bandwidth of the same sensing signal arrangement appears repeatedly, so as to facilitate smoothing processing, that is, to reuse the same smoothing filter parameters to achieve the purpose of decoherence and noise cancellation, it is necessary to design periodic coprime signal patterns.

[0142] The following describes how to configure the first sensing signal.

[0143] In some embodiments, as shown in FIG19, the method further includes the following steps before step 510:

[0144] Step 502: The first node receives first configuration information, which is used to configure the time-domain position and / or frequency-domain position of at least one group of sensing signals included in the first sensing signal.

[0145] In some embodiments, the first sensing signal is configured by a second node, which sends first configuration information, and correspondingly, the first node receives the first configuration information sent by the second node. The second node can be a sensing sending node or a sensing management node. When the first sensing signal is configured by a sensing sending node, the sensing sending node can send the first configuration information to a sensing receiving node, and the sensing sending node sends the first sensing signal based on the first configuration information; the sensing receiving node receives the first sensing signal based on the first configuration information. When the first sensing signal is configured by a sensing management node, the sensing management node can send the first configuration information to the sensing sending node and / or the sensing receiving node, and the sensing sending node sends the first sensing signal based on the first configuration information; the sensing receiving node receives the first sensing signal based on the first configuration information.

[0146] In some embodiments, the first configuration information includes at least one of the following: first information, second information, third information, and fourth information.

[0147] In some embodiments, the first information is used to indicate the signal intervals corresponding to at least one group of sensing signals.

[0148] Optionally, when the first sensing signal includes at least two sensing signal groups, the first information can be used to indicate the signal intervals corresponding to all sensing signal groups included in the first sensing signal, or it can only indicate the signal intervals corresponding to a portion of the sensing signal groups. The signal intervals corresponding to the unindicated sensing signal groups can be determined by agreement, pre-configuration, or prior negotiation between the first node and the second node. This application does not limit this.

[0149] Optionally, the first information is used to indicate the signal intervals corresponding to at least two sensing signal groups, and at least two of the at least two sensing signal groups have coprime signal intervals.

[0150] Optionally, the first information includes at least one of the following: time-domain interval information and frequency-domain interval information. The time-domain interval information is used to indicate the signal time-domain interval corresponding to at least one group of sensed signals. The frequency-domain interval information is used to indicate the signal frequency-domain interval corresponding to at least one group of sensed signals.

[0151] For example, the time-domain interval information includes at least two signal time-domain intervals, each signal time-domain interval corresponding to a group of sensing signals, and at least two of the at least two signal time-domain intervals are coprime.

[0152] For example, the frequency domain spacing information includes at least two signal frequency domain spacings, each signal frequency domain spacing corresponds to a sensing signal group, and at least two of the at least two signal frequency domain spacings are coprime.

[0153] In some embodiments, the second information is used to indicate at least one of the following: time-domain occupancy duration, frequency-domain occupancy bandwidth, time-domain arrangement quantity, and frequency-domain arrangement quantity, respectively, for at least one sensing signal group.

[0154] For any given group of sensing signals, its corresponding time-domain occupancy duration refers to the interval between the earliest and latest sensing signals in the time domain among all the sensing signals included in that group. The time-domain occupancy duration corresponding to a sensing signal group can be the interval between the time-domain start position of the earliest sensing signal and the time-domain start position of the latest sensing signal; or it can be the interval between the time-domain end position of the earliest sensing signal and the time-domain end position of the latest sensing signal.

[0155] For any given group of sensing signals, its corresponding frequency domain occupied bandwidth refers to the bandwidth between the sensing signal with the smallest frequency domain position and the sensing signal with the largest frequency domain position among all the sensing signals included in the group. The frequency domain occupied bandwidth corresponding to the sensing signal group can be the bandwidth between the frequency domain start position of the sensing signal with the smallest frequency domain position and the frequency domain start position of the sensing signal with the largest frequency domain position; or it can be the bandwidth between the frequency domain end position of the sensing signal with the smallest frequency domain position and the frequency domain end position of the sensing signal with the largest frequency domain position.

[0156] For any given sensing signal group, the corresponding time-domain arrangement number refers to the number of sensing signals arranged in the time domain within that sensing signal group. There is a correlation between the time-domain arrangement number of the sensing signal group and the time-domain occupancy duration of the sensing signal group. For example, when the sensing signals within a sensing signal group are arranged at equal intervals in the time domain, the time-domain occupancy duration of the sensing signal group can be determined based on the signal time-domain interval between two adjacent sensing signals and the time-domain arrangement number of the sensing signal group.

[0157] For any given group of sensing signals, the corresponding frequency domain arrangement number refers to the number of sensing signals arranged in the frequency domain within that group. There is a correlation between the frequency domain arrangement number of a sensing signal group and the bandwidth occupied in the time-frequency domain corresponding to that group. For example, when the sensing signals in a sensing signal group are arranged at equal intervals in the frequency domain, the bandwidth occupied in the frequency domain corresponding to the sensing signal group can be determined based on the frequency domain interval between two adjacent sensing signals and the frequency domain arrangement number of the sensing signal group.

[0158] Optionally, the second information includes at least one of the following: time-domain occupancy information and frequency-domain occupancy information. The time-domain occupancy information indicates the time-domain occupancy duration and / or the number of time-domain arrangements corresponding to at least one sensing signal group. The frequency-domain occupancy information indicates the frequency-domain occupancy bandwidth and / or the number of frequency-domain arrangements corresponding to at least one sensing signal group.

[0159] For example, the time-domain occupancy information includes at least two time-domain occupancy durations and / or time-domain arrangement quantities. For instance, the number of time-domain occupancy durations and / or time-domain arrangement quantities included in the time-domain occupancy information is the same as the number of signal time-domain intervals included in the time-domain interval information. Each time-domain occupancy duration and / or time-domain arrangement quantity corresponds to one sensing signal group. For example, the time-domain occupancy information includes one time-domain occupancy duration and / or time-domain arrangement quantity, and the time-domain occupancy duration and / or time-domain arrangement quantity corresponding to each sensing signal group included in the first sensing signal are the same.

[0160] For example, the frequency domain occupancy information includes at least two frequency domain occupancy bandwidths and / or frequency domain arrangement quantities. For instance, the number of frequency domain occupancy bandwidths and / or frequency domain arrangement quantities included in the frequency domain occupancy information is the same as the number of signal frequency domain intervals included in the frequency domain spacing information. Each frequency domain occupancy bandwidth and / or frequency domain arrangement quantity corresponds to one sensing signal group. For example, the frequency domain occupancy information includes one frequency domain occupancy bandwidth and / or frequency domain arrangement quantity, and the frequency domain occupancy bandwidth and / or frequency domain arrangement quantity corresponding to each sensing signal group included in the first sensing signal are the same.

[0161] In some embodiments, the third information is used to indicate the offset value corresponding to at least one group of sensing signals.

[0162] Optionally, when the first sensing signal includes at least two sensing signal groups, the third information can be used to indicate the offset values ​​corresponding to all sensing signal groups included in the first sensing signal, or it can only indicate the offset values ​​corresponding to a portion of the sensing signal groups. For the offset values ​​corresponding to the unindicated sensing signal groups, they can be determined by agreement, pre-configuration, or prior negotiation between the first node and the second node. This application does not limit this.

