Sensing and communication method, communication node, and storage medium

Abstract

The present application provides a sensing and communication method, a communication node, and a storage medium. The sensing and communication method comprises: determining a sensing configuration; and performing at least one sensing measurement on the basis of the sensing configuration, wherein when at least two sensing measurements are performed, a sensing measurement result is obtained by fusing measurement results obtained from each sensing measurement.

Description

Sensing communication methods, communication nodes and storage media Technical Field

[0001] This application relates to the field of wireless communication technology, such as a sensing communication method, a communication node, and a storage medium. Background Technology

[0002] Sensor-communication integration is an important research direction. However, current sensor-communication integration solutions have some drawbacks. For example, the introduction of sensing reference signals significantly impacts the communication systems within these technologies. Furthermore, some communication reference signals may have long transmission periods or poor sequence correlation, making it impossible to achieve the required sensing performance for high-speed moving sensing targets. Additionally, the varying sensing capabilities of different user equipment (UEs) may be unknown to the network side or the sensing receiver, leading to low reliability and efficiency in sensing communication. Therefore, how to conduct efficient sensing services while optimizing or minimizing communication disruption has become a pressing issue. Summary of the Invention

[0003] This application provides a sensing communication method, a communication node, and a storage medium.

[0004] This application provides a communication sensing method, executed by a first communication node, the method comprising:

[0005] Determine the perception configuration;

[0006] At least one perception measurement is performed according to the perception configuration; wherein, in the case of performing at least two perception measurements, the perception measurement result is obtained by fusing the measurement results obtained from each perception measurement.

[0007] This application also provides a communication sensing method, including:

[0008] A sensing configuration is sent to a first communication node, the sensing configuration being used to instruct the first communication node to perform at least one sensing measurement; wherein, if the first communication node performs at least two sensing measurements, the sensing measurement result is obtained by fusing the measurement results obtained from each sensing measurement.

[0009] This application also provides a communication node, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the above-described communication sensing method.

[0010] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described communication sensing method. Attached Figure Description

[0011] Figure 1 is a flowchart of a communication sensing method provided in an embodiment;

[0012] Figure 2 is a flowchart of another communication sensing method provided in one embodiment;

[0013] Figure 3 is a schematic diagram of a method for dividing a sensing region according to an embodiment;

[0014] Figure 4 is a schematic diagram of a time window length provided in one embodiment;

[0015] Figure 5 is a schematic diagram of a basic signaling flow for on-demand RACH awareness provided in one embodiment;

[0016] Figure 6 is a schematic diagram of an extended signaling flow for persistent RACH awareness provided in one embodiment;

[0017] Figure 7 is a schematic diagram of a collaborative sensing signaling process in a multi-UE scenario provided by an embodiment;

[0018] Figure 8 is a schematic diagram of a signaling flow for speed measurement optimization provided in one embodiment;

[0019] Figure 9 is a schematic diagram of a signaling process for dynamically adjusting sensing parameters according to an embodiment;

[0020] Figure 10 is a schematic diagram of an emergency sensing triggering signaling process provided in an embodiment;

[0021] Figure 11 is a schematic diagram of a communication sensing device according to an embodiment;

[0022] Figure 12 is a schematic diagram of another communication sensing device provided in one embodiment;

[0023] Figure 13 is a schematic diagram of the hardware structure of a communication node according to an embodiment. Detailed Implementation

[0024] The preamble transmitted in the Random Access Channel (RACH) can be a relatively ideal Zadoff-Chu (ZC) sequence, possessing relatively ideal autocorrelation and cross-correlation characteristics. Furthermore, the Orthogonal Frequency Division Multiplexing (OFDM) system uses the ZC sequence as a reference signal, which, from a certain perspective, can be regarded as a Linear Frequency Modulation (LFM) waveform commonly used in existing related radar systems.

[0025] In integrated sensing solutions within related technologies, for Time Division Duplex (TDD), the sensing reference signal is typically located in uplink and downlink subframes. For Frequency Division Duplex (FDD), this is based on the established connection between the base station (BS) and the user equipment (UE). How to perform sensing or acquire sensing information during the initial access process remains an unexplored area.

[0026] An example, a competition-based RACH procedure, is as follows:

[0027] 1) The UE sends a RACH preamble to the network side (containing the Random Access Radio Network Temporary Identifier (RA-RNTI) and an indication of the L2 / L3 message size).

[0028] 2) The network sends a random access response to the UE (including advance timing, Temporary Cell Radio Network Temporary Identifier (T_C-RNTI), and UL authorization for L2 / L3 messages).

[0029] 3) The UE sends L2 / L3 messages to the network side.

[0030] 4) Early competition resolution message.

[0031] An example, non-competitive RACH procedure is as follows:

[0032] 1) The network side sends RACH preamble (PRACH) allocation to the UE.

[0033] 2) The UE sends a RACH preamble to the network side (containing RA-RNTI, an indication of the L2 / L3 message size).

[0034] 3) The network sends a random access response to the UE (including advance timing, Cell Radio Network Temporary Identifier (C-RNTI), and UL authorization for L2 / L3 messages).

[0035] Figure 1 is a flowchart of a communication sensing method provided in one embodiment. This method can be applied to a first communication node, which can be a node that performs sensing measurements, such as a terminal device or UE. It can be a sensing receiver or transmitter, a sensing service initiating node, a sensing computing unit, or a sensing fusion node, etc., and there can be one or more first communication nodes. As shown in Figure 1, the method provided in this embodiment includes steps 110 and 120.

[0036] In step 110, the sensing configuration is determined.

[0037] In step 120, at least one sensing measurement is performed according to the sensing configuration; wherein, in the case of performing at least two sensing measurements, the sensing measurement result is obtained by fusing the measurement results obtained from each sensing measurement.

[0038] The communication sensing method of this application embodiment allows for flexible configuration of the sensing terminal's sensing configuration. It enables the fusion of measurement results from multiple sensing measurements, and allows for sensing services during initial access, determining random access timing, etc. The aim is to reuse reference signal sequences supported by related protocols as much as possible, optimizing the sensing process, sensing fusion, and the UE's performance of certain sensing service-related content during initial access, while minimizing or eliminating communication impact, to achieve efficient sensing services.

[0039] In one embodiment, the method further includes:

[0040] Step 100: Report capability information, which includes perception-related capability information of the at least one user device.

[0041] In one embodiment, the at least one user equipment includes a first user equipment and a second user equipment; the second user equipment is a sensing receiver or a sensing transmitter corresponding to the first user equipment.

[0042] In one embodiment, reporting capability information includes:

[0043] During the initial access process, a preamble is sent, and the capability information is contained in the preamble.

[0044] In one embodiment, for any of the user equipment, the association between the user equipment's perception-related capabilities and the low-power user equipment includes at least one of the following:

[0045] Low-power user equipment does not have sensing-related capabilities;

[0046] Low-power user equipment that reports capability information has reduced perception-related capabilities;

[0047] Low-power user equipment that reports capability information has sensing-related capabilities.

[0048] In one embodiment, the sensing configuration includes sensing parameters;

[0049] The determination of the sensing configuration includes: receiving a random access response message, wherein the random access response message contains the sensing parameters.

[0050] In one embodiment, the sensing parameters include at least one of the following: resource parameters, signal index, time domain indication, frequency domain indication, and spatial quasi-co-address indication.

[0051] In one embodiment, the sensing configuration includes a sensing identifier.

[0052] The perception identifier is used to indicate the perception behavior of at least one user device.

[0053] In one embodiment, when the sensing identifier is included in signaling for configuring a time window, the sensing behavior includes at least one of the following:

[0054] Receive the sensing echo signal within the first time window;

[0055] Report the sensing measurement results within the second time window.

[0056] In one embodiment, performing at least one sensing measurement according to the sensing configuration includes:

[0057] Step 1210: Perform the first sensing measurement according to the sensing configuration to obtain the first measurement result;

[0058] Step 1220: Perform a second sensing measurement under the preset conditions to obtain the second measurement result;

[0059] The preset conditions include at least one of the following:

[0060] The first measurement result exceeds a preset threshold;

[0061] Reaching the preset time interval;

[0062] Trigger indication received;

[0063] Triggered by autonomous decision-making.

[0064] In one embodiment, the method further includes:

[0065] Step 130: Fuse the first measurement result and the second measurement result to obtain the fused measurement result.

[0066] In one embodiment, fusing the first measurement result and the second measurement result includes at least one of the following:

[0067] For two sensing measurements with the same bandwidth, calculate the weighted average of the Reference Signal Receiving Power (RSRP) in the first measurement result and the second measurement result;

[0068] For two sensing measurements with the same bandwidth, calculate the weighted average of the Reference Signal Receiving Quality (RSRQ) in the first measurement result and the second measurement result;

[0069] For two sensing measurements with the same bandwidth, calculate the weighted average of the signal to interference plus noise ratio (SINR) in the first measurement result and the second measurement result;

[0070] For two sensing measurements with different bandwidths, the measured values ​​in the first measurement result and the second measurement result are normalized, and the weighted average of the normalized measured values ​​is calculated.

[0071] For two sensing measurements with different bandwidths, the measurement value corresponding to the target bandwidth is selected according to the actual application scenario.

[0072] In one embodiment, the method further includes:

[0073] Step 101: Divide the sensing area for performing sensing measurements according to at least one of the following:

[0074] Reference angle, reference distance, absolute angle, absolute distance, longitude, latitude, altitude, and the area where the target is located.

[0075] In one embodiment, the method further includes:

[0076] Step 140: Report the fusion measurement results, which include at least one of the following:

[0077] The fused RSRP measurement value, the fused RSRQ measurement value, the fused SINR measurement value, the timestamps of the two sensing measurements, the measurement bandwidth information, and the fusion processing method indication.

[0078] In one embodiment, the preamble satisfies at least one of the following association relationships:

[0079] The preamble and the uplink probe reference signal have the same beam information;

[0080] The preamble and the sensing reference signal have the same beam information;

[0081] The preamble and uplink probe reference signal are quasi-co-addressable;

[0082] The preamble and the sensing reference signal are quasi-co-addressable.

[0083] In one embodiment, the fusion includes the fusion of at least one of random access timing, signaling, and channel:

[0084] The signal includes at least one of the following: demodulation reference signal (DMRS), phase-tracking reference signal (PTRS), sounding reference signal (SRS), positioning reference signal (PRS), and remote interference management reference signal (RIM-RS).

[0085] The channel includes at least one of the following: Physical Broadcast Channel (PBCH), Physical Downlink Shared Channel (PDSCH), Physical Downlink Control Channel (PDCCH), Physical Uplink Control Channel (PUCCH), Physical Uplink Shared Channel (PUSCH), Physical Sidelink Shared Channel (PSSCH), Physical Sidelink Control Channel (PSCCH), Physical Sidelink Feedback Channel (PSFCH), Physical Random Access Channel (PRACH), and Synchronization Signal / PBCH Block (SSB).

[0086] In one embodiment, the first measurement result and the second measurement result are fused to obtain a fused measurement result, including:

[0087] Spatiotemporal registration is performed on the first measurement result and the second measurement result. The spatiotemporal registration includes unifying the time reference, converting the measurement values ​​to a standard coordinate system, and performing error compensation on the measurement values ​​in the standard coordinate system.

[0088] The first feature vector of the key features of the first measurement result after spatiotemporal registration and the second feature vector of the key features of the second measurement result after spatiotemporal registration are extracted respectively.

