Target sensing method and apparatus, device, and sensing server

Abstract

The present disclosure provides a target sensing method and apparatus, a device, and a sensing server. The method is applied to a sensing receiving device, and comprises: receiving a sensing reference signal sent by a sensing sending device, wherein the sensing reference signal is sent by the sensing sending device by means of a plurality of sensing ports or a plurality of sensing resources; acquiring at least one piece of angle of departure measurement information on the basis of the sensing reference signal; and sending the angle of departure measurement information to a sensing server SF.

Description

A target perception method, apparatus, device, and perception server

[0001] This disclosure claims priority to Chinese Patent Application No. 202510119427.1, filed with the Chinese Patent Office on January 24, 2025, entitled “A Target Perception Method, Apparatus, Device and Perception Server”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of communication technology, and in particular to a target perception method, apparatus, device, and perception server. Background Technology

[0003] Sensing-integrated technology, a key technology for both 5G and 6G, is being widely researched in the industry. Its core lies in endowing base stations or terminals with sensing capabilities, namely, sensing the surrounding environment and the distance, speed, angle, and position of the target. Compared to traditional active positioning, sensing focuses more on passive positioning. The target does not require a device; instead, the signal emitted by the transmitter is guided to the receiver via physical phenomena such as reflection, scattering, and diffraction from the target, where it is processed. The receiver detects and senses the received signal to obtain the sensed measurement, which is then reported to the Sensing Function (SF) for position calculation. Common sense measurements include Time of Arrival (TOA), Azimuth Angle of Arrival (AOA), and Doppler shift. AOA, in particular, reflects angular domain information and is unaffected by clock synchronization deviations, making it widely used.

[0004] Depending on whether the transmitting and receiving ends are the same device, the sensing mode can be divided into single-base mode and dual-base mode. The former is self-transmitting and self-receiving, while the latter is self-transmitting and receiving from others.

[0005] However, in dual-base station mode applications, when the terminal acts as the receiver, the limited physical antenna size on the terminal side prevents it from providing a sufficient receiving antenna aperture, resulting in a significant angle of arrival estimation error, typically exceeding 20 degrees, which severely impacts location sensing accuracy. Furthermore, in multi-transmitter, single-receiver scenarios, since multiple base stations correspond to the same angle of arrival, relying solely on the angle of arrival is insufficient for location sensing. Therefore, location sensing schemes based on angle of arrival cannot meet the sensing accuracy requirements of integrated sensing scenarios. Summary of the Invention

[0006] The purpose of this disclosure is to provide a target perception method, apparatus, device, and perception server to solve the problem that the position perception scheme based on the angle of arrival cannot meet the perception accuracy requirements in the integrated sensing scenario.

[0007] In a first aspect, embodiments of this disclosure provide a target sensing method applied to a sensing receiving device, comprising:

[0008] Receive a sensing reference signal sent by a sensing transmitting device, wherein the sensing reference signal is sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources;

[0009] Based on the sensing reference signal, at least one departure angle measurement information is obtained;

[0010] The departure angle measurement information is sent to the Sensing Function (SF).

[0011] Secondly, embodiments of this disclosure provide a target sensing method applied to a sensing and transmitting device, comprising:

[0012] Allocate different sensing resources to multiple sensing ports;

[0013] Sensing reference signals are transmitted through the multiple sensing ports or multiple sensing resources.

[0014] Thirdly, embodiments of this disclosure provide a target perception method applied to a perception server, comprising:

[0015] The receiving device receives the launch angle measurement information sent by the sensing receiving device. The launch angle measurement information is obtained by the sensing receiving device measuring the sensing reference signal sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources.

[0016] Based on the departure angle measurement information, determine the location of the sensing target and / or the sensing receiving device.

[0017] Fourthly, embodiments of this disclosure provide a sensing and receiving device, including: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; the processor is configured to read the program from the memory and execute the following processes:

[0018] Receive a sensing reference signal sent by a sensing transmitting device, wherein the sensing reference signal is sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources;

[0019] Based on the sensing reference signal, at least one departure angle measurement information is obtained;

[0020] The departure angle measurement information is sent to the sensing server SF.

[0021] Fifthly, embodiments of this disclosure provide a sensing and transmitting device, including: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; the processor is configured to read the program from the memory and execute the following processes:

[0022] Allocate different sensing resources to multiple sensing ports;

[0023] Sensing reference signals are transmitted through the multiple sensing ports or multiple sensing resources.

[0024] In a sixth aspect, embodiments of this disclosure provide a sensing server, including: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; the processor is configured to read the program from the memory and execute the following processes:

[0025] The receiving device receives the launch angle measurement information sent by the sensing receiving device. The launch angle measurement information is obtained by the sensing receiving device measuring the sensing reference signal sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources.

[0026] Based on the departure angle measurement information, determine the location of the sensing target and / or the sensing receiving device.

[0027] In a seventh aspect, embodiments of this disclosure provide a target sensing device applied to a sensing receiving device, comprising:

[0028] The first receiving module is used to receive a sensing reference signal sent by the sensing transmitting device, wherein the sensing reference signal is sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources.

[0029] The first acquisition module is used to acquire at least one departure angle measurement information based on the sensing reference signal;

[0030] The first sending module is used to send the departure angle measurement information to the sensing server SF.

[0031] Eighthly, embodiments of this disclosure provide a target sensing device applied to a sensing and transmitting device, comprising:

[0032] The resource allocation module is used to allocate different sensing resources to multiple sensing ports;

[0033] The fourth transmitting module is used to transmit sensing reference signals through the multiple sensing ports or multiple sensing resources.

[0034] Ninthly, embodiments of this disclosure provide a target sensing device applied to a sensing server, comprising:

[0035] The fifth receiving module is used to receive the launch angle measurement information sent by the sensing receiving device. The launch angle measurement information is obtained by the sensing receiving device from the sensing reference signal sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources.

[0036] The determination module is used to determine the position of the sensing target and / or the sensing receiving device based on the departure angle measurement information.

[0037] In a tenth aspect, embodiments of this disclosure provide a processor-readable storage medium storing a computer program for causing the processor to perform the target perception method as described in the first, second, or third aspect.

[0038] The beneficial effects of the above-mentioned technical solution disclosed herein are as follows:

[0039] In the above scheme, the sensing receiving device receives sensing reference signals transmitted by the sensing transmitting device through multiple sensing ports or multiple sensing resources. Based on the phase difference between the multiple sensing ports, it obtains the departure angle measurement information from the sensing transmitting device. Furthermore, the sensing receiving device sends the departure angle measurement information to the sensing server, enabling the sensing server to determine the position of the sensing target and / or the sensing receiving device based on this information. Thus, by utilizing the large antenna aperture of the transmitting base station to achieve accurate departure angle measurement and using the departure angle measurement for positioning, sensing accuracy is improved. Moreover, in application scenarios where the sensing receiving device is a base station, dual-base station positioning can be achieved without being affected by clock synchronization errors. Simultaneously, it avoids the problem of large angle-of-arrival error estimation due to the small antenna aperture of the terminal, which affects sensing performance. Attached Figure Description

[0040] Figure 1 is a schematic diagram of a perception scene according to an embodiment of this disclosure;

[0041] Figure 2 is a second schematic diagram of a perception scene according to an embodiment of this disclosure;

[0042] Figure 3 is a third schematic diagram of the perception scene according to an embodiment of this disclosure;

[0043] Figure 4 is a fourth schematic diagram of the perception scene according to an embodiment of this disclosure;

[0044] Figure 5 is a fifth schematic diagram of a perception scene according to an embodiment of this disclosure;

[0045] Figure 6 is a sixth schematic diagram of a perception scenario according to an embodiment of this disclosure;

[0046] Figure 7 is a flowchart of one of the target perception methods according to an embodiment of the present disclosure;

[0047] Figure 8 is a schematic diagram of one of the port reference points according to an embodiment of this disclosure;

[0048] Figure 9 is a second schematic diagram of the port reference point in an embodiment of this disclosure;

[0049] Figure 10 is one of the schematic diagrams of the allocation of sensing resources for multiple sensing ports in an embodiment of this disclosure;

[0050] Figure 11 is a second schematic diagram of the allocation of sensing resources for multiple sensing ports according to an embodiment of this disclosure;

[0051] Figure 12 is a schematic diagram of AOD and ZOD according to an embodiment of this disclosure;

[0052] Figure 13 is a second flowchart of the target perception method according to an embodiment of the present disclosure;

[0053] Figure 14 is a flowchart of the third embodiment of the target perception method of this disclosure;

[0054] Figure 15 is a seventh schematic diagram of a perception scene according to an embodiment of this disclosure;

[0055] Figure 16 is a third schematic diagram of the allocation of sensing resources for multiple sensing ports in an embodiment of this disclosure;

[0056] Figure 17 is an eighth schematic diagram of a perception scene according to an embodiment of this disclosure;

[0057] Figure 18 is a fourth schematic diagram of the allocation of sensing resources for multiple sensing ports in an embodiment of this disclosure;

[0058] Figure 19 is a structural block diagram of a target sensing device according to an embodiment of the present disclosure;

[0059] Figure 20 is a second structural block diagram of the target sensing device according to an embodiment of the present disclosure;

[0060] Figure 21 is a third structural block diagram of the target sensing device according to an embodiment of the present disclosure;

[0061] Figure 22 is a schematic diagram of the hardware structure of the sensing and receiving device according to an embodiment of the present disclosure;

[0062] Figure 23 is a schematic diagram of the hardware structure of the sensing and transmitting device according to an embodiment of the present disclosure;

[0063] Figure 24 is a schematic diagram of the hardware structure of the perception server according to an embodiment of this disclosure. Detailed Implementation

[0064] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0065] In this disclosure, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0066] In this disclosure, the term "multiple" refers to two or more, and other quantifiers are similar.

[0067] The following is a description of the solutions provided in the embodiments of this disclosure.

[0068] I. Dual-base perception scenarios

[0069] Application Scenario 1: The receiver of the sensing reference signal is a base station.

[0070] In the dual-base sensing scenario shown in Figures 1 and 2, base stations (BS) communicate by transmitting and receiving signals. The receiving base station uses the phase difference of multiple receiving antennas to obtain the angle of arrival of the reflected signal from the target. Combined with distance measurements, the user's location can be determined. However, because distance is affected by clock deviation, the accuracy of the sensed target obtained based on distance and angle of arrival is relatively poor.

[0071] Among them, the formula (M) in Figure 1 BS2 -1)*d represents the antenna aperture; where M BS2 Let be the number of receiving antennas, and d be the antenna spacing. The phase difference between different antennas is... Where θ represents the angle between the direction of arrival and the normal to the receiving antenna panel, i.e., the two-dimensional azimuth angle of arrival.

[0072] Application Scenario 2: The receiving end of the sensing reference signal is a terminal.

[0073] In the dual-base sensing scenario shown in Figure 3, due to the limited physical antenna size on the user equipment (UE) side, the terminal cannot be configured with a sufficient number of antennas, typically 2 to 4. The angular resolution is related to the antenna aperture, and the specific relationship is as follows: Where Δα is the angular resolution, D is the antenna aperture (equal to the product of the number of antennas and the antenna spacing), and λ is the wavelength. As can be seen from the equation, in the sensing scenario shown in Figure 3, the terminal cannot provide a sufficiently large receiving antenna aperture, leading to a significant angle estimation error, typically exceeding 20 degrees, which severely impacts sensing performance.

[0074] Application Scenario 3: Multiple Transmitters, Single Receivers, where multiple base stations transmit sensing reference signals and a single terminal receives the sensing reference signals.

[0075] As shown in Figure 4, in the dual-base sensing scenario, different base stations correspond to the same AOA, and the location of the target cannot be determined by relying solely on the AOA.

[0076] It should also be noted that various measurement quantities are defined in relevant positioning technologies, such as Time of Arrival (TOA), Angle of Arrival (AOA), and Reference Signal Receive Power (RSRP). Among them, RSRP is used to calculate the starting angle for downlink positioning. As shown in Figure 5, its principle is based on the criterion that the beam closest to the line connecting the base station and the terminal has the highest power during beam scanning. The terminal reports the RSRP of different beams to the Location Management Function (LMF). The LMF selects the direction corresponding to the beam with the highest RSRP. In this process, the terminal is only responsible for reporting the power and does not perform angle measurement.

[0077] However, in dual-base sensing scenarios, it cannot be guaranteed that the RSRP (Resonance Ratio) of the connection from the base station to the sensing target terminal will be maximized. As shown in Figure 6, the power corresponding to the path from base station to sensing target to terminal may not be maximized, and may be less than that of the path from base station to environmental scatterer to terminal. Furthermore, the accuracy of the transmission angle calculated by this scheme is related to the transmission beamwidth, and using RSRP to calculate the launch angle results in only a rough measurement of the launch angle, with limited accuracy.

[0078] In summary, in dual-base station mode applications, when the terminal acts as the receiver, the limited physical antenna size on the terminal side prevents it from providing a sufficient receiving antenna aperture, resulting in a significant angle-of-arrival (AOA) estimation error, typically exceeding 20 degrees, which severely impacts location sensing accuracy. Furthermore, in multi-transmitter, single-receiver scenarios, since multiple base stations correspond to the same AOA, relying solely on the AOA is insufficient for location sensing. Therefore, location sensing schemes based on AOA cannot meet the sensing accuracy requirements of integrated sensing scenarios.

[0079] Based on the above, this disclosure provides a target perception method, apparatus, device, and perception server to solve the problem that the location perception scheme based on the angle of arrival cannot meet the perception accuracy requirements in the integrated sensing scenario.

[0080] Referring to Figure 7, this embodiment of the present disclosure provides a target perception method applied to a perception receiving device, wherein the perception receiving device can be a terminal or a base station.

