Sensing control method, communication device, communication system, and storage medium

Abstract

The present disclosure relates to a sensing control method, a communication device, a communication system, and a storage medium. The sensing control method comprises: determining relevant information of a sensing signal, wherein the relevant information of the sensing signal includes at least one of the following: sending information of sending the sensing signal by a sending device for the sensing signal, reception information of receiving the sensing signal by a receiving device for the sensing signal, first location information of the sending device, and second location information of the receiving device; and determining location information of a sensing target on the basis of the relevant information of the sensing signal. Thus, the location information of the sensing target can be determined in the process of calculating a sensing result. The first location information of the sending device and the second location information of the receiving device may be obtained on the basis of a positioning method; moreover, the sending device is used for sending the sensing signal, the receiving device is used for receiving the sensing signal, and the sent and received sensing signal is used for sensing the sensing target; therefore, when the location information of the sensing target is determined on the basis of the relevant information of the sensing signal, the positioning method can be used in the sensing method, thereby improving the accuracy of the location information of the sensing target.

Description

Sensing and control methods, communication equipment, communication systems and storage media Technical Field

[0001] This disclosure relates to the field of communication technology, and in particular to a sensing and control method, communication device, communication system and storage medium. Background Technology

[0002] Integrated Sensing and Communications (ISAC) refers to a wireless signal transmitter emitting radio waves and a wireless signal receiver receiving radio waves. During the transmission of radio waves, they may be blocked by environmental objects (which can be called reflectors), resulting in wireless transmission effects such as reflection, diffraction, transmission, phase changes, Doppler shift, and signal strength changes. The wireless signal receiver receives the radio waves and compares the transmitted and received signals, or records the historical changes in the received signal, to obtain information about the reflectors. Summary of the Invention

[0003] This disclosure provides a sensing and control method, a communication device, a communication system, and a storage medium.

[0004] A first aspect of this disclosure provides a sensing control method, comprising: determining relevant information of a sensing signal, wherein the relevant information of the sensing signal includes at least one of the following: a sensing signal transmitting device transmitting sensing signal transmission information, a sensing signal receiving device receiving sensing signal reception information, a first position information of the transmitting device, and a second position information of the receiving device; and determining the position information of a sensing target based on the relevant information of the sensing signal.

[0005] A second aspect of this disclosure provides a sensing control method, comprising: determining transmission information; transmitting a sensing signal according to the transmission information; wherein at least one of the first location information of the transmitting device of the sensing signal, the second location information of the receiving device of the sensing signal, the transmission information, and the receiving information is used to determine the location information of the sensing target, and the receiving information is used for the receiving device to receive the sensing signal.

[0006] A third aspect of this disclosure provides a sensing control method, comprising: determining receiving information; receiving a sensing signal based on the receiving information; wherein at least one of the following is used to determine the location information of a sensing target: first location information of a transmitting device of the sensing signal, second location information of a receiving device of the sensing signal, transmitting information, and receiving information; and the transmitting information is used by the transmitting device to transmit the sensing signal.

[0007] A third aspect of this disclosure provides a communication device, comprising: a processing module for determining relevant information of a sensing signal, wherein the relevant information of the sensing signal includes at least one of the following: a sensing signal transmitting device transmitting sensing signal transmission information, a sensing signal receiving device receiving sensing signal reception information, a first location information of the transmitting device, and a second location information of the receiving device; and determining the location information of a sensing target based on the relevant information of the sensing signal.

[0008] A fourth aspect of this disclosure provides a transmitting device, comprising: a processing module for determining transmitting information; and a transceiver module for transmitting a sensing signal based on the transmitting information; wherein at least one of the first location information of the transmitting device, the second location information of the receiving device, the transmitting information, and the receiving information is used to determine the location information of the sensing target, and the receiving information is used by the receiving device to receive the sensing signal.

[0009] A fifth aspect of this disclosure provides a receiving device, comprising: a processing module for determining received information; and a transceiver module for receiving a sensing signal based on the received information; wherein at least one of the first location information of the transmitting device of the sensing signal, the second location information of the receiving device of the sensing signal, the transmitting information, and the received information is used to determine the location information of the sensing target, and the transmitting information is used by the transmitting device to transmit the sensing signal.

[0010] A sixth aspect of this disclosure provides a communication device comprising: one or more processors; wherein the processors are configured to perform the method as described in the first aspect, or the method as described in the second aspect, or the method as described in the third aspect.

[0011] A seventh aspect of this disclosure provides a communication system, which includes a transmitting device, a receiving device, and a communication device. The communication device is used to perform the method as described in the first aspect above, the transmitting device is used to perform the method as described in the second aspect above, and the receiving device is used to perform the method as described in the third aspect above.

[0012] An eighth aspect embodiment of this disclosure provides a storage medium storing instructions that, when executed on a communication device, cause the communication device to perform the method as described in the first aspect, or the method as described in the second aspect, or the method as described in the third aspect.

[0013] A ninth aspect of this disclosure provides a computer program product including a computer program that, when executed by a processor, implements the method as described in the first aspect above, or the method as described in the second aspect above, or the method as described in the third aspect above.

[0014] The solution proposed in this disclosure, in the above embodiments, determines the relevant information of the sensing signal, wherein the relevant information of the sensing signal includes at least one of the following: the transmitting device of the sensing signal transmits the transmitting information of the sensing signal, the receiving device of the sensing signal receives the receiving information of the sensing signal, the first position information of the transmitting device, the second position information of the receiving device, and the position information of the sensing target is determined based on the relevant information of the sensing signal. The position information of the sensing target can be determined during the calculation of the sensing result. Since the first position information of the transmitting device and the second position information of the receiving device can be obtained based on the positioning method, and the transmitting device is used to transmit the sensing signal, the receiving device is used to receive the sensing signal, and the transmitted and received sensing signals are used to sense the sensing target, when the position information of the sensing target is determined based on the relevant information of the sensing signal, the positioning method can be used in the sensing method to improve the accuracy of the position information of the sensing target. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments or background art of this disclosure, the accompanying drawings used in the embodiments or background art of this disclosure will be described below.

[0016] Figure 1A is a schematic diagram of the architecture of a communication system according to an embodiment of the present disclosure;

[0017] Figure 1B shows a schematic diagram of the sensing method in an embodiment of this disclosure;

[0018] Figure 2A is an interactive schematic diagram of a perception control method according to an embodiment of the present disclosure;

[0019] Figure 2B is a schematic diagram of angle information in an embodiment of this disclosure;

[0020] Figure 2C is a schematic diagram of time information in an embodiment of this disclosure;

[0021] Figure 2D is a schematic diagram of the location information of the sensing signal transmitting antenna in an embodiment of this disclosure;

[0022] Figure 2E is a schematic diagram of a positioning-assisted perception scenario in an embodiment of this disclosure;

[0023] Figure 2F is a schematic diagram of a perception result calculation method in an embodiment of this disclosure;

[0024] Figure 2G is a schematic diagram of another perception result calculation method in an embodiment of this disclosure;

[0025] Figure 2H is a schematic diagram of another method for calculating perception results in an embodiment of this disclosure;

[0026] Figure 3 is an interactive schematic diagram of a sensing control method according to yet another embodiment of the present disclosure;

[0027] Figure 4 is an interactive schematic diagram of a sensing control method according to another embodiment of the present disclosure;

[0028] Figure 5 is an interactive schematic diagram of a sensing control method according to yet another embodiment of the present disclosure;

[0029] Figure 6 is a schematic diagram of the structure of the communication device proposed in an embodiment of this disclosure;

[0030] Figure 7A is a schematic diagram of the structure of the communication device proposed in an embodiment of this disclosure;

[0031] Figure 7B is a schematic diagram of the chip structure proposed in an embodiment of this disclosure. Detailed Implementation

[0032] This disclosure presents a sensing and control method, a communication device, a communication system, and a storage medium.

[0033] In a first aspect, embodiments of this disclosure propose a sensing control method, the method comprising: determining relevant information of a sensing signal, wherein the relevant information of the sensing signal includes at least one of the following: a sensing signal transmitting device transmitting sensing signal transmission information, a sensing signal receiving device receiving sensing signal reception information, a first position information of the transmitting device, and a second position information of the receiving device; and determining the position information of a sensing target based on the relevant information of the sensing signal.

[0034] In the above embodiments, by determining the relevant information of the sensing signal, wherein the relevant information of the sensing signal includes at least one of the following: the transmitting device of the sensing signal transmits the transmitting information of the sensing signal, the receiving device of the sensing signal receives the receiving information of the sensing signal, the first position information of the transmitting device, the second position information of the receiving device, and the position information of the sensing target is determined based on the relevant information of the sensing signal, the position information of the sensing target can be determined during the calculation of the sensing result. Since the first position information of the transmitting device and the second position information of the receiving device can be obtained based on the positioning method, and the transmitting device is used to transmit the sensing signal, the receiving device is used to receive the sensing signal, and the transmitted and received sensing signals are used to sense the sensing target, when the position information of the sensing target is determined based on the relevant information of the sensing signal, the positioning method can be used in the sensing method to improve the accuracy of the position information of the sensing target.

[0035] In conjunction with some embodiments of the first aspect, in some embodiments, sending information includes at least one of the following:

[0036] Sensing signal information;

[0037] The angle at which the sensing signal is transmitted;

[0038] The transmission time of the sensing signal;

[0039] The transmission power of the sensed signal;

[0040] Antenna configuration information for sensing signals.

[0041] In the above embodiments, comprehensive transmission information can be obtained, supporting the accurate transmission of sensing signals.

[0042] In conjunction with some embodiments of the first aspect, in some embodiments, receiving information includes at least one of the following:

[0043] Sensing signal information;

[0044] The angle at which the sensor signal is received;

[0045] The reception time of the sensed signal;

[0046] The received power of the sensed signal;

[0047] Information on the antenna configuration for receiving the sensing signal.

[0048] In the above embodiments, comprehensive reception information can be obtained, supporting accurate reception of sensing signals.

[0049] In conjunction with some embodiments of the first aspect, in some embodiments, the sensed signal information includes at least one of the following:

[0050] Perceive business identification information;

[0051] Sensing signal configuration information;

[0052] Perceive resource information;

[0053] Sensing signal scrambling.

[0054] In the above embodiments, the accuracy and comprehensiveness of the description of the sensing signal can be effectively improved, and the accuracy of the detection of the location information of the sensing target can be ensured.

[0055] In conjunction with some embodiments of the first aspect, in some embodiments, the first location information includes at least one of the following:

[0056] Send device location;

[0057] Device identifier of the sending device;

[0058] The first coordinate system type corresponding to the location of the transmitting device.

[0059] In the above embodiments, the accuracy of the first location information in describing the location of the transmitting device can be supported.

[0060] In conjunction with some embodiments of the first aspect, in some embodiments, the second location information includes at least one of the following:

[0061] Location of receiving device;

[0062] Device identifier of the receiving device;

[0063] The second coordinate system type corresponding to the location of the receiving device.

[0064] In the above embodiments, the accuracy of the second location information in describing the location of the receiving device can be supported.

[0065] In conjunction with some embodiments of the first aspect, in some embodiments, the transmitting device or receiving device is an access network device; wherein, the device identifier of the access network device includes at least one of the following:

[0066] Identification of access network equipment;

[0067] The cell identifier corresponding to the sensing signal;

[0068] First channel identifier, wherein the first channel identifier indicates the first channel corresponding to the access network device, and the first channel is used to transmit sensing results;

[0069] The second channel identifier indicates the second channel corresponding to the access network device, and the second channel is used to configure sensing services.

[0070] In the above embodiments, the accuracy of the first location information in describing the location of the access network device can be supported, and the access network device that sends the sensing signal can be identified in a flexible manner, which can be effectively applied to personalized sensing application scenarios.

[0071] In conjunction with some embodiments of the first aspect, in some embodiments, the transmitting device or receiving device is a terminal; wherein, the device identifier of the terminal includes at least one of the following:

[0072] Temporary Identifier for Cellular Wireless Network (C-RNTI)

[0073] International Mobile Subscriber Identity (IMSI);

[0074] The third channel identifier indicates the third channel corresponding to the terminal, and the third channel is used to transmit the sensing results;

[0075] The fourth channel identifier indicates the fourth channel corresponding to the terminal, and the fourth channel is used to configure sensing services.

[0076] In the above embodiments, the accuracy of the first location information in describing the location of the terminal can be supported, and the terminal that sends the sensing signal can be identified in a flexible manner, which can be effectively applied to personalized sensing application scenarios.

[0077] In conjunction with some embodiments of the first aspect, in some embodiments, transmitting information includes: the transmitting angle of the sensing signal, and receiving information includes: the receiving angle of the sensing signal; wherein, determining the location information of the sensing target based on the relevant information of the sensing signal includes: determining the location information of the sensing target according to the transmitting angle of the sensing signal, the receiving angle of the sensing signal, the first location information, and the second location information.

[0078] In the above embodiments, the location information of the perceived target can be calculated quickly, and the positioning method can be accurately applied in the perception method, thereby greatly improving the accuracy of the location information of the perceived target.

[0079] In conjunction with some embodiments of the first aspect, in some embodiments, the transmitted information includes: the transmission time of the sensing signal, and the received information includes: the reception time of the sensing signal and the reception angle of the sensing signal; wherein, determining the location information of the sensing target based on the relevant information of the sensing signal includes: determining the transmit-receive time difference according to the transmission time and reception time of the sensing signal, wherein the transmit-receive time difference is used to represent the time interval between transmitting and receiving the sensing signal; and determining the location information of the sensing target according to the first location information, the second location information, the transmit-receive time difference, and the reception angle of the sensing signal.

[0080] In the above embodiments, the location information of the perceived target can be calculated quickly, and the positioning method can be accurately applied in the perception method, thereby greatly improving the accuracy of the location information of the perceived target.

[0081] In conjunction with some embodiments of the first aspect, in some embodiments, the transmitted information includes: the transmission time of the sensing signal and the transmission angle of the sensing signal; the received information includes: the reception time of the sensing signal; wherein, determining the location information of the sensing target based on the relevant information of the sensing signal includes: determining the transmit-receive time difference according to the transmission time and reception time of the sensing signal, wherein the transmit-receive time difference is used to represent the time interval between transmitting and receiving the sensing signal; and determining the location information of the sensing target according to the first location information, the second location information, the transmit-receive time difference, and the transmission angle of the sensing signal.