[0089] Calculate the similarity between the first feature vector and the second feature vector;

[0090] Based on the similarity, it is determined that the first feature vector and the second feature vector are associated with the same perceptual target;

[0091] The fusion measurement result is determined based on the first feature vector and the second feature vector.

[0092] In one embodiment, determining the fusion measurement result based on the first feature vector and the second feature vector includes:

[0093] The first weight corresponding to the first measurement result and the second weight corresponding to the second measurement result are determined based on the measurement accuracy.

[0094] Based on the first weight and the second weight, the first feature vector and the second feature vector are weighted and calculated to obtain the fusion measurement result;

[0095] The quality of the fusion measurement results is assessed based on priority evaluation indicators.

[0096] In one embodiment, the fusion measurement results include at least one of the following of the perceived target: number, location coordinates, movement speed, and movement trajectory.

[0097] In one embodiment, the key features include at least one of the following of the perceived target: position, velocity, acceleration, Doppler, and microDoppler.

[0098] In one embodiment, the method further includes:

[0099] Step 102: Determine the timing of random access to the sensing and measurement process.

[0100] In one embodiment, the timing of the random access is determined based on configuration information;

[0101] The process of obtaining the configuration information includes:

[0102] The configuration information is obtained by accessing neighboring cells;

[0103] The configuration information is sent by the serving cell to the core network element, and then forwarded to neighboring cells by the core network element; or...

[0104] The configuration information is sent by the serving cell to neighboring cells through a designated interface.

[0105] In one embodiment, determining the random access timing of the sensing measurement process includes:

[0106] When there is a need for sensing services, determine the timing of random access to the sensing measurement process.

[0107] In one embodiment, the random access timing includes at least one of the following: a random access timing dedicated to sensing and measurement, a random access timing corresponding to low-power user equipment, and a random access timing corresponding to non-low-power user equipment.

[0108] In one embodiment, the random access timing dedicated to sensing and measurement includes at least one of the following: random access timing corresponding to low-power user equipment, and random access timing corresponding to non-low-power user equipment.

[0109] In one embodiment, the method further includes at least one of the following:

[0110] The sensing and measurement method is determined based on the resource configuration status at the random access time.

[0111] The resource configuration status is configured or not configured. Correspondingly, the sensing measurement method is to perform sensing measurement using the Random Access Channel for Sensing (RBCH) or not using the RBCH.

[0112] In one embodiment, the random access timing includes at least one of the following:

[0113] General timing for sensing measurements;

[0114] The general timing for supporting reference signals in sensing and measurement services;

[0115] This includes a general timing for at least one reference signal or channel used for non-sensory measurements.

[0116] Figure 2 is a flowchart of a communication sensing method provided in one embodiment. This method can be applied to a second communication node, which can be a node that sends sensing configuration or a node that receives or processes sensing measurement results. For example, it can be a network-side device, such as a core network element or a base station, or a UE, or a sensing service initiating node, sensing computing unit, or sensing fusion node, etc. As shown in Figure 2, the method provided in this embodiment includes step 210.

[0117] In step 210, a sensing configuration is sent to the first communication node, the sensing configuration being used to instruct the first communication node to perform at least one sensing measurement; wherein, if the first communication node performs at least two sensing measurements, the sensing measurement result is obtained by fusing the measurement results obtained from each sensing measurement.

[0118] In one embodiment, the method further includes:

[0119] Step 200: Receive capability information reported by the first communication node, the capability information including perception-related capability information of the at least one user device.

[0120] In one embodiment, the capability information reported by the first communication node includes:

[0121] During the initial access process, a preamble sent by the user equipment is received, and the capability information is contained in the preamble.

[0122] In one embodiment, for any of the user equipment, the association between the user equipment's perception-related capabilities and the low-power user equipment includes at least one of the following:

[0123] Low-power user equipment does not have sensing-related capabilities;

[0124] Low-power user equipment that reports capability information has reduced perception-related capabilities;

[0125] Low-power user equipment that reports capability information has sensing-related capabilities.

[0126] In one embodiment, the sensing configuration includes sensing parameters;

[0127] Sending the sensing configuration to the first communication node includes:

[0128] Send a random access response message to the first communication node, the random access response message containing the sensing parameters;

[0129] The sensing parameters include at least one of the following: resource parameters, signal index, time domain indicator, frequency domain indicator, spatial quasi-co-location indicator, and sensing identifier;

[0130] The perception identifier is used to indicate the perception behavior of at least one user device.

[0131] In one embodiment, the method further includes:

[0132] Step 220: Fuse the first measurement result obtained from the first sensing measurement performed on the first communication node and the second measurement result obtained from the second sensing measurement performed on the first communication node to obtain a fused measurement result.

[0133] In one embodiment, the at least one user equipment includes a first user equipment and a second user equipment; the second user equipment is a sensing receiver or a sensing transmitter corresponding to the first user equipment.

[0134] The perception identifier is used to indicate the perception behavior of at least one user device.

[0135] In one embodiment, when the sensing identifier is included in signaling for configuring a time window, the sensing behavior includes at least one of the following:

[0136] Receive the sensing echo signal within the first time window;

[0137] Report the sensing measurement results within the second time window.

[0138] In one embodiment, fusing the first measurement result and the second measurement result includes at least one of the following:

[0139] For two sensing measurements with the same bandwidth, calculate the weighted average of RSRP in the first measurement result and the second measurement result;

[0140] For two sensing measurements with the same bandwidth, calculate the weighted average of the RSRQ in the first measurement result and the second measurement result;

[0141] For two sensing measurements with the same bandwidth, calculate the weighted average of the SINR in the first measurement result and the second measurement result;

[0142] For two sensing measurements with different bandwidths, the measured values ​​in the first measurement result and the second measurement result are normalized, and the weighted average of the normalized measured values ​​is calculated.

[0143] For two sensing measurements with different bandwidths, the measurement value corresponding to the target bandwidth is selected according to the actual application scenario.

[0144] In one embodiment, the method further includes: step 201, dividing the sensing area for performing the sensing measurement according to at least one of the following: reference angle, reference distance, absolute angle, absolute distance, longitude, latitude, altitude, and the area where the sensing target is located.

[0145] In one embodiment, the fused measurement result includes at least one of the following: fused RSRP measurement value, fused RSRQ measurement value, fused SINR measurement value, timestamps of the two sensing measurements, measurement bandwidth information, and fusion processing method indication.

[0146] In one embodiment, the preamble satisfies at least one of the following association relationships:

[0147] The preamble and the uplink probe reference signal have the same beam information;

[0148] The preamble and the sensing reference signal have the same beam information;

[0149] The preamble and uplink probe reference signal are quasi-co-addressable;

[0150] The preamble and the sensing reference signal are quasi-co-addressable.

[0151] In one embodiment, the fusion includes the fusion of at least one of random access timing, signaling, and channel:

[0152] The signal includes at least one of the following: DMRS, PTRS, SRS, PRS, RIM-RS;

[0153] The channel includes at least one of the following: PBCH, PDSCH, PDCCH, PUCCH, PUSCH, PSSCH, PSCCH, PSFCH, PRACH, SSB.

[0154] In one embodiment, the first measurement result and the second measurement result are fused to obtain a fused measurement result, including:

[0155] Spatiotemporal registration is performed on the first measurement result and the second measurement result. The spatiotemporal registration includes unifying the time reference, converting the measurement values ​​to a standard coordinate system, and performing error compensation on the measurement values ​​in the standard coordinate system.

[0156] The first feature vector of the key features of the first measurement result after spatiotemporal registration and the second feature vector of the key features of the second measurement result after spatiotemporal registration are extracted respectively.

[0157] Calculate the similarity between the first feature vector and the second feature vector;

[0158] Based on the similarity, it is determined that the first feature vector and the second feature vector are associated with the same perceptual target;

[0159] The fusion measurement result is determined based on the first feature vector and the second feature vector.

[0160] In one embodiment, determining the fusion measurement result based on the first feature vector and the second feature vector includes:

[0161] The first weight corresponding to the first measurement result and the second weight corresponding to the second measurement result are determined based on the measurement accuracy.

[0162] Based on the first weight and the second weight, the first feature vector and the second feature vector are weighted and calculated to obtain the fusion measurement result;

[0163] The quality of the fusion measurement results is assessed based on priority evaluation indicators.

[0164] In one embodiment, the fusion measurement results include at least one of the following of the perceived target: number, location coordinates, movement speed, and movement trajectory.

[0165] In one embodiment, the key features include at least one of the following of the perceived target: position, velocity, acceleration, Doppler, and microDoppler.

[0166] In one embodiment, the method further includes: step 202, determining the random access timing of the sensing measurement process.

[0167] In one embodiment, the timing of the random access is determined based on configuration information;

[0168] The process of obtaining the configuration information includes:

[0169] The configuration information is obtained by accessing neighboring cells;

[0170] The configuration information is sent by the serving cell to the core network element, and then forwarded to neighboring cells by the core network element; or...

[0171] The configuration information is sent by the serving cell to neighboring cells through a designated interface.

[0172] In one embodiment, determining the random access timing of the sensing measurement process includes: determining the random access timing of the sensing measurement process when there is a need for sensing services.

[0173] In one embodiment, the random access timing includes at least one of the following: a random access timing dedicated to sensing and measurement, a random access timing corresponding to low-power user equipment, and a random access timing corresponding to non-low-power user equipment.

[0174] In one embodiment, the random access timing dedicated to sensing and measurement includes at least one of the following: random access timing corresponding to low-power user equipment, and random access timing corresponding to non-low-power user equipment.

[0175] In one embodiment, the method further includes at least one of the following:

[0176] The sensing and measurement method is determined based on the resource configuration status at the random access time.

[0177] The resource configuration status is configured or not configured, and correspondingly, the sensing measurement method is to use RBCH for sensing measurement or not use RBCH for sensing measurement.

[0178] In one embodiment, the random access timing includes at least one of the following:

[0179] General timing for sensing measurements;

[0180] The general timing for supporting reference signals in sensing and measurement services;

[0181] This includes a general timing for at least one reference signal or channel used for non-sensory measurements.

[0182] The communication sensing method of this application is illustrated by some embodiments below.

[0183] In one embodiment, the description focuses on the sensing capabilities and initial access-related configurations.

[0184] In the perception process, the perceived targets include people, vehicles, and / or drones, all of which require the perception system to complete the process while the device has established a communication link. During link establishment, there is a message exchange process between the device and the network. Some perception-related detections, such as location and speed information related to the UE or the perceived target, can be completed during the initial access process or even before access. By enhancing the initial access process, perception services can be optimized.

[0185] In New Radio (NR), the preamble transmitted via the Physical Random Access Channel (PRACH) can be used as a sensing reference signal. The advantages of using the PRACH preamble for sensing include:

[0186] It has good autocorrelation and cross-correlation: PRACH uses Zadoff-Chu sequences, which have excellent autocorrelation and cross-correlation, and can effectively distinguish different signals, thereby improving the accuracy and reliability of sensing.

[0187] Support for preambles of various lengths: PRACH in NR supports preambles of different lengths (such as L=139 or 839, etc.), which allows the system to flexibly select the appropriate preamble length according to different scenarios and requirements, thereby optimizing perception performance.

[0188] Adapting to high-speed mobile scenarios: The design of PRACH takes into account the Doppler effect in high-speed mobile scenarios. By limiting certain cyclic shifts, the influence of spurious correlation peaks can be reduced, thereby improving the accuracy of perception.

[0189] Synchronization with the base station: The transmission of the PRACH preamble is closely related to the timing synchronization of the base station, which allows the timing information of the base station to be used during the sensing process, thereby improving the timeliness and accuracy of sensing.