[0081] Specifically, the target perception method includes the following steps:

[0082] Step 701: Receive a sensing reference signal sent by the sensing transmitting device, wherein the sensing reference signal is sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources;

[0083] It should be noted that multiple sensing ports can be multiple antennas in a sensing transmitting device, or multiple antenna groups in a sensing transmitting device, or multiple signal transmission sources in a sensing transmitting device.

[0084] In this step, the multiple sensing ports are not quasi-co-located, and the sensing resources corresponding to the multiple sensing ports are different. When the sensing transmitting device transmits the sensing reference signal through different sensing resources, the sensing reference signal can be transmitted by multiple sensing ports of the sensing transmitting device through different resources.

[0085] Step 702: Obtain at least one departure angle measurement information based on the sensing reference signal;

[0086] In some embodiments, the departure angle measurement information includes: a departure angle measurement quantity; or, the difference between any two departure angle measurements.

[0087] It should be noted that the difference between any two departure angle measurements includes: the difference between departure angle measurements corresponding to two signal transmission paths of the same transmitting base station, and the difference between departure angle measurements corresponding to two signal transmission paths of different transmitting base stations.

[0088] The departure angle measurement includes the departure azimuth (AOD) and departure zenith (ZOD) measurements corresponding to each signal propagation path. In other words, the departure angle includes the departure azimuth (AOD) and departure zenith (ZOD) in three-dimensional space.

[0089] As shown in Figure 12, the starting azimuth angle (AOD) for each signal propagation path is the horizontal angle between the line connecting the transmitting base station to a sensing target or environmental target and the reference direction on the transmitting base station side (x-direction in Figure 12); the starting zenith angle (ZOD) for each signal propagation path is the vertical angle between the line connecting the transmitting base station to a sensing target or environmental target and the reference direction on the transmitting base station side (z-direction in Figure 12). The reference direction on the transmitting base station side is established in either a Local Coordinate System (LCS) or a Global Coordinate System (GCS).

[0090] In some embodiments, the departure angle measurement information further includes at least one of the following:

[0091] The quality indication information corresponding to the departure angle measurement information;

[0092] The timestamp corresponding to the departure angle measurement information.

[0093] For example, the start angle measurement information includes: the start angle measurement quantity and the corresponding quality indication information, or the difference between the start angle measurements and the corresponding quality indication information; for example, the start angle measurement information includes: the start angle measurement quantity and the corresponding timestamp, or the difference between the start angle measurements and the corresponding timestamp. For example, the start angle measurement information includes: the start angle measurement quantity, the corresponding quality indication information, and the corresponding timestamp; for example, the start angle measurement information includes: the difference between the start angle measurements, the corresponding quality indication information, and the corresponding timestamp. These are merely examples and are not limited to; other combinations may also be included.

[0094] It should be noted that the quality indication information corresponding to the departure angle measurement information is used to measure the reliability of the current AOD and ZOD, and is expressed by error variance or by soft or hard values ​​between 0 and 1.

[0095] It should be noted that since the sensing reference signal is transmitted by the sensing transmitting device through multiple sensing ports, the phase difference information between different sensing ports can be used to obtain the departure azimuth angle (AOD) and departure zenith angle (ZOD) on the sensing receiving device side, so as to obtain the departure angle measurement by utilizing the large array aperture of the transmitting base station.

[0096] Step 703: Send the departure angle measurement information to the sensing server SF.

[0097] In this step, the sensing receiving device sends the departure angle measurement information to the sensing server SF in one of the following ways: periodically sending the departure angle measurement information, non-periodically sending the departure angle measurement information, or semi-continuously sending the departure angle measurement information.

[0098] In the above embodiments, the sensing transmitting device transmits sensing reference signals through multiple sensing ports with different sensing resources. The sensing receiving device obtains the departure angle measurement information from the sensing transmitting device based on the phase difference between the multiple sensing ports. The sensing receiving device then sends the departure angle measurement information to the sensing server, enabling the sensing server to determine the position of the sensing target and / or the sensing receiving device based on the departure angle measurement information. Thus, by utilizing the large antenna aperture of the transmitting base station to achieve accurate departure angle measurement and using the departure angle measurement for positioning, sensing accuracy is improved. Moreover, in application scenarios where the sensing receiving device is a base station, dual-base station positioning can be achieved without being affected by clock synchronization errors. Furthermore, it avoids the problem of large angle of arrival error estimation due to the small antenna aperture of the terminal, which affects sensing performance.

[0099] For example, in the dual-base sensing scenario shown in Figure 3, the base station transmits sensing reference signals through multiple antennas, and the terminal receives the sensing reference signals and obtains the arrival angle measurement based on the phase difference between the antennas in the base station. This avoids the problem of large arrival angle estimation errors caused by the small antenna aperture of the terminal, which affects sensing performance. The formulas (M) in Figures 2 and 3... BS1 -1)*d represents the antenna aperture; where M BS1 Let be the number of transmitting antennas, and d be the antenna spacing. The phase difference between different antennas is... Where θ represents the angle between the direction of the incoming wave and the normal to the transmitting antenna panel, i.e., the two-dimensional starting azimuth angle.

[0100] For example, in the dual-base sensing scenario shown in Figure 17, using a time-delay-based localization method to determine the location of the sensing target is affected by the clock synchronization deviation between the transmitting and receiving base stations, resulting in a severe performance degradation. However, by combining the departure angle measurement based on multiple sensing ports with the arrival angle measurement and the geometric distance d0 between the transmitting and receiving base stations, the location of the sensing target can be directly determined without being affected by the clock deviation between the base stations.

[0101] For example, in the sensing scenario shown in Figure 4, multiple base stations send sensing reference signals, and one terminal receives the sensing reference signals. Since there is only one angle of arrival, it is insufficient to determine the location of the sensing target. However, for the azimuth angle, each transmitting base station has its own azimuth angle. By combining the known base station coordinates, the location of the sensing target can be determined by relying solely on the AOD.

[0102] In some embodiments, before receiving the sensing reference signal transmitted by the sensing transmitting device, the method further includes:

[0103] Receive sensing port information corresponding to the plurality of sensing ports or plurality of sensing resources sent by the sensing transmitting device or the SF.

[0104] Specifically, sensing port information is used to indicate the sensing ports corresponding to different sensing resources, including sensing port identifiers (IDs), sensing port reference point location information, etc. The sensing receiving device acquires the departure angle measurement information corresponding to multiple signal propagation paths based on the sensing reference signal and the sensing port information.

[0105] In practice, the specific process of obtaining the departure angle measurement information based on the sensing port information includes:

[0106] For example, when the sensing port positions corresponding to the 8 sensing resources are all different, such as the port reference point positions of sensing resource 1 to sensing resource 8 being (x1, y1, z1), ..., (x8, y8, z8) respectively, the spacing d1, ..., d8 between the different sensing ports can be obtained. Since different resources can be distinguished by time domain, frequency domain, code domain, or sequence domain, the corresponding channel estimation can be obtained independently, thereby obtaining the phase of each signal propagation path on the 8 resources (which also correspond to the 8 sensing ports). The transmission angle (also known as the departure angle) of each signal propagation path includes the phase difference corresponding to different resources. In, that is Where θ represents the angle between the direction of arrival and the normal to the transmitting antenna panel, and d is the antenna spacing. Therefore, based on the relative phase difference between multiple sensing ports... The launch angle θ can be calculated. Alternatively, the launch angle can also be calculated using classic multi-signal classification (MUSIC) or fast fourier transform (FFT) algorithms.

[0107] For example, the phase difference between resource 1 and resource 2 It can be obtained through channel estimation corresponding to resource 1. The departure angle can be obtained by estimating the channel corresponding to resource 2.

[0108] In some embodiments, the sensing port information includes at least one of the following:

[0109] Resource parameters of the sensing port, such as time-domain resource parameters and frequency-domain resource parameters;

[0110] The code domain parameters of the sensing port, such as Doppler sequence parameters, time delay sequence parameters, and orthogonal overlay code (OCC) parameters.

[0111] The sensing reference signal sequence used by the sensing port;

[0112] The number of sensing ports;

[0113] Sensing port reference point information corresponding to the port;

[0114] The index corresponding to the sensing port, such as the port reference point index or the antenna reference point (ARP) index;

[0115] The quasi-co-location (QCL) reference signal resources corresponding to the sensing port include: synchronization signal / PBCH block (SSB), positioning reference signal (PRS), channel state information (CSI), sounding reference signal (SRS), or positioning sounding reference signal (pos-SRS) resources, etc.

[0116] In some implementations, QCL can be used to indicate the configuration used by different sensing ports, thereby distinguishing different sensing ports. That is, different sensing ports are associated with the same or different configurations through QCL reference signal resources.

[0117] For example, for quasi-co-location type D (QCL type D), if multiple sensing ports have different spatial relationships, then the multiple sensing ports use different configurations; if multiple sensing ports have the same spatial relationship, then the multiple sensing ports use the same configuration. For example, non-quasi-co-location sensing ports 1 and 2 are mapped to QCL SSB1 and QCL SSB2 respectively through QCL type D, where SSB1 and SSB2 correspond to different spatial parameters.

[0118] In other implementations, the index corresponding to the sensing port can be used to distinguish sensing ports with different spatial relationships. If multiple sensing ports have different indices, then the geometric positions of the multiple sensing ports are different; if multiple sensing ports have the same index, then the multiple sensing ports have the same port reference point information.

[0119] In the above embodiments, the sensing receiving device can distinguish multiple quasi-co-located sensing ports (such as type D, which indicates that the ports have different spatial relationships) based on the sensing port information, and thus obtain the start angle measurement information of the sensing transmitting device side based on the phase difference between the multiple sensing ports.

[0120] In some embodiments, the port reference point information includes:

[0121] The location information of the Port Reference Point (PRP) is used to characterize the physical center of the sensing port;

[0122] Location information of the antenna reference point (ARP).

[0123] It should be noted that the port reference point information is used to indicate the geometric reference position of the actual physical antenna or antenna group corresponding to different resources, and all terms that conform to this feature are within the scope of protection of this patent.

[0124] As one implementation, each sensing port is configured with a specific port reference point (PRP). The PRP characterizes the physical center of the sensing port. As shown in Figure 8, the sensing reference signal uses four sensing ports, each enclosed in a different dashed box. Each sensing port has a port reference point: PRP1, PRP2, PRP3, and PRP4. Figure 9 shows that the sensing reference signal uses three antenna sensing ports, each enclosed in a different dashed box. Each sensing port corresponds to a port reference point: PRP1, PRP2, and PRP3. The sensing receiver calculates the launch angle measurement information on the sensing transmitting device side based on the PRP information of the sensing ports.

[0125] As another implementation method, this is achieved by modifying the definition of the Antenna Reference Point (ARP). This means that not only the receiving antenna but also the transmitting antenna needs to define an ARP, and different ARPs are distinguished using code division, time division, or frequency division multiplexing methods, without requiring separate physical antennas or panels. For example, multiple physical antenna panels may partially overlap, but they can be distinguished using code division. In this way, by using ARP indexes (such as ARP IDs) and ARP location information, it is possible to represent the reference point indications and location information corresponding to multiple sensing ports with different spatial relationships.

[0126] It should be noted that the location information of the port reference point can be in coordinate form or spacing form, such as:

[0127] For example, the position information of the port reference point in coordinate form, in LCS, GCS, Cartesian coordinates, or polar coordinates, is represented as follows:

[0128] The absolute positions of the reference points of the 8 sensing ports are (x1, y1, z1), ..., (x8, y8, z8).

[0129] With the absolute position of the port reference point corresponding to resource 1 as the reference position, the relative positions of the port reference points corresponding to the other 7 resources are as follows: (Δx21,Δy21,Δz21), ..., (Δx81,Δy81,Δz81), where (Δx21,Δy21,Δz21) is the relative position of the port reference point of resource 2 with respect to the port reference point of resource 1.

[0130] Example 2: In Cartesian or polar coordinate systems, the position information of the port reference point in spacing form is represented as follows:

[0131] The horizontal distances between the reference points at each port are: dx1, ..., dx8;

[0132] The vertical distances between the reference points at each port are: dy1, ..., dy8.

[0133] In some embodiments, the sensing resources corresponding to the plurality of sensing ports satisfy at least one of the following:

[0134] The time-domain resources occupied by different sensing ports are different;

[0135] Different sensing ports occupy different frequency domain resources;

[0136] Different sensing ports occupy different code domain resources;

[0137] Different sensing ports occupy different reference signal sequences.

[0138] The code domain resources include one of the following: Doppler domain resources, time delay (distance) domain resources, and orthogonal cover code (OCC).

[0139] For example, as shown in Figure 10, the sensing resources of sensing port 1, sensing port 2 and sensing port 3 are distinguished by time division multiplexing (TDM), and sensing port 1, sensing port 2 and sensing port 3 occupy different time domain resources.

[0140] For example, as shown in Figure 11, the sensing resources of sensing port 1, sensing port 2 and sensing port 3 are distinguished by frequency division multiplexing (TDM), and sensing port 1, sensing port 2 and sensing port 3 occupy different frequency domain resources.

[0141] For example, sensing port 1, sensing port 2, and sensing port 3 occupy the same time-domain and frequency-domain resources, but sensing port 1, sensing port 2, and sensing port 3 use different Doppler sequences. For example:

[0142] The Doppler sequence used at sensing port 1 is:

[0143] The Doppler sequence used at sensing port 2 is:

[0144] The Doppler sequence used at sensing port 3 is:

[0145] Among them, e j2π The function is a complex exponential function, where j is the imaginary unit; a, b, and c are Doppler factors; M is the length of the sequence; m is an index variable representing the sampling point in the sequence, with values ​​ranging from 1 to M; T s The symbol interval is used for symbol spacing.