[0082] In the above embodiments, the location information of the perceived target can be calculated quickly, and the positioning method can be accurately applied in the perception method, thereby greatly improving the accuracy of the location information of the perceived target.

[0083] Secondly, embodiments of this disclosure propose a sensing control method, the method comprising: determining transmission information; transmitting a sensing signal according to the transmission information; wherein at least one of the first location information of the transmitting device of the sensing signal, the second location information of the receiving device of the sensing signal, the transmission information, and the receiving information is used to determine the location information of the sensing target, and the receiving information is used for the receiving device to receive the sensing signal.

[0084] In conjunction with some embodiments of the second aspect, in some embodiments, sending information includes at least one of the following:

[0085] Sensing signal information;

[0086] The angle at which the sensing signal is transmitted;

[0087] The transmission time of the sensing signal;

[0088] The transmission power of the sensed signal;

[0089] Antenna configuration information for sensing signals.

[0090] In conjunction with some embodiments of the second aspect, in some embodiments, receiving information includes at least one of the following:

[0091] Sensing signal information;

[0092] The angle at which the sensor signal is received;

[0093] The reception time of the sensed signal;

[0094] The received power of the sensed signal;

[0095] Information on the antenna configuration for receiving the sensing signal.

[0096] In conjunction with some embodiments of the second aspect, in some embodiments, the sensed signal information includes at least one of the following:

[0097] Perceive business identification information;

[0098] Sensing signal configuration information;

[0099] Perceive resource information;

[0100] Sensing signal scrambling.

[0101] In conjunction with some embodiments of the second aspect, in some embodiments, the first location information includes at least one of the following:

[0102] Send device location;

[0103] Device identifier of the sending device;

[0104] The first coordinate system type corresponding to the location of the transmitting device.

[0105] In conjunction with some embodiments of the second aspect, in some embodiments, the second location information includes at least one of the following:

[0106] Location of receiving device;

[0107] The device identifier of the receiving device;

[0108] The second coordinate system type corresponding to the location of the receiving device.

[0109] In conjunction with some embodiments of the second aspect, in some embodiments, the transmitting device or receiving device is an access network device; wherein, the device identifier of the access network device includes at least one of the following:

[0110] Identification of access network equipment;

[0111] The cell identifier corresponding to the sensing signal;

[0112] First channel identifier, wherein the first channel identifier indicates the first channel corresponding to the access network device, and the first channel is used to transmit sensing results;

[0113] The second channel identifier indicates the second channel corresponding to the access network device, and the second channel is used to configure sensing services.

[0114] In conjunction with some embodiments of the second aspect, in some embodiments, the transmitting device or receiving device is a terminal; wherein, the device identifier of the terminal includes at least one of the following:

[0115] Temporary Identifier for Cellular Wireless Network (C-RNTI)

[0116] International Mobile Subscriber Identity (IMSI);

[0117] The third channel identifier indicates the third channel corresponding to the terminal, and the third channel is used to transmit the sensing results;

[0118] The fourth channel identifier indicates the fourth channel corresponding to the terminal, and the fourth channel is used to configure sensing services.

[0119] Thirdly, this disclosure provides a sensing control method, which includes: determining receiving information; receiving a sensing signal based on the receiving information; wherein at least one of the first location information of the sensing signal transmitting device, the second location information of the sensing signal receiving device, the transmitting information, and the receiving information is used to determine the location information of the sensing target, and the transmitting information is used for the transmitting device to transmit the sensing signal.

[0120] In conjunction with some embodiments of the third aspect, in some embodiments, sending information includes at least one of the following:

[0121] Sensing signal information;

[0122] The angle at which the sensing signal is transmitted;

[0123] The transmission time of the sensing signal;

[0124] The transmission power of the sensed signal;

[0125] Antenna configuration information for transmitting sensing signals.

[0126] In conjunction with some embodiments of the third aspect, in some embodiments, receiving information includes at least one of the following:

[0127] Sensing signal information;

[0128] The angle at which the sensor signal is received;

[0129] The reception time of the sensed signal;

[0130] The received power of the sensed signal;

[0131] Information on the antenna configuration for receiving the sensed signal.

[0132] In conjunction with some embodiments of the third aspect, in some embodiments, the sensed signal information includes at least one of the following:

[0133] Sensing business identification information;

[0134] Sensing signal configuration information;

[0135] Perceive resource information;

[0136] Sensing signal scrambling.

[0137] In conjunction with some embodiments of the third aspect, in some embodiments, the first location information includes at least one of the following:

[0138] Send device location;

[0139] Device identifier of the sending device;

[0140] The first coordinate system type corresponding to the location of the transmitting device.

[0141] In conjunction with some embodiments of the third aspect, in some embodiments, the second location information includes at least one of the following:

[0142] Location of receiving device;

[0143] The device identifier of the receiving device;

[0144] The second coordinate system type corresponding to the location of the receiving device.

[0145] In conjunction with some embodiments of the third aspect, in some embodiments, the transmitting device or receiving device is an access network device; wherein, the device identifier of the access network device includes at least one of the following:

[0146] Identification of access network equipment;

[0147] The cell identifier corresponding to the sensing signal;

[0148] First channel identifier, wherein the first channel identifier indicates the first channel corresponding to the access network device, and the first channel is used to transmit sensing results;

[0149] The second channel identifier indicates the second channel corresponding to the access network device, and the second channel is used to configure sensing services.

[0150] In conjunction with some embodiments of the third aspect, in some embodiments, the transmitting device or receiving device is a terminal; wherein, the device identifier of the terminal includes at least one of the following:

[0151] Temporary Identifier for Cellular Wireless Network (C-RNTI)

[0152] International Mobile Subscriber Identity (IMSI);

[0153] The third channel identifier indicates the third channel corresponding to the terminal, and the third channel is used to transmit the sensing results;

[0154] The fourth channel identifier indicates the fourth channel corresponding to the terminal, and the fourth channel is used to configure sensing services.

[0155] Fourthly, embodiments of this disclosure provide a communication device, which includes: a processing module for determining relevant information of a sensing signal, wherein the relevant information of the sensing signal includes at least one of the following: a sensing signal transmitting device transmitting sensing signal transmission information, a sensing signal receiving device receiving sensing signal reception information, a first location information of the transmitting device, and a second location information of the receiving device; and determining the location information of a sensing target based on the relevant information of the sensing signal.

[0156] Fifthly, this disclosure provides a transmitting device, which includes: a processing module for determining transmitting information; and a transceiver module for transmitting a sensing signal according to the transmitting information; wherein at least one of the first location information of the transmitting device, the second location information of the receiving device, the transmitting information, and the receiving information is used to determine the location information of the sensing target, and the receiving information is used by the receiving device to receive the sensing signal.

[0157] In a sixth aspect, embodiments of this disclosure provide a receiving device, which includes: a processing module for determining received information; and a transceiver module for receiving a sensing signal based on the received information; wherein at least one of the first location information of the transmitting device of the sensing signal, the second location information of the receiving device of the sensing signal, the transmitting information, and the receiving information is used to determine the location information of the sensing target, and the transmitting information is used by the transmitting device to transmit the sensing signal.

[0158] In a seventh aspect, embodiments of this disclosure provide a communication device, the communication device comprising: one or more processors; wherein the communication device is configured to execute the first aspect and optional implementations thereof, or to execute the second aspect and optional implementations thereof, or to execute the third aspect and optional implementations thereof.

[0159] Eighthly, embodiments of this disclosure provide a communication system comprising: a transmitting device, a receiving device, and a communication device; wherein the communication device is configured to perform the method described in the first aspect and optional implementations thereof, the transmitting device is configured to perform the method described in the second aspect and optional implementations thereof, and the receiving device is configured to perform the method described in the third aspect and optional implementations thereof.

[0160] In a ninth aspect, embodiments of this disclosure provide a storage medium storing instructions that, when executed on a communication device, cause the communication device to perform the method described in the first aspect and its optional implementations, or the method described in the second aspect and its optional implementations, or the method described in the third aspect and its optional implementations.

[0161] In a tenth aspect, embodiments of this disclosure provide a program product that, when executed by a communication device, causes the communication device to perform the method described in the first aspect and its optional implementations, or the method described in the second aspect and its optional implementations, or the method described in the third aspect and its optional implementations.

[0162] In one aspect, embodiments of this disclosure provide a computer program that, when run on a computer, causes the computer to perform the method as described in the first aspect and optional implementations of the first aspect, or the method as described in the second aspect and optional implementations of the second aspect, or the method as described in the third aspect and optional implementations of the third aspect.

[0163] In a twelfth aspect, embodiments of this disclosure provide a chip or chip system. The chip or chip system includes processing circuitry configured to perform the method described according to the first aspect and optional implementations thereof, or configured to perform the method described according to the second aspect and optional implementations thereof, or configured to perform the method described according to the third aspect and optional implementations thereof.

[0164] It is understood that the aforementioned transmitting device, receiving device, communication device, communication system, storage medium, program product, computer program, chip, or chip system are all used to perform the methods proposed in the embodiments of this disclosure. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects in the corresponding methods, and will not be repeated here.

[0165] This disclosure provides a sensing and control method, a communication device, a communication system, and a storage medium. In some embodiments, the terms "sensing and control method" and "information processing method" and "communication method" can be used interchangeably; the terms "sensing and control method device" and "information processing device" and "communication device" can be used interchangeably; and the terms "transmission system" and "information processing system" and "communication system" can be used interchangeably.

[0166] This disclosure is not exhaustive, but merely illustrative of some embodiments, and is not intended to limit the scope of protection of this disclosure. Unless otherwise specified, each step in a particular embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a particular embodiment can also be implemented as an independent embodiment, and the order of the steps in a particular embodiment can be arbitrarily interchanged. Furthermore, the optional implementation methods in a particular embodiment can be arbitrarily combined; moreover, the embodiments can be arbitrarily combined, for example, some or all steps of different embodiments can be arbitrarily combined, and a particular embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0167] In each of the disclosed embodiments, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of the embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0168] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the scope of this disclosure.

[0169] In this disclosure, unless otherwise stated, elements expressed in the singular form, such as "a," "an," "the," "the," "the aforementioned," "the," "this," etc., can mean "one and only one," or "one or more," "at least one," etc. For example, when using articles such as "a," "an," "the," etc. in translation, the noun following the article can be understood as either a singular or a plural expression.

[0170] In the embodiments disclosed herein, "multiple" refers to two or more.

[0171] In some embodiments, the terms “at least one of”, “one or more”, “a plurality of”, “multiple”, etc., may be used interchangeably.

[0172] In some embodiments, the notation "at least one of A and B", "A and / or B", "A in one case, B in another", "in response to one case A, in response to another case B", etc., may include the following technical solutions depending on the situation: in some embodiments, A (execute A regardless of B); in some embodiments, B (execute B regardless of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); in some embodiments, A and B (both A and B are executed). The same applies when there are more branches such as A, B, C, etc.

[0173] In some embodiments, the notation "A or B" may include the following technical solutions, depending on the situation: in some embodiments, A (execution of A regardless of B); in some embodiments, B (execution of B regardless of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). The same applies when there are more branches such as A, B, C, etc.

[0174] The prefixes "first," "second," etc., used in the embodiments of this disclosure are merely for distinguishing different descriptive objects and do not impose restrictions on the position, order, priority, quantity, or content of the descriptive objects. The description of the descriptive objects is found in the claims or the context of the embodiments, and the use of prefixes should not constitute unnecessary restrictions. For example, if the descriptive object is a "field," the ordinal numbers preceding "field" in "first field" and "second field" do not restrict the position or order of the "fields." "First" and "second" do not restrict whether the "fields" they modify are in the same message, nor do they restrict the order of "first field" and "second field." Similarly, if the descriptive object is a "level," the ordinal numbers preceding "level" in "first level" and "second level" do not restrict the priority between "levels." Furthermore, the number of descriptive objects is not limited by ordinal numbers and can be one or more. For example, in "first device," the number of "devices" can be one or more. Furthermore, the objects modified by different prefixes can be the same or different. For example, if the object being described is "device", then "first device" and "second device" can be the same device or different devices, and their types can be the same or different. As another example, if the object being described is "information", then "sending information" and "receiving information" can be the same information or different information, and their content can be the same or different.

[0175] In some embodiments, “including A,” “containing A,” “for indicating A,” and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0176] In some embodiments, the terms “in response to…”, “in response to determining…”, “in the case of…”, “when…”, “if…”, “if…”, etc., can be used interchangeably.

[0177] In some embodiments, the terms “greater than,” “greater than or equal to,” “not less than,” “more than,” “more than or equal to,” “not less than,” “higher than,” “higher than or equal to,” “not lower than,” and “above” can be used interchangeably, as can the terms “less than,” “less than or equal to,” “not greater than,” “less than,” “less than or equal to,” “not more than,” “lower than,” “lower than or equal to,” “not higher than,” and “below”.

[0178] In some embodiments, the apparatus and device may be interpreted as physical or virtual, and their names are not limited to the names recorded in the embodiments. In some cases, they may also be understood as "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", "body", etc.

[0179] In some embodiments, "network" can be interpreted as devices included in the network, such as access network devices, core network devices, etc.

[0180] In some embodiments, "access network device (AN device)" may also be referred to as "radio access network device (RAN device)," "base station (BS)," "radio base station," or "fixed station." In some embodiments, it may also be understood as "node," "access point," "transmission point (TP)," "reception point (RP)," "transmission / reception point (TRP)," "panel," "antenna panel," "antenna array," "cell," "macro cell," "small cell," "femto cell," "pico cell," "sector," "cell group," "serving cell," "carrier," "component carrier," or "bandwidth part (BWP)."

[0181] In some embodiments, "terminal" or "terminal device" may be referred to as "user equipment (UE)," "user terminal," "Narrow Band-Internet of Things (NB-IoT) device," "mobile station (MS)," "mobile terminal (MT)," "subscriber station," "mobile unit," "subscriber unit," "wireless unit," "remote unit," "mobile device," "wireless device," "wireless communication device," "remote device," "mobile subscriber station," "access terminal," "mobile terminal," "wireless terminal," "remote terminal," "handset," "user agent," "mobile client," "client," etc.