[0163] Optionally, the third information includes at least one of the following: time-domain offset information and frequency-domain offset information. The time-domain offset information indicates the time-domain offset value corresponding to at least one sensing signal group. The time-domain offset value corresponding to a sensing signal group refers to the offset of the time-domain start position of the sensing signal group (e.g., the time-domain start position of the earliest sensing signal included in the sensing signal group) relative to a time-domain reference point. The frequency-domain offset information indicates the frequency-domain offset value corresponding to at least one sensing signal group. The frequency-domain offset value corresponding to a sensing signal group refers to the offset of the frequency-domain start position of the sensing signal group (e.g., the frequency-domain start position of the smallest sensing signal included in the sensing signal group) relative to a frequency-domain reference point. For different sensing signal groups, their corresponding time-domain reference points / frequency-domain reference points can be the same or different. Taking different reference points as an example, when multiple sensing signal groups included in the first sensing signal are arranged sequentially, the time-domain offset value / frequency-domain offset value corresponding to a sensing signal group can be the time-domain offset value / frequency-domain offset value relative to the last sensing signal in the previous sensing signal group. Taking the same reference point as an example, this approach can be applied to situations where multiple sensing signal groups included in the first sensing signal are arranged sequentially, or to situations where multiple sensing signal groups included in the first sensing signal are arranged overlappingly. The time-domain offset value / frequency-domain offset value corresponding to each sensing signal group can be the time-domain offset value / frequency-domain offset value relative to the same time-domain reference point / frequency-domain reference point. Furthermore, for the case of nested sensing signal groups, after arranging the sensing signals in one sensing signal group, when arranging the sensing signals in the next sensing signal group, if a sensing signal already exists at a certain position, then a sensing signal will not be repeatedly configured at that position.

[0164] In some embodiments, the fourth information is used to indicate the cycle period corresponding to the first sensing signal and / or the cycle period corresponding to at least one group of sensing signals respectively.

[0165] Optionally, the cycle period corresponding to each sensing signal group is the same, such as being equal to the cycle period corresponding to the first sensing signal, thereby enabling the first sensing signal to appear periodically in the time domain and / or frequency domain.

[0166] Optionally, the fourth information includes at least one of the following: time-domain periodicity information and frequency-domain periodicity information. The time-domain periodicity information indicates the time-domain cycle period corresponding to the first sensing signal and / or the time-domain cycle period corresponding to at least one group of sensing signals. This time-domain periodicity information allows the first sensing signal and / or at least one group of sensing signals to appear periodically in the time domain. The frequency-domain periodicity information indicates the frequency-domain cycle period corresponding to the first sensing signal and / or the frequency-domain cycle period corresponding to at least one group of sensing signals. This time-domain periodicity information allows the first sensing signal and / or at least one group of sensing signals to appear periodically in the frequency domain.

[0167] In some embodiments, the first configuration information is determined based on at least one of the following: perceived service requirements and the received signal-to-noise ratio (SNR) of the first node. The perceived service requirements may include at least one of the maximum unambiguous distance and maximum unambiguous speed of the perceived service. Optionally, after determining its SNR, the first node feeds it back to the second node. The second node determines the first configuration information based on at least one of the perceived service requirements and the received SNR of the first node.

[0168] For example, consider a case where the signal time-domain intervals are coprime. The first sensing signal includes N sensing signal groups, where at least two of these N sensing signal groups have coprime signal time-domain intervals, where N is an integer greater than 1. Assume the signal time-domain intervals corresponding to the N sensing signal groups are a1, a2, ..., a... N The time-domain offsets corresponding to the N sensing signal groups are t1, t2, ..., t N The number of sensing signals included in the N sensing signal groups are N1, N2, ..., N, respectively. N Optionally, the time-domain units are arranged cyclically with a period of T, as shown in Figure 20, a1, a2, ..., a N They don't necessarily have to be completely different, but at least two of them must be coprime. The order doesn't need to be from largest to smallest or smallest to largest. t1 is the offset relative to the starting point of T time-domain units, t2,...,t... N It can be an offset value relative to the starting point of T time-domain units, or an offset value relative to the last sensed signal of the previous sensed signal group, N1, N2, ..., N N They can be the same or different.

[0169] Furthermore, the time-domain unit can be a symbol. For example, the smallest granularity of scheduling in a 5G system is a time slot, and one time slot includes 14 symbols. Therefore, T is an integer multiple of 14. As another example, considering that the frame structure is the basis of the entire time-domain structure, the smallest granularity of the frame structure can also be referenced, such as 10 time slots, then T is an integer multiple of 10*14. Additionally, the time-domain unit can also be a time slot, subframe, or frame; correspondingly, T can be a multiple of these. However, since the basic granularity of time-domain resource scheduling for sensed signals is a symbol, it is assumed that the sensed signal occupies the same symbol position within each time-domain unit.

[0170] For example, consider a scenario where the signal frequency domain spacing is coprime. The first sensing signal comprises M sensing signal groups, where at least two of these M sensing signal groups have coprime signal frequency domain spacings, where M is an integer greater than 1. Assume the signal frequency domain spacings corresponding to the M sensing signal groups are b1, b2, ..., b... M The frequency domain offset values ​​corresponding to the M sensing signal groups are f1, f2, ..., f M The number of sensing signals included in the M sensing signal groups are M1, M2, ..., M. M Optionally, the frequency domain units are arranged cyclically with a length of P, as shown in Figure 21, b1, b2, ..., b M They don't necessarily have to be completely different, but at least two of them must be coprime. The order doesn't need to be from largest to smallest or smallest to largest. f1 is the offset relative to the starting point of the P frequency domain units, f2,...,f... M It can be an offset value relative to the starting point of P frequency domain units, or an offset value relative to the last sensed signal of the previous sensed signal group, M1, M2, ..., M M They can be the same or different.

[0171] Additionally, a frequency domain unit can be a subcarrier. For example, the smallest granularity of scheduling in a 5G system is an RB, and one RB includes 12 subcarriers. Therefore, P is an integer multiple of 12. As another example, the smallest granularity of reference signal configuration is a subband, and one subband includes 48 subcarriers; therefore, P is an integer multiple of 48. Furthermore, a frequency domain unit can also be an RB or RBG, but since the basic granularity of frequency domain resource scheduling for sensing signal configuration is a subcarrier, it is assumed that the sensing signal occupies the same subcarrier position within each frequency domain unit.

[0172] For example, the first sensing signal includes a group of sensing signals with coprime time-domain intervals and a group of sensing signals with coprime frequency-domain intervals. As shown in Figure 22, the first sensing signal includes the following four sensing signal groups: sensing signal group A, sensing signal group B, sensing signal group C, and sensing signal group D. Specifically, sensing signal group A has a time-domain interval of 3 and a frequency-domain interval of 2; sensing signal group B has a time-domain interval of 4 and a frequency-domain interval of 2; sensing signal group C has a time-domain interval of 3 and a frequency-domain interval of 3; and sensing signal group D has a time-domain interval of 4 and a frequency-domain interval of 3. The time-domain intervals of sensing signal group A and sensing signal group B are coprime, as are the time-domain intervals of sensing signal group C and sensing signal group D. Furthermore, the frequency-domain intervals of sensing signal group A and sensing signal group C are coprime, as are the frequency-domain intervals of sensing signal group B and sensing signal group D. In the case where the first sensing signal includes both sensing signal groups with coprime time-domain intervals and sensing signal groups with coprime frequency-domain intervals, the configuration method of the first sensing signal is also as described above, with corresponding configuration information in both the time and frequency domains.

[0173] The above method enables the configuration of sensing signals, allowing for the configuration of multiple sensing signal groups with coprime signal intervals.

[0174] The following section, based on simulation test results, introduces the impact of coprime signal groups on sensing performance and channel overhead under a sequential arrangement design.

[0175] The first sensing signal includes N sensing signal groups, where N>1, and the signal intervals of at least two sensing signal groups are coprime. After the last sensing signal of the nth sensing signal group is arranged, the first sensing signal of the (n+1)th sensing signal group is arranged, where n = 1, 2, ..., N-1. As shown in Figure 23, different filled boxes represent different sensing signal groups.

[0176] Taking the time-domain design scheme as an example, comparing the performance of different sensing signal arrangements, with a carrier frequency of 3GHz, a subcarrier spacing of 15kHz, a time slot spacing of 1ms, a time domain range of 1000 slots, and equal intervals of M... t Then the maximum unambiguous velocity range can be derived as follows: The actual speed is 3m / s, with a high signal-to-noise ratio.

