Communication method and apparatus

Abstract

A communication method and apparatus, which are applied to the technical field of communications. The method comprises: a first apparatus sending first information, wherein the first information may comprise information of N resources, and / or, the first information may comprise first precision information of sensing measurement values corresponding to the N resources, the N resources are used for carrying sensing signals, and N is a positive integer. In the present application, the first apparatus may report the first information, wherein the first information comprises the information of the N resources and / or the first precision information of the sensing measurement values corresponding to the N resources, such that a fusion center can utilize the first information to determine the measurement precision of sensing measurement values subsequently reported by the first apparatus, and can fuse, on the basis of the measurement precision of the sensing measurement values, sensing measurement values reported by a plurality of apparatuses (comprising the first apparatus), thereby improving the precision of target position estimation.

Description

A communication method and apparatus

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202510120955.9, filed on January 24, 2025, entitled "A Communication Method and Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of communication technology, and in particular to a communication method and apparatus. Background Technology

[0004] Communication sensing technology is one of the key technologies in next-generation wireless communication networks. The core idea of ​​this technology is to integrate wireless communication and sensing functions into a single system. It utilizes the various propagation characteristics of wireless signals to achieve sensing functions such as target localization, detection, imaging, and identification, thereby acquiring information about the physical environment surrounding the target and enhancing the user experience. The principle of this sensing technology involves the transmitting device sending a sensing signal, and the receiving device receiving the echo signal formed by the target's reflection (or scattering, or diffraction), processing the echo signal to obtain sensing data, such as the target's location. Currently, improving the accuracy of target location estimation is a research hotspot in communication sensing technology. Summary of the Invention

[0005] This application provides a communication method and apparatus to improve the accuracy of target location estimation. This communication method and apparatus may also be referred to as a sensing method and apparatus, or an integrated communication and sensing method and apparatus.

[0006] Firstly, this application provides a communication method that can be applied to a first device. The first device may be, for example, a first access network device, or a device within the first access network device (e.g., a module, communication module, circuit or chip responsible for communication functions (such as a modem chip, or a system-on-a-chip (SoC) chip containing a modem core, or a system-in-package (SIP) chip), chip system, or processor), or a logical node, logical module, or software capable of implementing all or part of the functions of the first access network device, or a larger device including the first access network device, etc. Optionally, the first access network device may be an open radio access network (ORAN) architecture or an ORAN architecture; or, the first access network device may be a centralized unit (CU), distributed unit (DU), or radio unit (RU) under an ORAN architecture. The first access network device may be located on the ground, or it may be a non-ground device such as a satellite or an aircraft, or located on a non-ground device such as a satellite or an aircraft.

[0007] The method may include: a first device sending first information, the first information including information about N resources, and / or the first information including first accuracy information of sensing measurement values ​​corresponding to the N resources, wherein the N resources are used to carry sensing signals, and N is a positive integer.

[0008] Optionally, the above method can be applied to sensing scenarios or to scenarios where sensing and communication are integrated, without limitation.

[0009] In the above embodiments of this application, the first device can report first information, which includes information on N resources and / or first accuracy information of the sensing measurement values ​​corresponding to the N resources. This allows the fusion center to use the first information to determine the measurement accuracy (or sensing accuracy, or uncertainty, or measurement variance, or measurement standard deviation, etc.) of the sensing measurement values ​​subsequently reported by the first device, and to use the measurement accuracy of the sensing measurement values ​​to fuse the sensing measurement values ​​reported by multiple devices (including the first device), thereby improving the accuracy of target position estimation.

[0010] In one optional implementation, the information of the N resources includes information of a first resource, which includes at least one of the following: first bandwidth information, first port information, or first carrier information; wherein the first bandwidth information indicates the actual bandwidth corresponding to the first resource and / or indicates the virtual bandwidth corresponding to the first resource; the first port information indicates the number of actual ports corresponding to the first resource and / or indicates the number of virtual ports corresponding to the first resource; and the first carrier information indicates the carrier wavelength corresponding to the first resource and / or indicates the carrier frequency corresponding to the first resource.

[0011] In the above implementation, the resource information may include at least one of bandwidth information, port information, or carrier information. This information can determine the measurement accuracy of the sensing measurement value reported by the first device, which is beneficial to improving the accuracy of target position estimation.

[0012] In one optional implementation, the number of actual ports corresponding to the first resource includes the number of actual ports corresponding to the first resource in a first dimension and / or the number of actual ports corresponding to the first resource in a second dimension; and / or, the number of virtual ports corresponding to the first resource includes the number of virtual ports corresponding to the first resource in a first dimension and / or the number of virtual ports corresponding to the first resource in a second dimension; wherein the first dimension and the second dimension are different. For example, the first dimension and the second dimension can be dimensions in different directions, such as a horizontal dimension and a vertical dimension, or two other different directional dimensions. Optionally, the virtual bandwidth can be the equivalent bandwidth after signal processing. Optionally, the number of virtual ports can be the equivalent number of ports after signal processing.

[0013] In the above implementation, the first device can report the number of actual ports and / or virtual ports corresponding to the first resource in the first dimension. In this way, the fusion center can determine the measurement accuracy of the sensing measurement value corresponding to the first dimension reported by the first device. For example, if the first dimension is a horizontal dimension, the fusion center can determine the measurement accuracy of the azimuth measurement value reported by the first device. And / or, the first device can report the number of actual ports and / or virtual ports corresponding to the first resource in the second dimension. In this way, the fusion center can determine the measurement accuracy of the sensing measurement value corresponding to the second dimension reported by the first device. For example, if the second dimension is a vertical dimension, the fusion center can determine the measurement accuracy of the pitch angle measurement value reported by the first device.

[0014] In one optional implementation, the first precision information indicates M calculation methods, and / or the first precision information indicates at least one parameter involved in the M calculation methods, where M is a positive integer. Optionally, the M calculation methods can be predefined, pre-agreed, or pre-configured, without limitation. The at least one parameter involved in the M calculation methods can, for example, be at least one weighting coefficient.

[0015] In the above implementation, the accuracy information of the sensing measurement values ​​corresponding to N resources can be determined by M calculation methods or by M calculation methods and at least one parameter involved in the M calculations. This allows the fusion center to determine the measurement accuracy of the sensing measurement values ​​subsequently reported by the first device using the M calculation methods reported by the first device or the M calculation methods and at least one parameter involved in the M calculations. Based on the measurement accuracy of the sensing measurement values, the fusion center can fuse the sensing measurement values ​​reported by multiple devices (including the first device) to improve the accuracy of target position estimation.

[0016] In one optional implementation, the M calculation methods may include a first calculation method, which can be used to determine the measurement accuracy of a first sensing measurement value corresponding to at least one of the N resources; wherein the first sensing measurement value includes at least one of the following: distance measurement value, azimuth measurement value, pitch measurement value, velocity measurement value, or signal-to-noise ratio measurement value.

[0017] In the above implementation, the M calculation methods can be used to determine (or measure) the measurement accuracy of multiple sensing measurements, which can adapt to different communication needs.

[0018] In an alternative implementation, the method may further include: a first device transmitting information about a first antenna panel, the first antenna panel being used to transmit the sensing signal, wherein the information about the first antenna panel indicates at least one of the following: the position of the first antenna panel, the azimuth angle of the first antenna panel, or the elevation angle of the first antenna panel.

[0019] In the above implementation, the first device can also report information about the first antenna panel (such as deployment information), so that the fusion center can further consider the information about the antenna panel of the first device based on the first information, so as to more accurately determine the measurement accuracy of the sensing measurement values ​​subsequently reported by the first device, which is beneficial to improving the accuracy of target position estimation.

[0020] In an optional implementation, the above method may further include: a first device sending second information, the second information including a first identifier and first perception result information of a first target, the first perception result information being associated with a first resource, the first identifier being used to indicate the first resource, and the first resource belonging to the N resources.

[0021] In the above implementation, when the first device reports the first perception result information, it carries a first identifier to indicate the resource corresponding to the first perception result information. In this way, the fusion center can determine the information of the first resource based on the first identifier and determine the measurement accuracy of the perception measurement values ​​included in the first perception result information based on the information of the first resource, so as to improve the accuracy of target position estimation.

[0022] In one alternative implementation, the first sensing result information is associated with a first resource, which may include: the first resource being a resource carrying a first signal, the first signal being used to determine at least one sensing result information, the at least one sensing result information including the first sensing result information, and the sensing signal including the first signal.

[0023] In one optional implementation, the first sensing result information may include information of a first timestamp and at least one sensing measurement value, wherein the at least one sensing measurement value may include at least one of the following: a first distance measurement value, a first azimuth angle measurement value, a first pitch angle measurement value, a first velocity measurement value, or a first signal-to-noise ratio measurement value.

[0024] In one alternative implementation, the second information may further include a second identifier and second perception result information of the second target, the second perception result information being associated with a second resource, the second identifier being used to indicate the second resource, and the second resource belonging to the N resources.

[0025] In one alternative implementation, the above method can be applied to both single-station sensing mode and dual-station sensing mode.

[0026] Single-site sensing mode: A first device sends a first signal, which is carried by the first resource; receives a second signal, which includes the echo signal of the first signal; and determines at least one sensing result information based on the second signal, the at least one sensing result information including the first sensing result information.

[0027] Dual-station sensing mode: A first device receives a second signal, the second signal including the echo signal of the first signal, the first signal being carried by the first resource and transmitted by a fourth device; and, based on the second signal, determines at least one sensing result information, the at least one sensing result information including the first sensing result information.

[0028] Secondly, this application provides a communication method that can be applied to a third device. The third device may be, for example, a sensing network element, or a device within a sensing network element (e.g., a module, communication module, circuit or chip responsible for communication functions (such as a modem chip, or a SoC chip or SIP chip containing a modem core), a chip system, or a processor), or a logical node, logical module, or software capable of implementing all or part of the sensing network element, or a larger device including a sensing network element. The third device may also be, for example, a fusion center or a fusion platform.

[0029] The method may include: a sensing network element receiving first information from a first device, the first information including information of N resources, and / or, first accuracy information of sensing measurement values ​​corresponding to the N resources, wherein the N resources are used to carry sensing signals from the first device, and N is a positive integer.

[0030] Optionally, the above method can be applied to sensing scenarios or to scenarios where sensing and communication are integrated, without limitation.

[0031] In an optional implementation, the above method may further include: a third device receiving third information from a second device, the third information including information on P resources, and / or the third information including second precision information of the sensing measurement values ​​corresponding to the P resources, wherein the P resources are used to carry the sensing signals of the second device, and P is a positive integer.

[0032] In an optional implementation, the method may further include: a third device receiving second information from the first device, the second information including a first identifier and first perception result information of a first target, the first perception result information being associated with a first resource, the first identifier being used to indicate the first resource, and the first resource belonging to the N resources.

[0033] In an optional implementation, the method may further include: a third device receiving fourth information from the second device, the fourth information including a third identifier and third perception result information of the first target, the third perception result information being associated with a third resource, the third identifier being used to indicate the third resource, and the third resource belonging to the P resources.

[0034] In an alternative implementation, the method may further include: a third device determining the location of the first target based on the first information, the second information, the third information, and the fourth information.

[0035] In an alternative implementation, the method may further include: a third device receiving information from a first antenna panel of the first device, the first antenna panel being used to transmit sensing signals from the first device, wherein the information of the first antenna panel indicates at least one of the following: the position of the first antenna panel, the azimuth angle of the first antenna panel, or the elevation angle of the first antenna panel.

[0036] In an alternative implementation, the method may further include: a third device receiving information from a second antenna panel of the second device, the second antenna panel being used to transmit sensing signals from the second device, wherein the information of the second antenna panel indicates at least one of the following: the position of the second antenna panel, the azimuth angle of the second antenna panel, or the elevation angle of the second antenna panel.

[0037] In one alternative implementation, the third device determines the location of the first target based on the first information, the second information, the third information, and the fourth information. This may include: the third device determining the location of the first target based on the first information, the second information, the third information, the fourth information, and information from the first antenna panel and / or the second antenna panel.

[0038] In one optional implementation, the information of the N resources includes information of a first resource, which includes at least one of the following: first bandwidth information, first port information, or first carrier information; wherein the first bandwidth information indicates the actual bandwidth corresponding to the first resource and / or indicates the virtual bandwidth corresponding to the first resource; the first port information indicates the number of actual ports corresponding to the first resource and / or indicates the number of virtual ports corresponding to the first resource; and the first carrier information indicates the carrier wavelength corresponding to the first resource and / or indicates the carrier frequency corresponding to the first resource.

[0039] In one optional implementation, the number of actual ports corresponding to the first resource includes the number of actual ports corresponding to the first resource in a first dimension and / or the number of actual ports corresponding to the first resource in a second dimension; and / or, the number of virtual ports corresponding to the first resource includes the number of virtual ports corresponding to the first resource in a first dimension and / or the number of virtual ports corresponding to the first resource in a second dimension; wherein the first dimension and the second dimension are different. For example, the first dimension and the second dimension can be dimensions in different directions, such as a horizontal dimension and a vertical dimension, or two other different directional dimensions. Optionally, the virtual bandwidth can be the equivalent bandwidth after signal processing. Optionally, the number of virtual ports can be the equivalent number of ports after signal processing.

[0040] In one optional implementation, the information of the P resources includes information of a third resource, which includes at least one of the following: second bandwidth information, second port information, or second carrier information; wherein the second bandwidth information indicates the actual bandwidth corresponding to the third resource and / or indicates the virtual bandwidth corresponding to the third resource; the second port information indicates the number of actual ports corresponding to the third resource and / or indicates the number of virtual ports corresponding to the third resource; and the second carrier information indicates the carrier wavelength corresponding to the third resource and / or indicates the carrier frequency corresponding to the third resource.

[0041] In one optional implementation, the number of actual ports corresponding to the third resource includes the number of actual ports corresponding to the third resource in the third dimension and / or the number of actual ports corresponding to the third resource in the fourth dimension; and / or, the number of virtual ports corresponding to the third resource includes the number of virtual ports corresponding to the third resource in the third dimension and / or the number of virtual ports corresponding to the third resource in the fourth dimension; wherein the third dimension and the fourth dimension are different. For example, the third dimension and the fourth dimension can be dimensions in different directions, such as a horizontal dimension and a vertical dimension, or two other different directional dimensions. Optionally, the virtual bandwidth can be the equivalent bandwidth after signal processing. Optionally, the number of virtual ports can be the equivalent number of ports after signal processing.

[0042] In one alternative implementation, the first precision information may indicate M calculation methods, and / or the first precision information may indicate at least one parameter involved in the M calculation methods, where M is a positive integer.

[0043] In one optional implementation, the M calculation methods may include a first calculation method, which can be used to determine the measurement accuracy of a first sensing measurement value corresponding to at least one of the N resources; wherein the first sensing measurement value includes at least one of the following: distance measurement value, azimuth measurement value, pitch measurement value, velocity measurement value, or signal-to-noise ratio measurement value.

[0044] In one optional implementation, the second precision information may indicate Q calculation methods, and / or the second precision information may indicate at least one parameter involved in the Q calculation methods, where Q is a positive integer. Optionally, the Q calculation methods may be predefined, pre-agreed, or pre-configured, without limitation. The at least one parameter involved in the Q calculation methods may, for example, be at least one weighting coefficient.

[0045] In one optional implementation, the Q calculation methods may include a second calculation method, which can be used to determine the measurement accuracy of a second sensing measurement value corresponding to at least one of the P resources; wherein the second sensing measurement value includes at least one of the following: distance measurement value, azimuth measurement value, pitch measurement value, velocity measurement value, or signal-to-noise ratio measurement value.

[0046] In one alternative implementation, the first sensing result information is associated with a first resource, which may include: the first resource being a resource carrying a first signal, the first signal being used to determine at least one sensing result information, the at least one sensing result information including the first sensing result information, and the sensing signal of the first device including the first signal.

[0047] In one optional implementation, the first sensing result information may include information of a first timestamp and at least one sensing measurement value of the first device. The at least one sensing measurement value of the first device may include at least one of the following: a first distance measurement value, a first azimuth angle measurement value, a first pitch angle measurement value, a first velocity measurement value, or a first signal-to-noise ratio measurement value.

[0048] In one alternative implementation, the second information may further include a second identifier and second perception result information of the second target, the second perception result information being associated with a second resource, the second identifier being used to indicate the second resource, and the second resource belonging to the N resources.

[0049] In one optional implementation, the third sensing result information is associated with a third resource, which may include: the third resource being a resource carrying a third signal, the third signal being used to determine at least one sensing result information of the second device, the at least one sensing result information of the second device including the third sensing result information, and the sensing signal of the second device including the third signal.

[0050] In one optional implementation, the third sensing result information may include information of a second timestamp and at least one sensing measurement value of the second device. The at least one sensing measurement value of the second device may include at least one of the following: a second distance measurement value, a second azimuth angle measurement value, a second pitch angle measurement value, a second velocity measurement value, or a second signal-to-noise ratio measurement value.

[0051] Thirdly, this application provides a communication device that can be used to execute the methods described in the first aspect and any possible implementation thereof. The communication device can be a first device. The communication device may include modules, units, or means corresponding to the methods described in the first aspect and any possible implementation thereof. These modules, units, or means can be implemented in hardware, software, or by hardware executing corresponding software implementations. The hardware or software includes one or more modules or units corresponding to the above functions.

[0052] In one possible implementation, the communication device may include a baseband device and a radio frequency device.

[0053] In another possible implementation, the communication device may include a processing module (sometimes also called a processing unit) and a transceiver module (sometimes also called a transceiver unit). The transceiver module is capable of both sending and receiving functions. When the transceiver module performs the sending function, it may be called a sending module (sometimes also called a sending unit), and when it performs the receiving function, it may be called a receiving module (sometimes also called a receiving unit). The sending module and the receiving module may be the same functional module, referred to as the transceiver module, which performs both sending and receiving functions; or, the sending module and the receiving module may be different functional modules, with "transceiver module" being a collective term for these functional modules.