[0182] In some embodiments, access network devices, core network devices, or network devices can be replaced by terminals. For example, embodiments of this disclosure can also be applied to structures where communication between access network devices, core network devices, or network devices and terminals is replaced by communication between multiple terminals (e.g., device-to-device (D2D), vehicle-to-everything (V2X), etc.). In this case, the structure can also be configured such that the terminal has all or part of the functions of the access network device. Furthermore, terms such as "uplink" and "downlink" can be replaced with terms corresponding to communication between terminals (e.g., "sidelink"). For example, uplink channel, downlink channel, etc., can be replaced with sidelink channel, and uplink link, downlink, etc., can be replaced with sidelink link.

[0183] In some embodiments, the terminal may be replaced by an access network device, a core network device, or a network device. In this case, the access network device, core network device, or network device may also be configured to have all or some of the functions of the terminal.

[0184] In some embodiments, the acquisition of data, information, etc., may comply with the laws and regulations of the country where the location is situated.

[0185] In some embodiments, data, information, etc., may be obtained with the user's consent.

[0186] Figure 1A is a schematic diagram of the architecture of a communication system according to an embodiment of the present disclosure.

[0187] As shown in Figure 1A, the communication system 100 includes a terminal 101 and a network device 102.

[0188] In some embodiments, terminal 101 includes, but is not limited to, at least one of the following: mobile phone, wearable device, Internet of Things device, car with communication function, smart car, tablet computer, computer with wireless transceiver function, virtual reality (VR) terminal device, augmented reality (AR) terminal device, wireless terminal device in industrial control, wireless terminal device in self-driving, wireless terminal device in remote medical surgery, wireless terminal device in smart grid, wireless terminal device in transportation safety, wireless terminal device in smart city, and wireless terminal device in smart home.

[0189] In some embodiments, network device 102 may include at least one of access network device and core network device.

[0190] In some embodiments, the access network device is, for example, a node or device that connects a terminal to a wireless network. The access network device may include, but is not limited to, at least one of the following in a 5G communication system: evolved Node B (eNB), next-generation eNB (ng-eNB), next-generation Node B (gNB), node B (NB), home node B (HNB), home evolved node B (HeNB), radio backhaul device, radio network controller (RNC), base station controller (BSC), base transceiver station (BTS), base band unit (BBU), mobile switching center, base station in a 6G communication system, open RAN, cloud RAN, base station in other communication systems, and access node in a Wi-Fi system.

[0191] In some embodiments, the technical solutions of this disclosure can be applied to the Open RAN architecture. In this case, the interfaces between or within access network devices involved in the embodiments of this disclosure can be transformed into internal interfaces of Open RAN. The processes and information interactions between these internal interfaces can be implemented by software or programs.

[0192] In some embodiments, the access network device may be composed of a central unit (CU) and a distributed unit (DU). The CU may also be called a control unit. The CU-DU structure can separate the protocol layer of the access network device. Some of the protocol layer functions are centrally controlled by the CU, while the remaining part or all of the protocol layer functions are distributed in the DU and centrally controlled by the CU. However, this is not the only possibility.

[0193] In some embodiments, a core network device may be a single device comprising one or more network elements, or it may be multiple devices or a group of devices, each comprising all or part of the aforementioned one or more network elements. Network elements may be virtual or physical. The core network may include, for example, at least one of an Evolved Protocol Core (EPC), a 5G Core Network (5GCN), or a Next Generation Core (NGC).

[0194] It is understood that the communication system described in this disclosure is for the purpose of more clearly illustrating the technical solutions of this disclosure, and does not constitute a limitation on the technical solutions proposed in this disclosure. As those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions proposed in this disclosure are also applicable to similar technical problems.

[0195] The following embodiments of this disclosure can be applied to the communication system 100 shown in FIG1A, or to some of the main bodies, but are not limited thereto. The main bodies shown in FIG1A are illustrative. The communication system may include all or some of the main bodies in FIG1A, or it may include other main bodies outside of FIG1A. The number and form of each main body are arbitrary. Each main body may be physical or virtual. The connection relationship between the main bodies is illustrative. The main bodies may not be connected or may be connected. The connection can be in any way, it can be a direct connection or an indirect connection, it can be a wired connection or a wireless connection.

[0196] The embodiments disclosed herein can be applied to Long Term Evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), SUPER 3G, IMT-Advanced, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), 5G new radio (NR), 6th generation mobile communication system (6G), Future Radio Access (FRA), New-Radio Access Technology (RAT), New Radio (NR), New radio access (NX), Future generation radio access (FX), Global System for Mobile communications (GSM), CDMA2000, Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), and IEEE 802.20, Ultra-Wideband (UWB), Bluetooth (a registered trademark), Public Land Mobile Network (PLMN) networks, Device-to-Device (D2D) systems, Machine-to-Machine (M2M) systems, Internet of Things (IoT) systems, Vehicle-to-Everything (V2X) systems, systems utilizing other communication methods, and next-generation systems built upon them, etc. Furthermore, multiple systems can be combined (e.g., a combination of LTE or LTE-A with 5G).

[0197] Optionally, Integrated Sensing and Communications (ISAC) refers to a wireless signal transmitter emitting radio waves and a wireless signal receiver receiving radio waves. During the transmission of radio waves, the transmission may be blocked by environmental objects (which can be called reflectors), resulting in wireless transmission effects such as reflection, diffraction, transmission, phase change, Doppler shift, and signal strength change. The wireless signal receiver receives the radio waves and compares the transmitted and received signals, or records the historical changes of the received signal, to obtain information about the reflector (which can also be called sensing information, sensing data, or sensing results). The information about the reflector may include: coordinate information (e.g., the coordinates of the reflector relative to the wireless signal receiver (specifically, distance, horizontal angle, and vertical angle)); speed information (e.g., the speed and direction of movement of the reflector relative to the wireless signal receiver); behavioral pattern information (e.g., running, walking, approaching, falling, swinging, etc.); or weather information (e.g., rain, snow, etc.); or traffic information (e.g., congestion, accidents, etc.)).

[0198] Optionally, in a wireless network (e.g., a cellular network), the wireless signal transmitter can be at least one of the following: a base station,

[0199] Wireless access points (e.g., WiFi access points, APs) and terminals. A wireless signal receiver can be at least one of the following: a base station, a wireless access point, or a terminal.

[0200] Optionally, as shown in Figure 1B, which illustrates a sensing method in an embodiment of this disclosure, the wireless signal transmitter and receiver can be from the same device (mono-static, same station), or from different devices (bi-static, dual station) or multi-static. Therefore, the "sensing method" can include the following:

[0201] Sensing Method 1): Terminal A sends, Terminal A receives.

[0202] Sensing Method 2): Base station A transmits, base station A receives.

[0203] Sensing method 3): Base station A transmits, terminal A receives.

[0204] Sensing method 4): Base station A transmits, base station B receives.

[0205] Sensing method 5): Terminal A transmits, base station A receives.

[0206] Sensing method 6): Terminal A sends, terminal B receives.

[0207] Optionally, in a communication system, core network equipment (such as a Location Management Function (LMF)) can measure the geographical location (or speed) information of a terminal by controlling the transmission and reception of signals between the base station and the terminal (or between terminals). The positioning methods can include, for example, the following:

[0208] Network-assisted Global Navigation Satellite System (GNSS) approach;

[0209] Location based on Observed Time Difference of Arrival (OTDOA) of LTE signals;

[0210] An enhanced cell identification method based on LTE signals;

[0211] Wireless Local Area Network (WLAN) positioning;

[0212] Bluetooth positioning;

[0213] Terrestrial Beacon System (TBS) positioning;

[0214] Sensor-based methods;

[0215] Barometric pressure sensor;

[0216] Motion sensor;

[0217] An Enhanced Cell ID (E-CID) method based on NR signals;

[0218] Positioning based on NR signals using Round Trip Time (RTT);

[0219] Downlink Angle-of-Departure (DL-AoD) method based on NR signal;

[0220] Downlink Time Difference of Arrival (DL-TDOA) method based on NR signals;

[0221] Uplink Time Difference of Arrival (UL-TDOA) method based on NR signals;

[0222] The Uplink Angle-of-Arrival (UL-AoA) method based on NR signals;

[0223] Sidelink (SL) localization and ranging methods based on SL signals.

[0224] The SL positioning and ranging methods based on SL signals may include:

[0225] Sidelink Round Trip Time (SL-RTT) positioning;

[0226] Sidelink Angle of Arrival (SL-AoA);

[0227] Sidelink Time Difference of Arrival (SL-TDOA);

[0228] Sidelink Time of Arrival (SL-TOA).

[0229] Alternatively, in the embodiments of this disclosure, the aforementioned environmental objects may also be referred to as reflectors, sensing objects, sensing targets, etc., without limitation.

[0230] Optionally, sensing methods can be used to acquire the location information of objects in the environment. Localization methods can be used to acquire the location information of a specific terminal. Sensing methods and localization methods are two independent technical systems, and related technologies do not support the application of localization methods within sensing methods, resulting in inaccurate location information of the perceived target.

[0231] Figure 2A is an interactive schematic diagram of a sensing control method according to an embodiment of the present disclosure. As shown in Figure 2A, the embodiment of the present disclosure relates to a sensing control method, which can be used in a communication system 100, and is not limited thereto. The above method includes:

[0232] Step S2101: The sending device determines the information to be sent.

[0233] Optionally, in some embodiments, the transmitting device refers to a device used to transmit sensing signals. The transmitting device may also be referred to as a sensing signal transmitter. The type of sensing signal transmitter may be, for example, an access network device (e.g., a base station) or a terminal, without limitation.

[0234] Among them, the information transmission is used to send sensing signals, and the sensing signals are used to sense the sensing target.

[0235] Alternatively, in some embodiments, sending information may also be referred to as "sense signal sending information," and there is no limitation thereto.

[0236] Optionally, in some embodiments, the transmitting device may use any one or a combination of the following to determine the information to be transmitted: autonomously determining the information to be transmitted; determining the information to be transmitted based on a protocol agreement; and receiving the information to be transmitted. This supports the flexible and accurate determination of the information to be transmitted, thereby supporting the accurate and rapid transmission of sensing signals.

[0237] Optionally, in some embodiments, if the transmitting device is an access network device, the access network device can determine the configured information for transmitting sensing information as the transmitting information; or the access network device can determine the transmitting information based on a protocol agreement. If the transmitting device is a terminal, the terminal can receive the transmitting information configured by the network, or the terminal can determine the transmitting information based on a protocol agreement; there are no restrictions on this.

[0238] Optionally, in some embodiments, the transmitted information includes any one or a combination of the following: sensing signal information; the transmission angle of the sensing signal; the transmission time of the sensing signal; the transmission power of the sensing signal; and the transmission antenna configuration information of the sensing signal. This allows for the acquisition of comprehensive transmission information, supporting accurate transmission of the sensing signal.

[0239] For example, the transmitted information may include the transmission angle and transmission time of the sensing signal, or the transmission angle and transmission power of the sensing signal, or the transmission angle and transmission antenna configuration information of the sensing signal, or the transmission time and transmission power of the sensing signal, or the transmission time and transmission antenna configuration information of the sensing signal, or the transmission angle and transmission time and transmission power of the sensing signal, or the transmission angle and transmission time and transmission antenna configuration information of the sensing signal, or the transmission time and transmission power and transmission antenna configuration information of the sensing signal, or the transmission angle and transmission time and transmission power and transmission antenna configuration information of the sensing signal, and so on. This disclosure does not limit it in this way.

[0240] Among them, the sensed signal information is used to describe the sensed signal. The sensed signal information can also be referred to as specific sensed signal information.

[0241] Optionally, in some embodiments, the sensing signal information includes any one or a combination of the following: sensing service identification information, sensing signal configuration information, sensing resource information, and sensing signal scrambling code; wherein, the sensing service identification information is used to identify the sensing service; the sensing signal configuration information is used to configure the sensing signal; and the sensing resource information is used to indicate the type of sensing resource. This effectively improves the accuracy and comprehensiveness of the sensing signal description and ensures the accuracy of the detection of the location information of the sensing target.

[0242] For example, the sensing signal information may include sensing service identification information and sensing signal configuration information; or it may include sensing service identification information and sensing resource information; or it may include sensing service identification information and sensing signal scrambling code; or it may include sensing signal configuration information and sensing resource information; or it may include sensing resource information and sensing signal scrambling code; or it may include sensing service identification information, sensing signal configuration information, and sensing resource information; or it may include sensing service identification information, sensing signal configuration information, and sensing signal scrambling code; or it may include sensing signal configuration information, sensing resource information, and sensing signal scrambling code; or it may include sensing service identification information, sensing signal configuration information, sensing resource information, and sensing signal scrambling code, and so on. This disclosure does not limit it in this way.

[0243] For example, sensing signal information, referred to as "specific sensing signal information," is used as an example. This "specific sensing signal information" may include at least one of the following: a sensing service identifier (e.g., sensing service ID, an optional example of sensing service identifier information), a sensing signal configuration identifier (e.g., sensing signal configuration ID, an optional example of sensing signal configuration information), a sensing signal resource identifier (e.g., sensing resource ID, an optional example of sensing resource information), and a sensing signal scrambling code (e.g., Cell Radio Network Temporary Identity (C-RNTI) or Sensing-Radio Network Temporary Identity (Sensing-RNTI)). The type of sensing resource includes any one of the following: sensing resource type 1 and sensing resource type 2. Sensing resource type 1 indicates that the sensing signal is a Sounding Reference Signal (SRS), which can be used in the aforementioned "sensing method 5): terminal A transmits, base station A receives" or "sensing method 6): terminal A transmits, terminal B receives." Sensing resource type 2 indicates that the sensing signal is a Positioning Reference Signal (PRS), which can be used in the above-mentioned "sensing method 3): base station A transmits, terminal A receives" or "sensing method 4): base station A transmits, base station B receives".

[0244] For example, the transmission angle of the aforementioned sensing signal can also be referred to as sensing signal transmission angle information. As shown in Figure 2B, which is a schematic diagram of angle information in an embodiment of this disclosure, the sensing signal transmission angle information can be, for example, the angle of departure (AoD). The "angle information" shown in Figure 2B can include at least one of the following: an angle value or an angle range. The angle value can be represented as an Angle. For example, if the angle value is within a specific angle range, then the angle corresponding to the center line of that "specific angle range" (as shown in Figure 2B), and the angle range, can be represented as an Angle Range. When the angle information in Figure 2B represents sensing signal transmission angle information, the angle range can represent the angle range covered by the transmitted sensing signal.