[0190] By utilizing initial access, the notification of the sensing service can be improved without waiting for the UE to access the system. Furthermore, UEs meeting the sensing service requirements can be prioritized for access, while those not meeting the requirements can have their access priority appropriately reduced. Additionally, when priority is involved, a time window length can be configured. For example, even if a UE has a low priority, if the number of access requests within a time window reaches a certain threshold, its access priority can be appropriately increased, or random access can be allowed.

[0191] The aforementioned thresholds for perception priority, perception time window, and / or request count can be configured when the perception service is deployed and are included in the perception configuration. This can be recommended or configured by the core network element to the network side and / or the UE; it can also be recommended or configured by the network side (such as the BS) to the UE, or recommended or configured by the UE to the network side, etc.

[0192] The capabilities related to UE perception can be at least one of the following: the UE's perception capability; the ability to perform or participate in perception services using communication resources in related technologies; or the ability to perform or participate in perception services using initial access.

[0193] In one instance, the UE can report its own sensing capabilities. The UE can report whether it or other devices have sensing capabilities. Optionally, the UE can report whether it has the capability to perform or participate in sensing services using initial access.

[0194] Optionally, in addition to reporting its own UE capabilities, the UE can also report other acquired UE capabilities.

[0195] Optionally, for Bi-static Sensing, the UE can select a pair of UEs as the sensing receiver or sensing transmitter. In this case, the UE can report the capabilities of a pair of UEs.

[0196] Optionally, for multi-static sensing, a single UE can report the capabilities of multiple UEs. Optionally, these UE capabilities may have some correlation.

[0197] Optionally, during the initial access process of the UE, the UE's capabilities can be implicitly included in the Preamble. After the network side receives the corresponding Preamble, it can obtain the UE's corresponding sensing capabilities and thus configure the corresponding sensing resources or sensing services for the UE.

[0198] Optionally, the UE and / or network side (such as BS) and / or core network elements (such as Sensing Function (SF)) may request the corresponding UE sensing capabilities from the UE.

[0199] Optionally, UE awareness capabilities are related to reduced capabilities (RedCap) (low power consumption).

[0200] For example, if the network side learns that a UE is a RedCap UE, it can assume that the UE does not have sensing capabilities. From an energy-saving perspective, RedCap UEs do not have the ability to participate in sensing services. When the network side sends a UE capability request, it does not need to request sensing capabilities from the RedCap UE.

[0201] For example, when a UE reports RedCap UE capability, the network side can consider that the RedCap UE has a long-cycle sensing capability. In this case, the transmission and reception of sensing signals can be triggered or have a long cycle.

[0202] For example, when a UE reports RedCap UE capability, the network side can consider that the RedCap UE has RedCap awareness capability, indicating that the UE has the ability to participate in energy-saving awareness services. The transmission and reception of awareness signals can be triggered or occur over a longer period.

[0203] Regarding the RACH awareness configuration, in a contention-based RACH process, 2) the network side sends a Random Access Response to the UE, which may include Timing Advance (TA), T_C-RNTI, and / or uplink grants for L2 / L3 messages; in a contention-free RACH process, 1) the network side sends a RACH Preamble (PRACH) assignment to the UE.

[0204] To reduce perceived latency, an additional perception parameter can be configured during the initial access process. When the network side (such as the BS and / or core network elements (such as the SF or other network elements)) sends a random access response to the UE, a perception-related parameter can be explicitly or implicitly indicated. This perception-related parameter can be a reference signal configuration related to perceived services, and may include resource and signal indices, time domain, frequency domain, and / or spatial quasi-co-location (QCL) indications, etc.

[0205] Optionally, the sensing configuration may include an indicator for whether sensing is to be performed. This indicator can be used to indicate UE behavior. For example, the indicator can be implicitly included in the signaling indicating whether a time window is configured for the UE. If a time window is configured, it indicates that the UE needs to perform sensing, so that the UE receives the sensing echo signal within the first time window. Optionally, the UE may report the sensing measurement results within a second time window.

[0206] Sensing initiated by the UE can be a request to the BS or core network node to send relevant sensing reference signals, such as the Synchronization Signal / Physical Broadcast Channel Block (SSB) and related reference signals or channels, for the UE to sense.

[0207] In one example, during the initial access process, the UE may send an identifier indicating that it intends to perform sensing when sending the preamble; the BS and / or core network node may receive the sensing-related identifier sent by the UE; and based on the identifier from the UE indicating whether sensing services are to be performed, perform relevant operations in the allocation of sensing signal resources and / or the selection and notification of sensing receivers.

[0208] Initial access awareness should not significantly impact user experience. Random access typically involves link failures or a transition from a state with no communication service requirements to one with communication service requirements. Awareness during random access, even if it introduces additional latency, will be minimal and negligible, and will not force a service interruption.

[0209] Furthermore, sensing during initial access can assist the communication process to some extent, thereby reducing random access latency. For example, sensing environmental obstructions around the UE can help determine the beam corresponding to resources such as SSBs with higher receiving power or Channel State Information (CSI) during SSB frequency sweeping, and pre-select the direction of that beam as the access preamble transmission direction, without having to wait for the frequency sweep to end before selecting the corresponding transmission beam direction.

[0210] In one embodiment, the perception fusion process is mainly described. In this embodiment, the UE can perform at least two perception measurements. This embodiment takes the execution of two perception measurements as an example. The first and second measurements can be performed sequentially, i.e., the second measurement is after the first measurement; optionally, the two perception measurements can be performed by different devices, the first measurement refers to the first device and the second measurement refers to the second device, and the temporal order is not emphasized. This also applies to the fusion of multiple perception measurement terminals or nodes.

[0211] The process of fusing and reporting sensing measurement results may include the following steps:

[0212] S1, First Sensory Measurement:

[0213] The terminal device receives the first sensing measurement parameters configured by the network side, including at least one of the following: reference signal configuration information to be measured; measurement bandwidth configuration (e.g., 20MHz); measurement time window configuration; and measurement report configuration.

[0214] The terminal device performs a first sensing measurement based on the first sensing measurement parameters and obtains a first measurement result, which may include at least one of the following:

[0215] RSRP;

[0216] RSRQ;

[0217] Signal-to-noise ratio (SINR);

[0218] Measure the timestamp;

[0219] To perceive the presence or absence of a target;

[0220] The number of perceived targets;

[0221] Perceive the speed of the target;

[0222] The distance between the target being sensed and the receiving and / or transmitting ends;

[0223] The perceived range or area of ​​the target can be identified by the Range / Area ID.

[0224] Perceive the angle (horizontal angle and / or pitch angle) corresponding to the target;

[0225] Perceive changes in the environment;

[0226] RSRP changes;

[0227] RSRQ changes;

[0228] Signal-to-noise ratio (SINR) variation;

[0229] Measure timestamp changes;

[0230] To perceive whether there is any change in the target;

[0231] Perceive changes in the number of targets;

[0232] Sensing changes in the target's speed;

[0233] Changes in the distance between the target and the sensing receiver and / or transmitter;

[0234] Perceive changes in the Range (ID) of the target;

[0235] Perceive the change in angle corresponding to the target.

[0236] In one example, a sensing service corresponds to one or more sensing areas. The sensing areas are divided based on at least one of the following factors: relative reference angle, relative reference distance, absolute angle, absolute distance, absolute longitude, latitude, altitude, and the Range / Area ID of the sensing target.

[0237] Figure 3 is a schematic diagram of a sensing area division provided in one embodiment. As shown in Figure 3, when a BS participates in sensing, the sensing area corresponding to the sensing service is divided into 4 Areas, with corresponding Area IDs from 1 to 4.

[0238] S2, Second Sensory Measurement:

[0239] The second sensing measurement can be triggered based on one of the following conditions: the result of the first measurement exceeds a preset threshold; a preset time interval is reached; an explicit trigger indication is given by the network side; or the terminal makes an autonomous decision to trigger the measurement.

[0240] The preset threshold may include at least one of the following thresholds: RSRP, RSRQ, SINR, measurement timestamp, presence or absence of a sensing target, number of sensing targets, speed of a sensing target, distance of a sensing target from the sensing receiver and / or transmitter, Range (ID) of the sensing target, and threshold corresponding to the angle (horizontal angle, and / or pitch angle) of the sensing target or changes in the sensing environment.

[0241] In one example, the preset parameters that trigger the second sensing measurement can be sent by a core network element (such as SF) to the sensing transmitting and / or sensing receiving node. Optionally, the preset parameters that trigger the second sensing measurement can be sent by the sensing transmitting node to the sensing receiving node.

[0242] The sensing receiving node requests the SF and / or sensing transmitting end to send a secondary trigger indication (flag). In one example, the sensing node reports the sensing measurement results to the core network element SF. After obtaining the sensing results, the core network element sends a flag indicating whether to trigger secondary sensing. In another example, the SF directly sends the trigger information to the sensing (receiving and / or transmitting) node. The SF only sends the trigger signal to the sensing (receiving and / or transmitting) node when secondary sensing is required. Optionally, after each sensing operation, the SF will provide feedback to the sensing (receiving and / or transmitting) node regarding whether secondary sensing is needed. The feedback can be explicit using flag signaling, or alternatively, the feedback can be directly notified through secondary sensing configuration, such as configuring the bandwidth part (BWP), reference signal resources, and / or reference signal sequence, thereby notifying that secondary sensing is required. In another example, the sensing (receiving and / or transmitting) node requests the sensing processing unit whether secondary sensing is needed, or whether it has relevant secondary sensing configuration (or resources). Upon receiving the request, the sensing processing unit (such as the SF) then provides feedback on whether secondary sensing is needed.

[0243] In response to the reporting of triggering conditions, such as when the sensing receiving node finds that the sensing measurement meets the conditions for secondary measurement, such as exceeding a preset threshold, the sensing receiving end will notify the sensing sending end and / or sensing processing unit (such as SF) that a secondary sensing measurement is required.

[0244] During the second sensing measurement, the sensing device (BS / terminal) can use the same bandwidth configuration for the second measurement, or it can use a different bandwidth configuration (e.g., 40MHz) for the second measurement, or it can use a different reference signal for the second measurement to obtain the second measurement result.

[0245] S3. Fusion processing of measurement results from two sensing measurements

[0246] The sensing device (BS / terminal) fuses the two measurement results.

[0247] For example, if the two measurements use the same bandwidth, the measurement result fusion may be to calculate the weighted average of the two RSRPs, the weighted average of the two RSRQs, and / or the weighted average of the two SINRs, wherein the weights may be determined based on the measurement time interval and / or measurement reliability, etc.

[0248] If the two measurements are performed using different bandwidths, the measurement results fusion can be achieved by normalizing the measurements from different bandwidths, calculating the weighted average of the normalized values, and then selecting the measurement value corresponding to the final bandwidth used based on the actual application scenario.

[0249] S4. Reporting of Fusion Results

[0250] The sensing device (BS / terminal) reports the fused measurement results to the sensing processing node, such as the BS, terminal and / or core network node. The reported fused results may include at least one of the following: fused RSRP, RSRQ and / or SINR measurement values, timestamps of the two measurements, measurement bandwidth information, and fused processing method indication.

[0251] S5, Sensing Processing Node Side Processing

[0252] The sensing processing node receives the fused measurement results and performs corresponding processing, including at least one of the following: updating the terminal measurement database, triggering necessary network optimization operations, and configuring subsequent measurement parameters as needed.

