Method and apparatus for configuring sensing frame structure, storage medium, and program product

Abstract

The present disclosure relates to the technical field of wireless communication, and provides a method and apparatus for configuring a sensing frame structure, a storage medium, and a program product. The configuration method comprises: determining a type and a sensing mode of a sensing frame; on the basis of the type and the sensing mode of the sensing frame, determining a sensing frame structure, so that a sensing device executes a sensing task on the basis of the sensing frame structure, the sensing frame structure comprising a time parameter for transmitting and receiving a sensing signal, and a time parameter for switching.

Description

Methods, apparatus, storage media and program products for configuring sensing frame structures

[0001] Cross-references to related applications

[0002] This application is based on and claims priority to CN application No. 202411729936.8, filed on November 28, 2024, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0003] This disclosure relates to the field of wireless communication technology, and in particular to a method, apparatus, storage medium, and program product for configuring a sensing frame structure. Background Technology

[0004] To address emerging business scenarios such as the low-altitude economy, 6G wireless communication systems need to provide both high-capacity mobile communication capabilities and high-precision sensing and positioning capabilities. Therefore, integrated sensing technology has emerged and has been recognized by the ITU-R (Radio Telecommunications Sector) as one of the three major new scenarios for 6G. Integrated sensing technology aims to reuse a single set of hardware to perform both communication and sensing functions. The air interface design of an integrated sensing system includes sensing symbol design, sensing frame structure design, sensing waveform design, and sensing beamforming design. Summary of the Invention

[0005] According to one aspect of this disclosure, a method for configuring a sensing frame structure is proposed, comprising: determining the type and sensing mode of the sensing frame; determining the sensing frame structure according to the type and sensing mode of the sensing frame, so that the sensing device can perform a sensing task based on the sensing frame structure, wherein the sensing frame structure includes time parameters for transmitting and receiving sensing signals and time parameters for switching.

[0006] In some embodiments, the types of sensing frames include: a sensing frame preceding a communication frame and then receiving and transmitting simultaneously, a sensing frame preceding a communication frame and then transmitting and receiving first, a sensing frame preceding a communication frame and then receiving, a sensing frame preceding a transmitting and receiving first, a sensing frame preceding a transmitting and receiving first, a sensing frame preceding a transmitting and receiving first, a sensing frame preceding a transmitting and receiving first, a sensing frame preceding a transmitting and receiving first, a sensing frame preceding a transmitting and receiving first, a sensing frame preceding a transmitting and receiving first, a sensing frame preceding a transmitting and receiving first, or a sensing frame preceding a transmitting and receiving first, or a sensing frame preceding a transmitting and receiving first, or a sensing frame preceding a communication frame.

[0007] In some embodiments, the sensing mode of the sensing frame includes: a transmit-then-receive mode or a transmit-receive-simultaneous mode.

[0008] In some embodiments, determining the sensing frame structure according to the type and sensing mode of the sensing frame includes: when the sensing mode is a transmit-before-receive mode, the sensing frame structure includes a first type of sensing switching time parameter for switching with the frame structure of the previous moment, a transmit time parameter for transmitting sensing signals, a second type of sensing switching time parameter for switching between transmitting and receiving sensing signals, a receive time parameter for receiving sensing signals, and a third type of sensing switching time parameter for switching with the frame structure of the next moment; the duration of the first type of sensing switching time parameter and the duration of the third type of sensing switching time parameter are determined according to the type of the sensing frame, wherein the sum of the duration of the first type of sensing switching time parameter, the duration of the second type of sensing switching time parameter, the duration of the third type of sensing switching time parameter, the duration of the first time parameter, and the duration of the second time parameter is the total duration of the sensing frame.

[0009] In some embodiments, determining the duration of the first type of sensing handover time parameter according to the type of sensing frame includes: when the type of sensing frame is a preceding communication frame followed by a simultaneous transmission and reception sensing frame, a preceding communication frame followed by a first transmission and then reception sensing frame, or a preceding communication frame followed by a communication frame, the duration of the first type of sensing handover time parameter is a first duration; when the type of sensing frame is a preceding first transmission and then reception sensing frame followed by a first transmission and then reception sensing frame, a preceding first transmission and then reception sensing frame followed by a simultaneous transmission and reception sensing frame, or a preceding first transmission and then reception sensing frame followed by a communication frame, the duration of the first type of sensing handover time parameter is a second duration; when the type of sensing frame is a preceding simultaneous transmission and reception sensing frame followed by a first transmission and then reception sensing frame, a preceding simultaneous transmission and reception sensing frame followed by a simultaneous transmission and reception sensing frame, or a preceding simultaneous transmission and reception sensing frame followed by a communication frame, the duration of the first type of sensing handover time parameter is a third duration.

[0010] In some embodiments, determining the duration of the third type of sensing handover time parameter according to the type of sensing frame includes: when the type of sensing frame is preceded by a communication frame and followed by a communication frame, preceded by a transmit-before-receive sensing frame and followed by a communication frame, or preceded by a transmit-before-receive sensing frame and followed by a communication frame, the duration of the third type of sensing handover time parameter is a fourth duration; when the type of sensing frame is preceded by a communication frame and followed by a transmit-before-receive sensing frame, preceded by a transmit-before-receive sensing frame and followed by a transmit-before-receive sensing frame, or preceded by a transmit-before-receive sensing frame and followed by a transmit-before-receive sensing frame, the duration of the third type of sensing handover time parameter is a fifth duration; when the type of sensing frame is preceded by a communication frame and followed by a transmit-before-receive sensing frame, preceded by a transmit-before-receive sensing frame and followed by a transmit-before-receive sensing frame, or preceded by a transmit-before-receive sensing frame and followed by a transmit-before-receive sensing frame, the duration of the third type of sensing handover time parameter is a sixth duration.

[0011] In some embodiments, determining the sensing frame structure according to the type and sensing mode of the sensing frame includes: when the sensing mode is a simultaneous transmit and receive mode, the sensing frame structure includes a first type of sensing switching time parameter for switching with the frame structure of the previous moment, a transmit and receive time parameter for transmitting and receiving sensing signals, and a third type of sensing switching time parameter for switching with the frame structure of the next moment; and determining the duration of the first type of sensing switching time parameter and the duration of the third type of sensing switching time parameter according to the type of the sensing frame, wherein the sum of the duration of the first type of sensing switching time parameter, the duration of the transmit and receive time parameter, and the duration of the third time parameter is the total duration of the sensing frame.

[0012] In some embodiments, determining the duration of the first type of sensing handover time parameter according to the type of sensing frame includes: when the type of sensing frame is a preceding communication frame followed by a simultaneous transmission and reception sensing frame, a preceding communication frame followed by a first transmission and then reception sensing frame, or a preceding communication frame followed by a communication frame, the duration of the first type of sensing handover time parameter is a seventh duration; when the type of sensing frame is a preceding first transmission and then reception sensing frame followed by a first transmission and then reception sensing frame, a preceding first transmission and then reception sensing frame followed by a simultaneous transmission and reception sensing frame, or a preceding first transmission and then reception sensing frame followed by a communication frame, the duration of the first type of sensing handover time parameter is an eighth duration; when the type of sensing frame is a preceding simultaneous transmission and reception sensing frame followed by a first transmission and then reception sensing frame, a preceding simultaneous transmission and reception sensing frame followed by a simultaneous transmission and reception sensing frame, or a preceding simultaneous transmission and reception sensing frame followed by a communication frame, the duration of the first type of sensing handover time parameter is a ninth duration.