[0146] For example, sensing port 1, sensing port 2, and sensing port 3 occupy the same time-domain and frequency-domain resources, but they use different time-delay sequences. For example:

[0147] The delay sequence used by sensing port 1 is as follows:

[0148] The delay sequence used by sensing port 2 is as follows:

[0149] The delay sequence used by sensing port 3 is as follows:

[0150] Among them, e j2π The function is a complex exponential function, where j is the imaginary unit; a, b, and c are time delay parameters; N is the length of the sequence; n is an index variable representing the sampling points in the sequence, with values ​​ranging from 1 to N; f scs This refers to the frequency spacing between two adjacent subcarriers.

[0151] For example, sensing port 1, sensing port 2, and sensing port 3 occupy the same time-domain and frequency-domain resources, but sensing port 1, sensing port 2, and sensing port 3 use different orthogonal overlay codes (OCCs). For example:

[0152] The orthogonal coverage code (OCC) used for sensing port 1 is: {+1, +1, +1, +1};

[0153] The orthogonal coverage code (OCC) used in sensing port 2 is: {+1, -1, +1, -1};

[0154] The orthogonal coverage code (OCC) used in sensing port 3 is: {+1, +1, -1, -1}.

[0155] For example, sensing port 1, sensing port 2 and sensing port 3 use different reference signal sequences.

[0156] It should be noted that the examples above all illustrate the use of a single one of the following—time-domain resources, frequency-domain resources, code-domain resources, and a reference signal sequence—to distinguish the sensing resources of different sensing ports. In practical applications, at least two of the following can be used to distinguish the sensing resources of different sensing ports: time-domain resources, frequency-domain resources, code-domain resources, and a reference signal sequence. That is, the sensing resources between any two sensing ports must differ in at least one of the following: time-domain resources, frequency-domain resources, code-domain resources, and a reference signal sequence.

[0157] In some embodiments, before acquiring at least one departure angle measurement information based on the sensing reference signal, the method further includes:

[0158] Receive the first information sent by the SF, the first information being used to indicate the sensing method, the sensing method including at least the departure angle sensing method;

[0159] Based on the first information, feedback information is sent to the SF, and the feedback information is used to indicate whether the sensing receiving device supports the departure angle sensing method.

[0160] Accordingly, when the sensing server determines that both the sensing transmitting device and the sensing receiving device support the starting angle sensing method, it sends the sensing port information of the sensing transmitting device to the sensing receiving device.

[0161] Accordingly, when the sensing server determines that the sensing transmitting device and / or the sensing receiving device supports the starting angle sensing mode, it sends resource configuration information to the sensing transmitting device and / or the sensing receiving device. The resource configuration information is used to indicate the sensing resources allocated to the sensing transmitting device. When there are multiple sensing transmitting devices, the multiple sensing transmitting devices are allocated different sensing resources.

[0162] In some embodiments, the sensing method includes any one of the following:

[0163] Based on starting angle perception;

[0164] Based on departure angle and arrival time perception;

[0165] Based on the departure angle and arrival angle;

[0166] Based on departure angle and carrier phase sensing.

[0167] In other words, the perception method indicated by the first information includes at least perception based on the starting angle.

[0168] In some embodiments, sending the departure angle measurement information to the sensing server SF includes:

[0169] Send departure angle measurement information and second information to the SF, the second information including at least one of the following: arrival angle measurement information, arrival time measurement information, and arrival phase measurement information.

[0170] It should be noted that when the sensing method is based on the starting angle, the sensing receiving device does not send a second information. The sensing receiving device can also determine the position of the sensing target based on the starting angle measured by the sensing signals sent by multiple sensing transmitting devices.

[0171] In specific implementation, when the sensing method is to sense the departure angle and arrival time, the second information includes the arrival time measurement information; when the sensing method is to sense the departure angle and arrival angle, the second information includes the arrival angle measurement information; when the sensing method is to sense the departure angle and carrier phase, the second information includes the arrival phase measurement information.

[0172] In some embodiments, the angle of arrival measurement information includes at least one of the following:

[0173] At least one angle of arrival measurement;

[0174] The difference between any two angle of arrival measurements;

[0175] The quality indication information corresponding to the angle of arrival measurement information;

[0176] The timestamp corresponding to the angle of arrival measurement information.

[0177] The angle of arrival measurement includes the measurement of the azimuth angle (AOA) and the measurement of the zenith angle (ZOA).

[0178] It should be noted that the difference between any two angle of arrival measurements includes: the difference between the angle of arrival measurements corresponding to two signal transmission paths of the same transmitting base station, and the difference between the angle of arrival measurements corresponding to two signal transmission paths of different transmitting base stations.

[0179] For example, angle of arrival measurement information includes: the angle of arrival measurement quantity and the corresponding quality indication information, or the difference between the angle of arrival measurements and the corresponding quality indication information; for example, angle of arrival measurement information includes: the angle of arrival measurement quantity and the corresponding timestamp, or the difference between the angle of arrival measurements and the corresponding timestamp. For example, angle of arrival measurement information includes: the angle of arrival measurement quantity, the corresponding quality indication information, and the corresponding timestamp; for example, angle of arrival measurement information includes: the difference between the angle of arrival measurements, the corresponding quality indication information, and the corresponding timestamp. These are merely examples and are not limited to; other combinations may also be included.

[0180] In some embodiments, the arrival time measurement information includes at least one of the following:

[0181] At least one time of arrival measurement;

[0182] The difference between any two arrival time measurements;

[0183] The quality indication information corresponding to the arrival time measurement information;

[0184] The timestamp corresponding to the arrival time measurement information.

[0185] It should be noted that the difference between any two arrival time measurements includes: the difference between arrival time measurements corresponding to two signal transmission paths of the same transmitting base station, and the difference between arrival time measurements corresponding to two signal transmission paths of different transmitting base stations.

[0186] For example, arrival time measurement information includes: the arrival time measurement and the corresponding quality indication information, or the difference between arrival time measurements and the corresponding quality indication information; for example, arrival time measurement information includes: the arrival time measurement quantity and the corresponding timestamp, or the difference between arrival time measurements and the corresponding timestamp. For example, arrival time measurement information includes: the arrival time measurement quantity, the corresponding quality indication information, and the corresponding timestamp; for example, arrival time measurement information includes: the difference between arrival time measurements, the corresponding quality indication information, and the corresponding timestamp. These are merely examples and are not limited to; other combinations may also be included.

[0187] In some embodiments, the arrival phase measurement information includes at least one of the following:

[0188] At least one arriving phase measurement quantity;

[0189] The difference between any two arriving phase measurements;

[0190] The quality indication information corresponding to the arrival phase measurement information;

[0191] The timestamp corresponding to the arrival phase measurement information.

[0192] It should be noted that the difference between any two arrival phase measurements includes: the difference between arrival phase measurements corresponding to two signal transmission paths of the same transmitting base station, and the difference between arrival phase measurements corresponding to two signal transmission paths of different transmitting base stations.

[0193] For example, arrival phase measurement information includes: the arrival phase measurement and the corresponding quality indication information, or the difference between the arrival phase measurements and the corresponding quality indication information; for example, arrival phase measurement information includes: the arrival phase measurement quantity and the corresponding timestamp, or the difference between the arrival phase measurements and the corresponding timestamp. For example, arrival phase measurement information includes: the arrival phase measurement quantity, the corresponding quality indication information, and the corresponding timestamp; for example, arrival phase measurement information includes: the difference between the arrival phase measurements, the corresponding quality indication information, and the corresponding timestamp. These are merely examples and are not limited to; other combinations may also be included.

[0194] In some embodiments, after receiving the first information sent by the SF, the method further includes:

[0195] When the sensing receiving device supports the departure angle-based sensing method, it receives the resource configuration information sent by the SF, which is used to indicate the sensing resources allocated to the sensing sending device.

[0196] Accordingly, the sensing receiving device receives sensing reference signals on the sensing resources indicated by the resource configuration information.

[0197] In some embodiments, the target perception method further includes:

[0198] The first location coordinates of the sensing receiving device are sent to the SF.

[0199] Accordingly, in a dual-base station sensing scenario, the sensing server determines the location of the sensing target based on the departure angle measurement information, the first position coordinates of the sensing receiving device, and the second position coordinates of the sensing transmitting device. It should be noted that when the sensing server determines the location of the sensing target and / or the sensing receiving device based on the departure angle measurement information, the first position coordinates, and the second position coordinates, it may also combine the second information to determine the location of the sensing target, depending on the sensing method.

[0200] Referring to Figure 13, this embodiment of the present disclosure provides a target sensing method applied to a sensing and transmitting device, wherein the sensing and transmitting device is a base station.

[0201] Specifically, the target perception method includes the following steps:

[0202] Step 1301: Assign different sensing resources to multiple sensing ports.

[0203] In this step, multiple sensing ports are non-quasi-co-located, and the sensing resources corresponding to the multiple sensing ports are different.

[0204] It should be noted that multiple sensing ports can be multiple antennas in a sensing transmitting device, or multiple antenna groups in a sensing transmitting device, or multiple signal transmission sources in a sensing transmitting device.

[0205] Step 1302: Send a sensing reference signal through the multiple sensing ports or multiple sensing resources.

[0206] In this step, when the sensing transmitting device transmits sensing reference signals through multiple different sensing resources, the sensing reference signals can be transmitted by multiple sensing ports of the sensing transmitting device through different resources.

[0207] Accordingly, the sensing receiving device receives the sensing reference signal sent by the sensing transmitting device, and obtains at least one departure angle measurement information based on the sensing reference signal; and the sensing receiving device sends at least one departure angle measurement information to the sensing server, so that the sensing server determines the position of the sensing target and / or the sensing receiving device based on the departure angle measurement information.

[0208] In the above embodiments, the sensing transmitting device transmits sensing reference signals through multiple sensing ports with different sensing resources. Thus, the sensing receiving device can obtain the departure angle measurement information from the sensing transmitting device based on the phase difference between the multiple sensing ports. Furthermore, the sensing receiving device sends the departure angle measurement information to the sensing server, enabling the sensing server to determine the position of the sensing target and / or the sensing receiving device based on the departure angle measurement information. In this way, the large antenna aperture of the transmitting base station achieves accurate departure angle measurement, improving the sensing accuracy of this mode. Furthermore, in application scenarios where the sensing receiving device is the base station, it enables dual-base station positioning unaffected by clock synchronization errors. It also avoids the problem of large angle-of-arrival error estimation due to the small antenna aperture of the terminal, which affects sensing performance.

[0209] In some embodiments, after allocating different sensing resources to multiple sensing ports, the method further includes:

[0210] Send sensing port information corresponding to the plurality of sensing ports or the plurality of sensing resources to SF; and / or,

[0211] Send sensing port information corresponding to the multiple sensing ports or multiple sensing resources to the sensing receiving device.

[0212] Specifically, the sense port information is used to indicate multiple quasi-co-located sense ports.

[0213] Accordingly, the sensing and receiving device acquires the starting angle measurement information corresponding to multiple signal propagation paths based on the sensing reference signal and sensing port information.

[0214] In some embodiments, the sensing port information includes at least one of the following:

[0215] Resource parameters of the sensing port, such as time-domain resource parameters and frequency-domain resource parameters;

[0216] The code domain parameters of the sensing port, such as Doppler sequence parameters, time delay sequence parameters, and orthogonal overlay code (OCC) parameters.

[0217] The sensing reference signal sequence used by the sensing port;

[0218] The number of sensing ports;

[0219] Sensing port reference point information corresponding to the port;

[0220] The index corresponding to the sensing port, such as the port reference point index or the ARP index;

[0221] The QCL reference signal resources corresponding to the sensing port, such as SSB, PRS, CSI, or SRS resources, etc.

[0222] The port reference point information includes:

[0223] The location information of the port reference point (PRP) is used to characterize the physical center of the sensing port.

[0224] Location information of the antenna reference point (ARP).

[0225] It should be noted that for an explanation of the sensing port information, please refer to the explanation on the sensing receiving device side; to avoid repetition, it will not be repeated here.

[0226] In some embodiments, the sensing resources corresponding to the plurality of sensing ports satisfy at least one of the following:

[0227] The time-domain resources occupied by different sensing ports are different;

[0228] Different sensing ports occupy different frequency domain resources;

[0229] Different sensing ports occupy different code domain resources;

[0230] Different sensing ports occupy different reference signal sequences.

[0231] It should be noted that for an explanation of the sensing resources for multiple sensing ports, please refer to the example introduction on the sensing receiving device side. To avoid repetition, it will not be repeated here.

[0232] In some embodiments, the method further includes:

[0233] Receive first information sent by SF, the first information being used to indicate the sensing method, the sensing method including at least the departure angle sensing method;

[0234] Based on the first information, feedback information is sent to the SF, and the feedback information is used to indicate whether the sensing receiving device supports the departure angle sensing method.

[0235] Accordingly, when the sensing server determines that both the sensing transmitting device and the sensing receiving device support the starting angle sensing method, it sends the sensing port information of the sensing transmitting device to the sensing receiving device.

[0236] Accordingly, when the sensing server determines that the sensing transmitting device and / or the sensing receiving device supports the starting angle sensing mode, it sends resource configuration information to the sensing transmitting device and / or the sensing receiving device. The resource configuration information is used to indicate the sensing resources allocated to the sensing transmitting device. When there are multiple sensing transmitting devices, the multiple sensing transmitting devices are allocated different sensing resources.

[0237] In some embodiments, the sensing method includes any one of the following:

[0238] Based on starting angle perception;

[0239] Based on departure angle and arrival time perception;

[0240] Based on the departure angle and arrival angle;

[0241] Based on departure angle and carrier phase sensing.

[0242] In other words, the perception method indicated by the first information includes at least perception based on the starting angle.

[0243] In some embodiments, allocating different sensing resources to multiple sensing ports includes:

[0244] Receive resource configuration information sent by SF, wherein the resource configuration information is used to indicate the sensing resources allocated to the sensing transmitting device;

[0245] Based on the allocated sensing resources, different sensing resources are allocated to the multiple sensing ports.

[0246] In other words, among the sensing resources allocated by the sensing server, different sensing resources are allocated to multiple sensing ports. The sensing resources allocated to multiple sensing ports include at least one of the following: time domain resources, frequency domain resources, code domain resources, and reference signal sequences.