[0245] For example, the transmission time of the aforementioned sensing signal can also be referred to as sensing signal transmission time information. As shown in Figure 2C, which is a schematic diagram of time information in an embodiment of this disclosure, the time information is, for example, the Time of Departure (ToD). This time information includes at least one of the following: a time value and a time range; wherein, the time value can be represented as Time. The time value, for example, is the time corresponding to the center of a specific time range. The time range can be represented as Time Range. When the time information in Figure 2C represents sensing signal transmission time information, the time range describes the time range within which the sensing signal is transmitted.

[0246] For example, the transmission power of the sensing signal described above can be referred to as sensing signal transmission power information. For example, the transmission signal strength of the sensing signal. The transmitting antenna configuration information of the sensing signal described above, such as the number of antennas and / or antenna spacing, etc.

[0247] In step S2102, the transmitting device sends a sensing signal based on the transmission information.

[0248] Optionally, in some embodiments, after determining the transmission information, the transmitting device can use the transmission information to send a sensing signal. The sensing signal is used to sense the sensing target. For example, the sensing signal can be used to obtain the coordinate information, speed information, behavior pattern information, etc. of the sensing target, and there are no limitations on this.

[0249] Optionally, in some embodiments, the sensing signal transmitter can send a sensing signal based on the transmission information to sense the sensing target.

[0250] Optionally, in some embodiments, the access network device (e.g., a base station) can send sensing signals based on the transmission information to sense the sensing target.

[0251] Optionally, in some embodiments, the terminal may send a sensing signal based on the sent information to sense the sensing target.

[0252] Step S2103: The receiving device determines the received information, wherein the received information is used to receive the sensing signal.

[0253] Optionally, in some embodiments, the receiving device refers to a device used to receive sensing signals. The receiving device may also be referred to as a sensing signal receiver. The type of sensing signal receiver may be, for example, an access network device (e.g., a base station) or a terminal, without limitation.

[0254] Optionally, the transmitting device and the receiving device can be the same device or different devices.

[0255] Optionally, in some embodiments, the transmitting device and the receiving device may be the same or different; for example, the types of the transmitting device and the receiving device may be the same or different. A combination of transmitting and receiving devices may include, for example:

[0256] The transmitting device is access network device A (e.g., base station A), and the receiving device is access network device B (e.g., base station B).

[0257] The transmitting device is the access network equipment (such as a base station), and the receiving device is the terminal;

[0258] The transmitting device is the terminal, and the receiving device is the access network device (such as a base station);

[0259] The sending device is terminal A, and the receiving device is terminal B;

[0260] The sending device is terminal A, and the receiving device is terminal A;

[0261] The transmitting device is access network device A (e.g., base station A), and the receiving device is access network device A (e.g., base station A).

[0262] Optionally, in some embodiments, the received information is used to receive sensing signals. The received information may also be referred to as "sensing signal receiving information," and there is no limitation thereto.

[0263] Optionally, in some embodiments, the received information includes any one or a combination of the following: sensing signal information; the receiving angle of the sensing signal; the receiving time of the sensing signal; the receiving power of the sensing signal; and the receiving antenna configuration information of the sensing signal. This allows for the acquisition of comprehensive receiving information, supporting accurate reception of the sensing signal.

[0264] For example, the received information may include the receiving angle and receiving time of the sensed signal, or the receiving angle and receiving power of the sensed signal, or the receiving angle and receiving antenna configuration information of the sensed signal, or the receiving time and receiving power of the sensed signal, or the receiving time and receiving antenna configuration information of the sensed signal, or the receiving angle and receiving time and receiving power of the sensed signal, or the receiving angle and receiving time and receiving antenna configuration information of the sensed signal, or the receiving time and receiving power and receiving antenna configuration information of the sensed signal, or the receiving angle and receiving time and receiving power and receiving antenna configuration information of the sensed signal, and so on. This disclosure does not limit it in this respect.

[0265] The information received by the sensing signal can be found in the above description and will not be repeated here.

[0266] For example, the angle at which a sensing signal is received can also be referred to as the sensing signal receiving angle information. Sensing signal receiving angle information, for example, is the angle of arrival (AoA). The description of this "angle information" can be found in Figure 2B above and the related description. When the angle information in Figure 2B represents the sensing signal receiving angle information, the angle range can represent the angular range covered by the received sensing signal.

[0267] For example, the reception time of the sensed signal can also be referred to as the sensed signal reception time information. The sensed signal reception time information is, for example, the Time of Arrival (ToA). The description of this "time information" can be found in Figure 2C above and the related description. When the time information in Figure 2C represents the sensed signal reception time information, the time range describes the time range for receiving the sensed signal.

[0268] For example, the received power of the sensed signal can also be referred to as sensed signal received power information. Sensed signal received power information includes, for example, the received signal strength of the sensed signal. Sensed signal receiving antenna configuration information includes, for example, the number of antennas and / or antenna spacing.

[0269] Optionally, in some embodiments, the receiving device may use any one or a combination of the following to determine the received information: autonomously determining the received information; determining the received information based on a protocol agreement; and receiving the received information. This supports flexible and accurate determination of the received information to support accurate and rapid reception of sensing signals.

[0270] Optionally, in some embodiments, if the transmitting device is an access network device, the access network device can determine the configured information for receiving sensing as the received information; or the access network device can determine the received information based on a protocol agreement. If the receiving device is a terminal, the terminal can receive the received information configured by the network, or the terminal can determine the received information based on a protocol agreement; there are no restrictions on this.

[0271] Optionally, in some embodiments, after determining the received information, the receiving device can use the received information to receive a sensing signal. The sensing signal is used to sense the sensing target. For example, the sensing signal can be used to obtain the coordinate information, speed information, behavior pattern information, etc. of the sensing target, without limitation.

[0272] Optionally, in some embodiments, the sensing signal receiver can receive sensing signals based on the received information in order to sense the sensing target.

[0273] Optionally, in some embodiments, the access network device (e.g., a base station) can receive sensing signals based on received information to sense the sensing target.

[0274] Optionally, in some embodiments, the terminal can receive sensing signals based on the received information in order to sense the sensing target.

[0275] The sensing signal transmitted by the aforementioned transmitting device can be received by the receiving device after passing through wireless transmission effects such as reflection, diffraction, and transmission of the sensing object. Therefore, the sensing signal transmitted by the transmitting device refers to the sensing signal that is not affected by wireless transmission effects, while the sensing signal received by the receiving device refers to the sensing signal that has been affected by wireless transmission effects.

[0276] Step S2104: The transmitting device, receiving device, or communication device determines relevant information about the sensed signal.

[0277] The relevant information of the sensing signal includes at least one of the following: the sensing signal transmitting device transmitting the sensing signal transmitting information, the sensing signal receiving device receiving the sensing signal receiving information, the first position information of the transmitting device, and the second position information of the receiving device.

[0278] For example, the relevant information of the sensing signal may include transmitting information and receiving information; or it may include transmitting information and first location information; or it may include transmitting information and second location information; or it may include receiving information and first location information; or it may include receiving information and second location information; or it may include first location information and second location information; or it may include transmitting information, receiving information and first location information; or it may include transmitting information, receiving information and second location information; or it may include transmitting information, receiving information and first location information and second location information, and so on. This disclosure does not limit it in this way.

[0279] Optionally, in some embodiments, "first location information of the transmitting device" is used to describe the geographical location of the transmitting device when transmitting the sensing signal. "Second location information of the receiving device" is used to describe the geographical location of the receiving device when receiving the sensing signal. That is, the first location information refers to the location information of the transmitting device when transmitting the sensing signal, and the second location information refers to the location information of the receiving device when receiving the sensing signal.

[0280] The descriptions of "sending information" and "receiving information" can be found above and will not be repeated here.

[0281] Optionally, in some embodiments, the first location information is used to describe the location of the transmitting device (e.g., the location of the transmitting device when transmitting the sensing signal). The first location information may also be referred to as sensing signal transmitting end location information. The first location information may include at least: the transmitting device location, used to describe the geographical location of the transmitting device (e.g., the geographical location of the transmitting device when transmitting the sensing signal). The second location information is used to describe the location of the receiving device (e.g., the location of the receiving device when receiving the sensing signal). The second location information may also be referred to as sensing signal receiving end location information. The second location information may include at least: the receiving device location, used to describe the geographical location of the receiving device (e.g., the geographical location of the receiving device when receiving the sensing signal).

[0282] Optionally, in some embodiments, the first location information and the second location information can be determined by at least one of the above-described "positioning methods". For example, the first location information can be obtained by using at least one of the above-described "positioning methods" to locate the position of the transmitting device when it sends the sensing signal, and the second location information can be obtained by using at least one of the above-described "positioning methods" to locate the position of the receiving device when it receives the sensing signal. There are no limitations on this.

[0283] Optionally, in some embodiments, the first location information may include the location of the transmitting device ("transmitting device location" can refer to the geographical location of the transmitting device when transmitting the sensing signal, and is not limited thereto). "Transmitting device location" can also be referred to as the device location information for transmitting the sensing signal or the location information of the sensing signal transmitting antenna. As shown in Figure 2D, Figure 2D is a schematic diagram of the location information of the sensing signal transmitting antenna in an embodiment of this disclosure. For example, when there are multiple sensing signal transmitting antennas, the "location information of the sensing signal transmitting antenna" is the center position of the antenna panel formed by the multiple antennas (e.g., for a linear antenna array (as shown in Figure 2D above), it is the center of the line connecting the multiple antennas), or for a planar antenna array (as shown in Figure 2D above), it is the center of the antenna panel).

[0284] Optionally, in some embodiments, the first location information of the transmitting device may further include any one or a combination of the following: the location of the transmitting device, the device identifier of the transmitting device, and a first coordinate system type corresponding to the location of the transmitting device. This ensures the accuracy of the first location information in describing the location of the transmitting device.

[0285] For example, the first location information may include the location of the transmitting device; or it may include the device identifier of the transmitting device; or it may include the first coordinate system type corresponding to the location of the transmitting device; or it may include the location of the transmitting device and the device identifier of the transmitting device; or it may include the device identifier of the transmitting device and the first coordinate system type corresponding to the location of the transmitting device; or it may include the device identifier of the transmitting device and the first coordinate system type corresponding to the location of the transmitting device; or it may include the location of the transmitting device, the device identifier of the transmitting device and the first coordinate system type corresponding to the location of the transmitting device, and so on. This disclosure does not limit it in this way.

[0286] Optionally, in some embodiments, if the transmitting device is an access network device, the device identifier of the access network device includes any one or a combination of the following: the identifier of the access network device, the cell identifier corresponding to the sensing signal, the first channel identifier, and the second channel identifier; wherein, the first channel identifier indicates the first channel corresponding to the access network device, and the first channel is used to transmit the sensing results; the second channel identifier indicates the second channel corresponding to the access network device, and the second channel is used to configure sensing services. Therefore, it can support the accuracy of the first location information in describing the location of the access network device, and supports the use of flexible methods to identify the access network device transmitting the sensing signal, which can be effectively applied to personalized sensing application scenarios.

[0287] For example, the device identifier of the access network device may include the identifier of the access network device; or include the cell identifier corresponding to the sensing signal; or include the first channel identifier; or include the second channel identifier; or include the identifier of the access network device and the cell identifier corresponding to the sensing signal; or include the identifier of the access network device and the first channel identifier; or include the identifier of the access network device and the second channel identifier; or include the cell identifier corresponding to the sensing signal and the first channel identifier; or include the cell identifier corresponding to the sensing signal and the second channel identifier; or include the identifier of the access network device and the cell identifier corresponding to the sensing signal and the first channel identifier; or include the identifier of the access network device and the cell identifier corresponding to the sensing signal and the second channel identifier; or include the cell identifier, the first channel identifier, and the second channel identifier corresponding to the sensing signal; or include the identifier of the access network device, the cell identifier corresponding to the sensing signal, the first channel identifier, and the second channel identifier, and so on. This disclosure does not limit this.

[0288] Optionally, in some embodiments, the aforementioned "first channel is used to transmit sensing results" may be, for example, the location information of the sensing target, or may include any other possible sensing results, such as coordinate information, speed information, behavior pattern information, etc., without limitation.

[0289] Optionally, in some embodiments, the aforementioned "second channel is used to configure sensing services" is used. For example, configuring sensing services may involve configuring the transmitting device to send the sensing signal and / or configuring the receiving device to receive the sensing signal. Alternatively, other possible information related to sensing services may be configured, such as configuring the type of sensing service, the combination of the transmitting and receiving devices in the sensing service, etc., without limitation.

[0290] Optionally, in some embodiments, if the transmitting device is a terminal, the terminal's device identifier includes any one or a combination of the following: Cell Radio Network Temporary Identifier (C-RNTI), International Mobile Subscriber Identity (IMSI), Third Channel Identifier, and Fourth Channel Identifier; wherein, the Third Channel Identifier indicates the Third Channel corresponding to the terminal, and the Third Channel is used to transmit sensing results; the Fourth Channel Identifier indicates the Fourth Channel corresponding to the terminal, and the Fourth Channel is used to configure sensing services. This ensures the accuracy of the first location information's description of the terminal's location and supports flexible identification of the terminal transmitting sensing signals, effectively adapting to personalized sensing application scenarios.

[0291] For example, the device identifier of the terminal may include C-RNTI; or IMSI; or the third channel identifier; or the fourth channel identifier; or C-RNTI and IMSI; or C-RNTI and the third channel identifier; or C-RNTI and the fourth channel identifier; or IMSI and the third channel identifier; or IMSI and the fourth channel identifier; or C-RNTI, IMSI and the third channel identifier; or C-RNTI, IMSI and the fourth channel identifier; or C-RNTI, IMSI and the fourth channel identifier; or C-RNTI, the third channel identifier, and the fourth channel identifier; or C-RNTI, IMSI, the third channel identifier, and the fourth channel identifier, and so on. This disclosure does not limit it in this way.

[0292] Optionally, in some embodiments, the aforementioned "third channel is used to transmit sensing results" may be, for example, the location information of the sensing target, or may include any other possible sensing results, such as coordinate information, speed information, behavior pattern information, etc., without limitation.