[0054] Fourthly, this application provides a communication device that can be used to execute the methods described in the second aspect and any possible implementation thereof. The communication device can be a third device. The communication device may include modules, units, or means corresponding to the methods described in the second aspect and any possible implementation thereof. These modules, units, or means may be implemented in hardware, software, or by hardware executing corresponding software implementations. The hardware or software includes one or more modules or units corresponding to the aforementioned functions.

[0055] In one possible implementation, the communication device may include a baseband device and a radio frequency device.

[0056] In another possible implementation, the communication device may include a processing module (sometimes also called a processing unit) and a transceiver module (sometimes also called a transceiver unit). The transceiver module is capable of both sending and receiving functions. When the transceiver module performs the sending function, it may be called a sending module (sometimes also called a sending unit), and when it performs the receiving function, it may be called a receiving module (sometimes also called a receiving unit). The sending module and the receiving module may be the same functional module, referred to as the transceiver module, which performs both sending and receiving functions; or, the sending module and the receiving module may be different functional modules, with "transceiver module" being a collective term for these functional modules.

[0057] Fifthly, this application provides a communication system that may include at least one of the following: a first device, a second device, or a third device. The first device is configured to perform the method described in the first aspect and any possible implementation thereof; the third device is configured to instruct the execution of the method described in the second aspect and any possible implementation thereof; the second device is configured to send third information to the third device, the third information including information on P resources and / or second accuracy information of the sensing measurement values ​​corresponding to the P resources, wherein the P resources are used to carry the sensing signals of the second device.

[0058] In one possible implementation, the communication system may include a first device, a second device, and a third device, wherein the first device is a first access network device or a device within a first access network device, the second device is a second access network device or a device within a second access network device, and the third device is a sensing network element or a device within a sensing network element.

[0059] In another possible implementation, the communication system may include a first device, a second device, and a third device, wherein the first device is a first distributed unit, the second device is a second distributed unit, and the third device is a centralized unit.

[0060] Sixthly, this application also provides a communication device. The communication device may include one or more processors. Optionally, the communication device may further include a memory. The memory is used to store one or more computer programs or instructions. The one or more processors are used to execute the one or more computer programs or instructions stored in the memory, causing the communication device to perform the methods described in any of the first or second aspects and any possible implementations thereof.

[0061] In a seventh aspect, this application also provides a communication device, comprising: a processor and an interface circuit; the interface circuit is configured to receive signals from other communication devices outside the communication device and transmit them to the processor, or to send signals from the processor to other communication devices outside the communication device. The processor is configured to implement the methods described in any of the first or second aspects and any possible implementations thereof through logic circuits or by executing computer programs or instructions.

[0062] In some possible designs, when the device is a chip system, it can be composed of chips or contain chips and other discrete components.

[0063] Eighthly, this application also provides a chip system comprising at least one chip and a memory, wherein the at least one chip is configured to read and execute a program stored in the memory to implement the method described in any of the first or second aspects and any possible implementation thereof.

[0064] Ninthly, this application also provides a computer-readable storage medium for storing a computer program or instructions that, when executed, cause the method described in any of the first or second aspects and any possible implementation thereof to be implemented.

[0065] In a tenth aspect, this application also provides a computer program product comprising a computer program or instructions that, when executed on a computer, cause the method described in any of the first or second aspects and any possible implementation thereof to be implemented.

[0066] The technical effects achievable by the second to tenth aspects and any of their possible implementations are described in the same manner as the technical effects achievable by the first aspect and any of its possible implementations, and will not be repeated here. Attached Figure Description

[0067] Figure 1A is a schematic diagram of a single-station sensing mode;

[0068] Figure 1B is a schematic diagram of the dual-station sensing mode;

[0069] Figure 2 is a schematic diagram of an application scenario according to an embodiment of this application;

[0070] Figure 3 is a schematic diagram of a communication system provided in an embodiment of this application;

[0071] Figure 4 is a flowchart illustrating the first communication method provided in an embodiment of this application;

[0072] Figure 5 is a schematic diagram of the azimuth and elevation angles of the antenna panel provided in the embodiment of this application;

[0073] Figure 6 is a flowchart illustrating the second communication method provided in an embodiment of this application;

[0074] Figure 7 is a flowchart illustrating the third communication method provided in an embodiment of this application;

[0075] Figure 8 is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0076] Figure 9 is a schematic diagram of another communication device provided in an embodiment of this application;

[0077] Figure 10 is a schematic diagram of the structure of another communication device provided in an embodiment of this application. Detailed Implementation

[0078] The relevant terms used in the embodiments of this application will be explained below. It should be noted that these explanations are for the purpose of making the embodiments of this application easier to understand, and should not be regarded as a limitation on the scope of protection claimed by this application.

[0079] I. Sensing, sensing signals, communication signals, echo signals, communication-sensing fusion signals, and targets:

[0080] 1) Sensing: Sensing allows us to detect parameters of targets in the physical environment, such as the target's position and velocity. It can be understood that sensing devices detect targets by emitting electromagnetic waves and analyzing the echo signals reflected (or scattered, diffracted, or diffused) from the target object. Optionally, sensing can also be called detection.

[0081] 2) Sensing signal: A signal used to sense (or detect) a target (or target object). Optionally, the sensing signal can also be called a detection signal, linear frequency modulated signal, radar signal, radar sensing signal, radar detection signal, or environmental sensing signal, etc. Optionally, the sensing signal can be a pulse signal or a signal from a wireless communication system. For example, the sensing signal can be an orthogonal frequency division multiplexing (OFDM) signal obtained by modulating a specific sequence on a subcarrier. This specific sequence can be any of the following sequences: Zadoff-Chu sequence (ZC sequence), pseudo-random sequence, or predefined sequence. The pseudo-random sequence includes any of the following sequences: longest linear feedback shift register sequence (m-sequence), or Gold sequence. The predefined sequence is, for example, random data symbols, such as random data symbols modulated by quadrature phase shift keying (QPSK) or quadrature amplitude modulation (QAM).

[0082] 3) Communication signals can be signals transmitted between communication devices for communication purposes. For example, communication signals may include signals transmitted between network devices and terminal devices. Communication signals are carried, for example, on the physical downlink shared channel (PDSCH).

[0083] 4) Echo signal, which can be understood as the signal generated by the reflection of the sensing signal by the target. The echo signal, or the echo signal and the sensing signal, can reflect the parameters of the target. For example, the time delay of the echo signal relative to the transmitted sensing signal can reflect the distance of the target relative to the transmitter, and the Doppler frequency shift of the echo signal relative to the sensing signal can reflect the velocity of the target.

[0084] 5) Communication-sensing fusion signal, which can be understood as a signal used for both communication and sensing. Optionally, the communication-sensing fusion signal can also be called a synesthetic fusion signal, a synesthetic signal, or a synesthetic integrated signal, etc. Wherein, the synesthetic fusion signal is used for communication, which can be understood as the signal carrying the communication data or communication reference signal sequence that needs to be transmitted between communication devices. Where the synesthetic fusion signal is used for sensing, it can be understood as the synesthetic fusion signal can be used to sense (or detect) targets.

[0085] 6) The target can be any tangible object in the environment that can reflect electromagnetic waves, such as mountains, forests, or buildings, and can also include mobile objects such as vehicles, drones, pedestrians, and terminal devices. Optionally, the target can also be referred to as a sensed target, a detected target, a sensed object, a sensed device, a sensing target, a detection target, a sensed object, or a detection object, etc., which is not limited in the embodiments of this application.

[0086] For electromagnetic sensing, a target can generally be modeled as at least one scattering point (or scattering center, scatterer, etc.), and the process of a target reflecting (or scattering, or diffracting, or scattering, etc.) electromagnetic waves can be equivalent to the process of at least one scattering point reflecting (or scattering, or diffracting, or scattering, etc.). For example, for a point-like target, the target can be modeled as a single scattering point. For example, for an extended target, the target can be modeled as multiple scattering points. Accordingly, the target in this application can be understood as a single scattering point, or it can be understood as multiple scattering points. In the following text, unless otherwise specified, the target can be understood as a single scattering point.

[0087] II. Perception Mode:

[0088] In terms of sensing, depending on the sender and receiver of the sensing signal, the sensing mode can be divided into two modes: single-station sensing and dual-station sensing.

[0089] Single-site sensing mode refers to a mode where the device transmitting the sensing signal and the device receiving the echo signal reflected from the target are the same device, as shown in Figure 1A. Both the device transmitting the sensing signal and the device receiving the echo signal are device 1. Optionally, single-site sensing mode can be called self-transmitting and self-receiving mode, or single-base sensing mode, etc. Figure 1A uses a vehicle as an example as the target.

[0090] In Figure 1A, device 1 can be a base station or a terminal device. For example, in Figure 1A, device 1 is a base station. In single-site sensing mode, the base station transmits a sensing signal and receives the echo signal generated by the reflection of the sensing signal by a scattering object in the environment (e.g., a vehicle in Figure 1A) to perform environmental sensing. As another example, in Figure 1A, device 1 is a terminal device. In single-site sensing mode, the terminal device transmits a sensing signal and receives the echo signal generated by the reflection of the sensing signal by a target in the environment (e.g., a vehicle in Figure 1A) to perform environmental sensing.

[0091] Dual-station sensing mode refers to a mode where the device transmitting the sensing signal and the device receiving the echo signal reflected from the target are different devices, as shown in Figure 1B. Device 2 transmits the sensing signal, and device 3 receives the echo signal. Optionally, device 3 can also receive the sensing signal transmitted by device 2. Optionally, dual-station sensing mode can also be called A-transmit / B-receive mode, self-transmit / other-receive mode, or dual-base sensing mode, etc. Figure 1B uses a vehicle as an example.

[0092] In Figure 1B, device 2 can be a base station and device 3 can be a terminal device; or device 2 can be a terminal device and device 3 can be a base station; or both device 2 and device 3 can be base stations; or both device 2 and device 3 can be terminal devices. For example, in Figure 1B, device 2 is a base station and device 3 is a terminal device. In the dual-site sensing mode, the base station sends a sensing signal, and the terminal device receives the echo signal generated by the reflection of the sensing signal from a target in the environment (e.g., the vehicle in Figure 1B) to perform environmental sensing. As another example, in Figure 1B, device 2 is a terminal device and device 3 is a base station. In the dual-site sensing mode, the terminal device sends a sensing signal, and the base station receives the echo signal generated by the reflection of the sensing signal from a target in the environment (e.g., the vehicle in Figure 1B) to perform environmental sensing. As yet another example, in Figure 1B, device 2 is base station 1 and device 3 is base station 2. In the dual-site sensing mode, base station 1 sends a sensing signal, and base station 2 receives the echo signal generated by the reflection of the sensing signal from a target in the environment (e.g., the vehicle in Figure 1B) to perform environmental sensing. For example, in Figure 1B, device 2 is terminal device 1 and device 3 is terminal device 2. In the dual-station sensing mode, terminal device 1 sends a sensing signal and terminal device 2 receives the echo signal generated by the reflection of the sensing signal by a target in the environment (such as the vehicle in Figure 1B) to perform environmental sensing.

[0093] III. Perception Result Information

[0094] The sensing result information can also be referred to as sensing measurement results, sensing data, sensing measurement information, or sensing measurement data, etc., and this application does not limit the naming of the sensing result information. This sensing result information can be information obtained by processing (or measuring) the echo signal (or the sensing signal and the echo signal). For example, a fusion center can fuse multiple sensing result information of the same sensing target to achieve sensing of that target, such as obtaining the location of the sensing target.

[0095] In this embodiment, the sensing result information may include timestamp information and at least one sensing measurement value (hereinafter referred to as at least one measurement value). This at least one sensing measurement value may include, but is not limited to, at least one of the following: distance measurement value, azimuth angle measurement value, pitch angle measurement value, velocity measurement value, or signal-to-noise ratio (SNR) measurement value, etc. Optionally, the pitch angle measurement value may be replaced by the zenith angle measurement value. Optionally, the signal-to-noise ratio measurement value may be replaced by the signal-to-clutter ratio (SCR) measurement value.

[0096] The following describes the perception results.

[0097] 1) The timestamp information indicates the timestamp (or moment) at which the at least one sensed measurement was obtained (or estimated, or measured, or obtained).

[0098] For example, the timestamp information is 2:00:01, which means that the at least one sensing measurement value was obtained at 2:00:01, that is, the timestamp is 2 hours 0 minutes 0 seconds.

[0099] Another example is a timestamp of 1111, indicating that 1111 seconds have elapsed between a specific time point and the estimation of at least one perceived measurement value; that is, 1111 seconds have elapsed between the specific time point and the timestamp. Optionally, this specific time point can be predefined or pre-agreed upon, without restriction. For example, this specific time point can be Coordinated Universal Time (UTC) at 00:00:00 on January 1, 1970, without restriction.

[0100] The timestamp information is associated with at least one perceived measurement value. For example, the perceived result information includes information from multiple timestamps, and the perceived result information also includes the perceived measurement value associated with each of the multiple timestamps.

[0101] It is understood that this application does not limit the implementation form of timestamp information.

[0102] 2) The distance measurement value can be understood as the distance measurement value of the sensed target, or the measurement value obtained by measuring the distance of the sensed target. For example, a distance measurement value of 100 meters means that the distance of the sensed target measured is 100 meters. This application does not limit the value of the distance measurement value. Optionally, the distance of the sensed target can be the distance between the sensed target and the echo signal receiver, or the distance of the sensed target can be the distance between the sensed target and the antenna panel of the echo signal receiver.

[0103] 3) The azimuth measurement value can be understood as the measurement value of the azimuth angle of the sensed target, or the measurement value obtained by measuring the azimuth angle of the sensed target. For example, an azimuth measurement value of 30° means that the measured azimuth angle of the sensed target is 30°. This application does not limit the value of the azimuth measurement value.

[0104] Taking a local coordinate system, specifically a three-dimensional Cartesian coordinate system, as an example, the azimuth angle of the sensed target can be understood as the angle between the direction of the line connecting the sensed target and the antenna panel reference point, projected onto the xoy plane, and the x-axis. Here, the antenna panel refers to the antenna panel of the echo signal receiver. The origin of the local coordinate system is the antenna panel reference point of the echo signal receiver. The x-axis of the local coordinate system points to the direction of the antenna panel's normal vector, the y-axis points to the row (wide side) of the antenna panel, and the z-axis points to the column (long side) of the antenna panel. For example, the antenna panel can be located in the yoz plane of the local coordinate system. The normal vector of the antenna panel can be, for example, a unit vector perpendicular to the antenna panel and pointing outwards from it. It should be understood that this application does not limit the implementation form of the local coordinate system. Other coordinate systems are understood similarly and will not be elaborated further.

[0105] 4) The pitch angle measurement value can be understood as the measured pitch angle of the perceived target, or the measurement value obtained by measuring the pitch angle of the perceived target. For example, a pitch angle measurement value of 120° means that the measured pitch angle of the perceived target is 120°. This application does not limit the value of the pitch angle measurement value.

[0106] Taking a local coordinate system, specifically a three-dimensional Cartesian coordinate system, as an example, the elevation angle of the sensed target can be understood as the angle between the direction of the line connecting the sensed target and the antenna panel reference point and the z-axis. The antenna panel and the local coordinate system can be referenced from the relevant descriptions in the azimuth measurement values, and will not be repeated here. Other coordinate systems can be understood similarly, and will not be elaborated further.

[0107] 5) The velocity measurement value can be understood as the velocity measurement value of the perceived target, or the measurement value obtained by measuring the velocity of the perceived target. For example, the velocity measurement value v1 indicates that the measured velocity of the perceived target is v1. This application does not limit the value of the velocity measurement value.

[0108] 6) The signal-to-noise ratio (SNR) measurement value can be understood as the SNR measurement value of the echo signal (or the echo signal and the sensed signal), or a measurement value obtained by measuring the SNR of the echo signal (or the echo signal and the sensed signal). For example, an SNR measurement value of 10 dB indicates that the measured SNR of the echo signal is 10 dB. This application does not limit the value of the SNR measurement value.

[0109] It is understood that the implementation form of the perceived result information in this application is not limited to this.

[0110] As mentioned above, the fusion center can fuse multiple sensing results for the same sensing target to achieve sensing of that target. In one possible scenario, the fusion center can fuse the sensing result information #1 of scattering point #1 reported by base station #1 and the sensing result information #2 of scattering point #1 reported by base station #2 to obtain the location of scattering point #1. As an example, assuming the location of scattering point #1 is denoted as (x, y, z), the location of scattering point #1 can satisfy: Where (x1, y1, z1) is determined by sensing result information #1, and (x2, y2, z2) is determined by sensing result information #2. As another example, assuming the position of scattering point #1 is denoted as (x, y, z), the position of scattering point #1 can satisfy: Wherein, (x1, y1, z1) is determined by perception result information #1, and SNR1 can be the signal-to-noise ratio measurement value included in perception result information #1; (x2, y2, z2) is determined by perception result information #2, and SNR2 can be the signal-to-noise ratio measurement value included in perception result information #2. It should be understood that this application does not limit the implementation method of the fusion center fusing multiple perception result information.

[0111] (x1, y1, z1) is determined by the sensing result information #1. As an example, x1 can satisfy: x1 = x0 + r1 cos(φ1 + φ0)cos(θ1 + θ0); y1 can satisfy: y1 = y0 + r1 sin(φ1 + φ0)cos(θ1 + θ0); z1 can satisfy: z1 = z0 + r1 sin(θ1 + θ0); where (x0, y0, z0) are the position coordinates of base station #1, φ0 is the azimuth angle of the antenna panel of base station #1, θ0 is the elevation angle of the antenna panel of base station #1, φ1 is the azimuth angle measurement value included in sensing result information #1, θ1 is the elevation angle measurement value included in sensing result information #1, and r1 is the distance measurement value included in sensing result information #1. (x2, y2, z2) can be referred to the description of (x1, y1, z1), and will not be repeated here. It should be understood that this application does not limit the implementation method of location estimation based on perception result information.