[0247] In some embodiments, the method further includes:

[0248] The second location coordinates of the sensing and transmitting device are sent to the SF.

[0249] Accordingly, in a dual-base station sensing scenario, the sensing server determines the location of the sensing target based on the departure angle measurement information, the first position coordinates of the sensing receiving device, and the second position coordinates of the sensing transmitting device. It should be noted that when the sensing server determines the location of the sensing target and / or the sensing receiving device based on the departure angle measurement information, the first position coordinates, and the second position coordinates, it may also combine the second information to determine the location of the sensing target, depending on the sensing method.

[0250] Accordingly, in a sensing scenario where the sensing transmitting device is a base station and the sensing receiving device is a terminal, the sensing server determines the location of the sensing target and / or the sensing receiving device based on the departure angle measurement information and the second location coordinates. It should be noted that when the sensing server determines the location of the sensing target and / or the sensing receiving device based on the departure angle measurement information and the second location coordinates, depending on the sensing method, the second information can also be used simultaneously to determine the location of the sensing target and / or the sensing receiving device.

[0251] Referring to Figure 14, this embodiment of the present disclosure provides a target perception method applied to a perception server SF, comprising the following steps:

[0252] Step 1401: Receive the launch angle measurement information sent by the sensing receiving device. The launch angle measurement information is obtained by the sensing receiving device from the sensing reference signal sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources.

[0253] The departure angle measurement information includes: the departure angle measurement value; or, the difference between any two departure angle measurements.

[0254] It should be noted that the difference between any two departure angle measurements includes: the difference between departure angle measurements corresponding to two signal transmission paths of the same transmitting base station, and the difference between departure angle measurements corresponding to two signal transmission paths of different transmitting base stations.

[0255] The departure angle measurement includes the departure azimuth angle (AOD) and departure zenith angle (ZOD) measurement corresponding to each signal propagation path. In other words, the departure angle includes both AOD and ZOD.

[0256] In some embodiments, the departure angle measurement information further includes at least one of the following:

[0257] The quality indication information corresponding to the departure angle measurement information;

[0258] The timestamp corresponding to the departure angle measurement information.

[0259] Step 1402: Determine the position of the sensing target and / or the sensing receiving device based on the departure angle measurement information.

[0260] In the above embodiments, the sensing transmitting device transmits sensing reference signals through multiple sensing ports with different sensing resources. The sensing receiving device obtains the departure angle measurement information from the sensing transmitting device based on the phase difference between the multiple sensing ports. The sensing server receives the departure angle measurement information transmitted by the sensing receiving device and determines the position of the sensing target and / or the sensing receiving device based on the departure angle measurement information. Thus, by utilizing the large antenna aperture of the transmitting base station, accurate departure angle measurement and positioning are achieved, improving sensing accuracy. Furthermore, in application scenarios where the sensing receiving device is the base station, dual-base station positioning can be achieved without being affected by clock synchronization errors. Moreover, it avoids the problem of large angle-of-arrival error estimation caused by the small antenna aperture of the terminal, which affects sensing performance.

[0261] In some embodiments, before the receiving sensing device sends the departure angle measurement information, the method further includes:

[0262] Receive sensing port information sent by the sensing transmitting device that corresponds to the plurality of sensing ports or the plurality of sensing resources;

[0263] The sensing port information is sent to the sensing receiving device.

[0264] Specifically, the sensing port information is used to indicate multiple quasi-co-located sensing ports. The sensing receiving device acquires the departure angle measurement information corresponding to multiple signal propagation paths based on the sensing reference signal and the sensing port information.

[0265] In some embodiments, the sensing port information includes at least one of the following:

[0266] Resource parameters of the sensing port, such as time-domain resource parameters and frequency-domain resource parameters;

[0267] The code domain parameters of the sensing port, such as Doppler sequence parameters, time delay sequence parameters, and orthogonal overlay code (OCC) parameters.

[0268] The sensing reference signal sequence used by the sensing port;

[0269] The number of sensing ports;

[0270] Sensing port reference point information corresponding to the port;

[0271] The index corresponding to the sensing port, such as the port reference point index or the ARP index;

[0272] The QCL reference signal resources corresponding to the sensing port, such as SSB, PRS, CSI, or SRS resources, etc.

[0273] The port reference point information includes:

[0274] The location information of the port reference point (PRP) is used to characterize the physical center of the sensing port.

[0275] Location information of the antenna reference point (ARP).

[0276] It should be noted that for explanations related to sensing port information, please refer to the explanation on the sensing receiving device side; to avoid repetition, it will not be repeated here.

[0277] In some embodiments, after receiving the sensing port information corresponding to the plurality of sensing ports sent by the sensing transmitting device, the method further includes:

[0278] Send first information to the sensing transmitting device and / or the sensing receiving device, the first information being used to indicate a sensing mode, the sensing mode including at least a departure angle sensing mode;

[0279] Receive feedback information sent by the sensing transmitting device and / or the sensing receiving device based on the first information, wherein the feedback information is used to indicate whether the departure angle sensing method is supported;

[0280] When both the sensing transmitting device and the sensing receiving device support the starting angle sensing method, the sensing port information is sent to the sensing receiving device.

[0281] In this embodiment, by sending the sensing port information to the sensing receiving device, the sensing receiving device can obtain at least one departure angle measurement information based on the sensing port information and the received sensing reference signal.

[0282] In some embodiments, the sensing method includes any one of the following:

[0283] Based on starting angle perception;

[0284] Based on departure angle and arrival time perception;

[0285] Based on the departure angle and arrival angle;

[0286] Based on departure angle and carrier phase sensing.

[0287] In other words, the perception method indicated by the first information includes at least perception based on the starting angle.

[0288] In some embodiments, the departure angle measurement information sent by the receiving sensing device includes:

[0289] The system receives the departure angle measurement information and the second information sent by the sensing and receiving device, wherein the second information includes at least one of the following: angle of arrival measurement information, time of arrival measurement information, and phase of arrival measurement information;

[0290] Determining the position of the sensing target and / or the sensing receiving device based on the departure angle measurement information includes:

[0291] Based on the departure angle measurement information and the second information, the position of the sensing target and / or the sensing receiving device is determined.

[0292] In specific implementation, when the sensing method is to sense the departure angle and arrival time, the second information includes the arrival time measurement information; when the sensing method is to sense the departure angle and arrival angle, the second information includes the arrival angle measurement information; when the sensing method is to sense the departure angle and carrier phase, the second information includes the arrival phase measurement information.

[0293] In some embodiments, the departure angle measurement information includes at least one of the following:

[0294] Departure angle measurement;

[0295] The difference between any two of the stated departure angle measurements;

[0296] The quality indication information corresponding to the departure angle measurement information;

[0297] The timestamp corresponding to the departure angle measurement information.

[0298] In some embodiments, the angle of arrival measurement information includes at least one of the following:

[0299] At least one angle of arrival measurement;

[0300] The difference between any two angle of arrival measurements;

[0301] The quality indication information corresponding to the angle of arrival measurement information;

[0302] The departure angle measurement information corresponds to a timestamp.

[0303] In some embodiments, the arrival time measurement information includes at least one of the following:

[0304] At least one time of arrival measurement;

[0305] The difference between any two arrival time measurements;

[0306] The quality indication information corresponding to the arrival time measurement information;

[0307] The arrival time measurement information is a timestamp.

[0308] In some embodiments, the arrival phase measurement information includes at least one of the following:

[0309] At least one arriving phase measurement quantity;

[0310] The difference between any two arriving phase measurements;

[0311] The quality indication information corresponding to the arrival phase measurement information;

[0312] The timestamp corresponding to the arrival phase measurement information.

[0313] For explanations regarding the aforementioned angle of arrival measurement information, time of arrival measurement information, and phase of arrival measurement information, please refer to the embodiments on the sensing and receiving device side. To avoid repetition, these will not be repeated here.

[0314] In some embodiments, after receiving feedback information sent by the sensing transmitting device and the sensing receiving device respectively based on the first information, the method further includes:

[0315] If it is determined that the sensing transmitting device and / or the sensing receiving device supports the starting angle sensing mode, resource configuration information is sent to the sensing transmitting device and / or the sensing receiving device. The resource configuration information is used to indicate the sensing resources allocated to the sensing transmitting device; wherein, when there are multiple sensing transmitting devices, the multiple sensing transmitting devices are allocated different sensing resources.

[0316] Accordingly, the sensing transmitting device allocates different sensing resources to multiple sensing ports from the sensing resources allocated by the sensing server. The sensing resources allocated to the multiple sensing ports include at least one of the following: time domain resources, frequency domain resources, code domain resources, and reference signal sequence.

[0317] Accordingly, the sensing receiving device receives sensing reference signals on the sensing resources indicated by the resource configuration information.

[0318] In some embodiments, the target perception method further includes:

[0319] Receive the first location coordinates sent by the sensing receiving device;

[0320] Receive the second location coordinates sent by the sensing and transmitting device;

[0321] Determining the position of the perceived target based on the departure angle measurement information includes:

[0322] The position of the sensing target is determined based on the departure angle measurement information, the first position coordinates, and the second position coordinates.

[0323] In this embodiment, in a dual-base station sensing scenario, the sensing server determines the location of the sensing target based on the departure angle measurement information, the first position coordinates of the sensing receiving device, and the second position coordinates of the sensing transmitting device. It should be noted that when the sensing server determines the location of the sensing target and / or the sensing receiving device based on the departure angle measurement information, the first position coordinates, and the second position coordinates, depending on the sensing method, it may also combine the second information to determine the location of the sensing target.

[0324] In some embodiments, the target perception method further includes:

[0325] Receive the second location coordinates sent by the sensing and transmitting device;

[0326] Determining the position of the sensing target and / or the sensing receiving device based on the departure angle measurement information includes:

[0327] The location of the sensing target and / or the sensing receiving device is determined based on the departure angle measurement information and the second position coordinates.

[0328] In this embodiment, in a sensing scenario where the sensing transmitting device is a base station and the sensing receiving device is a terminal, the sensing server determines the location of the sensing target and / or the sensing receiving device based on the starting angle measurement information and the second location coordinates. It should be noted that when the sensing server determines the location of the sensing target and / or the sensing receiving device based on the starting angle measurement information and the second location coordinates, depending on the sensing method, the second information can also be used simultaneously to determine the location of the sensing target and / or the sensing receiving device.

[0329] The target perception method disclosed herein will be introduced below with reference to Examples 1 and 2.

[0330] Example 1: The sensing transmitting device is a base station (Transmitter Beacon (TX BE)), the sensing receiving device is a terminal (UE), and the sensing methods are AOD and Time Difference of Arrival (TDOA). Figure 15 shows a schematic diagram of the sensing scenario.

[0331] 1. The perception server performs the following steps:

[0332] Step a1: Based on the sensing service requirements, confirm that the sensing mode is sensing mode a, the sensing method is AOD+TDOA, and send the first information to the base station and the terminal. The first information is used to indicate that the sensing method is AOD and TDOA.

[0333] In the dual-base mode a, the base station acts as the sensing transmitter and the terminal acts as the sensing receiver.

[0334] In this step, determining the sensing mode and sensing method based on the sensing service requirements includes: determining the sensing mode and sensing method based on the sensing accuracy requirements, the distribution of available transceiver nodes, the Received Signal Strength Indicator (RSSI), and other signal quality indicators.

[0335] Step a2: The sensing server receives feedback information sent by the base station and the terminal respectively. The feedback information is used to indicate support for the starting angle sensing method.

[0336] The system allocates sensing resources to the base station and sends resource configuration information to the base station and the terminal respectively. The resource configuration information is used to indicate the sensing resources allocated to the base station. When there are multiple sensing transmitting devices, the multiple sensing transmitting devices are allocated different sensing resources.

[0337] For example, resources can be divided between different transmitting base stations using time division or frequency division.

[0338] Step a3: Receive the sensing port information and location coordinates sent by the base station, and send the sensing port information to the terminal.

[0339] Among them, the sensing port information is used to indicate multiple non-quasi-co-located sensing ports. The sensing port information includes: sensing port resource parameters, sensing reference signal sequence, and port reference point information for a total of 8 sensing ports.

[0340] Step a4: Receive the departure angle measurement information and arrival time measurement information sent by the terminal; determine the location of the sensing target and the terminal based on the departure angle measurement information and arrival time measurement information.

[0341] The start angle measurement information includes at least one of the following: the difference between any two start angle measurements (AOD and ZOD), the quality indication information corresponding to the start angle measurement information, and the timestamp corresponding to the start angle measurement information.

[0342] The angle of arrival measurement information includes at least one of the following: at least one time of arrival measurement (TOA), quality indication information corresponding to the time of arrival measurement information, and a timestamp of the time of arrival measurement information.

[0343] In practice, the sensing server first eliminates the influence of clock deviation by using the difference between the TOA corresponding to the target path and the TOA corresponding to the reference path, based on the AOD, ZOD, and TOA measured by the terminal, to obtain the RSTD. Then, using the Reference Signal Time Difference (RSTD), the AOD and ZOD corresponding to the target path, the AOD and ZOD corresponding to the reference path, and the location coordinates of the transmitting base station, the sensing target and the terminal's location are calculated.

[0344] 2. The base station performs the following steps:

[0345] Step b1: Receive the first information sent by the sensing server, which indicates that the sensing mode is AOD and TDOA; send feedback information to the sensing server, which indicates that the base station supports the starting angle sensing mode.

[0346] Step b2: Identify multiple available non-quasi-co-located sensing ports and allocate different sensing resources to the multiple sensing ports.

[0347] In this context, multiple non-quasi-co-located sensing ports are indicated by indexes. For example, there are 8 sensing ports, each of which is configured with an index SID_0, ..., SID_7. If the indices are the same, it indicates that the port reference points are the same and correspond to the same port reference point location information.