[0177] The simulation below uses the MUSIC (Multiple Signal Classification) algorithm for velocity measurement. The MUSIC algorithm searches within the range of [-25m / s, 25m / s] with a step size of 0.1m / s, and the velocity measurement value is the one with the largest spectral function.

[0178] Arrangement method 1: In 1000 slots, the sensing signals are arranged continuously, and each slot is configured with a sensing signal, with a total of 1000 sensing signals.

[0179] Arrangement method 2: Among 1000 slots, they are arranged at equal intervals of 5 slots, and the number of sensing signals is 200.

[0180] Arrangement Method 3 (Sequential Arrangement): The first sensing signal comprises two sensing signal groups within 1000 slots. These two groups have time-domain intervals of 3 and 7 slots respectively. Sensing signals within the same group are evenly spaced in the time domain, with each group containing 100 sensing signals. First, 100 sensing signals are evenly spaced in the time domain at 3-slot intervals. Then, after the last sensing signal, another 100 sensing signals are spaced at 7-slot intervals, thus forming a sequential arrangement of the two sensing signal groups with coprime time-domain intervals in the first sensing signal. For example, the arrangement of the sensing signals in the first sensing signal is shown in Figure 24, where 1 indicates that a sensing signal is transmitted in that slot, and 0 indicates that no sensing signal is transmitted in that slot.

[0181] Figure 25 illustrates the velocity measurement performance of the three arrangement methods described above. Comparing the performance of the three arrangement methods, sub-figure (a) of Figure 25 shows that the unambiguous velocity range of arrangement method 1 is 50 m / s. Sub-figure (b) of Figure 25 shows that the uniformly spaced arrangement method 2 reduces the unambiguous velocity range to 10 m / s. At this point, searching within the same range will result in multiple samples that are difficult to distinguish, making it impossible to accurately obtain the velocity. Sub-figure (c) of Figure 25 shows that the sequential arrangement of coprime signals (i.e., arrangement method 3) can achieve the same unambiguous velocity range as arrangement method 1 with the same number of sensing signals as the uniformly spaced arrangement, thus satisfying the sensing performance while saving channel overhead.

[0182] Taking the frequency domain design scheme as an example, comparing the performance of different sensing signal arrangements, with a carrier frequency of 3GHz, a subcarrier spacing of 60kHz, a frequency domain range of 1200 subcarriers, and equal spacing N... f The maximum unambiguous distance range can be derived from the arrangement as follows: The actual distance is 1300m, with a high signal-to-noise ratio.

[0183] The following simulation uses the MUSIC algorithm for distance measurement. The MUSIC algorithm searches within the range [0m, 2500m] with a certain step size of 1m, and the distance measurement value is the one with the largest spectral function.

[0184] Arrangement method 1: The sensing signals are arranged continuously in 1200 subcarriers, and the number of sensing signals is 1200.

[0185] Arrangement method 2: Among the 1200 subcarriers, the sensing signals are evenly arranged with 4 subcarriers at intervals, and the number of sensing signals is 300.

[0186] Arrangement Method 3 (Sequential Arrangement): The first sensing signal comprises two sensing signal groups within the 1200 subcarriers. These two groups have frequency domain intervals of 3 and 7 subcarriers, respectively. The sensing signals within the same sensing signal group are evenly spaced in the frequency domain, with each group containing 150 sensing signals. First, 150 sensing signals are evenly spaced in the frequency domain at intervals of 3 subcarriers. Then, after the last sensing signal, another 150 sensing signals are spaced at intervals of 5 subcarriers, thus forming a sequential arrangement of two sensing signal groups with coprime frequency domain intervals in the first sensing signal. For example, the arrangement of the sensing signals in the first sensing signal is shown in Figure 26, where 1 indicates that a sensing signal is transmitted on that subcarrier, and 0 indicates that no sensing signal is transmitted on that subcarrier.

[0187] Figure 27 illustrates the ranging performance of the three arrangement methods described above. Comparing the performance of each arrangement method, sub-figure (a) of Figure 27 shows that the unambiguous distance range of arrangement method 1 is 2500m. Sub-figure (b) of Figure 27 shows that the uniformly spaced arrangement method 2 reduces the unambiguous distance range to 625m. At this point, multiple samples within the same range become difficult to distinguish, making it impossible to accurately determine the distance. Sub-figure (c) of Figure 27 shows that the sequential arrangement of coprime signals (i.e., arrangement method 3) achieves the same unambiguous distance range as arrangement method 1 with the same number of sensing signals as the uniformly spaced arrangement, thus satisfying sensing performance while saving channel overhead.

[0188] Below, based on simulation test results, we will introduce the impact of sensing signal groups with coprime signal spacing on sensing performance and channel overhead under an overlapping arrangement design.

[0189] The first sensing signal comprises N sensing signal groups, where N>1. At least two sensing signal groups have coprime signal intervals, and the N sensing signal groups overlap in the time or frequency domain. Overlap includes complete overlap and partial overlap. Complete overlap refers to identical biases and the same duration or bandwidth. Partial overlap refers to at least one of these two conditions being different. Specifically, the first signal of the (n+1)th sensing signal group is arranged before the last sensing signal of the nth sensing signal group, where n = 1, 2, ..., N-1. A typical example of partial overlap is nested arrangement, where the second sensing signal group is arranged within one or more signal intervals of the first sensing signal group. As shown in Figure 28, different filled boxes represent different sensing signal groups. In subfigure (a) of Figure 28, the first and second sensing signal groups are completely overlapped. In subfigure (b) of Figure 28, the first and second sensing signal groups are partially overlapped. In subgraph (c) of Figure 28, the first and second sensing signal groups are nested, with the second sensing signal group nested within the first sensing signal group. In subgraph (d) of Figure 28, the first and second sensing signal groups are nested, with two second sensing signal groups nested within the first sensing signal group, and these two second sensing signal groups are evenly distributed.

[0190] Taking the time-domain design scheme as an example, comparing the performance of different sensing signal arrangements, with a carrier frequency of 3GHz, a subcarrier spacing of 15kHz, a time slot spacing of 1ms, a time domain range of 1000 slots, and equal intervals of M... t Then the maximum unambiguous velocity range can be derived as follows: The actual speed is 3m / s, with a high signal-to-noise ratio.

[0191] The following simulation uses the MUSIC algorithm for velocity measurement. The MUSIC algorithm searches within the range of [-25m / s, 25m / s] with a certain step size of 0.1m / s, and the velocity measurement value is the one with the largest spectral function.

[0192] Arrangement method 1: In 1000 slots, the sensing signals are arranged continuously, and each slot is configured with a sensing signal, with a total of 1000 sensing signals.

[0193] Arrangement method 2: Among 1000 slots, they are arranged at equal intervals of 5 slots, and the number of sensing signals is 200.

[0194] Arrangement Method 4 (Nested Arrangement): In the 1000 slots, the first sensing signal includes two sensing signal groups. The first sensing signal group is evenly arranged with 20 slots as intervals, containing 50 sensing signals. The second sensing signal group is evenly and continuously arranged with 1 slot as intervals, containing 20 sensing signals. The second sensing signal group is arranged within the first signal interval of the first sensing signal group. For example, the arrangement of each sensing signal included in the first sensing signal is shown in Figure 29, where 1 indicates that a sensing signal is transmitted on that slot, and 0 indicates that no sensing signal is transmitted on that slot.

[0195] Arrangement Method 5 (Nested Arrangement): In the 1000 slots, the first sensing signal includes two sensing signal groups. The first sensing signal group is evenly arranged with 100 slots as intervals, and contains 10 sensing signals. The second sensing signal group is evenly and continuously arranged with 1 slot as intervals, and contains 20 sensing signals. The second sensing signal group is arranged within each signal interval of the first sensing signal group. Arrangement Method 5, when placed in the array, ensures that the sensing signal arrangement repeats within one period, achieving the purpose of decoherence and noise cancellation. For example, the arrangement of each sensing signal included in the first sensing signal is shown in Figure 30, where 1 indicates that a sensing signal is transmitted on that slot, and 0 indicates that no sensing signal is transmitted on that slot.

