Communication method and apparatus

Abstract

A communication method and apparatus. The method comprises: a first unit receiving a first signal, wherein the first signal is an echo signal of a first sensing signal; and sending a second signal to a second unit in an access network device, wherein the second signal is obtained after a first operation is performed on the first signal, and the second signal is any one of first resource de-mapped data, a first range spectrum, a first range-angle spectrum, a first range-velocity-angle spectrum, and first point cloud data. The described method can effectively reduce a volume of data that a first unit needs to transmit to a second unit.

Description

A communication method and apparatus

[0001] Cross-reference to related applications

[0002] This application claims priority to Chinese Patent Application No. 202510307391.X, filed on March 14, 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 communications, and in particular to a communication method and apparatus. Background Technology

[0004] The 3rd Generation Partnership Project (3GPP) standardization organization proposed a new base station function division method in the 5th generation (5G) new radio (NR) protocol. The base station function can be divided into a central unit (CU), a distributed unit (DU), and a radio unit (RU).

[0005] Currently, in the scenario of sensing services, after the RU receives the echo signal of the sensing signal, the RU can send the original sampled data of the echo signal to the DU. At this time, the amount of data transmitted from the RU to the DU is generally large, the data transmission efficiency is low, and thus the time required to determine the sensing data based on the echo signal is also long. Summary of the Invention

[0006] This application provides a communication method and apparatus to reduce the amount of data transmitted from RU to DU in a sensing service scenario.

[0007] Firstly, this application provides a communication method applied to a first unit in an access network device. For example, the first unit can be an RU (Remote Utility Unit). The first unit can be understood as a device having the functions of a first unit or a component within a first unit, or it can be a device capable of supporting the first unit in realizing this function, such as a chip system, hardware circuit, software module, or a hardware circuit plus a software module. Taking the first unit as the executing entity of the method as an example, the method includes: the first unit receiving a first signal, where the first signal is an echo signal of a first sensing signal; and sending a second signal to a second unit in the access network device, where the second signal is obtained after performing a first operation on the first signal; the second signal is any one of first resource demapping data, a first distance spectrum, a first distance angle spectrum, a first distance velocity angle spectrum, and first point cloud data.

[0008] Using the above method, the first unit can perform a first operation on the echo signal (i.e., the first signal) of the received sensing signal to obtain a second signal. The second signal can be any one of the following: first resource demapping data, first range spectrum, first range angle spectrum, first range velocity angle spectrum, or first point cloud data. It is evident that the amount of data in the second signal is less than the amount of data in the original sampled data of the first signal compared to directly transmitting the original sampled data. The above method effectively reduces the amount of data that the first unit needs to transmit to the second unit.

[0009] In one possible implementation, if the first operation includes: radio frequency processing, removal of cyclic prefix (CP), fast Fourier transform (FFT), and resource demapping, the second signal is the first resource demapping data.

[0010] The above method can reduce the amount of data that the first unit needs to transmit to the second unit, and can also reduce the computing power of the first unit.

[0011] In one possible implementation, if the first operation includes: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, and distance spectrum estimation, the second signal is the first distance spectrum.

[0012] By adopting the above method, the computing power utilization rate of the first unit and the amount of data that the first unit needs to transmit to the second unit are balanced. This approach avoids consuming too much computing power of the first unit and effectively reduces the amount of data that the first unit needs to transmit to the second unit.

[0013] In one possible implementation, if the first operation includes: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, and range angle spectrum estimation, the second signal is the first range angle spectrum.

[0014] By adopting the above method, the computing power utilization rate of the first unit and the amount of data that the first unit needs to transmit to the second unit are balanced. This approach avoids consuming too much computing power of the first unit and effectively reduces the amount of data that the first unit needs to transmit to the second unit.

[0015] In one possible implementation, the first operation further includes discarding data in the first range spectrum that is greater than the maximum detection range, the first range angle spectrum including data in the first range spectrum that is less than or equal to the maximum detection range; and / or, the first operation further includes discarding data in the first angle spectrum that is outside the beam scanning range, the first range angle spectrum including data in the first angle spectrum that is within the beam scanning range.

[0016] The above method can detect useless data in the range angle spectrum, further reducing the amount of data that needs to be transmitted to the second unit.

[0017] In one possible implementation, if the first operation includes: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, and range-velocity angle spectrum estimation, the second signal is the first range-velocity angle spectrum.

[0018] The above method can effectively reduce the amount of data that the first unit needs to transmit to the second unit.

[0019] In one possible implementation, if the first operation includes: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, distance-velocity-angle spectrum estimation, and constant false alarm rate (CFAR) detection, the second signal is the first point cloud data.

[0020] The above method can effectively reduce the amount of data that the first unit needs to transmit to the second unit.

[0021] In one possible implementation, the first unit receives first configuration information and / or second configuration information, wherein the first configuration information is used to indicate a first type of resource, which is used to receive the echo signal of the sensing signal sent by the access network device; and the second configuration information is used to indicate a second type of resource, which is used to receive the echo signal of the sensing signal sent by the terminal.

[0022] Using the above method, the first unit can determine whether the sender of the first sensing signal is an access network device or a terminal based on the first configuration information and the second configuration information. Alternatively, the first unit can determine whether the resource occupied by the first sensing signal is a first type of resource or a second type of resource based on the first configuration information and the second configuration information.

[0023] In one possible implementation, before sending the second signal, the first unit determines, based on the first configuration information, that the first signal occupies the resources of the first type, and performs the first operation on the first signal to obtain the second signal.

[0024] Using the above method, the first unit determines, based on the first configuration information, whether the sender of the first sensing signal is an access network device or not, and determines, based on the first configuration information, whether the resource occupied by the first signal is a first type of resource, and then determines the specific operation involved in the first operation.

[0025] In one possible implementation, when the second signal is sent to the second unit in the access network device, the first unit sends the second signal and first indication information to the second unit, the first indication information indicating that the first signal occupies the resources of the first type. Alternatively, the first indication information indicates that the sender of the first sensing signal is the access network device.

[0026] Using the above method, when the first unit sends a second signal to the second unit, the first unit can send the second signal and the first indication information to the second unit, thereby enabling the second unit to determine the operation to be performed in response to the second signal based on the first indication information.

[0027] In one possible implementation, the first unit receives a third signal, which is an echo signal of the second sensing signal; determines, based on the second configuration information, that the third signal occupies the second type of resource; and sequentially performs radio frequency processing, CP removal, FFT, and resource demapping on the third signal to obtain a fourth signal, which is the second resource demapping data; the first unit sends the fourth signal to the second unit.

[0028] Using the above method, the first unit determines the sender of the second sensing signal as a terminal or based on the second configuration information, and the first unit determines the resource occupied by the third signal as a second type of resource based on the second configuration information, and then determines the specific operation involved in the third operation.

[0029] In one possible implementation, when sending the fourth signal to the second unit, the first unit sends the fourth signal and second indication information to the second unit, the second indication information indicating that the third signal occupies the resources of the second type. Alternatively, the second indication information indicates that the sender of the first sensing signal is a terminal.

[0030] Using the above method, when the first unit sends the fourth signal to the second unit, the first unit can send the fourth signal and the second instruction information to the second unit, thereby enabling the second unit to determine the operation to be performed for the fourth signal based on the second instruction information.

[0031] In one possible implementation, the sender of the first sensing signal is an access network device, and the sender of the second sensing signal is a terminal.

[0032] Secondly, this application provides a communication method applied to a second unit in an access network device. For example, the second unit can be a DU (Radio Network Area Function Unit), a sensing function unit deployed on the access network device side, or a service unit deployed on the access network device side. The second unit can be understood as a device with second unit functions or a component within a second unit, or it can be a device capable of supporting the first unit in implementing this function, such as a chip system, hardware circuit, software module, or a hardware circuit plus a software module. Taking the second unit as the executing entity of this method as an example, the method includes: the second unit receiving a second signal, the second signal being obtained after performing a first operation on a first signal; the second signal being any one of first resource demapping data, a first distance spectrum, a first distance angle spectrum, a first distance velocity angle spectrum, and first point cloud data; the first signal being an echo signal of a first sensing signal; and performing a second operation on the second signal to obtain sensing data.

[0033] Using the above method, the second unit receives the second signal, performs the second operation on the second signal, and obtains sensing data. Since the amount of data in the second signal is less than the amount of data in the original sampled data of the first signal, the computing power requirement of the second unit can be effectively reduced, which helps to improve the processing efficiency of the sensing signal and reduces the latency overhead of obtaining sensing data.

[0034] In one possible implementation, if the second signal is the first resource demapping data, the second operation includes: channel estimation, range-velocity angle spectrum estimation, and CFAR detection.

[0035] In one possible implementation, if the second signal is the first distance spectrum, the second operation includes: angle spectrum estimation, velocity spectrum estimation, and CFAR detection.

[0036] In one possible implementation, if the second signal is the first distance angle spectrum, the second operation includes: velocity spectrum estimation and CFAR detection.

[0037] In one possible implementation, if the second signal is the first distance-velocity angle spectrum, the second operation includes: CFAR detection.

[0038] In one possible implementation, the second unit sends first configuration information and / or second configuration information, wherein the first configuration information is used to indicate a first type of resource, which is used to receive the echo signal of the sensing signal sent by the access network device; and the second configuration information is used to indicate a second type of resource, which is used to receive the echo signal of the sensing signal sent by the terminal.

[0039] In one possible implementation, the second unit receives the second signal and first indication information, the first indication information indicating that the first signal occupies the first type of resource; when performing a second operation on the second signal to obtain sensing data, the second unit performs the second operation on the second signal according to the first indication information to obtain the sensing data.

[0040] Using the above method, the second unit can determine the operation to be performed in response to the second signal based on the first instruction information.

[0041] In one possible implementation, the second unit receives the second signal and the second indication information, the second indication information indicating that the first signal occupies the resource of the second type; when performing a second operation on the second signal to obtain sensing data, the second unit performs the second operation on the second signal according to the second indication information to obtain the sensing data.

[0042] Using the above method, the second unit can determine the operation to be performed in response to the second signal based on the second instruction information.

[0043] Thirdly, this application provides a communication method, which is applied to a second unit in an access network device. For example, the second unit can be a DU, a wireless network area function unit, or a sensing function unit deployed on the access network device side, or a service unit deployed on the access network device side, etc. The second unit can be understood as a device with the function of the second unit or a part of the components in the second unit, or it can be a device that can support the first unit to realize the function, such as a chip system, hardware circuit, software module, or hardware circuit plus software module. Taking the second unit as the execution subject of this method as an example, the method includes: the second unit receiving a second signal, which is obtained after performing a first operation on a first signal, and the second signal is any one of first resource demapping data, first distance spectrum, first distance angle spectrum, first distance velocity angle spectrum, and first point cloud data, and the first signal is the echo signal of a first sensing signal, and the sender of the first sensing signal is an access network device; receiving a fourth signal, which is obtained after performing radio frequency processing, CP removal, FFT, and resource demapping on a third signal, and the fourth signal is second resource demapping data, the third signal is the echo signal of a second sensing signal, and the sender of the second sensing signal is a terminal; the second unit determines sensing data based on the second signal and the fourth signal.

[0044] Using the above method, the second unit receives two different types of sensing signals, namely the second signal and the fourth signal, and fuses the second signal and the fourth signal to obtain sensing data, thereby improving the sensing accuracy.

[0045] In one possible implementation, the second unit sends first configuration information and / or second configuration information, wherein the first configuration information is used to indicate a first type of resource, which is used to receive the echo signal of the sensing signal sent by the access network device; and the second configuration information is used to indicate a second type of resource, which is used to receive the echo signal of the sensing signal sent by the terminal.

[0046] In one possible implementation, upon receiving the second signal, the second unit receives the second signal and first indication information, the first indication information indicating that the first signal occupies the resource of the first type.

[0047] In one possible implementation, upon receiving the fourth signal, the second unit receives the fourth signal and second indication information, the second indication information indicating that the second signal occupies the resource of the second type.

[0048] In one possible implementation, the second signal is the first range-velocity angle spectrum; when determining sensing data based on the second signal and the fourth signal, the second unit performs velocity spectrum estimation on the second signal according to the first indication information to obtain the first range-velocity angle spectrum; performs channel estimation and range-velocity angle spectrum estimation on the fourth signal according to the second indication information to obtain the second range-velocity angle spectrum; determines the third range-velocity angle spectrum based on the first range-velocity angle spectrum and the second range-velocity angle spectrum; and performs CFAR detection on the third range-velocity angle spectrum to obtain point cloud data.