[0293] Optionally, in some embodiments, the aforementioned "fourth channel is used to configure sensing services." For example, configuring sensing services may involve configuring the transmitting device to send the sensing signal and / or configuring the receiving device to receive the sensing signal. Alternatively, it may involve configuring any other possible information related to sensing services, such as configuring the type of sensing service, etc., without limitation.

[0294] For example, the device identifier of the transmitting device can also be referred to as the sensing signal transmitter identifier information. Taking the access network device as a base station as an example, this "sensing signal transmitter identifier information" includes any of the following:

[0295] When the sensing signal transmitter is a base station, it corresponds to a "base station identifier". This "base station identifier" includes at least one of the following: gNB ID, the cell identifier corresponding to the sensing signal, the sensing result transmission channel representation corresponding to the base station (an optional example of the first channel identifier (tunnel ID), such as: General Packet Radio Service Tunneling Protocol (GTP)), and the sensing service configuration channel representation corresponding to the base station (an optional example of the second channel identifier (tunnel ID), such as GTP tunnel ID).

[0296] When the sensing signal transmitter is a terminal, it corresponds to a "terminal identifier". The "terminal identifier" includes at least one of the following: C-RNTI, IMSI, the sensing result transmission channel representation corresponding to the terminal (an optional example of the third channel identifier, such as GTP tunnel ID), and the sensing service configuration channel representation corresponding to the terminal (an optional example of the fourth channel identifier, such as GTP tunnel ID).

[0297] For example, the first coordinate system type corresponding to the location of the transmitting device can also be referred to as the "coordinate system type" corresponding to the "location information of the sensing signal transmitter". The "coordinate system type" corresponding to the "location information of the sensing signal transmitter" includes at least one of the following: an absolute coordinate system (e.g., a coordinate system with the Earth as a reference) and a relative coordinate system; wherein the "relative coordinate system" type includes any one of the following: a coordinate system with the sensing signal transmitter as the origin and a coordinate system with the sensing signal receiver as the origin.

[0298] Optionally, in some embodiments, the second location information may include the location of the receiving device (“receiving device location” can refer to the geographical location of the receiving device when receiving the sensing signal, and there is no limitation thereto). “Receiving device location” can also be referred to as the location information of the device receiving the sensing signal or the location information of the sensing signal receiving antenna. When there are multiple sensing signal receiving antennas, the “location information of the sensing signal receiving antenna” is the center position of the antenna panel formed by the multiple antennas.

[0299] Optionally, in some embodiments, the second location information of the receiving device may further include any one or a combination of the following: the location of the receiving device, the device identifier of the receiving device, and a second coordinate system type corresponding to the location of the receiving device. This ensures the accuracy of the second location information in describing the location of the receiving device.

[0300] For example, the second location information may include the location of the receiving device; or it may include the device identifier of the receiving device; or it may include the second coordinate system type corresponding to the location of the receiving device; or it may include the location of the receiving device and the device identifier of the receiving device; or it may include the device identifier of the receiving device and the second coordinate system type corresponding to the location of the receiving device; or it may include the device identifier of the receiving device and the second coordinate system type corresponding to the location of the receiving device; or it may include the location of the receiving device, the device identifier of the receiving device and the second coordinate system type corresponding to the location of the receiving device, and so on. This disclosure does not limit it in this respect.

[0301] Optionally, in some embodiments, if the receiving device is an access network device, the device identifier of the access network device includes any one or a combination of the following: the identifier of the access network device, the cell identifier corresponding to the sensing signal, the first channel identifier, and the second channel identifier; wherein, the first channel identifier indicates the first channel corresponding to the access network device, and the first channel is used to transmit the sensing results; the second channel identifier indicates the second channel corresponding to the access network device, and the second channel is used to configure sensing services. Therefore, it can support the accuracy of the second location information in describing the location of the access network device, and supports the use of flexible methods to identify the access network device receiving the sensing signal, which can be effectively applied to personalized sensing application scenarios.

[0302] Optionally, in some embodiments, if the receiving device is a terminal, the terminal's device identifier includes any one or a combination of the following: C-RNTI, IMSI, third channel identifier, and fourth channel identifier; wherein, the third channel identifier indicates the third channel corresponding to the terminal, which is used to transmit sensing results, and the fourth channel identifier indicates the fourth channel corresponding to the terminal, which is used to configure sensing services. This enables the accurate description of the terminal's location by the second location information and supports flexible identification of the terminal receiving the sensing signal, effectively adapting to personalized sensing application scenarios.

[0303] For example, the device identifier of the receiving device can also be referred to as the sensing signal receiver identifier information. This sensing signal receiver identifier information can be found in the example description of the device identifier for the transmitting device described above, and will not be repeated here.

[0304] For example, the second coordinate system type corresponding to the location of the receiving device can also be referred to as the "coordinate system type" corresponding to the "sensing signal receiver location information". The "coordinate system type" corresponding to the "sensing signal receiver location information" includes at least one of the following: an absolute coordinate system (e.g., a coordinate system with the Earth as a reference) and a relative coordinate system; wherein the "relative coordinate system" type includes any one of the following: a coordinate system with the sensing signal receiver as the origin and a coordinate system with the sensing signal transmitter as the origin.

[0305] Optionally, in some embodiments, the term "communication device" refers to a device used for performing sensing calculations. The communication device, such as a sensing result calculation unit, can be, for example, an access network device, a core network device, or a terminal. The communication device may include the aforementioned transmitting or receiving devices, and there is no limitation thereto.

[0306] Optionally, in some embodiments, the type of communication device may include any of the following:

[0307] A Sensing Function (SF) entity is used to manage sensing services (e.g., starting and stopping sensing services). This SF entity can be located in the core network (CN) or the access network (e.g., a base station on the RAN side).

[0308] Location management function entities (e.g., LMF entities);

[0309] Sensing signal transmitter (an optional example of the aforementioned transmitting device);

[0310] Sensing signal receiver (an optional example of the receiving device described above).

[0311] Optionally, in some embodiments, if the sensing result is calculated by the communication device, the communication device can receive the first location information or locate the transmitting device to obtain the first location information. This enables the rapid and accurate acquisition of the first location information of the transmitting device, thereby improving the efficiency and effectiveness of sensing and positioning, and making it applicable to personalized sensing and positioning scenarios.

[0312] Optionally, in some embodiments, if the sensing result is calculated by the communication device, the communication device can receive the second location information, or locate the receiving device to obtain the second location information. This enables the rapid and accurate acquisition of the second location information of the receiving device, thereby improving the efficiency and effectiveness of sensing and positioning, and making it applicable to personalized sensing and positioning scenarios.

[0313] Optionally, in some embodiments, if the sensing result is calculated by the communication device, the transmitting device can send first location information to the communication device, and the communication device can receive the first location information sent by the transmitting device. Additionally, the transmitting device can also send the aforementioned "transmission information" to the communication device to promptly indicate the transmission information and the first location information to the communication device, thereby assisting in the calculation of the sensing result.

[0314] Optionally, in some embodiments, if the sensing result is calculated by the communication device, the receiving device can send second location information to the communication device, and the communication device can receive the second location information sent by the receiving device. Additionally, the receiving device can also send the aforementioned "receive information" to the communication device to promptly indicate the received information and the second location information to the communication device, thereby assisting in the calculation of the sensing result.

[0315] In step S2105, the transmitting device, receiving device, or communication device determines the location information of the sensing target based on the relevant information of the sensing signal.

[0316] Optionally, in some embodiments, if the sensing result calculation is performed by a communication device, the communication device can determine the transmission information based on any one or a combination of the following: autonomously determining the transmission information; determining the transmission information based on a protocol agreement; and receiving the aforementioned "transmission information". This enables the communication device to obtain the transmission information and the first location information in a timely manner to perform sensing result calculation, thereby ensuring the efficiency and accuracy of the sensing result calculation.

[0317] Optionally, in some embodiments, if the sensing result calculation is performed by the communication device, the communication device can determine the received information based on any one or a combination of the following: autonomously determining the received information; determining the received information based on a protocol agreement; and receiving the aforementioned "received information." This enables the communication device to obtain the received information and the second location information in a timely manner to perform the sensing result calculation, thereby ensuring the efficiency and accuracy of the sensing result calculation.

[0318] Optionally, in some embodiments, the sensing result can be calculated by a transmitting device, a receiving device, or a communication device. During the calculation of the sensing result, the location information of the sensing target can be determined. Since the first location information of the transmitting device and the second location information of the receiving device can be obtained based on a positioning method, and the transmitting device is used to transmit sensing signals and the receiving device is used to receive sensing signals, the transmitted and received sensing signals are used to sense the sensing target to determine the location information of the sensing target, thereby realizing the application of a positioning method in the sensing method and improving the accuracy of the location information of the sensing target.

[0319] In other words, in this embodiment of the present disclosure, the "location information of the sensing target" corresponding to the "sensing signal" can be calculated by obtaining the "sensing signal transmitter location information" and "sensing signal receiver location information" corresponding to the "sensing signal", as well as the "sensing signal transmission information" and "sensing signal reception information" of the "sensing signal".

[0320] An example illustrating the method for calculating the aforementioned perception results is as follows:

[0321] As shown in Figure 2E, which is a schematic diagram of a positioning-assisted sensing scenario in an embodiment of this disclosure, a communication device is used as the sensing result calculation unit for example. The transmitting device can also be referred to as the sensing transmitter (Sensing_Tx), and the receiving device can also be referred to as the sensing receiver (Sensing_Rx). The sensing result calculation unit calculates the "sense signal transmitter location information" (location coordinates of the sensing transmitter (Sensing_Tx) as shown in Figure 2E) and the "sense signal receiver location information" (location coordinates of the sensing receiver (Sensing_Rx) as shown in Figure 2E) corresponding to the "sensing signal" (Sensing_Signal) (as shown in Figure 2E), as well as the "sensing signal transmission information" (Sensing_Signal_Tx) and the "sensing signal reception information" (Sensing_Signal_Rx) of the "sensing signal," thereby calculating the "sense target location information" (location: x, y, z) corresponding to the "sensing signal."

[0322] Optionally, in some embodiments, the transmitted information may include the transmission angle of the sensing signal, and the received information may include the reception angle of the sensing signal. Then, based on the transmission angle of the sensing signal, the reception angle of the sensing signal, the first position information, and the second position information, the position information of the sensing target is determined. This enables rapid calculation of the position information of the sensing target, accurately applying the positioning method in the sensing method, and significantly improving the accuracy of the position information of the sensing target.

[0323] For example, as shown in Figure 2F, which is a schematic diagram of a sensing result calculation method in an embodiment of this disclosure. The "position information of the sensing target" refers to the position of the reflection point in Figure 2F. For instance, the "position information of the sensing target" can be calculated based on the "position information of the device sending the sensing signal (also known as the sending position coordinates (as shown in Figure 2F, Tx_Location(x, y, z)))", the "position information of the device receiving the sensing signal (also known as the receiving position coordinates (as shown in Figure 2F, Rx_Location(x, y, z)))", the "sensing signal sending angle information" (as shown in Figure 2F, AoD), and the "sensing signal receiving angle information" (as shown in Figure 2F, AoA). In the aforementioned process, the position of the reflection point can be calculated based on mathematical algorithms. For example, a line segment with endpoints "Tx_Location(x, y, z)" and "Rx_Location(x, y, z))" can be determined and used as the base of a "triangle". Then, with AoD as one interior angle of the "triangle", one side of the "triangle" can be constructed, and with AoA as the other interior angle of the "triangle", the other side of the "triangle" can be constructed. Thus, the "triangle" shown in Figure 2F is obtained, and the position of the vertex of the "triangle" is the position of the reflection point. Since "Tx_Location(x, y, z)", "Rx_Location(x, y, z)", AoA, and AoD are all known, the "triangle" shape can be formed in the coordinate system where "Tx_Location(x, y, z)" and "Rx_Location(x, y, z)" are located. Then, the position of the vertex of the "triangle" in the coordinate system is read as the position of the reflection point, without any restrictions.

[0324] Optionally, in some embodiments, the transmitted information includes the transmission time of the sensing signal, and the received information includes the reception time of the sensing signal and the reception angle of the sensing signal. Then, based on the transmission and reception time of the sensing signal, a transmit-receive time difference can be determined, whereby the transmit-receive time difference represents the time interval between transmitting and receiving the sensing signal. And based on the first location information, the second location information, the transmit-receive time difference, and the reception angle of the sensing signal, the location information of the sensing target is determined. This enables rapid calculation of the location information of the sensing target, allowing for accurate application of positioning methods in the sensing method and significantly improving the accuracy of the location information of the sensing target.

[0325] For example, as shown in Figure 2G, which is a schematic diagram of another sensing result calculation method in an embodiment of this disclosure. Based on the "location information of the device sending the sensing signal (also referred to as the sending location coordinates (as shown in Figure 2G, Tx_Location(x, y, z)))," the "location information of the device receiving the sensing signal (also referred to as the receiving location coordinates (as shown in Figure 2G, Rx_Location(x, y, z)))," the "sensing signal transmission time information" (as shown in Figure 2G, Tx_T), the "sensing signal reception time information" (as shown in Figure 2G, Rx_T), and the "sensing signal reception angle information" (as shown in Figure 2G, AoA), the "position information of the sensing target" is calculated. For example, through the "sensing signal transmission time information" and the "sensing signal reception time information," the "sensing signal transmission and reception time difference" can be calculated. Based on this "sensing signal transmission and reception time difference," and then based on the "location information of the device sending the sensing signal," the "location information of the device receiving the sensing signal," and the "sensing signal reception angle information," the "position information of the sensing target" can be calculated. In the aforementioned process, two possible reflection point positions can be calculated based on mathematical algorithms. For example, the transmit / receive time difference (Rx_T-Tx_T) between Tx_T and Rx_T can be calculated. Then, based on the transmit / receive time difference (Rx_T-Tx_T), Tx_Location(x, y, z), and Rx_Location(x, y, z), two possible vertex positions of the "triangle" shown in Figure 2G are obtained. Based on AoA, one of the vertex positions (such as the vertex position in the triangle shown by the solid line) is selected, and this vertex position is determined as the position information of the sensing target. Since "Tx_Location(x, y, z)", "Rx_Location(x, y, z)", AoA, and transmit / receive time difference (Rx_T-Tx_T) are all known, the "triangle" shape can be formed in the coordinate system where "Tx_Location(x, y, z)" and "Rx_Location(x, y, z)" are located. Then, the values ​​corresponding to the vertex positions of the "triangle" in the coordinate system can be read as the reflection point positions, without any restrictions.

