Communication method and communication apparatus

Abstract

The present application provides a communication method and apparatus. The communication method comprises: a sensing device sends, to a processing device, first information for indicating at least one motion speed of the sensing device; upon receiving the first information, the processing device indicates at least one sensing signal to the sensing device by means of second information, the at least one sensing signal comprising a first sensing signal, wherein a parameter of the first sensing signal and a first motion speed among the at least one motion speed satisfy a constraint relationship; and the sensing device performs sensing on the basis of the first sensing signal. On the basis of the technical solution, the accuracy of a sensing result can be improved.

Description

Communication methods and communication devices

[0001] This application claims priority to Chinese Patent Application No. 202510222908.5, filed on February 26, 2025, entitled "Communication Method and Communication Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of communications, and more particularly to a communication method and a communication device. Background Technology

[0003] With the continuous development of communication technology, mobile communication systems have gradually evolved into a unified infrastructure of integrated sensing and communication (ISAC). In other words, in addition to communication capabilities, mobile communication systems can also provide wireless sensing capabilities, enabling them to provide sensing services.

[0004] For communication systems that provide sensing services, improving the accuracy of sensing results has become an urgent technical problem to be solved. Summary of the Invention

[0005] This application provides a communication method and a communication device to improve the accuracy of sensing results.

[0006] In a first aspect, this application provides a communication method that can be executed by a sensing device. The sensing device may be, for example, a network device, an access network device, or a terminal. Unless otherwise specified, the sensing device in this application may refer to the sensing device itself, a component in the sensing device (e.g., a processor, circuit, chip, or chip system), or a logic module or software capable of implementing all or part of the functions of a network device, access network device, or terminal. This application describes the sensing device itself as an example.

[0007] The communication method includes: sending first information, the first information indicating at least one motion speed of a sensing device; receiving second information, the second information indicating at least one sensing signal, the at least one sensing signal including the first sensing signal, wherein the parameters of the first sensing signal satisfy a constraint relationship with the first motion speed in the at least one motion speed; and performing sensing based on the first sensing signal.

[0008] In this technical solution, by constraining the relationship between the parameter configuration of the sensing signal and the moving speed of the sensing device, the phase error of the sensing signal used by the sensing device when sensing the target based on the sensing signal can be reduced, thereby improving the accuracy of the sensing results.

[0009] For example, the constraint relationship between the parameters of the first sensing signal and the first motion velocity is as follows:

[0010] Where B represents the bandwidth of the first sensing signal, T represents the duration of the first sensing signal, v represents the projection of the first motion velocity onto the propagation path of the first sensing signal, c represents the speed of light, and α is greater than 0.

[0011] The first information indicating the speed of the sensing device can be implemented in different ways.

[0012] In one implementation, the first information includes the velocity value of the first motion speed and the direction of the first motion speed. Understandably, the direction of the first motion speed is also the direction of motion of the sensing device.

[0013] For example, in a two-dimensional (2D) scene, the direction of motion of a sensing device includes its azimuth angle. Specifically, the azimuth angle is the angle between the direction of motion of the sensing device and the X-axis of the two-dimensional coordinate system. Understandably, a two-dimensional coordinate system includes mutually perpendicular X-axis and Y-axis, and the common origin of the X-axis and Y-axis is called the origin of the two-dimensional coordinate system. The X-axis is often referred to as the horizontal axis, and the Y-axis is often referred to as the vertical axis.

[0014] For example, in a 3D scene, the motion direction of a sensing device includes azimuth and pitch angles. The azimuth angle is the angle between the projection of the sensing device's motion direction onto the XY plane of the 3D coordinate system and the X-axis; the pitch angle is the angle between the sensing device's motion direction and the Z-axis of the 3D coordinate system. A 3D coordinate system typically includes three mutually perpendicular axes: X, Y, and Z, which intersect at a point called the origin. The X-axis usually represents the first dimension in the horizontal direction, extending from left to right; the Y-axis represents the second dimension in the horizontal direction (in some cases, it is also expressed as the vertical direction); and the Z-axis represents the vertical dimension.

[0015] In another implementation, the first information includes the velocity components of the first motion velocity along the X and Y axes in a two-dimensional coordinate system. Once the velocity components of the sensing device's first motion velocity along the X and Y axes are known, the first motion velocity of the sensing device can be determined. Alternatively,

[0016] The first information includes the velocity components of the first motion velocity in the three-dimensional coordinate system along the X, Y, and Z axes. Once the velocity components of the sensing device along the X, Y, and Z axes are known, the first motion velocity of the sensing device can be determined.

[0017] In another implementation, the first information includes the motion speed range of the sensing device, which includes the range of motion speed values ​​and the range of motion directions of the sensing device, and the first motion speed is included in the motion speed range.

[0018] In this application, if the first information includes the motion speed range of the sensing device, the number of at least one sensing signals indicated by the second information is greater than one, that is, the second information indicates multiple sensing signals. Further, the method further includes: the sensing device determining a first sensing signal corresponding to a first motion speed from at least one sensing signal based on a constraint relationship, wherein the first motion speed is included in the motion speed range. Optionally, the sensing device may also send third information, which is used to indicate the first sensing signal selected from the at least one sensing signal.

[0019] Secondly, this application provides a communication method that can be executed by a processing device. The processing device may be, for example, a network device, an access network device, or a terminal. Unless otherwise specified, the processing device in this application may refer to the processing device itself, a component in the processing device (e.g., a processor, circuit, chip, or chip system), or a logic module or software capable of implementing all or part of the functions of a network device, access network device, or terminal. This application describes the processing device itself as an example.

[0020] The communication method includes: receiving first information, the first information being used to indicate at least one motion speed of a sensing device; and sending second information, the second information being used to indicate at least one sensing signal, the at least one sensing signal including a first sensing signal, wherein the parameters of the first sensing signal satisfy a constraint relationship with the first motion speed in the at least one motion speed.

[0021] In this technical solution, by constraining the relationship between the parameter configuration of the sensing signal and the moving speed of the sensing device, the phase error of the sensing signal used by the sensing device when sensing the target based on the sensing signal reflected by the target can be reduced, thereby improving the accuracy of the sensing results.