[0013] In some embodiments, determining the duration of the third type of sensing handover time parameter according to the type of sensing frame includes: when the type of sensing frame is preceded by a communication frame and followed by a communication frame, preceded by a transmit-before-receive sensing frame and followed by a communication frame, or preceded by a transmit-before-receive sensing frame and followed by a communication frame, the duration of the third type of sensing handover time parameter is the tenth duration; when the type of sensing frame is preceded by a communication frame and followed by a transmit-before-receive sensing frame, preceded by a transmit-before-receive sensing frame and followed by a transmit-before-receive sensing frame, or preceded by a transmit-before-receive sensing frame and followed by a transmit-before-receive sensing frame, the duration of the third type of sensing handover time parameter is the eleventh duration; when the type of sensing frame is preceded by a communication frame and followed by a transmit-before-receive sensing frame, preceded by a transmit-before-receive sensing frame and followed by a transmit-before-receive sensing frame, or preceded by a transmit-before-receive sensing frame and followed by a transmit-before-receive sensing frame, the duration of the third type of sensing handover time parameter is the twelfth duration.

[0014] In some embodiments, determining the duration of the first type of sensing switching time parameter according to the type of sensing frame further includes: when the type of sensing frame is preceded by a first-transmit-later-receive sensing frame and followed by a first-transmit-later-receive sensing frame, preceded by a first-transmit-later-receive sensing frame and followed by a simultaneous-transmit-receive sensing frame, preceded by a first-transmit-later-receive sensing frame and followed by a communication frame, preceded by a simultaneous-transmit-receive sensing frame and followed by a first-transmit-later-receive sensing frame, preceded by a simultaneous-transmit-receive sensing frame and followed by a simultaneous-transmit-receive sensing frame, or preceded by a simultaneous-transmit-receive sensing frame and followed by a communication frame, if the sensing switching is completed at the moment before the sensing frame, the duration of the first type of sensing switching time parameter is 0.

[0015] In some embodiments, determining the duration of the third type of sensing switching time parameter according to the type of sensing frame further includes: when the type of sensing frame is preceded by a first-transmit-later-receive sensing frame and followed by a first-transmit-later-receive sensing frame, preceded by a first-transmit-later-receive sensing frame and followed by a simultaneous-transmit-receive sensing frame, preceded by a first-transmit-later-receive sensing frame and followed by a communication frame, preceded by a simultaneous-transmit-receive sensing frame and followed by a first-transmit-later-receive sensing frame, preceded by a simultaneous-transmit-receive sensing frame and followed by a simultaneous-transmit-receive sensing frame, or preceded by a simultaneous-transmit-receive sensing frame and followed by a communication frame, if the sensing switching is completed at the later moment of the sensing frame, then the duration of the third type of sensing switching time parameter is 0.

[0016] In some embodiments, the determination of the sensing mode is based on the location triggering or periodic triggering of the sensing target.

[0017] In some embodiments, the determination of the type of the sensing frame is triggered by an event or periodically.

[0018] In some embodiments, the sensing device performs sensing tasks based on a sensing frame structure, including: performing the function of transmitting and receiving sensing signals for a duration corresponding to the time parameter used for transmitting and receiving sensing signals; and performing the function of switching for a duration corresponding to the time parameter used for switching.

[0019] According to another aspect of this disclosure, a configuration apparatus for a sensing frame structure is also proposed, comprising: a type determination module configured to determine the type of the sensing frame; a mode determination module configured to determine the sensing mode of the sensing frame; and a structure determination module configured to determine the sensing frame structure according to the type and sensing mode of the sensing frame, so that a sensing device performs a sensing task based on the sensing frame structure, wherein the sensing frame structure includes time parameters for transmitting and receiving sensing signals and time parameters for switching.

[0020] According to another aspect of this disclosure, a configuration apparatus for a sensing frame structure is also proposed, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the configuration method for the sensing frame structure as described above based on instructions stored in the memory.

[0021] According to another aspect of this disclosure, a computer-readable storage medium is also proposed, on which computer program instructions are stored, which, when executed by a processor, implement the configuration method of the perceptual frame structure as described above.

[0022] According to another aspect of this disclosure, a computer program product is also proposed, including a computer program or instructions that, when executed by a processor, implement the above-described configuration method for the perceptual frame structure.

[0023] According to another aspect of this disclosure, a computer program is also proposed, comprising: instructions that, when executed by a processor, cause the processor to perform the above-described configuration method for the perceptual frame structure.

[0024] Other features and advantages of this disclosure will become clear from the following detailed description of exemplary embodiments with reference to the accompanying drawings. Attached Figure Description

[0025] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0026] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0027] Figure 1 is a flowchart illustrating some embodiments of the configuration method for the perceptual frame structure of this disclosure;

[0028] Figure 2 is a schematic diagram of some embodiments of the perceptual frame type of this disclosure;

[0029] Figure 3 is a schematic diagram of some other embodiments of the perceptual frame type of this disclosure;

[0030] Figure 4 is a schematic diagram of some other embodiments of the perceptual frame type of this disclosure;

[0031] Figure 5 is a schematic diagram of some other embodiments of the perceptual frame type of this disclosure;

[0032] Figure 6 is a schematic diagram of some embodiments of the perceptual frame structure of this disclosure;

[0033] Figure 7 is a schematic diagram of some other embodiments of the perceptual frame structure of this disclosure;

[0034] Figure 8 is a flowchart illustrating some other embodiments of the configuration method for the perceptual frame structure of this disclosure;

[0035] Figure 9 is a flowchart illustrating some other embodiments of the configuration method for the perceptual frame structure of this disclosure;

[0036] Figure 10 is a schematic diagram of the structure of some embodiments of the configuration device for the perception frame structure of this disclosure;

[0037] Figure 11 is a schematic diagram of the configuration apparatus for the perception frame structure of this disclosure in some other embodiments. Detailed Implementation

[0038] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present disclosure.

[0039] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0040] The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this disclosure or its application or use.

[0041] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0042] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0043] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0044] To make the objectives, technical solutions, and advantages of this disclosure clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0045] For traditional mobile communication systems, the design of communication frame structures is primarily for accomplishing communication tasks. However, due to the different implementation mechanisms of sensing and communication, traditional communication frame structure designs may not meet the requirements of sensing tasks. This disclosure provides a method for configuring a sensing frame structure that can satisfy the needs of sensing tasks. The solution of this disclosure will be described below with reference to specific embodiments.