[0196] Figure 31 illustrates the velocity measurement performance of the four arrangement methods described above. Comparing the performance of the four arrangement methods, sub-figure (a) of Figure 31 shows that the unambiguous velocity range of arrangement method 1 is 50 m / s. Sub-figure (b) of Figure 31 shows that the uniformly spaced arrangement method 2 reduces the unambiguous velocity range to 10 m / s. At this point, searching within the same range will result in multiple samples that are difficult to distinguish, making it impossible to accurately obtain the velocity. Sub-figures (c) and (d) of Figure 31 show that the nested arrangement of coprime signals (i.e., arrangement methods 4 and 5) can achieve the same unambiguous velocity range as arrangement method 1 with the same number of sensing signals as the uniformly spaced arrangement, thus satisfying the sensing performance while saving channel overhead.

[0197] Taking the frequency domain design scheme as an example, comparing the performance of different sensing signal arrangements, with a carrier frequency of 3GHz, a subcarrier spacing of 60kHz, a frequency domain range of 1200 subcarriers, and equal spacing N... f The maximum unambiguous distance range can be derived from the arrangement as follows: The actual distance is 1300m, with a high signal-to-noise ratio.

[0198] The following simulation uses the MUSIC algorithm for distance measurement. The MUSIC algorithm searches within the range [0m, 2500m] with a certain step size of 1m, and the distance measurement value is the one with the largest spectral function.

[0199] Arrangement method 1: The sensing signals are arranged continuously in 1200 subcarriers, and the number of sensing signals is 1200.

[0200] Arrangement method 2: Among the 1200 subcarriers, the sensing signals are evenly arranged with 4 subcarriers at intervals, and the number of sensing signals is 300.

[0201] Arrangement Method 4 (Nested Arrangement): Among the 1200 subcarriers, the first sensing signal includes two sensing signal groups. The first sensing signal group is evenly arranged with 20 subcarrier intervals, and has 60 sensing signals. The second sensing signal group is evenly and continuously arranged with 1 subcarrier interval, and has 20 sensing signals. The second sensing signal group is arranged within the first signal interval of the first sensing signal group. For example, the arrangement of each sensing signal included in the first sensing signal is shown in Figure 32, where 1 indicates that a sensing signal is transmitted on the subcarrier, and 0 indicates that no sensing signal is transmitted on the subcarrier.

[0202] Arrangement Method 5 (Nested Arrangement): Among the 1200 subcarriers, the first sensing signal includes two sensing signal groups. The first sensing signal group is evenly arranged with intervals of 100 subcarriers, and the number of sensing signals is 60. The second sensing signal group is evenly and continuously arranged with intervals of 1 subcarrier, and the number of sensing signals is 20. The second sensing signal group is arranged within each signal interval of the first sensing signal group. For example, the arrangement of each sensing signal included in the first sensing signal is shown in Figure 33, where 1 indicates that a sensing signal is transmitted on the subcarrier, and 0 indicates that no sensing signal is transmitted on the subcarrier.

[0203] Figure 34 illustrates the speed measurement performance of the four arrangement methods described above. Comparing the performance of the four arrangement methods, sub-figure (a) of Figure 34 shows that the unambiguous distance range of arrangement method 1 is 2500m. Sub-figure (b) of Figure 34 shows that the equally spaced arrangement method 2 reduces the unambiguous distance range to 625m. At this point, searching within the same range will result in multiple samples that are difficult to distinguish, making it impossible to accurately determine the distance. Sub-figures (c) and (d) of Figure 34 show that the nested arrangement of coprime signals (i.e., arrangement methods 4 and 5) can achieve the same unambiguous distance range as arrangement method 1 with the same number of sensing signals as the equally spaced arrangement, thus satisfying the sensing performance while saving channel overhead.

[0204] The adjustment of the first sensing signal will be introduced below.

[0205] In some embodiments, the method provided in this application further includes the following steps: a first node receives second configuration information, the second configuration information being used to adjust a first sensing signal.

[0206] In some embodiments, the second node sends second configuration information, and correspondingly, the first node receives the second configuration information sent by the second node. The first node receives the adjusted first sensing signal based on the second configuration information.

[0207] In some embodiments, adjusting the first sensing signal includes at least one of the following: (1) increasing or decreasing the number of sensing signals included in at least one sensing signal group; (2) decreasing or increasing the signal interval corresponding to at least one sensing signal group; (3) increasing or decreasing sensing signal groups with the same signal interval but different offset values.

[0208] For the above method (1), the number of sensing signals included in at least one sensing signal group can be increased, such as if the number of sensing signals included in a certain sensing signal group configured by the first configuration information is 200, and the second configuration information increases the number to 400; or, the number of sensing signals included in at least one sensing signal group can be reduced, such as if the number of sensing signals included in a certain sensing signal group configured by the first configuration information is 200, and the second configuration information reduces the number to 100.

[0209] For the above method (2), the signal interval corresponding to at least one sensing signal group can be reduced. For example, if the signal time interval corresponding to a certain sensing signal group configured by the first configuration information is 5 time slots, the second configuration information reduces the signal time interval to 2 time slots; or, the signal interval corresponding to at least one sensing signal group can be increased. For example, if the signal time interval corresponding to a certain sensing signal group configured by the first configuration information is 5 time slots, the second configuration information increases the signal time interval to 10 time slots.

[0210] For the above method (3), a group of sensing signals with the same signal interval but different offset values ​​can be added, or a group of sensing signals with the same signal interval but different offset values ​​can be reduced. Taking the addition of a group of sensing signals with the same signal interval but different offset values ​​as an example, if the time domain pattern of the first sensing signal configured in the first configuration information is: 1001001001000100000010000001, with an offset value of 0, and the second configuration information adds a group of sensing signals with the same signal interval and an offset value of 1, the time domain pattern of the adjusted first sensing signal is: 11011011011001100000110000011. Wherein, 1 indicates that a sensing signal is transmitted in this time slot, and 0 indicates that no sensing signal is transmitted in this time slot.

[0211] Coprime signal design can save costs while meeting sensing performance requirements. However, considering that noise in the environment needs to be smoothed out by multiple signals, different signal-to-noise ratios require different numbers of sensing signals. The sensing transmitting node or sensing management node needs to adjust the configuration of sensing signals in a timely manner according to the signal-to-noise ratio to better adapt to the current channel environment. In cases where the sensing transmitting node or sensing management node cannot directly measure or know the received signal-to-noise ratio, the sensing performance can be enhanced by having the sensing receiving node feed back the received signal-to-noise ratio.

[0212] For example, sensing performance can be enhanced by increasing the number of sensing signals included in at least one sensing signal group; or, sensing performance can be enhanced by increasing the number of sensing signals within the same time or bandwidth by decreasing the signal interval corresponding to at least one sensing signal group; or, sensing performance can be enhanced by increasing sensing signal groups with the same signal interval but different offset values ​​through coherent or incoherent accumulation to improve the received signal-to-noise ratio.

[0213] In addition, under the condition of high signal-to-noise ratio, in order to save the transmission overhead of sensing signals, the number of sensing signals included in at least one sensing signal group can be reduced, or the signal interval corresponding to at least one sensing signal group can be increased, or the number of sensing signal groups with the same signal interval but different offset values ​​can be reduced.

[0214] Figure 35 simulates the performance comparison between fewer and more sensing signals under low signal-to-noise ratio (SNR) conditions. It can be seen that excessive overhead savings will result in poor performance under low SNR conditions. As shown in Figure 35, sub-figures (a) and (b) have the same arrangement interval value but different overhead. Sub-figure (a) includes 50 sensing signals in each sensing signal group, while sub-figure (b) includes 100 sensing signals in each sensing signal group. Although both can read the estimated speed from the highest value, the performance of sub-figure (b), which has more sensing signals, appears to be more regular than that of sub-figure (a), symmetrical about the true speed, and easier to measure speed in multi-target situations. In sub-figures (c), (d), and (e), the number of overhead values ​​with an interval value of 1 gradually increases, and it can be clearly seen that the clutter is getting less and less, the energy is getting more and more concentrated, and it is easier to identify the true speed.