[0112] IV. Terminal Equipment:

[0113] A terminal device is a device with wireless transceiver capabilities. It can be a fixed device, mobile device, handheld device (e.g., mobile phone), wearable device, in-vehicle device, or a wireless device (e.g., communication module, modem, or chip system) built into the aforementioned devices. The terminal device is used to connect people, objects, and machines, and can be widely used in various scenarios, including but not limited to: sensing scenarios, cellular communication, device-to-device (D2D) communication, vehicle-to-everything (V2X) communication, machine-to-machine / machine-type (M2M / MTC) communication, Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical care, smart grid, smart furniture, smart office, smart wearables, smart transportation, smart city, drones, robots, and terminal devices in indoor commercial scenarios (e.g., mobile phone screen mirroring, file sharing, and video transmission from mobile phone to VR glasses). When the terminal equipment is applied to V2X, it can also be called a V2X device, such as a smart car, digital car, unmanned car, driverless car, pilotless car, or automobile, self-driving car, or autonomous car, pure electric vehicle (EV), hybrid electric vehicle (HEV), range-extended electric vehicle (REEV), plug-in hybrid electric vehicle (PHEV), new energy vehicle, or roadside unit (RSU). The terminal equipment can also be a device used in D2D communication, such as an electricity meter or water meter.

[0114] Furthermore, in this embodiment, the terminal device can also be a terminal device in an IoT system. IoT is an important component of the future development of information technology. Its main technical feature is to connect objects to the network through communication technology, thereby realizing an intelligent network of human-machine interconnection and object-to-object interconnection.

[0115] The various terminal devices described above, if located in a vehicle (e.g., placed inside or installed inside a vehicle), can all be considered in-vehicle terminal devices, also known as on-board units (OBUs). The terminal device of this application can also be an in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit built into a vehicle as one or more components or units. The vehicle can implement the methods of this application through the built-in in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit.

[0116] The terminal equipment may sometimes be referred to as user equipment (UE), terminal, access station, UE station, remote station, wireless communication equipment, or user device, etc.

[0117] In this application embodiment, the communication device used to implement the terminal device function can be the terminal device itself, or it can be a device capable of supporting the terminal device in implementing the function, such as a chip system. This device can be installed in the terminal device. In the technical solutions provided in this application embodiment, the terminal device is used as an example to describe the technical solutions provided in this application embodiment. Furthermore, for ease of description, the terminal device in this application embodiment is described using a UE as an example.

[0118] V. Network Equipment:

[0119] Network equipment, including access network equipment and / or core network equipment.

[0120] 1) Core network equipment refers to the equipment in the core network that provides service support to terminals. For example, in the context of the 5th generation (5G) core network, the evolved 5G core network, or the core network in future communication systems, some examples of core network equipment include: access and mobility management function (AMF) entities, session management function (SMF) entities, user plane function (UPF) entities, policy control function (PCF) entities, location management function (LMF) entities, etc., which will not be listed here. These core network devices can work independently or be combined to implement certain control functions; for example, AMF, SMF, and PCF can be combined into a single core network device.

[0121] Optionally, the core network equipment may also include sensing entities. Sensing entities can be used to sense targets, such as determining the target's location or reconstructing the target's environment, and are not limited in this regard. This application does not limit the deployment of sensing entities. For example, sensing entities can be deployed in the core network or in the access network, and are not limited in this respect. For example, sensing entities can also be sensing servers, network management platforms, or network management devices, etc. It should be understood that in future communication systems, the functional entities used for sensing targets can still be called sensing entities, or they can have other names; this application does not limit this.

[0122] It should be noted that in this application, entities can also be referred to as network elements, functional entities, functional network elements, service functions, or service nodes, etc. For example, a sensing entity can also be referred to as a sensing network element, or a sensing functional entity, or a sensing functional network element, or a sensing service function, or a sensing service node.

[0123] 2) Access network equipment is a network-side device with wireless transceiver capabilities. For example, a device that provides wireless communication capabilities to terminal devices in a radio access network (RAN) is called an RAN device or RAN node.

[0124] As an example, the access network equipment includes, but is not limited to, base stations (base transceiver stations, BTS, Node B, evolved Node B (eNodeB) / eNB, or next-generation Node B (gNodeB) / gNB), transmission reception points (TRPs), base stations evolved under the 3rd generation partnership project (3GPP), access nodes in Wi-Fi systems, wireless relay nodes, wireless backhaul nodes, etc. The base station can be: macro base station, micro base station, pico base station, small cell, relay station, etc. Multiple base stations can support networks using the same access technology or networks using different access technologies. A base station can contain one or more co-located or non-co-located transmission and reception points. As another example, the access network equipment can also be a radio controller, central unit (CU), and / or distributed unit (DU) in a cloud radio access network (CRAN) scenario. Optionally, a centralized unit can also be called a control unit. As another example, the access network device can also be a server, etc. For instance, the access network device in V2X technology can be a roadside unit (RSU). The following description uses a base station as an example to illustrate the access network device. A base station can communicate with a terminal device, or it can communicate with a terminal device through a relay station. A terminal device can communicate with multiple base stations using different access technologies.

[0125] Optionally, in the CU-DU architecture, the access network equipment may include one or more logical units (or logical network elements) such as CU, DU, or radio unit (RU). This application does not limit the number of CU, DU, and RU. CU and DU can be configured separately or included in the same network element, such as in a baseband unit (BBU). RU may be included in radio equipment or radio units, such as in a remote radio unit (RRU), active antenna unit (AAU), or remote radio head (RRH). For example, the CU can perform the functions of the radio resource control (RRC) protocol and packet data convergence protocol (PDCP) of the base station, and can also perform the functions of the service data adaptation protocol (SDAP). For example, the DU can perform the functions of the radio link control layer and medium access control (MAC) layer of the base station, and can also perform some or all of the physical layer functions. For a detailed description of each of the above protocol layers, please refer to the relevant technical specifications of the 3rd Generation Partnership Project (3GPP).

[0126] Optionally, the CU may include a CU-control plane (CP) and / or a CU-user plane (UP). For example, the CU-CP is a logical node carrying the RRC layer and the PDCP-control plane (PDCP-C) layer, and can be used to implement the control plane functions of the CU. For instance, the CU-CP can interact with network elements in the core network used to implement control plane functions. These network elements in the core network can be, for example, sensing network elements, AMFs, etc., and are not limited. For example, the CU-UP is a logical node carrying the SDAP layer and the PDCP-user plane (PDCP-U) layer, and can be used to implement the user plane functions of the CU. For example, the CU-UP can interact with network elements in the core network used to implement user plane functions. These network elements in the core network can be, for example, UPFs, etc., and are not limited.

[0127] In different systems, CU (or CU-CP and / or CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called an open-CU (open-CU, O-CU), DU can also be called an open-DU (open-DU, O-DU), CU-CP can also be called an open-CU-CP (open-CU-CP, O-CU-CP), CU-UP can also be called an open-CU-UP (open-CU-UP, O-CU-UP), and RU can also be called an open-RU (open-RU, O-RU). For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules.

[0128] Optionally, in various embodiments of this application, if the access network device is a distributed architecture, for example, the access network device includes CU and DU, or includes CU-CP, CU-UP and DU, then the access network device sends information to the UE, specifically the DU included in the access network device sends information to the UE; the access network device receives information from the UE, specifically the DU included in the access network device receives information from the UE; the access network device sends information to the core network device, specifically the CU (or CU-CP, or CU-UP included in the access network device) sends information to the core network device; the access network device receives information from the core network device, which may include the CU (or CU-CP, or CU-UP included in the access network device receiving information from the core network device.

[0129] In this application embodiment, the communication device used to implement the network device function can be a network device itself, or it can be a device capable of supporting the network device in implementing that function, such as a chip system. This device can be installed within the network device. In the technical solutions provided in this application embodiment, the example of a network device being used to implement the network device function is used to describe the technical solutions provided in this application embodiment.

[0130] In this application embodiment, "multiple" can refer to two or more. Therefore, in this application embodiment, "multiple" can also be understood as "at least two". "At least one" can be understood as one or more, such as one, two, or more. For example, "including at least one" means including one, two, or more. For example, including at least one of A, B, and C, then it could include A, B, C, A and B, A and C, B and C, or A, B, and C. "And / or" describes the association relationship between related objects. Specifically, there can be three relationships. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / ", unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0131] In the embodiments of this application, the terms "system" and "network" can be used interchangeably, and "according to" and "based on" can be used interchangeably.

[0132] The ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are generally used to distinguish different objects, and are not used to limit the order, timing, priority, or importance of multiple objects. For example, the first device, second device, and third device involved in the embodiments of this application are used to distinguish different devices, and do not limit the order, timing, priority, or importance of these three devices.

[0133] The terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0134] In this application, "predefined" may include predefined terms, such as protocol definitions. "Predefined" can be implemented by pre-storing corresponding codes, tables, or other means of indicating relevant information in the device (e.g., including various network elements), and this application does not limit the specific implementation method.

[0135] The term "storage" or "preservation" in this application can refer to storage in one or more memory devices. These memory devices can be separately configured or integrated into an encoder, decoder, processor, or communication device. Alternatively, some memory devices can be separately configured, while others can be integrated into the decoder, processor, or communication device. The type of memory can be any form of storage medium, and this is not limited.

[0136] In the schematic diagrams of the accompanying drawings of this application, the dashed arrows or boxes indicate optional steps or optional modules.

[0137] In this application, "instruction" can include direct instruction, indirect instruction, explicit instruction, and implicit instruction. When describing a certain instruction information for the purpose of instructing A, it can be understood that the instruction information carries A, directly instructs A, or indirectly instructs A.

[0138] In this application, the information indicated by the instruction information is called the information to be instructed. In specific implementations, there are many ways to indicate the information to be instructed, such as, but not limited to, directly indicating the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly indicate the information to be instructed by indicating other information, where there is a relationship between the other information and the information to be instructed. It can also indicate only a part of the information to be instructed, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various pieces of information, thereby reducing instruction overhead to some extent. Furthermore, the information to be instructed can be sent as a whole or divided into multiple sub-information pieces, and the sending period and / or timing of these sub-information pieces can be the same or different.

[0139] In this application, "send" and "receive" indicate the direction of signal transmission. For example, "send information to XX" can be understood as the destination of the information being XX, which can include direct transmission via the air interface or indirect transmission via the air interface from other units or modules. "Receive information from YY" can be understood as the source of the information being YY, which can include direct reception from YY via the air interface or indirect reception from YY via the air interface from other units or modules. "Send" can also be understood as the "output" of a chip interface, and "receive" can also be understood as the "input" of a chip interface. In other words, sending and receiving can occur between devices, such as between network devices and terminal devices, or within a device, such as between components, modules, chips, software modules, or hardware modules within the device via buses, traces, or interfaces.

[0140] In the embodiments of this application, the words "exemplarily," "for example," and "for instance" are used to indicate examples, illustrations, or descriptions. Any embodiment or design scheme described as an "example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the word "example" is intended to present concepts in a concrete manner. In the embodiments of this application, "of," "corresponding, relevant," and "corresponding" may sometimes be used interchangeably, and it should be noted that their intended meanings are consistent unless their distinction is emphasized.

[0141] This application will present embodiments relating to a system comprising multiple devices, components, modules, etc. It should be understood that the system may include other unmentioned devices, components, modules, etc., or may include only some of the devices, components, or modules mentioned in the embodiments. Optionally, the terms "component" and "part" in this application can be used interchangeably.

[0142] The communication method provided in this application can be applied to fourth-generation (4G) communication systems, such as Long Term Evolution (LTE) systems, and also to fifth-generation (5G) communication systems, such as 5G New Radio (NR) systems, or to future communication systems. The method provided in this application can also be applied to Bluetooth systems, Wireless Fidelity (Wi-Fi) systems, Long Range Radio (LoRa) systems, or vehicle-to-everything (V2X) systems. The method provided in this application can also be applied to satellite communication systems, wherein the satellite communication system can be integrated with the aforementioned communication systems.

[0143] Figure 2 is a schematic diagram of a scenario of integrated communication and sensing. Figure 2 may include at least one access network device, and a single access network device is shown as an example in Figure 2. For example, the access network device adopts a single-site sensing mode, wherein the sensing of scatterer 3 and scatterer 5 by the access network device is a single-site sensing mode.

[0144] Optionally, Figure 2 may also include at least one UE, with multiple UEs illustrated in Figure 2. For example, UE1 and the access network device adopt a dual-site sensing mode, where UE1 is the transmitter of the sensing signal (or, sensing fusion signal) and the access network device is the receiver of the echo signal of the sensing signal (or, sensing fusion signal); UE3 and the access network device may also adopt a dual-site sensing mode, where the access network device is the transmitter of the sensing signal (or, sensing fusion signal) and UE3 is the receiver of the echo signal of the sensing signal (or, sensing fusion signal). As another example, the UE may also sample a single-site sensing mode, which is not shown in Figure 2.

[0145] In Figure 2, the access network device and UE2 are communicating and can transmit communication signals. Additionally, the access network device can send communication signals to UE4, and can also send sensing signals or fusion sensing signals. UE4 can receive these communication signals. If the access network device sends a fusion sensing signal, UE4 can also receive that fusion sensing signal. The access network device uses a single-site sensing mode, and can also receive the echo signal reflected by the scatterer 4 from the sensing signal or fusion sensing signal.

[0146] Optionally, Figure 2 may also include core network equipment, which is not shown in Figure 2. For example, the access network equipment may send sensing result information to the core network equipment (e.g., sensing network elements) to achieve functions such as positioning; or, for example, the UE may send sensing result information to the core network equipment (e.g., sensing network elements) through the access network equipment to achieve functions such as positioning.

[0147] Figure 2 uses UE3 as a vehicle and scatterer 3 as a human body as an example. There are no restrictions on the type of other UEs and scatterers.

[0148] For access network equipment, core network equipment, and UE, please refer to the terminology explanation; further details will not be provided here.

[0149] The network architecture and application scenarios described in this application are intended to more clearly illustrate the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0150] Communication sensing technology is one of the key technologies in next-generation wireless communication networks. Currently, improving the accuracy of target location estimation is a research hotspot in communication sensing technology. To this end, embodiments of this application provide various communication methods and apparatuses to improve the accuracy of target location estimation. These various communication methods and apparatuses can also be referred to as multiple sensing methods and apparatuses, or integrated multiple communication sensing methods and apparatuses. The methods and apparatuses described in this application are based on the same technical concept. Since the principles by which the methods and apparatuses solve problems are similar, the implementations of the apparatus and methods can be referred to each other, and repeated details will not be elaborated further.

[0151] The following describes a communication system provided by an embodiment of this application.

[0152] Figure 3 is a schematic diagram of a communication system provided in an embodiment of this application. This communication system may also be called a sensing system, or an integrated communication and sensing system, etc., without limitation. The communication system may include at least one of the following: a first device, a second device, and a third device. The first device and the third device can communicate with each other. The second device and the third device can communicate with each other. Optionally, the first device and the second device can also communicate with each other, as not shown in Figure 3.

[0153] In one optional implementation, the first device can be used to acquire perception result information #1 and send the perception result information #1 to the third device. The second device can be used to acquire perception result information #2 and send the perception result information #2 to the third device. The third device can be used to receive perception result information #1 from the first device and perception result information #2 from the second device, and to perceive the target based on the perception result information #1 and perception result information #2, such as determining the location of the target.

[0154] In this embodiment, the first device can obtain the sensing result information #1 through a single-station sensing mode or through a dual-station sensing mode; this application does not limit the specific method used. For example, the first device sends signal #1, which is reflected (or scattered, or diffracted, or diffused, etc.) by a target in the environment, generating an echo signal. This echo signal is received by the first device, which then obtains the sensing result information #1. Alternatively, a fourth device (not shown in Figure 3) sends signal #1, which is reflected (or scattered, or diffracted, or diffused, etc.) by a target in the environment, generating an echo signal. This echo signal is received by the first device, which then obtains the sensing result information #1. Figure 3 illustrates an example of the first device using a single-station sensing mode.

[0155] In one optional embodiment, the first device may be a first access network device, or a device within the first access network device (e.g., a module, communication module, circuitry or chip responsible for communication functions (e.g., a modem chip, or a SoC chip or SIP chip containing a modem core), chip system, or processor), or a logical node, logical module, or software capable of implementing all or part of the functions of the first access network device, or a larger device including the first access network device, etc. In another optional embodiment, the first device may also be a first UE, or a device within the first UE (e.g., a module, communication module, circuitry or chip responsible for communication functions (e.g., a modem chip, or a SoC chip or SIP chip containing a modem core), chip system, or processor), or a logical node, logical module, or software capable of implementing all or part of the functions of the first UE, or a larger device including the first UE, etc. In another optional embodiment, the first device may also be a DU or CU in a CU-DU architecture.

[0156] The second device can obtain the sensing result information #2 through a single-station sensing mode or a dual-station sensing mode; this embodiment does not limit the specific method used. For example, the second device sends signal #2, which is reflected (or scattered, diffracted, or diffused, etc.) by a target in the environment, generating an echo signal. This echo signal is received by the second device, which then obtains the sensing result information #2. Alternatively, a fifth device (not shown in Figure 3) sends signal #2, which is reflected (or scattered, diffracted, or diffused, etc.) by a target in the environment, generating an echo signal. This echo signal is received by the second device, which then obtains the sensing result information #2. Figure 3 illustrates an example of the second device using a single-station sensing mode.