[0022] In one possible implementation, the constraint relationship between the parameters of the first sensing signal and the first motion velocity is as follows:

[0023] Where B represents the bandwidth of the first sensing signal, T represents the duration of the first sensing signal, v represents the projection of the first motion velocity onto the propagation path of the first sensing signal, c represents the speed of light, and α is greater than 0.

[0024] In one possible implementation, the first information includes: the first information is used to indicate the speed value of the first motion speed and the direction of the first motion speed.

[0025] In one possible implementation, the first information includes velocity components of the first motion velocity along the X and Y axes in a two-dimensional coordinate system; or, the first information includes velocity components of the first motion velocity along the X, Y, and Z axes in a three-dimensional coordinate system.

[0026] In one possible implementation, the first information includes the motion speed range of the sensing device, which includes a range of motion speed values ​​and a range of motion directions of the sensing device, and the first motion speed is included in the motion speed range.

[0027] In one possible implementation, the number of at least one sensing signal is greater than 1, and the method further includes: receiving third information, the third information being used to indicate a first sensing signal selected from the at least one sensing signal.

[0028] Thirdly, this application provides a communication device that has the functions of the first aspect described above. For example, the communication device includes modules, units, or means that perform the operations involved in the first aspect. These modules, units, or means can be implemented by software, hardware, or a combination of software and hardware.

[0029] Fourthly, this application provides a communication device that has the functions of the second aspect above. For example, the communication device includes modules, units, or means that perform the operations involved in the second aspect above. These modules, units, or means can be implemented by software, hardware, or a combination of software and hardware.

[0030] Fifthly, this application provides a communication device including one or more processors. The one or more processors are coupled to a memory. The memory stores part or all of the computer program or instructions necessary for implementing the functions described in the first aspect above. The one or more processors can execute the computer program or instructions, causing the communication device to implement the methods in any possible design or implementation of the first aspect above when the computer program or instructions are executed. Optionally, the communication device may further include an interface circuit for implementing communication functions within the communication device and / or communication functions between the communication device and other devices or components.

[0031] In one possible design, the processor is used to communicate with other devices or components through the interface circuit.

[0032] In one possible design, the communication device may also include the memory.

[0033] Sixthly, this application provides a communication device including one or more processors. The one or more processors are coupled to a memory. The memory stores part or all of the computer program or instructions necessary for implementing the functions described in the second aspect above. The one or more processors can execute the computer program or instructions, causing the communication device to implement the methods in any possible design or implementation of the second aspect above when executed. Optionally, the communication device may further include an interface circuit for implementing communication functions within the communication device and / or communication functions between the communication device and other devices or components.

[0034] In one possible design, the processor is used to communicate with other devices or components through the interface circuit.

[0035] In one possible design, the communication device may also include the memory.

[0036] In a seventh aspect, this application provides a computer-readable storage medium storing computer-readable instructions that, when read and executed by a computer, cause the computer to perform any of the possible designs in the first to second aspects described above.

[0037] Ninthly, this application provides a computer program product that, when read and executed by a computer, causes the computer to perform any of the possible designs in the first to second aspects described above. Attached Figure Description

[0038] Figure 1 is a structural schematic diagram of the communication system to which this application applies;

[0039] Figure 2 is a schematic diagram of point target perception;

[0040] Figure 3 is a schematic diagram of a synthetic aperture.

[0041] Figure 4 is a schematic diagram of a moving vehicle performing sensing.

[0042] Figure 5 is a flowchart illustrating a communication method provided in one embodiment of this application;

[0043] Figure 6 is a flowchart illustrating a communication method provided in another embodiment of this application;

[0044] Figure 7 is a flowchart illustrating a communication method provided in yet another embodiment of this application;

[0045] Figure 8 is a structural schematic diagram of a communication device provided in an embodiment of this application;

[0046] Figure 9 is a structural schematic diagram of a communication device provided in one embodiment of this application. Detailed Implementation

[0047] Figure 1 is a schematic diagram of the architecture of a communication system 1000 applicable to an embodiment of this application. It is understood that the communication system described in this application embodiment is for the purpose of more clearly illustrating the technical solutions of this application embodiment and does not constitute a limitation on the technical solutions provided in this application embodiment.

[0048] As shown in Figure 1, the communication system 1000 includes a radio access network (RAN) 100, wherein the RAN 100 includes at least one RAN node (110a and 110b in Figure 1, collectively referred to as 110), and may also include at least one terminal (120a-120j in Figure 1, collectively referred to as 120). The RAN 100 may also include other RAN nodes, such as wireless relay equipment and / or wireless backhaul equipment (not shown in Figure 1). The terminal 120 is wirelessly connected to the RAN node 110. Terminals and RAN nodes can be interconnected via wired or wireless means. The communication system 1000 may also include a core network 200. The RAN node 110 is connected to the core network 200 wirelessly or via wired means. The core network equipment in the core network 200 and the RAN node 110 in the RAN 100 can be independent and different physical devices, or they can be the same physical device integrating the logical functions of the core network equipment and the logical functions of the RAN node. The communication system 1000 may also include an Internet 300.

[0049] RAN100 can be an evolved universal terrestrial radio access (E-UTRA) system, a new radio (NR) system, or a future radio access system as defined in the 3rd generation partnership project (3GPP). RAN100 can also include two or more of the above-mentioned different radio access systems. RAN100 can also be an open RAN (O-RAN).

[0050] RAN nodes, also known as radio access network devices, RAN entities, or access nodes, are used to help terminals access communication systems wirelessly. In one application scenario, an RAN node can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next-generation NodeB (gNB) in a 5G mobile communication system, or a base station in a future mobile communication system. RAN nodes can be macro base stations (as shown in Figure 1, 110a), micro base stations or indoor stations (as shown in Figure 1, 110b), relay nodes, or donor nodes. RAN nodes can also be devices used for terminal access in non-terrestrial networks, such as satellites or drones.