[0348] Different sensing resources are allocated to the eight non-quasi-co-located sensing ports, which are distinguished by the method of "time division multiplexing (TDM) + frequency division multiplexing (FDM) + code division multiplexing (CDM)".

[0349] As shown in Figure 16, the resource parameters corresponding to Sense-port 5 (orange shading in the figure) from Sense-port 0 to Sense-port 7 are as follows:

[0350] (1) The time domain starting index or bias is 11, the number of time domain REs corresponding to each port is 2, and the time domain comb factor is 1; the time domain comb factor of 1 indicates that the time domain resources of each sensing port are adjacent.

[0351] (2) The frequency domain starting index or offset is 3, the number of frequency domain REs corresponding to each port is 2, and the frequency domain COMB factor is 1; the frequency domain comb factor is 1, indicating that the frequency domain resources of each sensing port are adjacent.

[0352] (3) The CDM sequence index 0 is [1,-1,1,-1]; where [1,-1,1,-1] is the OCC orthogonal covering code.

[0353] Step b3: Send the location coordinates of the base station and the sensing port information to the sensing server.

[0354] The sensing port information includes: sensing port resource parameters, sensing reference signal sequence, and port reference point information for a total of 8 sensing ports.

[0355] For example, different sensing ports can use different sensing reference signal sequences (such as Gold or ZC sequences); for example, port reference point information includes the absolute position of each sensing port reference point, which can be under GCS or LCS, such as the position coordinates of the reference point of sensing port 0 being (x0, y0, z0), the position coordinates of the reference point of sensing port 1 being (x1, y1, z1), ..., and the position coordinates of the reference point of sensing port 7 being (x7, y7, z7).

[0356] Step b4: Send sensing reference signals through 8 non-quasi-co-located sensing ports.

[0357] 3. The terminal performs the following steps:

[0358] Step c1: Receive the first information sent by the sensing server, which indicates that the sensing mode is AOD and TDOA; send feedback information to the sensing server, which indicates that the terminal supports the departure angle sensing mode.

[0359] Step c2: Receive resource configuration information and sensing port information sent by the sensing server. The resource configuration information is used to indicate the sensing resources allocated to the base station.

[0360] Among them, the sensing port information is used to indicate multiple non-quasi-co-located sensing ports. The sensing port information includes: sensing port resource parameters, sensing reference signal sequence, the number of sensing ports is 8, and the port reference point information of the sensing ports.

[0361] Step c3: Receive the sensing reference signal, and determine the departure angle measurement information and arrival time measurement information based on the sensing port information and the sensing reference signal.

[0362] The start angle measurement information includes at least one of the following: the difference between any two start angle measurements (AOD and ZOD), the quality indication information corresponding to the start angle measurement information, and the timestamp corresponding to the start angle measurement information.

[0363] The angle of arrival measurement information includes at least one of the following: at least one time of arrival measurement (TOA), quality indication information corresponding to the time of arrival measurement information, and a timestamp of the time of arrival measurement information.

[0364] In this step, the reporting method for AOD and ZOD corresponding to each signal propagation path is: differential reporting method.

[0365] For example, for a 3-path channel, the following can be reported:

[0366] The AOD and ZOD of the direct connection path 0 between the base station and the terminal;

[0367] AOD of the reflection path path1 from the base station to the sensing target 1 and then to the terminal;

[0368] The AOD corresponding to the reflection path from the base station to the sensing target 2 and then to the terminal, or the reflection path path 2 from the base station to the sensing target 1 and then to the environmental scatterer-terminal.

[0369] The unit of AOD is radians, degrees, or normalized values ​​(0 to 1). The reference path represented by path0 can be any path or specifically a direct path between base stations.

[0370] In some embodiments, non-line-of-sight (NLOS) or line-of-sight (LOS) indication information may be reported along with each measurement.

[0371] For example, the NLOS / LOS indication information can be represented by two hard values. For instance, the first bit indicates the LOS / NLOS status of the channel from the base station to the sensing target, and the second bit indicates the LOS / NLOS status of the channel from the sensing target to the terminal. The specific indication is as follows:

[0372] "11" indicates that the channel from the base station to the sensing target is in LOS state, and the channel from the sensing target to the terminal is in LOS state.

[0373] "01" indicates that the channel from the base station to the sensing target is in NLOS state, and the channel from the sensing target to the terminal is in LOS state.

[0374] "10" indicates that the channel from the base station to the sensing target is in LOS state, and the channel from the sensing target to the terminal is in NLOS state.

[0375] "00" indicates that the channel from the base station to the sensing target is in NLOS state, and the channel from the sensing target to the terminal is in NLOS state.

[0376] For example, the NLOS / LOS indication information can also be represented by a 1-bit hard value to indicate the LOS / NLOS status of the channel from the base station to the sensing target to the terminal, as shown in the following specific indication:

[0377] "1" indicates that the channel from the base station to the sensing target is in the LOS state, and the channel from the sensing target to the terminal is in the LOS state.

[0378] "0" indicates that the channel from the base station to the sensing target is in NLOS state, and the channel from the sensing target to the terminal is in LOS state.

[0379] "0" indicates that the channel from the base station to the sensing target is in LOS state, and the channel from the sensing target to the terminal is in NLOS state.

[0380] "0" indicates that the channel from the base station to the sensing target is in NLOS state, and the channel from the sensing target to the terminal is in NLOS state.

[0381] Example 2: The sensing transmitting device is the first base station (BS1), the sensing receiving device is the second base station (BS2), and the sensing methods are AOD and AOA. Figure 17 shows a schematic diagram of the sensing scenario.

[0382] 1. The perception server performs the following steps:

[0383] Step d1: Based on the sensing service requirements, confirm that the sensing mode is sensing mode b and the sensing method is AOD+AOA, and send the first information to the first base station and the second base station. The first information is used to indicate that the sensing method is AOD and AOA.

[0384] In the dual-base mode b, the first base station acts as the sensing transmitter and the second base station acts as the sensing receiver.

[0385] In this step, determining the sensing mode and sensing method based on the sensing service requirements includes: determining the sensing mode and sensing method based on the sensing accuracy requirements, the distribution of available transceiver nodes, RSSI and other signal quality indicators.

[0386] Step d2: The sensing server receives feedback information sent by the first base station and the second base station respectively. The feedback information is used to indicate support for the starting angle sensing mode.

[0387] The system allocates sensing resources to a first base station and sends resource configuration information to the first base station and the second base station respectively. The resource configuration information is used to indicate the sensing resources allocated to the first base station. When there are multiple sensing transmitting devices, the multiple sensing transmitting devices are allocated different sensing resources.

[0388] For example, resources can be divided between different transmitting base stations using time division or frequency division.

[0389] Step d3: Receive the sensing port information and location coordinates of the first base station sent by the first base station, and send the sensing port information to the second base station.

[0390] Among them, the sensing port information is used to indicate multiple non-quasi-co-located sensing ports. The sensing port information includes: sensing port resource parameters, ARP ID, sensing reference signal sequence, and port reference point information (ARP location) for a total of 8 sensing ports.

[0391] Step d4: Receive the departure angle measurement information and arrival angle measurement information sent by the second base station; determine the location of the sensing target based on the departure angle measurement information and arrival angle measurement information, combined with the distance d0 between the first base station and the second base station.

[0392] The start angle measurement information includes at least one of the following: the difference between any two start angle measurements (AOD and ZOD), the quality indication information corresponding to the start angle measurement information, and the timestamp corresponding to the start angle measurement information.

[0393] The angle of arrival measurement information includes at least one of the following: at least one angle of arrival measurement quantity (AOA and ZOA), quality indication information corresponding to the angle of arrival measurement information, and timestamp of the angle of arrival measurement information.

[0394] In specific implementation, as shown in Figure 17, the distance d0 between the base stations is determined based on the position coordinates of the first base station and the second base station, and then based on the departure angle... And the angle of arrival θ, which is the triangle formed between the transmitting base station, the receiving base station, and the sensing target, can be used to calculate the position of the sensing target given the three conditions, or directly through the known base station coordinates and the angle of arrival. The position of the perceived target can also be calculated using the angle of arrival θ.

[0395] 2. The first base station performs the following steps:

[0396] Step e1: Receive the first information sent by the sensing server, which indicates that the sensing mode is AOD and AOA; send feedback information to the sensing server, which indicates that the first base station supports the starting angle sensing mode.

[0397] Step e2: Identify multiple available non-quasi-co-located sensing ports and allocate different sensing resources to the multiple sensing ports.

[0398] Among them, multiple non-quasi-co-located sensing ports are indicated by QCL type D. For example, non-quasi-co-located sensing ports 1 and 2 are respectively mapped to QCL SSB1 and QCL SSB2 through QCL type D, where SSB1 and SSB2 correspond to different spatial parameters.

[0399] Different sensing resources are allocated to the eight non-quasi-co-located sensing ports, which are distinguished by a combination of time division multiplexing (TDM), frequency division multiplexing (FDM), and Doppler multiplexing (DDM).

[0400] As shown in Figure 18, the resource parameters corresponding to Sensing Port 5 (orange shading in the figure) among Sensing Port 0 to Sensing Port 7 are as follows:

[0401] (1) The time domain starting index or bias is 11, the number of time domain REs corresponding to each port is 2, and the time domain comb factor is 1; the time domain comb factor of 1 indicates that the time domain resources of each sensing port are adjacent.

[0402] (2) The frequency domain starting index or offset is 3, the number of frequency domain REs corresponding to each port is 2, and the frequency domain COMB factor is 1; the frequency domain comb factor is 1, indicating that the frequency domain resources of each sensing port are adjacent.

[0403] (3) The Doppler (Doppler Delay-Doppler Map, DDM) sequence index 0 is...

[0404] Step e3: Send the location coordinates of the base station and the sensing port information to the sensing server.

[0405] The sensing port information includes: sensing port resource parameters, ARPID, sensing reference signal sequence, and port reference point information (ARP location) for a sensing port with a quantity of 8 sensing ports.

[0406] For example, different sensing ports can use different sensing reference signal sequences (such as Gold or ZC sequences); for example, port reference point information includes the absolute position of the reference sensing port reference point and the relative position of the reference points of the other ports.

[0407] The absolute position can be under GCS or LCS. For example, the ARP absolute position coordinates of sensing port 0 are (x0, y0, z0), the ARP position coordinates of sensing port 1 are (Δx1, Δy1, Δz1), ..., the ARP position coordinates of sensing port 7 are (Δx7, Δy7, Δz7). The position of the port reference point can be represented by the position of the physical geometric centroid corresponding to that port.

[0408] Step e4: Send sensing reference signals through 8 non-quasi-co-located sensing ports.

[0409] 3. The second base station performs the following steps:

[0410] Step f1: Receive the first information sent by the sensing server, which indicates that the sensing mode is AOD and AOA; send feedback information to the sensing server, which indicates that the second base station supports the starting angle sensing mode.

[0411] Step f2: Receive resource configuration information and sensing port information sent by the sensing server. The resource configuration information is used to indicate the sensing resources allocated to the first base station.

[0412] Among them, the sensing port information is used to indicate multiple non-quasi-co-located sensing ports. The sensing port information includes: sensing port resource parameters, ARP ID, sensing reference signal sequence, the number of sensing ports is 8, and the port reference point information of the sensing ports, i.e., ARP location.

[0413] Step f3: Receive the sensing reference signal and determine the departure angle measurement information and arrival angle measurement information based on the sensing port information and the sensing reference signal.

[0414] The start angle measurement information includes at least one of the following: the difference between any two start angle measurements (AOD and ZOD), the quality indication information corresponding to the start angle measurement information, and the timestamp corresponding to the start angle measurement information.

[0415] The angle of arrival measurement information includes at least one of the following: at least one angle of arrival measurement quantity (AOA and ZOA), quality indication information corresponding to the angle of arrival measurement information, and timestamp of the angle of arrival measurement information.

[0416] In this step, the reporting method for AOD and ZOD corresponding to each signal propagation path is: differential reporting method.

[0417] For example, for a 3-path channel, the following can be reported:

[0418] The AOD and ZOD of the direct connection path 0 between the base station and the terminal;

[0419] AOD of the reflection path path1 from the base station to the sensing target 1 and then to the terminal;

[0420] The AOD corresponding to the reflection path from the base station to the sensing target 2 and then to the terminal, or the reflection path path 2 from the base station to the sensing target 1 and then to the environmental scatterer-terminal.

[0421] The unit of AOD is radians, degrees, or normalized values ​​(0 to 1). The reference path represented by path0 can be any path or specifically a direct path between base stations.

[0422] In some embodiments, non-line-of-sight (NLOS) or line-of-sight (LOS) indication information may be reported along with each measurement.

[0423] In some embodiments, non-line-of-sight (NLOS) or line-of-sight (LOS) indication information may be reported along with each measurement.

[0424] For example, the NLOS / LOS indication information can be represented by two soft values, such as (0.98, 0.25), where the first bit indicates that the probability of the channel from the base station to the sensing target being in a LOS state is 98%, and the second bit indicates that the probability of the channel from the sensing target to the terminal being in a LOS state is 25%. Alternatively, a single soft value can be used to represent the probability of LOS in the channel from the base station to the sensing target and then to the terminal.

[0425] Referring to Figure 19, this embodiment of the present disclosure provides a target sensing device 1900, applied to a sensing receiving device, including:

[0426] The first receiving module 1901 is used to receive a sensing reference signal sent by the sensing transmitting device, wherein the sensing reference signal is sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources.

[0427] The first acquisition module 1902 is used to acquire at least one departure angle measurement information based on the sensing reference signal;

[0428] The first sending module 1903 is used to send the departure angle measurement information to the sensing server SF.

[0429] In some embodiments, the device 1900 further includes:

[0430] The second receiving module is used to receive sensing port information corresponding to the plurality of sensing ports or plurality of sensing resources sent by the sensing transmitting device or the SF.