[0157] In one optional embodiment, the second device may be a second access network device, or a device within the second access network device (e.g., a module, communication module, circuitry or chip responsible for communication functions (e.g., a modem chip, or a SoC chip or SIP chip containing a modem core), chip system, or processor), or a logical node, logical module, or software capable of implementing all or part of the functions of the second access network device, or a larger device including the second access network device, etc. In another optional embodiment, the second device may also be a second UE, or a device within the second UE (e.g., a module, communication module, circuitry or chip responsible for communication functions (e.g., a modem chip, or a SoC chip or SIP chip containing a modem core), chip system, or processor), or a logical node, logical module, or software capable of implementing all or part of the functions of the first UE, or a larger device including the second UE, etc. In another optional embodiment, the second device may also be a DU or CU in a CU-DU architecture.

[0158] The third device can receive sensing result information from multiple devices and fuse multiple sensing result information for the same sensing target (or the same scattering point) to achieve sensing of the sensing target (or scattering point), such as determining the position of the sensing target (or scattering point).

[0159] In one optional implementation, the third device can be a sensing network element, or a device within a sensing network element (e.g., a module, communication module, circuit or chip responsible for communication functions (such as a modem chip, or a SoC chip or SIP chip containing a modem core), chip system, or processor), or a logical node, logical module, or software capable of implementing all or part of the sensing network element's functions, or a larger device including a sensing network element, etc. In another optional implementation, the third device can also be a CU in a CU-DU architecture. In yet another optional implementation, the third device can also be a fusion center, or a fusion platform, etc.

[0160] For example, the first device is a first access network device, the second device is a second access network device, and the third device is a sensing network element (or a convergence center or a convergence platform); or, the first device is a first DU, the second device is a second DU, and the third device is a CU; or, the first device is a first UE, the second device is a second UE, and the third device is a sensing network element (or a convergence center or a convergence platform).

[0161] It should be understood that the embodiments of this application do not limit the implementation of the first device, the second device, and the third device.

[0162] For information on perception results, access network equipment, UE, perception network element, CU, and DU, please refer to the terminology explanation; further details will not be provided here.

[0163] The communication method provided by the embodiments of this application will be described in detail below with reference to the accompanying drawings. Various embodiments of this application can be applied to the network architecture shown in FIG2 or FIG3. For example, the first device involved in the following embodiments can be the first device in FIG3. For example, the second device involved in the following embodiments can be the second device in FIG3. For example, the third device involved in the following embodiments can be the third device in FIG3. The implementation of the first, second, and third devices can be referred to the foregoing and will not be repeated here.

[0164] Figure 4 is a flowchart illustrating the first communication method provided in an embodiment of this application. This first communication method may also be referred to as the first sensing method, or the first integrated communication and sensing method. As shown in Figure 4, the method includes the following:

[0165] S401: The first device sends first information to the third device. Accordingly, the third device receives the first information from the first device.

[0166] For example, the first device may generate (or determine, or acquire) first information and send the first information to the third device.

[0167] The first information may include information about at least one resource (e.g., information about N resources, where N is a positive integer), or the first information may include first precision information of the perceived measurement value (or simply measurement value) corresponding to at least one of the N resources, or the first information may include information about the N resources and first precision information of the perceived measurement value corresponding to at least one of the N resources. For simplicity, the following explanation will use the first precision information of the perceived measurement value corresponding to the N resources as an example.

[0168] N resources can be used to carry sensing signals. These resources may include at least one of the following: time-domain resources, frequency-domain resources, code-domain resources, or spatial-domain resources, etc. This application does not limit the implementation form of the resources. Optionally, the N resources can be predefined, pre-configured, or configured for the first device; this application does not limit this. Optionally, the sensing signals carried by the N resources can be understood as the sensing signals corresponding to the sensing result information reported by the first device. For example, in a single-station sensing mode, N resources can be used to carry the sensing signals sent by the first device. As another example, in a dual-station sensing mode, N resources can be used to carry the sensing signals sent by other devices (such as a fourth device). For ease of understanding, the following description uses the example of N resources being used to carry the sensing signals of the first device. Furthermore, the sensing signals involved in the embodiments of this application can be sensing signals used only for sensing, or they can be fusion signals used for both communication and sensing.

[0169] Optionally, the perceived measurement values ​​corresponding to N resources can be understood as: the perceived measurement values ​​determined (or obtained) based on the perceived signals carried by N resources; or as: the perceived measurement values ​​determined (or obtained) based on the echo signals of the perceived signals carried by N resources.

[0170] It is understood that the information of N resources and the first precision information can be carried in the same information (or message) or in different information (or messages). Furthermore, when the information of N resources and the first precision information are carried in different messages, this application does not limit the order in which the information of N resources and the first precision information are sent (or reported). For example, the first device may send the information of N resources first, and then send the first precision information; or the first device may send the first precision information first, and then send the information of N resources.

[0171] In one alternative implementation, the first device may periodically or non-periodically transmit information about the resources carrying the sensing signal. This information about the resources carrying the sensing signal includes information about N resources. For example, the first device may transmit the information about the resources carrying the sensing signal after a resource update and / or in response to an instruction message #1 from a third device, whereby the instruction message #1 instructs the first device to transmit the information about the resources carrying the sensing signal.

[0172] In one alternative implementation, the first device may periodically or non-periodically transmit accuracy information of the sensed measurement values ​​corresponding to the resources carrying the sensed signals. This accuracy information includes first accuracy information. For example, the first device may transmit the accuracy information of the sensed measurement values ​​corresponding to the resources carrying the sensed signals after a resource update and / or in response to instruction information #2 from the third device, where instruction information #2 instructs the first device to transmit the accuracy information of the sensed measurement values ​​corresponding to the resources carrying the sensed signals.

[0173] It should be understood that the transmission frequency (or reporting frequency) of the information of the resource carrying the sensing signal can be the same as or different from the transmission frequency (or reporting frequency) of the accuracy information of the sensing measurement value corresponding to the resource carrying the sensing signal.

[0174] For terms such as sensing signal, synesthetic fusion signal, echo signal, single-station sensing mode, and dual-station sensing mode, please refer to the relevant explanations; they will not be repeated here.

[0175] The information and first-precision information of N resources are described below.

[0176] I. Information on N resources, also known as specification information on N resources. This application does not restrict the naming of information on N resources.

[0177] For example, one of the N resources is denoted as the first resource, meaning that the N resources include the first resource. Correspondingly, the information of the N resources includes the information of the first resource, which may include at least one of the following: first bandwidth information, first port information, or first carrier information. The information of the first resource is described below.

[0178] 1) The first bandwidth information may indicate the actual bandwidth corresponding to the first resource, and / or the first bandwidth information may indicate the virtual bandwidth corresponding to the first resource.

[0179] The actual bandwidth corresponding to the first resource can be understood as the bandwidth included in the frequency domain of the first resource. For example, if the bandwidth included in the frequency domain of the first resource is 100 MHz, the actual bandwidth corresponding to the first resource is 100 MHz.

[0180] In one optional implementation, the first bandwidth information indicating the actual bandwidth corresponding to the first resource can be implemented through at least one of the following: the first bandwidth information includes the actual bandwidth value corresponding to the first resource; the first bandwidth information includes the subcarrier spacing corresponding to the first resource; the first bandwidth information includes the number of frequency domain units included in the first resource in the frequency domain; the first bandwidth information includes the comb size corresponding to the first resource; or, the first bandwidth information includes an identifier of the actual bandwidth corresponding to the first resource. The frequency domain unit can be, for example, a resource block (RB) or a resource element (RE), and this application does not limit the implementation form of the frequency domain unit.

[0181] As an example, the actual bandwidth corresponding to the first resource can satisfy: Where Δf represents the subcarrier spacing corresponding to the first resource, and N1 represents the number of RBs included in the first resource in the frequency domain. Indicates the number of subcarriers included in the RB, for example,

[0182] As another example, the actual bandwidth corresponding to the first resource can satisfy: Δf×S×N1, where Δf represents the subcarrier spacing corresponding to the first resource, N1 represents the number of RBs included in the first resource in the frequency domain, and S represents the comb size corresponding to the first resource. For example, S=4 can mean that the first resource includes 1 of every 4 REs in the frequency domain.

[0183] The virtual bandwidth corresponding to the first resource can be understood as: the equivalent bandwidth (or equivalent virtual bandwidth) after signal processing, or the equivalent bandwidth after (or through) signal processing. For example, the virtual bandwidth can be: the equivalent virtual bandwidth achieved by the receiving end of the echo signal of the sensed signal (such as the first device) through signal processing algorithms such as interpolation or extrapolation of the echo signal. It should be understood that this application does not limit the signal processing algorithm for implementing the virtual bandwidth. For example, if the actual bandwidth corresponding to the first resource is 100MHz, the first device can obtain a virtual bandwidth of 120MHz after signal processing. Increasing the equivalent bandwidth of the sensed signal can improve the sensed performance.

[0184] In one optional implementation, the first bandwidth information indicating the virtual bandwidth corresponding to the first resource can be implemented through at least one of the following: the first bandwidth information includes a virtual bandwidth value corresponding to the first resource; the first bandwidth information includes a virtual subcarrier spacing corresponding to the first resource; the first bandwidth information includes the number of virtual frequency domain units corresponding to the first resource; the first bandwidth information includes a virtual comb size corresponding to the first resource; or, the first bandwidth information includes an identifier of the virtual bandwidth corresponding to the first resource. For specific implementation details, please refer to the description of the first bandwidth information indicating the actual bandwidth corresponding to the first resource, which will not be repeated here.

[0185] It should be understood that this application does not limit the implementation form of the first bandwidth information.

[0186] The bandwidth information is related to the measurement accuracy of the distance measurement value. The first device reports the bandwidth information, so the third device can determine the measurement accuracy of the distance measurement value subsequently reported by the first device based on the bandwidth information, and use the measurement accuracy of the distance measurement value to fuse the distance measurement values ​​reported by multiple devices, which is beneficial to improving the accuracy of target position estimation.

[0187] Optionally, in this application, measurement accuracy can be replaced by: sensing accuracy, uncertainty, measurement variance, measurement standard deviation, etc. As an example, the measurement accuracy of a sensing measurement value can be expressed as: the measurement variance of the sensing measurement value, or the measurement standard deviation of the sensing measurement value. As another example, the measurement accuracy of a sensing measurement value can also be expressed as: the measurement covariance based on the position coordinates determined by the sensing measurement value (such as position coordinates in a three-dimensional Cartesian coordinate system). It is understood that this application does not limit the implementation form of the measurement accuracy of the sensing measurement value.

[0188] 2) The first port information may indicate the number of actual ports corresponding to the first resource, and / or, the first port information may indicate the number of virtual ports corresponding to the first resource. Here, a port can be a physical port or a logical port. Optionally, a port can be replaced by an antenna.

[0189] The first port information can be replaced with antenna information, or antenna quantity information, etc. Optionally, the first port information may include receiving port information. Optionally, the number of actual ports corresponding to the first resource can be replaced with: the number of actual receiving ports corresponding to the first resource, the number of actual antennas corresponding to the first resource, or the number of actual receiving antennas corresponding to the first resource. Optionally, the number of virtual ports corresponding to the first resource can be replaced with: the number of actual receiving ports corresponding to the first resource, the number of actual antennas corresponding to the first resource, or the number of actual receiving antennas corresponding to the first resource. A receiving port is, for example, a receiving port for the echo signal of a sensed signal. A receiving antenna is, for example, a receiving antenna for the echo signal of a sensed signal.

[0190] The number of actual ports corresponding to the first resource can be understood as: the number of ports corresponding to the first signal carried by the first resource, or the number of ports configured for the first signal carried by the first resource. This first signal belongs to the sensing signal of the first device; that is, the sensing signal of the first device includes the first signal. For example, if the first resource is used to carry the first signal, and the first device has 4 configured ports, then the number of actual ports corresponding to the first resource is 4. The number of actual receiving ports, the number of actual antennas, and the number of actual receiving antennas can be found in the description of the number of actual ports, and will not be repeated here.

[0191] In one alternative implementation, the first port information indicating the actual number of ports corresponding to the first resource can be achieved by at least one of the following: the first port information includes the actual number of ports corresponding to the first resource; or the first port information includes an identifier of the actual number of ports corresponding to the first resource.

[0192] In one optional implementation, the number of actual ports corresponding to the first resource may include the number of actual ports corresponding to the first resource in the first dimension, and / or, the number of actual ports corresponding to the first resource may include the number of actual ports corresponding to the first resource in the second dimension. The first dimension and the second dimension are different. For example, the first dimension and the second dimension are two dimensions in different directions. These two dimensions in different directions can be, for example, a horizontal dimension and a vertical dimension, or dimensions in other directions; this application does not limit this. Unless otherwise specified, the following description will use a horizontal dimension as the first dimension and a vertical dimension as the second dimension.

[0193] As an example, the first port information indicating the number of actual antennas corresponding to the first resource in the first dimension can be implemented by at least one of the following: the first port information includes the number of actual antennas corresponding to the first resource in the first dimension; the first port information includes an identifier of the number of actual antennas corresponding to the first resource in the first dimension; the first port information includes the number of samples corresponding to the first resource in the first dimension (the number of actual antennas occupied); or, the first port information includes the sampling interval corresponding to the first resource in the first dimension (the antenna interval of the actual antennas occupied).

[0194] For example, the actual number of antennas corresponding to the first resource in the horizontal dimension can satisfy: N² × d. Here, N² represents the number of samples corresponding to the first resource in the horizontal dimension, such as N² being 20, which is not limited; d represents the sampling interval corresponding to the first resource in the horizontal dimension, such as d being the carrier wavelength, which is not limited.

[0195] It should be understood that the first port information indicates the actual number of antennas corresponding to the first resource in the second dimension, which can be referred to as the actual number of antennas corresponding to the first resource in the first dimension, and will not be repeated here.

[0196] The number of virtual ports corresponding to the first resource can be understood as: the number of equivalent ports (or equivalent virtual ports) after signal processing, or the number of equivalent ports after (or through) signal processing. For example, a virtual port can be an equivalent virtual port implemented by the receiving end of the echo signal of the sensed signal (such as the first device) through signal processing algorithms such as interpolation, extrapolation, or virtual aperture on the echo signal. It should be understood that this application does not limit the signal processing algorithm for implementing virtual ports. For example, if the actual number of ports corresponding to the first resource is 4, the first device can obtain an equivalent virtual port after signal processing, and the number of this equivalent virtual port is 8. Increasing the number of sensed ports can improve the sensing performance.

[0197] In one alternative implementation, the first port information indicating the number of virtual ports corresponding to the first resource can be achieved by at least one of the following: the first port information includes the number of virtual ports corresponding to the first resource; or the first port information includes an identifier of the number of virtual ports corresponding to the first resource.

[0198] In one alternative implementation, the number of virtual ports corresponding to the first resource may include the number of virtual ports corresponding to the first resource in a first dimension, and / or, the number of virtual ports corresponding to the first resource may include the number of virtual ports corresponding to the first resource in a second dimension. The first and second dimensions are described above and will not be repeated here.

[0199] It should be understood that the first port information indicates the number of virtual antennas corresponding to the first resource in the first dimension, and the first port information indicates the number of virtual antennas corresponding to the first resource in the second dimension. These can be referred to as the number of actual antennas corresponding to the first resource in the first dimension, and will not be elaborated further.

[0200] The aforementioned first port information can indicate the number of actual ports corresponding to the first resource and / or the number of virtual ports corresponding to the first resource. In an optional implementation, the first port information can indicate the number of ports corresponding to the first resource in a first dimension, and / or, the first port information can indicate the number of ports corresponding to the first resource in a second dimension. Optionally, the number of ports corresponding to the first resource in the first dimension may include the number of actual ports corresponding to the first resource in the first dimension and / or the number of virtual ports corresponding to the first resource in the first dimension. Optionally, the number of ports corresponding to the first resource in the second dimension may include the number of actual ports corresponding to the first resource in the second dimension and / or the number of virtual ports corresponding to the second resource in the first dimension. For specific implementation details, please refer to the aforementioned content, which will not be repeated here.

[0201] It should be understood that this application does not limit the implementation method of the first port information.

[0202] The port information is related to the measurement accuracy of the azimuth and / or elevation angle measurements. The first device reports the port information, so the third device can determine the measurement accuracy of the azimuth and / or elevation angle measurements subsequently reported by the first device based on the port information. The third device can then use this measurement accuracy to fuse the sensing results information reported by multiple devices, which helps to improve the accuracy of target position estimation.

[0203] 3) The first carrier information may indicate the carrier wavelength corresponding to the first resource, and / or the first carrier information may indicate the carrier frequency corresponding to the first resource.

[0204] Wherein, the carrier wavelength corresponding to the first resource can be understood as: the carrier wavelength of the first signal carried by the first resource. In an optional embodiment, the first carrier information indicating the carrier wavelength corresponding to the first resource can be achieved by at least one of the following: the first carrier information includes the carrier wavelength value corresponding to the first resource; or, the first carrier information includes an identifier of the carrier wavelength corresponding to the first resource.

[0205] Wherein, the carrier frequency corresponding to the first resource can be understood as: the carrier frequency of the first resource carrying the first signal. In an optional embodiment, the first carrier information indicating the carrier frequency corresponding to the first resource can be achieved by at least one of the following: the first carrier information includes the carrier frequency value corresponding to the first resource; or, the first carrier information includes an identifier of the carrier frequency corresponding to the first resource.

[0206] As an example, the carrier wavelength and carrier frequency corresponding to the first resource can satisfy: λ = c / f c Where λ represents the carrier wavelength corresponding to the first resource, and f c denoted by , where represents the carrier frequency corresponding to the first resource, and c represents the speed of light.

[0207] It should be understood that this application does not limit the implementation form of the first carrier information.