[0051] In another application scenario, multiple RAN nodes can collaborate to help terminals achieve wireless access, with different RAN nodes implementing different functions of the base station. For example, a RAN node can be a central unit (CU), a distributed unit (DU), or a radio unit (RU). Here, the CU performs the functions of the base station's Radio Resource Control (RRC) and Packet Data Convergence Protocol (PDCP), and can also perform the functions of the Service Data Adaptation Protocol (SDAP). The DU performs the functions of the base station's Radio Link Control (RANC) and Medium Access Control (MAC) layers, and can also perform some or all of the physical layer functions. For specific descriptions of these protocol layers, refer to the relevant 3GPP technical specifications. The RU can be used to implement radio frequency signal transmission and reception. The CU and DU can be two independent RAN nodes or integrated into the same RAN node, such as within a baseband unit (BBU). The RU can be included in radio frequency equipment, such as in a remote radio unit (RRU) or an active antenna unit (AAU). The CU can be further divided into two types of RAN nodes: CU-control plane and CU-user plane.

[0052] In different systems, RAN nodes may have different names. For example, in an O-RAN system, a CU can be called an open CU (O-CU), a DU can be called an open DU (O-DU), and an RU can be called an open RU (O-RU). The RAN nodes in the embodiments of this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules. For example, a RAN node can be a server loaded with the corresponding software modules. The embodiments of this application do not limit the specific technology or device form used in the RAN nodes. For ease of description, a base station is used as an example of a RAN node in the following description.

[0053] A terminal is a device with wireless transceiver capabilities, capable of sending signals to or receiving signals from a base station. Terminals can also be called terminal equipment, user equipment (UE), mobile station, mobile terminal, etc. Terminals can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, etc. Terminals can be mobile phones, tablets, computers with wireless transceiver capabilities, wearable devices, vehicles, airplanes, ships, robots, robotic arms, smart home devices, etc. The embodiments of this application do not limit the specific technology or device form used in the terminal.

[0054] Base stations and terminals can be fixed or mobile. They can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; and they can be deployed on aircraft, balloons, and satellites. The embodiments of this application do not limit the application scenarios of the base stations and terminals.

[0055] The roles of base stations and terminals can be relative. For example, the helicopter or drone 120i in Figure 1 can be configured as a mobile base station. For terminals 120j that access the wireless access network 100 through 120i, terminal 120i is a base station; however, for base station 110a, 120i is a terminal, meaning that 110a and 120i communicate via a wireless air interface protocol. Of course, 110a and 120i can also communicate via a base station-to-base station interface protocol. In this case, relative to 110a, 120i is also a base station. Therefore, both base stations and terminals can be collectively referred to as communication devices. 110a and 110b in Figure 1 can be called communication devices with base station functions, and 120a-120j in Figure 1 can be called communication devices with terminal functions.

[0056] Communication between base stations and terminals, between base stations, and between terminals can be conducted using licensed spectrum, unlicensed spectrum, or both simultaneously. Communication can be conducted using spectrum below 6 GHz, spectrum above 6 GHz, or both simultaneously. The embodiments of this application do not limit the spectrum resources used for wireless communication.

[0057] In the embodiments of this application, the functions of the base station can be executed by modules (such as chips) within the base station, or by a control subsystem that includes base station functions. This control subsystem, including base station functions, can be a control center in the aforementioned application scenarios such as smart grids, industrial control, intelligent transportation, and smart cities. Similarly, the functions of the terminal can be executed by modules (such as chips or modems) within the terminal, or by a device that includes terminal functions.

[0058] To better understand the technical solutions of the embodiments of this application, some concepts used in the embodiments of this application will be introduced first.

[0059] 1. Sensing technology

[0060] When a signal reaches a target object, it generates an echo signal. By analyzing the characteristics of the echo signal, the target object can be sensed, such as its position, shape, motion characteristics, or trajectory. The signal used for sensing is usually also called the sensing signal.

[0061] The aforementioned target objects are often referred to as point targets, perceived targets, etc. For example, perceived targets can be pedestrians, vehicles, obstacles, etc.

[0062] Currently, sensing technology can be applied in various scenarios. For example, in sports, it can detect the movement status and trajectory of people and balls; in home environments, it can detect falls to prevent elderly people from falling; in the field of automotive driver assistance, it can detect pedestrians and vehicles ahead to achieve collision avoidance warnings; in specific industrial parks, it can monitor the intrusion of flying objects such as drones; and in traffic scenarios, it can perform functions such as traffic flow statistics and vehicle navigation.

[0063] 2. Mono-static sensing method

[0064] Single-base sensing, also known as co-located sensing, refers to a sensing signal transmitter and a sensing signal receiver located in the same entity.

[0065] For example, both the sensing signal transmitter and the sensing signal receiver are located in the base station. That is, in this example, the base station sends a sensing signal, which reaches the target object and then the base station receives the sensing signal reflected by the target object.

[0066] For example, both the sensing signal transmitter and the sensing signal receiver are located in the terminal. That is, in this example, the terminal sends a sensing signal, and after the sensing signal reaches the target object, the terminal receives the sensing signal reflected by the target object.

[0067] 3. Bi-static sensing method

[0068] The dual-base sensing method, also known as the self-sending and other-receiving sensing method, refers to a sensing signal transmitter and a sensing signal receiver located in different entities.

[0069] For example, the sensing signal transmitter is located in the base station, and the sensing signal receiver is located in the terminal. That is, in this example, the base station sends a sensing signal, and after the sensing signal reaches the target object, the terminal receives the sensing signal reflected by the target object.

[0070] For example, the sensing signal transmitter is located in the terminal, and the sensing signal receiver is located in the base station. That is, in this example, the terminal sends a sensing signal, and after the sensing signal reaches the target object, the base station receives the sensing signal reflected by the target object and senses the target object based on the reflected sensing signal.

[0071] For example, the sensing signal transmitter is located in base station 1, and the sensing signal receiver is located in base station 2. That is, in this example, base station 1 sends a sensing signal, and after the sensing signal reaches the target object, base station 2 receives the sensing signal reflected by the target object.

[0072] For example, the sensing signal transmitter is located in terminal 1, and the sensing signal receiver is located in terminal 2. That is, in this example, terminal 1 sends a sensing signal, and after the sensing signal reaches the target object, terminal 2 receives the sensing signal reflected by the target object.