[0326] Optionally, in some embodiments, the transmitted information includes: the transmission time of the sensing signal and the transmission angle of the sensing signal; the received information includes: the reception time of the sensing signal. Then, based on the transmission time and reception time of the sensing signal, a transmit-receive time difference is determined, whereby the transmit-receive time difference represents the time interval between transmitting and receiving the sensing signal. And based on the first location information, the second location information, the transmit-receive time difference, and the transmission angle of the sensing signal, the location information of the sensing target is determined. This enables rapid calculation of the location information of the sensing target, allowing for accurate application of positioning methods in the sensing method and significantly improving the accuracy of the location information of the sensing target.

[0327] For example, as shown in Figure 2H, which is a schematic diagram of another sensing result calculation method in an embodiment of this disclosure. Based on the "device location information of the sending sensing signal (also referred to as the sending location coordinates (as shown in Figure 2H, Tx_Location(x, y, z)))," the "device location information of the receiving sensing signal (also referred to as the receiving location coordinates (as shown in Figure 2H, Rx_Location(x, y, z)))," the "sensing signal transmission time information" (as shown in Figure 2H, Tx_T), the "sensing signal reception time information" (as shown in Figure 2H, Rx_T), and the sensing signal transmission angle information (as shown in Figure 2H, AoD), the "sensing target location information" is calculated. In the aforementioned process, two possible reflection point positions can be calculated based on mathematical algorithms. For example, the transmission and reception time difference (Rx_T-Tx_T) between Tx_T and Rx_T can be calculated. Then, based on the transmission and reception time difference (Rx_T-Tx_T) and Tx_T, the position of the sensing target is calculated. The `Tx_Location(x, y, z)` and `Rx_Location(x, y, z)` methods yield two possible vertex positions for the "triangle" shown in Figure 2H. Based on the AoD (Aspect-Oriented Depth), one vertex position is selected (as shown by the solid line in the triangle) and this vertex position is determined as the location information of the sensing target. Since `Tx_Location(x, y, z)`, `Rx_Location(x, y, z)`, `AoD`, and the transmit / receive time difference (`Rx_T - Tx_T`) are all known, the "triangle" shape can be formed in the coordinate system containing `Tx_Location(x, y, z)` and `Rx_Location(x, y, z)`. Then, the values ​​corresponding to the vertex positions of the "triangle" in the coordinate system are read as the reflection point positions, without any restrictions.

[0328] The sensing and control method disclosed in this embodiment may include at least one of steps S2101 to S2105. For example, steps S2101, S2102, S2103, S2104, and S2105 may be implemented as independent embodiments, steps S2101+S2102 may be implemented as independent embodiments, steps S2102+S2102+S2103 may be implemented as independent embodiments, steps S2101+S2102+S2103+S2104 may be implemented as independent embodiments, steps S2101+S2103+S2105 may be implemented as independent embodiments, and so on, but are not limited thereto.

[0329] In the embodiments disclosed herein, some or all of the steps and their optional implementations may be arbitrarily combined with some or all of the steps in other embodiments, or may be arbitrarily combined with the optional implementations in other embodiments.

[0330] In the embodiments disclosed herein, each step and its optional implementation can also be carried out independently.

[0331] In this embodiment, the transmitting device determines the transmission information and transmits a sensing signal based on the transmission information; the receiving device determines the reception information and receives the sensing signal based on the reception information; the transmitting device, receiving device, or communication device determines the relevant information of the sensing signal. The relevant information of the sensing signal includes at least one of the following: the transmitting device transmits the transmission information of the sensing signal; the receiving device receives the reception information of the sensing signal; the transmitting device has first location information; the receiving device has second location information; and the transmitting device, receiving device, or communication device determines the location information of the sensing target based on the relevant information of the sensing signal. The location information of the sensing target can be determined during the calculation of the sensing result. Since the first location information of the transmitting device and the second location information of the receiving device can be obtained based on a positioning method, and the transmitting device is used to transmit the sensing signal, the receiving device is used to receive the sensing signal, and the transmitted and received sensing signals are used to sense the sensing target, determining the location information of the sensing target based on the relevant information of the sensing signal enables the application of a positioning method in the sensing method, improving the accuracy of the location information of the sensing target.

[0332] Figure 3 is an interactive schematic diagram of a sensing control method according to another embodiment of the present disclosure. As shown in Figure 3, the embodiments of the present disclosure relate to a sensing control method that can be used in communication devices. The method includes:

[0333] Step S3101: Determine the relevant information of the sensing signal, wherein the relevant information of the sensing signal includes at least one of the following: the sensing signal transmitting device transmitting the sensing signal transmitting information, the sensing signal receiving device receiving the sensing signal receiving information, the first position information of the transmitting device, and the second position information of the receiving device.

[0334] Step S3102: Determine the location information of the sensing target based on the relevant information of the sensing signal.

[0335] The sensing and control method disclosed herein may include at least one of steps S3101 to S3102. For example, steps S3101 and S3102 may be implemented as independent embodiments, and steps S3101+S3102 may be implemented as independent embodiments, but are not limited thereto.

[0336] In the embodiments disclosed herein, some or all of the steps and their optional implementations may be arbitrarily combined with some or all of the steps in other embodiments, or may be arbitrarily combined with the optional implementations in other embodiments.

[0337] In the embodiments disclosed herein, each step and its optional implementation can also be carried out independently.

[0338] Optionally, in some embodiments of this disclosure, the information sent includes at least one of the following:

[0339] Sensing signal information;

[0340] The angle at which the sensing signal is transmitted;

[0341] The transmission time of the sensing signal;

[0342] The transmission power of the sensed signal;

[0343] Antenna configuration information for sensing signals.

[0344] Optionally, in some embodiments of this disclosure, receiving information includes at least one of the following:

[0345] Sensing signal information;

[0346] The angle at which the sensor signal is received;

[0347] The reception time of the sensed signal;

[0348] The received power of the sensed signal;

[0349] Information on the antenna configuration for receiving the sensing signal.

[0350] Optionally, in some embodiments of this disclosure, the sensed signal information includes at least one of the following:

[0351] Perceive business identification information;

[0352] Sensing signal configuration information;

[0353] Perceive resource information;

[0354] Sensing signal scrambling.

[0355] Optionally, in some embodiments of this disclosure, the first location information further includes at least one of the following:

[0356] Send device location;

[0357] Device identifier of the sending device;

[0358] The first coordinate system type corresponding to the location of the transmitting device.

[0359] Optionally, in some embodiments of this disclosure, the second location information further includes at least one of the following:

[0360] Location of receiving device;

[0361] The device identifier of the receiving device;

[0362] The second coordinate system type corresponding to the location of the receiving device.

[0363] Optionally, in some embodiments of this disclosure, the transmitting device or receiving device is an access network device; wherein, the device identifier of the access network device includes at least one of the following:

[0364] Identification of access network equipment;

[0365] The cell identifier corresponding to the sensing signal;

[0366] First channel identifier, wherein the first channel identifier indicates the first channel corresponding to the access network device, and the first channel is used to transmit sensing results;

[0367] The second channel identifier indicates the second channel corresponding to the access network device, and the second channel is used to configure sensing services.

[0368] Optionally, in some embodiments of this disclosure, the transmitting device or receiving device is a terminal; wherein, the device identifier of the terminal includes at least one of the following:

[0369] Temporary Identifier for Cellular Wireless Network (C-RNTI)

[0370] International Mobile Subscriber Identity (IMSI);

[0371] The third channel identifier indicates the third channel corresponding to the terminal, and the third channel is used to transmit the sensing results;

[0372] The fourth channel identifier indicates the fourth channel corresponding to the terminal, and the fourth channel is used to configure sensing services.

[0373] Optionally, in some embodiments of this disclosure, the transmitted information includes: the transmission angle of the sensing signal, and the received information includes: the reception angle of the sensing signal; wherein, determining the location information of the sensing target based on the relevant information of the sensing signal includes: determining the location information of the sensing target according to the transmission angle of the sensing signal, the reception angle of the sensing signal, the first location information, and the second location information.

[0374] Optionally, in some embodiments of this disclosure, the transmitted information includes: the transmission time of the sensing signal, and the received information includes: the reception time of the sensing signal and the reception angle of the sensing signal; wherein, determining the location information of the sensing target based on the relevant information of the sensing signal includes: determining the transmit-receive time difference according to the transmission time and reception time of the sensing signal, wherein the transmit-receive time difference is used to represent the time interval between transmitting and receiving the sensing signal; and determining the location information of the sensing target according to the first location information, the second location information, the transmit-receive time difference, and the reception angle of the sensing signal.

[0375] Optionally, in some embodiments of this disclosure, the transmitted information includes: the transmission time of the sensing signal and the transmission angle of the sensing signal; the received information includes: the reception time of the sensing signal; wherein, determining the location information of the sensing target based on the relevant information of the sensing signal includes: determining the transmit / receive time difference according to the transmission time and reception time of the sensing signal, wherein the transmit / receive time difference is used to represent the time interval between transmitting and receiving the sensing signal; and determining the location information of the sensing target according to the first location information, the second location information, the transmit / receive time difference, and the transmission angle of the sensing signal.

[0376] Figure 4 is an interactive schematic diagram of a sensing control method according to another embodiment of the present disclosure. As shown in Figure 4, the embodiments of the present disclosure relate to a sensing control method that can be used in a transmitting device. The method includes:

[0377] Step S4101: Confirm sending information.

[0378] Step S4102: Based on the transmission information, a sensing signal is transmitted; wherein, at least one of the first position information of the transmitting device of the sensing signal, the second position information of the receiving device of the sensing signal, the transmission information, and the receiving information is used to determine the position information of the sensing target, and the receiving information is used for the receiving device to receive the sensing signal.

[0379] The sensing and control method disclosed herein may include at least one of steps S4101 to S4102. For example, steps S4101 and S4102 may be implemented as independent embodiments, and steps S4101+S4102 may be implemented as independent embodiments, but are not limited thereto.

[0380] In the embodiments disclosed herein, some or all of the steps and their optional implementations may be arbitrarily combined with some or all of the steps in other embodiments, or may be arbitrarily combined with the optional implementations in other embodiments.

[0381] In the embodiments disclosed herein, each step and its optional implementation can also be carried out independently.

[0382] Optionally, in some embodiments of this disclosure, the information sent includes at least one of the following:

[0383] Sensing signal information;

[0384] The angle at which the sensing signal is transmitted;

[0385] The transmission time of the sensing signal;

[0386] The transmission power of the sensed signal;

[0387] Antenna configuration information for sensing signals.

[0388] Optionally, in some embodiments of this disclosure, receiving information includes at least one of the following:

[0389] Sensing signal information;

[0390] The angle at which the sensor signal is received;

[0391] The reception time of the sensed signal;

[0392] The received power of the sensed signal;

[0393] Information on the antenna configuration for receiving the sensing signal.

[0394] Optionally, in some embodiments of this disclosure, the sensed signal information includes at least one of the following:

[0395] Perceive business identification information;

[0396] Sensing signal configuration information;

[0397] Perceive resource information;

[0398] Sensing signal scrambling.

[0399] Optionally, in some embodiments of this disclosure, the first location information further includes at least one of the following:

[0400] Send device location;

[0401] Device identifier of the sending device;

[0402] The first coordinate system type corresponding to the location of the transmitting device.

[0403] Optionally, in some embodiments of this disclosure, the second location information further includes at least one of the following:

[0404] Location of receiving device;

[0405] Device identifier of the receiving device;

[0406] The second coordinate system type corresponding to the location of the receiving device.

[0407] Optionally, in some embodiments of this disclosure, the transmitting device or receiving device is an access network device; wherein, the device identifier of the access network device includes at least one of the following:

[0408] Identification of access network equipment;

[0409] The cell identifier corresponding to the sensing signal;

[0410] First channel identifier, wherein the first channel identifier indicates the first channel corresponding to the access network device, and the first channel is used to transmit sensing results;

[0411] The second channel identifier indicates the second channel corresponding to the access network device, and the second channel is used to configure sensing services.

[0412] Optionally, in some embodiments of this disclosure, the transmitting device or receiving device is a terminal; wherein, the device identifier of the terminal includes at least one of the following:

[0413] Temporary Identifier for Cellular Wireless Network (C-RNTI)

[0414] International Mobile Subscriber Identity (IMSI);

[0415] The third channel identifier indicates the third channel corresponding to the terminal, and the third channel is used to transmit the sensing results;

[0416] The fourth channel identifier indicates the fourth channel corresponding to the terminal, and the fourth channel is used to configure sensing services.

[0417] Figure 5 is an interactive schematic diagram of a sensing control method according to another embodiment of the present disclosure. As shown in Figure 5, the embodiments of the present disclosure relate to a sensing control method, which can be used in a receiving device. The method includes:

[0418] Step S5101: Confirm receipt of information.

[0419] Step S5102: Receive sensing signal according to received information; wherein, at least one of the first position information of the sensing signal transmitting device, the second position information of the sensing signal receiving device, the transmitting information, and the receiving information is used to determine the position information of the sensing target, and the transmitting information is used for the transmitting device to transmit the sensing signal.

[0420] The sensing and control method disclosed herein may include at least one of steps S5101 to S5102. For example, steps S5101 and S5102 may be implemented as independent embodiments, and steps S5101+S5102 may be implemented as independent embodiments, but are not limited thereto.

[0421] In the embodiments disclosed herein, some or all of the steps and their optional implementations may be arbitrarily combined with some or all of the steps in other embodiments, or may be arbitrarily combined with the optional implementations in other embodiments.

[0422] In the embodiments disclosed herein, each step and its optional implementation can also be carried out independently.

[0423] Optionally, in some embodiments of this disclosure, the information sent includes at least one of the following:

[0424] Sensing signal information;

[0425] The angle at which the sensing signal is transmitted;

[0426] The transmission time of the sensing signal;

[0427] The transmission power of the sensed signal;

[0428] Antenna configuration information for sensing signals.