[0253] Based on the above, the accuracy and reliability of the measurement results are improved by fusing and reporting multiple measurement results; the adaptability of the measurement is enhanced by flexibly configuring measurements with different bandwidths; and the measurement method based on a progressive triggering mechanism saves sensing resources and improves measurement efficiency.

[0254] In one embodiment, the two-stage perception based on the fusion of RACH and PRS is described in detail.

[0255] In one example, the perception process includes at least one of the following steps:

[0256] Step 1: First Stage (Coarse Detection):

[0257] Initial sensing is performed using Sensing Random Access Occasion (S-RO) resources;

[0258] Generate preliminary measurement results;

[0259] Determining the triggering conditions for the second sensing measurement.

[0260] Step 2: Second Stage (Fine Perception):

[0261] Configure a high-precision reference signal;

[0262] Perform precise measurements;

[0263] The measurement results from the two stages will be merged and reported.

[0264] In one example, the specific parameters are designed as follows:

[0265] In one example, the reference signal correlation design is as follows:

[0266] In one example, the uplink reference signal RS and / or preamble transmitted by the UE are associated with the uplink SRS and / or sensing RS. Taking the preamble transmitted by the UE as an example, this association could be that the preamble transmitted by the UE and the uplink SRS have the same beam information, or that the preamble and the sensing RS have the same beam information. Optionally, the preamble and the uplink SRS are quasi-co-located, and / or, the preamble and the sensing RS can be quasi-co-located.

[0267] In one example, when a UE or base station BS sends a sensing signal, it first uses the initial phase related configuration in the Signal Association configuration, and after obtaining the initial sensing result, it uses the related refined configuration.

[0268] In one example, the measurement result structure is as follows:

[0269] It should be noted that the above example uses S-RO and PRS as examples to illustrate fusion-related techniques. In practical applications, it is not limited to the two signals mentioned above. For example, it can also be the fusion of S-RO and S-RO, the fusion of PRS and PRS, or the fusion of at least one or more of various reference signals (RS) or channels (CH) (such as DMRS, PTRS, SRS, PRS, RIM-RS, PBCH, PDSCH, PDCCH, PUCCH, PUSCH, PSSCH, PSCCH, PSFCH, PRACH, SSB, etc.). It can also include the fusion of configuration information, the fusion of reference signals, and / or the fusion of measurement results, etc.

[0270] It should be noted that the first stage and the second stage in this embodiment can be sequential in time, that is, the second stage is after the first stage; optionally, the first stage here corresponds to the measurement of the first sensing device and the second stage corresponds to the measurement of the second sensing device. The order of time is not emphasized. This also applies to the fusion of multiple sensing measurement terminals / node stations.

[0271] In one embodiment, a method for fusing multi-source measurement results is described.

[0272] In one example, the sensing transmitter, sensing receiver, sensing computing unit, and / or sensing fusion node can fuse the sensing results from multiple sensing devices or multiple sensing operations.

[0273] The correlation design of the measurement results is as follows:

[0274] For example, the fusion algorithm process is as follows:

[0275] Step 1: Spatiotemporal registration, including:

[0276] Unified time base;

[0277] Spatial coordinate transformation;

[0278] Error compensation;

[0279] Step 2: Feature matching, including:

[0280] Extract key features;

[0281] Calculate similarity;

[0282] Determine the relationship;

[0283] Step 3: Result fusion, including:

[0284] Weight calculation;

[0285] Data fusion;

[0286] Quality assessment.

[0287] As an example, let's take an indoor location tracking scenario.

[0288] Phase 1 Configuration:

[0289] Phase Two Configuration:

[0290] Example of result fusion:

[0291] Measurement Result 1 (RACH Basic Measurement):

[0292] Measurement Result 2 (PRS Fine Measurement):

[0293] Fusion results:

[0294] Reporting mechanism:

[0295] Based on this, multi-stage sensing can improve sensing accuracy; reference signal correlation can improve efficiency; in addition, flexible triggering mechanisms can reduce sensing resource overhead; and the fusion of measurement results is reliable.

[0296] In one embodiment, the main focus is on describing multi-base station collaborative sensing fusion.

[0297] For at least one base station (BS) and / or user unit (UE), positioning or sensing fusion can be performed. This fusion can be the fusion of measurement results or reported data from different devices, or the fusion of multiple measurement results or reported data from a single device.

[0298] In one example, the BS and UE can perform sensing measurements separately. The measurement results of the UE and BS (which can be initially fused during the measurement phase) are reported to the fusion processing unit. The fusion processing unit can be another UE, another network side (another BS), or a core network element (such as SF). The fusion processing unit fuses the measurement results (at least once) obtained by different sensing devices and feeds them back to the sensing service initiating node.

[0299] Optionally, the fused measurement results may include at least one of the following: the number of detected targets, their location coordinates, their motion speed, and their motion trajectory.

[0300] In one example, the BS merges and reports multiple measurement results. The merged measurement results include at least one of the following: the number of detected targets, their location coordinates, their movement speed, and their movement trajectory.

[0301] Regarding a unified time reference and a unified spatial reference (spatial coordinate transformation), alignment can be performed for at least one sensing measurement (result) of at least one BS and / or UE. When measuring and / or reporting, the BS and / or UE can report a reference reference value or the difference from the reference reference value.

[0302] Specifically, taking the collaborative sensing of the same target area by two base stations, BS1 and BS2, as an example, we will illustrate the fusion processing of multi-source sensing data by the core network (CN). BS1 is located on the east side of the target area, with coordinates (x1, y1, z1); BS2 is located on the west side of the target area, with coordinates (x2, y2, z2).

[0303] The spatiotemporal registration stage includes:

[0304] 1.1) Unified time base:

[0305] CN receives the sensing measurement result M1 reported by BS1 at time t1 and the sensing measurement result M2 reported by BS2 at time t2;

[0306] Convert the timestamps of M1 and M2 to a unified system time base ts: M1' = M1 + (ts - t1) × v1 M2' = M2 + (ts - t2) × v2

[0307] Where v1 and v2 are the measurement delay compensation coefficients for BS1 and BS2, respectively.

[0308] 1.2) Spatial coordinate transformation:

[0309] Establish a unified standard for the rectangular coordinate system;

[0310] Convert the measurement values in the local coordinate system of BS1 to the standard (global / sensing reference) coordinate system:

[0311] X1 = T1 × M1', where T1 is the transformation matrix from BS1 to the standard coordinate system;

[0312] Similarly, convert the measurement values of BS2: X2 = T2 × M2'.

[0313] 1.3) Error compensation:

[0314] Consider the systematic error ε1 and random error δ1 of BS1: X1' = X1 - ε1 - δ1

[0315] Consider the systematic error ε2 and random error δ2 of BS2: X2' = X2 - ε2 - δ2

[0316] The feature matching stage includes: [[ID=Z3]]

[0317] 2.1) Extract key features:

[0318] Extract the feature vector F1 = {f11, f12,..., f1n} from X1';

[0319] Extract the feature vector F2 = {f22, f22,..., f2n} from Xx';

[0320] The features can include the position, velocity, acceleration, etc. of the target

[0321] 2.2) Calculate the similarity:

[0322] Use the Euclidean distance to calculate the similarity of each dimension feature of F1 and F2: S(i) = ||f1i - f2i|| 2

[0323] Calculate the comprehensive similarity: S = ∑wi × S(i)

[0324] Where wi is the weight coefficient of the i-th dimension feature.

[0325] 2.3) Determine the association relationship:

[0326] Set the similarity threshold Th;

[0327] When S < Th, confirm that F1 and F2 come from the same target;

[0328] Establish the feature association matrix R;

[0329] The result fusion stage includes:

[0330] 3.1) Weight calculation:

[0331] The weight of BS1 is calculated based on the measurement accuracy: w1 = p1 / (p1 + p2); where p1 is the measurement accuracy of BS1.

[0332] The weight of BS2 is calculated based on the measurement accuracy: w2 = p2 / (p1 + p2); where p2 is the measurement accuracy of BS2.

[0333] 3.2) Data Fusion:

[0334] The fusion is performed using a weighted average method: F = w1 × F1 + w2 × F2; where F is the fused feature vector.

[0335] 3.3) Quality Assessment:

[0336] Calculate the variance σ of the fusion result 2 ;

[0337] Calculate the fusion gain G = σ 2 ;

[0338] prior / σ 2 Introduce evaluation indicators related to prior;

[0339] Fusion;

[0340] When G>1, it indicates that fusion improves perception accuracy.

[0341] The results feedback phase includes:

[0342] CN encapsulates the fused perception result F into a standard format;

[0343] The signaling plane interface sends F to the UE requesting the sensing service;

[0344] After the UE parses F, it can obtain high-precision perception information.

[0345] Based on the above, the inconsistency of multi-source data was eliminated through spatiotemporal registration; data correlation was established through feature matching; weighted fusion was used to obtain more reliable perception results; the entire processing flow was completed centrally in the core network, making full use of the core network's computing power and significantly improving network perception performance.

[0346] In a scalable manner, perception fusion can be performed at the UE side, network side, and / or core network side. Fusion at different nodes can have different granularities or different levels. For example, the UE or network side can perform waveform-level fusion, perception measurement-level fusion, range-Doppler (RD) map or range-Angle (RA) map-level fusion.

[0347] In one embodiment, the random access timing (RACH Occasion, RO) used for sensing is described in detail.

[0348] The Sensing RO configuration can be configured by the network side to the UE via Radio Resource Control (RRC) signaling; optionally, it can be configured to the UE via core network elements; or optionally, it can be configured to the UE via the sensing receiver (BS or UE).

[0349] In one example, the RO configuration information for the RACH used for Sensing can be passed via SSB and / or SIB1 messages, and / or, in a Contention-Free Random Access (CFRA) scenario, via PDCCH order messages.

[0350] Optionally, Sensing's RO configuration is configured as a basic configuration via SIB1 messaging; and / or dynamically configured via dedicated RRC messages (such as RRC Reconfiguration).

[0351] In another example, the UE sending Sensing RO is not limited to the current serving cell. When it comes to sensing and positioning services or communication services, the transmission of configuration information between neighboring cells and the UE is necessary and plays an important role in cell handover and multi-site collaboration.

[0352] Sensing RO-related configuration information can be sent from the serving cell to core network elements (such as the SF), and then forwarded to neighboring cells by the core network elements, allowing the neighboring cells to obtain the UE's corresponding Sensing RO-related information. Optionally, the serving cell can also send the sensing-related configuration information to neighboring cells via the Xn interface. In one example, the neighboring cell can be a sensing receiver or transmitter. In multi-site joint sensing, the RO information sent by the UE can be received by multiple BSs simultaneously, facilitating sensing fusion and obtaining higher-precision sensing results.

[0353] In one example, the neighboring cell obtains the Preamble sent by the UE, which can be used to implement cell handover or target tracking.

[0354] In one example, an on-demand sensing RO is introduced, meaning that a corresponding sensing RO is only allocated when there is a sensing service demand; when there is no sensing service demand, the network side only configures ROs for normal access and / or ROs for RedCap UE access for the UE. In one example, the specific configuration signaling includes:

[0355] In one example, the RO used for Sensing may include at least one of the following: a RO dedicated to Sensing, a RO for RedCapUE (low-power UE), and a RO for access by a normal UE (non-low-power UE).

[0356] Specifically, the network side configures S-ROs for the UE, which may include one or more, or some, ROs used for access by ordinary UEs. For example, for awareness services for RedCap UEs, the S-ROs configured by the network side for the UE are ROs used for access by RedCap UEs.

[0357] Optionally, the RO used for Sensing can also be used for the RO of RedCap and / or for the RO of ordinary UE access.