[0073] With the continuous development of the Internet of Things, artificial intelligence, big data, and automation technologies, communication systems are gradually evolving into a unified infrastructure of integrated sensing and communication (ISAC). That is, in addition to communication capabilities, communication systems also possess wireless sensing capabilities, enabling them to provide both communication and sensing services. For example, the communication system 1000 shown in Figure 1, besides having communication capabilities, can also provide wireless sensing capabilities.

[0074] One method for achieving sensing is as follows: A mobile platform carrying an antenna (such as an aircraft or vehicle) sends a sensing signal to a point target while in motion. This sensing signal is reflected after passing through the target object; the reflected sensing signal is also called an echo signal. By receiving the echo signal and processing it, the sensing result of the point target can be obtained. For example, in certain scenarios of smart cities and smart transportation, it is necessary to obtain sensing results such as relative position, speed, and shape of objects.

[0075] As shown in Figure 2, a two-dimensional coordinate system is established in two-dimensional space. The horizontal axis of the coordinate system represents distance, and the vertical axis represents the direction of movement of the mobile platform carrying the antenna. Understandably, the antenna beam has a certain beamwidth, for example, represented by 'a' radians. When the mobile platform carrying the antenna moves, the coverage area of ​​the antenna beam will also change.

[0076] For example, let's denote the horizontal coordinates of any point in space as 'r' and the vertical coordinates as 'y'. The horizontal axis can be called the 'r-axis', and the vertical axis can be called the 'y-axis'. Assuming the coordinates of a point target are (r0, y0), it's understandable that when the mobile platform carrying the antenna moves to a position (e.g., position A), the point target will enter the antenna's beam coverage area. When the mobile platform continues to move to another position (e.g., position B), the point target will leave the antenna's beam coverage area. However, when the antenna is between positions A and B, the point target is within the antenna's beam coverage area. If the antenna sends a sensing signal at this time, the sensing signal will reach the point target and generate an echo signal. By processing the echo signal (i.e., the reflected sensing signal), the point target can be sensed, and the sensing result can be obtained, such as the point target's distance or speed.

[0077] During its movement, the mobile platform carrying the antenna can transmit sensing signals to a point target from multiple locations. This allows for the acquisition of multiple echo signals. Furthermore, by processing these multiple signals, the sensing result of the point target can be obtained. For example, one implementation of obtaining the sensing result of a point target through signal processing of multiple echo signals is as follows: A received echo signal is referred to as the fast-time dimension echo data. Multiple echo signals received at multiple locations are spliced ​​along another dimension to form slow-time dimension echo data. Then, the aforementioned two-dimensional echo data in the fast-time and slow-time dimensions is subjected to pulse compression along the fast time dimension and Fourier transform along the slow time dimension to obtain the range-Doppler spectrum. Based on the range-Doppler spectrum, the range and Doppler reading of the point target are obtained.

[0078] Understandably, an antenna transmitting signals at multiple locations can be equivalent to having a virtual antenna at each of those locations. Typically, given a point target, multiple virtual antennas whose beams can cover that point target are considered to form a synthetic aperture. For clarity, Figure 3 provides an example. As shown in Figure 3, the moving platform carrying the antenna starts moving from position 1. When it reaches a position between positions 3 and 7, the point target is within the antenna's coverage area. If the antenna transmits sensing signals at positions 3 through 7, the sensing signals will reach the point target. In this example, the length of the synthetic aperture can be considered as the distance between positions 7 and 3.

[0079] Currently, when obtaining point target sensing results through echo signal processing, to reduce signal processing complexity, the distance the mobile platform moves within the duration of a single sensing signal is typically considered negligible. This means the mobile platform is assumed to be stationary during both sending and receiving sensing signals—a "walk-stop-walk" model. The duration of the sensing signal refers to the time from the start to the end of signal transmission; that is, the time required for the signal to be fully transmitted. For example, if sending a sensing signal takes 10 microseconds (µs), the duration is considered to be 10µs. Typically, the duration of the sensing signal can also be described as the transmission delay.

[0080] However, when using the "walk-stop-walk" model for perception, there is a problem of low accuracy in the perception results.

[0081] For example, referring to Figure 4, let's illustrate this with an example of a mobile platform that acts as both a transmitter and receiver of sensing signals. The mobile platform travels from right to left along a specific path, transmitting and receiving sensing signals at multiple locations during its journey to sense environmental scattering objects such as buildings. If we assume the mobile platform transmits a sensing signal at position 1 as shown in Figure 4, then in the "walk-stop-walk" model, the platform is considered to be at position 1 when receiving the sensing signal reflected from a building; that is, the platform is stationary throughout the entire process of transmitting and receiving sensing signals. However, as shown in Figure 4, the mobile platform is moving. During the duration of transmitting the sensing signal, the platform has moved to position 2 to receive the sensing signal. The distance between position 2 and position 1 is the distance the vehicle travels. The phase of the sensing signal received at position 2 is called phase 2, and the phase of the sensing signal received at position 1 is called phase 1. Understandably, the greater the distance between position 2 and position 1, i.e., the greater the distance the mobile platform travels, the greater the phase difference between phase 2 and phase 1. Furthermore, the larger the bandwidth of the sensing signal, the greater the phase difference between phase 2 and phase 1 may be. In other words, the aforementioned phase difference is related to the travel distance and the bandwidth of the sensing signal.

[0082] Understandably, the aforementioned travel distance is related to the duration of the sensing signal, the propagation delay of the sensing signal, and the travel speed of the mobile platform.

[0083] The propagation delay of a sensing signal refers to the time between the moment the sensing signal is first transmitted and the moment the reflected sensing signal is first received; it can also be understood as the time required from the moment the sensing signal is first transmitted to the moment the reflected sensing signal is first received. The propagation delay of a sensing signal can also be called the round-trip propagation delay. Understandably, the propagation delay of a sensing signal is mainly related to the location of the transmitting device and the location of the target point. For example, assuming a sensing range of 3 kilometers (km), the propagation delay of the sensing signal is approximately 20 microseconds (µs). Since the propagation delay of a sensing signal is usually very short, its effect on the phase difference can generally be ignored. For example, for the aforementioned sensing signal with a propagation delay of approximately 20 µs, if the duration of the sensing signal is not considered, then for a platform traveling at speeds up to 360 km / h, the distance traveled within the round-trip propagation delay is 2 millimeters (mm).