[0429] Optionally, in some embodiments of this disclosure, receiving information includes at least one of the following:

[0430] Sensing signal information;

[0431] The angle at which the sensor signal is received;

[0432] The reception time of the sensed signal;

[0433] The received power of the sensed signal;

[0434] Information on the antenna configuration for receiving the sensing signal.

[0435] Optionally, in some embodiments of this disclosure, the sensed signal information includes at least one of the following:

[0436] Perceive business identification information;

[0437] Sensing signal configuration information;

[0438] Perceive resource information;

[0439] Sensing signal scrambling.

[0440] Optionally, in some embodiments of this disclosure, the first location information further includes at least one of the following:

[0441] Send device location;

[0442] Device identifier of the sending device;

[0443] The first coordinate system type corresponding to the location of the transmitting device.

[0444] Optionally, in some embodiments of this disclosure, the second location information further includes at least one of the following:

[0445] Location of receiving device;

[0446] Device identifier of the receiving device;

[0447] The second coordinate system type corresponding to the location of the receiving device.

[0448] Optionally, in some embodiments of this disclosure, the transmitting device or receiving device is an access network device; wherein, the device identifier of the access network device includes at least one of the following:

[0449] Identification of access network equipment;

[0450] The cell identifier corresponding to the sensing signal;

[0451] First channel identifier, wherein the first channel identifier indicates the first channel corresponding to the access network device, and the first channel is used to transmit sensing results;

[0452] The second channel identifier indicates the second channel corresponding to the access network device, and the second channel is used to configure sensing services.

[0453] Optionally, in some embodiments of this disclosure, the transmitting device or receiving device is a terminal; wherein, the device identifier of the terminal includes at least one of the following:

[0454] Temporary Identifier for Cellular Wireless Network (C-RNTI)

[0455] International Mobile Subscriber Identity (IMSI);

[0456] The third channel identifier indicates the third channel corresponding to the terminal, and the third channel is used to transmit the sensing results;

[0457] The fourth channel identifier indicates the fourth channel corresponding to the terminal, and the fourth channel is used to configure sensing services.

[0458] This disclosure also provides embodiments of an apparatus for implementing any of the above methods. For example, an apparatus is provided that includes units or modules for implementing the steps performed by the terminal in any of the above methods. Furthermore, another apparatus is provided that includes units or modules for implementing the steps performed by a network device (e.g., a RAN) in any of the above methods.

[0459] It should be understood that the division of units or modules in the above device is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units or modules in the device can be implemented by a processor calling software: for example, the device includes a processor connected to a memory containing instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of the units or modules in the above device. The processor can be, for example, a general-purpose processor, such as a Central Processing Unit (CPU) or a microprocessor, and the memory can be internal or external to the device. Alternatively, the units or modules in the device can be implemented in the form of hardware circuits. The functionality of some or all of the units or modules can be achieved through the design of these hardware circuits, which can be understood as one or more processors. For example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC). The functionality of some or all of the units or modules is achieved through the design of the logical relationships between the components within the circuit. In another implementation, the hardware circuit can be implemented using a programmable logic device (PLD). Taking a field-programmable gate array (FPGA) as an example, it can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files, thereby achieving the functionality of some or all of the units or modules. All units or modules of the above device can be implemented entirely through processor-called software, entirely through hardware circuits, or partially through processor-called software with the remaining parts implemented through hardware circuits.

[0460] In this embodiment, the processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a Central Processing Unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. The logical relationships of the aforementioned hardware circuits are fixed or reconfigurable. For example, the processor is a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units or modules. Furthermore, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a Neural Network Processing Unit (NPU), a Tensor Processing Unit (TPU), or a Deep Learning Processing Unit (DPU).

[0461] Figure 6 is a schematic diagram of the structure of a communication device proposed in an embodiment of this disclosure. As shown in Figure 6, the communication device 6100 may include at least one of a transceiver module 6101, a processing module 6102, etc.

[0462] In some embodiments, the communication device 6100 described above can be used to determine the location information of the perceived target, wherein...

[0463] The processing module 6102 is used to determine relevant information of the sensing signal, wherein the relevant information of the sensing signal includes at least one of the following: the sensing signal transmitting device transmitting the sensing signal transmitting information, the sensing signal receiving device receiving the sensing signal receiving information, the first position information of the transmitting device, the second position information of the receiving device, and the position information of the sensing target based on the relevant information of the sensing signal.

[0464] Optionally, in some embodiments of this disclosure, the information sent includes at least one of the following:

[0465] Sensing signal information;

[0466] The angle at which the sensing signal is transmitted;

[0467] The transmission time of the sensing signal;

[0468] The transmission power of the sensed signal;

[0469] Antenna configuration information for sensing signals.

[0470] Optionally, in some embodiments of this disclosure, receiving information includes at least one of the following:

[0471] Sensing signal information;

[0472] The angle at which the sensor signal is received;

[0473] The reception time of the sensed signal;

[0474] The received power of the sensed signal;

[0475] Information on the antenna configuration for receiving the sensing signal.

[0476] Optionally, in some embodiments of this disclosure, the sensed signal information includes at least one of the following:

[0477] Perceive business identification information;

[0478] Sensing signal configuration information;

[0479] Perceive resource information;

[0480] Sensing signal scrambling.

[0481] Optionally, in some embodiments of this disclosure, the first location information includes at least one of the following:

[0482] Send device location;

[0483] Device identifier of the sending device;

[0484] The first coordinate system type corresponding to the location of the transmitting device.

[0485] Optionally, in some embodiments of this disclosure, the second location information includes at least one of the following:

[0486] Location of receiving device;

[0487] Device identifier of the receiving device;

[0488] The second coordinate system type corresponding to the location of the receiving device.

[0489] Optionally, in some embodiments of this disclosure, the transmitting device or receiving device is an access network device; wherein, the device identifier of the access network device includes at least one of the following:

[0490] Identification of access network equipment;

[0491] The cell identifier corresponding to the sensing signal;

[0492] First channel identifier, wherein the first channel identifier indicates the first channel corresponding to the access network device, and the first channel is used to transmit sensing results;

[0493] The second channel identifier indicates the second channel corresponding to the access network device, and the second channel is used to configure sensing services.

[0494] Optionally, in some embodiments of this disclosure, the transmitting device or receiving device is a terminal; wherein, the device identifier of the terminal includes at least one of the following:

[0495] Temporary Identifier for Cellular Wireless Network (C-RNTI)

[0496] International Mobile Subscriber Identity (IMSI);

[0497] The third channel identifier indicates the third channel corresponding to the terminal, and the third channel is used to transmit the sensing results;

[0498] The fourth channel identifier indicates the fourth channel corresponding to the terminal, and the fourth channel is used to configure sensing services.

[0499] Optionally, in some embodiments of this disclosure, the information to be transmitted includes: the transmission angle of the sensing signal, and the information to be received includes: the reception angle of the sensing signal;

[0500] The processing module 6102 is used to determine the position information of the sensing target based on the sending angle of the sensing signal, the receiving angle of the sensing signal, the first position information, and the second position information.

[0501] Optionally, in some embodiments of this disclosure, the transmitted information includes: the transmission time of the sensing signal, and the received information includes: the reception time of the sensing signal and the reception angle of the sensing signal;

[0502] The processing module 6102 is used to determine the transmit-receive time difference based on the transmission time and reception time of the sensing signal, wherein the transmit-receive time difference represents the time interval between transmitting and receiving the sensing signal, and to determine the location information of the sensing target based on the first location information, the second location information, the transmit-receive time difference and the reception angle of the sensing signal.

[0503] Optionally, in some embodiments of this disclosure, the transmitted information includes: the transmission time of the sensing signal and the transmission angle of the sensing signal, and the received information includes: the reception time of the sensing signal;

[0504] The processing module 6102 is used to determine the transmit-receive time difference based on the transmission time and reception time of the sensing signal. The transmit-receive time difference represents the time interval between transmitting and receiving the sensing signal. The processing module 6102 is used to determine the location information of the sensing target based on the first location information, the second location information, the transmit-receive time difference, and the transmission angle of the sensing signal.

[0505] In some embodiments, the communication device 6100 described above can be used to transmit sensing signals. The communication device 6100 may include a transmitting device, wherein...

[0506] The processing module 6102 is used to determine the information to be sent.

[0507] The transceiver module 6101 is used to send a sensing signal according to the sending information; wherein, at least one of the first position information of the sending device of the sensing signal, the second position information of the receiving device of the sensing signal, the sending information, and the receiving information is used to determine the position information of the sensing target, and the receiving information is used for the receiving device to receive the sensing signal.

[0508] Optionally, in some embodiments of this disclosure, the information sent includes at least one of the following:

[0509] Sensing signal information;

[0510] The angle at which the sensing signal is transmitted;

[0511] The transmission time of the sensing signal;

[0512] The transmission power of the sensed signal;

[0513] Antenna configuration information for sensing signals.

[0514] Optionally, in some embodiments of this disclosure, receiving information includes at least one of the following:

[0515] Sensing signal information;

[0516] The angle at which the sensor signal is received;

[0517] The reception time of the sensed signal;

[0518] The received power of the sensed signal;

[0519] Information on the antenna configuration for receiving the sensing signal.

[0520] Optionally, in some embodiments of this disclosure, the sensed signal information includes at least one of the following:

[0521] Perceive business identification information;

[0522] Sensing signal configuration information;

[0523] Perceive resource information;

[0524] Sensing signal scrambling.

[0525] Optionally, in some embodiments of this disclosure, the first location information includes at least one of the following:

[0526] Send device location;

[0527] Device identifier of the sending device;

[0528] The first coordinate system type corresponding to the location of the transmitting device.

[0529] Optionally, in some embodiments of this disclosure, the second location information includes at least one of the following:

[0530] Location of receiving device;

[0531] Device identifier of the receiving device;

[0532] The second coordinate system type corresponding to the location of the receiving device.

[0533] Optionally, in some embodiments of this disclosure, the transmitting device or receiving device is an access network device; wherein, the device identifier of the access network device includes at least one of the following:

[0534] Identification of access network equipment;

[0535] The cell identifier corresponding to the sensing signal;

[0536] First channel identifier, wherein the first channel identifier indicates the first channel corresponding to the access network device, and the first channel is used to transmit sensing results;

[0537] The second channel identifier indicates the second channel corresponding to the access network device, and the second channel is used to configure sensing services.

[0538] Optionally, in some embodiments of this disclosure, the transmitting device or receiving device is a terminal; wherein, the device identifier of the terminal includes at least one of the following:

[0539] Temporary Identifier for Cellular Wireless Network (C-RNTI)

[0540] International Mobile Subscriber Identity (IMSI);

[0541] The third channel identifier indicates the third channel corresponding to the terminal, and the third channel is used to transmit the sensing results;

[0542] The fourth channel identifier indicates the fourth channel corresponding to the terminal, and the fourth channel is used to configure sensing services.

[0543] In some embodiments, the communication device 6100 described above can be used to receive sensing signals. The communication device 6100 may include a receiving device, wherein...

[0544] Processing module 6102 is used to determine the received information.

[0545] The transceiver module 6101 is used to receive sensing signals based on the received information; wherein, at least one of the first position information of the sensing signal transmitting device, the second position information of the sensing signal receiving device, the transmitting information, and the receiving information is used to determine the position information of the sensing target, and the transmitting information is used for the transmitting device to transmit the sensing signal.

[0546] Optionally, in some embodiments of this disclosure, the information sent includes at least one of the following:

[0547] Sensing signal information;

[0548] The angle at which the sensing signal is transmitted;

[0549] The transmission time of the sensing signal;

[0550] The transmission power of the sensed signal;

[0551] Antenna configuration information for sensing signals.

[0552] Optionally, in some embodiments of this disclosure, receiving information includes at least one of the following:

[0553] Sensing signal information;

[0554] The angle at which the sensor signal is received;

[0555] The reception time of the sensed signal;

[0556] The received power of the sensed signal;

[0557] Information on the antenna configuration for receiving the sensing signal.

[0558] Optionally, in some embodiments of this disclosure, the sensed signal information includes at least one of the following:

[0559] Perceive business identification information;

[0560] Sensing signal configuration information;

[0561] Perceive resource information;

[0562] Sensing signal scrambling.

[0563] Optionally, in some embodiments of this disclosure, the first location information includes at least one of the following:

[0564] Send device location;

[0565] Device identifier of the sending device;

[0566] The first coordinate system type corresponding to the location of the transmitting device.

[0567] Optionally, in some embodiments of this disclosure, the second location information includes at least one of the following:

[0568] Location of receiving device;

[0569] Device identifier of the receiving device;

[0570] The second coordinate system type corresponding to the location of the receiving device.

[0571] Optionally, in some embodiments of this disclosure, the transmitting device or receiving device is an access network device; wherein, the device identifier of the access network device includes at least one of the following:

[0572] Identification of access network equipment;

[0573] The cell identifier corresponding to the sensing signal;

[0574] First channel identifier, wherein the first channel identifier indicates the first channel corresponding to the access network device, and the first channel is used to transmit sensing results;

[0575] The second channel identifier indicates the second channel corresponding to the access network device, and the second channel is used to configure sensing services.

[0576] Optionally, in some embodiments of this disclosure, the transmitting device or receiving device is a terminal; wherein, the device identifier of the terminal includes at least one of the following:

[0577] Temporary Identifier for Cellular Wireless Network (C-RNTI)

[0578] International Mobile Subscriber Identity (IMSI);

[0579] The third channel identifier indicates the third channel corresponding to the terminal, and the third channel is used to transmit the sensing results;

[0580] The fourth channel identifier indicates the fourth channel corresponding to the terminal, and the fourth channel is used to configure sensing services.

[0581] Optionally, the transceiver module described above is used to perform at least one of the communication steps such as sending and / or receiving performed by the network device in any of the above methods, which will not be elaborated here.

[0582] Optionally, the above processing module is used to perform at least one of the other steps performed by the network device in any of the above methods, which will not be elaborated here.

[0583] Figure 7A is a schematic diagram of the structure of the communication device proposed in an embodiment of this disclosure. The communication device 7100 can be either the transmitting device or the receiving device described above. The communication device can be used to determine the location information of a sensing target. The communication device 7100 can be a network device (e.g., access network device, core network device, etc.), a terminal (e.g., user equipment, etc.), a chip, chip system, or processor that supports the network device in implementing any of the above methods, or a chip, chip system, or processor that supports the terminal in implementing any of the above methods. The communication device 7100 can be used to implement the methods described in the above method embodiments; for details, please refer to the descriptions in the above method embodiments.