[0046] Figure 1 is a flowchart illustrating some embodiments of the configuration method for the sensing frame structure disclosed herein. This embodiment can be executed by a base station, a core network, or a decision center, and includes steps S11-S12.

[0047] In step S11, the type and sensing mode of the sensing frame are determined.

[0048] The perception frame is a time window used for perception.

[0049] In some embodiments, the sensing modes include two types: transmit-then-receive and transmit-receive simultaneously. The transmit-then-receive mode is the mode in which the sensing signal is transmitted first and then received. The transmit-receive simultaneously mode is the mode in which the sensing signal can be received while the sensing signal is being transmitted.

[0050] In some embodiments, the type of sensing frame can be divided into four types, such as as shown in Figure 2, which is preceded by a communication frame and followed by a sensing frame, that is, the frame before the sensing frame is a communication frame and the frame after the sensing frame is also a sensing frame, that is, a sensing frame sent between a communication frame and a sensing frame; as shown in Figure 3, which is preceded by a sensing frame and followed by a sensing frame, that is, the sensing frame before the sensing frame and the frame after the sensing frame are both sensing frames, that is, a sensing frame sent between sensing frames; as shown in Figure 4, which is preceded by a sensing frame and followed by a communication frame, that is, the sensing frame before the sensing frame and the frame after the sensing frame are both sensing frames, that is, a sensing frame sent between sensing frames and communication frames; or as shown in Figure 5, which is preceded by a communication frame and the frame after the sensing frame are both communication frames, that is, a sensing frame sent between two communication frames.

[0051] Since the sensing modes include two types, namely, transmitting before receiving and transmitting simultaneously, the type of the sensing frame can also be specifically defined as follows: preceding a communication frame and followed by a simultaneous transmission and reception sensing frame; preceding a communication frame and followed by a transmission-before-receive sensing frame; preceding a communication frame and followed by a communication frame; preceding a transmission-before-receive sensing frame and followed by a transmission-before-receive sensing frame; preceding a transmission-before-receive sensing frame and followed by a simultaneous transmission and reception sensing frame; preceding a transmission-before-receive sensing frame and followed by a communication frame; preceding a simultaneous transmission and reception sensing frame and followed by a transmission-before-receive sensing frame; preceding a simultaneous transmission and reception sensing frame and followed by a simultaneous transmission and reception sensing frame; or preceding a simultaneous transmission and reception sensing frame and followed by a communication frame.

[0052] In step S12, the sensing frame structure is determined according to the type and sensing mode of the sensing frame, so that the sensing device can perform sensing tasks based on the sensing frame structure. The sensing frame structure includes time parameters for transmitting and receiving sensing signals and time parameters for switching.

[0053] The perception frame structure is the frame composition structure used for perception. Determining the perception frame structure means determining the state of the perception frame in each time slice.

[0054] For example, the sensing signal is transmitted and received during the duration corresponding to the time parameter used for transmitting and receiving sensing signals, and the sensing frame is switched to other frames or the transmission and reception of signals is switched during the duration corresponding to the time parameter used for switching, thereby enabling the sensing task to be realized.

[0055] In some embodiments, as shown in FIG6, when the sensing mode is a transmit-before-receive mode, the sensing frame structure includes a first type of sensing switching time parameter t1 for switching with the frame structure of the previous moment, and a transmission time parameter t for transmitting sensing signals. s The second type of sensing switching time parameter t2 is used for switching between transmitting and receiving sensing signals; the receiving time parameter t is used for receiving sensing signals. r And a third type of sensing switching time parameter t3 used for switching with the frame structure of the next time step. Then, based on the type of sensing frame, the durations of the first type of sensing switching time parameter and the third type of sensing switching time parameter are determined, wherein the sum of the durations of the first type of sensing switching time parameter, the second type of sensing switching time parameter, the third type of sensing switching time parameter, the first time parameter, and the second time parameter is the total duration of the sensing frame. If the total duration of the sensing frame is t0, then t1 + t2 + t3 + t s +t r =t0.

[0056] For example, when the sensing frame is preceded by a communication frame and followed by a simultaneous transmission and reception sensing frame, preceded by a communication frame and followed by a transmission-then-reception sensing frame, or preceded by a communication frame and followed by a communication frame, the duration of the first type of sensing switching time parameter is the first duration. That is, for the transmission-then-reception mode, if the sensing frame was a communication frame at the previous moment, the value of the first type of sensing switching time parameter t1 is τ1.

[0057] When the sensing frame type is preceded by a pre-transmitted and subsequently received sensing frame and followed by a pre-transmitted and subsequently received sensing frame, or preceded by a pre-transmitted and subsequently received sensing frame and followed by a communication frame, the duration of the first type of sensing switching time parameter is the second duration. That is, for the pre-transmitted and subsequently received mode, if the sensing frame was a pre-transmitted and subsequently received sensing frame at the previous moment, then the value of the first type of sensing switching time parameter t1 is τ2.

[0058] When the sensing frame type is a simultaneous receiving and transmitting sensing frame followed by a first-transmit-later receiving sensing frame, a simultaneous receiving and transmitting sensing frame followed by a simultaneous receiving and transmitting sensing frame, or a simultaneous receiving and transmitting sensing frame followed by a communication frame, the duration of the first type of sensing switching time parameter is the third duration. That is, for the first-transmit-later receiving mode, if the sensing frame was a simultaneous receiving and transmitting sensing frame at the previous moment, then the first type of sensing switching time parameter t1 takes the value τ3.

[0059] For example, when the sensing frame is preceded and followed by a communication frame, preceded by a transmit-then-receive sensing frame and followed by a communication frame, or preceded by a transmit-receive sensing frame and followed by a communication frame, the duration of the third type of sensing switching time parameter is the fourth duration. That is, for the transmit-then-receive mode, if the sensing frame is followed by a communication frame at the next moment, the third type of sensing switching time parameter t3 takes the value τ4.

[0060] When the sensing frame type is a preceding communication frame followed by a simultaneous transmission and reception sensing frame, a preceding transmit-receive sensing frame followed by a simultaneous transmission and reception sensing frame, or a preceding transmit-receive sensing frame followed by a simultaneous transmission and reception sensing frame, the duration of the third type of sensing switching time parameter is the fifth duration. That is, for the transmit-receive-later mode, if the sensing frame is followed by a simultaneous transmission and reception sensing frame at the next moment, the third type of sensing switching time parameter t3 takes the value τ5.

[0061] When the sensing frame type is preceded by a communication frame and followed by a transmit-then-receive sensing frame, preceded by a transmit-then-receive sensing frame and followed by another transmit-then-receive sensing frame, or preceded by a transmit-then-receive sensing frame and followed by another transmit-then-receive sensing frame, the duration of the third type of sensing switching time parameter is the sixth duration. That is, for the transmit-then-receive mode, if the next moment of the sensing frame is a transmit-then-receive sensing frame, then the value of the third type of sensing switching time parameter t3 is τ6.