[0215] The above method enables the configuration adjustment of the sensing signal, thereby better meeting the requirements of sensing performance and transmission overhead.

[0216] In the above method embodiments, the steps performed by the first node can be implemented separately as a method for transmitting sensing signals on the first node side; the steps performed by the second node can be implemented separately as a method for transmitting sensing signals on the second node side.

[0217] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0218] Please refer to Figure 36, which shows a block diagram of a sensing signal transmission device according to an embodiment of this application. This device has the functionality to implement the method example described above for the first node side; this functionality can be implemented in hardware or by hardware executing corresponding software. This device can be the first node described above, or it can be disposed within the first node. As shown in Figure 36, the device 3600 may include a receiving module 3610.

[0219] The receiving module 3610 is used to receive a first sensing signal, the first sensing signal including at least two sensing signal groups, each sensing signal group including at least two sensing signals, at least two of the at least two sensing signal groups having coprime signal intervals, and the signal interval corresponding to the sensing signal group being the interval between two adjacent sensing signals included in the sensing signal group.

[0220] In some embodiments, when the sensing signal group includes at least three sensing signals, the at least three sensing signals included in the sensing signal group are arranged at equal intervals.

[0221] In some embodiments, the at least two sensing signal groups include a first sensing signal group and a second sensing signal group, the signal interval corresponding to the first sensing signal group and the signal interval corresponding to the second sensing signal group are coprime, and the first sensing signal group and the second sensing signal group are arranged sequentially.

[0222] In some embodiments, when the signal interval includes a signal time-domain interval, the time-domain position of the earliest sensing signal in the second sensing signal group is after the time-domain position of the latest sensing signal in the first sensing signal group; and / or, when the signal interval includes a signal frequency-domain interval, the frequency-domain position of the smallest sensing signal in the second sensing signal group is after the frequency-domain position of the largest sensing signal in the first sensing signal group.

[0223] In some embodiments, the at least two sensing signal groups include a first sensing signal group and a second sensing signal group, the signal interval corresponding to the first sensing signal group and the signal interval corresponding to the second sensing signal group are coprime, and the first sensing signal group and the second sensing signal group are arranged in an overlapping manner.

[0224] In some embodiments, when the signal interval includes a signal time-domain interval, the time-domain position of the earliest sensing signal in the second sensing signal group is before the time-domain position of the latest sensing signal in the first sensing signal group; and / or, when the signal interval includes a signal frequency-domain interval, the frequency-domain position of the smallest sensing signal in the second sensing signal group is before the frequency-domain position of the largest sensing signal in the first sensing signal group.

[0225] In some embodiments, the signal interval corresponding to the first sensing signal group is greater than the signal interval corresponding to the second sensing signal group; the second sensing signal group is located between two adjacent sensing signals included in the first sensing signal group.

[0226] In some embodiments, the second sensing signal group is located between two adjacent sensing signals included in the first sensing signal group, including: when the signal interval includes a signal time-domain interval, the time-domain position of each sensing signal in the second sensing signal group is located between the time-domain positions of two adjacent sensing signals included in the first sensing signal group; and / or, when the signal interval includes a signal frequency-domain interval, the frequency-domain position of each sensing signal in the second sensing signal group is located between the frequency-domain positions of two adjacent sensing signals included in the first sensing signal group.

[0227] In some embodiments, when there are multiple second sensing signal groups, the positions of the multiple second sensing signal groups in the first sensing signal group are located between two different adjacent sensing signals.

[0228] In some embodiments, the positions of the plurality of second sensing signal groups in the first sensing signal group are uniformly distributed.

[0229] In some embodiments, the first sensing signal group and the second sensing signal group are periodically arranged in the time domain and / or frequency domain.

[0230] In some embodiments, the receiving module 3610 is further configured to receive first configuration information, the first configuration information being configured to configure the time-domain position and / or frequency-domain position of at least one sensing signal group included in the first sensing signal.

[0231] In some embodiments, the first configuration information includes at least one of the following: first information, used to indicate the signal interval corresponding to the at least one sensing signal group; second information, used to indicate at least one of the time domain occupancy duration, frequency domain occupancy bandwidth, time domain arrangement number, and frequency domain arrangement number corresponding to the at least one sensing signal group; third information, used to indicate the offset value corresponding to the at least one sensing signal group; and fourth information, used to indicate the cycle period corresponding to the first sensing signal and / or the cycle period corresponding to the at least one sensing signal group.

[0232] In some embodiments, the first information includes at least one of the following: time-domain interval information, used to indicate the signal time-domain interval corresponding to the at least one sensing signal group respectively; and frequency-domain interval information, used to indicate the signal frequency-domain interval corresponding to the at least one sensing signal group respectively.

[0233] In some embodiments, the second information includes at least one of the following: time-domain occupancy information, used to indicate the time-domain occupancy duration and / or time-domain arrangement quantity corresponding to the at least one sensing signal group; and frequency-domain occupancy information, used to indicate the frequency-domain occupancy bandwidth and / or frequency-domain arrangement quantity corresponding to the at least one sensing signal group.

[0234] In some embodiments, the third information includes at least one of the following: time-domain offset information, used to indicate the time-domain offset value corresponding to each of the at least one sensing signal group; and frequency-domain offset information, used to indicate the frequency-domain offset value corresponding to each of the at least one sensing signal group.

[0235] In some embodiments, the fourth information includes at least one of the following: time-domain periodic information, used to indicate the time-domain cycle period corresponding to the first sensing signal and / or the time-domain cycle period corresponding to the at least one sensing signal group respectively; frequency-domain periodic information, used to indicate the frequency-domain cycle period corresponding to the first sensing signal and / or the frequency-domain cycle period corresponding to the at least one sensing signal group respectively.

[0236] In some embodiments, the first configuration information is determined based on at least one of the following: perceived service requirements, and the received signal-to-noise ratio of the first node.

[0237] In some embodiments, the receiving module 3610 is further configured to receive second configuration information, the second configuration information being used to adjust the first sensing signal.

[0238] In some embodiments, adjusting the first sensing signal includes at least one of the following: increasing or decreasing the number of sensing signals included in at least one sensing signal group; decreasing or increasing the signal interval corresponding to at least one sensing signal group; increasing or decreasing sensing signal groups with the same signal interval but different offset values.

[0239] In some embodiments, the first node is a sensing and receiving node.

[0240] Please refer to Figure 37, which shows a block diagram of a sensing signal transmission device according to another embodiment of this application. This device has the functionality to implement the method example described above for the second node side; this functionality can be implemented in hardware or by hardware executing corresponding software. This device can be the second node described above, or it can be disposed within a second node. As shown in Figure 37, the device 3700 may include: a transmitting module 3710 and / or a processing module 3720.

[0241] The transmitting module 3710 is used to transmit a first sensing signal, and the processing module 3720 is used to configure the first sensing signal. The first sensing signal includes at least two sensing signal groups, and each sensing signal group includes at least two sensing signals. At least two of the at least two sensing signal groups have coprime signal intervals, and the signal intervals of the sensing signal groups are the intervals between two adjacent sensing signals included in the sensing signal groups.

[0242] In some embodiments, when the sensing signal group includes at least three sensing signals, the at least three sensing signals included in the sensing signal group are arranged at equal intervals.

[0243] In some embodiments, the at least two sensing signal groups include a first sensing signal group and a second sensing signal group, the signal interval corresponding to the first sensing signal group and the signal interval corresponding to the second sensing signal group are coprime, and the first sensing signal group and the second sensing signal group are arranged sequentially.

[0244] In some embodiments, when the signal interval includes a signal time-domain interval, the time-domain position of the earliest sensing signal in the second sensing signal group is after the time-domain position of the latest sensing signal in the first sensing signal group; and / or, when the signal interval includes a signal frequency-domain interval, the frequency-domain position of the smallest sensing signal in the second sensing signal group is after the frequency-domain position of the largest sensing signal in the first sensing signal group.