[0049] Using the above design, the first distance velocity angle spectrum obtained by the second signal and the second distance velocity angle spectrum obtained by the fourth signal can be fused to obtain the third distance velocity angle spectrum, and point cloud data can be obtained based on the third distance velocity angle spectrum.

[0050] In one possible implementation, the second signal is the first resource demapping data; when determining the sensing data based on the second signal and the fourth signal, the second unit performs channel estimation and range-velocity angle spectrum estimation on the second signal to obtain a first range-velocity angle spectrum; performs channel estimation and range-velocity angle spectrum estimation on the fourth signal to obtain a second range-velocity angle spectrum; determines a third range-velocity angle spectrum based on the first and second range-velocity angle spectra; and performs CFAR detection on the third range-velocity angle spectrum to obtain point cloud data.

[0051] Using the above design, the first distance velocity angle spectrum obtained by the second signal and the second distance velocity angle spectrum obtained by the fourth signal can be fused to obtain the third distance velocity angle spectrum, and point cloud data can be obtained based on the third distance velocity angle spectrum.

[0052] In one possible implementation, the second signal is the first resource demapping data; when determining the sensing data based on the second signal and the fourth signal, the second unit performs channel estimation, range-velocity-angle spectrum estimation and CFAR detection on the second signal to obtain first point cloud data; performs channel estimation, range-velocity-angle spectrum estimation and CFAR detection on the fourth signal to obtain second point cloud data; and determines third point cloud data based on the first point cloud data and the second point cloud data.

[0053] By adopting the above design, the first point cloud data obtained through the second signal and the second point cloud data obtained through the fourth signal can be fused to obtain the third point cloud data.

[0054] In one possible implementation, the second signal is the first distance spectrum; when determining sensing data based on the second signal and the fourth signal, the second unit performs angle spectrum estimation and velocity spectrum estimation on the second signal to obtain a first distance-velocity angle spectrum; performs channel estimation and distance-velocity angle spectrum estimation on the fourth signal to obtain a second distance-velocity angle spectrum; determines a third distance-velocity angle spectrum based on the first distance-velocity angle spectrum and the second distance-velocity angle spectrum; and performs CFAR detection on the third distance-velocity angle spectrum to obtain point cloud data.

[0055] Using the above design, the first distance velocity angle spectrum obtained by the second signal and the second distance velocity angle spectrum obtained by the fourth signal can be fused to obtain the third distance velocity angle spectrum, and point cloud data can be obtained based on the third distance velocity angle spectrum.

[0056] In one possible implementation, the second signal is the first range spectrum; when determining sensing data based on the second signal and the fourth signal, the second unit performs angle spectrum estimation, velocity spectrum estimation and CFAR detection on the second signal to obtain first point cloud data; performs channel estimation, range-velocity-angle spectrum estimation and CFAR detection on the fourth signal to obtain second point cloud data; and determines third point cloud data based on the first point cloud data and the second point cloud data.

[0057] By adopting the above design, the first point cloud data obtained through the second signal and the second point cloud data obtained through the fourth signal can be fused to obtain the third point cloud data.

[0058] In one possible implementation, the second signal is the first range angle spectrum; when determining sensing data based on the second signal and the fourth signal, the second unit performs velocity spectrum estimation on the second signal to obtain the first range velocity angle spectrum; performs channel estimation and range velocity angle spectrum estimation on the fourth signal to obtain the second range velocity angle spectrum; determines the third range velocity angle spectrum based on the first range velocity angle spectrum and the second range velocity angle spectrum; and performs CFAR detection on the third range velocity angle spectrum to obtain point cloud data.

[0059] Using the above design, the first distance velocity angle spectrum obtained by the second signal and the second distance velocity angle spectrum obtained by the fourth signal can be fused to obtain the third distance velocity angle spectrum, and point cloud data can be obtained based on the third distance velocity angle spectrum.

[0060] In one possible implementation, the second signal is the first range-angle spectrum; when determining sensing data based on the second signal and the fourth signal, the second unit performs velocity spectrum estimation and CFAR detection on the second signal to obtain first point cloud data; performs channel estimation, range-velocity angle spectrum estimation and CFAR detection on the fourth signal to obtain second point cloud data; and determines third point cloud data based on the first point cloud data and the second point cloud data.

[0061] By adopting the above design, the first point cloud data obtained through the second signal and the second point cloud data obtained through the fourth signal can be fused to obtain the third point cloud data.

[0062] In one possible implementation, the second signal is the first distance-velocity angle spectrum; when determining sensing data based on the second signal and the fourth signal, the second unit performs channel estimation and distance-velocity angle spectrum estimation on the fourth signal to obtain a second distance-velocity angle spectrum; a third distance-velocity angle spectrum is determined based on the first distance-velocity angle spectrum and the second distance-velocity angle spectrum; CFAR detection is performed on the third distance-velocity angle spectrum to obtain point cloud data.

[0063] Using the above design, the second distance angle spectrum obtained through the fourth signal and the first distance velocity angle spectrum (second signal) can be fused to obtain the third distance angle spectrum, and point cloud data can be obtained based on the third distance angle spectrum.

[0064] In one possible implementation, the second signal is the first range-velocity angle spectrum; when determining sensing data based on the second signal and the fourth signal, the second unit performs CFAR detection on the second signal to obtain first point cloud data; performs channel estimation, range-velocity angle spectrum estimation and CFAR detection on the fourth signal to obtain second point cloud data; and determines third point cloud data based on the first point cloud data and the second point cloud data.

[0065] By adopting the above design, the first point cloud data obtained through the second signal and the second point cloud data obtained through the fourth signal can be fused to obtain the third point cloud data.

[0066] In one possible implementation, the second signal is the first point cloud data; when determining sensing data based on the second signal and the fourth signal, the second unit performs channel estimation, range-velocity-angle spectrum estimation and CFAR detection on the fourth signal to obtain the second point cloud data; and determines the third point cloud data based on the first point cloud data and the second point cloud data.

[0067] By adopting the above design, the second point cloud data obtained through the fourth signal and the first point cloud data (second signal) can be fused to obtain the third point cloud data.

[0068] Fourthly, this application provides a communication device, which includes a transceiver unit and a processing unit. The processing unit is used to control the operation of the transceiver unit. The transceiver unit is used to receive a first signal, which is an echo signal of a first sensing signal, and to send a second signal to a second unit in the access network device. The second signal is obtained after performing a first operation on the first signal. The second signal is any one of first resource demapping data, a first distance spectrum, a first distance angle spectrum, a first distance velocity angle spectrum, and first point cloud data.

[0069] In one possible implementation, if the first operation includes: radio frequency processing, removal of cyclic prefix (CP), fast Fourier transform (FFT), and resource demapping, the second signal is the first resource demapping data.

[0070] In one possible implementation, if the first operation includes: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, and distance spectrum estimation, the second signal is the first distance spectrum.

[0071] In one possible implementation, if the first operation includes: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, and range angle spectrum estimation, the second signal is the first range angle spectrum.

[0072] In one possible implementation, if the first operation includes: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, and range-velocity angle spectrum estimation, the second signal is the first range-velocity angle spectrum.

[0073] In one possible implementation, if the first operation includes: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, distance-velocity-angle spectrum estimation, and constant false alarm rate (CFAR) detection, the second signal is the first point cloud data.

[0074] In one possible implementation, the first operation further includes discarding data in the first range spectrum that is greater than the maximum detection range, the first range angle spectrum including data in the first range spectrum that is less than or equal to the maximum detection range; and / or, the first operation further includes discarding data in the first angle spectrum that is outside the beam scanning range, the first range angle spectrum including data in the first angle spectrum that is within the beam scanning range.

[0075] In one possible implementation, the transceiver unit is configured to receive first configuration information and / or second configuration information, wherein the first configuration information is configured to indicate a first type of resource, the first type of resource being used to receive echo signals of sensing signals sent by the access network device; and the second configuration information is configured to indicate a second type of resource, the second type of resource being used to receive echo signals of sensing signals sent by the terminal.

[0076] In one possible implementation, before sending the second signal, the processing unit is configured to determine, based on the first configuration information, that the first signal occupies the first type of resource, and to perform the first operation on the first signal to obtain the second signal.

[0077] In one possible implementation, when the second signal is sent to a second unit in the access network device, the transceiver unit is configured to send the second signal and first indication information to the second unit, the first indication information indicating that the first signal occupies the first type of resource.

[0078] In one possible implementation, a transceiver unit is configured to receive a third signal, which is an echo signal of a second sensing signal; a processing unit is configured to determine, based on the second configuration information, that the third signal occupies resources of the second type; and to sequentially perform radio frequency processing, CP removal, FFT, and resource demapping on the third signal to obtain a fourth signal, which is second resource demapping data; the transceiver unit is configured to send the fourth signal to the second unit.

[0079] In one possible implementation, when sending the fourth signal to the second unit, the transceiver unit is configured to send the fourth signal and second indication information to the second unit, the second indication information indicating that the third signal occupies the resource of the second type.

[0080] In one possible implementation, the sender of the first sensing signal is an access network device, and the sender of the second sensing signal is a terminal.

[0081] Fifthly, this application provides a communication device, which includes a transceiver unit and a processing unit. The transceiver unit is used to receive a second signal, which is obtained after performing a first operation on a first signal. The second signal is any one of first resource demapping data, a first distance spectrum, a first distance angle spectrum, a first distance velocity angle spectrum, and first point cloud data. The first signal is an echo signal of a first sensing signal. The processing unit is used to perform a second operation on the second signal to obtain sensing data.

[0082] In one possible implementation, if the second signal is the first resource demapping data, the second operation includes: channel estimation, range-velocity angle spectrum estimation, and CFAR detection.

[0083] In one possible implementation, if the second signal is the first distance spectrum, the second operation includes: angle spectrum estimation, velocity spectrum estimation, and CFAR detection.

[0084] In one possible implementation, if the second signal is the first distance angle spectrum, the second operation includes: velocity spectrum estimation and CFAR detection.

[0085] In one possible implementation, if the second signal is the first distance-velocity angle spectrum, the second operation includes: CFAR detection.

[0086] In one possible implementation, the transceiver unit is configured to transmit first configuration information and / or second configuration information, wherein the first configuration information is configured to indicate a first type of resource, the first type of resource being used to receive echo signals of sensing signals transmitted by the access network device; and the second configuration information is configured to indicate a second type of resource, the second type of resource being used to receive echo signals of sensing signals transmitted by the terminal.

[0087] In one possible implementation, a transceiver unit is configured to receive the second signal and a first indication information, the first indication information indicating that the first signal occupies resources of the first type; when performing a second operation on the second signal to obtain sensing data, a processing unit is configured to perform the second operation on the second signal according to the first indication information to obtain the sensing data.

[0088] In one possible implementation, a transceiver unit is configured to receive the second signal and second indication information, the second indication information indicating that the first signal occupies resources of the second type; when performing a second operation on the second signal to obtain sensing data, a processing unit is configured to perform the second operation on the second signal according to the second indication information to obtain the sensing data.

[0089] In a sixth aspect, this application provides a communication device, which includes a transceiver unit and a processing unit. The transceiver unit is configured to receive a second signal obtained after performing a first operation on a first signal, wherein the second signal is any one of first resource demapping data, a first distance spectrum, a first distance angle spectrum, a first distance velocity angle spectrum, and first point cloud data, and the first signal is an echo signal of a first sensing signal, the sender of the first sensing signal being an access network device; and to receive a fourth signal obtained after performing radio frequency processing, CP removal, FFT, and resource demapping on a third signal, wherein the fourth signal is second resource demapping data, the third signal is an echo signal of a second sensing signal, and the sender of the second sensing signal is a terminal; the processing unit is configured to determine sensing data based on the second signal and the fourth signal.

[0090] In one possible implementation, the transceiver unit is configured to transmit first configuration information and / or second configuration information, wherein the first configuration information is configured to indicate a first type of resource, the first type of resource being used to receive echo signals of sensing signals transmitted by the access network device; and the second configuration information is configured to indicate a second type of resource, the second type of resource being used to receive echo signals of sensing signals transmitted by the terminal.

[0091] In one possible implementation, upon receiving the second signal, the transceiver unit is configured to receive the second signal and first indication information, the first indication information indicating that the first signal occupies the resource of the first type.