[0358] In one example, whether a UE is allowed to use the RACH channel for sensing can be determined by configuring the corresponding RO resources. For instance, configuring (or not configuring) a Sensing RO implicitly indicates whether the UE needs to participate in sensing services. Alternatively, configuring (or not configuring) a Sensing RO implicitly indicates whether the UE has sensing-related capabilities.

[0359] In one example, the parameters for s-ro-Format are designed as follows:

[0360] s-ro-Format ENUMERATED{format0,format1,format2,format3}

[0361] format0: High-precision sensing mode:

[0362] Short CP length: 0.5us;

[0363] Sequence length: 139 symbols;

[0364] Bandwidth: Up to 100MHz;

[0365] Applicable scenarios: Indoor high-precision positioning, etc.;

[0366] format1: Standard perception mode:

[0367] Medium CP length: 1µs;

[0368] Sequence length: 839 symbols;

[0369] Bandwidth: 20MHz;

[0370] Applicable scenarios: general environmental perception, etc.

[0371] format2: Extended Overlay Mode:

[0372] Long CP length: 2µs;

[0373] Sequence length: 139 symbols;

[0374] Bandwidth: 10MHz;

[0375] Applicable scenarios: large-scale environmental monitoring, etc.

[0376] format3: Low Power Aware Mode:

[0377] Variable CP length: 0.5-2µs;

[0378] Short sequence length: 69 symbols;

[0379] Bandwidth: 5MHz;

[0380] Applicable scenarios: IoT device sensing, etc.

[0381] In one example, the S-RO-PowerRampingConfig parameter is designed as follows:

[0382] In one example, the power control mode is explained as follows:

[0383] distance-based mode:

[0384] Adjust the transmit power based on distance estimation;

[0385] Suitable for location-based scenarios;

[0386] Power adjustment formula: P=P0+α*PL+β*D; where: P0 is the initial power, PL is the path loss, D is the distance estimate, and α and β are adjustment coefficients;

[0387] reflection-based mode:

[0388] Adjustment based on reflected signal strength;

[0389] Suitable for environmental perception scenarios;

[0390] Power adjustment formula: P=P0+γ*(Pref-Pth); where: Pref is the reflected signal power, Pth is the target threshold, and γ is the adjustment coefficient;

[0391] hybrid mode:

[0392] Taking into account both distance and reflection characteristics;

[0393] Suitable for complex scenarios;

[0394] Dynamically select and adjust strategies.

[0395] In one example, considering both distance and reflection patterns, and introducing new parameters, the weighting of distance-based and reflection signal strength-based influences is adjusted to control the proportion of influence, thereby allowing for flexible adjustment of the final transmitted signal power. The relevant configuration parameters can come from the network side's configuration of the UE. Optionally, the configuration parameters can originate from core network elements and be notified to the UE or BS through these elements.

[0396] In one example, the basic architecture design is as follows:

[0397] 1. Network side configuration: S-RO time and frequency resource configuration; S-RO transmission parameter configuration; S-RO reception parameter configuration.

[0398] 2. Terminal-side implementation: S-RO resource identification; S-RO parameter acquisition; S-RO transmission / reception processing.

[0399] In one example: the perception process includes:

[0400] Initialization phase: The network side broadcasts S-RO configuration information; the UE parses and stores the S-RO configuration; the UE selects appropriate S-RO resources according to perception requirements.

[0401] Perception and execution phase:

[0402] Active sensing mode: The UE sends an S-RO preamble sequence; the network receives and analyzes the reflected signal; and generates sensing results.

[0403] Passive sensing mode: The UE monitors the S-RO of other devices; analyzes the characteristics of the received signal; and acquires environmental awareness information.

[0404] Result processing stage:

[0405] Sensing result processing: signal feature extraction; target parameter estimation; sensing result reporting.

[0406] The advantages of this architecture include:

[0407] Resource utilization: Reuse the RO mechanism in related technologies; reduce system overhead; improve resource efficiency.

[0408] Performance improvements: Dedicated resources reduce interference; optimized parameter configuration; flexible sensing modes.

[0409] Compatibility: Compatible with RA mechanisms in related technologies; supports RedCap devices; smooth evolution path.

[0410] For a specific application scenario, such as indoor positioning, the application characteristics include: high accuracy requirements; multi-point coordination requirements; and real-time requirements.

[0411] The following configuration recommendations are provided:

[0412] s-ro-Format=format0

[0413] s-ro-Periodicity = ms10

[0414] sensingMode = active

[0415] For a specific application scenario, such as environmental sensing, the application characteristics include: low power consumption requirements; periodic monitoring; and wide coverage.

[0416] The following configuration recommendations are provided:

[0417] s-ro-Format=format2

[0418] s-ro-Periodicity = ms160

[0419] sensingMode = passive

[0420] In summary, by adding dedicated RO resources for sensing, we provide dedicated configuration parameters, flexible scheduling mechanisms, and differentiated service support; the sensing modes include active sensing, passive sensing, and / or hybrid sensing; through parameter optimization design, we achieve differentiation of sensing objectives, optimization of measurement configuration, and optimization of power control; and we provide a resource coordination mechanism: it can coexist with conventional RO, coexist with RedCap RO, and can also achieve dynamic resource adjustment.

[0421] In one embodiment, the sensing occcasion is described in detail.

[0422] The above embodiments can utilize RACH for sensing, and can also utilize an Occasion that can send RACH. In this embodiment, the above embodiments are extended to propose a general occasion configured for sensing.

[0423] In one example, the occasion for configuring sensing is not limited to a RACH signal or channel. It can be a sensing occasion configured for a PRS, that is, selecting a suitable PRS from among the PRS in the relevant art as the sensing occasion. A sensing occasion (SO) can include resources corresponding to one or more PRS signals.

[0424] In one example, the configured occasion only supports reference signals for the Sensing service.

[0425] In another example, a configured sensing occasion can include one or more RSs or CHs that can be used for other purposes, including (DMRS, PTRS, SRS, PRS, RIM-RS, PBCH, PDSCH, PDCCH, PUCCH, PUSCH, PSSCH, PSCCH, PSFCH, PRACH, SSB, etc.). That is, in addition to the RSs or CHs specifically for sensing, the SO also includes RSs for other functions, such as PRSs for positioning.

[0426] The following explanation uses the example of extending S-RO-Config to SO-Config.

[0427] The specific configuration signaling includes:

[0428] The other configuration parameters and related examples for S-RO in the above embodiments can be extended to the configuration parameters and examples for SO. They will not be elaborated upon here.

[0429] The following is an exemplary description of RACH awareness.

[0430] As an example, a single-site sensing method based on contention-based random access includes the following steps:

[0431] S1. The UE randomly selects a preamble and sends a RACH signal;

[0432] S2. Configure the UE's sensing and receiving window parameters, wherein the receiving window corresponds to the distance range of the expected sensing target;

[0433] S3. Execute different receiving modes according to the UE's duplex capability;

[0434] For UEs with full-duplex capability, continuous wave reception mode is used; for UEs without full-duplex capability, pulse wave reception mode is used.

[0435] S4. The UE receives the RACH echo signal within the configured receiving window and performs sensing information processing.

[0436] As an example, a two-site sensing method based on contention-based random access includes the following steps:

[0437] S1. The UE randomly selects a preamble and sends a RACH signal;

[0438] S2. Configure the sensing and receiving window parameters for the base station;

[0439] S3. The base station performs two-stage processing: first, it demodulates the preamble of the received signal; after successfully demodulating the preamble, it performs sensory information analysis on the signal within the receiving window.

[0440] S4. The base station must have waveform storage capability to support the temporary storage and post-processing of received signals.

[0441] As an example, a sensing method based on non-contention-based random access includes the following steps:

[0442] S1. The core network element assigns a dedicated preamble to the UE;

[0443] S2. The core network element SF sends at least one of the following to the sensing receiver (UE or base station): the allocated preamble information, the receiving window configuration information;

[0444] S3, UE uses the assigned preamble to perform sensing services.

[0445] As an example, perceptual discrimination methods in preamble multiplexing scenarios include:

[0446] When multiple UEs use the same preamble, in a dual-site sensing scenario, the UE's Radio Network Temporary Identifier (RNTI) is used to distinguish users; after contention resolution is completed, sensing measurements based on the preamble are then performed.

[0447] The receiver configuration includes at least one of the following: setting corresponding receive window parameters for different RNTIs; and performing RNTI identifier parsing and classification processing on the received signals.

[0448] The perception information processing includes at least one of the following: extracting perception information independently based on the signals classified by RNTI; and generating perception measurement results for each UE.

[0449] As an example, an improved PRACH structure is provided to support the reception of sensing signals. Figure 4 is a schematic diagram of a time window length provided in one embodiment.

[0450] As shown in Figure 4, in related technologies, the receive window for the Preamble in the communication system is extended according to the maximum delay corresponding to the CP length. Considering the existence of the Guard time, even if the transmission delay exceeds the CP length for the sensing service, as shown in the bottom row of Figure 4, it can be seen that the Preamble can still be received correctly. Therefore, the receive window for sensing can be configured to exceed the receive window of the communication system in related technologies.

[0451] 1.1 Add a sensing reception gap to the PRACH structure in related technologies:

[0452] The preamble transmission segment is (Tcp+n*Tseq), where n is the number of sequence repetitions;

[0453] A new gap segment has been added for sensing and receiving.

[0454] Guard time segment; optionally, used for sensing and receiving.

[0455] 1.2 Functional definition of the Gap segment:

[0456] As a time window for switching between simplex and duplex;

[0457] Used to receive sensing echo signals;

[0458] To avoid conflicts with the reception of feedback information from the BS;

[0459] Based on the existing Guard time sensing solution;

[0460] 2.1 Pulse Wave Mode:

[0461] Consider Tcp+n*Tseq as the transmission time width;

[0462] Treat Guard time and / or newly added gap segments as duty cycle intervals;

[0463] To form a complete pulse wave transmission and reception cycle;

[0464] Guard time and / or the addition of a gap segment can correspond to the time of the echo reception window;

[0465] 2.2 Continuous Wave Mode:

[0466] Using the guard time as a protection interval, the sensed continuous wave is transmitted and received within the time corresponding to Tcp+n*Tseq, and at least a portion of the selectable guard time can be used to receive the echo signal.

[0467] 3.1 Utilize existing gaps for expansion:

[0468] Reusing the Guard time in the PRACH structure

[0469] Increase the sensing distance by optimizing the Guard time parameter;

[0470] 3.2 Parameter configuration method:

[0471] Calculate the required gap length based on the desired sensing distance;

[0472] Dynamically adjust the Guard time parameter;

[0473] Maximize the sensing distance without affecting normal PRACH functionality;

[0474] 4.1 Signal Transmission Phase:

[0475] Time T1: Send the preamble (Tcp+Tseq);

[0476] T2: Entering the Gap / Guard time phase;

[0477] 4.2 Signal Reception Stage:

[0478] Time T3: Receive sensor echo;

[0479] Time T4: Receive feedback information from the BS;

[0480] 4.3 Conflict Avoidance Mechanism:

[0481] Receive window allocation based on time slot division;

[0482] Dynamically adjust the receiving timing to avoid signal overlap;

[0483] Set a priority processing mechanism.