[0084] However, if the duration of the sensing signal transmitted by the mobile platform is long and / or the mobile platform's movement speed is high, then the problem of a large movement distance may arise. For example, assuming the bandwidth of the sensing signal is 1 gigahertz (GHz) and the duration of the sensing signal is 1 ms, for a platform traveling at 360 km / h, the movement distance of the mobile platform within the transmission or reception time range of the sensing signal is approximately 0.1 m. This movement distance is close to or even greater than the wavelength. In this case, there is a problem that the phase difference between the sensing signal based on the "walk-stop-walk" model and the phase difference between the sensing signal received at position 2 is large. That is, there is a problem that the sensing signal based on the "walk-stop-walk" model is inaccurate, resulting in low accuracy of the sensing results.

[0085] In view of this, this application provides a sensing method and apparatus in order to improve the accuracy of sensing results.

[0086] The perception method provided in the embodiments of this application will now be described with reference to the accompanying drawings. It should be understood that this application uses a first communication device and a second communication device as examples to illustrate the interaction, but this application does not limit the execution subject of the interaction.

[0087] Figure 5 is a schematic flowchart of the communication method provided in this application. As shown in Figure 5, the method includes:

[0088] S501, the sensing device sends first information to the processing device, and the processing device receives the first information accordingly; the first information is used to indicate at least one movement speed of the sensing device.

[0089] Movement speed can also be replaced with movement speed.

[0090] In this application, the sensing device refers to a device capable of sensing a target. The sensing device may also be called a sensing node, and the sensed target may also be called a sensed target.

[0091] In one scenario, the sensing device in this application can be a single-base sensing device that uses a single-base sensing method. In another scenario, the sensing device can be a two-base sensing device that uses a two-base sensing method. The descriptions of single-base and two-base sensing methods can be found in the terminology section above and will not be repeated here. For example, the device that transmits the sensing signal is called the transmitting device, and the device that receives the reflected sensing signal is called the receiving device. Therefore, it is understandable that if the sensing device is a single-base sensing device, it is both a transmitting device and a receiving device. And if the sensing device is a two-base sensing device, it is considered to be a sensing device composed of a transmitting device and a receiving device.

[0092] For example, a dual-base sensing device may include, but is not limited to: 1) a dual-base sensing device composed of an access device and a terminal. In this type of dual-base sensing device, the access network device may send a sensing signal, and the terminal may receive the reflected sensing signal, or the terminal may send a sensing signal, and the access network device may receive the reflected sensing signal. 2) a dual-base sensing device composed of two access network devices. One access network device sends a sensing signal, and the other receives the reflected sensing signal. 3) a dual-base sensing device composed of two terminals. One terminal sends a sensing signal, and the other receives the reflected sensing signal.

[0093] In this application, the sensing device is movable, and it sends first information to the processing device to indicate at least one movement speed of the sensing device. The first information can also be described as movement speed information. In one implementation, the at least one movement speed is a single movement speed, meaning the first information is used to indicate one movement speed of the sensing device. In another implementation, the at least one movement speed is multiple movement speeds, meaning the first information is used to indicate multiple movement speeds of the sensing device. It is understood that the sensing device typically corresponds to one movement speed at any given moment; therefore, when the first information is used to indicate multiple movement speeds of the sensing device, these multiple speeds correspond to speeds at different times.

[0094] Understandably, in this application, when the sensing device is a bistatic sensing device that uses bistatic sensing, the speed of the sensing device can be specifically considered as the speed of the moving device within the bistatic sensing device. For example, in a bistatic sensing device consisting of an access device and a terminal, if the terminal is moving, the speed of motion reported by the sensing device refers to the speed of motion of that terminal.

[0095] The following describes several different ways in which the sensing device instructs the processing device on the speed of its movement through the first information.

[0096] First implementation method:

[0097] The first information includes the speed value and direction of the first motion speed. Correspondingly, the processing device determines the first motion speed of the sensing device based on the speed value and direction of the first motion speed.

[0098] Understandably, the direction of the first velocity can also be the direction of motion of the sensing device. That is, the first information includes the first velocity value and the direction of motion of the sensing device.

[0099] For example, in a two-dimensional (2D) scene, the direction of motion includes the azimuth angle. Specifically, the azimuth angle is the angle between the direction of motion of the sensing device and the X-axis of the two-dimensional coordinate system.

[0100] For example, if the sensing device is a single-base sensing device, that is, the device that sends the sensing signal and the device that receives the sensing signal are the same device, then the azimuth angle is the angle between the direction of motion of the sensing device and the X-axis of the two-dimensional coordinate system.

[0101] For example, a bistatic sensing device can be understood as consisting of a device that transmits sensing signals (transmitting device) and a device that receives sensing signals (receiving device). In this case, if the transmitting device is movable, the azimuth angle refers to the angle between the direction of motion of the transmitting device and the X-axis of the two-dimensional coordinate system. Similarly, if the receiving device is movable, the azimuth angle refers to the angle between the direction of motion of the receiving device and the X-axis of the two-dimensional coordinate system.

[0102] For example, in a 3D scene, the direction of motion includes azimuth and pitch. The azimuth angle is the angle between the projection of the sensing device's motion direction onto the XY plane of the 3D coordinate system and the X-axis, while the pitch angle is the angle between the sensing device's motion direction and the Z-axis of the 3D coordinate system.

[0103] The second implementation method:

[0104] In a ground-based sensing scenario, also known as a 2D sensing scenario, the first information includes the motion velocity components of the sensing device along the X and Y axes in a two-dimensional (2D) coordinate system. Correspondingly, after receiving the motion velocity component information along the X and Y axes from the sensing device, the processing device determines the first motion velocity.