[0245] In some embodiments, the at least two sensing signal groups include a first sensing signal group and a second sensing signal group, the signal interval corresponding to the first sensing signal group and the signal interval corresponding to the second sensing signal group are coprime, and the first sensing signal group and the second sensing signal group are arranged in an overlapping manner.

[0246] In some embodiments, when the signal interval includes a signal time-domain interval, the time-domain position of the earliest sensing signal in the second sensing signal group is before the time-domain position of the latest sensing signal in the first sensing signal group; and / or, when the signal interval includes a signal frequency-domain interval, the frequency-domain position of the smallest sensing signal in the second sensing signal group is before the frequency-domain position of the largest sensing signal in the first sensing signal group.

[0247] In some embodiments, the signal interval corresponding to the first sensing signal group is greater than the signal interval corresponding to the second sensing signal group; the second sensing signal group is located between two adjacent sensing signals included in the first sensing signal group.

[0248] In some embodiments, the second sensing signal group is located between two adjacent sensing signals included in the first sensing signal group, including: when the signal interval includes a signal time-domain interval, the time-domain position of each sensing signal in the second sensing signal group is located between the time-domain positions of two adjacent sensing signals included in the first sensing signal group; and / or, when the signal interval includes a signal frequency-domain interval, the frequency-domain position of each sensing signal in the second sensing signal group is located between the frequency-domain positions of two adjacent sensing signals included in the first sensing signal group.

[0249] In some embodiments, when there are multiple second sensing signal groups, the positions of the multiple second sensing signal groups in the first sensing signal group are located between two different adjacent sensing signals.

[0250] In some embodiments, the positions of the plurality of second sensing signal groups in the first sensing signal group are uniformly distributed.

[0251] In some embodiments, the first sensing signal group and the second sensing signal group are periodically arranged in the time domain and / or frequency domain.

[0252] In some embodiments, the transmitting module 3710 is further configured to transmit first configuration information, the first configuration information being configured to configure the time-domain position and / or frequency-domain position of at least one group of sensing signals included in the first sensing signal.

[0253] In some embodiments, the first configuration information includes at least one of the following: first information, used to indicate the signal interval corresponding to the at least one sensing signal group; second information, used to indicate at least one of the time domain occupancy duration, frequency domain occupancy bandwidth, time domain arrangement number, and frequency domain arrangement number corresponding to the at least one sensing signal group; third information, used to indicate the offset value corresponding to the at least one sensing signal group; and fourth information, used to indicate the cycle period corresponding to the first sensing signal and / or the cycle period corresponding to the at least one sensing signal group.

[0254] In some embodiments, the first information includes at least one of the following: time-domain interval information, used to indicate the signal time-domain interval corresponding to the at least one sensing signal group respectively; and frequency-domain interval information, used to indicate the signal frequency-domain interval corresponding to the at least one sensing signal group respectively.

[0255] In some embodiments, the second information includes at least one of the following: time-domain occupancy information, used to indicate the time-domain occupancy duration and / or time-domain arrangement quantity corresponding to the at least one sensing signal group; and frequency-domain occupancy information, used to indicate the frequency-domain occupancy bandwidth and / or frequency-domain arrangement quantity corresponding to the at least one sensing signal group.

[0256] In some embodiments, the third information includes at least one of the following: time-domain offset information, used to indicate the time-domain offset value corresponding to each of the at least one sensing signal group; and frequency-domain offset information, used to indicate the frequency-domain offset value corresponding to each of the at least one sensing signal group.

[0257] In some embodiments, the fourth information includes at least one of the following: time-domain periodic information, used to indicate the time-domain cycle period corresponding to the first sensing signal and / or the time-domain cycle period corresponding to the at least one sensing signal group respectively; frequency-domain periodic information, used to indicate the frequency-domain cycle period corresponding to the first sensing signal and / or the frequency-domain cycle period corresponding to the at least one sensing signal group respectively.

[0258] In some embodiments, the first configuration information is determined based on at least one of the following: perceived service requirements, and the received signal-to-noise ratio of the first node.

[0259] In some embodiments, the sending module 3710 is further configured to send second configuration information, the second configuration information being used to adjust the first sensing signal.

[0260] In some embodiments, adjusting the first sensing signal includes at least one of the following: increasing or decreasing the number of sensing signals included in at least one sensing signal group; decreasing or increasing the signal interval corresponding to at least one sensing signal group; increasing or decreasing sensing signal groups with the same signal interval but different offset values.

[0261] In some embodiments, the second node is a sensing transmission node or a sensing management node.

[0262] It should be noted that the device provided in the above embodiments is only illustrated by the division of the above functional modules when implementing its functions. In actual applications, the above functions can be assigned to different functional modules according to actual needs, that is, the content structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0263] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0264] Please refer to Figure 38, which shows a schematic diagram of the structure of a communication device 3800 provided in one embodiment of this application. The communication device 3800 can be the first node or the second node described above, and can be used to execute the method steps in the above embodiments. The communication device 3800 can be a network device (such as a base station), a terminal device, a server, a core network element, a sensing information collector, etc. The communication device 3800 may include: a processor 3801, a transceiver 3802, and a memory 3803. The processor 3801 is used to implement various processing functions of the communication device 3800, such as implementing the functions of the above-mentioned processing modules, generating information to be sent, processing received information, controlling transmission and / or reception, etc. The transceiver 3802 is used to implement transmission and / or reception functions, such as implementing the functions of the above-mentioned transmission module and / or reception module.

[0265] The processor 3801 includes one or more processing cores, and the processor 3801 executes various functional applications and information processing by running software programs and modules.

[0266] The transceiver 3802 may include a receiver and a transmitter, for example, the receiver and transmitter may be implemented as the same wireless communication component, which may include a wireless communication chip and a radio frequency antenna.

[0267] The memory 3803 can be connected to the processor 3801 and the transceiver 3802.

[0268] The memory 3803 can be used to store a computer program executed by the processor, and the processor 3801 is used to execute the computer program to implement the various steps of the above method.

[0269] Furthermore, the memory 3803 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, including but not limited to: magnetic disks or optical disks, electrically erasable programmable read-only memory, erasable programmable read-only memory, static on-demand memory, read-only memory, magnetic memory, flash memory, and programmable read-only memory.

[0270] In some embodiments, when the communication device 3800 is implemented as a first node, the transceiver 3802 is used to receive a first sensing signal. The first sensing signal includes at least two sensing signal groups, each sensing signal group includes at least two sensing signals, and at least two of the at least two sensing signal groups have coprime signal intervals. The signal interval between the sensing signal groups is the interval between two adjacent sensing signals included in the sensing signal group.

[0271] In some embodiments, when the communication device 3800 is implemented as a second node, the processor 3801 is used to configure the first sensing signal, and the transceiver 3802 is used to transmit the first sensing signal. The first sensing signal includes at least two sensing signal groups, each sensing signal group includes at least two sensing signals, and at least two of the at least two sensing signal groups have coprime signal intervals. The signal interval corresponding to each sensing signal group is the interval between two adjacent sensing signals included in the sensing signal group.

[0272] For details not described in the above embodiments, please refer to the descriptions in the above method embodiments, which will not be repeated here.

[0273] This application embodiment also provides a computer-readable storage medium storing a computer program, which is executed by the processor of a first node to implement the aforementioned method for transmitting sensing signals executed by the first node.

[0274] This application embodiment also provides a computer-readable storage medium storing a computer program, which is executed by the processor of a second node to implement the aforementioned method for transmitting sensing signals executed by the second node.

[0275] In some embodiments, the computer-readable storage medium may include ROM (Read-Only Memory), RAM (Random-Access Memory), SSD (Solid State Drives), or optical disc, etc. The random access memory may include ReRAM (Resistance Random Access Memory) and DRAM (Dynamic Random Access Memory).