[0062] In some embodiments of this disclosure, as shown in FIG7, when the sensing mode is a simultaneous transmit and receive mode, the sensing frame structure includes a first type of sensing switching time parameter t1 for switching with the frame structure of the previous moment, and a transmit and receive time parameter t for transmitting and receiving sensing signals. st And a third type of sensing handover time parameter t3 used for switching with the frame structure at the next time step. Then, based on the type of sensing frame, the durations of the first type of sensing handover time parameter and the third type of sensing handover time parameter are determined, where the sum of the durations of the first type of sensing handover time parameter, the transmission / reception time parameter, and the third time parameter is the total duration of the sensing frame. If the total duration of the sensing frame is t0, then t1 + t3 + t sr =t0.

[0063] For example, when the sensing frame is preceded by a communication frame and followed by a simultaneous transmission and reception sensing frame, preceded by a communication frame and followed by a transmission-then-reception sensing frame, or preceded by a communication frame and followed by a communication frame, the duration of the first type of sensing switching time parameter is the seventh duration. That is, for the simultaneous transmission and reception mode, if the sensing frame was a communication frame at the previous moment, the first type of sensing switching time parameter t1 takes the value τ7.

[0064] When the sensing frame type is preceded by a pre-transmitted and subsequently received sensing frame and followed by a pre-transmitted and subsequently received sensing frame, or preceded by a pre-transmitted and subsequently received sensing frame and followed by a communication frame, the duration of the first type of sensing switching time parameter is the eighth duration. That is, for the simultaneous transmit and receive mode, if the sensing frame was a pre-transmitted and subsequently received sensing frame at the previous moment, then the first type of sensing switching time parameter t1 takes the value τ8.

[0065] When the sensing frame type is a simultaneous receiving and transmitting sensing frame followed by a first-transmit-later sensing frame, a simultaneous receiving and transmitting sensing frame followed by a simultaneous receiving and transmitting sensing frame, or a simultaneous receiving and transmitting sensing frame followed by a communication frame, the duration of the first type of sensing switching time parameter is the ninth duration. That is, for the simultaneous receiving and transmitting mode, if the sensing frame was a simultaneous receiving and transmitting sensing frame at the previous moment, then the first type of sensing switching time parameter t1 takes the value τ9.

[0066] For example, when the sensing frame type is preceded and followed by a communication frame, preceded by a transmit-then-receive sensing frame and followed by a communication frame, or preceded by a transmit-receive simultaneous sensing frame and followed by a communication frame, the duration of the third type of sensing switching time parameter is ten times the duration. That is, for the simultaneous transmit-receive mode, if the sensing frame is followed by a communication frame at a later time, then the third type of sensing switching time parameter t3 takes the value τ. 10 .

[0067] When the sensing frame type is a preceding communication frame followed by a simultaneous transmission and reception sensing frame, a preceding transmit-receive sensing frame followed by a simultaneous transmission and reception sensing frame, or a preceding transmit-receive sensing frame followed by a simultaneous transmission and reception sensing frame, the duration of the third type of sensing switching time parameter is the eleventh duration. That is, for the simultaneous transmission and reception mode, if the next moment after this sensing frame is a simultaneous transmission and reception sensing frame, then the value of the third type of sensing switching time parameter t3 is τ. 11 .

[0068] When the sensing frame type is preceded by a communication frame and followed by a transmit-then-receive sensing frame, preceded by a transmit-then-receive sensing frame and followed by another transmit-then-receive sensing frame, or preceded by a transmit-then-receive sensing frame and followed by another transmit-then-receive sensing frame, the duration of the third type of sensing switching time parameter is the twelfth time interval. That is, for the transmit-then-receive mode, if the next moment of this sensing frame is a transmit-then-receive sensing frame, then the value of the third type of sensing switching time parameter t3 is τ. 12 .

[0069] In the above embodiments, a sensing frame structure including time parameters for transmitting and receiving sensing signals and time parameters for switching is determined according to the type and sensing mode of the sensing frame, so that the sensing frame structure can be used to perform sensing tasks.

[0070] Figure 8 is a flowchart illustrating some embodiments of the configuration method for the sensing frame structure of this disclosure, including steps S21-S24. This embodiment is performed by a sensing device, which is described using a base station as an example. This embodiment is applicable to the configuration of a general sensing frame structure integrating sensing and communication in self-transmitting and self-receiving scenarios.

[0071] In step S21, the base station determines the type of the sensing frame.

[0072] The type of perception frame is determined by whether it is triggered by an event or periodically.

[0073] For example, the type of perception frame is determined by an event, i.e., when a new perception task is generated, this function is triggered.

[0074] For example, determining the type of sensing frame can also be triggered periodically, that is, the function is triggered at fixed intervals.

[0075] In step S22, the base station determines the sensing mode of the sensing frame.

[0076] The determination of the perception mode is based on the location triggering or periodic triggering of the perceived target.

[0077] For example, the sensing mode is determined by an event trigger, meaning different sensing modes are triggered depending on the location of the sensing target. In the simultaneous transmit and receive sensing mode, the sensing device's RF antenna needs to be divided into two parts: one for transmitting and one for receiving. This also presents self-interference issues, resulting in relatively low transmission power and a shorter sensing range. In the transmit-then-receive sensing mode, the sensing device's RF antenna is time-division multiplexed. During the transmission phase, all antennas can transmit, and during the reception phase, all antennas can receive. Self-interference is also lower, resulting in relatively high transmission power and a longer sensing range. Therefore, the transmit-then-receive sensing mode is suitable when the sensing target is far from the sensing device, while the simultaneous transmit and receive sensing mode is suitable when the sensing target is close to the sensing device.

[0078] For example, the perception mode can also be triggered periodically, that is, different perception modes are triggered sequentially at fixed intervals.

[0079] In step S23, the base station determines time parameters for transmitting and receiving sensing signals and time parameters for handover.

[0080] For example, this function is triggered by an event and can determine different perception frame structures based on different perception frame types and perception modes.

[0081] The first type of sensing switching time parameter, the second type of sensing switching time parameter, the third type of sensing switching time parameter, as well as the transmission time parameter and the reception time parameter duration have multiple parameter configuration methods. That is, different sensing and switching durations can be configured according to different sensing frame positions and sensing modes, thus evolving into multiple sensing frame structures and corresponding to their respective signaling interaction processes.

[0082] In some embodiments, the duration of the first type of sensing switching time parameter can take multiple values ​​depending on the sensing frame type and sensing mode.

[0083] For example, in the case of a sensing mode where the transmission precedes the reception, for the sensing frame preceding the communication frame: t1 = τ1; for the sensing frame preceding a transmission precedes the reception frame: t1 = τ2; for the sensing frame preceding a simultaneous transmission and reception frame: t1 = τ3. In the case of a sensing mode where transmission and reception are simultaneous, for the sensing frame preceding the communication frame: t1 = τ7; for the sensing frame preceding a transmission precedes the reception frame: t1 = τ8; for the sensing frame preceding a simultaneous transmission and reception frame: t1 = τ9.

[0084] Generally, the time required to switch from communication function to sensing function may be longer, while the time required to switch from spontaneous sensing mode to spontaneous sensing mode may be shorter.