[0105] In non-ground-based sensing scenarios, also known as 3D sensing scenarios, when the motion speed of the sensing device is indicated by the first information, the first information includes the motion speed components along the X, Y, and Z axes in a three-dimensional (3D) coordinate system. Correspondingly, after receiving the indicated X, Y, and Z axis motion speed components, the processing device determines the first motion speed.

[0106] The third implementation method:

[0107] The first information includes the motion speed range of the sensing device, which includes a first motion speed. Understandably, this motion speed range can be considered as a range composed of multiple motion speeds. The motion speed range includes the range of the sensing device's motion speed values ​​and the range of motion directions. That is, in this implementation, the sensing device indicates multiple motion speeds by sending a motion speed range to the processing device. For example, the motion speed value range is [0, 10] m / s, and the motion speed direction range is the azimuth angle [0, 30] degrees and the pitch angle [0, 10] degrees.

[0108] It can be seen that the first velocity described in this application is a vector (or vector), that is, the first velocity described in this application takes into account both the magnitude and direction of the first velocity.

[0109] S502, the processing device sends second information to the sensing device, the second information being used to indicate at least one sensing signal, the at least one sensing signal including a first sensing signal, wherein the parameters of the first sensing signal satisfy a constraint relationship with a first motion speed in at least one motion speed of the sensing device.

[0110] This application does not limit the specific form of the processing device. For example, the processing device can be an access network device or a core network element. For example, when the sensing device is a terminal that uses a single-base sensing method, the processing device can be the access network device corresponding to the cell where the terminal is located, or it can also be a core network element, such as a sensing function (SF) network element. As another example, when the sensing device is a dual-base sensing device composed of an access network device and a terminal, the processing device can be a core network element.

[0111] In this application, after the sensing device indicates at least one movement speed of the sensing device to the processing device, the processing device determines at least one sensing signal based on the at least one movement speed indicated by the sensing device, and indicates the at least one sensing signal to the sensing device through second information. The at least one sensing signal can also be referred to as at least one candidate sensing signal. Among these at least one sensing signal, there is a first sensing signal, and the parameters of the first sensing signal satisfy a constraint relationship with the first movement speed among the at least one movement speed.

[0112] In one implementation, the constraint relationship between the parameters of the first sensing signal and the first motion velocity is as follows:

[0113] B represents the bandwidth of the first sensing signal, and c represents the speed of light.

[0114] α is a constant greater than 0, for example, α can be 1.

[0115] T represents the duration of the first sensing signal. The concept of the duration of the sensing signal is described in the previous text and will not be repeated here.

[0116] v represents the projection of the first motion velocity onto the propagation path of the first sensing signal. The propagation path of the first sensing signal includes a first path between the device transmitting the first sensing signal and the sensing target, and a second path between the sensing target and the device receiving the first sensing signal. In this application, the path between the sensing target and the device receiving the first sensing signal is often also referred to as the reflection path. It is understood that the first path changes when the device transmitting the sensing signal moves, and the second path changes when the device receiving the sensing signal moves. Specifically, in this application, the projection of the motion velocity of the sensing device onto the propagation path of the first sensing signal refers to the projection of the motion velocity of the sensing device onto the changing path.

[0117] In another implementation, the parameters of the first sensing signal and the first motion velocity satisfy the constraint relationship: BTv < γ1

[0118] B represents the bandwidth of the first sensing signal, γ1 is greater than 0, T represents the duration of the first sensing signal, and v represents the projection of the first motion velocity onto the propagation path of the first sensing signal.

[0119] In another implementation, the constraint relationship between the parameters of the first sensing signal and the first motion velocity is as follows:

[0120] B represents the bandwidth of the first sensing signal, c represents the speed of light, γ2 is greater than 0, T represents the duration of the first sensing signal, and v represents the projection of the first motion velocity onto the propagation path of the first sensing signal.

[0121] In another implementation, the constraint relationship between the parameters of the first sensing signal and the first motion velocity is: fTv < γ3

[0122] f represents the maximum value of the frequency component of the first sensing signal, γ3 is greater than 0, T represents the duration of the first sensing signal, and v represents the projection of the first motion velocity onto the propagation path of the first sensing signal.

[0123] The concepts of the duration of the sensing signal and the projection of the first motion velocity onto the propagation path of the first sensing signal are described above and will not be repeated here.

[0124] If the sensing device indicates its movement speed based on the first and second implementations in S501, then after receiving the first information, the processing device can directly determine the parameters of the first sensing signal based on the aforementioned constraint relationship, and then indicate the determined first sensing signal to the sensing device through the second information. For example, the second information includes the bandwidth and duration of the first sensing signal.

[0125] If the sensing device indicates its movement speed based on the third implementation in S501, then after receiving the first information, the processing device can indicate multiple candidate sensing signals to the sensing device based on the aforementioned constraints. For example, each candidate sensing signal has corresponding bandwidth and duration parameters. Understandably, in this implementation, after receiving at least one sensing signal indicated by the processing device, the sensing device needs to select a first sensing signal that satisfies the aforementioned constraints from among the multiple candidate sensing signals based on its current first movement speed. Optionally, the sensing device can send third information to the processing device, which indicates the first sensing signal selected from the at least one sensing signal.

[0126] For example, one implementation of indicating these multiple candidate sensing signals through the second information includes: each sensing signal has a corresponding index, and the second information includes the indices of these multiple candidate sensing signals. Optionally, the second information includes the value of α in the constraint relationship.

[0127] For example, the third information may include an index of the first sensing signal used. Optionally, the third information may also include the time period in which the first sensing signal was used, the time period being identified, for example, by symbols / time slots / subframes / frames with start and end times.

[0128] S503, the sensing device performs sensing based on the first sensing signal.

[0129] In the communication method provided in this application, the phase error of the sensing signal used by the sensing device based on the sensing signal reflected from the sensing target is reduced by constraining the relationship between the parameter configuration of the sensing signal and the moving speed of the sensing device, thereby improving the accuracy of the sensing results.

[0130] Below, with reference to Figures 6 and 7, two detailed embodiments are given.