[0431] In some embodiments, the sensing port information includes at least one of the following:

[0432] Sensing the resource parameters of the port;

[0433] The code domain parameters of the sensing port;

[0434] The sensing reference signal sequence used by the sensing port;

[0435] The number of sensing ports;

[0436] Sensing port reference point information corresponding to the port;

[0437] The index corresponding to the sensing port;

[0438] The QCL reference signal resource corresponding to the sensing port.

[0439] In some embodiments, the port reference point information includes:

[0440] The location information of the port reference point (PRP) is used to characterize the physical center of the sensing port.

[0441] Location information of the antenna reference point (ARP).

[0442] In some embodiments, the sensing resources corresponding to the plurality of sensing ports satisfy at least one of the following:

[0443] The time-domain resources occupied by different sensing ports are different;

[0444] Different sensing ports occupy different frequency domain resources;

[0445] Different sensing ports occupy different code domain resources;

[0446] Different sensing ports occupy different reference signal sequences.

[0447] In some embodiments, the device 1900 further includes:

[0448] The third receiving module is used to receive the first information sent by the SF, the first information being used to indicate the sensing mode, the sensing mode including at least the departure angle sensing mode;

[0449] The second sending module is used to send feedback information to the SF based on the first information. The feedback information is used to indicate whether the sensing and receiving device supports the departure angle sensing method.

[0450] In some embodiments, the sensing method includes any one of the following:

[0451] Based on starting angle perception;

[0452] Based on departure angle and arrival time perception;

[0453] Based on the departure angle and arrival angle;

[0454] Based on departure angle and carrier phase sensing.

[0455] In some embodiments, the first transmitting module 1903 is further configured to:

[0456] Send departure angle measurement information and second information to the SF, the second information including at least one of the following: arrival angle measurement information, arrival time measurement information, and arrival phase measurement information.

[0457] In some embodiments, the departure angle measurement information includes at least one of the following:

[0458] Departure angle measurement;

[0459] The difference between any two of the stated departure angle measurements;

[0460] The quality indication information corresponding to the departure angle measurement information;

[0461] The timestamp corresponding to the departure angle measurement information.

[0462] In some embodiments, the angle of arrival measurement information includes at least one of the following:

[0463] At least one angle of arrival measurement;

[0464] The difference between any two angle of arrival measurements;

[0465] The quality indication information corresponding to the angle of arrival measurement information;

[0466] The timestamp corresponding to the angle of arrival measurement information.

[0467] In some embodiments, the arrival time measurement information includes at least one of the following:

[0468] At least one time of arrival measurement;

[0469] The difference between any two arrival time measurements;

[0470] The quality indication information corresponding to the arrival time measurement information;

[0471] The timestamp corresponding to the arrival time measurement information.

[0472] In some embodiments, the arrival phase measurement information includes at least one of the following:

[0473] At least one arriving phase measurement quantity;

[0474] The difference between any two arriving phase measurements;

[0475] The quality indication information corresponding to the arrival phase measurement information;

[0476] The timestamp corresponding to the arrival phase measurement information.

[0477] In some embodiments, the device 1900 further includes:

[0478] The third receiving module is used to receive resource configuration information sent by the SF when the sensing receiving device supports the starting angle sensing method. The resource configuration information is used to indicate the sensing resources allocated to the sensing sending device.

[0479] In some embodiments, the device 1900 further includes:

[0480] The third transmitting module is used to transmit the first location coordinates of the sensing and receiving device to the SF.

[0481] It should be noted that the device 1900 provided in this embodiment can implement all the method steps implemented in the method embodiment on the sensing and receiving device side, and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0482] Referring to Figure 20, this disclosure provides a target sensing device 2000, applied to a sensing and transmitting device, comprising:

[0483] Resource allocation module 2001 is used to allocate different sensing resources to multiple sensing ports;

[0484] The fourth transmitting module 2002 is used to transmit sensing reference signals through the plurality of sensing ports or the plurality of sensing resources.

[0485] In some embodiments, the device 2000 further includes:

[0486] The fifth sending module is used to send sensing port information corresponding to the plurality of sensing ports or the plurality of sensing resources to the SF; and / or,

[0487] The sixth sending module is used to send sensing port information corresponding to the plurality of sensing ports or plurality of sensing resources to the sensing receiving device.

[0488] In some embodiments, the sensing port information includes at least one of the following:

[0489] Sensing the resource parameters of the port;

[0490] The code domain parameters of the sensing port;

[0491] The sensing reference signal sequence used by the sensing port;

[0492] The number of sensing ports;

[0493] Sensing port reference point information corresponding to the port;

[0494] The index corresponding to the sensing port;

[0495] The QCL reference signal resource corresponding to the sensing port.

[0496] In some embodiments, the port reference point information includes:

[0497] The location information of the port reference point (PRP) is used to characterize the physical center of the sensing port.

[0498] Location information of the antenna reference point (ARP).

[0499] In some embodiments, the sensing resources corresponding to the plurality of sensing ports satisfy at least one of the following:

[0500] The time-domain resources occupied by different sensing ports are different;

[0501] Different sensing ports occupy different frequency domain resources;

[0502] Different sensing ports occupy different code domain resources;

[0503] Different sensing ports occupy different reference signal sequences.

[0504] In some embodiments, the device 2000 further includes:

[0505] The fourth receiving module is used to receive the first information sent by SF, the first information being used to indicate the sensing mode, the sensing mode including at least the departure angle sensing mode;

[0506] The seventh sending module is used to send feedback information to the SF based on the first information. The feedback information is used to indicate whether the sensing and receiving device supports the departure angle sensing method.

[0507] In some embodiments, the sensing method includes any one of the following:

[0508] Based on starting angle perception;

[0509] Based on departure angle and arrival time perception;

[0510] Based on the departure angle and arrival angle;

[0511] Based on departure angle and carrier phase sensing.

[0512] In some embodiments, the resource allocation module 2001 is specifically used for:

[0513] Receive resource configuration information sent by SF, wherein the resource configuration information is used to indicate the sensing resources allocated to the sensing transmitting device;

[0514] Based on the sensing resources, different sensing resources are allocated to the multiple sensing ports.

[0515] In some embodiments, the device 2000 further includes:

[0516] The eighth transmitting module is used to transmit the second location coordinates of the sensing transmitting device to the SF.

[0517] It should be noted that the apparatus 2000 provided in this embodiment can implement all the method steps implemented in the method embodiment on the sensing and transmitting device side, and can achieve the same technical effect. Therefore, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail here.

[0518] Referring to Figure 21, this embodiment of the disclosure provides a target sensing device 2100, applied to a sensing server, including:

[0519] The fifth receiving module 2101 is used to receive the launch angle measurement information sent by the sensing receiving device. The launch angle measurement information is obtained by the sensing receiving device from the sensing reference signal sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources.

[0520] The determination module 2102 is used to determine the position of the sensing target and / or the sensing receiving device based on the departure angle measurement information.

[0521] In some embodiments, the device 2100 further includes:

[0522] The sixth receiving module is used to receive sensing port information corresponding to the plurality of sensing ports sent by the sensing transmitting device;

[0523] The ninth transmitting module is used to transmit the sensing port information to the sensing receiving device.

[0524] In some embodiments, the sensing port information includes at least one of the following:

[0525] Sensing the resource parameters of the port;

[0526] The code domain parameters of the sensing port;

[0527] The sensing reference signal sequence used by the sensing port;

[0528] The number of sensing ports;

[0529] Sensing port reference point information corresponding to the port;

[0530] The index corresponding to the sensing port;

[0531] The QCL reference signal resource corresponding to the sensing port.

[0532] In some embodiments, the port reference point information includes:

[0533] The location information of the port reference point (PRP) is used to characterize the center of the physical antenna of the sensing port.

[0534] Location information of the antenna reference point (ARP).

[0535] In some embodiments, the device 2100 further includes:

[0536] The tenth transmitting module is used to transmit first information to the sensing transmitting device and / or the sensing receiving device, the first information being used to indicate the sensing mode, the sensing mode including at least the departure angle sensing mode;

[0537] The seventh receiving module is used to receive feedback information sent by the sensing transmitting device and / or the sensing receiving device according to the first information, wherein the feedback information is used to indicate whether the starting angle sensing method is supported;

[0538] The eighth receiving module is used to send the sensing port information to the sensing receiving device when both the sensing transmitting device and the sensing receiving device support the starting angle sensing method.

[0539] In some embodiments, the sensing method includes any one of the following:

[0540] Based on starting angle perception;

[0541] Based on departure angle and arrival time perception;

[0542] Based on the departure angle and arrival angle;

[0543] Based on departure angle and carrier phase sensing.

[0544] In some embodiments, the fifth receiving module 2101 is specifically used for:

[0545] The system receives the departure angle measurement information and the second information sent by the sensing and receiving device, wherein the second information includes at least one of the following: angle of arrival measurement information, time of arrival measurement information, and phase of arrival measurement information;

[0546] Determining the position of the sensing target and / or the sensing receiving device based on the departure angle measurement information includes:

[0547] Based on the departure angle measurement information and the second information, the position of the sensing target and / or the sensing receiving device is determined.

[0548] In some embodiments, the departure angle measurement information includes at least one of the following:

[0549] Departure angle measurement;

[0550] The difference between any two of the stated departure angle measurements

[0551] The quality indication information corresponding to the departure angle measurement information;

[0552] The timestamp corresponding to the departure angle measurement information.

[0553] In some embodiments, the angle of arrival measurement information includes at least one of the following:

[0554] At least one angle of arrival measurement;

[0555] The difference between any two angle of arrival measurements;

[0556] The quality indication information corresponding to the angle of arrival measurement information;

[0557] The departure angle measurement information corresponds to a timestamp.

[0558] In some embodiments, the arrival time measurement information includes at least one of the following:

[0559] At least one time of arrival measurement;

[0560] The difference between any two arrival time measurements;

[0561] The quality indication information corresponding to the arrival time measurement information;

[0562] The arrival time measurement information is a timestamp.

[0563] In some embodiments, the arrival phase measurement information includes at least one of the following:

[0564] At least one arriving phase measurement quantity;

[0565] The difference between any two arriving phase measurements;

[0566] The quality indication information corresponding to the arrival phase measurement information;

[0567] The timestamp corresponding to the arrival phase measurement information.

[0568] In some embodiments, the device 2100 further includes:

[0569] The eleventh sending module is used to send resource configuration information to the sensing sending device and / or the sensing receiving device when it is determined that the sensing sending device and / or the sensing receiving device supports the starting angle sensing mode. The resource configuration information is used to indicate the sensing resources allocated to the sensing sending device. When there are multiple sensing sending devices, the multiple sensing sending devices are allocated different sensing resources.

[0570] In some embodiments, the device 2100 further includes:

[0571] The ninth receiving module is used to receive the first position coordinates sent by the sensing receiving device;

[0572] The tenth receiving module is used to receive the second position coordinates sent by the sensing and transmitting device;

[0573] The determining module 2102 is specifically used for:

[0574] The position of the sensing target is determined based on the departure angle measurement information, the first position coordinates, and the second position coordinates.

[0575] In some embodiments, the device 2100 further includes:

[0576] The eleventh receiving module is used to receive the second location coordinates sent by the sensing and transmitting device;

[0577] The determining module 2102 is specifically used for:

[0578] The location of the sensing target and / or the sensing receiving device is determined based on the departure angle measurement information and the second position coordinates.

[0579] It should be noted that the device 2100 provided in this embodiment can implement all the method steps implemented in the method embodiment of the perception server and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0580] It should be noted that the division of units in the embodiments of this disclosure is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0581] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of this disclosure, in essence, or the part that contributes to related technologies, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this disclosure. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0582] Referring to Figure 22, this embodiment of the present disclosure provides a sensing and receiving device, including: a processor 2200; and a memory 2220 connected to the processor 2200 via a bus interface. The memory 2220 is used to store programs and data used by the processor 2200 when performing operations, and the processor 2200 calls and executes the programs and data stored in the memory 2220.

[0583] The transceiver 2210 is connected to the bus interface and is used to receive and send data under the control of the processor 2200; the processor 2200 is used to read the program in the memory 2220 to implement the following steps:

[0584] Receive a sensing reference signal sent by a sensing transmitting device, wherein the sensing reference signal is sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources;

[0585] Based on the sensing reference signal, at least one departure angle measurement information is obtained;

[0586] The departure angle measurement information is sent to the sensing server SF.

[0587] In some embodiments, the processor 2200 is further configured to read a program from the memory 2220 to perform the following steps:

[0588] Receive sensing port information corresponding to the plurality of sensing ports or plurality of sensing resources sent by the sensing transmitting device or the SF.

[0589] In some embodiments, the sensing port information includes at least one of the following:

[0590] Sensing the resource parameters of the port;

[0591] The code domain parameters of the sensing port;

[0592] The sensing reference signal sequence used by the sensing port;

[0593] The number of sensing ports;

[0594] Sensing port reference point information corresponding to the port;

[0595] The index corresponding to the sensing port;

[0596] The QCL reference signal resource corresponding to the sensing port.

[0597] In some embodiments, the port reference point information includes:

[0598] The location information of the port reference point (PRP) is used to characterize the physical center of the sensing port.

[0599] Location information of the antenna reference point (ARP).

[0600] In some embodiments, the sensing resources corresponding to the plurality of sensing ports satisfy at least one of the following:

[0601] The time-domain resources occupied by different sensing ports are different;

[0602] Different sensing ports occupy different frequency domain resources;

[0603] Different sensing ports occupy different code domain resources;

[0604] Different sensing ports occupy different reference signal sequences.

[0605] In some embodiments, the processor 2200 is further configured to read a program from the memory 2220 to perform the following steps:

[0606] Receive the first information sent by the SF, the first information being used to indicate the sensing method, the sensing method including at least the departure angle sensing method;

[0607] Based on the first information, feedback information is sent to the SF, and the feedback information is used to indicate whether the sensing receiving device supports the departure angle sensing method.