[0208] It is understandable that the carrier wavelengths corresponding to N resources can be the same or different. For example, in a single-carrier transmission scenario, the carrier wavelengths corresponding to N resources are the same. Similarly, in a multi-carrier transmission scenario, the carrier wavelengths corresponding to N resources can be the same or different. Likewise, the carrier frequencies corresponding to N resources can be the same or different. For example, in a single-carrier scenario, the carrier frequencies corresponding to N resources are the same. Again, in a multi-carrier scenario, the carrier frequencies corresponding to N resources can be the same or different.

[0209] Optionally, the first device may report carrier information to the third device only once; or, the first device may report carrier information to the third device multiple times; or, the first device may not report carrier information to the third device, such as when the third device can obtain carrier information after the first device is powered on, in which case the first device does not need to report carrier information to the third device.

[0210] The carrier information is related to the measurement accuracy of the azimuth and / or elevation angle measurements. The first device reports the carrier information, so the third device can determine the measurement accuracy of the azimuth and / or elevation angle measurements subsequently reported by the first device based on the carrier information. The third device can then use this measurement accuracy to fuse the sensing results information reported by multiple devices, which helps to improve the accuracy of target position estimation.

[0211] It should be understood that the first bandwidth information, the first port information, and the first carrier information can be carried in the same message, or they can be carried in different messages.

[0212] It is understood that the information of the first resource may also include other information, and this application does not limit this. For example, the information of the first resource may also include a first identifier, which can be used to indicate the first resource. In addition, the information of other resources among the N resources can be referred to the description of the information of the first resource, and will not be repeated here. For example, the N resources may also include a second resource, and the information of the second resource can be referred to the description of the information of the first resource.

[0213] As an example, information about N resources can be found in Table 1. In Table 1, N resources are represented by four resources, and the information for each resource is listed in one row of Table 1, including bandwidth information, port information, and carrier information. It should be understood that Table 1 is merely an example, and this application does not limit its scope.

[0214] Table 1

[0215] Second, the first precision information, also known as sensing precision information, sensing measurement precision information, or error information, is not limited in its naming in this application.

[0216] The first precision information may indicate at least one calculation method (e.g., denoted as M calculation methods, where M is a positive integer), or the first precision information may indicate at least one parameter involved (or used, or adopted, or related to) the M calculation methods, or the first precision information may indicate the M calculation methods and at least one parameter involved in the M calculation methods.

[0217] 1) The M calculation methods can also be referred to as M accuracy determination methods. This application does not limit the naming of the M calculation methods. The M calculation methods can be used to determine the first measurement accuracy; or, in other words, the first measurement accuracy information can be determined by the M calculation methods. Optionally, the M calculation methods can be predefined, pre-configured, pre-agreed, or configured for the first device, without limitation.

[0218] For example, one of the M calculation methods is denoted as the first calculation method, meaning that the M calculation methods include the first calculation method. This first calculation method can be used to determine the measurement accuracy of a first sensing measurement value corresponding to at least one of the N resources. The first sensing measurement value may include at least one of the following: a distance measurement value, an azimuth measurement value, a pitch measurement value, a velocity measurement value (such as a radial velocity measurement value), or a signal-to-noise ratio measurement value.

[0219] As an example, the first calculation method may relate to bandwidth (such as actual bandwidth and / or virtual bandwidth) and / or signal-to-noise ratio (SNR) measurements. For instance, the first calculation method may determine (or represent, indicate, calculate, or estimate) the measurement accuracy of a distance measurement based on bandwidth and / or SNR.

[0220] For example, suppose the first calculation method is denoted as σ. r , the σ r It can satisfy the following formula (1).

[0221] Among them, f r (B, SNR) is the expression for the first calculation method, where B is the bandwidth (such as actual bandwidth and / or virtual bandwidth), SNR is the signal-to-noise ratio measurement, and c is the speed of light.

[0222] In this example, the first calculation method, also known as the distance measurement accuracy method or distance measurement accuracy formula, can be used to determine the measurement accuracy of distance measurements. For example, this first calculation method can represent the accuracy of distance measurements or the standard deviation of distance measurements.

[0223] As an example, the first calculation method may relate to at least one of the following: carrier wavelength (or carrier frequency), the number of ports in the first dimension (such as the number of actual ports in the first dimension and / or the number of virtual ports in the first dimension), and the signal-to-noise ratio (SNR) measurement. For example, the first calculation method may determine (or represent, indicate, calculate, or estimate) the measurement accuracy of the azimuth measurement by at least one of the following: carrier wavelength (or carrier frequency), the number of ports in the first dimension, and the SNR measurement.

[0224] For example, suppose the first calculation method is denoted as σ. h , the σ h It can satisfy the following formula (2).

[0225] Among them, f h (D h SNR) is the expression for the first calculation method, D h The number of ports in the horizontal dimension (e.g., the number of actual ports in the horizontal dimension and / or the number of virtual ports in the horizontal dimension), SNR is the signal-to-noise ratio measurement, and λ is the carrier wavelength.

[0226] In this example, the first calculation method can also be called the azimuth accuracy measurement method or the azimuth accuracy measurement formula, which can be used to determine the measurement accuracy of the azimuth measurement value. For example, this first calculation method can represent the accuracy of the azimuth measurement value, or the standard deviation of the azimuth measurement value, etc.

[0227] As an example, the first calculation method may relate to at least one of the following: carrier wavelength (or carrier frequency), the number of ports in the second dimension (such as the number of actual ports in the second dimension and / or the number of virtual ports in the second dimension), and the signal-to-noise ratio (SNR) measurement. For example, the first calculation method may determine (or represent, indicate, calculate, or estimate) the measurement accuracy of the pitch angle measurement by at least one of the following: carrier wavelength (or carrier frequency), the number of ports in the second dimension, and the SNR measurement.

[0228] For example, this first calculation method is denoted as σ. v , the σ v It can satisfy the following formula (3).

[0229] Among them, f v (Dv SNR) is the expression for the first calculation method, D v SNR is the number of ports in the vertical dimension (such as the number of actual ports in the vertical dimension and / or the number of virtual ports in the vertical dimension), λ is the signal-to-noise ratio measurement, and λ is the carrier wavelength.

[0230] In this example, the first calculation method can also be called the pitch angle measurement accuracy method or pitch angle measurement accuracy formula, which can be used to determine the measurement accuracy of the pitch angle measurement value. For example, the first calculation method can represent the pitch angle measurement accuracy or the standard deviation of the pitch angle measurement value, etc.

[0231] As an example, the first calculation method may be related to the signal-to-noise ratio (SNR) measurement and / or the carrier wavelength (or carrier frequency). For instance, the first calculation method can determine (or represent, indicate, calculate, or estimate) the measurement accuracy of a speed measurement value using at least one of the SNR measurement and / or the carrier wavelength (or carrier frequency). Accordingly, this first calculation method may also be referred to as a speed measurement accuracy method or a speed measurement accuracy formula, and can be used to determine the measurement accuracy of a speed measurement value. For example, this first calculation method may represent the accuracy of the speed measurement value, or the standard deviation of the speed measurement value, etc.

[0232] The calculation method for the signal-to-noise ratio measurement can be referred to the description of the first calculation method, and will not be repeated here. It should be understood that formulas (1), (2) and (3) are only examples, and this application does not limit the implementation form of the calculation method.

[0233] 2) At least one parameter involved in the M calculation methods can be used to determine the first accuracy information; or, in other words, the first measurement accuracy information can be determined by at least one parameter involved in the M calculation methods. The at least one parameter involved in the M calculation methods can, for example, be at least one weighting coefficient involved in the M calculation methods. Optionally, the at least one parameter involved in the M calculation methods can be predefined, pre-configured, pre-agreed, or configured for the first device, without limitation.

[0234] As an example, the first calculation method may relate to bandwidth (such as actual bandwidth and / or virtual bandwidth) and / or signal-to-noise ratio (SNR) measurements, and this first calculation method is also related to a first parameter (or a first weighting coefficient). This first parameter is the parameter involved in the first calculation method. For example, the first calculation method can determine the measurement accuracy of a distance measurement using the first parameter, bandwidth, and SNR measurements.

[0235] For example, suppose the first calculation method is denoted as σ. r The first parameter is denoted as α1, and the σ r It can satisfy the following formula (4).

[0236] Among them, f r (B,SNR;α1) is the expression for the first calculation method, where α1 is the first parameter. The other parameters can be referred to the explanation of formula (1), and will not be repeated here.

[0237] As an example, the first calculation method may relate to at least one of the following: carrier wavelength (or carrier frequency), the number of ports in the first dimension (e.g., the number of actual ports in the first dimension and / or the number of virtual ports in the first dimension), and the signal-to-noise ratio (SNR) measurement. This first calculation method also relates to a second parameter (or a second weighting coefficient). This second parameter is a parameter involved in the first calculation method. For example, the first calculation method can determine the measurement accuracy of the azimuth measurement using the second parameter, the carrier wavelength (or carrier frequency), the number of ports in the first dimension, and the SNR measurement.

[0238] For example, suppose the first calculation method is denoted as σ. h The second parameter is denoted as α2, and this σ h It can satisfy the following formula (5).

[0239] Among them, f h (D h ,SNR;α2) is the expression for the first calculation method, α2 is the second parameter, and the other parameters can be referred to the explanation of formula (2), which will not be repeated here.

[0240] As an example, the first calculation method relates to at least one of the following: carrier wavelength (or carrier frequency), the number of ports in the second dimension (e.g., the number of actual ports and / or the number of virtual ports in the second dimension), and the signal-to-noise ratio (SNR) measurement. This first calculation method also relates to a third parameter (or third weighting coefficient). This third parameter is the parameter involved in the first calculation method. For example, the first calculation method can determine the measurement accuracy of the pitch angle measurement using the third parameter, the carrier wavelength (or carrier frequency), the number of ports in the second dimension, and the SNR measurement.

[0241] For example, suppose the first calculation method is denoted as σ. v The third parameter is denoted as α3, and this σ v It can satisfy the following formula (6).

[0242] Among them, f v (D v SNR;α3) is the expression for the first calculation method, α3 is the third parameter, and the other parameters can be referred to the explanation of formula (3), which will not be repeated here.

[0243] As an example, the first calculation method relates to the signal-to-noise ratio (SNR) measurement and / or the carrier wavelength (or carrier frequency), and also to a fourth parameter (or fourth weighting coefficient). This fourth parameter is the parameter involved in the first calculation method. For example, the first calculation method can determine the measurement accuracy of the velocity measurement using the SNR measurement, the carrier wavelength (or carrier frequency), and the fourth parameter.

[0244] The parameters involved in the calculation method corresponding to the signal-to-noise ratio measurement can be referred to the description of the parameters involved in the first calculation method, and will not be repeated here. It should be understood that formulas (4), (5) and (6) are only examples, and this application does not limit the implementation form of the calculation method.

[0245] The first accuracy information of the sensing measurement values ​​corresponding to N resources can be determined by M calculation methods, or by M calculation methods and at least one parameter involved in the M calculations. This allows the fusion center to determine the measurement accuracy of the sensing measurement values ​​subsequently reported by the first device using the M calculation methods or the M calculation methods and at least one parameter involved in the M calculations. Based on the measurement accuracy of the sensing measurement values, the fusion center can fuse the sensing measurement values ​​reported by multiple devices (including the first device) to improve the accuracy of target position estimation.

[0246] In an optional implementation, the first device may further transmit information about the first antenna panel to the third device; correspondingly, the third device receives information about the first antenna panel from the first device (not shown in Figure 4). Optionally, the information about the first antenna panel may also be referred to as deployment information of the first antenna panel, or basic information about the first antenna panel, etc. The first antenna panel can be used to transmit sensing signals, such as sensing signals from the first device. The first antenna panel may, for example, be the antenna panel of the first device. The information about the first antenna panel may indicate at least one of the following: the position of the first antenna panel, the azimuth angle of the first antenna panel, or the elevation angle of the first antenna panel.

[0247] The position of the first antenna panel can be represented by position coordinates, but this application is not limited to this. Position coordinates can be, for example, three-dimensional coordinates in a Cartesian coordinate system, or two-dimensional coordinates in a Cartesian coordinate system, or coordinates in other coordinate systems, without limitation. For example, the position of the first antenna panel can be denoted as (x3, y3, z3), where x3, y3, and z3 are all real numbers, for example, x3 = 100, y3 = 0, z3 = 25.

[0248] The azimuth angle of the first antenna panel can be, for example, π / 3 or 60°. This application does not limit the value of the azimuth angle of the first antenna panel. Taking a global coordinate system, specifically a three-dimensional Cartesian coordinate system, as an example, the azimuth angle of the first antenna panel can be understood as the angle between the normal vector of the first antenna panel projected onto the horizontal plane (i.e., the xoy plane) and the x-axis, as shown in Figure 5. The normal vector of the first antenna panel can be understood as a unit vector perpendicular to the first antenna panel and pointing outwards from it. In Figure 5, the normal vector of the first antenna panel is denoted as... The azimuth angle of the first antenna panel is denoted as φ.

[0249] The elevation angle of the first antenna panel can be, for example, 5π / 9 or 100°. This application does not limit the value of the elevation angle of the first antenna panel. Taking a global coordinate system, and assuming that the global coordinate system is a three-dimensional Cartesian coordinate system, as an example, the elevation angle of the first antenna panel can be understood as the angle between the normal vector of the first antenna panel and the z-axis, as shown in Figure 5. In Figure 5, the elevation angle of the first antenna panel is denoted as θ.

[0250] It should be understood that the first device may report the antenna panel information to the third device only once, such as after the first device has been deployed, it may send the first antenna panel information to the third device; or, the first device may report the antenna panel information to the third device multiple times (e.g., periodically or aperiodically), and this application does not limit this. Furthermore, this application does not limit the order in which the first device sends the first antenna panel information, the information of the N resources, and the first precision information.

[0251] S402: The second device sends third information to the third device. Accordingly, the third device receives the third information from the second device.

[0252] Step S402 is optional and is shown as a dashed line in Figure 4. The execution order of S401 and S402 is only an example and is not limited in this application.

[0253] For example, the second device may generate (or determine, or acquire) third information and send the third information to the third device.

[0254] The third information may include information about at least one resource (e.g., information about P resources, where P is a positive integer), or it may include second-precision information of the perceived measurement value (or simply measurement value) corresponding to at least one of the P resources, or it may include information about the P resources and second-precision information of the perceived measurement value corresponding to at least one of the P resources. For simplicity, the following explanation will use the second-precision information of the perceived measurement value corresponding to the P resources as an example.

[0255] Of these, P resources can be used to carry sensing signals. Optionally, the P resources can be predefined, pre-configured, or configured for the second device; this application does not limit this. Optionally, the sensing signals carried by the P resources can be understood as the sensing signals corresponding to the sensing result information reported by the second device. For example, in a single-station sensing mode, P resources can be used to carry the sensing signals sent by the second device. As another example, in a dual-station sensing mode, P resources can be used to carry the sensing signals sent by other devices (such as the fifth device). For ease of understanding, the following explanation uses the example of P resources being used to carry the sensing signals of the second device.

[0256] Optionally, the perceived measurement value corresponding to the P resources can be understood as: the perceived measurement value determined (or obtained) based on the perceived signals carried by the P resources; or as: the perceived measurement value determined (or obtained) based on the echo signals of the perceived signals carried by the P resources.

[0257] It is understood that the information of P resources and the second-precision information can be carried in the same information (or message) or in different information (or messages). Furthermore, when the information of P resources and the second-precision information are carried in different messages, this application does not limit the transmission order (or reporting order) of the information of P resources and the second-precision information. For example, the second device can first send the information of P resources and then send the second-precision information; or the second device can also first send the second-precision information and then send the information of P resources. The transmission method of P resources can refer to the transmission method of N resources, and the transmission method of the second-precision information can refer to the transmission method of the first-precision information, and will not be elaborated further.

[0258] The information of the P resources can also be referred to as the specification information of the P resources. This application does not limit the naming of the information of the P resources. For example, one of the P resources is referred to as the third resource, that is, the P resources include the third resource. Accordingly, the information of the P resources includes the information of the third resource. The information of the third resource may include at least one of the following: second bandwidth information, second port information, or second carrier information.

[0259] The second bandwidth information can indicate the actual bandwidth corresponding to the third resource, and / or, the second bandwidth information can indicate the virtual bandwidth corresponding to the third resource. For the implementation details, please refer to the description of the first bandwidth information; further explanation is unnecessary. Additionally, please refer to the foregoing content for actual bandwidth and virtual bandwidth; further explanation is unnecessary.

[0260] The second port information may indicate the number of actual ports corresponding to the third resource, and / or the second port information may indicate the number of virtual ports corresponding to the third resource. For implementation details, please refer to the description of the first port information; it will not be repeated here. Furthermore, the number of actual ports and the number of virtual ports are as described above; they will not be repeated here. Optionally, the number of actual ports corresponding to the third resource may include the number of actual ports corresponding to the third resource in the third dimension and / or the number of actual ports corresponding to the third resource in the fourth dimension. For implementation details, please refer to the number of actual ports corresponding to the first resource. Optionally, the number of virtual ports corresponding to the third resource may include the number of virtual ports corresponding to the third resource in the third dimension and / or the number of virtual ports corresponding to the third resource in the fourth dimension. For implementation details, please refer to the number of virtual ports corresponding to the first resource. The third and fourth dimensions are different. For example, the third and fourth dimensions are two dimensions in different directions. These two dimensions in different directions can be, for example, a horizontal dimension and a vertical dimension, or dimensions in other directions; this application does not limit this.

[0261] The second carrier information can indicate the carrier wavelength corresponding to the third resource, and / or the second carrier information can indicate the carrier frequency corresponding to the third resource. For the implementation method, please refer to the introduction of the first carrier information, which will not be repeated here.