[0276] This application also provides a chip, which includes programmable logic circuits and / or program instructions, and when the chip is running on a first node, it is used to implement the method for transmitting sensing signals executed by the first node.

[0277] This application also provides a chip, which includes programmable logic circuits and / or program instructions, and when the chip is running on a second node, it is used to implement the method for transmitting sensing signals executed by the second node.

[0278] This application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. The processor of a first node reads and executes the computer program from the computer-readable storage medium to implement the aforementioned method for transmitting sensing signals executed by the first node.

[0279] This application also provides a computer program product, which includes a computer program stored in a computer-readable storage medium. The processor of the second node reads and executes the computer program from the computer-readable storage medium to implement the method for transmitting sensing signals executed by the second node.

[0280] It should be understood that the term "instruction" mentioned in the embodiments of this application can be a direct instruction, an indirect instruction, or an indication of a relationship. For example, A instructing B can mean that A directly instructs B, such as B being able to obtain information through A; it can also mean that A indirectly instructs B, such as A instructing C, so B can obtain information through C; or it can mean that there is a relationship between A and B.

[0281] In the description of the embodiments of this application, the term "correspondence" may indicate that there is a direct or indirect correspondence between two things, or that there is an association between two things, or that there is a relationship of instruction and being instructed, configuration and being configured, etc.

[0282] In this article, "multiple" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0283] Furthermore, the step numbers described herein are merely illustrative of one possible execution order between steps. In some other embodiments, the steps may not be executed in the order of their numbers, such as two steps with different numbers being executed simultaneously, or two steps with different numbers being executed in the reverse order of the illustration. This application does not limit this.

[0284] Those skilled in the art will recognize that the functions described in the embodiments of this application in one or more of the above examples can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any medium that facilitates the transfer of a computer program from one place to another. Storage media can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0285] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A method of transmitting a perception signal, the method comprising: The method is executed by the first node, and the method includes: A first sensing signal is received, the first sensing signal comprising at least two sensing signal groups, each sensing signal group comprising at least two sensing signals, wherein at least two of the at least two sensing signal groups have signal intervals that are coprime, and the signal intervals corresponding to the sensing signal groups are the intervals between two adjacent sensing signals included in the sensing signal groups.

2. The method of claim 1, wherein, When the sensing signal group includes at least three sensing signals, the at least three sensing signals included in the sensing signal group are arranged at equal intervals.

3. The method according to claim 1 or 2, characterized in that, The at least two sensing signal groups include a first sensing signal group and a second sensing signal group. The signal interval corresponding to the first sensing signal group and the signal interval corresponding to the second sensing signal group are coprime. The first sensing signal group and the second sensing signal group are arranged sequentially.

4. The method according to claim 3, characterized in that, When the signal interval includes a signal time-domain interval, the time-domain position of the earliest sensing signal in the second sensing signal group is after the time-domain position of the latest sensing signal in the first sensing signal group; and / or, When the signal interval includes a signal frequency domain interval, the frequency domain position of the sensing signal with the smallest frequency domain in the second sensing signal group is after the frequency domain position of the sensing signal with the largest frequency domain in the first sensing signal group.

5. The method according to claim 1 or 2, characterized in that, The at least two sensing signal groups include a first sensing signal group and a second sensing signal group, the signal interval corresponding to the first sensing signal group and the signal interval corresponding to the second sensing signal group are coprime, and the first sensing signal group and the second sensing signal group are arranged in an overlapping manner.

6. The method according to claim 5, characterized in that, When the signal interval includes a signal time-domain interval, the time-domain position of the earliest sensing signal in the second sensing signal group precedes the time-domain position of the latest sensing signal in the first sensing signal group; and / or, When the signal interval includes a signal frequency domain interval, the frequency domain position of the sensing signal with the smallest frequency domain in the second sensing signal group is before the frequency domain position of the sensing signal with the largest frequency domain in the first sensing signal group.

7. The method according to claim 5 or 6, characterized in that, The signal interval corresponding to the first sensing signal group is greater than the signal interval corresponding to the second sensing signal group; The second sensing signal group is located between two adjacent sensing signals included in the first sensing signal group.

8. The method of claim 7, wherein, The second sensing signal group is located between two adjacent sensing signals included in the first sensing signal group, and includes: When the signal interval includes a signal time-domain interval, the time-domain position of each sensing signal in the second sensing signal group is located between the time-domain positions of two adjacent sensing signals included in the first sensing signal group; and / or, When the signal interval includes the signal frequency domain interval, the frequency domain position of each sensing signal in the second sensing signal group is located between the frequency domain positions of two adjacent sensing signals included in the first sensing signal group.

9. The method according to claim 7 or 8, characterized in that, In the presence of multiple second sensing signal groups, the positions of the multiple second sensing signal groups within the first sensing signal group are located between two different adjacent sensing signals.

10. The method of claim 9, wherein, The positions of the multiple second sensing signal groups within the first sensing signal group are evenly distributed.

11. The method according to any one of claims 3 to 10, characterized in that, The first sensing signal group and the second sensing signal group are periodically arranged in the time domain and / or frequency domain.

12. The method according to any one of claims 1 to 11, characterized in that, The method further includes: Receive first configuration information, which is used to configure the time-domain position and / or frequency-domain position of at least one group of sensing signals included in the first sensing signal.

13. The method of claim 12, wherein, The first configuration information includes at least one of the following: The first information is used to indicate the signal intervals corresponding to the at least one group of sensing signals, respectively. The second information is used to indicate at least one of the following: time-domain occupancy duration, frequency-domain occupancy bandwidth, time-domain arrangement quantity, and frequency-domain arrangement quantity, respectively, corresponding to the at least one sensing signal group; The third piece of information is used to indicate the offset value corresponding to each of the at least one group of sensing signals; The fourth piece of information is used to indicate the cycle period corresponding to the first sensing signal and / or the cycle period corresponding to the at least one group of sensing signals, respectively.

14. The method of claim 13, wherein, The first information includes at least one of the following: Time-domain interval information is used to indicate the signal time-domain interval corresponding to each of the at least one sensing signal group; Frequency domain spacing information is used to indicate the frequency domain spacing of the signals corresponding to the at least one group of sensing signals.

15. The method according to claim 13 or 14, characterized in that, The second information includes at least one of the following: Time-domain occupancy information is used to indicate the time-domain occupancy duration and / or the number of time-domain arrangements corresponding to the at least one sensing signal group; Frequency domain occupancy information is used to indicate the frequency domain occupancy bandwidth and / or frequency domain arrangement quantity corresponding to the at least one sensing signal group.

16. The method according to any one of claims 13 to 15, characterized in that, The third information includes at least one of the following: Time-domain offset information is used to indicate the time-domain offset value corresponding to each of the at least one sensing signal group; Frequency domain offset information is used to indicate the frequency domain offset value corresponding to each of the at least one sensing signal group.

17. The method according to any one of claims 13 to 16, characterized in that, The fourth information includes at least one of the following: Time-domain periodic information is used to indicate the time-domain cycle period corresponding to the first sensing signal and / or the time-domain cycle period corresponding to the at least one group of sensing signals, respectively. Frequency domain periodicity information is used to indicate the frequency domain cycle period corresponding to the first sensing signal and / or the frequency domain cycle period corresponding to the at least one sensing signal group, respectively.

18. The method according to any one of claims 12 to 17, characterized in that, The first configuration information is determined based on at least one of the following: perceived service requirements, and the received signal-to-noise ratio of the first node.

19. The method according to any one of claims 1 to 18, characterized in that, The method further includes: Receive second configuration information, which is used to adjust the first sensing signal.

20. The method of claim 19, wherein, The adjustment of the first sensing signal includes at least one of the following: Increase or decrease the number of sensing signals included in at least one sensing signal group; Decrease or increase the signal interval corresponding to at least one group of sensing signals; Increase or decrease the number of sensing signal groups with the same signal interval but different offset values.