[0608] In some embodiments, the sensing method includes any one of the following:

[0609] Based on starting angle perception;

[0610] Based on departure angle and arrival time perception;

[0611] Based on the departure angle and arrival angle;

[0612] Based on departure angle and carrier phase sensing.

[0613] In some embodiments, the processor 2200 is further configured to read a program from the memory 2220 to perform the following steps:

[0614] Send departure angle measurement information and second information to the SF, the second information including at least one of the following: arrival angle measurement information, arrival time measurement information, and arrival phase measurement information.

[0615] In some embodiments, the departure angle measurement information includes at least one of the following:

[0616] Departure angle measurement;

[0617] The difference between any two of the stated departure angle measurements

[0618] The quality indication information corresponding to the departure angle measurement information;

[0619] The timestamp corresponding to the departure angle measurement information.

[0620] In some embodiments, the angle of arrival measurement information includes at least one of the following:

[0621] At least one angle of arrival measurement;

[0622] The difference between any two angle of arrival measurements;

[0623] The quality indication information corresponding to the angle of arrival measurement information;

[0624] The timestamp corresponding to the angle of arrival measurement information.

[0625] In some embodiments, the arrival time measurement information includes at least one of the following:

[0626] At least one time of arrival measurement;

[0627] The difference between any two arrival time measurements;

[0628] The quality indication information corresponding to the arrival time measurement information;

[0629] The timestamp corresponding to the arrival time measurement information.

[0630] In some embodiments, the arrival phase measurement information includes at least one of the following:

[0631] At least one arriving phase measurement quantity;

[0632] The difference between any two arriving phase measurements;

[0633] The quality indication information corresponding to the arrival phase measurement information;

[0634] The timestamp corresponding to the arrival phase measurement information.

[0635] In some embodiments, the processor 2200 is further configured to read a program from the memory 2220 to perform the following steps:

[0636] When the sensing receiving device supports the departure angle-based sensing method, it receives the resource configuration information sent by the SF, which is used to indicate the sensing resources allocated to the sensing sending device.

[0637] In some embodiments, the processor 2200 is further configured to read a program from the memory 2220 to perform the following steps:

[0638] The first location coordinates of the sensing receiving device are sent to the SF.

[0639] In Figure 22, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 2200 and memory represented by memory 2220. The bus architecture may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. Transceiver 2210 may be multiple elements, including transmitters and transceivers, providing a unit for communicating with various other devices over a transmission medium. Processor 2200 is responsible for managing the bus architecture and general processing, and memory 2220 may store data used by processor X00 during operation.

[0640] The processor 2200 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor can also adopt a multi-core architecture.

[0641] Referring to Figure 23, this embodiment of the present disclosure provides a sensing and transmitting device, including: a processor 2300; and a memory 2320 connected to the processor 2300 via a bus interface. The memory 2320 is used to store programs and data used by the processor 2300 when performing operations, and the processor 2300 calls and executes the programs and data stored in the memory 2320.

[0642] The transceiver 2310 is connected to the bus interface and is used to receive and send data under the control of the processor 2300; the processor 2300 reads the program in the memory 2320 to implement the following steps:

[0643] Allocate different sensing resources to multiple sensing ports;

[0644] Sensing reference signals are transmitted through the multiple sensing ports or multiple sensing resources.

[0645] In some embodiments, the processor 2300 is further configured to read a program from the memory 2320 to perform the following steps:

[0646] Send sensing port information corresponding to the plurality of sensing ports or the plurality of sensing resources to SF; and / or,

[0647] Send sensing port information corresponding to the multiple sensing ports or multiple sensing resources to the sensing receiving device.

[0648] In some embodiments, the sensing port information includes at least one of the following:

[0649] Sensing the resource parameters of the port;

[0650] The code domain parameters of the sensing port;

[0651] The sensing reference signal sequence used by the sensing port;

[0652] The number of sensing ports;

[0653] Sensing port reference point information corresponding to the port;

[0654] The index corresponding to the sensing port;

[0655] The QCL reference signal resource corresponding to the sensing port.

[0656] In some embodiments, the port reference point information includes:

[0657] The location information of the port reference point (PRP) is used to characterize the physical center of the sensing port.

[0658] Location information of the antenna reference point (ARP).

[0659] In some embodiments, the sensing resources corresponding to the plurality of sensing ports satisfy at least one of the following:

[0660] The time-domain resources occupied by different sensing ports are different;

[0661] Different sensing ports occupy different frequency domain resources;

[0662] Different sensing ports occupy different code domain resources;

[0663] Different sensing ports occupy different reference signal sequences.

[0664] In some embodiments, the processor 2300 is further configured to read a program from the memory 2320 to perform the following steps:

[0665] Receive first information sent by SF, the first information being used to indicate the sensing method, the sensing method including at least the departure angle sensing method;

[0666] Based on the first information, feedback information is sent to the SF, and the feedback information is used to indicate whether the sensing receiving device supports the departure angle sensing method.

[0667] In some embodiments, the sensing method includes any one of the following:

[0668] Based on starting angle perception;

[0669] Based on departure angle and arrival time perception;

[0670] Based on the departure angle and arrival angle;

[0671] Based on departure angle and carrier phase sensing.

[0672] In some embodiments, the processor 2300 is further configured to read a program from the memory 2320 to perform the following steps:

[0673] Receive resource configuration information sent by SF, wherein the resource configuration information is used to indicate the sensing resources allocated to the sensing transmitting device;

[0674] Based on the sensing resources, different sensing resources are allocated to the multiple sensing ports.

[0675] In some embodiments, the processor 2300 is further configured to read a program from the memory 2320 to perform the following steps:

[0676] The second location coordinates of the sensing and transmitting device are sent to the SF.

[0677] In Figure 23, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 2300 and memory represented by memory 2320. The bus architecture may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. Transceiver 2310 may be multiple elements, including transmitters and transceivers, providing a unit for communicating with various other devices over a transmission medium. Processor 2300 is responsible for managing the bus architecture and general processing, and memory 2320 may store data used by processor X00 during operation.

[0678] The processor 2300 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor can also adopt a multi-core architecture.

[0679] Referring to Figure 24, this embodiment of the present disclosure provides a perception server, including: a processor 2400; and a memory 2420 connected to the processor 2400 via a bus interface. The memory 2420 is used to store programs and data used by the processor 2400 when performing operations, and the processor 2410 calls and executes the programs and data stored in the memory 2420.

[0680] The transceiver 2410 is connected to the bus interface and is used to receive and send data under the control of the processor 2400; the processor 2400 is used to read the program in the memory 2420 to implement the following steps:

[0681] The receiving device receives the launch angle measurement information sent by the sensing receiving device. The launch angle measurement information is obtained by the sensing receiving device measuring the sensing reference signal sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources.

[0682] Based on the departure angle measurement information, determine the location of the sensing target and / or the sensing receiving device.

[0683] In some embodiments, the processor 2400 is further configured to read a program from the memory 2420 to perform the following steps:

[0684] Receive sensing port information corresponding to the plurality of sensing ports sent by the sensing and transmitting device;

[0685] The sensing port information is sent to the sensing receiving device.

[0686] In some embodiments, the sensing port information includes at least one of the following:

[0687] Sensing the resource parameters of the port;

[0688] The code domain parameters of the sensing port;

[0689] The sensing reference signal sequence used by the sensing port;

[0690] The number of sensing ports;

[0691] Sensing port reference point information corresponding to the port;

[0692] The index corresponding to the sensing port;

[0693] The QCL reference signal resource corresponding to the sensing port.

[0694] In some embodiments, the port reference point information includes:

[0695] The location information of the port reference point (PRP) is used to characterize the center of the physical antenna of the sensing port.

[0696] Location information of the antenna reference point (ARP).

[0697] In some embodiments, the processor 2400 is further configured to read a program from the memory 2420 to perform the following steps:

[0698] Send first information to the sensing transmitting device and / or the sensing receiving device, the first information being used to indicate a sensing mode, the sensing mode including at least a departure angle sensing mode;

[0699] Receive feedback information sent by the sensing transmitting device and / or the sensing receiving device based on the first information, wherein the feedback information is used to indicate whether the departure angle sensing method is supported;

[0700] When both the sensing transmitting device and the sensing receiving device support the starting angle sensing method, the sensing port information is sent to the sensing receiving device.

[0701] In some embodiments, the sensing method includes any one of the following:

[0702] Based on starting angle perception;

[0703] Based on departure angle and arrival time perception;

[0704] Based on the departure angle and arrival angle;

[0705] Based on departure angle and carrier phase sensing.

[0706] In some embodiments, the processor 2400 is further configured to read a program from the memory 2420 to perform the following steps:

[0707] The system receives the departure angle measurement information and the second information sent by the sensing and receiving device, wherein the second information includes at least one of the following: angle of arrival measurement information, time of arrival measurement information, and phase of arrival measurement information;

[0708] Determining the position of the sensing target and / or the sensing receiving device based on the departure angle measurement information includes:

[0709] Based on the departure angle measurement information and the second information, the position of the sensing target and / or the sensing receiving device is determined.

[0710] In some embodiments, the departure angle measurement information includes at least one of the following:

[0711] Departure angle measurement;

[0712] The difference between any two of the stated departure angle measurements;

[0713] The quality indication information corresponding to the departure angle measurement information;

[0714] The timestamp corresponding to the departure angle measurement information.

[0715] In some embodiments, the angle of arrival measurement information includes at least one of the following:

[0716] At least one angle of arrival measurement;

[0717] The difference between any two angle of arrival measurements;

[0718] The quality indication information corresponding to the angle of arrival measurement information;

[0719] The departure angle measurement information corresponds to a timestamp.

[0720] In some embodiments, the arrival time measurement information includes at least one of the following:

[0721] At least one time of arrival measurement;

[0722] The difference between any two arrival time measurements;

[0723] The quality indication information corresponding to the arrival time measurement information;

[0724] The arrival time measurement information is a timestamp.

[0725] In some embodiments, the arrival phase measurement information includes at least one of the following:

[0726] At least one arriving phase measurement quantity;

[0727] The difference between any two arriving phase measurements;

[0728] The quality indication information corresponding to the arrival phase measurement information;

[0729] The timestamp corresponding to the arrival phase measurement information.

[0730] In some embodiments, the processor 2400 is further configured to read a program from the memory 2420 to perform the following steps:

[0731] If it is determined that the sensing transmitting device and / or the sensing receiving device supports the starting angle sensing mode, resource configuration information is sent to the sensing transmitting device and / or the sensing receiving device. The resource configuration information is used to indicate the sensing resources allocated to the sensing transmitting device; wherein, when there are multiple sensing transmitting devices, the multiple sensing transmitting devices are allocated different sensing resources.

[0732] In some embodiments, the processor 2400 is further configured to read a program from the memory 2420 to perform the following steps:

[0733] Receive the first location coordinates sent by the sensing receiving device;

[0734] Receive the second location coordinates sent by the sensing and transmitting device;

[0735] Determining the position of the perceived target based on the departure angle measurement information includes:

[0736] The position of the sensing target is determined based on the departure angle measurement information, the first position coordinates, and the second position coordinates.

[0737] In some embodiments, the processor 2400 is further configured to read a program from the memory 2420 to perform the following steps:

[0738] Receive the second location coordinates sent by the sensing and transmitting device;

[0739] Determining the position of the sensing target and / or the sensing receiving device based on the departure angle measurement information includes:

[0740] The location of the sensing target and / or the sensing receiving device is determined based on the departure angle measurement information and the second position coordinates.

[0741] In Figure 24, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 2400 and memory represented by memory 2420. The bus architecture may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. Transceiver 2410 may be multiple elements, including transmitters and transceivers, providing a unit for communicating with various other devices over a transmission medium. Processor 2400 is responsible for managing the bus architecture and general processing, and memory 2420 may store data used by processor X00 during operation.

[0742] The processor X00 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor can also adopt a multi-core architecture.

[0743] This disclosure also provides a processor-readable storage medium storing a computer program for causing the processor to perform the target perception method described above.

[0744] The processor-readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to magnetic memory (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO)), optical memory (e.g., compact disc (CD), digital video disc (DVD), Blu-ray disc (BD), high-definition versatile disc (HVD)), and semiconductor memory (e.g., ROM, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), non-volatile memory (NAND (Non-volatile Memory Device) FLASH), solid state hard disk (SSD)).

[0745] The implementation embodiments of the target sensing method on the sensing receiving device side, sensing sending device side, or sensing server side described above are all applicable to the embodiments of the readable storage medium and can achieve the same technical effect.

[0746] This disclosure also provides a computer program product, including computer instructions. When executed by a processor, these computer instructions implement the various processes of the above method embodiments and achieve the same technical effects. To avoid repetition, further details are omitted here.

[0747] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0748] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more flowchart illustrations and / or one or more block diagrams.

[0749] These processor-executable instructions may also be stored in a processor-readable memory that can instruct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0750] These processor-executable instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0751] Furthermore, it should be noted that in the apparatus and method of this disclosure, it is obvious that the components or steps can be decomposed and / or recombined. These decompositions and / or recombinations should be considered equivalent solutions of this disclosure. Moreover, the steps performing the above series of processes can naturally be executed in the order described, but are not necessarily required to be executed in chronological order; some steps can be executed in parallel or independently of each other. Those skilled in the art will understand that all or any step or component of the method and apparatus of this disclosure can be implemented in any computing device (including processors, storage media, etc.) or network of computing devices, in hardware, firmware, software, or a combination thereof, which can be achieved by those skilled in the art using their basic programming skills after reading the description of this disclosure.