[0262] The second precision information, also known as sensing precision information, sensing measurement precision information, or error information, is not limited in its naming in this application. This second precision information may indicate at least one calculation method (e.g., denoted as Q calculation methods, where Q is a positive integer), or it may indicate at least one parameter involved in the Q calculation methods, or it may indicate both the Q calculation methods and at least one parameter involved in the Q calculation methods.

[0263] The Q calculation methods can also be referred to as Q accuracy determination methods, and this application does not limit the naming of the Q calculation methods. These Q calculation methods can be used to determine the second measurement accuracy; or, in other words, the second measurement accuracy information can be determined through the Q calculation methods. Optionally, the Q calculation methods can be predefined, pre-configured, pre-agreed, or configured for the second device, without limitation. For example, one of the Q calculation methods is denoted as the second calculation method, that is, the Q calculation methods include the second calculation method, which can be used to determine the measurement accuracy of the second sensing measurement value corresponding to at least one of the Q resources. The second sensing measurement value may include at least one of the following: distance measurement value, azimuth measurement value, pitch measurement value, velocity measurement value (such as radial velocity measurement value), or signal-to-noise ratio measurement value. The Q calculation methods can be referred to in the description of the M calculation methods, and will not be repeated here.

[0264] At least one parameter involved in the Q calculation methods can be used to determine the second accuracy information; or, in other words, the second measurement accuracy information can be determined by at least one parameter involved in the Q calculation methods. For example, the at least one parameter involved in the Q calculation methods can be at least one weighting coefficient involved in the Q calculation methods. Optionally, the at least one parameter involved in the Q calculation methods can be predefined, pre-configured, pre-agreed, or configured for the second device, without limitation. The description of the at least one parameter involved in the Q calculation methods is similar to that of the at least one parameter involved in the M calculation methods, and will not be repeated here.

[0265] In an optional embodiment, the second device may also send information about the second antenna panel to the third device; correspondingly, the third device receives information about the second antenna panel from the second device (not shown in Figure 4). Optionally, the information about the second antenna panel may also be referred to as deployment information of the second antenna panel, or basic information of the second antenna panel, etc. The second antenna panel can be used to transmit sensing signals, such as sensing signals from the second device. The second antenna panel may, for example, be the antenna panel of the second device. The information about the second antenna panel may indicate at least one of the following: the position of the second antenna panel, the azimuth angle of the second antenna panel, or the elevation angle of the second antenna panel. The information about the second antenna panel can be referenced from the information about the first antenna panel, and will not be repeated here.

[0266] It should be understood that the second device may report the antenna panel information to the third device only once, such as sending the second antenna panel information to the third device after the second device is deployed; or, the second device may report the antenna panel information to the third device multiple times, and this application does not limit this. Furthermore, this application does not limit the order in which the second device sends the second antenna panel information, the P resource information, and the second precision information.

[0267] S403: The first device sends second information to the third device. Accordingly, the third device receives the second information from the first device.

[0268] Step S403 is optional and is shown as a dashed line in Figure 4. Furthermore, the execution order of S402 and S403 is merely an example and is not limited in this application.

[0269] For example, the first device may generate (or determine, or acquire) the second information and send the second information to the third device.

[0270] The second information may include a resource identifier and associated sensing result information. The resource identifier may indicate the resource occupied by the sensing signal or echo signal corresponding to the associated sensing result information. For example, the second information may include a first identifier and first sensing result information of a first target. The first identifier indicates the first resource occupied by a first signal (or a second signal, where the second signal includes the echo signal of the first signal) corresponding to the first sensing result information. For example, the first identifier may be used to indicate a first resource. This first resource belongs to N resources, or in other words, N resources include the first resource. Furthermore, the first signal is described above and will not be repeated here.

[0271] Wherein, the first perception result information is associated with the first resource. For example, the association of the first perception result information with the first resource can be understood as: a first signal (or a second signal) carried by the first resource is used to determine at least one perception result information, which includes the first perception result information. Optionally, the association of the first perception result information with the first resource can be replaced by: the association of the first perception result information with the first signal (or the second signal) carried by the first resource.

[0272] Wherein, the first perception result information is associated with the first identifier. For example, the association of the first perception result information with the first identifier can be understood as follows: the first signal (or second signal) carried by the first resource indicated by the first identifier is used to determine at least one perception result information, which includes the first perception result information. Optionally, the association of the first perception result information with the first identifier can be replaced by: the first perception information being associated with the first signal (or second signal) carried by the first resource indicated by the first identifier.

[0273] In one optional implementation, the first device may receive a second signal, which includes an echo signal of the first signal, the first signal being carried by a first resource among N resources; and determine (or obtain, or acquire) at least one sensing result information based on the second signal, the at least one sensing result information including the first sensing result information. For example, in a single-station sensing mode, the first device may send the first signal, receive the second signal, and determine the at least one sensing result information based on the second signal. As another example, in a dual-station sensing mode, a fourth device sends the first signal; the first device receives the second signal, and determines the at least one sensing result information based on the second signal.

[0274] It should be understood that this application does not limit the implementation method of the first device determining at least one sensing result information.

[0275] For example, the first sensing result information may include information about a first timestamp and at least one sensing measurement value, which may include at least one of the following: a first distance measurement value, a first azimuth angle measurement value, a first pitch angle measurement value, a first velocity measurement value, or a first signal-to-noise ratio measurement value. The first azimuth angle measurement value, the first pitch angle measurement value, the first velocity measurement value, and the first signal-to-noise ratio measurement value can be referred to the descriptions of the timestamp information, azimuth angle measurement value, pitch angle measurement value, velocity measurement value, and signal-to-noise ratio measurement value in the terminology description, respectively, and will not be repeated here. It should be understood that the first sensing result information may also include other information, and this application does not limit this.

[0276] In an alternative implementation, the resource identifier may also be included in the perception result information. For example, the first identifier may be included in the first perception result information, that is, the first perception result information may include the first identifier, information of a first timestamp, and at least one perception measurement value.

[0277] Optionally, the second target and the first target can be different targets, or the second target and the first target can be different scattering points of the same target, without restriction.

[0278] Optionally, the second information may include only one perception result information and the identifier of the resource associated with that perception result information; or it may include multiple perception result information and the identifiers of the resources associated with those multiple perception result information, each of the multiple perception result information including a timestamp and at least one perception measurement value associated with that timestamp. For example, the second information may also include a second identifier and second perception result information of a second target, which is associated with a second resource, and the second identifier can be used to indicate the second resource, which belongs to N resources. Exemplarily, the second perception result information may include a third timestamp and at least one perception measurement value, which may include at least one of the following: a third distance measurement value, a third azimuth angle measurement value, a third pitch angle measurement value, a third velocity measurement value, or a third signal-to-noise ratio measurement value. The description of the second perception result information is similar to that of the first perception result information and will not be repeated here.

[0279] As an example, reference can be made to Table 2 regarding the second information. In Table 2, the second information includes four sensing result pieces of information and the identifiers of the resources associated with those four sensing result pieces of information. Each sensing result piece of information and the identifier of the resource associated with it is represented by a row in Table 2, including timestamp information, distance measurement value, azimuth measurement value, pitch measurement value, velocity measurement value, signal-to-noise ratio measurement value, and the resource identifier. It should be understood that Table 2 is merely an example, and this application does not limit its scope.

[0280] Table 2

[0281] S404: The second device sends a fourth message to the third device. Accordingly, the third device receives the fourth message from the second device.

[0282] Step S404 is optional and is shown as a dashed line in Figure 4. Furthermore, the execution order of S403 and S404 is merely an example and is not limited in this application.

[0283] For example, the second device may generate (or determine, or acquire) the fourth information and send the fourth information to the third device.

[0284] The fourth piece of information may include the third perception result information of the first target.

[0285] Optionally, the fourth information may also include an identifier of the resource associated with the sensing result information. For example, the fourth information may also include a third identifier. That is, the fourth information may include a third identifier and third sensing result information. The third identifier is used to indicate the third resource occupied by the third signal (or fourth signal, the fourth signal including the echo signal of the third signal) corresponding to the third sensing result information. For example, the third identifier may indicate a third resource. Wherein, the third resource belongs to P resources. The third signal belongs to the sensing signal of the second device, such as the sensing signal of the second device including the third signal. Figure 4 illustrates an example where the fourth information includes a third identifier and third sensing result information.

[0286] The third perception result information is associated with a third resource. For example, the association of the third perception result information with a third resource can be understood as follows: a third signal (or fourth signal) carried by the third resource is used to determine at least one perception result information, which includes the third perception result information. Optionally, the association of the third perception result information with a third resource can be replaced by: the association of the third perception result information with a third signal (or fourth signal) carried by the third resource.

[0287] Wherein, the third perception result information is associated with the third identifier. For example, the association of the third perception result information with the third identifier can be understood as follows: the third signal (or fourth signal) carried by the third resource indicated by the third identifier is used to determine at least one perception result information, which includes the third perception result information. Optionally, the association of the third perception result information with the third identifier can be replaced by: the association of the third perception result information with the third signal (or fourth signal) carried by the third resource indicated by the third identifier.

[0288] In one optional implementation, the second device may receive a fourth signal, which includes an echo signal of a third signal carried by a third resource among P resources; and determine (or obtain, or acquire) at least one sensing result information based on the fourth signal, the at least one sensing result information including the third sensing result information. For example, in a single-station sensing mode, the second device may transmit the third signal, receive the fourth signal, and determine the at least one sensing result information based on the fourth signal. As another example, in a dual-station sensing mode, the fifth device transmits the third signal; the second device receives the fourth signal, and determines the at least one sensing result information based on the fourth signal.

[0289] It should be understood that this application does not limit the implementation method of the second device determining at least one sensing result information.

[0290] For example, the third sensing result information may include information about a second timestamp and at least one sensing measurement value, which may include at least one of the following: a second distance measurement value, a second azimuth angle measurement value, a second pitch angle measurement value, a second velocity measurement value, or a second signal-to-noise ratio measurement value. The implementation of the third sensing result information can be referred to the description of the first sensing result, and will not be repeated here.

[0291] It is understandable that the third-party perception result information may also include other information, and this application does not limit this.

[0292] In an alternative implementation, the resource identifier may also be included in the perception result information. For example, a third identifier may be included in the third perception result information; that is, the third perception result information may include a third identifier, information from a second timestamp, and at least one perception measurement value.

[0293] Optionally, the fourth information may include only one perception result information and the identifier of the resource associated with the perception result information; or it may include multiple perception result information and the identifier of the resource associated with the multiple perception result information, wherein each of the multiple perception result information includes a timestamp and at least one perception measurement value associated with the timestamp.

[0294] The implementation method of the fourth information can be referred to the description of the second information, and will not be repeated here.

[0295] S405: The third device determines the location of the first target based on the first information, the second information, the third information and the fourth information.

[0296] S405 is an optional step, indicated by a dashed line in Figure 4.

[0297] The third device can fuse the perceived measurement values ​​included in the first perception result information and the perceived measurement values ​​included in the third perception result information to determine (or obtain, or acquire) the position of the first target. In this embodiment of the application, the third device can also consider the measurement accuracy of the perceived measurement values ​​included in the first perception result information and / or the measurement accuracy of the perceived measurement values ​​included in the third perception result information during the fusion process, so as to improve the accuracy of target position estimation.

[0298] As an example, the third device can determine the location of the first target based on first information, second information, and fourth information. For instance, the third device can determine the location of the first target based on information about the first resource, first perception result information, and third perception result information. As another example, the third device can determine the location of the first target based on first accuracy information, first perception result information, and third perception result information. Again, the third device can determine the location of the first target based on information about the first resource, first accuracy information, first perception result information, and third perception result information.

[0299] As another example, the third device can determine the location of the first target based on the first information, the second information, the third information, and the fourth information. Figure 4 illustrates an example of the third device determining the location of the first target based on the first information, the second information, the third information, and the fourth information. For example, the third device can determine the location of the first target based on information about the first resource and / or the first precision information, information about the third resource and / or the second precision information, the first perception result information, and the third perception result information.

[0300] As another example, the third device may determine the location of the first target based on information from the first antenna panel and / or the second antenna panel, first information, second information, and fourth information. For example, the third device may determine the location of the first target based on information from the first antenna panel and / or the second antenna panel, information from the first resource and / or first accuracy information, first sensing result information, and third sensing result information.

[0301] As another example, the third device can determine the location of the first target based on information from the first antenna panel and / or the second antenna panel, first information, second information, third information, and fourth information. For example, the third device can determine the location of the first target based on information from the first antenna panel and / or the second antenna panel, information from the first resource and / or first accuracy information, information from the third resource and / or second accuracy information, first sensing result information, and third sensing result information.

[0302] It should be understood that this application does not limit the implementation method of the third device determining the position of the first target. Furthermore, this application does not limit the implementation method of determining the measurement accuracy of the sensing measurement value based on at least one of the resource information, accuracy information, and antenna panel information.

[0303] Optionally, the position of the first target can be its position within a first time unit. For example, if the first timestamp and the second timestamp are the same, the third device can determine the position of the first target at the first timestamp, which belongs to the first time unit. Alternatively, if the difference between the first timestamp and the second timestamp is less than or equal to a first threshold, the third device can determine the position of the first target within a first time unit, which includes both the first and second timestamps. The first threshold can be predefined, pre-agreed upon, or pre-configured; this application does not limit its scope.

[0304] Optionally, the third device can determine that the target corresponding to the first perception result information and the target corresponding to the third perception result information are the same, that is, both are the first target. For example, the third device can determine through an association algorithm that the target corresponding to the first perception result information from the first device and the target corresponding to the third perception result information from the second device are the same target.

[0305] In the first communication method described above, the first information includes first position measurement information of the first sensing target and first error information, which is used to represent the uncertainty of the measurement value indicated by the first position measurement information. The second information includes fourth position measurement information of the first sensing target and third error information, which is used to represent the uncertainty of the measurement value indicated by the fourth position measurement information. In this way, when estimating the position of the first sensing target based on the first position measurement information and the fourth position measurement information, the first error information and the third error information can be considered, which can improve the accuracy of target position estimation.

[0306] The implementation methods of single-station sensing mode and dual-station sensing mode will be explained below with reference to Figures 6 and 7.

[0307] Figure 6 is a flowchart illustrating the second communication method provided in this embodiment. This second communication method can also be called a second sensing method, or a second integrated communication and sensing method. In this embodiment, both the first device and the second device adopt a single-site sensing mode. Furthermore, in this embodiment, the first device is a first access network device (e.g., denoted as base station #1), the second device is a second access network device (e.g., denoted as base station #2), the third device is a sensing network element, and the first target is denoted as scattering point #1. As shown in Figure 6, the method includes the following:

[0308] S601: Base station #1 sends information about the first antenna panel to the sensing network element. Correspondingly, the sensing network element receives information from the first antenna panel of base station #1.

[0309] S601 is an optional step, shown as a dashed line in Figure 6. The information of the first antenna panel may indicate at least one of the following: the position of the first antenna panel, the azimuth angle of the first antenna panel, or the elevation angle of the first antenna panel.

[0310] For details on the implementation of S601, please refer to the relevant content of S401.

[0311] S602: Base station #2 sends information about the second antenna panel to the sensing network element. Correspondingly, the sensing network element receives information from the second antenna panel of base station #2.

[0312] S602 is an optional step, indicated by a dashed line in Figure 6. The information on the second-side antenna panel may indicate at least one of the following: the position of the second-side antenna panel, the azimuth angle of the second-side antenna panel, or the elevation angle of the second-side antenna panel.

[0313] For the implementation details of S602, please refer to the relevant content of S401, which will not be repeated here.

[0314] S603: Base station #1 sends information about N resources to the sensing network element. Correspondingly, the sensing network element receives information about N resources from base station #1.

[0315] Among them, N resources include a first resource. The information of the first resource may include at least one of the following: first bandwidth information, first port information, or first carrier information. For the implementation of S602, please refer to the relevant content of S401, which will not be repeated here.

[0316] S604: Base station #1 sends first-precision information to the sensing network element. Correspondingly, the sensing network element receives the first-precision information from base station #1.

[0317] The first precision information can indicate the M calculation methods and / or at least one parameter involved in the M calculation methods. For the implementation of S604, please refer to the relevant content of S401, which will not be repeated here.

[0318] S605: Base station #2 sends information about P resources to the sensing network element. Correspondingly, the sensing network element receives information about P resources from base station #2.

[0319] Among them, P resources include a third resource. The information of the third resource may include at least one of the following: second bandwidth information, second port information, or second carrier information. For the implementation method of S605, please refer to the relevant content of S402, which will not be repeated here.

[0320] S606: Base station #2 sends second-precision information to the sensing network element. Correspondingly, the sensing network element receives the second-precision information from base station #2.

[0321] The second precision information can indicate the Q calculation methods and / or at least one parameter involved in the Q calculation methods. For the implementation of S606, please refer to the relevant content of S402, which will not be repeated here.

[0322] S607: Base station #1 sends the first signal.

[0323] In this embodiment, base station #1 can transmit a first signal, which can be carried by a first resource. This first signal can be a sensing signal or a fusion signal; please refer to the foregoing related content for details, which will not be repeated here.

[0324] S608: Base station #2 sends a third signal.

[0325] In this embodiment, base station #2 can transmit a third signal, which can be carried by a third resource. This third signal can be a sensing signal or a sensor fusion signal; please refer to the aforementioned related content for details, which will not be repeated here.

[0326] S609: Base station #1 receives the second signal.

[0327] The second signal includes the echo signal of the first signal. For example, the first signal is reflected by scattering point #1 to form the second signal, which is then received by base station #1.

[0328] S610: Base station #2 receives the fourth signal.

[0329] The fourth signal includes the echo signal of the third signal. For example, the third signal is reflected by scattering point #1 to form the fourth signal, which is then received by base station #2.

[0330] S611: Base station #1 determines the first sensing result information of scattering point #1 based on the second signal.