[0484] As an example, an on-demand triggered RACH-aware approach includes:

[0485] 1. Perception of business triggering mechanism

[0486] 1.1 UE-side triggering conditions:

[0487] Application layer perception requests: such as the surrounding environment detection requirements in vehicle-to-everything (V2X) scenarios;

[0488] Location-related trigger: Automatically triggers detection when entering a specific area;

[0489] Speed-related trigger: Sensing is activated when the vehicle speed reaches a certain threshold;

[0490] Periodic sensing task: Sensing according to a preset time interval;

[0491] 1.2 Network-side triggering conditions:

[0492] Sensing commands issued by the base station;

[0493] Core network-aware service scheduling;

[0494] Emergency sensing needs: such as environmental sensing in emergency situations;

[0495] 1.3 Trigger Parameter Configuration:

[0496] 2. Dynamic resource allocation mechanism

[0497] 2.1 RACH Resource Configuration:

[0498] Dedicated resource block allocation: Reserve specific time and frequency resources for sensing services.

[0499] Shared resource dynamic scheduling: reuses resources with regular RACH but with configurable priorities.

[0500] Resource conflict avoidance: Designing resource contention resolution mechanisms

[0501] 2.2 Preamble Configuration:

[0502] As an example, a RACH approach that supports persistence awareness includes:

[0503] 1. Persistent Perception Mechanism

[0504] 1.1 Basic Process Description:

[0505] Step 1: The UE sends a preamble for regular random access;

[0506] Step 2: The BS completes the access processing and responds;

[0507] Step 3: The UE receives a successful access response;

[0508] Step 4: The UE continues to send preambles for sensing;

[0509] Step 5: Configure additional RACH opportunities in the BS;

[0510] Step 6: The UE performs continuous sensing according to the configuration;

[0511] 1.2 Additional Rach Opportunity (RO) Configuration:

[0512] As an example, a method for optimizing velocity measurement performance includes:

[0513] 1. Optimization of time window parameters

[0514] 1.1 Time window calculation method:

[0515] 1.2 Parameter adaptive adjustment:

[0516] The transmission cycle is dynamically adjusted according to the target speed range;

[0517] The observation time is determined based on the velocity resolution requirements;

[0518] Automatically balances speed measurement range and resolution;

[0519] 2. Preamble Repetition Optimization

[0520] 2.1 Strategy for selecting the number of repetitions:

[0521] As an example, one method for optimizing the receive window configuration includes:

[0522] 1. Receive window parameter configuration

[0523] 1.1 Basic Window Parameters:

[0524] 1.2 Adaptive Adjustment Mechanism:

[0525] 2. Performance Optimization Scheme

[0526] 2.1 Multi-objective optimization:

[0527] 2.2 Real-time adjustment strategy:

[0528] Adjustments based on feedback from measurement results;

[0529] Adjustment of environmental adaptability parameters;

[0530] Resource coordination in multi-user scenarios;

[0531] These embodiments can be implemented individually or in combination according to actual needs. Each embodiment can be optimized and improved according to specific application scenarios, such as including only one or more steps from a certain embodiment.

[0532] In one embodiment, the signaling flow for the sensing service is shown in Figure 5, using the RACH preamble as the sensing reference signal as an example. Figure 5 illustrates the basic signaling flow for on-demand RACH sensing. As shown in Figure 5, the UE sends a sensing service trigger request to the gNB. The gNB generates a sensing service establishment request based on the sensing service trigger request and forwards the sensing service establishment request to the CN. The CN can receive the sensing service establishment request and respond with sensing configuration parameters based on the sensing service establishment request. The gNB can receive the sensing configuration parameter response sent by the CN and send the sensing configuration information to the UE. After receiving the sensing configuration information, the UE can send the RACH preamble to the gNB. The gNB performs a RAR (Access Response) based on the received RACH preamble and sends the RAR (Access Response) to the UE. The UE can generate a sensing measurement report based on the received RAR and send it to the gNB.

[0533] In one embodiment, the extended signaling flow for persistent RACH awareness is shown in Figure 6. The UE can send a RACH preamble to the gNB. The gNB performs a RAR (Access Response) based on the received RACH preamble and sends the RAR back to the UE. After receiving the RAR, the UE can send an additional RO request message to the gNB. Upon receiving the additional RO request message, the gNB can send an RO allocation request to the core network CN. The core network CN receives the RO allocation request, performs an RO allocation response, and feeds the RO allocation response back to the gNB. The gNB can send additional RO allocation information to the UE. After receiving the additional RO allocation information, the UE can perform persistent RACH transmission to the gNB based on the additional RO allocation information. The gNB can then feed back the sensed measurements to the UE.

[0534] In one embodiment, the signaling flow for speed measurement optimization is shown in Figure 7. The UE can send a speed measurement request to the gNB. Upon receiving the request, the gNB can send a measurement parameter optimization request to the core network (CN). The CN responds with an optimization parameter configuration and sends this information to the gNB. The gNB then configures the measurement parameters according to the configuration and sends the configuration information to the UE. The UE can optimize the RACH sequence multiple times based on the configuration information and send the optimized sequence to the gNB. The gNB can then send the speed measurement results to the UE. Furthermore, the UE can send a parameter adjustment request to the gNB. The gNB can configure new parameters according to this request and send the configured new parameters to the UE.

[0535] In one embodiment, the collaborative awareness signaling flow in a multi-UE scenario is shown in Figure 8. UE1 / UE2 can send resource requests to the gNB respectively. The gNB sends a resource coordination request to the core network CN based on the received resource request. The core network CN can respond with coordination parameters based on the received resource coordination request and send the coordination parameter response information to the gNB. After receiving the coordination parameter response, the gNB can send resource allocation information to UE1 / UE2. UE1 / UE2 can send the RACH sequence to the gNB respectively so that the gNB can perform collaborative measurement. Then, the gNB can send the collaborative measurement results to UE1 / UE2.

[0536] In one embodiment, the signaling flow for dynamic adjustment of sensing parameters is shown in Figure 9. The UE can send the initial RACH to the gNB. The gNB can perform performance measurement based on the received initial RACH and feed the performance measurement back to the UE. The UE can send an adjustment request to the gNB. After receiving the adjustment request, the gNB can send an optimized parameter request to the core network CN. The core network CN can respond to the optimized parameter and send the optimized parameter response information to the gNB. The gNB configures the new parameters and sends the configured new parameters to the UE. The UE can adjust the RACH and send the adjusted RACH to the gNB.

[0537] In one embodiment, the emergency awareness trigger signaling process is shown in Figure 10. The core network (CN) can send an emergency awareness trigger to the gNB. The gNB determines an emergency awareness command based on the received emergency awareness trigger and sends the emergency awareness command to the UE. The UE can adjust the priority of the RACH, so that the higher priority RACH is sent to the gNB first. The gNB can receive the RACH and feed back the real-time measurement to the UE, and at the same time generate an emergency status report and send it to the core network (CN).

[0538] For example, the corresponding signaling format is shown below:

[0539] 1. Sensing configuration request messages

[0540] 2. RO allocation message

[0541] 3. Sensing Measurement Report

[0542] The signaling flow described above can be combined or simplified according to actual deployment needs. The specific format and parameters of each signaling message can be adjusted according to system requirements.

[0543] The signaling involved in these signaling processes is not limited to this embodiment. It is applicable to newly introduced IEs appearing in this embodiment, as well as IEs in and existing in the standard, and combinations thereof.

[0544] Similarly, the signaling procedures described above are not limited to RACH and / or Preamble as sensing signals. Other channels and / or signals used for sensing can also have one or more of the signaling procedures described above.

[0545] This application also provides a communication sensing device. Figure 11 is a schematic diagram of the structure of a communication sensing device according to an embodiment. As shown in Figure 11, the communication sensing device includes:

[0546] Determine module 310 and set it to a defined perception configuration;

[0547] The sensing measurement module 320 is configured to perform at least one sensing measurement according to the sensing configuration; wherein, when performing at least two sensing measurements, the sensing measurement result is obtained by fusing the measurement results obtained from each sensing measurement.

[0548] In one embodiment, the device further includes:

[0549] The capability reporting module is configured to report capability information, which includes perception-related capability information of the at least one user device.

[0550] In one embodiment, the at least one user equipment includes a first user equipment and a second user equipment; the second user equipment is a sensing receiver or a sensing transmitter corresponding to the first user equipment.

[0551] In one embodiment, the reporting module is specifically configured as follows:

[0552] During the initial access process, a preamble is sent, and the capability information is contained in the preamble.

[0553] In one embodiment, for any of the user equipment, the association between the user equipment's perception-related capabilities and the low-power user equipment includes at least one of the following:

[0554] Low-power user equipment does not have sensing-related capabilities;

[0555] Low-power user equipment that reports capability information has reduced perception-related capabilities;

[0556] Low-power user equipment that reports capability information has sensing-related capabilities.

[0557] In one embodiment, the sensing configuration includes sensing parameters; the determining module 310 is specifically configured to receive a random access response message, the random access response message containing the sensing parameters.

[0558] In one embodiment, the sensing parameters include at least one of the following: resource parameters, signal index, time domain indication, frequency domain indication, and spatial quasi-co-address indication.

[0559] In one embodiment, the sensing configuration includes a sensing identifier.

[0560] The perception identifier is used to indicate the perception behavior of at least one user device.

[0561] In one embodiment, when the sensing identifier is included in signaling for configuring a time window, the sensing behavior includes at least one of the following:

[0562] Receive the sensing echo signal within the first time window;

[0563] Report the sensing measurement results within the second time window.

[0564] In one embodiment, the sensing and measurement module 320 is specifically configured as follows:

[0565] The first perception measurement is performed according to the perception configuration to obtain the first measurement result;

[0566] Under preset conditions, a second sensing measurement is performed to obtain a second measurement result;

[0567] The preset conditions include at least one of the following:

[0568] The first measurement result exceeds a preset threshold;

[0569] Reaching the preset time interval;

[0570] Trigger indication received;

[0571] Triggered by autonomous decision-making.

[0572] In one embodiment, the device further includes: a fusion module configured to fuse the first measurement result and the second measurement result to obtain a fused measurement result;

[0573] Fusing the first measurement result and the second measurement result includes at least one of the following:

[0574] For two sensing measurements with the same bandwidth, calculate the weighted average of RSRP in the first measurement result and the second measurement result;

[0575] For two sensing measurements with the same bandwidth, calculate the weighted average of the RSRQ in the first measurement result and the second measurement result;

[0576] For two sensing measurements with the same bandwidth, calculate the weighted average of the SINR in the first measurement result and the second measurement result;

[0577] For two sensing measurements with different bandwidths, the measured values ​​in the first measurement result and the second measurement result are normalized, and the weighted average of the normalized measured values ​​is calculated.

[0578] For two sensing measurements with different bandwidths, the measurement value corresponding to the target bandwidth is selected according to the actual application scenario.

[0579] In one embodiment, the device further includes a segmentation module configured to segment the sensing area for performing sensing measurements according to at least one of the following: reference angle, reference distance, absolute angle, absolute distance, longitude, latitude, altitude, and the area where the sensing target is located.

[0580] In one embodiment, the device further includes a result reporting module, configured to report the fused measurement results, the fused measurement results including at least one of the following: fused RSRP measurement value, fused RSRQ measurement value, fused SINR measurement value, timestamps of the two sensing measurements, measurement bandwidth information, and fusion processing method indication.

[0581] In one embodiment, the preamble satisfies at least one of the following association relationships:

[0582] The preamble and the uplink probe reference signal have the same beam information;

[0583] The preamble and the sensing reference signal have the same beam information;

[0584] The preamble and uplink probe reference signal are quasi-co-addressable;

[0585] The preamble and the sensing reference signal are quasi-co-addressable.