[0752] It should be noted that the above division of modules is merely a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, these modules can be implemented entirely in software via processing element calls; they can be fully implemented in hardware; or some modules can be implemented by processing element calls to software, while others are implemented in hardware. For example, a module can be a separate processing element, or it can be integrated into a chip in the aforementioned device. Alternatively, it can be stored as program code in the memory of the aforementioned device, and its function can be called and executed by a processing element of the device. The implementation of other modules is similar. Moreover, these modules can be fully or partially integrated together, or they can be implemented independently. The processing element mentioned here can be an integrated circuit with signal processing capabilities. In the implementation process, each step of the above method or each of the above modules can be completed through integrated logic circuits in the hardware of the processor element or through software instructions.

[0753] For example, each module, unit, subunit, or submodule can be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), one or more digital signal processors (DSPs), or one or more field-programmable gate arrays (FPGAs). As another example, when a module is implemented using processing element scheduler code, the processing element can be a general-purpose processor, such as a central processing unit (CPU) or other processor capable of calling program code. Furthermore, these modules can be integrated together to implement a system-on-a-chip (SOC).

[0754] The terms “first,” “second,” etc., used in this disclosure and in the claims are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this disclosure described herein may be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus. Additionally, the use of “and / or” in the specification and claims indicates at least one of the connected objects, such as A and / or B and / or C, indicating seven possibilities: A alone, B alone, C alone, and both A and B, both B and C, both A and C, and A, B, and C. Similarly, the use of “at least one of A and B” in this specification and claims should be understood as “A alone, B alone, or both A and B.”

[0755] Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, this disclosure is also intended to include such modifications and variations.

Claims

1. A target sensing method, applied to a sensing receiving device, comprising: Receive a sensing reference signal sent by a sensing transmitting device, wherein the sensing reference signal is sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources; Based on the sensing reference signal, at least one departure angle measurement information is obtained; The departure angle measurement information is sent to the sensing server SF.

2. The target perception method according to claim 1, wherein, Before receiving the sensing reference signal transmitted by the sensing transmitting device, the method further includes: Receive sensing port information corresponding to the plurality of sensing ports or the plurality of sensing resources sent by the sensing transmitting device or the SF.

3. The target perception method according to claim 2, wherein, The sensing port information includes at least one of the following: Sensing the resource parameters of the port; The code domain parameters of the sensing port; The sensing reference signal sequence used by the sensing port; The number of sensing ports; Sensing port reference point information corresponding to the port; The index corresponding to the sensing port; The quasi-co-addressable QCL reference signal resource corresponding to the sensing port.

4. The target perception method according to claim 3, wherein, The port reference point information includes: The location information of the port reference point (PRP) is used to characterize the physical center of the sensing port. Location information of the antenna reference point (ARP).

5. The target perception method according to claim 1, wherein, The sensing resources corresponding to the plurality of sensing ports satisfy at least one of the following: The time-domain resources occupied by different sensing ports are different; Different sensing ports occupy different frequency domain resources; Different sensing ports occupy different code domain resources; Different sensing ports occupy different reference signal sequences.

6. The target perception method according to claim 1, wherein, Before acquiring at least one departure angle measurement information based on the sensing reference signal, the method further includes: Receive the first information sent by the SF, the first information being used to indicate the sensing method, the sensing method including at least the departure angle sensing method; Based on the first information, feedback information is sent to the SF, and the feedback information is used to indicate whether the sensing receiving device supports the departure angle sensing method.

7. The target perception method according to claim 6, wherein, The sensing method includes any one of the following: Based on starting angle perception; Based on departure angle and arrival time perception; Based on the departure angle and arrival angle; Based on departure angle and carrier phase sensing.

8. The target perception method according to claim 1, wherein, Sending the departure angle measurement information to the sensing server SF includes: Send departure angle measurement information and second information to the SF, the second information including at least one of the following: arrival angle measurement information, arrival time measurement information, and arrival phase measurement information.

9. The target perception method according to claim 1 or 8, wherein, The departure angle measurement information includes at least one of the following: Departure angle measurement; The difference between any two of the stated departure angle measurements; The quality indication information corresponding to the departure angle measurement information; The timestamp corresponding to the departure angle measurement information.

10. The target perception method according to claim 8, wherein, The angle of arrival measurement information includes at least one of the following: At least one angle of arrival measurement; The difference between any two angle of arrival measurements; The quality indication information corresponding to the angle of arrival measurement information; The timestamp corresponding to the angle of arrival measurement information.

11. The target perception method according to claim 8, wherein, The arrival time measurement information includes at least one of the following: At least one time of arrival measurement; The difference between any two arrival time measurements; The quality indication information corresponding to the arrival time measurement information; The timestamp corresponding to the arrival time measurement information.

12. The target perception method according to claim 8, wherein, The arrival phase measurement information includes at least one of the following: At least one arriving phase measurement quantity; The difference between any two arriving phase measurements; The quality indication information corresponding to the arrival phase measurement information; The timestamp corresponding to the arrival phase measurement information.

13. The target perception method according to claim 8, wherein, After receiving the first information sent by the SF, the method further includes: When the sensing receiving device supports the departure angle-based sensing method, it receives the resource configuration information sent by the SF, which is used to indicate the sensing resources allocated to the sensing sending device.

14. The target perception method according to claim 1, further comprising: The first location coordinates of the sensing receiving device are sent to the SF.

15. A target sensing method, applied to a sensing and transmitting device, comprising: Allocate different sensing resources to multiple sensing ports; Sensing reference signals are transmitted through the multiple sensing ports or multiple sensing resources.

16. The target perception method according to claim 15, wherein, After allocating different sensing resources to multiple sensing ports, the method further includes: Send sensing port information corresponding to the plurality of sensing ports or the plurality of sensing resources to SF; and / or, Send sensing port information corresponding to the plurality of sensing ports or the plurality of sensing resources to the sensing receiving device.

17. The target perception method according to claim 16, wherein, The sensing port information includes at least one of the following: Sensing the resource parameters of the port; The code domain parameters of the sensing port; The sensing reference signal sequence used by the sensing port; The number of sensing ports; Sensing port reference point information corresponding to the port; The index corresponding to the sensing port; The QCL reference signal resource corresponding to the sensing port.

18. The target perception method according to claim 17, wherein, The port reference point information includes: The location information of the port reference point (PRP) is used to characterize the physical center of the sensing port. Location information of the antenna reference point (ARP).

19. The target perception method according to claim 15, wherein, The sensing resources corresponding to the plurality of sensing ports satisfy at least one of the following: The time-domain resources occupied by different sensing ports are different; Different sensing ports occupy different frequency domain resources; Different sensing ports occupy different code domain resources; Different sensing ports occupy different reference signal sequences.

20. The target perception method according to claim 15, further comprising: Receive first information sent by SF, the first information being used to indicate the sensing method, the sensing method including at least the departure angle sensing method; Based on the first information, feedback information is sent to the SF, and the feedback information is used to indicate whether the sensing receiving device supports the departure angle sensing method.

21. The target perception method according to claim 20, wherein, The sensing method includes any one of the following: Based on starting angle perception; Based on departure angle and arrival time perception; Based on the departure angle and arrival angle; Based on departure angle and carrier phase sensing.

22. The target perception method according to claim 15, wherein, The allocation of different sensing resources to multiple sensing ports includes: Receive resource configuration information sent by SF, wherein the resource configuration information is used to indicate the sensing resources allocated to the sensing transmitting device; Based on the allocated sensing resources, different sensing resources are allocated to the multiple sensing ports.

23. The target perception method according to claim 15, further comprising: The second location coordinates of the sensing and transmitting device are sent to SF.

24. A target perception method, applied to a perception server SF, comprising: The receiving device receives the launch angle measurement information sent by the sensing receiving device. The launch angle measurement information is obtained by the sensing receiving device measuring the sensing reference signal sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources. Based on the departure angle measurement information, determine the location of the sensing target and / or the sensing receiving device.

25. The target perception method according to claim 24, wherein, Before the receiving sensing device sends the departure angle measurement information, the method further includes: Receive sensing port information corresponding to the plurality of sensing ports sent by the sensing transmitting device; The sensing port information is sent to the sensing receiving device.

26. The target perception method according to claim 25, wherein, The sensing port information includes at least one of the following: Sensing the resource parameters of the port; The code domain parameters of the sensing port; The sensing reference signal sequence used by the sensing port; The number of sensing ports; Sensing port reference point information corresponding to the port; The index corresponding to the sensing port; The QCL reference signal resource corresponding to the sensing port.

27. The target perception method according to claim 26, wherein, The port reference point information includes: The location information of the port reference point (PRP) is used to characterize the center of the physical antenna of the sensing port. Location information of the antenna reference point (ARP).

28. The target perception method according to claim 25, wherein, After receiving the sensing port information corresponding to the plurality of sensing ports sent by the sensing transmitting device, the method further includes: Send first information to the sensing transmitting device and / or the sensing receiving device, the first information being used to indicate a sensing mode, the sensing mode including at least a departure angle sensing mode; Receive feedback information sent by the sensing transmitting device and / or the sensing receiving device based on the first information, wherein the feedback information is used to indicate whether the departure angle sensing method is supported; When both the sensing transmitting device and the sensing receiving device support the starting angle sensing method, the sensing port information is sent to the sensing receiving device.

29. The target perception method according to claim 28, wherein, The sensing method includes any one of the following: Based on starting angle perception; Based on departure angle and arrival time perception; Based on the departure angle and arrival angle; Based on departure angle and carrier phase sensing.

30. The target perception method according to claim 24, wherein, The departure angle measurement information sent by the receiving sensing device includes: The system receives the departure angle measurement information and the second information sent by the sensing and receiving device, wherein the second information includes at least one of the following: angle of arrival measurement information, time of arrival measurement information, and phase of arrival measurement information; Determining the position of the sensing target and / or the sensing receiving device based on the departure angle measurement information includes: Based on the departure angle measurement information and the second information, the position of the sensing target and / or the sensing receiving device is determined.

31. The target perception method according to claim 24 or 30, wherein, The departure angle measurement information includes at least one of the following: Departure angle measurement; The difference between any two of the stated departure angle measurements; The quality indication information corresponding to the departure angle measurement information; The timestamp corresponding to the departure angle measurement information.

32. The target perception method according to claim 30, wherein, The angle of arrival measurement information includes at least one of the following: At least one angle of arrival measurement; The difference between any two angle of arrival measurements; The quality indication information corresponding to the angle of arrival measurement information; The departure angle measurement information corresponds to a timestamp.

33. The target perception method according to claim 30, wherein, The arrival time measurement information includes at least one of the following: At least one time of arrival measurement; The difference between any two arrival time measurements; The quality indication information corresponding to the arrival time measurement information; The arrival time measurement information is a timestamp.

34. The target perception method according to claim 30, wherein, The arrival phase measurement information includes at least one of the following: At least one arriving phase measurement quantity; The difference between any two arriving phase measurements; The quality indication information corresponding to the arrival phase measurement information; The timestamp corresponding to the arrival phase measurement information.

35. The target perception method according to claim 28, wherein, After receiving the feedback information sent by the sensing transmitting device and / or the sensing receiving device based on the first information, the method further includes: If it is determined that the sensing transmitting device and / or the sensing receiving device supports the starting angle sensing mode, resource configuration information is sent to the sensing transmitting device and / or the sensing receiving device. The resource configuration information is used to indicate the sensing resources allocated to the sensing transmitting device; wherein, when there are multiple sensing transmitting devices, the multiple sensing transmitting devices are allocated different sensing resources.

36. The target perception method according to claim 24, further comprising: Receive the first location coordinates sent by the sensing receiving device; Receive the second location coordinates sent by the sensing and transmitting device; Determining the position of the perceived target based on the departure angle measurement information includes: The position of the sensing target is determined based on the departure angle measurement information, the first position coordinates, and the second position coordinates.

37. The target perception method according to claim 24, further comprising: Receive the second location coordinates sent by the sensing and transmitting device; Determining the position of the sensing target and / or the sensing receiving device based on the departure angle measurement information includes: The location of the sensing target and / or the sensing receiving device is determined based on the departure angle measurement information and the second position coordinates.

38. A sensing and receiving device, comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; the processor is configured to read the program from the memory and perform the following processes: Receive a sensing reference signal sent by a sensing transmitting device, wherein the sensing reference signal is sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources; Based on the sensing reference signal, at least one departure angle measurement information is obtained; The departure angle measurement information is sent to the sensing server SF.

39. A sensing and transmitting device, comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; wherein the processor is configured to read the program from the memory and perform the following processes: Allocate different sensing resources to multiple sensing ports; Sensing reference signals are transmitted through the multiple sensing ports or multiple sensing resources.

40. A sensing server, comprising: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; wherein the processor is configured to read the program from the memory and perform the following processes: The receiving device receives the launch angle measurement information sent by the sensing receiving device. The launch angle measurement information is obtained by the sensing receiving device measuring the sensing reference signal sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources. Based on the departure angle measurement information, determine the location of the sensing target and / or the sensing receiving device.

41. A target sensing device, wherein, Applied to sensing and receiving devices, including: The first receiving module is used to receive a sensing reference signal sent by the sensing transmitting device, wherein the sensing reference signal is sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources. The first acquisition module is used to acquire at least one departure angle measurement information based on the sensing reference signal; The first sending module is used to send the departure angle measurement information to the sensing server SF.

42. A target sensing device, wherein, Applications in sensing and transmitting devices include: The resource allocation module is used to allocate different sensing resources to multiple sensing ports; The fourth transmitting module is used to transmit sensing reference signals through the multiple sensing ports or multiple sensing resources.

43. A target sensing device, wherein, Applications to perception servers include: The fifth receiving module is used to receive the launch angle measurement information sent by the sensing receiving device. The launch angle measurement information is obtained by the sensing receiving device from the sensing reference signal sent by the sensing transmitting device through multiple sensing ports or multiple sensing resources. The determination module is used to determine the position of the sensing target and / or the sensing receiving device based on the departure angle measurement information.

44. A processor-readable storage medium, wherein, The processor-readable storage medium stores a computer program that causes the processor to perform the method according to any one of claims 1 to 14, or the method according to any one of claims 15 to 23, or the method according to any one of claims 24 to 37.

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