[0092] In one possible implementation, upon receiving the fourth signal, the transceiver unit is configured to receive the fourth signal and second indication information, the second indication information indicating that the third signal occupies the resource of the second type.

[0093] In one possible implementation, the second signal is the first range-velocity angle spectrum; when determining sensing data based on the second signal and the fourth signal, the processing unit is configured to perform velocity spectrum estimation on the second signal based on the first indication information to obtain a first range-velocity angle spectrum; perform channel estimation and range-velocity angle spectrum estimation on the fourth signal based on the second indication information to obtain a second range-velocity angle spectrum; determine a third range-velocity angle spectrum based on the first range-velocity angle spectrum and the second range-velocity angle spectrum; and perform CFAR detection on the third range-velocity angle spectrum to obtain point cloud data.

[0094] In one possible implementation, the second signal is the first resource demapping data; when determining the sensing data based on the second signal and the fourth signal, the processing unit is configured to perform channel estimation and range-velocity angle spectrum estimation on the second signal to obtain a first range-velocity angle spectrum; perform channel estimation and range-velocity angle spectrum estimation on the fourth signal to obtain a second range-velocity angle spectrum; determine a third range-velocity angle spectrum based on the first range-velocity angle spectrum and the second range-velocity angle spectrum; and perform CFAR detection on the third range-velocity angle spectrum to obtain point cloud data.

[0095] In one possible implementation, the second signal is the first resource demapping data; when determining the sensing data based on the second signal and the fourth signal, the processing unit is configured to perform channel estimation, range-velocity-angle spectrum estimation, and CFAR detection on the second signal to obtain first point cloud data; perform channel estimation, range-velocity-angle spectrum estimation, and CFAR detection on the fourth signal to obtain second point cloud data; and determine third point cloud data based on the first point cloud data and the second point cloud data.

[0096] In one possible implementation, the second signal is the first distance spectrum; when determining the sensing data based on the second signal and the fourth signal, the processing unit is configured to perform angle spectrum estimation and velocity spectrum estimation on the second signal to obtain a first distance-velocity angle spectrum; perform channel estimation and distance-velocity angle spectrum estimation on the fourth signal to obtain a second distance-velocity angle spectrum; determine a third distance-velocity angle spectrum based on the first distance-velocity angle spectrum and the second distance-velocity angle spectrum; and perform CFAR detection on the third distance-velocity angle spectrum to obtain point cloud data.

[0097] In one possible implementation, the second signal is the first range spectrum; when determining sensing data based on the second signal and the fourth signal, the processing unit is configured to perform angle spectrum estimation, velocity spectrum estimation and CFAR detection on the second signal to obtain first point cloud data; perform channel estimation, range-velocity-angle spectrum estimation and CFAR detection on the fourth signal to obtain second point cloud data; and determine third point cloud data based on the first point cloud data and the second point cloud data.

[0098] In one possible implementation, the second signal is the first range angle spectrum; when determining the sensing data based on the second signal and the fourth signal, the processing unit is configured to perform velocity spectrum estimation on the second signal to obtain a first range velocity angle spectrum; perform channel estimation and range velocity angle spectrum estimation on the fourth signal to obtain a second range velocity angle spectrum; determine a third range velocity angle spectrum based on the first range velocity angle spectrum and the second range velocity angle spectrum; and perform CFAR detection on the third range velocity angle spectrum to obtain point cloud data.

[0099] In one possible implementation, the second signal is the first range-angle spectrum; when determining the sensing data based on the second signal and the fourth signal, the processing unit is configured to perform velocity spectrum estimation and CFAR detection on the second signal to obtain first point cloud data; perform channel estimation, range-velocity-angle spectrum estimation and CFAR detection on the fourth signal to obtain second point cloud data; and determine third point cloud data based on the first point cloud data and the second point cloud data.

[0100] In one possible implementation, the second signal is the first distance-velocity angle spectrum; when determining sensing data based on the second signal and the fourth signal, the processing unit is configured to perform channel estimation and distance-velocity angle spectrum estimation on the fourth signal to obtain a second distance-velocity angle spectrum; determine a third distance-velocity angle spectrum based on the first distance-velocity angle spectrum and the second distance-velocity angle spectrum; and perform CFAR detection on the third distance-velocity angle spectrum to obtain point cloud data.

[0101] In one possible implementation, the second signal is the first range-velocity angle spectrum; when determining sensing data based on the second signal and the fourth signal, the processing unit is configured to perform CFAR detection on the second signal to obtain first point cloud data; perform channel estimation, range-velocity angle spectrum estimation and CFAR detection on the fourth signal to obtain second point cloud data; and determine third point cloud data based on the first point cloud data and the second point cloud data.

[0102] In one possible implementation, the second signal is the first point cloud data; when determining sensing data based on the second signal and the fourth signal, the processing unit is configured to perform channel estimation, range-velocity-angle spectrum estimation and CFAR detection on the fourth signal to obtain the second point cloud data; and determine the third point cloud data based on the first point cloud data and the second point cloud data.

[0103] Seventhly, this application provides a communication device that has the function of implementing any one of the first, second, or third aspects described above. For example, the communication device includes a module, unit, or means corresponding to the operation involved in any one of the first, second, or third aspects described above. The module, unit, or means can be implemented by software, hardware, or a combination of software and hardware.

[0104] Eighthly, this application provides a communication device including an interface circuit and one or more processors. The one or more processors are coupled to a memory. The memory stores part or all of the necessary computer program or instructions for implementing the functions involved in any of the first, second, or third aspects described 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 any of the first, second, or third aspects described above when the computer program or instructions are executed. The interface circuit is used to implement the communication functions within the communication device and / or the communication functions between the communication device and other devices or components.

[0105] In one possible design, the processor is used to communicate with other devices or components through the interface circuit.

[0106] In one possible design, the communication device may also include the memory.

[0107] Ninthly, this application provides a communication system or access network device, which includes a first unit and a second unit. The first unit is used to perform the method in any possible design of the first aspect described above, and the second unit is used to perform the method in any possible design of the second or third aspect described above.

[0108] In a tenth aspect, this application provides a communication system comprising an access network device and a terminal device, wherein a first unit in the access network device is configured to perform a method in any possible design of the first aspect described above, and the access network device is configured to perform a method in any possible design of the second or third aspect described above.

[0109] Eleventhly, this application provides a computer-readable storage medium storing computer-readable instructions, which, when read and executed by a computer, cause the computer to perform any of the possible designs of the first, second, or third aspects described above.

[0110] In a twelfth aspect, 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, second, or third aspects described above.

[0111] In a thirteenth aspect, this application provides a chip including at least one processor and an interface. The processor is configured to execute computer instructions or programs, which, when run, cause the chip to perform the method described in any one of the first, second, or third aspects. The processor may execute computer programs or instructions stored in memory to cause the aforementioned method to be performed. The memory may be included in the chip or located externally. Furthermore, the chip may also include an interface.

[0112] For the technical effects that can be achieved in aspects four through thirteen above, please refer to the description of the technical effects that can be achieved by the corresponding design scheme in aspect one above. This application will not repeat them here. Attached Figure Description

[0113] Figure 1 shows a schematic diagram of a new RAN architecture for future communication systems according to this application;

[0114] Figure 2 shows a schematic diagram of the functional division of the communication protocol stack between BBU and RRU in this application;

[0115] Figure 3 shows a schematic diagram of a 5G NG-RAN architecture in this application;

[0116] Figure 4 shows a schematic diagram of a wireless communication system architecture according to this application;

[0117] Figure 5 shows a schematic diagram of an open RAN architecture in this application;

[0118] Figure 6 illustrates a possible perception scenario in this application;

[0119] Figure 7 shows a schematic diagram of a RAN architecture for processing sensing services in this application;

[0120] Figure 8 shows an overview flowchart of a communication method in this application;

[0121] Figure 9 shows a schematic diagram of possible implementations of the first and second operations in this application;

[0122] Figure 10A shows a schematic diagram of the time delay domain data;

[0123] Figure 10B shows a schematic diagram of time-domain beam domain data;

[0124] Figure 10C shows a schematic diagram of segmenting time-domain beam domain data;

[0125] Figure 11 shows an overview flowchart of another communication method in this application;

[0126] Figure 12A shows a schematic diagram of a possible implementation of the fusion processing of the second and fourth signals in this application;

[0127] Figure 12B shows a schematic diagram of a possible implementation of the fusion processing of the second and fourth signals in this application;

[0128] Figure 13 shows a schematic diagram of the structure of a communication device according to this application;

[0129] Figure 14 shows a schematic diagram of the structure of a communication device according to this application. Detailed Implementation

[0130] The specific implementations of this application are described below with reference to the accompanying drawings in the embodiments. However, the implementations of this application may also include combining these embodiments without departing from the scope of this application, such as using other embodiments and making structural changes. Therefore, the detailed description of the following embodiments should not be understood in a limiting sense. The terminology used in the embodiment section of this application is only used to explain the specific embodiments of this application and is not intended to limit this application.

[0131] Figure 1 illustrates a new radio access network (RAN) architecture for future communication systems. This architecture re-divides the functions of access network equipment into radio unit (RU) functions, radio network area (RNA) functions, and RAN automation functions. The RNA and RU functions communicate through a low layer split (LLS) interface. A RAN-UE interface is established between the RU and user equipment (UE). A RAN-CN interface exists between the RNA and the core network (CN). The RAN automation functions manage the RU and RNA functions through a network function (NF) management interface.

[0132] In global system for mobile communications (GSM), wideband code division multiple access (WCDMA), universal mobile telecommunications system (UMTS), long term evolution (LTE), and 5G communication systems, access network equipment functional entities have been divided into two functional units according to the underlying layer (i.e., physical layer and radio frequency part): baseband unit (BBU) and remote radio unit (RRU). The BBU is connected to one or more RRUs through fiber optic, metal cabling, or microwave links. The BBU mainly performs upper-layer centralized processing of baseband signals, while the RRU mainly performs functions such as receiving and transmitting baseband signals, as well as modulation and demodulation, data processing, and power amplification of mid-frequency and radio frequency signals. The RRU is closer to the antenna, resulting in lower feeder loss, and can also be called RU or active antenna unit (AAU). The interface between the BBU and RRU is usually called the fronthaul interface or underlying layer split interface.

[0133] In the base station systems corresponding to 2G, 3G, and 4G respectively, the interface specification between BBU and RRU adopts the Common Public Radio Interface (CPRI) protocol. The CPRI protocol defines the key communication interface specifications between radio equipment control (REC) and radio equipment (RE) in wireless communication networks. It includes the specification of functional decomposition between BBU and RRU from the radio frequency (RF) layer and physical layer (PHY) layer in the communication protocol stack, as shown in Figure 2. The RF layer functions are located in RRU, and the PHY layer and above are located in BBU.

[0134] Since the amount of communication data transmitted between the PHY layer of the BBU and the RF layer of the RRU is directly related to the size of the antenna array, the splitting method specified by the CPRI protocol results in an excessive amount of data on the fronthaul interface, which cannot support the scenario of 5G massive antenna arrays.

[0135] For example, a single fiber optic cable with a bandwidth of 9.8 gigabits per second (Gbps) can only support two cells with four transmit antennas and four receive antennas (4T4R) and a wireless bandwidth of 20 MHz on a CPRI fronthaul interface. The fronthaul interface traffic is approximately 3.9 Gbps. Therefore, the 9.8 Gbps fiber can support two such cells, 9.8 > 3.9 * 2. However, a cell with 64 antennas and an air interface bandwidth of 100 MHz has a fronthaul interface traffic of approximately 312 Gbps, requiring 32 such fibers to be deployed on the CPRI interface, 32 * 9.8 > 312.

[0136] Therefore, by evolving the CPRI protocol, the 5G base station system adopts the enhanced CPRI protocol (eCPRI). As shown in Figure 2, the eCPRI protocol further refines the communication protocol stack of the wireless network, dividing the PHY layer into two parts: a low physical layer (low PHY) and a high physical layer (high PHY). Low physical layer functions are deployed in the RRU, while high physical layer and above functions are deployed in the BBU. The interface specifications between the BBU and RRU at the low and high physical layers have also been redefined. The eCPRI protocol transforms the interface between the BBU and RRU from the RF layer-PHY layer interface specified in the CPRI protocol to a low physical layer-high physical layer interface. This transforms the original fiber optic communication between the RF layer and PHY layer into communication within the RRU's internal board or field-programmable gate array (FPGA) chip. Simultaneously, the data dimension of communication between the BBU's high physical layer and the RRU's low physical layer is reduced, becoming less directly related to the size of the antenna array on the RRU. CPRI and eCPRI employ a bottom-level splitting approach, allowing the BBU to process baseband signals in a highly centralized manner. This enables centralized deployment of computing resources, resulting in high resource utilization and low deployment costs. However, bottom-level splitting places high demands on the fronthaul link bandwidth between the BBU and RRU, leading to high fiber optic deployment costs.