[0586] In one embodiment, the fusion includes the fusion of at least one of random access timing, signaling, and channel:

[0587] The signal includes at least one of the following: DMRS, PTRS, SRS, PRS, RIM-RS;

[0588] The channel includes at least one of the following: PBCH, PDSCH, PDCCH, PUCCH, PUSCH, PSSCH, PSCCH, PSFCH, PRACH, SSB.

[0589] In one embodiment, the first measurement result and the second measurement result are fused to obtain a fused measurement result, including:

[0590] Spatiotemporal registration is performed on the first measurement result and the second measurement result. The spatiotemporal registration includes unifying the time reference, converting the measurement values ​​to a standard coordinate system, and performing error compensation on the measurement values ​​in the standard coordinate system.

[0591] The first feature vector of the key features of the first measurement result after spatiotemporal registration and the second feature vector of the key features of the second measurement result after spatiotemporal registration are extracted respectively.

[0592] Calculate the similarity between the first feature vector and the second feature vector;

[0593] Based on the similarity, it is determined that the first feature vector and the second feature vector are associated with the same perceptual target;

[0594] The fusion measurement result is determined based on the first feature vector and the second feature vector.

[0595] In one embodiment, determining the fusion measurement result based on the first feature vector and the second feature vector includes:

[0596] The first weight corresponding to the first measurement result and the second weight corresponding to the second measurement result are determined based on the measurement accuracy.

[0597] Based on the first weight and the second weight, the first feature vector and the second feature vector are weighted and calculated to obtain the fusion measurement result;

[0598] The quality of the fusion measurement results is assessed based on priority evaluation indicators.

[0599] In one embodiment, the fusion measurement results include at least one of the following of the perceived target: number, location coordinates, movement speed, and movement trajectory.

[0600] In one embodiment, the key features include at least one of the following of the perceived target: position, velocity, acceleration, Doppler, and microDoppler.

[0601] In one embodiment, the device further includes a timing determination module configured to determine the random access timing of the sensing measurement process.

[0602] In one embodiment, the timing of the random access is determined based on configuration information;

[0603] The process of obtaining the configuration information includes:

[0604] The configuration information is obtained by accessing neighboring cells;

[0605] The configuration information is sent by the serving cell to the core network element, and then forwarded to neighboring cells by the core network element; or...

[0606] The configuration information is sent by the serving cell to neighboring cells through a designated interface.

[0607] In one embodiment, the timing determination module is specifically configured to: determine the random access timing of the sensing measurement process when there is a need for sensing services.

[0608] In one embodiment, the random access timing includes at least one of the following: a random access timing dedicated to sensing and measurement, a random access timing corresponding to low-power user equipment, and a random access timing corresponding to non-low-power user equipment.

[0609] In one embodiment, the random access timing dedicated to sensing and measurement includes at least one of the following: random access timing corresponding to low-power user equipment, and random access timing corresponding to non-low-power user equipment.

[0610] In one embodiment, the device further includes a mode determination module configured to be at least one of the following:

[0611] The sensing and measurement method is determined based on the resource configuration status at the random access time.

[0612] The resource configuration status is configured or not configured, and correspondingly, the sensing measurement method is to use RBCH for sensing measurement or not use RBCH for sensing measurement.

[0613] In one embodiment, the random access timing includes at least one of the following:

[0614] General timing for sensing measurements;

[0615] The general timing for supporting reference signals in sensing and measurement services;

[0616] This includes a general timing for at least one reference signal or channel used for non-sensory measurements.

[0617] The communication sensing device proposed in this embodiment belongs to the same inventive concept as the communication sensing method proposed in the above embodiments. Technical details not described in detail in this embodiment can be found in any of the above embodiments. Furthermore, this embodiment has the same beneficial effects as performing the communication sensing method.

[0618] This application also provides a communication sensing device. Figure 12 is a schematic diagram of the structure of a communication sensing device according to an embodiment. As shown in Figure 12, the communication sensing device includes:

[0619] The configuration module 410 is configured to send a sensing configuration to a first communication node, the sensing configuration being used to instruct the first communication node to perform at least one sensing measurement; wherein, when the first communication node performs at least two sensing measurements, the sensing measurement result is obtained by fusing the measurement results obtained from each sensing measurement.

[0620] In one embodiment, the device further includes:

[0621] The capability receiving module is configured to receive capability information reported by the first communication node, the capability information including perception-related capability information of the at least one user equipment.

[0622] In one embodiment, the capability receiving module is specifically configured as follows:

[0623] During the initial access process, a preamble sent by the user equipment is received, and the capability information is contained in the preamble.

[0624] In one embodiment, for any of the user equipment, the association between the user equipment's perception-related capabilities and the low-power user equipment includes at least one of the following:

[0625] Low-power user equipment does not have sensing-related capabilities;

[0626] Low-power user equipment that reports capability information has reduced perception-related capabilities;

[0627] Low-power user equipment that reports capability information has sensing-related capabilities.

[0628] In one embodiment, the sensing configuration includes sensing parameters;

[0629] Configure module 410, specifically set as follows:

[0630] Send a random access response message to the first communication node, the random access response message containing the sensing parameters;

[0631] The sensing parameters include at least one of the following: resource parameters, signal index, time domain indicator, frequency domain indicator, spatial quasi-co-location indicator, and sensing identifier;

[0632] The perception identifier is used to indicate the perception behavior of at least one user device.

[0633] In one embodiment, the device further includes a fusion module, configured to fuse a first measurement result obtained by performing a first sensing measurement on the first communication node and a second measurement result obtained by performing a second sensing measurement to obtain a fused measurement result.

[0634] In one embodiment, the at least one user equipment includes a first user equipment and a second user equipment; the second user equipment is a sensing receiver or a sensing transmitter corresponding to the first user equipment.

[0635] The perception identifier is used to indicate the perception behavior of at least one user device.

[0636] In one embodiment, when the sensing identifier is included in signaling for configuring a time window, the sensing behavior includes at least one of the following:

[0637] Receive the sensing echo signal within the first time window;

[0638] Report the sensing measurement results within the second time window.

[0639] In one embodiment, the fusion module is specifically configured as at least one of the following:

[0640] For two sensing measurements with the same bandwidth, calculate the weighted average of RSRP in the first measurement result and the second measurement result;

[0641] For two sensing measurements with the same bandwidth, calculate the weighted average of the RSRQ in the first measurement result and the second measurement result;

[0642] For two sensing measurements with the same bandwidth, calculate the weighted average of the SINR in the first measurement result and the second measurement result;

[0643] For two sensing measurements with different bandwidths, the measured values ​​in the first measurement result and the second measurement result are normalized, and the weighted average of the normalized measured values ​​is calculated.

[0644] For two sensing measurements with different bandwidths, the measurement value corresponding to the target bandwidth is selected according to the actual application scenario.

[0645] In one embodiment, the device further includes a segmentation module configured to segment the sensing area for performing sensing measurements according to at least one of the following: reference angle, reference distance, absolute angle, absolute distance, longitude, latitude, altitude, and the area where the sensing target is located.

[0646] In one embodiment, the fused measurement result includes at least one of the following: fused RSRP measurement value, fused RSRQ measurement value, fused SINR measurement value, timestamps of the two sensing measurements, measurement bandwidth information, and fusion processing method indication.

[0647] In one embodiment, the preamble satisfies at least one of the following association relationships:

[0648] The preamble and the uplink probe reference signal have the same beam information;

[0649] The preamble and the sensing reference signal have the same beam information;

[0650] The preamble and uplink probe reference signal are quasi-co-addressable;

[0651] The preamble and the sensing reference signal are quasi-co-addressable.

[0652] In one embodiment, the fusion includes the fusion of at least one of random access timing, signaling, and channel:

[0653] The signal includes at least one of the following: DMRS, PTRS, SRS, PRS, RIM-RS;

[0654] The channel includes at least one of the following: PBCH, PDSCH, PDCCH, PUCCH, PUSCH, PSSCH, PSCCH, PSFCH, PRACH, SSB.

[0655] In one embodiment, the first measurement result and the second measurement result are fused to obtain a fused measurement result, including:

[0656] Spatiotemporal registration is performed on the first measurement result and the second measurement result. The spatiotemporal registration includes unifying the time reference, converting the measurement values ​​to a standard coordinate system, and performing error compensation on the measurement values ​​in the standard coordinate system.

[0657] The first feature vector of the key features of the first measurement result after spatiotemporal registration and the second feature vector of the key features of the second measurement result after spatiotemporal registration are extracted respectively.

[0658] Calculate the similarity between the first feature vector and the second feature vector;

[0659] Based on the similarity, it is determined that the first feature vector and the second feature vector are associated with the same perceptual target;

[0660] The fusion measurement result is determined based on the first feature vector and the second feature vector.

[0661] In one embodiment, determining the fusion measurement result based on the first feature vector and the second feature vector includes:

[0662] The first weight corresponding to the first measurement result and the second weight corresponding to the second measurement result are determined based on the measurement accuracy.

[0663] Based on the first weight and the second weight, the first feature vector and the second feature vector are weighted and calculated to obtain the fusion measurement result;

[0664] The quality of the fusion measurement results is assessed based on priority evaluation indicators.

[0665] In one embodiment, the fusion measurement results include at least one of the following of the perceived target: number, location coordinates, movement speed, and movement trajectory.

[0666] In one embodiment, the key features include at least one of the following of the perceived target: position, velocity, acceleration, Doppler, and microDoppler.

[0667] In one embodiment, the device further includes a timing determination module configured to determine the random access timing of the sensing measurement process.

[0668] In one embodiment, the timing of the random access is determined based on configuration information;

[0669] The process of obtaining the configuration information includes:

[0670] The configuration information is obtained by accessing neighboring cells;

[0671] The configuration information is sent by the serving cell to the core network element, and then forwarded to neighboring cells by the core network element; or...

[0672] The configuration information is sent by the serving cell to neighboring cells through a designated interface.

[0673] In one embodiment, the timing determination module is specifically configured to: determine the random access timing of the sensing measurement process when there is a need for sensing services.

[0674] In one embodiment, the random access timing includes at least one of the following: a random access timing dedicated to sensing and measurement, a random access timing corresponding to low-power user equipment, and a random access timing corresponding to non-low-power user equipment.

[0675] In one embodiment, the random access timing dedicated to sensing and measurement includes at least one of the following: random access timing corresponding to low-power user equipment, and random access timing corresponding to non-low-power user equipment.

[0676] In one embodiment, the device further includes a mode determination module configured to be at least one of the following:

[0677] The sensing and measurement method is determined based on the resource configuration status at the random access time.

[0678] The resource configuration status is configured or not configured, and correspondingly, the sensing measurement method is to use RBCH for sensing measurement or not use RBCH for sensing measurement.

[0679] In one embodiment, the random access timing includes at least one of the following:

[0680] General timing for sensing measurements;

[0681] The general timing for supporting reference signals in sensing and measurement services;

[0682] This includes a general timing for at least one reference signal or channel used for non-sensory measurements.

[0683] This application also provides a communication node. Figure 13 is a schematic diagram of the hardware structure of a communication node provided in an embodiment. As shown in Figure 13, the communication node provided in this application includes a processor 510 and a memory 520. The processor 510 in the communication node can be one or more, and Figure 13 shows one processor 510 as an example. The memory 520 is configured to store one or more programs. The one or more programs are executed by the one or more processors 510, so that the one or more processors 510 implement the communication sensing method as described in the embodiment of this application.

[0684] The communication node also includes: a communication device 530, an input device 540, and an output device 550.