[0131] Referring to Figure 6, the communication method shown in Figure 6 includes:

[0132] S601, the sensing device indicates the first speed of movement of the sensing device to the processing device.

[0133] S602, the processing device determines the first sensing signal corresponding to the first motion speed based on the constraint relationship between the parameters of the sensing signal and the motion speed.

[0134] S603, the processing device indicates the first sensing signal corresponding to the first motion speed to the sensing device.

[0135] For example, the processing device indicates the bandwidth and duration of the first sensing signal corresponding to the first motion speed to the sensing device, and the sensing device determines the first sensing signal based on the bandwidth and duration indicated by the processing device.

[0136] S604, the sensing device performs sensing based on the first sensing signal.

[0137] That is, the sensing device sends a first sensing signal to the sensing target and receives the first sensing signal reflected by the sensing target, so as to sense the sensing target based on the first sensing signal reflected by the sensing target.

[0138] Referring to Figure 7, the communication method shown in Figure 7 includes:

[0139] S701, the sensing device indicates the range of its movement speed to the processing device.

[0140] A detailed description of this step can be found in the embodiment shown in Figure 5, and will not be repeated here.

[0141] S702, the processing device determines multiple candidate sensing signals based on the range of motion speed of the sensing device and the constraint relationship between the parameters of the sensing signal and the motion speed.

[0142] S703, the processing device indicates multiple candidate sensing signals to the sensing device.

[0143] S704, the sensing device selects the first sensing signal that satisfies the constraint relationship from multiple candidate sensing signals based on the current first motion speed.

[0144] S705, the sensing device performs sensing based on the first sensing signal.

[0145] S706, the sensing device indicates a first sensing signal to the processing device.

[0146] Understandably, for the embodiments shown in Figures 6 and 7, if the motion speed of the sensing device changes rapidly, the reporting overhead of the method in the embodiment of Figure 7 will be lower than that of the method shown in Figure 6. Therefore, in one application scenario, the embodiment shown in Figure 6 can be applied to situations where the motion speed of the sensing device changes slowly, while the embodiment shown in Figure 7 can be applied to situations where the motion speed of the sensing device changes rapidly.

[0147] The communication method provided in this application has been described above. The communication device provided in the embodiments of this application will now be described in detail with reference to Figures 8 and 9.

[0148] Figure 8 is a structural schematic diagram of the communication device provided in an embodiment of this application. Specifically, as shown in Figure 8, the device 800 includes: a transceiver block 801 and a processing module 802.

[0149] For example, in an embodiment of the first device, device 800 is applied to a sensing device. For example, the sensing device is an access network device or a terminal.

[0150] Specifically, the transceiver module 801 is used to: send first information, the first information being used to indicate at least one motion speed of the sensing device; the transceiver module 801 is also used to: receive second information, the second information being used to indicate at least one sensing signal, the at least one sensing signal including the first sensing signal, wherein the parameters of the first sensing signal satisfy a constraint relationship with the first motion speed in the at least one motion speed; the processing module 802 is used to: perform sensing based on the first sensing signal.

[0151] In one implementation, the constraint relationship between the parameters of the first sensing signal and the first motion velocity is as follows:

[0152] Where B represents the bandwidth of the first sensing signal, T represents the duration of the first sensing signal, v represents the projection of the first motion velocity onto the propagation path of the first sensing signal, c represents the speed of light, and α is greater than 0.

[0153] In one possible implementation, the first information includes the velocity value of the first motion velocity and the direction of the first motion velocity.

[0154] In one possible implementation, the first information includes velocity components of the first motion velocity along the X and Y axes in a two-dimensional coordinate system; or, the first information includes velocity components of the first motion velocity along the X, Y, and Z axes in a three-dimensional coordinate system.

[0155] In one possible implementation, the first information includes the motion speed range of the sensing device, which includes a range of motion speed values ​​and a range of motion directions of the sensing device, with the first motion speed included within the motion speed range.

[0156] In one implementation, the number of at least one sensing signal is greater than 1; the processing module 802 is further configured to: determine a first sensing signal corresponding to the first motion speed from at least one sensing signal based on a constraint relationship.

[0157] In one implementation, the transceiver block 801 is further configured to: send third information, the third information being used to indicate a first sensing signal selected from at least one sensing signal.

[0158] For example, in an embodiment of the second apparatus, apparatus 800 is applied in a processing device. For example, the processing device is an access network device or a terminal.

[0159] Specifically, the transceiver module 801 is configured to: receive first information, the first information being used to indicate at least one motion speed of the sensing device; the transceiver module 801 is also configured to: send second information, the second information being used to indicate at least one sensing signal, the at least one sensing signal including the first sensing signal, wherein the parameters of the first sensing signal satisfy a constraint relationship with the first motion speed in the at least one motion speed.

[0160] In one implementation, the constraint relationship between the parameters of the first sensing signal and the first motion velocity is as follows:

[0161] Where B represents the bandwidth of the first sensing signal, T represents the duration of the first sensing signal, v represents the projection of the first motion velocity onto the propagation path of the first sensing signal, c represents the speed of light, and α is greater than 0.

[0162] In one possible implementation, the first information includes the velocity value of the first motion velocity and the direction of the first motion velocity.

[0163] In one possible implementation, the first information includes velocity components of the first motion velocity along the X and Y axes in a two-dimensional coordinate system; or, the first information includes velocity components of the first motion velocity along the X, Y, and Z axes in a three-dimensional coordinate system.

[0164] In one possible implementation, the first information includes the motion speed range of the sensing device, which includes the range of motion speed values ​​and the range of motion directions of the sensing device, and the first motion speed is included in the motion speed range.

[0165] In one implementation, the number of at least one sensing signal is greater than 1; the processing module 802 is further configured to: receive third information, the third information being used to indicate a first sensing signal selected from at least one sensing signal.

[0166] Figure 9 is a structural schematic diagram of another communication device provided in an embodiment of this application. The device shown in Figure 9 can be used to perform the method described in any of the foregoing embodiments.

[0167] As shown in Figure 9, the device 900 of this embodiment includes a memory 901 and a processor 902. In one implementation, the device 900 further includes a communication interface 903 and a bus 904. The memory 901, processor 902, and communication interface 903 are interconnected via the bus 904.