[0331] Step S611 is optional and is shown as a dashed line in Figure 6. The first sensing result information may include a first timestamp and at least one sensing measurement value, which may include at least one of the following: a first distance measurement value, a first azimuth angle measurement value, a first pitch angle measurement value, a first velocity measurement value, or a first signal-to-noise ratio measurement value. The implementation of S611 is detailed in S403 and will not be repeated here.

[0332] S612: Base station #2 determines the third sensing result information of scattering point #1 based on the fourth signal.

[0333] Step S612 is optional and is shown as a dashed line in Figure 6. The third sensing result information may include information about a second timestamp and at least one sensing measurement value, which may include at least one of the following: a second distance measurement value, a second azimuth angle measurement value, a second pitch angle measurement value, a second velocity measurement value, or a second signal-to-noise ratio measurement value. The implementation of S612 is detailed in S404 and will not be repeated here.

[0334] S613: Base station #1 sends second information to the sensing network element. Correspondingly, the sensing network element receives the second information from base station #1.

[0335] The second information may include a first identifier and first perception result information. The first identifier can be used to indicate the first resource associated with the first perception result information. For the implementation of S613, please refer to the relevant content of S403, which will not be repeated here.

[0336] S614: Base station #2 sends the fourth information to the sensing network element. Correspondingly, the sensing network element receives the fourth information from base station #2.

[0337] The fourth piece of information may include a third identifier and third perception result information. The third identifier can be used to indicate the third resource associated with the third perception result information. For the implementation of S614, please refer to the relevant content of S404, which will not be repeated here.

[0338] S615: The sensing network element determines the position of scattering point #1 based on the information of the first antenna panel, the second antenna panel, the first resource, the first accuracy information, the third resource, the second accuracy information, the first sensing result information, and the third sensing result information.

[0339] For example, the sensing network element can determine the location of scattering point #1 based on the information of the first resource, the first precision information, the information of the third resource, the second precision information, the first sensing result information, and the third sensing result information. As another example, the sensing network element can determine the location of scattering point #1 based on the information of the first antenna panel and / or the second antenna panel, the information of the first resource, the first precision information, the information of the third resource, the second precision information, the first sensing result information, and the third sensing result information. The implementation method of S615 is described in S405 and will not be repeated here.

[0340] It should be understood that the execution order of each step in Figure 6 is as an example and is not limited by the embodiments of this application.

[0341] The second communication method described above is illustrated using a single-site sensing mode for both base stations. In another embodiment, the second communication method can also be applied to scenarios where two UEs (e.g., the first UE and the second UE) employ a single-site sensing mode. For example, the first UE can execute the steps performed by base station #1, and the second UE can execute the steps performed by base station #2. It should be understood that the sensing network element is deployed in the core network; the first UE can send first information to the sensing network element through the base station corresponding to the first UE, and the second UE can send second information to the sensing network element through the base station corresponding to the second UE.

[0342] In another implementation, the second communication method described above can also be applied to a DU-CU architecture. For example, the first DU can be used to execute the steps performed by base station #1, the second DU can be used to execute the steps performed by base station #2, and the CU can be used to execute the steps performed by the sensing network element.

[0343] Figure 7 is a flowchart illustrating the third communication method provided in this application embodiment. This third communication method can also be called a third sensing method, or a third integrated communication and sensing method. In this embodiment, both the first device and the second device adopt a dual-station sensing mode. Furthermore, in this embodiment, the first device is a first access network device (e.g., denoted as base station #1), the second device is a second access network device (e.g., denoted as base station #2), the third device is a sensing network element, the fourth device is a first UE (denoted as UE #1), the fifth device is a second UE (denoted as UE #2), and the first target is denoted as scattering point #1. As shown in Figure 7, this method may include the following:

[0344] Among them, S701 to S706 and S709 to S715 are respectively connected to S601 to S606 and S609 to S615.

[0345] S707: UE#1 sends the first signal.

[0346] In this embodiment, UE#1 can send a first signal, which can be carried by a first resource. This first signal can be a sensing signal or a synergistic signal; please refer to the aforementioned related content for details, which will not be repeated here.

[0347] S708: UE#2 sends a third signal.

[0348] In this embodiment, UE#2 can send a third signal, which can be carried by a third resource. This third signal can be a sensing signal or a synergistic signal; please refer to the aforementioned related content for details, which will not be repeated here.

[0349] It should be understood that the execution order of each step in Figure 7 is as an example and is not limited by the embodiments of this application.

[0350] The third communication method described above is illustrated using a scenario where the UE transmits and the base station receives. In another optional implementation, the third communication method can also be applied to a scenario where the base station transmits and the UE receives; the implementation process is shown in Figure 7 and will not be repeated here.

[0351] In another alternative implementation, the third communication method described above can also be applied to a scenario where base station A transmits and base station B receives. For example, UE#1 in Figure 7 can be replaced with base station #3 and UE#2 can be replaced with base station #4. The implementation process can be referred to the implementation process shown in Figure 7, and will not be repeated here.

[0352] In another alternative implementation, the third communication method described above can also be applied to a DU-CU architecture. For example, the first DU can be used to execute the steps performed by base station #1, the second DU can be used to execute the steps performed by base station #2, and the CU can be used to execute the steps performed by the sensing network element.

[0353] Optionally, in a scenario involving UE#1, UE#1 receives the second signal, determines the second information based on the second signal, and sends the second information to the sensing network element through the base station #1 corresponding to UE#1. Alternatively, UE#1 may receive the second signal, determine the fifth information based on the second signal, and send the fifth information to the base station #1 corresponding to UE#1; base station #1 receives the fifth information, determines the second information based on the fifth information, and sends the second information to the sensing network element. For example, base station #1 may process the sensing measurement values ​​included in the fifth information to obtain the second information.

[0354] It should be understood that both the first device and the second device employ a single-station sensing mode, or both employ a dual-station sensing mode. In another optional embodiment, the first device may employ a single-station sensing mode and the second device may employ a dual-station sensing mode; or, the first device may employ a dual-station sensing mode and the second device may employ a single-station sensing mode.

[0355] Based on the same technical concept as the above-described method embodiments, this application provides a corresponding communication device that can be used to perform the functions of the relevant steps in the above-described method embodiments. This function can be implemented in hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions. The communication device can be a terminal or access network device, or a device within the terminal or access network device (e.g., a module, communication module, circuit or chip responsible for communication functions (such as a modem chip, or a SoC chip or SIP chip containing a modem core), chip system, or processor), or a logical node, logical module, or software capable of implementing all or part of the terminal or functions.

[0356] Figure 8 illustrates a schematic diagram of a communication device 800 provided in an embodiment of this application. This communication device 800 can implement the functions or steps performed by the first device or the third device in the various method embodiments described above.

[0357] For example, when the communication device 800 is used to implement the functions or steps implemented by the first device in the above method embodiments, the communication device 800 may be an access network device or a component in the access network device, or a terminal device or a component in the terminal device, etc.

[0358] For example, when the communication device 800 is used to implement the functions or steps implemented by the third device in the above method embodiments, the communication device 800 may be an access network device or a component in the access network device, or a core network device or a component in the core network device, etc.

[0359] In one embodiment, the communication device 800 may include a processing module 801 and a transceiver module 802; or it may include a processing module 801 but not a transceiver module 802; or it may include a transceiver module 802 but not a processing module 801. Wherein:

[0360] The processing module 801 can be used to support the communication device 800 in performing the processing actions in the above method embodiments. The processing module 801 can be implemented using one or more processors. For example, the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), microcontroller units (MCUs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor can be a microprocessor or any conventional processor.

[0361] In this application, the processing module 801 may also be referred to as a processing unit, etc., without limitation.

[0362] Transceiver module 802 is used for inputting and / or outputting information. Input information can be replaced by received information, and output information can be replaced by transmitted information. When outputting information, transceiver module 802 can output information to other devices outside of communication device 800, or to other units within communication device 800. In some embodiments, transceiver module 802 can be implemented through at least one of a physical interface, a communication module, a communication interface, and an input / output interface. In other embodiments, transceiver module 802 can be implemented through interface circuitry, such as a mobile communication module. The mobile communication module may include one or more of at least one antenna, at least one filter, a switch, a power amplifier, and a low-noise amplifier (LNA).

[0363] Optionally, the transceiver module 802 may include a sending module and / or a receiving module. The sending module is used to perform the sending operation in the above method embodiments. The receiving module is used to perform the receiving operation in the above method embodiments. It should be noted that the communication device 800 may include a sending module but not a receiving module. Alternatively, the communication device 800 may include a receiving module but not a sending module. Specifically, it depends on whether the above scheme performed by the communication device 800 includes both sending and receiving actions.

[0364] In this application, the transceiver module 802 may also be referred to as a communication interface, a communication module, a transceiver unit, an interface module, an interface unit, or a communication unit, etc., without limitation.

[0365] It should be noted that the communication device 800 may include a processing module 801, but not a transceiver module 802. Alternatively, the communication device 800 may include a transceiver module 802, but not a processing module 801. Specifically, it depends on whether the above-described scheme executed by the communication device 800 includes processing and transceiver actions.

[0366] Optionally, the communication device 800 may further include a storage module, not shown in FIG8. The storage module may be used to store instructions and / or data, and the processing module 801 may read the instructions and / or data in the storage module to enable the communication device 800 to implement the aforementioned method embodiment.

[0367] Optionally, the communication device 800 may be a chip system, the transceiver module 802 may be the input / output interface of the chip (e.g., a baseband chip), and the processing module 801 may be the processor of the chip system.

[0368] In one possible design, when the communication device 800 is a communication equipment or a communication module within a communication equipment, the functionality of the processing module 801 can be implemented by one or more processors. Exemplarily, the processor may include a modem chip (also known as a baseband chip), or a system-on-a-chip (SoC) chip or system-in-package (SIP) chip containing a modem core. The functionality of the transceiver module 802 can be implemented by transceiver circuitry. Optionally, the communication equipment can be a terminal device, an access network device, or a core network device.

[0369] In one possible design, when the communication device 800 is a circuit or chip responsible for communication functions in a communication device, such as a modem chip or a SoC chip or SIP chip containing a modem core, the function of the processing module 801 can be implemented by a circuit system in the aforementioned chip that includes one or more processors or processor cores. The function of the transceiver module 802 can be implemented by the interface circuit or data transceiver circuit on the aforementioned chip. Optionally, the communication device can be a terminal device, an access network device, or a core network device.

[0370] In the first implementation, the communication device 800 can perform the functions of the first device, executing the following: a transceiver module 802 is used to send first information, the first information including information of N resources, and / or the first information including first accuracy information of the sensing measurement values ​​corresponding to the N resources, wherein the N resources are used to carry sensing signals, and N is a positive integer.

[0371] In one optional implementation, the information of the N resources includes information of a first resource, which includes at least one of the following: first bandwidth information, first port information, or first carrier information; wherein the first bandwidth information indicates the actual bandwidth corresponding to the first resource and / or indicates the virtual bandwidth corresponding to the first resource; the first port information indicates the number of actual ports corresponding to the first resource and / or indicates the number of virtual ports corresponding to the first resource; and the first carrier information indicates the carrier wavelength corresponding to the first resource and / or indicates the carrier frequency corresponding to the first resource.

[0372] In one optional implementation, the number of actual ports corresponding to the first resource includes the number of actual ports corresponding to the first resource in a first dimension and / or the number of actual ports corresponding to the first resource in a second dimension; and / or, the number of virtual ports corresponding to the first resource includes the number of virtual ports corresponding to the first resource in a first dimension and / or the number of virtual ports corresponding to the first resource in a second dimension; wherein the first dimension and the second dimension are different. For example, the first dimension and the second dimension can be dimensions in different directions, such as a horizontal dimension and a vertical dimension, or two other different directional dimensions. Optionally, the virtual bandwidth can be the equivalent bandwidth after signal processing. Optionally, the number of virtual ports can be the equivalent number of ports after signal processing.

[0373] In one optional implementation, the first precision information indicates M calculation methods, and / or the first precision information indicates at least one parameter involved in the M calculation methods, where M is a positive integer. Optionally, the M calculation methods can be predefined, pre-agreed, or pre-configured, without limitation. The at least one parameter involved in the M calculation methods can, for example, be at least one weighting coefficient.

[0374] In one optional implementation, the M calculation methods may include a first calculation method, which can be used to determine the measurement accuracy of a first sensing measurement value corresponding to at least one of the N resources; wherein the first sensing measurement value includes at least one of the following: distance measurement value, azimuth measurement value, pitch measurement value, velocity measurement value, or signal-to-noise ratio measurement value.

[0375] In one alternative implementation, the transceiver module 802 is further configured to transmit information about a first antenna panel, the first antenna panel being used to transmit the sensing signal, wherein the information about the first antenna panel indicates at least one of the following: the position of the first antenna panel, the azimuth angle of the first antenna panel, or the elevation angle of the first antenna panel.

[0376] In one alternative implementation, the transceiver module 802 is further configured to send second information, the second information including a first identifier and first perception result information of a first target, the first perception result information being associated with a first resource, the first identifier being used to indicate the first resource, and the first resource belonging to the N resources.

[0377] In one alternative implementation, the first sensing result information is associated with a first resource, which may include: the first resource being a resource carrying a first signal, the first signal being used to determine at least one sensing result information, the at least one sensing result information including the first sensing result information, and the sensing signal including the first signal.

[0378] In one optional implementation, the first sensing result information may include information of a first timestamp and at least one sensing measurement value, wherein the at least one sensing measurement value may include at least one of the following: a first distance measurement value, a first azimuth angle measurement value, a first pitch angle measurement value, a first velocity measurement value, or a first signal-to-noise ratio measurement value.

[0379] In one alternative implementation, the second information may further include a second identifier and second perception result information of the second target, the second perception result information being associated with a second resource, the second identifier being used to indicate the second resource, and the second resource belonging to the N resources.

[0380] In one alternative implementation, the transceiver module 802 is further configured to transmit a first signal, the first signal being carried by the first resource; and receive a second signal, the second signal including the echo signal of the first signal; and the processing module 801 is configured to determine at least one sensing result information based on the second signal, the at least one sensing result information including the first sensing result information.

[0381] In another alternative implementation, the transceiver module 802 is further configured to receive a second signal, the second signal including the echo signal of the first signal, the first signal being carried by the first resource and transmitted by the fourth device; the processing module 801 is configured to determine at least one sensing result information based on the second signal, the at least one sensing result information including the first sensing result information.

[0382] In the second implementation, the communication device 800 can perform the function of the third device, executing the following: a transceiver module 802 is used to receive first information from the first device, the first information including information of N resources, and / or, first accuracy information of the sensing measurement values ​​corresponding to the N resources, wherein the N resources are used to carry the sensing signals of the first device, and N is a positive integer.

[0383] In one optional implementation, the transceiver module 802 is further configured to receive third information from the second device. The third information may include information about P resources, and / or the third information may include second precision information of the sensing measurement values ​​corresponding to the P resources, wherein the P resources are used to carry the sensing signals of the second device, and P is a positive integer.

[0384] In one alternative implementation, the transceiver module 802 is further configured to receive second information from the first device, the second information including a first identifier and first perception result information of a first target, the first perception result information being associated with a first resource, the first identifier being used to indicate the first resource, and the first resource belonging to the N resources.

[0385] In an optional implementation, the transceiver module 802 is further configured to receive fourth information from the second device, the fourth information including a third identifier and third perception result information of the first target, the third perception result information being associated with a third resource, the third identifier being used to indicate the third resource, and the third resource belonging to the P resources.

[0386] In one alternative implementation, the processing module 801 is used to determine the location of the first target based on the first information, the second information, the third information, and the fourth information.

[0387] In one alternative implementation, the transceiver module 802 is further configured to receive information from the first antenna panel of the first device, the first antenna panel being used to transmit sensing signals of the first device, wherein the information of the first antenna panel indicates at least one of the following: the position of the first antenna panel, the azimuth angle of the first antenna panel, or the elevation angle of the first antenna panel.

[0388] In one alternative implementation, the transceiver module 802 is further configured to receive information from the second antenna panel of the second device, the second antenna panel being used to transmit sensing signals of the second device, wherein the information of the second antenna panel indicates at least one of the following: the position of the second antenna panel, the azimuth angle of the second antenna panel, or the elevation angle of the second antenna panel.

[0389] In one optional implementation, when determining the location of the first target based on the first information, the second information, the third information, and the fourth information, the processing module 801 is configured to determine the location of the first target based on the first information, the second information, the third information, the fourth information, and the information of the first antenna panel and / or the information of the second antenna panel.

[0390] In one optional implementation, the information of the N resources includes information of a first resource, which includes at least one of the following: first bandwidth information, first port information, or first carrier information; wherein the first bandwidth information indicates the actual bandwidth corresponding to the first resource and / or indicates the virtual bandwidth corresponding to the first resource; the first port information indicates the number of actual ports corresponding to the first resource and / or indicates the number of virtual ports corresponding to the first resource; and the first carrier information indicates the carrier wavelength corresponding to the first resource and / or indicates the carrier frequency corresponding to the first resource.

[0391] In one optional implementation, the number of actual ports corresponding to the first resource includes the number of actual ports corresponding to the first resource in a first dimension and / or the number of actual ports corresponding to the first resource in a second dimension; and / or, the number of virtual ports corresponding to the first resource includes the number of virtual ports corresponding to the first resource in a first dimension and / or the number of virtual ports corresponding to the first resource in a second dimension; wherein the first dimension and the second dimension are different. For example, the first dimension and the second dimension can be dimensions in different directions, such as a horizontal dimension and a vertical dimension, or two other different directional dimensions. Optionally, the virtual bandwidth can be the equivalent bandwidth after signal processing. Optionally, the number of virtual ports can be the equivalent number of ports after signal processing.