[0085] The duration of the first-send-then-receive mode and the simultaneous send and receive mode can be the same or different.

[0086] In some embodiments, when the type of the sensing frame is preceded by a first-transmit, second-receive sensing frame and followed by a first-transmit, second-receive sensing frame, preceded by a first-transmit, second-receive sensing frame and followed by a simultaneous receiving and transmitting sensing frame, preceded by a first-transmit, second-receive sensing frame and followed by a communication frame, preceded by a simultaneous receiving and transmitting sensing frame and followed by a first-transmit, second-receive sensing frame, preceded by a simultaneous receiving and transmitting sensing frame and followed by a simultaneous receiving and transmitting sensing frame, or preceded by a simultaneous receiving and transmitting sensing frame and followed by a communication frame, if the sensing switch is completed at the moment before the sensing frame, the duration of the first type of sensing switch time parameter is 0.

[0087] In other words, the perception handover between perception frames can be completed either during the first type of perception handover or during the third type of perception handover. If the handover between perception frames is completed during the third type of perception handover, that is, the handover is completed at the third type of perception handover time parameter of the perception frame preceding the current perception frame, then the first type of perception handover duration t1 of the preceding perception frame is 0.

[0088] In some embodiments, the duration of the second type of sensing switching time parameter can have multiple values ​​depending on the sensing mode.

[0089] For example, for a sensing frame in the transmit-then-receive sensing mode: t2 = τ13 For sensing frames in simultaneous transmit and receive sensing mode: t2 = 0. Since the sensing device is sending and receiving sensing signals simultaneously in simultaneous transmit and receive sensing mode, no second type of handover is required.

[0090] In some embodiments, the duration of the third type of sensing switching time parameter can take multiple values ​​depending on the sensing frame type and sensing mode.

[0091] For example, in the sensing mode of transmit-before-receive, for the sensing frame following the communication frame: t3 = τ4; for the sensing frame following the simultaneous transmit-receive sensing frame: t3 = τ5; for the sensing frame following the transmit-before-receive sensing frame: t3 = τ6. In the sensing mode of simultaneous transmit-receive, for the sensing frame following the communication frame: t3 = τ 10 For the sensing frame that is simultaneously received and transmitted: t3 = τ 11 For a sensing frame that is sent first and received later: t3 = τ 12 .

[0092] In some embodiments, when the type of the sensing frame is preceded by a pre-transmitted and subsequently received sensing frame and followed by a pre-transmitted and subsequently received sensing frame, preceded by a pre-transmitted and subsequently received sensing frame and followed by a simultaneous receiving and transmitting sensing frame, preceded by a pre-transmitted and subsequently received sensing frame and followed by a communication frame, preceded by a simultaneous receiving and transmitting sensing frame and followed by a pre-transmitted and subsequently received sensing frame, preceded by a simultaneous receiving and transmitting sensing frame and followed by a simultaneous receiving and transmitting sensing frame, or preceded by a simultaneous receiving and transmitting sensing frame and followed by a communication frame, if the sensing switch is completed at the later moment of the sensing frame, the duration of the third type of sensing switch time parameter is 0.

[0093] For example, for a sensing frame following another sensing frame, if the handover occurs within the third type of sensing handover time parameter, different values ​​are set depending on the situation. If the handover occurs within the first type of sensing handover time parameter, i.e., at the next moment of the sensing frame, then the duration t3 of the third type of sensing handover time parameter for that sensing frame is 0.

[0094] In some embodiments, the duration of the transmission time parameter of the sensing frame can have multiple values ​​depending on the sensing mode.

[0095] For example, for a sensing frame in the transmit-then-receive sensing mode: t s =τ 14 For sensing frames in simultaneous transmit and receive sensing mode: t s = t0 - t1 - t3, where t0 represents the total duration of the sensing frame. In the simultaneous transmission and reception sensing mode, the transmission time parameter and reception time parameter are the same for sensing frames.

[0096] In some embodiments, the duration of the reception time parameter of the sensing frame can have multiple values ​​depending on the sensing mode.

[0097] For example, for a sensing frame in the transmit-then-receive sensing mode: t r =t0-(t1+t2+t3+t) s For sensing frames in simultaneous transmit and receive sensing mode: t r = t0-t1-t3, which is the same as the duration of the sensing signal transmission time parameter.

[0098] In step S24, the base station adjusts the sensing frame structure and executes the sensing function. The sensing function refers to the functions required for the wireless network to enable sensing capabilities.

[0099] For example, the base station performs the function of transmitting and receiving sensing signals during the duration corresponding to the time parameter used for transmitting and receiving sensing signals; and performs the handover function during the duration corresponding to the time parameter used for handover.

[0100] In the above embodiments, the frame structure used for sensing functions is adjusted by the base station to meet the requirements of the sensing task.

[0101] Figure 9 is a flowchart illustrating some other embodiments of the configuration method for the perception frame structure of this disclosure, which includes steps S31-S24.

[0102] In step S31, the core network device determines the type of the sensing frame.

[0103] In step S32, the core network device determines the sensing mode of the sensing frame.

[0104] In step S33, the core network device determines time parameters for transmitting and receiving sensing signals and time parameters for handover.

[0105] In step S34, the core network equipment adjusts the sensing frame structure and sends it to the base station.

[0106] In step S35, the base station performs the sensing function.

[0107] In the above embodiments, the core network equipment adjusts the sensing frame structure and sends it to the base station, which then performs the sensing function to meet the requirements of the sensing task.

[0108] Figure 10 is a schematic diagram of some embodiments of the configuration device for the sensing frame structure of this disclosure. The configuration device includes a type determination module 1010, a mode determination module 1020, and a structure determination module 1030. The configuration device is located in a base station, core network, or decision center.

[0109] The type determination module 1010 is configured to determine the type of the sensing frame.

[0110] In some embodiments, the determination of the type of the sensing frame is triggered by an event or periodically.

[0111] In some embodiments, the types of sensing frames include: a sensing frame preceding a communication frame and then receiving and transmitting simultaneously, a sensing frame preceding a communication frame and then transmitting and receiving first, a sensing frame preceding a communication frame and then receiving, a sensing frame preceding a transmitting and receiving first, a sensing frame preceding a transmitting and receiving first, a sensing frame preceding a transmitting and receiving first, a sensing frame preceding a transmitting and receiving first, a sensing frame preceding a transmitting and receiving first, a sensing frame preceding a transmitting and receiving first, a sensing frame preceding a transmitting and receiving first, a sensing frame preceding a transmitting and receiving first, or a sensing frame preceding a transmitting and receiving first, or a sensing frame preceding a transmitting and receiving first, or a sensing frame preceding a communication frame.

[0112] The mode determination module 1020 is configured to determine the perception mode of the perception frame.

[0113] In some embodiments, the determination of the sensing mode is based on the location triggering or periodic triggering of the sensing target.

[0114] In some embodiments, the sensing mode of the sensing frame includes: a transmit-then-receive mode or a transmit-receive-simultaneous mode.