[0685] The processor 510, memory 520, communication device 530, input device 540 and output device 550 in the communication node can be connected by a bus or other means. Figure 13 shows an example of connection by bus.

[0686] Input device 540 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the communication node. Output device 550 may include display devices such as a display screen.

[0687] The communication device 530 may include a receiver and a transmitter. The communication device 530 is configured to perform information transmission and reception communication under the control of the processor 510.

[0688] The memory 520, as a computer-readable storage medium, can be configured to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the communication sensing method described in the embodiments of this application. The memory 520 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application program required for at least one function; the data storage area may store data created based on the use of the communication node, etc. Furthermore, the memory 520 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 520 may further include memory remotely located relative to the processor 510, and these remote memories can be connected to the communication node via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0689] This application also provides a storage medium storing a computer program, which, when executed by a processor, implements any of the communication sensing methods described in this application.

[0690] This application also provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements any of the communication sensing methods described in this application.

[0691] The computer storage medium in this application embodiment can be any combination of one or more computer-readable media. The computer-readable medium can be a computer-readable signal medium or a computer-readable storage medium. For example, a computer-readable storage medium can be, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable CD-ROM, optical storage device, magnetic storage device, or any suitable combination thereof. The computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0692] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit programs for use by or in connection with an instruction execution system, apparatus, or device.

[0693] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical fiber, radio frequency (RF), etc., or any suitable combination thereof.

[0694] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0695] This application also provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement the communication sensing method as described in any of the above embodiments.

[0696] The above description is merely an exemplary embodiment of this application and is not intended to limit the scope of protection of this application.

[0697] Those skilled in the art will understand that the term user terminal encompasses any suitable type of wireless user equipment, such as mobile phones, portable data processing portable web browsers, or vehicle-mounted mobile stations.

[0698] Generally, the various embodiments of this application can be implemented in hardware or dedicated circuitry, software, logic, or any combination thereof. For example, some aspects can be implemented in hardware, while others can be implemented in firmware or software that can be executed by a controller, microprocessor, or other computing device, although this application is not limited thereto.

[0699] Embodiments of this application can be implemented by executing computer program instructions through the data processor of a mobile device, for example, in a processor entity, or through hardware, or through a combination of software and hardware. The computer program instructions can be assembly instructions, Instruction Set Architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages.

[0700] Any block diagram of logical flow in the accompanying drawings of this application may represent program steps, or may represent interconnected logic circuits, modules, and functions, or may represent a combination of program steps and logic circuits, modules, and functions. The computer program may be stored on memory. Memory may be of any type suitable to the local technical environment and may be implemented using any suitable data storage technology, such as, but not limited to, read-only memory (ROM), random access memory (RAM), optical storage devices and systems (Digital Video Disc (DVD) or Compact Disc (CD), etc.). Computer-readable media may include non-transitory storage media. The data processor may be of any type suitable to the local technical environment, such as, but not limited to, general-purpose computers, special-purpose computers, microprocessors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), and processors based on multi-core processor architectures.

Claims

1. A communication sensing method, executed by a first communication node, the method comprising: Determine the perception configuration; At least one perception measurement is performed according to the perception configuration; wherein, in the case of performing at least two perception measurements, the perception measurement result is obtained by fusing the measurement results obtained from each perception measurement.

2. The method according to claim 1, further comprising: Report capability information, which includes perception-related capability information of at least one user device.

3. The method according to claim 2, wherein, The at least one user equipment includes a first user equipment and a second user equipment; the second user equipment is a sensing receiver or a sensing transmitter corresponding to the first user equipment.

4. The method according to claim 2, wherein, The reported capability information includes: During the initial access process, a preamble is sent, and the capability information is contained in the preamble.

5. The method according to claim 2, wherein, For any user equipment, the association between the user equipment's perception-related capabilities and low-power user equipment includes at least one of the following: Low-power user equipment does not have sensing-related capabilities; Low-power user equipment that reports capability information has reduced perception-related capabilities; Low-power user equipment that reports capability information has sensing-related capabilities.

6. The method according to claim 1, wherein, The perception configuration includes perception parameters; The determination of the perception configuration includes: Receive a random access response message, the random access response message containing the sensing parameters.

7. The method according to claim 6, wherein, The sensing parameters include at least one of the following: resource parameters, signal index, time domain indication, frequency domain indication, and spatial quasi-co-location indication.

8. The method according to claim 1, wherein, The perception configuration includes perception identifiers. The perception identifier is used to indicate the perception behavior of at least one user device.

9. The method according to claim 8, wherein, When the sensing identifier is included in the signaling used to configure the time window, the sensing behavior includes at least one of the following: Receive the sensing echo signal within the first time window; Report the sensing measurement results within the second time window.

10. The method according to claim 1, wherein, Performing at least one sensing measurement according to the sensing configuration includes: The first perception measurement is performed according to the perception configuration to obtain the first measurement result; Under preset conditions, a second sensing measurement is performed to obtain a second measurement result; The preset conditions include at least one of the following: The first measurement result exceeds a preset threshold; Reaching the preset time interval; Trigger indication received; Triggered by autonomous decision-making.

11. The method of claim 10, further comprising: The first measurement result and the second measurement result are fused to obtain a fused measurement result.

12. The method according to claim 1, further comprising: The sensing area for performing sensing measurements should be defined according to at least one of the following: Reference angle, reference distance, absolute angle, absolute distance, longitude, latitude, altitude, and the area where the target is located.

13. The method according to claim 1, further comprising: The fusion measurement results are reported, and the fusion measurement results include at least one of the following: The fused reference signal received power (RSRP) measurement, the fused reference signal received quality (RSRQ) measurement, the fused signal-to-noise ratio (SINR) measurement, the timestamps of the two sensing measurements, the measurement bandwidth information, and the fusion processing method indication.

14. The method according to claim 4, wherein, The preamble satisfies at least one of the following association relationships: The preamble and the uplink probe reference signal have the same beam information; The preamble and the sensing reference signal have the same beam information; The preamble and uplink probe reference signal are quasi-co-addressable; The preamble and the sensing reference signal are quasi-co-addressable.

15. The method according to claim 11, wherein, The fusion includes the fusion of at least one of random access timing, signal, and channel; The signal includes at least one of the following: demodulation reference signal DMRS, phase tracking reference signal PTRS, detection reference signal SRS, positioning reference signal PRS, and remote interference management reference signal RIM-RS; The channels include at least one of the following: Physical Broadcast Channel (PBCH), Physical Downlink Shared Channel (PDSCH), Physical Downlink Control Channel (PDCCH), Physical Uplink Control Channel (PUCCH), Physical Uplink Shared Channel (PUSCH), Physical Dedicated Channel (PSSCH), Physical Sidelink Control Channel (PSCCH), Physical Sidelink Feedback Channel (PSFCH), Physical Random Access Channel (PRACH), and Synchronization Signal Block (SSB).

16. The method according to claim 11, wherein, The process of fusing the first measurement result and the second measurement result to obtain a fused measurement result includes: Spatiotemporal registration is performed on the first measurement result and the second measurement result. The spatiotemporal registration includes: unifying the time reference, converting the measurement values ​​to a standard coordinate system, and performing error compensation on the measurement values ​​in the standard coordinate system. The first feature vector of the key features of the first measurement result after spatiotemporal registration and the second feature vector of the key features of the second measurement result after spatiotemporal registration are extracted respectively. Calculate the similarity between the first feature vector and the second feature vector; Based on the similarity, it is determined that the first feature vector and the second feature vector are associated with the same perceptual target; The fusion measurement result is determined based on the first feature vector and the second feature vector.

17. The method according to claim 16, wherein, The step of determining the fusion measurement result based on the first feature vector and the second feature vector includes: The first weight corresponding to the first measurement result and the second weight corresponding to the second measurement result are determined based on the measurement accuracy. Based on the first weight and the second weight, the first feature vector and the second feature vector are weighted and calculated to obtain the fusion measurement result; The quality of the fusion measurement results is assessed based on priority evaluation indicators.

18. The method according to claim 11, wherein, The fusion measurement results include at least one of the following from the perceived target: Number, position coordinates, speed, and trajectory.

19. The method of claim 16, wherein, The key features include at least one of the following of the perceived target: position, velocity, acceleration, Doppler, and microDoppler.

20. The method according to claim 1, further comprising: Determine the timing of random access during the sensing and measurement process.

21. The method according to claim 20, wherein, The timing of the random access is determined based on the configuration information; The configuration information is obtained through one of the following processes: The configuration information is obtained by accessing neighboring cells; The configuration information is sent by the serving cell to the core network element, and then forwarded to neighboring cells by the core network element; and... The configuration information is sent by the serving cell to neighboring cells through a designated interface.

22. The method according to claim 20, wherein, The determination of the random access timing in the sensing and measurement process includes: When there is a need for sensing services, determine the random access timing of the sensing measurement process.

23. The method of claim 20, wherein, The random access timing includes at least one of the following: a random access timing dedicated to sensing and measurement, a random access timing corresponding to low-power user equipment, and a random access timing corresponding to non-low-power user equipment.

24. The method according to claim 23, wherein, The random access timings dedicated to sensing and measurement include at least one of the following: random access timings corresponding to low-power user equipment, and random access timings corresponding to non-low-power user equipment.

25. The method of claim 20, further comprising at least one of the following: The sensing and measurement method is determined based on the resource configuration status of the random access timing; In response to determining that the resource configuration status is configured, the sensing measurement method is to perform sensing measurement using the sensing random access channel (RBCH); or in response to determining that the resource configuration status is not configured, the sensing measurement method is to perform sensing measurement without using the RBCH.

26. The method of claim 20, wherein, The random access timing includes at least one of the following: General timing for sensing measurements; The general timing for supporting reference signals in sensing and measurement services; This includes a general timing for at least one reference signal or channel used for non-sensory measurements.

27. A sensing communication method, executed by a second communication node, comprising: Send a sensing configuration to a first communication node, the sensing configuration being used to instruct the first communication node to perform at least one sensing measurement; Wherein, when the first communication node performs at least two sensing measurements, the sensing measurement result is obtained by fusing the measurement results obtained from each sensing measurement.

28. The method of claim 27, further comprising: The capability information reported by the first communication node is received, and the capability information includes perception-related capability information of at least one user device.

29. The method according to claim 28, wherein, The step of receiving the capability information reported by the first communication node includes: During the initial access process, a preamble sent by the user equipment is received, and the capability information is contained in the preamble.

30. The method according to claim 28, wherein, For any user equipment, the association between the user equipment's perception-related capabilities and low-power user equipment includes at least one of the following: Low-power user equipment does not have sensing-related capabilities; Low-power user equipment that reports capability information has reduced perception-related capabilities; Low-power user equipment that reports capability information has sensing-related capabilities.

31. The method according to claim 27, wherein, The perception configuration includes perception parameters; Sending the sensing configuration to the first communication node includes: Send a random access response message to the first communication node, the random access response message containing the sensing parameters; The sensing parameters include at least one of the following: resource parameters, signal index, time domain indicator, frequency domain indicator, spatial quasi-co-location indicator, and sensing identifier; The perception identifier is used to indicate the perception behavior of at least one user device.

32. The method of claim 27, further comprising: The first measurement result obtained from the first sensing measurement performed on the first communication node and the second measurement result obtained from the second sensing measurement are fused to obtain a fused measurement result.

33. A communication node, comprising: Memory, and one or more processors; The memory is configured to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the perceptual communication method as described in any one of claims 1-31.

34. A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the perceptual communication method as described in any one of claims 1-31.

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