[0137] To reduce the pressure on fronthaul link bandwidth and deployment costs caused by the underlying segmentation method, the 3rd Generation Partnership Project (3GPP) standardization organization proposed a new base station function segmentation method in the 5G New Radio (NR) protocol. The 5G NR base station (gNodeB, gNB) adopts a high-level segmentation approach, segmenting between the Packet Data Convergence Protocol (PDCP) layer and the Radio Link Control (RLC) layer. This splits the base station into two functional entities: a central unit (CU) and a distributed unit (DU). The midhaul link between the CU and DU has lower network bandwidth requirements. Figure 3 shows the 3GPP 5G Next Generation Radio Access Network (NG-RAN) architecture. Within NG-RAN, a gNB can consist of two parts: a gNB-CU and a gNB-DU. The 5G radio access network is also known as the next-generation radio access network.

[0138] Figure 4 illustrates a possible wireless communication system architecture applicable to embodiments of this application. Data between the terminal and the server is transmitted through a base station and a core network. The access network equipment function can be divided into three functional modules: CU, DU, and RU. The core network (e.g., a 5G core network (5GC)) can connect to one or more CUs. A CU can connect to one or more DUs via a midhaul link, and a DU can connect to one or more RUs via a fronthaul link. An RU can establish a physical transmission link with one or more terminals. CUs, DUs, and RUs can be deployed in different physical devices. The system architecture can also include scenarios where the access network equipment function is divided into two functional modules. For example, if the CU and DU functions are deployed in the same physical device, then the CU and DU functions can be considered as one functional entity; or, if the DU and RU functions are deployed in the same physical device, then the DU and RU functions can be considered as one functional entity. The communication system is not limited to a 5G network architecture but is also applicable to LTE networks and future communication network architectures, such as other network architectures with communication connectivity capabilities.

[0139] The functions of the three functional modules CU, DU, and RU shown in Figure 4 are briefly introduced below:

[0140] CU: Manages the RRC, Service Data Adaptation Protocol (SDAP), and Packet Data Convergence Protocol (PDCP) protocols of the access network equipment, and controls one or more DU operations. The CU connects to the DU via the F1 interface. The CU is responsible for the slow processing of non-real-time functions within the access network equipment, such as handover and connection management.

[0141] DU: Manages the radio link control (RLC), medium access control (MAC), and PHY layers of the base station. Its operation is controlled by CU. One DU supports one or more cells. One cell supports only one DU. The DU is responsible for the rapid processing of real-time functions within the base station, such as encoding / decoding and fast scheduling.

[0142] RU: Primarily responsible for receiving and transmitting baseband signals, as well as modulation and demodulation of radio frequency signals, data processing, and power amplification. RUs are deployed close to the antenna, resulting in low feeder loss.

[0143] Figure 5 illustrates a possible Open RAN (O-RAN) architecture used in embodiments of this application. The O-RAN protocol divides the baseband unit and radio unit into three distinct modules and their protocol layers: the O-RAN Radio Unit (O-RAN RU, O-RU), the O-RAN Distributed Unit (O-RAN DU, O-DU), and the O-RAN Central Unit (O-RAN CU, O-CU). It strives to maintain consistency and reuse with the network elements of the RAN access network defined by the 3GPP standard as much as possible. The O-RAN architecture includes the following core components:

[0144] 1) O-RU: Its functions include the RU functions mentioned above, which are used to handle the lower part of the physical layer functions and communicate with the O-DU through the fronthaul interface between the O-DU and the O-RU.

[0145] 2) O-DU: Its functions include those of the DU mentioned above, used for baseband processing, scheduling, radio link control, media access control, and the higher-level physical layer. The O-DU communicates with the O-RU through the fronthaul interface and with the O-CU through the F1 interface between the O-DU and O-CU.

[0146] 3) O-CU: Its functions include those of the CU mentioned above, and it is used to handle protocol layer functions such as SDAP. The O-CU communicates with the O-DU through the F1 interface.

[0147] 4) Near-real-time RAN intelligent controller (Near-RT RIC): Used to collect network information and perform necessary optimization tasks. The Near-RT RIC communicates with the O-CU and O-DU via the E2 interface.

[0148] 5) Service Management and Orchestration Framework (SMO): This is a subsystem of OAM network management and non-real-time radio resource control. Its main functions include: 1) Operations, Administration and Maintenance (OAM) of cloud infrastructure, i.e., operation, maintenance and management of cloud infrastructure through the O2 interface; 2) RAN OAM, i.e., operation, maintenance and management of the radio access network through the O1 interface; 3) Non-real-time RAN Intelligent Control (Non-RT RIC), i.e., combining artificial intelligence and big data analytics to implement non-real-time macro-control and intervention of O-RAN radio resources through the A1 interface. Each managed logical network element (O-RU / O-DU / O-CU) in the O-RAN architecture can act as an independent entity, communicating with the SMO using an independent, publicly accessible O1 communication interface.

[0149] The embodiments of this application can be applied to various communication systems, such as: long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, worldwide interoperability for microwave access (WIMAX) communication systems, 5G systems or NR, or to future communication systems or other similar communication systems, or ultra-wideband (UWB) systems, or wireless fidelity (WiFi) systems.

[0150] In this application, a terminal may also be referred to as user equipment (UE), terminal equipment, access terminal, subscriber unit, user station, mobile station, mobile station (MS), remote station, remote terminal, mobile device, user terminal, terminal equipment, wireless communication equipment, user agent, or user device, etc.

[0151] This application does not limit the form of the terminal. The device used to implement the terminal's functions can be the terminal itself, or it can be any device that supports the terminal in implementing those functions, such as a module or a chip system. This device can be installed in the terminal or used in conjunction with the terminal. In this application, the chip system can be composed of chips, or it can include chips and other discrete components.

[0152] In this application, the access network equipment can be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next-generation NodeB (gNB), a base station in a future mobile communication system, or an access node in a WiFi system. The access network equipment can also be O-RAN or a cloud radio access network (CRAN). The access network equipment can also be a communication system integrating two or more of the above systems. The access network equipment can be a macro base station, a micro base station, an indoor station, a relay node, or a donor node, etc.

[0153] This application does not limit the form of the access network device. The device used to implement the function of the access network device can be the access network device itself; it can also be a device that supports the access network device in implementing the function, such as a module or chip (system). The device can be installed in the access network device or used in conjunction with the access network device.

[0154] It is understood that the network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating 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.

[0155] The following is a brief description of the technical concepts involved in this application:

[0156] 1. The principle of sensing technology

[0157] The principle of sensing technology is that the transmitting end sends a signal (also called a sensing signal), which reaches the sensing target and is reflected by the sensing target. The receiving end receives the reflected sensing signal (also called the echo signal) and processes the received echo signal to obtain sensing data.

[0158] The sensed signal can be any signal in a wireless communication system, such as an orthogonal frequency division multiplexing (OFDM) signal. For example, the sensed signal can be a reference signal, such as a downlink reference signal or a sounding reference signal (SRS). The sensed signal can also be other types of signals; this application does not limit the form in which the sensed signal is presented.

[0159] The sensing target can also be referred to as a target, a detected target, a sensed object, a sensed object, or a sensed object, etc., and this application does not limit this terminology. The sensing target can be any object in the environment capable of reflecting electromagnetic waves. For example, the sensing target can be a stationary object such as a building. Alternatively, the sensing target can also be a mobile object such as a vehicle, a drone, or a terminal.

[0160] The sensed data, also known as sensed results or sensed information, is not limited in this application. Sensed data refers to the relevant information about the sensed target obtained by the receiving end through the echo signal of the sensed signal. For example, the sensed data can be a range spectrum (also known as the R-spectrum), an angle spectrum (also known as the A-spectrum), a velocity spectrum (also known as the V-spectrum), a range / angle (RA) spectrum (also known as the RA spectrum), a range / velocity / angle (RVA) spectrum (also known as the RVA spectrum), or point cloud data. Furthermore, the velocity spectrum can be replaced by a Doppler spectrum, and the range spectrum can be replaced by a delay spectrum. This application does not limit the specific form of the sensed data.

[0161] 2. Communication and sensing fusion technology or integrated communication and sensing

[0162] With the development of communication technology, the integration of communication and sensing has been proposed. The core idea of ​​the integration of communication and sensing is to add sensing capabilities to mobile communication networks, and build capabilities such as detection, tracking and imaging of sensing targets, thereby integrating communication and sensing capabilities into a single network system.

[0163] Depending on whether the transmitting and receiving ends of the sensing signals are the same, the integrated sensing scenario can be divided into scenarios of A transmitting and A receiving (or self-transmitting and self-receiving) and A transmitting and B receiving (or self-transmitting and other receiving).

[0164] In Figure 6, (1) represents the scenario where the access network device transmits and receives signals independently, (2) represents the scenario where access network device A transmits and access network device B receives signals, and (3) represents the scenario where the terminal transmits and the access network device receives signals. Here, "transmit" can be understood as "sending sensing signals" and "receiving" can be understood as "receiving the echo signal of the sensing signals". In addition, the integrated sensing scenario can also include the scenario where the terminal transmits and receives signals independently, the scenario where terminal A transmits and terminal B receives signals, and the scenario where the access network device transmits and the terminal receives signals, which are not shown in Figure 6.

[0165] 3. Possible operations for the echo signal of the sensed signal

[0166] (1) Channel estimation of the echo signal of the sensed signal (hereinafter referred to as channel estimation):

[0167] For example, channel estimation can be performed using the least squares (LS) method, also known as perceptual LS.

[0168] (2) R-spectral estimation:

[0169] For example, R-spectrum estimation can also be called R-spectrum transform. R-spectrum estimation refers to using the inverse fast fourier transform (IFFT) to transform the frequency-space data in in-phase (I / quadrature, IQ) data into delay-space data. Specifically, the echo signal undergoes radio frequency processing, cyclic prefix removal (CP), fast fourier transform (FFT), beamforming, and channel estimation to obtain the IQ data.

[0170] Optionally, the number of points in the time-delay domain data can be equal to, greater than, or less than the number of subcarriers. More points in the time-delay domain result in higher complexity, larger data volume, and higher accuracy or resolution. The number of points in the R-spectrum can be set according to the distance resolution or accuracy requirements of the sensing task. The number of subcarriers can be the number of subcarriers included in the frequency domain resources occupied by the sensing signal.

[0171] (3) A-spectrum estimation

[0172] For example, A-spectrum estimation can also be called A-spectrum transformation. A-spectrum estimation refers to using FFT to transform antenna-space data in IQ data into beam-space data.

[0173] Optionally, the number of points in the beam domain data along the beam domain dimension can be equal to, greater than, or less than the number of sub-antennas. More points along the beam domain dimension result in higher complexity, larger data volume, and higher accuracy or resolution. The number of points included in the A-spectrum can be set according to the angular resolution or accuracy requirements of the sensing task. The number of antennas can be the number of antenna ports on the access network device.

[0174] (4) V-spectrum estimation

[0175] For example, V-spectrum estimation can also be called V-spectrum transformation. V-spectrum estimation refers to using FFT to transform the symbol domain data in IQ data corresponding to multiple periods in the time domain to Doppler domain data.

[0176] The IQ data corresponding to multiple periods refers to the IQ data corresponding to the echo signals of the sensing signals for each of the multiple periods. The sensing signal or its echo signal can occupy one or more symbols in the time domain; these symbols are also called sensing symbols. The echoes of the sensing signal for multiple periods can occupy multiple sensing symbols in the time domain.

[0177] (5) Estimation of RVA spectrum

[0178] For example, RVA spectral estimation can also be called RVA spectral transformation. RVA spectral estimation includes R-spectral estimation, A-spectral estimation, and V-spectral estimation. The order of R-spectral estimation, A-spectral estimation, and V-spectral estimation is not limited here. Please refer to the relevant content above for details.

[0179] (6) Constant false alarm rate (CFAR) detection

[0180] For example, CFAR detection is used to statistically analyze the probability of data occurrence at each point in multiple RVA spectra to obtain point cloud information.