21. The method according to any one of claims 1 to 20, characterized in that, The first node is a sensing and receiving node.

22. A method of transmitting a perception signal, the method comprising: The method is executed by the second node, and the method includes: transmitting and / or configuring a first sensing signal, the first sensing signal comprising at least two sensing signal groups, each sensing signal group comprising at least two sensing signals, at least two of the at least two sensing signal groups corresponding to signal intervals that are co-prime, the signal interval corresponding to a sensing signal group being an interval between two adjacent sensing signals comprised in the sensing signal group.

23. The method of claim 22, wherein, In a case where the sensing signal group comprises at least 3 sensing signals, the at least 3 sensing signals comprised in the sensing signal group are arranged equidistantly.

24. The method of claim 22 or 23, wherein, The at least two sensing signal groups comprise a first sensing signal group and a second sensing signal group, the signal interval corresponding to the first sensing signal group and the signal interval corresponding to the second sensing signal group being co-prime, the first sensing signal group and the second sensing signal group being arranged sequentially.

25. The method of claim 24, wherein, In a case where the signal interval comprises a signal time domain interval, a time domain position of an earliest-in-time sensing signal in the second sensing signal group is after a time domain position of a latest-in-time sensing signal in the first sensing signal group; and / or, In a case where the signal interval comprises a signal frequency domain interval, a frequency domain position of a smallest-in-frequency sensing signal in the second sensing signal group is after a frequency domain position of a largest-in-frequency sensing signal in the first sensing signal group.

26. The method of claim 22 or 23, wherein, The at least two sensing signal groups comprise a first sensing signal group and a second sensing signal group, the signal interval corresponding to the first sensing signal group and the signal interval corresponding to the second sensing signal group being co-prime, the first sensing signal group and the second sensing signal group being arranged overlappingly.

27. The method of claim 26, wherein, In a case where the signal interval comprises a signal time domain interval, a time domain position of an earliest-in-time sensing signal in the second sensing signal group is before a time domain position of a latest-in-time sensing signal in the first sensing signal group; and / or, In a case where the signal interval comprises a signal frequency domain interval, a frequency domain position of a smallest-in-frequency sensing signal in the second sensing signal group is before a frequency domain position of a largest-in-frequency sensing signal in the first sensing signal group.

28. The method of claim 26 or 27, wherein, The signal interval corresponding to the first sensing signal group is greater than the signal interval corresponding to the second sensing signal group; The second sensing signal group is located between two adjacent sensing signals comprised in the first sensing signal group.

29. The method of claim 28, wherein, The second sensing signal group is located between two adjacent sensing signals comprised in the first sensing signal group, comprising: In a case where the signal interval comprises a signal time domain interval, a time domain position of each sensing signal in the second sensing signal group is located between time domain positions of two adjacent sensing signals comprised in the first sensing signal group; and / or, In a case where the signal interval comprises a signal frequency domain interval, a frequency domain position of each sensing signal in the second sensing signal group is located between frequency domain positions of two adjacent sensing signals comprised in the first sensing signal group.

30. The method of claim 28 or 29, wherein, In the presence of multiple second sensing signal groups, the positions of the multiple second sensing signal groups in the first sensing signal group are located between different two adjacent sensing signals.

31. The method of claim 30, wherein, The positions of the multiple second sensing signal groups in the first sensing signal group are uniformly distributed.

32. The method according to any one of claims 24 to 31, characterized in that, The first sensing signal group and the second sensing signal group are periodically arranged in time domain and / or frequency domain.

33. The method of any one of claims 22 to 32, wherein, The method further comprises: sending first configuration information, the first configuration information being used for configuring time domain positions and / or frequency domain positions of at least one sensing signal group included in the first sensing signal.

34. The method of claim 33, wherein, The first configuration information comprises at least one of the following: first information used for indicating signal intervals respectively corresponding to the at least one sensing signal group; second information used for indicating at least one of time domain occupation time lengths, frequency domain occupation bandwidths, time domain arrangement numbers, and frequency domain arrangement numbers respectively corresponding to the at least one sensing signal group; third information used for indicating offset values respectively corresponding to the at least one sensing signal group; fourth information used for indicating a cycle period corresponding to the first sensing signal and / or cycle periods respectively corresponding to the at least one sensing signal group.

35. The method of claim 34, wherein, The first information comprises at least one of the following: time domain interval information used for indicating signal time domain intervals respectively corresponding to the at least one sensing signal group; frequency domain interval information used for indicating signal frequency domain intervals respectively corresponding to the at least one sensing signal group.

36. The method of claim 34 or 35, wherein, The second information comprises at least one of the following: time domain occupation information used for indicating time domain occupation time lengths and / or time domain arrangement numbers respectively corresponding to the at least one sensing signal group; frequency domain occupation information used for indicating frequency domain occupation bandwidths and / or frequency domain arrangement numbers respectively corresponding to the at least one sensing signal group.

37. The method of any one of claims 34 to 36, wherein, The third information comprises at least one of the following: time domain offset information used for indicating time domain offset values respectively corresponding to the at least one sensing signal group; frequency domain offset information used for indicating frequency domain offset values respectively corresponding to the at least one sensing signal group.

38. The method of any one of claims 34 to 37, wherein, The fourth information comprises at least one of the following: time domain cycle information used for indicating a time domain cycle period corresponding to the first sensing signal and / or time domain cycle periods respectively corresponding to the at least one sensing signal group; frequency domain cycle information used for indicating a frequency domain cycle period corresponding to the first sensing signal and / or frequency domain cycle periods respectively corresponding to the at least one sensing signal group.

39. The method of any one of claims 33 to 38, wherein, The first configuration information is determined based on at least one of the following information: sensing service demand, received signal-to-noise ratio of the first node.

40. The method of any one of claims 22-39, wherein, The method further comprises: sending second configuration information, the second configuration information being used for adjusting the first sensing signal.

41. The method of claim 40, wherein, The adjustment of the first sensing signal comprises at least one of the following: increasing or decreasing the number of sensing signals included in at least one sensing signal group; decreasing or increasing a signal interval corresponding to at least one sensing signal group; increasing or decreasing sensing signal groups with the same signal interval but different offset values.

42. The method of any one of claims 22 to 41, wherein, The second node is a sensing transmitting node or a sensing management node.

43. A transmission apparatus for sensing signals, characterized by The apparatus comprises: The receiving module is configured to receive a first sensing signal, the first sensing signal comprising at least two sensing signal groups, each sensing signal group comprising at least two sensing signals, and at least two of the at least two sensing signal groups corresponding to signal intervals that are co-prime, the signal interval corresponding to a sensing signal group being an interval between two adjacent sensing signals included in the sensing signal group.

44. A device for transmitting sensing signals, characterized in that, The apparatus comprises a sending module and / or a processing module; The sending module is configured to send a first sensing signal, and the processing module is configured to configure the first sensing signal, the first sensing signal comprising at least two sensing signal groups, each sensing signal group comprising at least two sensing signals, and at least two of the at least two sensing signal groups corresponding to signal intervals that are co-prime, the signal interval corresponding to a sensing signal group being an interval between two adjacent sensing signals included in the sensing signal group.

45. A communications device, characterized by The communication device comprises a processor and a memory, the memory storing a computer program, and the processor executes the computer program to implement the method according to any one of claims 1 to 21, or the method according to any one of claims 22 to 42.

46. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, and the computer program is configured to be executed by a processor to implement the method according to any one of claims 1 to 21, or the method according to any one of claims 22 to 42.

47. A chip, comprising: The chip comprises programmable logic circuitry and / or program instructions, and when the chip is running, the programmable logic circuitry and / or program instructions are configured to implement the method according to any one of claims 1 to 21, or the method according to any one of claims 22 to 42.

48. A computer program product, characterised in that, The computer program product comprises computer instructions stored in a computer-readable storage medium, and a processor reads and executes the computer instructions from the computer-readable storage medium to implement the method according to any one of claims 1 to 21, or the method according to any one of claims 22 to 42.

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