[0168] The memory 901 can be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 901 can store programs, and when the program stored in the memory 901 is executed by the processor 902, the processor 902 is used to execute the various steps of the methods shown in Figures 5 to 7.

[0169] The processor 902 may be a general-purpose central processing unit (CPU), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, used to execute relevant programs to implement the methods shown in Figures 5 to 7 of the embodiments of this application.

[0170] The processor 902 can also be an integrated circuit chip with signal processing capabilities. In implementation, each step of the method in Figure 3 of this embodiment can be accomplished through integrated logic circuits in the processor 902 or through software instructions.

[0171] The processor 902 described above can also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or a conventional processor, etc.

[0172] The steps of the method disclosed in the embodiments of this application can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory 901. The processor 902 reads the information in memory 901 and, in conjunction with its hardware, completes the functions required by the units included in the device of this application. For example, it can execute the various steps / functions of the embodiment shown in FIG3.

[0173] The communication interface 903 can use, but is not limited to, transceivers to enable communication between the device 900 and other devices or communication networks.

[0174] Bus 904 may include a pathway for transmitting information between various components of device 900 (e.g., memory 901, processor 902, communication interface 903).

[0175] It should be understood that the apparatus 900 shown in the embodiments of this application can be deployed in network devices or terminals.

[0176] The above embodiments can be implemented, in whole or in part, by software, hardware, firmware, or any other combination thereof. When implemented using software, the above embodiments can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be a usable medium accessible to a computer or a data storage device such as a server or data center containing one or more sets of usable media. The usable medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. A semiconductor medium can be a solid-state drive.

[0177] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. A and B can be singular or plural. Additionally, the character " / " in this article generally indicates an "or" relationship between the preceding and following related objects, but it can also represent an "and / or" relationship. Please refer to the context for a more accurate understanding.

[0178] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0179] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not limit the implementation process of the embodiments of this application.

[0180] 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.

[0181] 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.

[0182] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0183] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0184] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0185] If the aforementioned functions 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 a portion 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.) 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, random access memory, magnetic disks, or optical disks.

Claims

1. A communication method, characterized in that, Applied to a sensing device, the method includes: Send a first message, the first message being used to indicate at least one movement speed of the sensing device; Receive second information, the second information being used to indicate at least one sensing signal, the at least one sensing signal including a first sensing signal, wherein the parameters of the first sensing signal satisfy a constraint relationship with a first motion speed in the at least one motion speed; Sensing is performed based on the first sensing signal.

2. The method according to claim 1, characterized in that, The constraint relationship between the parameters of the first sensing signal and the first motion speed is as follows: Where B represents the bandwidth of the first sensing signal, T represents the duration of the first sensing signal, v represents the projection of the first motion velocity onto the propagation path of the first sensing signal, c represents the speed of light, and α is greater than 0.

3. The method according to claim 1 or 2, characterized in that, The first information includes the speed value of the first motion speed and the direction of the first motion speed.

4. The method according to claim 1 or 2, characterized in that, The first information includes the velocity components of the first motion velocity along the X and Y axes in a two-dimensional coordinate system; or, The first information includes the velocity components of the first motion velocity in the three-dimensional coordinate system along the X-axis, Y-axis and Z-axis respectively.

5. The method according to claim 1 or 2, characterized in that, The first information includes the motion speed range of the sensing device, which includes the range of motion speed values ​​and the range of motion directions of the sensing device, and the first motion speed is included in the motion speed range.

6. The method according to claim 5, characterized in that, The number of the at least one sensing signal is greater than 1; The method further includes: Based on the constraint relationship, the first sensing signal corresponding to the first motion speed is determined from the at least one sensing signal, wherein the first motion speed is included in the range of motion speeds.

7. The method according to claim 6, characterized in that, The method further includes: Send a third message, the third message being used to indicate the first sensing signal selected from the at least one sensing signal.

8. A communication method, characterized in that, Applied to a processing device, the method includes: Receive first information, the first information being used to indicate at least one speed of motion of the sensing device; Send a second message, the second message being used to indicate at least one sensing signal, the at least one sensing signal including a first sensing signal, wherein the parameters of the first sensing signal satisfy a constraint relationship with a first motion speed in the at least one motion speed.

9. The method according to claim 8, characterized in that, The constraint relationship between the parameters of the first sensing signal and the first motion speed is as follows: Where B represents the bandwidth of the first sensing signal, T represents the duration of the first sensing signal, v represents the projection of the first motion velocity onto the propagation path of the first sensing signal, c represents the speed of light, and α is greater than 0.

10. The method according to claim 8 or 9, characterized in that, The first information includes the speed value of the first motion speed and the direction of the first motion speed.

11. The method according to claim 8 or 9, characterized in that, The first information includes the velocity components of the first motion velocity along the X and Y axes in a two-dimensional coordinate system; or, The first information includes the velocity components of the first motion velocity in the three-dimensional coordinate system along the X-axis, Y-axis and Z-axis respectively.

12. The method according to claim 8 or 9, characterized in that, The first information includes the motion speed range of the sensing device, which includes the range of motion speed values ​​and the range of motion directions of the sensing device, and the first motion speed is included in the motion speed range.

13. The method according to claim 12, characterized in that, The number of at least one sensing signal is greater than 1, and the method further includes: Receive third information, the third information being used to indicate the first sensing signal selected from the at least one sensing signal.

14. A communication device, characterized in that, It includes a module for performing the method as described in any one of claims 1 to 7; or, it includes a module for implementing the method as described in any one of claims 8 to 13.

15. A communication device, characterized in that, include: processor, The processor is configured to cause the communication device to implement the method as described in any one of claims 1 to 7 or 8 to 13 by executing a computer program and / or by logic circuitry.

16. A computer-readable storage medium storing a computer program thereon, characterized in that, When the computer program is executed by a processor, the method of any one of claims 1 to 7 or 8 to 13 is performed.

17. A computer program product, characterized in that, The computer program product includes a computer program that, when run, causes the method as described in any one of claims 1 to 7 or 8 to 13 to be implemented.

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