[0115] The structure determination module 1030 is configured to determine the sensing frame structure according to the type and sensing mode of the sensing frame, so that the sensing device can perform sensing tasks based on the sensing frame structure, wherein the sensing frame structure includes time parameters for transmitting and receiving sensing signals and time parameters for switching.

[0116] In some embodiments, when the sensing mode is a transmit-before-receive mode, the sensing frame structure includes a first type of sensing switching time parameter for switching with the frame structure of the previous moment, a transmit time parameter for transmitting sensing signals, a second type of sensing switching time parameter for switching between transmitting and receiving sensing signals, a receive time parameter for receiving sensing signals, and a third type of sensing switching time parameter for switching with the frame structure of the next moment. The duration of the first type of sensing switching time parameter and the duration of the third type of sensing switching time parameter are determined according to the type of sensing frame. The sum of the durations of the first type of sensing switching time parameter, the second type of sensing switching time parameter, the third type of sensing switching time parameter, the duration of the first time parameter, and the duration of the second time parameter constitutes the total duration of the sensing frame.

[0117] The duration of the first type of sensing handover time parameter is determined according to the type of sensing frame, including: when the sensing frame type is a preceding communication frame followed by a simultaneous receiving and transmitting sensing frame, a preceding communication frame followed by a first-transmitting-then-receiving sensing frame, or a preceding communication frame followed by a communication frame, the duration of the first type of sensing handover time parameter is a first duration; when the sensing frame type is a preceding first-transmitting-then-receiving sensing frame followed by a first-transmitting-then-receiving sensing frame, a preceding first-transmitting-then-receiving sensing frame followed by a simultaneous receiving and transmitting sensing frame, or a preceding first-transmitting-then-receiving sensing frame followed by a communication frame, the duration of the first type of sensing handover time parameter is a second duration; when the sensing frame type is a preceding simultaneous receiving and transmitting sensing frame followed by a first-transmitting-then-receiving sensing frame, a preceding simultaneous receiving and transmitting sensing frame followed by a simultaneous receiving and transmitting sensing frame, or a preceding simultaneous receiving and transmitting sensing frame followed by a communication frame, the duration of the first type of sensing handover time parameter is a third duration.

[0118] When the type of the sensing frame is a preceding and following communication frame, a preceding transmit-then-receive sensing frame and a following communication frame, or a preceding transmit-then-receive sensing frame and a following communication frame, the duration of the third type of sensing switching time parameter is the fourth duration; when the type of the sensing frame is a preceding communication frame and a following transmit-then-receive sensing frame, a preceding transmit-then-receive sensing frame and a following transmit-then-receive sensing frame, or a preceding transmit-then-receive sensing frame and a following transmit-then-receive sensing frame, the duration of the third type of sensing switching time parameter is the fifth duration; when the type of the sensing frame is a preceding communication frame and a following transmit-then-receive sensing frame, a preceding transmit-then-receive sensing frame and a following transmit-then-receive sensing frame, or a preceding transmit-then-receive sensing frame and a following transmit-then-receive sensing frame, the duration of the third type of sensing switching time parameter is the sixth duration.

[0119] In some embodiments, when the sensing mode is a simultaneous transmit and receive mode, the sensing frame structure includes a first type of sensing switching time parameter for switching with the frame structure of the previous moment, a transmit and receive time parameter for transmitting and receiving sensing signals, and a third type of sensing switching time parameter for switching with the frame structure of the next moment; the duration of the first type of sensing switching time parameter and the duration of the third type of sensing switching time parameter are determined according to the type of sensing frame, wherein the sum of the duration of the first type of sensing switching time parameter, the duration of the transmit and receive time parameter, and the duration of the third time parameter is the total duration of the sensing frame.

[0120] The duration of the first type of sensing handover time parameter is determined according to the type of sensing frame, including: when the sensing frame type is preceded by a communication frame and followed by a simultaneous transmission and reception sensing frame, preceded by a communication frame and followed by a transmission-before-reception sensing frame, or preceded by a communication frame and followed by a communication frame, the duration of the first type of sensing handover time parameter is the seventh duration; when the sensing frame type is preceded by a transmission-before-reception sensing frame and followed by a transmission-before-reception sensing frame, preceded by a transmission-before-reception sensing frame and followed by a simultaneous transmission and reception sensing frame, or preceded by a transmission-before-reception sensing frame and followed by a communication frame, the duration of the first type of sensing handover time parameter is the eighth duration; when the sensing frame type is preceded by a simultaneous transmission and reception sensing frame and followed by a transmission-before-reception sensing frame, preceded by a transmission-before-reception sensing frame and followed by a transmission-before-reception sensing frame, or preceded by a transmission-before-reception sensing frame and followed by a communication frame, the duration of the first type of sensing handover time parameter is the ninth duration.

[0121] The duration of the third-type sensing handover time parameter is determined based on the type of sensing frame, including: tenth duration when the sensing frame type is preceded by a communication frame and followed by a communication frame, preceded by a transmit-then-receive sensing frame and followed by a communication frame, or preceded by a transmit-then-receive sensing frame and followed by a communication frame; eleventh duration when the sensing frame type is preceded by a communication frame and followed by a transmit-then-receive sensing frame, preceded by a transmit-then-receive sensing frame and followed by a transmit-then-receive sensing frame, or preceded by a transmit-then-receive sensing frame and followed by a transmit-then-receive sensing frame; and twelfth duration when the sensing frame type is preceded by a communication frame and followed by a transmit-then-receive sensing frame, preceded by a transmit-then-receive sensing frame and followed by a transmit-then-receive sensing frame, or preceded by a transmit-then-receive sensing frame and followed by a transmit-then-receive sensing frame.

[0122] In some embodiments, when the type of the sensing frame is preceded by a first-transmit, second-receive sensing frame and followed by a first-transmit, second-receive sensing frame, preceded by a first-transmit, second-receive sensing frame and followed by a simultaneous receiving and transmitting sensing frame, preceded by a first-transmit, second-receive sensing frame and followed by a communication frame, preceded by a simultaneous receiving and transmitting sensing frame and followed by a first-transmit, second-receive sensing frame, preceded by a simultaneous receiving and transmitting sensing frame and followed by a simultaneous receiving and transmitting sensing frame, or preceded by a simultaneous receiving and transmitting sensing frame and followed by a communication frame, if the sensing switch is completed at the moment before the sensing frame, the duration of the first type of sensing switch time parameter is 0.

[0123] In some embodiments, when the type of the sensing frame is preceded by a pre-transmitted and subsequently received sensing frame and followed by a pre-transmitted and subsequently received sensing frame, preceded by a pre-transmitted and subsequently received sensing frame and followed by a simultaneous receiving and transmitting sensing frame, preceded by a pre-transmitted and subsequently received sensing frame and followed by a communication frame, preceded by a simultaneous receiving and transmitting sensing frame and followed by a pre-transmitted and subsequently received sensing frame, preceded by a simultaneous receiving and transmitting sensing frame and followed by a simultaneous receiving and transmitting sensing frame, or preceded by a simultaneous receiving and transmitting sensing frame and followed by a communication frame, if the sensing switch is completed at the later moment of the sensing frame, the duration of the third type of sensing switch time parameter is 0.