[0584] As shown in Figure 7A, the communication device 7100 includes one or more processors 7101. The processor 7101 can be a general-purpose processor or a dedicated processor, such as a baseband processor or a central processing unit (CPU). The baseband processor can be used to process communication protocols and communication data, while the CPU can be used to control communication devices (e.g., base stations, baseband chips, terminal devices, terminal device chips, DUs or CUs, etc.), execute programs, and process program data. The communication device 7100 is used to execute any of the above methods.

[0585] In some embodiments, the communication device 7100 further includes one or more memories 7102 for storing instructions. Optionally, all or part of the memories 7102 may also be located outside the communication device 7100.

[0586] In some embodiments, the communication device 7100 further includes one or more transceivers 7103. When the communication device 7100 includes one or more transceivers 7103, the transceivers 7103 perform at least one of the communication steps such as sending and / or receiving in the above method, and the processor 7101 performs other steps.

[0587] In some embodiments, a transceiver may include a receiver and / or a transmitter, which may be separate or integrated. Optionally, the terms transceiver, transceiver unit, transceiver, transceiver circuit, etc., may be used interchangeably; the terms transmitter, transmitting unit, transmitter, transmitting circuit, etc., may be used interchangeably; and the terms receiver, receiving unit, receiver, receiving circuit, etc., may be used interchangeably.

[0588] In some embodiments, the communication device 7100 may include one or more interface circuits 7104. Optionally, the interface circuit 7104 is connected to the memory 7102, and the interface circuit 7104 can be used to receive signals from the memory 7102 or other devices, and can be used to send signals to the memory 7102 or other devices. For example, the interface circuit 7104 can read instructions stored in the memory 7102 and send the instructions to the processor 7101.

[0589] The communication device 7100 described in the above embodiments may be a network device or a terminal, but the scope of the communication device 7100 described in this disclosure is not limited thereto, and the structure of the communication device 7100 may not be limited by FIG. 7A. The communication device may be a standalone device or a part of a larger device. For example, the communication device may be: (1) a standalone integrated circuit IC, or chip, or chip system or subsystem; (2) a collection of one or more ICs, optionally, the IC collection may also include storage components for storing data and programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, terminal device, smart terminal device, cellular phone, wireless device, handheld device, mobile unit, vehicle device, network device, cloud device, artificial intelligence device, etc.; (6) others, etc.

[0590] Figure 7B is a schematic diagram of the chip structure proposed in an embodiment of this disclosure. For cases where the communication device 7100 can be a chip or a chip system, please refer to the schematic diagram of the chip 7200 shown in Figure 7B, but it is not limited thereto.

[0591] Chip 7200 includes one or more processors 7201, which are used to perform any of the above methods.

[0592] In some embodiments, chip 7200 further includes one or more interface circuits 7202. Optionally, the interface circuit 7202 is connected to memory 7203, and the interface circuit 7202 can be used to receive signals from memory 7203 or other devices, and the interface circuit 7202 can be used to send signals to memory 7203 or other devices. For example, the interface circuit 7202 can read instructions stored in memory 7203 and send the instructions to processor 7201.

[0593] In some embodiments, the interface circuit 7202 performs at least one of the communication steps such as sending and / or receiving in the above method, and the processor 7201 performs at least one of the other steps.

[0594] In some embodiments, the terms interface circuit, interface, transceiver pin, transceiver, etc., can be used interchangeably.

[0595] In some embodiments, chip 7200 further includes one or more memories 7203 for storing instructions. Optionally, all or part of the memories 7203 may be located outside of chip 7200.

[0596] This disclosure also proposes a storage medium storing instructions that, when executed on the communication device 7100, cause the communication device 7100 to perform any of the above methods. Optionally, the storage medium is an electronic storage medium. Optionally, the storage medium is a computer-readable storage medium, but not limited thereto; it may also be a storage medium readable by other devices. Optionally, the storage medium may be a non-transitory storage medium, but not limited thereto; it may also be a temporary storage medium.

[0597] This disclosure also provides a program product that, when executed by the communication device 7100, causes the communication device 7100 to perform any of the above methods. Optionally, the program product is a computer program product.

[0598] This disclosure also proposes a computer program that, when run on a computer, causes the computer to perform any of the above methods.

[0599] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer programs. When the computer program is loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this disclosure are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer program can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program can be transferred from one website, computer, server, or data center to another via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium accessible to a computer or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., high-density digital video discs (DVDs)), or semiconductor media (e.g., solid-state disks (SSDs)).

[0600] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this disclosure.

[0601] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0602] The above description is merely a specific embodiment of this disclosure, but the scope of protection of this disclosure is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this disclosure should be included within the scope of protection of this disclosure. Therefore, the scope of protection of this disclosure should be determined by the scope of the claims.

Claims

1. A sensing and control method, characterized in that, The method includes: Determine relevant information of the sensing signal, wherein the relevant information of the sensing signal includes at least one of the following: the sensing signal transmitting device transmitting the sensing signal transmitting information, the sensing signal receiving device receiving the sensing signal receiving information, the first location information of the transmitting device, and the second location information of the receiving device; Based on the relevant information of the sensing signal, the location information of the sensing target is determined.

2. The method as described in claim 1, characterized in that, The transmitted information includes at least one of the following: Sensing signal information; The angle at which the sensing signal is transmitted; The transmission time of the sensing signal; The transmission power of the sensing signal; The antenna configuration information for transmitting the sensed signal.

3. The method as described in claim 1 or 2, characterized in that, The received information includes at least one of the following: Sensing signal information; The angle at which the sensing signal is received; The reception time of the sensing signal; The received power of the sensed signal; The antenna configuration information for receiving the sensed signal.

4. The method as described in claim 2 or 3, characterized in that, The sensed signal information includes at least one of the following: Perceive business identification information; Sensing signal configuration information; Perceive resource information; Sensing signal scrambling.

5. The method according to any one of claims 1-4, characterized in that, The first location information includes at least one of the following: Send device location; Device identifier of the sending device; The first coordinate system type corresponding to the location of the transmitting device.

6. The method according to any one of claims 1-5, characterized in that, The second location information includes at least one of the following: Location of receiving device; The device identifier of the receiving device; The second coordinate system type corresponding to the location of the receiving device.

7. The method as described in claim 5 or 6, characterized in that, The transmitting device or the receiving device is an access network device; wherein, the device identifier of the access network device includes at least one of the following: The identifier of the access network device; The cell identifier corresponding to the sensed signal; First channel identifier, wherein the first channel identifier indicates a first channel corresponding to the access network device, and the first channel is used to transmit sensing results; The second channel identifier indicates a second channel corresponding to the access network device, and the second channel is used to configure sensing services.

8. The method as described in claim 5 or 6, characterized in that, The transmitting device or the receiving device is a terminal; wherein, the device identifier of the terminal includes at least one of the following: Temporary Identifier for Cellular Wireless Network (C-RNTI) International Mobile Subscriber Identity (IMSI); A third channel identifier, wherein the third channel identifier indicates a third channel corresponding to the terminal, and the third channel is used to transmit sensing results; The fourth channel identifier indicates the fourth channel corresponding to the terminal, and the fourth channel is used to configure sensing services.

9. The method according to any one of claims 1-8, characterized in that, The transmitted information includes the transmission angle of the sensing signal, and the received information includes the reception angle of the sensing signal. The step of determining the location information of the perceived target based on the relevant information of the perceived signal includes: The location information of the sensing target is determined based on the transmission angle of the sensing signal, the reception angle of the sensing signal, the first location information, and the second location information.

10. The method according to any one of claims 1-8, characterized in that, The transmitted information includes the transmission time of the sensing signal, and the received information includes the reception time of the sensing signal and the reception angle of the sensing signal. The step of determining the location information of the perceived target based on the relevant information of the perceived signal includes: The transmit / receive time difference is determined based on the transmission time and reception time of the sensing signal, wherein the transmit / receive time difference is used to represent the time interval between transmitting and receiving the sensing signal; The location information of the sensing target is determined based on the first location information, the second location information, the transmission and reception time difference, and the receiving angle of the sensing signal.

11. The method according to any one of claims 1-8, characterized in that, The transmitted information includes: the transmission time of the sensing signal and the transmission angle of the sensing signal; the received information includes: the reception time of the sensing signal. The step of determining the location information of the perceived target based on the relevant information of the perceived signal includes: The transmit / receive time difference is determined based on the transmission time and reception time of the sensing signal, wherein the transmit / receive time difference is used to represent the time interval between transmitting and receiving the sensing signal; The location information of the sensing target is determined based on the first location information, the second location information, the transmission and reception time difference, and the transmission angle of the sensing signal.

12. A sensing and control method, characterized in that, The method includes: Confirm message to be sent; Based on the transmitted information, a sensing signal is sent; Wherein, at least one of the first location information of the sensing signal transmitting device, the second location information of the sensing signal receiving device, the transmitting information, and the receiving information is used to determine the location information of the sensing target, and the receiving information is used by the receiving device to receive the sensing signal.

13. The method as described in claim 12, characterized in that, The transmitted information includes at least one of the following: Sensing signal information; The angle at which the sensing signal is transmitted; The transmission time of the sensing signal; The transmission power of the sensing signal; The antenna configuration information for transmitting the sensed signal.

14. The method as described in claim 12 or 13, characterized in that, The received information includes at least one of the following: Sensing signal information; The angle at which the sensing signal is received; The reception time of the sensing signal; The received power of the sensed signal; The antenna configuration information for receiving the sensed signal.

15. The method as described in claim 13 or 14, characterized in that, The sensed signal information includes at least one of the following: Perceive business identification information; Sensing signal configuration information; Perceive resource information; Sensing signal scrambling.

16. The method according to any one of claims 12-15, characterized in that, The first location information includes at least one of the following: Send device location; Device identifier of the sending device; The first coordinate system type corresponding to the location of the transmitting device.

17. The method according to any one of claims 12-16, characterized in that, The second location information includes at least one of the following: Location of receiving device; The device identifier of the receiving device; The second coordinate system type corresponding to the location of the receiving device.

18. The method as described in claim 16 or 17, characterized in that, The transmitting device or the receiving device is an access network device; wherein the device identifier of the access network device includes at least one of the following: The identifier of the access network device; The cell identifier corresponding to the sensed signal; First channel identifier, wherein the first channel identifier indicates a first channel corresponding to the access network device, and the first channel is used to transmit sensing results; The second channel identifier indicates a second channel corresponding to the access network device, and the second channel is used to configure sensing services.

19. The method as described in claim 16 or 17, characterized in that, The transmitting device or the receiving device is a terminal; wherein the device identifier of the terminal includes at least one of the following: Temporary Identifier for Cellular Wireless Network (C-RNTI) International Mobile Subscriber Identity (IMSI); A third channel identifier, wherein the third channel identifier indicates a third channel corresponding to the terminal, and the third channel is used to transmit sensing results; The fourth channel identifier indicates the fourth channel corresponding to the terminal, and the fourth channel is used to configure sensing services.

20. A sensing and control method, characterized in that, The method includes: Confirm receipt of information; Based on the received information, a sensing signal is received; Wherein, at least one of the first location information of the sensing signal transmitting device, the second location information of the sensing signal receiving device, the transmitting information, and the receiving information is used to determine the location information of the sensing target, and the transmitting information is used by the transmitting device to transmit the sensing signal.

21. The method as described in claim 20, characterized in that, The transmitted information includes at least one of the following: Sensing signal information; The angle at which the sensing signal is transmitted; The transmission time of the sensing signal; The transmission power of the sensing signal; The antenna configuration information for transmitting the sensed signal.

22. The method as described in claim 20 or 21, characterized in that, The received information includes at least one of the following: Sensing signal information; The angle at which the sensing signal is received; The reception time of the sensing signal; The received power of the sensed signal; The antenna configuration information for receiving the sensed signal.

23. The method as described in claim 21 or 22, characterized in that, The sensed signal information includes at least one of the following: Perceive business identification information; Sensing signal configuration information; Perceive resource information; Sensing signal scrambling.

24. The method according to any one of claims 20-23, characterized in that, The first location information includes at least one of the following: Send device location; Device identifier of the sending device; The first coordinate system type corresponding to the location of the transmitting device.

25. The method according to any one of claims 20-24, characterized in that, The second location information includes at least one of the following: Location of receiving device; The device identifier of the receiving device; The second coordinate system type corresponding to the location of the receiving device.

26. The method as described in claim 24 or 25, characterized in that, The transmitting device or the receiving device is an access network device; wherein the device identifier of the access network device includes at least one of the following: The identifier of the access network device; The cell identifier corresponding to the sensed signal; First channel identifier, wherein the first channel identifier indicates a first channel corresponding to the access network device, and the first channel is used to transmit sensing results; The second channel identifier indicates a second channel corresponding to the access network device, and the second channel is used to configure sensing services.

27. The method as described in claim 24 or 25, characterized in that, The transmitting device or the receiving device is a terminal; wherein the device identifier of the terminal includes at least one of the following: Temporary Identifier for Cellular Wireless Network (C-RNTI) International Mobile Subscriber Identity (IMSI); A third channel identifier, wherein the third channel identifier indicates a third channel corresponding to the terminal, and the third channel is used to transmit sensing results; The fourth channel identifier indicates the fourth channel corresponding to the terminal, and the fourth channel is used to configure sensing services.

28. A communication device, characterized in that, The communication device is used to perform the method as described in any one of claims 1-11, 12-19, or 20-27.

29. A communication system, characterized in that, The device includes a transmitting device, a receiving device, and a communication device, wherein the communication device is used to perform the method as described in any one of claims 1-11, the transmitting device is used to perform the method as described in any one of claims 12-19, and the receiving device is used to perform the method as described in any one of claims 20-27.

30. A storage medium storing instructions, characterized in that, When the instructions are executed on the communication device, the communication device performs the method as described in any one of claims 1-11, 12-19, or 20-27.

31. A computer program product, characterized in that, Includes a computer program that, when executed by a processor, implements the method of any one of claims 1-11, 12-19, or 20-27.

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