[0181] It is understood that the operations involved in (1) to (6) above are merely examples and are not intended to limit this application.

[0182] 4. Maximum detection range:

[0183] Referring to the concept of maximum radar detection range in the radar field, maximum detection range can also be called radar power. Maximum detection range is typically calculated using radar equations based on the Fries equation, where it is related to the maximum intermediate frequency signal bandwidth (and analog-to-digital conversion sampling rate). The radar in the above concept can correspond to the transmitting or receiving end (e.g., RU) of the sensing signal in this application.

[0184] 5. Maximum unambiguous distance:

[0185] Referring to the concept of maximum unambiguous range in the radar field, it corresponds to the distance of a two-way delay time T (i.e., the two-way propagation time of the detection signal between the radar and the target at the maximum range). This two-way delay time T represents the distance that the radar waits for a sufficiently long time T after transmitting a detection signal, allowing the reflected signal from the target at the maximum range to return before the next pulse is transmitted. Therefore, the maximum unambiguous range can correspond to the distance corresponding to half or half of the pulse (i.e., detection signal) repetition interval. The radar in the above concept can correspond to the transmitting or receiving end of the sensing signal in this application (e.g., RU).

[0186] 6. Maximum detection angle:

[0187] In the field of radar, the maximum detection angle, also known as the maximum scanning angle, refers to the maximum angular range within which a radar system can effectively detect a target. In other words, it defines the angular limit within the spatial coverage area of ​​the radar antenna where a target can be reliably detected. Beyond this angular range, the radar's detection capability will significantly decrease, or even fail to detect the target. The maximum detection angle is usually closely related to the beamwidth of the radar antenna. Beamwidth refers to the angular range within which the radiation intensity of the radar antenna in a specific direction drops to a certain percentage (usually -3dB or -6dB) of its maximum value. The maximum detection angle can be described in both horizontal and vertical directions, usually expressed in degrees, with a typical horizontal angle range of 120° to 160°. The radar in the above concept can correspond to the transmitting or receiving end of the sensing signal in this application (e.g., RU).

[0188] 7. Beam scanning range:

[0189] Referring to the concept of radar beam scanning range in the field of radar, it refers to the range that the electromagnetic beam emitted by the radar antenna can cover, and is usually expressed in degrees.

[0190] Figure 7 illustrates a RAN architecture for handling sensing services. The sensing function (SF) can be deployed in access network equipment, as a network element in the core network, co-located with other core network elements, or deployed in a separate device independent of the access network and core network equipment. The SF has functions such as collecting and processing sensing data, and sharing sensing data.

[0191] Currently, the fronthaul segmentation supporting sensing uses CPRI segmentation, and the processing of the echo signal of the sensing signal can be carried out in the following three ways:

[0192] Method 1: After receiving the echo signal of the sensing signal, the AAU can send the raw sampled data of the echo signal to the BBU. The BBU can process the data received from the AAU and send the processed data to the SF deployed on the access network equipment side. For example, the BBU can send sensing data to the SF. The SF can perform further processing on the data received from the BBU. For example, the SF can determine information such as the speed and location of the sensing target based on the sensing data.

[0193] Method 2: After receiving the echo signal from the sensing signal, the AAU can send the raw sampled data of the echo signal to the BBU. The BBU can process the data received from the AAU and send the processed data to the SF deployed on the core network side. The SF can then perform further processing on the data received from the BBU.

[0194] Method 3: After receiving the echo signal from the sensing signal, the AAU can send the raw sampled data of the echo signal to a separately deployed SF. The SF can then process the data received from the AAU.

[0195] For example, if the current optical transmission module bandwidth constraint is 200Gbps, the access network equipment has 256 antenna ports, an air interface spectrum bandwidth of 400MHz, and the sensing signal occupies 14 symbols with a sensing period of 2.5ms (i.e., the sensing signal occupies 20% of the total symbols), then the fronthaul interface using CPRI segmentation needs a transmission rate of 410Gbps to meet the transmission requirements, far exceeding the 200Gbps bandwidth constraint. In other words, using any of the methods 1 to 3 above, the AAU's data transmission rate needs to reach 410Gbps to meet the current data transmission requirements; otherwise, the AAU needs to buffer a large amount of data, meaning a large amount of data cannot be transmitted in a timely manner. It is evident that the amount of data the AAU needs to transmit is large, potentially far exceeding the fronthaul optical module bandwidth constraint, resulting in low data transmission efficiency and a longer processing time for the entire echo signal. Furthermore, if the AAU's data buffering is not considered, data overflow or data loss may occur.

[0196] To reduce the amount of data transmitted from the RU to the DU in scenarios involving sensing services, this application provides embodiments as shown in Figures 8 and 11 below. In the following embodiments, the first unit and the second unit in the access network device are used as examples to illustrate the execution of the interaction. However, this application does not limit the execution entities used in the interaction illustrations.

[0197] In one possible implementation, the first unit can be an RU, and the second unit can be a DU. The DU is connected to the RU, or the DU can be connected to the RU via a forward link.

[0198] In another possible implementation, the first unit can be RU and the second unit can be RNA.

[0199] In another possible implementation, the first unit can be an RU and the second unit can be an SF, where the SF can be deployed on the access network device side.

[0200] In another possible implementation, the first unit can be an RU, and the second unit can be a service unit (SU), where the SF can be deployed on the access network device side.

[0201] Furthermore, as a possible application scenario, the first and second units described below can also be replaced by the interaction process between the first unit in the access network device and the SU. In this case, the SU is either a stand-alone SU or a SU deployed on the core network side.

[0202] As shown in Figure 8, this application provides a communication method, which includes:

[0203] Step 800: The first unit receives the first signal, which is the echo signal of the first sensing signal.

[0204] For example, the sender of the first sensing signal can be an access network device, which can be the access network device to which the first unit belongs, or an access network device not to which the first unit belongs. For example, referring to (1) in Figure 6 above, the access network device sends the first sensing signal, and the first unit in the access network device receives the echo signal of the first sensing signal. That is, the first signal. As another example, referring to (2) in Figure 6 above, access network device A sends the first sensing signal, and the first unit in access network device B receives the echo signal of the first sensing signal. That is, the first signal.

[0205] For example, the sender of the first sensing signal can also be a terminal. For instance, referring to (3) in Figure 6 above, the terminal sends the first sensing signal, and the first unit in the access network device receives the echo signal of the first sensing signal. That is, the first signal.

[0206] Step 810: The first unit sends a second signal to the second unit. Correspondingly, the second unit receives the second signal from the first unit.

[0207] The second signal is obtained after performing the first operation on the first signal.

[0208] For example, the first unit can perform a first operation on the first signal and obtain a second signal. For example, the second signal is any one of the following: first resource demapping data, first distance spectrum, first distance angle spectrum, first distance velocity angle spectrum, and first point cloud data. In addition, the second signal can also be in other forms, as can be seen in the various examples in Figure 9 above.

[0209] The specific operations involved in the first operation can be referred to in the following description of Figure 9.

[0210] In one possible implementation, the specific operation involved in the first operation can be predefined or preconfigured.

[0211] In another possible implementation, the specific operation involved in the first operation may be related to the sender of the first sensing signal, wherein the sender of the first sensing signal may be an access network device or a terminal. Alternatively, the specific operation involved in the first operation may be related to the type of resource used by the first sensing signal, wherein the type of resource used by the first sensing signal may be replaced by the type of resource occupied by the first sensing signal, or the type of resource adopted by the first sensing signal.

[0212] For example, the first unit may receive first configuration information and / or second configuration information, wherein the first configuration information is used to indicate a first type of resource, which is used to transmit sensing signals sent by the access network device, and the second configuration information is used to indicate a second type of resource, which is used to transmit sensing signals sent by the terminal. The first type of resource being used to transmit sensing signals sent by the access network device can be understood as the first type of resource being used to receive the echo signal of the sensing signal sent by the access network device; the second type of resource being used to transmit sensing signals sent by the terminal can be understood as the second type of resource being used to receive the echo signal of the sensing signal sent by the terminal. For example, if the first unit is an RU, and a DU connected to the RU sends the first configuration information and / or the second configuration information to the first unit. If the second unit is a DU connected to the RU, then the second unit sends the first configuration information and / or the second configuration information to the first unit.

[0213] Optionally, the first unit can receive first configuration information and / or second configuration information from the SF or core network (e.g., AMF or SF deployed in the core network) via the second unit. It is understood that the access network device or terminal sending the sensing signal first obtains the configuration information, and then sends the sensing signal based on the obtained configuration information. This configuration information may refer to the content of the first or second configuration information.

[0214] The following examples, using different scenarios, illustrate the process by which the first unit obtains the first and second configuration information:

[0215] Scenario 1: Assume the second unit is DU and the first unit is RU. DU is connected to one RU. DU sends first configuration information and second configuration information to the RU. DU also sends second configuration information to the terminal. The first configuration information indicates a first type of resource, which is used to send a first sensing signal or for the RU to send a sensing signal. The second configuration information indicates a second type of resource, which is used to send a second sensing signal or for the terminal to send a sensing signal. The RU sends the first sensing signal, and the terminal sends the second sensing signal. The RU can receive the echo signal of the first sensing signal (i.e., the first signal) and the echo signal of the second sensing signal (i.e., the third signal), and can distinguish between the first and third signals based on the first and second configuration information. Furthermore, the RU can also distinguish between the echo signals of communication signals and sensing signals from the terminal based on the second configuration information.

[0216] Scenario 2: Assume the second unit is DU, the first unit is RU1, and DU is connected to two RUs, RU1 and RU2. DU sends first configuration information and second configuration information to RU1. DU also sends second configuration information to the terminal, and DU also sends first configuration information to RU2. The first configuration information indicates a first type of resource, which is used to send a first sensing signal or for RU2 to send a sensing signal. The second configuration information indicates a second type of resource, which is used to send a second sensing signal or for the terminal to send a sensing signal. RU2 sends the first sensing signal, and the terminal sends the second sensing signal. RU1 can receive the echo signal of the first sensing signal (i.e., the first signal) and the echo signal of the second sensing signal (i.e., the third signal), and can distinguish between the first and third signals based on the first and second configuration information. Furthermore, RU can also distinguish between the echo signals of communication signals and sensing signals from the terminal based on the second configuration information.

[0217] Scenario 3: Assume the second unit is DU1, the first unit is RU1, DU1 is connected to RU1, and DU2 is connected to RU2. DU2 sends first configuration information and second configuration information to DU1. DU1 sends first configuration information and / or second configuration information to RU1. DU2 also sends second configuration information to the terminal, and DU2 also sends first configuration information to RU2. The first configuration information indicates a first type of resource, which is used to send a first sensing signal or for RU2 to send a sensing signal. The second configuration information indicates a second type of resource, which is used to send a second sensing signal or for the terminal to send a sensing signal. RU2 sends the first sensing signal, and the terminal sends the second sensing signal. RU1 can receive the echo signal of the first sensing signal (i.e., the first signal) and the echo signal of the second sensing signal (i.e., the third signal), and can distinguish between the first and third signals based on the first and second configuration information. Furthermore, RU can also distinguish between the echo signals of communication signals and sensing signals from the terminal based on the second configuration information.

[0218] In one possible design, the type of resource is related to the type of the sender of the sensing signal, wherein the first type of resource corresponds to the type of the sender of the sensing signal being an access network device, and the second type of resource corresponds to the type of the sender of the sensing signal being a terminal.

[0219] In another possible design, the first type of resources is associated with a specific access network device, and the second type of resources is associated with a specific device. For example, the first type of resources are used for a specific access network device to transmit sensing signals, and the second type of resources are used for a specific terminal to transmit sensing signals.

[0220] For example, the first configuration information may include, but is not limited to, one or more of the following: sensing symbol information, sensing period, frequency domain resource information, and spatial domain resource information.

[0221] In this context, a sensing symbol refers to a time-domain symbol occupied by a sensing signal, such as an OFDM symbol. Sensing symbol information includes: identifiers of the starting and ending sensing symbols, or identifiers of each sensing symbol, or the identifier of the starting sensing symbol and the number of consecutive sensing symbols, or sensing symbol bitmap information. The sensing symbol bitmap indicates the position of the sensing symbols occupied by the sensing signal; for example, it indicates the position of a sensing symbol within a time slot. In one example, the sensing symbol bitmap can be represented by a 14-bit bitmap, where a bit with a value of 1 indicates that the corresponding symbol is a sensing symbol, and a bit with a value of 0 indicates that the corresponding symbol is neither a sensing symbol nor a communication symbol. For example, if the bitmap is 111111100000, it means that symbols 0-6 are sensing symbols, and symbols 7-13 are non-sensing symbols or communication symbols.