[0124] In some embodiments, the sensing device performs sensing tasks based on a sensing frame structure, including: performing the function of transmitting and receiving sensing signals for a duration corresponding to the time parameter used for transmitting and receiving sensing signals; and performing the function of switching for a duration corresponding to the time parameter used for switching.

[0125] In the above embodiments, a sensing frame structure including time parameters for transmitting and receiving sensing signals and time parameters for switching is determined according to the type and sensing mode of the sensing frame, so that the sensing frame structure can be used to perform sensing tasks.

[0126] Figure 11 is a schematic diagram of the configuration apparatus for the sensing frame structure of this disclosure in some other embodiments. The configuration apparatus 1100 includes a memory 1110 and a processor 1120. The memory 1110 can be a disk, flash memory, or any other non-volatile storage medium. The memory is used to store instructions in the above embodiments. The processor 1120 is coupled to the memory 1110 and can be implemented as one or more integrated circuits, such as a microprocessor or microcontroller. The processor 1120 is used to execute the instructions stored in the memory.

[0127] In some embodiments, the processor 1120 is coupled to the memory 1110 via a BUS bus 1130. The configuration device 1100 can also be connected to an external storage device 1150 via a storage interface 1140 to access external data, and can also be connected to a network or another computer system (not shown) via a network interface 1160. Further details are omitted here.

[0128] In other embodiments, a computer-readable storage medium stores computer program instructions that, when executed by a processor, implement the steps of the methods described above. Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, apparatus, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0129] In some embodiments, a computer program product is protected, comprising a computer program or instructions that, when executed by a processor, implement the methods described above. The computer program product includes a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowchart. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device, or installed from ROM. When the computer program is executed by a CPU, it performs the functions defined in the methods of embodiments of this disclosure.

[0130] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, as well as combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0131] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0132] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0133] In some embodiments, a computer program is protected, comprising: instructions that, when executed by a processor, cause the processor to perform the above-described configuration method for a perceptual frame structure.

[0134] This concludes the detailed description of the present disclosure. To avoid obscuring the concept of the disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0135] The methods and apparatus of this disclosure may be implemented in many ways. For example, they may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above-described order of steps for the methods is for illustrative purposes only, and the steps of the methods of this disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, this disclosure may also be implemented as a program recorded on a recording medium, the program including machine-readable instructions for implementing the methods according to this disclosure. Thus, this disclosure also covers recording media storing programs for performing the methods according to this disclosure.

[0136] While specific embodiments of this disclosure have been described in detail by way of example, those skilled in the art should understand that the examples are for illustrative purposes only and not intended to limit the scope of this disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of this disclosure. The scope of this disclosure is defined by the appended claims.

Claims

1. A method for configuring a perceptual frame structure, comprising: Determine the type and sensing mode of the sensing frame; Based on the type and sensing mode of the sensing frame, a sensing frame structure is determined so that the sensing device can perform sensing tasks based on the sensing frame structure. The sensing frame structure includes time parameters for transmitting and receiving sensing signals and time parameters for switching.

2. The configuration method according to claim 1, wherein, The types of sensing frames include: a sensing frame that is preceded by a communication frame and then received and transmitted simultaneously; a sensing frame that is preceded by a communication frame and then transmitted first and received later; a sensing frame that is preceded by a communication frame and then transmitted; a sensing frame that is preceded by a transmitted first and received later and then transmitted first and received later; a sensing frame that is preceded by a transmitted first and received later and then received and transmitted simultaneously; a sensing frame that is preceded by a transmitted first and received later and then transmitted simultaneously and then transmitted; a sensing frame that is preceded by a transmitted first and received later and then transmitted simultaneously and then transmitted first and received later; a sensing frame that is preceded by a transmitted first and received simultaneously and then transmitted simultaneously; or a sensing frame that is preceded by a transmitted first and received simultaneously and then transmitted simultaneously and then transmitted.

3. The configuration method according to claim 1 or 2, wherein, The sensing modes of the sensing frame include: transmit-then-receive mode or transmit-receive-simultaneous mode.

4. The configuration method according to claim 3, wherein, Determining the structure of the sensing frame based on its type and sensing mode includes: When the sensing mode is a transmit-then-receive mode, the sensing frame structure includes a first type of sensing switching time parameter for switching with the frame structure of the previous moment, a transmission time parameter for transmitting sensing signals, a second type of sensing switching time parameter for switching between transmitting and receiving sensing signals, a reception time parameter for receiving sensing signals, and a third type of sensing switching time parameter for switching with the frame structure of the next moment. Based on the type of the sensing frame, the duration of the first type of sensing switching time parameter and the duration of the third type of sensing switching time parameter are determined, wherein the sum of the duration of the first type of sensing switching time parameter, the duration of the second type of sensing switching time parameter, the duration of the third type of sensing switching time parameter, the duration of the first time parameter, and the duration of the second time parameter is the total duration of the sensing frame.

5. The configuration method according to claim 4, wherein, Determining the duration of the first type of sensing switching time parameter based on the type of sensing frame includes: When the type of the sensing frame is a simultaneous sensing frame that is preceded by a communication frame and then received and transmitted, a sensing frame that is preceded by a communication frame and then received and transmitted first, or a sensing frame that is preceded by a communication frame and then received, the duration of the first type of sensing switching time parameter is the first duration. When the type of the sensing frame is a sensing frame that is preceded by a first-transmitted-later-received frame and followed by a first-transmitted-later-received frame, a sensing frame that is preceded by a first-transmitted-later-received frame and followed by a simultaneous sensing frame, or a sensing frame that is preceded by a first-transmitted-later-received frame and followed by a communication frame, the duration of the first type of sensing switching time parameter is the second duration. When the type of the sensing frame is a simultaneous sensing frame that is received and transmitted before being followed by a sensing frame that is transmitted first and received later, a simultaneous sensing frame that is received and transmitted before being received later, or a simultaneous sensing frame that is received and transmitted before being followed by a communication frame, the duration of the first type of sensing switching time parameter is the third duration.

6. The configuration method according to claim 4 or 5, wherein, The duration of the third type of sensing switching time parameter is determined based on the type of the sensing frame, including: In the case that the type of the sensing frame is preceded by a communication frame and followed by a communication frame, preceded by a first-transmit-then-receive sensing frame and followed by a communication frame, or preceded by a simultaneous transmission and reception sensing frame and followed by a communication frame, the duration of the third type of sensing switching time parameter is the fourth duration. When the type of the sensing frame is a preceding communication frame and a subsequent receiving and transmitting simultaneous sensing frame, a preceding transmitting and receiving simultaneous sensing frame and a subsequent receiving and transmitting simultaneous sensing frame, or a preceding receiving and transmitting simultaneous sensing frame and a subsequent receiving and transmitting simultaneous sensing frame, the duration of the third type of sensing switching time parameter is the fifth duration. When the type of the sensing frame is a preceding communication frame followed by a preceding transmit-then-receive sensing frame, a preceding preceding transmit-then-receive sensing frame followed by a preceding transmit-then-receive sensing frame, or a preceding transmit-then-receive sensing frame followed by a preceding transmit-then-receive sensing frame, the duration of the third type of sensing switching time parameter is the sixth duration.