[0392] In one optional implementation, the information of the P resources includes information of a third resource, which includes at least one of the following: second bandwidth information, second port information, or second carrier information; wherein the second bandwidth information indicates the actual bandwidth corresponding to the third resource and / or indicates the virtual bandwidth corresponding to the third resource; the second port information indicates the number of actual ports corresponding to the third resource and / or indicates the number of virtual ports corresponding to the third resource; and the second carrier information indicates the carrier wavelength corresponding to the third resource and / or indicates the carrier frequency corresponding to the third resource.

[0393] In one optional implementation, the number of actual ports corresponding to the third resource includes the number of actual ports corresponding to the third resource in the third dimension and / or the number of actual ports corresponding to the third resource in the fourth dimension; and / or, the number of virtual ports corresponding to the third resource includes the number of virtual ports corresponding to the third resource in the third dimension and / or the number of virtual ports corresponding to the third resource in the fourth dimension; wherein the third dimension and the fourth dimension are different. For example, the third dimension and the fourth dimension can be dimensions in different directions, such as a horizontal dimension and a vertical dimension, or two other different directional dimensions. Optionally, the virtual bandwidth can be the equivalent bandwidth after signal processing. Optionally, the number of virtual ports can be the equivalent number of ports after signal processing.

[0394] In one alternative implementation, the first precision information may indicate M calculation methods, and / or the first precision information may indicate at least one parameter involved in the M calculation methods, where M is a positive integer.

[0395] In one optional implementation, the M calculation methods may include a first calculation method, which can be used to determine the measurement accuracy of a first sensing measurement value corresponding to at least one of the N resources; wherein the first sensing measurement value includes at least one of the following: distance measurement value, azimuth measurement value, pitch measurement value, velocity measurement value, or signal-to-noise ratio measurement value.

[0396] In one optional implementation, the second precision information may indicate Q calculation methods, and / or the second precision information may indicate at least one parameter involved in the Q calculation methods, where Q is a positive integer. Optionally, the Q calculation methods may be predefined, pre-agreed, or pre-configured, without limitation. The at least one parameter involved in the Q calculation methods may, for example, be at least one weighting coefficient.

[0397] In one optional implementation, the Q calculation methods may include a second calculation method, which can be used to determine the measurement accuracy of a second sensing measurement value corresponding to at least one of the P resources; wherein the second sensing measurement value includes at least one of the following: distance measurement value, azimuth measurement value, pitch measurement value, velocity measurement value, or signal-to-noise ratio measurement value.

[0398] In one alternative implementation, the first sensing result information is associated with a first resource, which may include: the first resource being a resource carrying a first signal, the first signal being used to determine at least one sensing result information, the at least one sensing result information including the first sensing result information, and the sensing signal of the first device including the first signal.

[0399] In one optional implementation, the first sensing result information may include information of a first timestamp and at least one sensing measurement value of the first device. The at least one sensing measurement value of the first device may include at least one of the following: a first distance measurement value, a first azimuth angle measurement value, a first pitch angle measurement value, a first velocity measurement value, or a first signal-to-noise ratio measurement value.

[0400] In one alternative implementation, the second information may further include a second identifier and second perception result information of the second target, the second perception result information being associated with a second resource, the second identifier being used to indicate the second resource, and the second resource belonging to the N resources.

[0401] In one optional implementation, the third sensing result information is associated with a third resource, which may include: the third resource being a resource carrying a third signal, the third signal being used to determine at least one sensing result information of the second device, the at least one sensing result information of the second device including the third sensing result information, and the sensing signal of the second device including the third signal.

[0402] In one optional implementation, the third sensing result information may include information of a second timestamp and at least one sensing measurement value of the second device. The at least one sensing measurement value of the second device may include at least one of the following: a second distance measurement value, a second azimuth angle measurement value, a second pitch angle measurement value, a second velocity measurement value, or a second signal-to-noise ratio measurement value.

[0403] Detailed descriptions of the above-mentioned processing module 801 and transceiver module 802 can be obtained directly from the relevant descriptions in the foregoing method embodiments, and will not be repeated here.

[0404] Figure 9 illustrates a schematic diagram of another communication device 900 provided in an embodiment of this application. The communication device 900 may include a processor 920, used to implement or support the communication device 900 in implementing the functions of the first or third device in the foregoing method embodiments. For details, please refer to the detailed descriptions in the foregoing method embodiments, which will not be repeated here. For example, the processor 920 is used to read and execute program instructions through the communication interface 910, so that the communication device 900 implements the corresponding method. The processor 920 may include one or more processors, without limitation.

[0405] It should be noted that the aforementioned functional modules can be implemented by hardware or by a combination of hardware and software, without limitation. Furthermore, when the communication device 900 includes only the processor 920, the communication device 900 can be a chip or a chip system.

[0406] For example, the communication device 900 can be a chip system. The chip system can be composed of chips or can include chips and other discrete components, without limitation.

[0407] For example, when the communication device 900 is a chip, the communication interface 910 can be the chip's input / output interface, where input corresponds to receiving operations and output corresponds to sending operations.

[0408] Optionally, the communication device 900 may further include a memory 930 for storing program instructions and / or data. The memory 930 is coupled to the processor 920. This coupling can be understood as an indirect coupling or communication connection between devices, units, or modules, and can be electrical, mechanical, or other forms, used for information exchange between devices, units, or modules. The processor 920 may operate in conjunction with the memory 930; the processor 920 and the memory 930 may be integrated together or disposed separately.

[0409] Furthermore, the processor 920 is used to execute program instructions stored in the memory 930 so that the communication device 900 implements the corresponding method.

[0410] One or more of the memories in memory 930 may be included in the processor, or memory 930 may exist independently, such as off-chip memory, and be connected to processor 920 via a communication bus (represented by thick line 940 in Figure 9). Memory 930 and processor 920 may also be integrated together.

[0411] Optionally, the communication device 900 further includes a communication interface 910 (shown as dashed lines in FIG9) for communicating with other devices via a transmission medium, thereby enabling the devices in the communication device 900 to communicate with other devices.

[0412] For example, when the communication device 900 is a third device, the other devices can be a first device, a second device, etc. The processor 920 can use the communication interface 910 to send and receive data. For example, the processor 920 can be used to control the communication interface 910 to receive and / or send signals.

[0413] Specifically, the communication interface 910 can be a transceiver. In terms of hardware implementation, the transceiver can be used to implement the functions of the aforementioned transceiver module 802, and the transceiver is integrated into the communication device 900 to form the communication interface 910.

[0414] Optionally, the transceiver may include a transmitter and / or a receiver to respectively implement the sending and receiving operations in the method embodiment; other operations besides sending and receiving may be implemented by the processor 920.

[0415] It should be noted that the communication interface 910 may have both sending and receiving functions, enabling the transmission and reception of signals; or it may have a sending function but no receiving function, used for transmitting signals; or it may have a receiving function but no sending function, used for receiving signals.

[0416] It should be noted that the specific connection medium between the communication interface 910, processor 920, and memory 930 is not limited in the embodiments of this application. Figure 9 shows the memory 930, processor 920, and communication interface 910 connected via a communication bus 940. The connection methods between other components are merely illustrative and not intended to be limiting. The communication bus 940 can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used in Figure 9, but this does not indicate that there is only one communication bus or one type of communication bus.

[0417] In the embodiments of this application, the processor 920 may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, or other programmable logic devices. The general-purpose processor may be a microprocessor or any conventional processor. The methods disclosed in conjunction with the embodiments of this application may be executed by the hardware in the processor, or by a combination of hardware and software in the processor.

[0418] In this embodiment, the memory 930 can be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), or it can be volatile memory, such as random-access memory (RAM). The memory can also be any other medium used to carry or store program code in the form of instructions or data structures that can be accessed by a computer; or it can be a circuit or any other device capable of implementing storage functions for storing program instructions and / or data.

[0419] In a first possible implementation, the communication device 900 may be a first device used to implement the relevant methods corresponding to the first device in the above embodiments. For specific functions, please refer to the descriptions in the above embodiments.

[0420] For example, the methods corresponding to the first device in the above embodiments include: sending first information, the first information including information of N resources, and / or, the first information including first accuracy information of sensing measurement values ​​corresponding to the N resources, wherein the N resources are used to carry sensing signals, and N is a positive integer.

[0421] In a second possible implementation, the communication device 900 may be a second device used to implement the methods corresponding to the third device in the above embodiments. For specific functions, please refer to the descriptions in the above embodiments.

[0422] For example, the methods corresponding to the third device in the above embodiments include: receiving first information from the first device, the first information including information of N resources, and / or, first accuracy information of the sensing measurement values ​​corresponding to the N resources, wherein the N resources are used to carry the sensing signal of the first device, and N is a positive integer.

[0423] For the specific implementation process, please refer to the relevant content in the aforementioned embodiments; it will not be repeated here.

[0424] Figure 10 illustrates an alternative communication device 1000 provided in an embodiment of this application, including: an input / output interface 1010 and a logic circuit 1020; the input / output interface 1010 is used to receive code instructions and transmit them to the logic circuit 1020; the logic circuit 1020 is used to run the code instructions to execute the method executed by the first device or the third device in any of the above embodiments.

[0425] In the first implementation, the communication device 1000 can be a first device that executes the method described above, specifically, for example, the method executed by the first device in the aforementioned method embodiments. For example, the communication device 1000 can send first information, which includes information about N resources, and / or the first information includes first accuracy information of the sensing measurement values ​​corresponding to the N resources, wherein the N resources are used to carry sensing signals, and N is a positive integer.

[0426] In the first implementation, the communication device 1000 can be a third device, executing the method performed by the aforementioned third device, specifically, for example, the method executed by the third device in the aforementioned method embodiments. For example, the communication device 1000 can receive first information from the first device, the first information including information on N resources, and / or, first accuracy information of the sensing measurement values ​​corresponding to the N resources, wherein the N resources are used to carry the sensing signal of the first device, and N is a positive integer.

[0427] For the specific implementation process, please refer to the aforementioned method implementation examples, which will not be repeated here.

[0428] It should be noted that the module division in the above embodiments of this application is illustrative and only represents a logical functional division. In actual implementation, there may be other division methods. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, exist as separate physical units, or have two or more units integrated into one unit. The integrated units can be implemented in hardware, as software functional units, or in a combination of hardware and software. Whether a function is executed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0429] For example, the functional unit in any of the above devices may be one or more integrated circuits configured to implement the above methods, such as one or more ASICs, one or more CPUs, one or more MCUs, one or more DSPs, or one or more FPGAs, or a combination of at least two of these integrated circuit forms.

[0430] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, 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 application. 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.

[0431] This application also provides a computer-readable storage medium for storing computer programs or instructions. When the computer programs or instructions are run, the methods or steps executed by the first or third device in the foregoing embodiments are implemented.

[0432] This application also provides a computer program product, including a computer program, which, when run on a computer, causes the methods or steps executed by the first or third device in the foregoing embodiments to be implemented.

[0433] This application provides a chip system including a processor for implementing the functions of the first or third device in the aforementioned method (e.g., executing corresponding methods or steps). The chip system may be composed of a chip or may include a chip and other discrete devices.

[0434] Optionally, the chip system also includes a memory for storing program instructions that the processor can read and execute to implement the corresponding method.

[0435] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0436] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0437] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0438] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should 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 program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0439] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0440] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0441] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above does not imply the order of execution; the execution order of each process should be determined by its function and internal logic.

[0442] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A communication method characterized by comprising: The method includes: Send first information, which includes information about N resources and / or first accuracy information of the sensing measurement values ​​corresponding to the N resources, wherein the N resources are used to carry sensing signals and N is a positive integer.

2. The method of claim 1, wherein, The information of the N resources includes information of a first resource, and the information of the first resource includes at least one of the following: first bandwidth information, first port information, or first carrier information; Wherein, the first bandwidth information indicates the actual bandwidth corresponding to the first resource and / or indicates the virtual bandwidth corresponding to the first resource; The first port information indicates the number of actual ports corresponding to the first resource and / or indicates the number of virtual ports corresponding to the first resource; The first carrier information indicates the carrier wavelength corresponding to the first resource and / or indicates the carrier frequency corresponding to the first resource.

3. The method according to claim 2, characterized in that, The number of actual ports corresponding to the first resource includes the number of actual ports corresponding to the first resource in the first dimension and / or the number of actual ports corresponding to the first resource in the second dimension; and / or, The number of virtual ports corresponding to the first resource includes the number of virtual ports corresponding to the first resource in the first dimension and / or the number of virtual ports corresponding to the first resource in the second dimension; The first dimension and the second dimension are different.

4. The method according to claim 2 or 3, characterized in that, The virtual bandwidth is the equivalent bandwidth after signal processing.

5. The method according to any one of claims 2 to 4, characterized in that, The number of virtual ports is the equivalent number of ports after signal processing.

6. The method according to any one of claims 1 to 5, characterized in that, The first precision information indicates M calculation methods, and / or the first precision information indicates at least one parameter involved in the M calculation methods, where M is a positive integer.

7. The method according to claim 6, characterized in that, The M calculation methods include a first calculation method, which is used to determine the measurement accuracy of the first sensing measurement value corresponding to at least one of the N resources; The first sensing measurement value includes at least one of the following: distance measurement value, azimuth angle measurement value, pitch angle measurement value, velocity measurement value, or signal-to-noise ratio measurement value.

8. The method according to any one of claims 1 to 7, characterized in that, The method further includes: Information of a first antenna panel is transmitted, the first antenna panel being used to transmit the sensing signal, wherein the information of the first antenna panel indicates at least one of the following: the position of the first antenna panel, the azimuth angle of the first antenna panel, or the elevation angle of the first antenna panel.

9. The method according to any one of claims 1 to 8, characterized in that, The method further includes: Send a second message, the second message including a first identifier and first perception result information of a first target, the first perception result information being associated with a first resource, the first identifier being used to indicate the first resource, and the first resource belonging to the N resources.

10. The method according to claim 9, characterized in that, The first perception result information is associated with the first resource, including: The first resource is a resource that carries a first signal, the first signal being used to determine at least one sensing result information, the at least one sensing result information including the first sensing result information, and the sensing signal including the first signal.

11. The method according to claim 9 or 10, characterized in that, The first perception result information includes a first timestamp and at least one perception measurement value, wherein the at least one perception measurement value includes at least one of the following: a first distance measurement value, a first azimuth angle measurement value, a first pitch angle measurement value, a first velocity measurement value, or a first signal-to-noise ratio measurement value.

12. The method according to any one of claims 9 to 11, characterized in that, The second information also includes second perception result information of the second identifier and the second target, the second perception result information being associated with the second resource, the second identifier being used to indicate the second resource, and the second resource belonging to the N resources.

13. The method according to any one of claims 9 to 12, characterized in that, The method further includes: Receive a second signal, the second signal including the echo signal of the first signal, the first signal being carried by the first resource; Based on the second signal, at least one perception result information is determined, wherein the at least one perception result information includes the first perception result information.

14. A communication method, characterized in that, The method includes: Receive first information from a first device, the first information including information of N resources and / or first accuracy information of the sensing measurement values ​​corresponding to the N resources, wherein the N resources are used to carry the sensing signals of the first device, and N is a positive integer.

15. The method according to claim 14, characterized in that, The method further includes: Receive third information from the second device, the third information including information on P resources and / or second accuracy information of the sensing measurement values ​​corresponding to the P resources, wherein the P resources are used to carry the sensing signals of the second device, and P is a positive integer.

16. The method according to claim 15, characterized in that, The method further includes: Receive second information from the first device, the second information including a first identifier and first perception result information of a first target, the first perception result information being associated with a first resource, the first identifier being used to indicate the first resource, and the first resource belonging to the N resources.

17. The method according to claim 16, characterized in that, The method further includes: The system receives fourth information from the second device, the fourth information including a third identifier and third perception result information of the first target, the third perception result information being associated with a third resource, the third identifier being used to indicate the third resource, and the third resource belonging to the P resources.

18. The method according to claim 17, characterized in that, The method further includes: The location of the first target is determined based on the first information, the second information, the third information, and the fourth information.

19. The method according to claim 18, characterized in that, The method further includes: The device receives information from a first antenna panel, which is used to transmit sensing signals from the first device. The information from the first antenna panel indicates at least one of the following: the position of the first antenna panel, the azimuth angle of the first antenna panel, or the elevation angle of the first antenna panel.

20. The method according to claim 19, characterized in that, The method further includes: The second antenna panel receives information from the second device, the second antenna panel being used to transmit sensing signals from the second device, wherein the information of the second antenna panel indicates at least one of the following: the position of the second antenna panel, the azimuth angle of the second antenna panel, or the elevation angle of the second antenna panel.

21. The method according to claim 20, characterized in that, Determining the location of the first target based on the first information, the second information, the third information, and the fourth information includes: The location of the first target is determined based on the first information, the second information, the third information, the fourth information, the information of the first antenna panel, and the information of the second antenna panel.

22. A communication device, characterized in that, Includes modules for performing the method as described in any one of claims 1 to 21.

23. A communication device, characterized in that, It includes at least one processor, said at least one processor being used to perform the method as described in any one of claims 1 to 21.

24. A communication system, characterized in that, Includes at least one of the following: a first device, a second device, and a third device, wherein: The first device is used to perform the method as described in any one of claims 1 to 13; The third device is used to perform the method as described in any one of claims 14 to 21; The second device is used to send third information to the third device. The third information includes information on P resources and / or second precision information of the sensing measurement values ​​corresponding to the P resources. The P resources are used to carry the sensing signals of the second device, where P is a positive integer.

25. The communication system according to claim 24, characterized in that, The first device is a first access network device or a device within a first access network device, the second device is a second access network device or a device within a second access network device, and the third device is a sensing network element.

26. A computer-readable storage medium, characterized in that, It stores a computer program or instructions that, when executed, cause the method as described in any one of claims 1 to 21 to be implemented.

27. A computer program product, characterized in that, The computer program product includes a computer program that, when run on a computer, causes the method as described in any one of claims 1 to 21 to be implemented.

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