[0222] Frequency domain resource information may include the identifier and size of each frequency domain resource (optional), or the identifier of the starting frequency domain resource and the identifier of the ending frequency domain resource, or the identifier of the starting frequency domain resource, the size of the frequency domain resource (optional) and the number of consecutive frequency domain resources, or the identifier of the starting frequency domain resource, the size of the frequency domain resource (optional) and the frequency hopping interval (used to indicate uniformly spaced frequency domain resources), or frequency domain resource bit map information and the size of the frequency domain resource (optional). The frequency domain resource bit map information is used to indicate the location of the frequency domain resource occupied by the sensing signal. For example, a bit with a value of 1 indicates that the frequency domain resource corresponding to the bit is occupied by the sensing signal, and a bit with a value of 0 indicates that the frequency domain resource corresponding to the bit is not occupied by the sensing signal or is only occupied by the communication signal.

[0223] Airspace resource information includes beam identifiers or code domain information, etc.

[0224] It is understood that the parameters mentioned above are merely examples and are not intended to limit this application. The content of the second configuration information is similar to that of the first configuration signal, and will not be repeated here. For example, taking the SRS transmitted by the terminal as an example, the second configuration information may include, but is not limited to, the following: sensing symbol information and SRS period, wherein the sensing symbol information includes the identifier of the starting SRS symbol and the number of consecutive SRS symbols.

[0225] As a possible example (hereinafter referred to as Example A), the first unit can determine that the first signal comes from the access network device based on the first configuration information, or in other words, the first unit can determine that the sender of the first sensing signal is the access network device based on the first configuration information. Further, the first unit performs a first operation on the first signal to obtain the second signal. This first operation is denoted as Operation A. Alternatively, the first unit can determine that the first signal comes from the terminal based on the second configuration information, or in other words, the first unit can determine that the sender of the first sensing signal is the terminal based on the second configuration information. Further, the first unit performs a first operation on the first signal to obtain the second signal. This first operation is denoted as Operation B. Operation A and Operation B may be different operations. That is, the specific operation involved in the first operation may be related to the sender of the first sensing signal. The first network element needs to combine the first configuration information and the second configuration information to determine whether the sender of the first sensing signal is the access network device or the terminal. If the sender of the first sensing signal is the access network device, the first unit performs Operation A on the first signal; if the sender of the first sensing signal is the terminal, the first unit performs Operation B on the first signal. Operation A and Operation B can be predefined or preconfigured.

[0226] As another possible example (hereinafter referred to as Example B), the first unit can determine, based on the first configuration information, that the first sensing signal or the first signal occupies a resource of the first type. Further, the first unit performs a first operation on the first signal to obtain a second signal. This first operation is denoted as Operation A. Alternatively, the first unit can determine, based on the second configuration information, that the first sensing signal or the first signal occupies a resource of the second type. Further, the first unit performs a first operation on the first signal to obtain a second signal. This first operation is denoted as Operation B. Operation A and Operation B may be different operations. That is, the specific operation involved in the first operation may be related to the type of resource used by the first sensing signal or the first signal. The first network element needs to combine the first configuration information and the second configuration information to determine whether the first sensing signal or the first signal occupies a resource of the first type or a resource of the second type. If the first sensing signal or the first signal occupies a resource of the first type, the first unit performs Operation A on the first signal; if the first sensing signal or the first signal occupies a resource of the second type, the first unit performs Operation B on the first signal. Operation A and Operation B can be predefined or preconfigured.

[0227] For example, operation A in Example A or Example B above can be the first operation involved in Example 5 below, specifically including: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, and range spectrum estimation. Operation B in Example A or Example B above can be the first operation involved in Example 3, specifically including radio frequency processing, CP removal, FFT, and resource demapping.

[0228] For example, operation A in Example A or Example B above can be the first operation involved in Example 7, specifically including: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, range spectrum estimation, and angle spectrum estimation. Operation B in Example A or Example B above can be the first operation involved in Example 3, specifically including radio frequency processing, CP removal, FFT, and resource demapping.

[0229] Furthermore, as one possible implementation, the first unit can also receive M first configuration information entries and information about M access network devices, and / or N second configuration information entries and information about N terminals. The resources indicated by the M first configuration information entries correspond one-to-one with the M access network devices, and the resources indicated by the N second configuration information entries correspond one-to-one with the N terminals. Here, M is a positive integer, and N is a positive integer.

[0230] For example, the first unit can also receive first configuration information 1, first configuration information 2, and second configuration information. First configuration information 1 indicates resource 1, which is used to transmit the sensing signal sent by access network device A. First configuration information 2 indicates resource 2, which is used to transmit the sensing signal sent by access network device B. Second configuration information indicates resource 3, which is used to transmit the sensing signal sent by the terminal. Similar to example A above, the first network element can combine first configuration information 1, first configuration information 2, and second configuration information to determine whether the sender of the first sensing signal is an access network device (including access network device A or access network device B) or a terminal. If the sender of the first sensing signal is access network device A or access network device B, the first unit performs operation A for the first signal; if the sender of the first sensing signal is a terminal, the first unit performs operation B for the first signal. The sensing information from different access network devices may use different code sequences. If the sender of the first sensing signal is access network device A, the unit performing channel estimation needs to perform channel estimation by combining the code sequence of access network device A. If the sender of the first sensing signal is access network device B, the unit performing channel estimation needs to perform channel estimation by combining the code sequence of access network device B. Wherein, if operation A includes channel estimation, the unit performing channel estimation is the first unit; if operation B includes channel estimation, the unit performing channel estimation is the second unit.

[0231] Step 820: The second unit performs a second operation on the second signal to obtain sensing data.

[0232] The specific operations involved in the second operation can be referred to in the following description of Figure 9.

[0233] In one possible implementation, the specific operation involved in the second operation can be predefined or preconfigured.

[0234] In another possible implementation, the specific operation involved in the second operation may be related to the sender of the first sensing signal, wherein the sender of the first sensing signal may be an access network device or a terminal. Alternatively, the specific operation involved in the second operation may be related to the type of resource used by the first sensing signal or the first signal.

[0235] For example, referring to Example A above, when the first unit sends the second signal to the second unit, that is, for step 820, the first unit can send the second signal and first indication information to the second unit. The first indication information indicates that the sender of the first sensing signal is an access network device. Further, the second unit performs a second operation on the second signal according to the first indication information to obtain sensing data. This second operation is denoted as operation C. It is understood that if M pieces of first configuration information correspond one-to-one with M access network devices, and M is a positive integer greater than or equal to 2, the first indication information can specifically indicate which of the M access network devices is the sender of the first sensing signal. Alternatively, the first unit can send the second signal and the second indication information to the second unit, where the second indication information indicates that the sender of the first sensing signal is a terminal. Further, the second unit performs a second operation on the second signal according to the second indication information to obtain sensing data. This second operation is denoted as operation D. It is understood that if N pieces of second configuration information correspond one-to-one with N terminals, and N is a positive integer greater than or equal to 2, the second indication information can specifically indicate which of the N terminals is the sender of the first sensing signal. Operations C and D can be predefined or preconfigured.

[0236] With the above design, the first unit can notify the sender of the first sensing signal to the second unit, thereby enabling the second unit to determine the specific operation involved in the second operation based on the sender of the first sensing signal. If the sender of the first sensing signal is an access network device, the second unit performs operation C on the second signal according to the second operation; if the sender of the first sensing signal is a terminal, the second unit performs operation D on the second signal.

[0237] For example, referring to Example B above, when the first unit sends the second signal to the second unit, i.e., for step 820, the first unit can send the second signal and first indication information to the second unit. The first indication information indicates that the first sensing signal or the first signal occupies a first type of resource (refer to the first configuration information). Further, the second unit performs a second operation on the second signal according to the first indication information to obtain sensing data. This second operation is denoted as operation C. Alternatively, the first unit can send the second signal and second indication information to the second unit. The second indication information indicates that the first sensing signal or the first signal occupies a second type of resource (refer to the second configuration information). Further, the second unit performs a second operation on the second signal according to the second indication information to obtain sensing data. This second operation is denoted as operation D. Operations C and D can be predefined or preconfigured.

[0238] Using the above design, the first unit can notify the second unit of the type of resource occupied by the first sensing signal or the first signal, thereby enabling the second unit to determine the specific operation involved in the second operation based on the type of resource occupied by the first sensing signal or the first signal. If the first sensing signal or the first signal occupies a resource of the first type, the second unit performs operation C for the second signal; if the first sensing signal or the first signal occupies a resource of the second type, the second unit performs operation D for the second signal.

[0239] For example, if operation A in example A or example B above can be the first operation involved in example 5 below, then operation C can be the second operation involved in example 5 below. If operation B in example A or example B above can be the first operation involved in example 3, then operation D can be the second operation involved in example 3 below.

[0240] For example, if operation A in example A or example B above can be the first operation involved in example 7, then operation C can be the second operation involved in example 7 below. If operation B in example A or example B above can be the first operation involved in example 3, then operation D can be the second operation involved in example 3 below.

[0241] Furthermore, as a possible implementation, the first unit can send third indication information to the second unit, wherein the third indication information is used to indicate the type of the second signal, which is also the data type of the second signal. Further, the second unit can perform a second operation on the second signal according to its type to obtain perceived data. The third indication information can be sent together with the second signal or separately; this application does not limit this. Moreover, if the first unit sends the third indication information, the first unit may not need to send the first or second indication information.

[0242] For example, the type of the second signal can be resource demapping data, distance spectrum, distance-angle spectrum, distance-velocity-angle spectrum, point cloud information, etc.

[0243] For example, if the second signal is demapped data of the first resource, the third indication information indicates that the type of the second signal is demapped data. The second unit performs a second operation on the second signal according to its type, wherein the second operation includes channel estimation, range-velocity-angle spectrum estimation, and CFAR detection. After performing the above second operation on the second signal, the second unit obtains sensing data, wherein the sensing data is first point cloud data.

[0244] For example, if the second signal is a first range angle spectrum, the third indication information indicates that the type of the second signal is a range angle spectrum. The second unit performs a second operation on the second signal according to its type, wherein the second operation includes velocity spectrum estimation and CFAR detection. After performing the above-mentioned second operation on the second signal, the second unit obtains sensing data, wherein the sensing data is first point cloud data.

[0245] In one possible implementation, the DU can also send compressed configuration information to the first unit. If the second unit is a DU connected to the first unit, then the second unit can send compressed configuration information to the first unit. Furthermore, the compressed configuration information can be pre-configured or predefined; this application does not limit its scope in this regard.

[0246] For example, the compression configuration information includes compression method indication information and / or first parameter information, wherein the first parameter information can be used to indicate the bit width of the compressed data. The first parameter information can also be referred to as the IQ bit width indication. For example, the compression configuration can be referenced in Table 1 below.

[0247] For example, if the compression method indication information indicates uncompressed, or no compression is performed, the first parameter information indicates the bit width of each uncompressed I-value and the bit width of each uncompressed Q-value. Furthermore, if the compression method indication is uncompressed, the first parameter information can be omitted; in this case, the bit width of each uncompressed I-value and the bit width of each uncompressed Q-value can be default values. Alternatively, if the first unit does not need to perform compression, the DU may not send compression configuration information to the first unit.

[0248] For example, if the compression method indicated by the compression method indication information is block floating point, the first parameter information indicates the bit width of each I tail value and the bit width of each Q tail value.

[0249] For example, if the compression method indicated by the compression method indication information is block scaling, the first parameter information indicates the bit width of each I scaling value and the bit width of each Q scaling value.

[0250] For example, if the compression method indicated by the compression method indication information is μ-law, the first parameter information indicates the bit width of the I value and the bit width of the Q value for each compression.

[0251] For more information on Table 1, please refer to the relevant content in the O-RAN Fronthaul Control, User and Synchronization Plane Specification, which will not be repeated here.

[0252] Table 1

[0253] Furthermore, after performing a first operation on the first signal, the first unit can obtain the data after performing the first operation, and compress the data after performing the first operation based on the aforementioned compression configuration information to obtain the second signal. This method can reduce the amount of data that the first unit needs to transmit to the second unit.