7. The configuration method according to any one of claims 3 to 6, wherein, Determining the structure of the sensing frame based on its type and sensing mode includes: When the sensing mode is a simultaneous transmit and receive mode, the sensing frame structure includes a first type of sensing switching time parameter for switching with the frame structure of the previous moment, a transmit and receive time parameter for transmitting and receiving sensing signals, and a third type of sensing switching time parameter for switching with the frame structure of the next moment. Based on the type of the sensing frame, the duration of the first type of sensing switching time parameter and the duration of the third type of sensing switching time parameter are determined, wherein the sum of the duration of the first type of sensing switching time parameter, the duration of the transmit / receive time parameter, and the duration of the third time parameter is the total duration of the sensing frame.

8. The configuration method according to claim 7, wherein, Determining the duration of the first type of sensing switching time parameter based on the type of sensing frame includes: When the type of the sensing frame is a simultaneous sensing frame that is preceded by a communication frame and then received and transmitted, a sensing frame that is preceded by a communication frame and then received first and then transmitted, or a sensing frame that is preceded by a communication frame and then transmitted, the duration of the first type of sensing switching time parameter is the seventh duration. When the type of the sensing frame is a sensing frame that is preceded by a first-transmitted-later-received frame and followed by a first-transmitted-later-received frame, a sensing frame that is preceded by a first-transmitted-later-received frame and followed by a simultaneous sensing frame, or a sensing frame that is preceded by a first-transmitted-later-received frame and followed by a communication frame, the duration of the first type of sensing switching time parameter is the eighth duration. When the type of the sensing frame is a simultaneous sensing frame that is received and transmitted before being followed by a sensing frame that is transmitted first and received later, a simultaneous sensing frame that is received and transmitted before being received later, or a simultaneous sensing frame that is received and transmitted before being followed by a communication frame, the duration of the first type of sensing switching time parameter is the ninth duration.

9. The configuration method according to claim 7 or 8, wherein, The duration of the third type of sensing switching time parameter is determined based on the type of the sensing frame, including: When the type of the sensing frame is a preceding communication frame followed by a following communication frame, a preceding transmitting and receiving sensing frame followed by a following communication frame, or a preceding receiving and transmitting sensing frame followed by a following communication frame, the duration of the third type of sensing switching time parameter is the tenth duration. When the type of the sensing frame is a preceding communication frame and a subsequent receiving and transmitting simultaneous sensing frame, a preceding transmitting and receiving simultaneous sensing frame and a subsequent receiving and transmitting simultaneous sensing frame, or a preceding receiving and transmitting simultaneous sensing frame and a subsequent receiving and transmitting simultaneous sensing frame, the duration of the third type of sensing switching time parameter is the eleventh duration. When the type of the sensing frame is a preceding communication frame followed by a preceding transmit-then-receive sensing frame, a preceding preceding transmit-then-receive sensing frame followed by a preceding transmit-then-receive sensing frame, or a preceding transmit-then-receive sensing frame followed by a preceding transmit-then-receive sensing frame, the duration of the third type of sensing switching time parameter is the twelfth duration.

10. The configuration method according to claim 5 or 7, wherein, Determining the duration of the first type of sensing switching time parameter based on the type of sensing frame further includes: If the sensing frame is of the type of being preceded by a pre-transmitted and subsequently received sensing frame and followed by a pre-transmitted and subsequently received sensing frame, preceded by a pre-transmitted and subsequently received sensing frame and followed by a simultaneous receiving and transmitting sensing frame, preceded by a pre-transmitted and subsequently received sensing frame and followed by a communication frame, preceded by a simultaneous receiving and transmitting sensing frame and followed by a pre-transmitted and subsequently received sensing frame, preceded by a simultaneous receiving and transmitting sensing frame and followed by a simultaneous receiving and transmitting sensing frame, or preceded by a simultaneous receiving and transmitting sensing frame and followed by a communication frame, and the sensing handover is completed at the moment before the sensing frame, then the duration of the first type of sensing handover time parameter is 0.

11. The configuration method according to claim 6 or 9, wherein, Determining the duration of the third type of sensing switching time parameter based on the type of sensing frame further includes: If the sensing frame is of the type of being preceded by a pre-transmitted and subsequently received sensing frame and followed by a pre-transmitted and subsequently received sensing frame, preceded by a pre-transmitted and subsequently received sensing frame and followed by a simultaneous receiving and transmitting sensing frame, preceded by a pre-transmitted and subsequently received sensing frame and followed by a communication frame, preceded by a simultaneous receiving and transmitting sensing frame and followed by a pre-transmitted and subsequently received sensing frame, preceded by a simultaneous receiving and transmitting sensing frame and followed by a simultaneous receiving and transmitting sensing frame, or preceded by a simultaneous receiving and transmitting sensing frame and followed by a communication frame, and the sensing handover is completed at the later moment of the sensing frame, then the duration of the third type of sensing handover time parameter is 0.

12. The configuration method according to any one of claims 1 to 11, wherein, The determination of the perception mode is based on the location triggering or periodic triggering of the perceived target.

13. The configuration method according to any one of claims 1 to 12, wherein, The type of the sensing frame is determined by event triggering or periodic triggering.

14. The configuration method according to any one of claims 1 to 13, wherein, Based on the aforementioned sensing frame structure, the sensing device performs sensing tasks including: The function of transmitting and receiving sensing signals is performed for the duration corresponding to the time parameter used for transmitting and receiving sensing signals. The switching function is executed for the duration corresponding to the time parameter used for switching.

15. A configuration device for a sensing frame structure, comprising: The type determination module is configured to determine the type of the sensing frame; The mode determination module is configured to determine the perception mode of the perception frame; The structure determination module is configured to determine the sensing frame structure based on the type and sensing mode of the sensing frame, so that the sensing device can perform a sensing task based on the sensing frame structure, wherein the sensing frame structure includes time parameters for transmitting and receiving sensing signals and time parameters for switching.

16. A configuration device for a sensing frame structure, comprising: Memory; as well as A processor coupled to the memory, the processor being configured to execute the configuration method of the perceptual frame structure as described in any one of claims 1 to 14 based on instructions stored in the memory.

17. A computer-readable storage medium having stored thereon computer program instructions that, when executed by a processor, implement the configuration method of the perceptual frame structure as described in any one of claims 1 to 14.

18. A computer program product comprising a computer program or instructions that, when executed by a processor, implement the configuration method of the perceptual frame structure according to any one of claims 1 to 14.

19. A computer program comprising: Instructions, when executed by a processor, cause the processor to perform the configuration method of the perceptual frame structure according to any one of claims 1 to 14.

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