[0254] As one possible implementation, the compression configuration information may also include a discard instruction, which may indicate a first threshold and a second threshold, wherein the first threshold is a threshold for the I value and the second threshold is a threshold for the Q value. If the I value in the data after performing the first operation is less than the first threshold, the first unit discards the I value; if the Q value in the data after performing the first operation is less than the second threshold, the first unit discards the Q value. Alternatively, the discard instruction may indicate a third threshold, wherein the third threshold is a threshold shared by the I and Q values. It is understood that the aforementioned first, second, or third thresholds may also be predefined or preconfigured, and this application does not limit this. In actual implementation, the aforementioned "discard" may also be understood as a "zeroing" operation, that is, setting the I or Q value that meets the conditions to zero according to the first, second, or third threshold.

[0255] The above method can reduce the amount of data that the first unit needs to transmit to the second unit.

[0256] As one possible implementation, if the compression method indicated by the compression method indication information is block floating-point or block scaling, the compression configuration information may also include the number of blocks and / or the block size, where the number of blocks refers to the number of blocks obtained after dividing the data after performing the first operation, and the block size refers to the number of data items contained in each block.

[0257] In one example, if the compression configuration information also includes the number of blocks, the first unit can determine the number of data items in each block based on the number of data items after the first operation and the number of blocks. If the compression configuration information also includes the block size, the first unit can determine the number of blocks based on the number of data items after the first operation and the block size.

[0258] Furthermore, the first unit can divide the data after the first operation into blocks and perform compression operations on each block separately. The following examples illustrate this:

[0259] Example A: The first unit divides the data after performing the first operation into blocks, and compresses each block based on the aforementioned first parameter information to obtain a second signal. The second signal includes multiple compressed blocks. In this case, the first parameter information applies to each block, and each block is compressed using the same bit width.

[0260] Example B: The first parameter information may include the bit widths corresponding to blocks of different importance. Specifically, the bit width of a block with higher importance is greater than the bit width of a block with lower importance.

[0261] The first unit divides the data after the first operation into blocks according to different importance, obtains blocks of different importance, and compresses them with different bit widths for blocks of different importance to obtain a second signal. The second signal includes multiple compressed blocks.

[0262] The importance of data can be reflected in the magnitude of a single data point or the range of magnitude variation of a set of data (i.e., the maximum absolute value minus the minimum absolute value). For example, in the data after performing the first operation, the element "0" is less important than other non-zero elements.

[0263] Example C: The bit width indicated by the first parameter information is the average bit width. The first unit divides the data after performing the first operation into blocks according to different importance, obtaining blocks of different importance, and compresses the blocks of different importance using different bit widths to obtain a second signal. The second signal includes multiple compressed blocks. In Example C, the average bit width of each block is the average bit width indicated by the first parameter information.

[0264] Using the examples B and C above, the first unit can group or block the data according to the importance of different sensed data, and compress the blocks of different importance to different degrees, which can effectively reduce the amount of data to be transmitted and minimize the performance loss caused by compression.

[0265] Furthermore, when the first unit sends the second signal to the second unit, the first unit may send a compression method indication and / or second parameter information to the second unit. The compression method indication can be consistent with the above-mentioned content and will not be repeated here. The specific details of the second parameter information can be found in Table 2. Further information regarding Table 2 can also be found in the relevant content of the O-RAN CUS protocol, and will not be repeated here.

[0266] For example, the data header of the second signal carries an indication of the compression method.

[0267] Table 2

[0268] Referring to Example A above, if each block is compressed using the same bit width, the second signal may also include second parameter information. This second parameter information can also be carried in the data packet header of the second signal. Furthermore, the second unit can decompress each compressed block included in the second signal using the second parameter information to obtain the decompressed data.

[0269] Combining examples B and C above, the first unit employs a block floating-point or block scaling compression method, using different bit widths for compression of blocks of varying importance. The first unit can send an indicator bit corresponding to each compressed block to the second unit. This indicator bit can occupy 1 bit and can be used to indicate whether the block corresponding to the bit is a block of "all zero elements". If the indicator bit indicates that the block corresponding to the bit is a block of "all zero elements", the first unit does not carry the content of that block. Furthermore, the second unit can recover the data contained in the block as "all zero elements" based on the indicator bit, and the second unit knows the number of elements contained in each block.

[0270] If the indicator bit indicates that the block corresponding to that bit is not a block of "all zeros", the first unit carries the content of that block after the indicator bit. Furthermore, if the indicator bit corresponding to the compressed block indicates that the block corresponding to that bit is not a block of "all zeros", the first unit can carry corresponding second parameter information after the indicator bit, that is, the second parameter information corresponding to the compressed block. This second parameter information is used to recover or decompress the block. For example, the second parameter information can be a block scaling factor, which can be used to determine the bit width used in the compressed block. Further, the second unit can recover the data included in the block based on the second parameter information.

[0271] The first operation in step 810 and the second operation in step 820 above are illustrated below with reference to Figure 9:

[0272] Example 1: The first unit can perform a first operation on a first signal, wherein the first operation may include: radio frequency processing and CP removal. After performing the first operation on the first signal, the first unit obtains a second signal, wherein the second signal is the data of the first signal after radio frequency processing and CP removal.

[0273] Referring to Example 1, the second unit can perform a second operation on the received second signal. This second operation may include Fast Fourier Transform (FFT), resource demapping, channel estimation, range-velocity angle spectrum estimation, and constant false-alarm rate (CFAR) detection. After performing the above second operation on the second signal, the second unit obtains sensing data, which is the first point cloud data. For example, referring to Figure 9(1), the left side of the dashed line represents the operation performed by the first unit, and the right side of the dashed line represents the operation performed by the second unit.

[0274] Alternatively, in conjunction with Example 1, the second unit can perform a second operation on the received second signal, wherein the second operation may include FFT, resource demapping, channel estimation, and range-velocity angle spectrum estimation. After performing the above-mentioned second operation on the second signal, the second unit obtains sensing data, wherein the sensing data is a first range-velocity angle spectrum.

[0275] Using Example 1 above can reduce the amount of data that the first unit needs to transmit to the second unit, and can occupy less computing power of the first unit.

[0276] Example 2: The first unit may perform a first operation on a first signal, wherein the first operation may include: radio frequency processing, CP removal, and FFT. After performing the first operation on the first signal, the first unit obtains a second signal, wherein the second signal is the data of the first signal after radio frequency processing, CP removal, and FFT.

[0277] Referring to Example 2, the second unit can perform a second operation on the received second signal, which may include resource demapping, channel estimation, range-velocity-angle spectrum estimation, and CFAR detection. After performing the above second operation on the second signal, the second unit obtains sensing data, which is first point cloud data. For example, referring to (2) in Figure 9, the left side of the dashed line represents the operation performed by the first unit, and the right side of the dashed line represents the operation performed by the second unit.

[0278] Alternatively, in conjunction with Example 2, the second unit can perform a second operation on the received second signal, wherein the second operation may include resource demapping, channel estimation, and range-velocity angle spectrum estimation. After performing the above-mentioned second operation on the second signal, the second unit obtains sensing data, wherein the sensing data is a first range-velocity angle spectrum.

[0279] Using Example 2 above can reduce the amount of data that the first unit needs to transmit to the second unit, and can occupy less computing power of the first unit.

[0280] Example 3: The first unit can perform a first operation on a first signal, wherein the first operation may include: radio frequency processing, CP removal, FFT, and resource demapping. After performing the above first operation on the first signal, the first unit obtains a second signal, wherein the second signal is first resource demapping data, and the first resource demapping data is the data of the first signal after radio frequency processing, CP removal, FFT, and resource demapping.

[0281] Referring to Example 3, the second unit can perform a second operation on the received second signal, which may include channel estimation, range-velocity angle spectrum estimation, and CFAR detection. After performing the above-mentioned second operation on the second signal, the second unit obtains sensing data, which is first point cloud data. For example, referring to (3) in Figure 9, the left side of the dashed line represents the operation performed by the first unit, and the right side of the dashed line represents the operation performed by the second unit.

[0282] Alternatively, in conjunction with Example 3, the second unit can perform a second operation on the received second signal, wherein the second operation may include channel estimation and range-velocity angle spectrum estimation. After performing the above-mentioned second operation on the second signal, the second unit obtains sensing data, wherein the sensing data is a first range-velocity angle spectrum.

[0283] Example 3 above takes into account both the computing power utilization rate of the first unit and the amount of data that the first unit needs to transmit to the second unit. This approach avoids consuming too much computing power of the first unit while effectively reducing the amount of data that the first unit needs to transmit to the second unit.

[0284] Example 4: The first unit may perform a first operation on a first signal, wherein the first operation may include: radio frequency processing, CP removal, FFT, resource demapping, and channel estimation. After performing the above first operation on the first signal, the first unit obtains a second signal, wherein the second signal is the data of the first signal after radio frequency processing, CP removal, FFT, resource demapping, and channel estimation.

[0285] Referring to Example 4, the second unit can perform a second operation on the received second signal, which may include range-velocity angle spectrum estimation and CFAR detection. After performing the above-mentioned second operation on the second signal, the second unit obtains sensing data, which is the first point cloud data. For example, referring to (4) in Figure 9, the left side of the dashed line represents the operation performed by the first unit, and the right side of the dashed line represents the operation performed by the second unit.

[0286] Alternatively, in conjunction with Example 4, the second unit may perform a second operation on the received second signal, wherein the second operation may include range-velocity angle spectrum estimation. After performing the aforementioned second operation on the second signal, the second unit obtains sensing data, wherein the sensing data is a first range-velocity angle spectrum.

[0287] The above example 4 takes into account the computing power utilization rate of the first unit and the amount of data that the first unit needs to transmit to the second unit. It will not consume too much computing power of the first unit, and can effectively reduce the amount of data that the first unit needs to transmit to the second unit.

[0288] Example 5: The first unit may perform a first operation on a first signal, wherein the first operation may include: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, and range spectrum estimation. After performing the above first operation on the first signal, the first unit obtains a second signal, wherein the second signal is the first range spectrum.

[0289] Referring to Example 5, the second unit can perform a second operation on the received second signal, which may include angle spectrum estimation, velocity spectrum estimation, and CFAR detection. After performing the above-mentioned second operation on the second signal, the second unit obtains sensing data, which is the first point cloud data. For example, referring to (5) in Figure 9, the left side of the dashed line represents the operation performed by the first unit, and the right side of the dashed line represents the operation performed by the second unit.

[0290] Alternatively, the second unit may perform a second operation on the received second signal, wherein the second operation may include angle spectrum estimation and velocity spectrum estimation. After performing the above-mentioned second operation on the second signal, the second unit obtains sensing data, wherein the sensing data is a first distance-velocity-angle spectrum.

[0291] Using Example 5 above can effectively reduce the amount of data that the first unit needs to transmit to the second unit.

[0292] Example 6: The first unit may perform a first operation on a first signal, wherein the first operation may include: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, and angle spectrum estimation. After performing the above first operation on the first signal, the first unit obtains a second signal, wherein the second signal is the first angle spectrum.

[0293] Referring to Example 6, the second unit can perform a second operation on the received second signal, which may include range spectrum estimation, velocity spectrum estimation, and CFAR detection. After performing the above-mentioned second operation on the second signal, the second unit obtains sensing data, which is the first point cloud data. For example, referring to (6) in Figure 9, the left side of the dashed line represents the operation performed by the first unit, and the right side of the dashed line represents the operation performed by the second unit.

[0294] Alternatively, the second unit may perform a second operation on the received second signal, wherein the second operation may include range spectrum estimation and angle spectrum estimation. After performing the above-mentioned second operation on the second signal, the second unit obtains sensing data, wherein the sensing data is a first range-velocity-angle spectrum.

[0295] Using Example 6 above can effectively reduce the amount of data that the first unit needs to transmit to the second unit.

[0296] Example 7: The first unit may perform a first operation on a first signal, wherein the first operation may include: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, range spectrum estimation, and angle spectrum estimation. After performing the above first operation on the first signal, the first unit obtains a second signal, wherein the second signal is a first range-angle spectrum. This application does not limit the order of the above range spectrum estimation and angle spectrum estimation.

[0297] It is understandable that the sender of the sensing signal can periodically send the sensing signal. Considering that velocity spectrum estimation requires combining echo signals from multiple cycles, while range spectrum estimation and angle spectrum estimation do not require combining echo signals from multiple cycles, the first unit performs range spectrum estimation and angle spectrum estimation on the echo signals received in each cycle, and does not need to wait for echo signals from other cycles. That is, the first unit does not need to store echo signals from multiple cycles and other related content. Therefore, Example 7 can not only effectively reduce the amount of data that needs to be transmitted to the second unit, but also effectively reduce the storage pressure on the first unit.

[0298] In addition, in one possible implementation, the first operation also includes discarding data in the first range spectrum that is greater than the maximum detection range, where the first range angle spectrum includes data in the first range spectrum that is less than or equal to the maximum detection range.

[0299] And / or, the first operation also includes discarding data in the first angle spectrum that is outside the beam scanning range, where the data in the first angle spectrum is within the beam scanning range.

[0300] For example, the first operation may further include range angle spectrum detection, wherein the range angle spectrum detection includes discarding data in the first range spectrum that exceeds the maximum detection distance, and / or discarding data in the first angle spectrum that exceeds the beam scanning range. Using the above operations can detect useless data in the range angle spectrum, further reducing the amount of data that needs to be transmitted to the second unit.

[0301] For example, after the first unit performs range spectrum estimation, the first unit obtains a first range spectrum; after the first unit performs angle spectrum estimation, the first unit obtains a first angle spectrum; furthermore, the first unit can discard data in the first range spectrum that is greater than the maximum detection range and less than the maximum unambiguous distance (hereinafter referred to as discard operation 1), and / or, the first unit can discard data in the first angle spectrum that is outside the beam scanning range to the maximum detection angle (hereinafter referred to as discard operation 2).

[0302] Referring to Figure 10A, the first unit executes the aforementioned discard operation 1. If the maximum detection distance is 1800m, the first unit discards the data in the second region through discard operation 1 and obtains the data in the first region. The data in the first region is the data in the first range spectrum that is less than or equal to the maximum detection distance. The data type of the first range spectrum is time-delay domain data.

[0303] Referring to Figure 10B, after executing discard operation 1, the first unit executes the aforementioned discard operation 2. If the beam scanning range is -60 degrees to 60 degrees, the first unit discards the data in the third region and the data in the fifth region through discard operation 2, and obtains the data in the fourth region. The data in the fourth region consists of data in the first range spectrum that are less than or equal to the maximum detection range, and data in the first angle spectrum that belong to the beam scanning range. The data in the fourth region is time-delay beam domain data.

[0304] For example, after the first unit obtains the first range spectrum and the first angle spectrum, if the first unit performs discard operation 1 but does not perform discard operation 2, the second signal includes the first range angle spectrum. At this time, the first range angle spectrum includes data in the first range spectrum that are less than or equal to the maximum detection range, and the first angle spectrum.

[0305] For example, after the first unit obtains the first distance spectrum and the first angle spectrum, if the first unit performs discard operation 2 but does not perform discard operation 1, the second signal includes the first distance and angle spectrum. At this time, the first distance and angle spectrum includes the first distance spectrum and the data in the first angle spectrum that belong to the beam scanning range.

[0306] For example, after the first unit obtains the first range spectrum and the first angle spectrum, if the first unit executes discard operation 1 and discard operation 2, the second signal includes the first range angle spectrum. At this time, the first range angle spectrum includes data in the first range spectrum that is less than or equal to the maximum detection range, and data in the first angle spectrum that belongs to the beam scanning range.

[0307] Furthermore, referring to Example 7, the second unit can perform a second operation on the received second signal, wherein the second operation may include velocity spectrum estimation and CFAR detection. After performing the above-mentioned second operation on the second signal, the second unit obtains sensing data, wherein the sensing data is first point cloud data. For example, referring to (7) in Figure 9, the left side of the dashed line represents the operation performed by the first unit, and the right side of the dashed line represents the operation performed by the second unit.

[0308] Alternatively, the second unit may perform a second operation on the received second signal, wherein the second operation may include angle spectrum estimation. After performing the second operation on the second signal, the second unit obtains sensing data, wherein the sensing data is a first range-velocity angle spectrum.

[0309] Example 8: The first unit may perform a first operation on a first signal, wherein the first operation may include: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, and range-velocity angle spectrum estimation. After performing the above first operation on the first signal, the first unit obtains a second signal, wherein the second signal is the first range-velocity angle spectrum.

[0310] Referring to Example 8, the second unit can perform a second operation on the received second signal, wherein the second operation may include CFAR detection. After performing the second operation on the second signal, the second unit obtains sensing data, wherein the sensing data is first point cloud data. For example, referring to (8) in Figure 9, the left side of the dashed line represents the operation performed by the first unit, and the right side of the dashed line represents the operation performed by the second unit.

[0311] Furthermore, in conjunction with Examples 2 to 8 above, after the first unit performs the first operation on the first signal, the first unit compresses the data after the first operation according to the compression configuration information to obtain the second signal. When the second unit performs the second operation on the received second signal, the second unit first decompresses the received second signal, and then performs the second operation on the decompressed data.

[0312] For example, referring to Example 7 above, as shown in Figure 10C, the first unit can divide the data (e.g., time-domain beam domain data) after performing the first operation into blocks to obtain multiple blocks. The first unit can perform a compression operation on each of the multiple blocks according to the compression configuration information to obtain a second signal, which includes multiple compressed blocks. The block division shown in Figure 10C is merely an example and is not intended to limit this application. It is understood that the first unit can agree on a specific block division method with the second unit, or the first unit can notify the second unit of the specific block division method; this application does not limit this.

[0313] Example 9: The first unit can perform a first operation on a first signal, wherein the first operation may include: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, range-velocity-angle spectrum estimation, and CFAR detection. After performing the above first operation on the first signal, the first unit obtains a second signal, wherein the second signal is the first point cloud data.

[0314] Referring to Example 9, the second unit can perform a second operation in response to the received second signal. The second operation may include determining the position, speed, etc. of the perceived target based on the first point cloud data, or the second operation may be sending the second signal to other modules, such as SF or SU, etc. This application does not limit this.

[0315] Table 3

[0316] For example, if the access network device has 256 antenna ports, an air interface bandwidth of 400MHz, and the sensing signal occupies 14 symbols with a sensing period of 2.5ms (i.e., the sensing signal occupies 20% of the total symbols), then the fronthaul interface using CPRI segmentation needs a transmission rate of 410Gbps to meet the transmission requirements. A transmission rate of 410Gbps can be understood as the first unit performing RF processing only on the first signal and sending the RF-processed signal to the second unit, resulting in an interface traffic of 410Gbps. Table 3 shows simulation results of interface traffic combining the above examples, demonstrating that using these examples can effectively reduce the amount of data the first unit needs to transmit to the second unit.

[0317] It is understood that the examples 1 to 9 above are merely examples and are not intended to limit this application. With the development of sensing technology, the first and second operations described above may include other operations, or some of the operations described above may be deleted.

[0318] In one possible implementation, the aforementioned angle spectrum estimation can be removed, and antenna-to-beam (A2B) mapping can be added. Based on the above, angle spectrum estimation occurs after channel estimation and before CFAR detection, while A2B occurs after resource demapping and before channel estimation. A2B is used to convert the demappinged data from antenna port dimension data to beam dimension data. It is understandable that if angle spectrum estimation is removed and A2B is added, the aforementioned range-velocity angle spectrum estimation needs to be replaced with range-velocity spectrum estimation.

[0319] In another possible implementation, angle spectrum estimation and A2B can also be included in either the first or second operation, wherein angle spectrum estimation is performed after channel estimation and before CFAR detection, while A2B can be performed after resource demapping and before channel estimation.

[0320] In addition, the above A2B can also be replaced by beamforming, beamforming, or uplink beamforming, and this application does not limit its name.

[0321] In summary, the first unit can perform a first operation on the echo signal of the received sensing signal to obtain a second signal and send the second signal to the second unit, which can effectively reduce the amount of data that the first unit needs to transmit to the second unit.

[0322] Understandably, access network devices may currently receive various signals, including communication signals and sensing signals. Sensing signals may originate from either the access network device or the terminal. Therefore, access network devices need to accurately determine whether a received signal is a communication signal or a sensing signal. For example, they need to determine which SRSs (Sensing Signals) are sensing SRSs and which are communication SRSs. Furthermore, they need to accurately determine whether the sensing signal originates from the access network device or the terminal. In addition, how to fuse the echo signals from sensing signals received by the access network device and from sensing signals received by the terminal is also a significant challenge.

[0323] As shown in Figure 11, this application provides a communication method, which includes:

[0324] Step 1100: The first unit receives the first signal, which is the echo signal of the first sensing signal.

[0325] For example, the sender of the first sensing signal is an access network device, which can be an access network device to which the first unit belongs, or an access network device not to which the first unit belongs. For example, referring to (1) in Figure 6 above, the access network device sends the first sensing signal, and the first unit in the access network device receives the echo signal of the first sensing signal, i.e., the first signal. As another example, referring to (2) in Figure 6 above, access network device A sends the first sensing signal, and the first unit in access network device B receives the echo signal of the first sensing signal, i.e., the first signal.

[0326] Step 1110: The first unit receives the third signal, which is the echo signal of the second sensing signal.

[0327] For example, the sender of the second sensing signal is the terminal. For instance, referring to (3) in Figure 6 above, the terminal sends the second sensing signal, and the first unit receives the echo signal of the second sensing signal, which is the third signal.

[0328] This application does not specify the order of steps 1100 and 1110.

[0329] Step 1120: The first unit sends a second signal to the second unit. The second signal is obtained after performing the first operation on the first signal.

[0330] Step 1120 can refer to the relevant description in step 810 above, and the specific operations involved in the first operation can refer to the relevant description in Figure 9, which will not be repeated here.

[0331] For example, the second signal can be any one of the following: first resource demapping data, first distance spectrum, first distance angle spectrum, first distance velocity angle spectrum, and first point cloud data. Furthermore, the second signal can also be in other forms, as detailed in the examples in Figure 9 above.

[0332] Step 1130: The first unit sends a fourth signal to the second unit. The fourth signal is obtained after performing a third operation on the third signal.

[0333] Similar to step 1120, step 1130 can also refer to the relevant description in step 810 above. Similar to the first operation, the specific operations involved in the third operation can refer to the relevant description in Figure 9, which will not be repeated here.

[0334] For example, the third operation may include radio frequency processing, CP removal, FFT, and resource demapping, and the fourth signal is obtained after performing radio frequency processing, CP removal, FFT, and resource demapping on the third signal. The fourth signal may be the second resource demapping data. In addition, the fourth signal may also be in other forms, as can be seen in the various examples in Figure 9 above.

[0335] This application does not limit the order of steps 1120 and 1130. It is understood that the first and third operations described above may be the same or different. The first and third operations may be predefined or preconfigured.

[0336] For example, the first unit may also receive first configuration information and second configuration information. For details, please refer to the description of the first configuration information and second configuration information in S810 above, which will not be repeated here.

[0337] As a possible example (hereinafter referred to as Example C), the first unit can determine that the first signal comes from the access network device based on the first configuration information, or in other words, the first unit can determine that the sender of the first sensing signal is the access network device based on the first configuration information. Further, the first unit performs a first operation on the first signal to obtain a second signal. The first unit can determine that the third signal comes from the terminal based on the second configuration information, or in other words, the first unit can determine that the sender of the second sensing signal is the terminal based on the second configuration information. Further, the first unit performs a third operation on the third signal to obtain a fourth signal. Furthermore, when the first unit sends the second signal to the second unit, the first unit can send the second signal and first indication information to the second unit. The first indication information indicates that the sender of the first sensing signal is the access network device, thereby enabling the second unit to determine the operation to be performed on the second signal based on the fact that the sender of the first sensing signal is the access network device. When the first unit sends the fourth signal to the second unit, the first unit can send the fourth signal and second indication information to the second unit. The second indication information indicates that the sender of the first sensing signal is the terminal, thereby enabling the second unit to determine the operation to be performed on the fourth signal based on the fact that the sender of the second sensing signal is the terminal. For details, please refer to the relevant content in Figure 11 below.

[0338] In other words, the operation performed by the first unit on the echo signal of the sensed signal can be related to the sender of the sensed signal. The first network element can determine whether the sender of the sensed signal is an access network device or a terminal by combining the first configuration information and the second configuration information. The first unit can perform a first operation on the echo signal of the sensed signal sent by an access network device, and can perform a third operation on the echo signal of the sensed signal sent by a terminal. Furthermore, the first unit can notify the sender of the first sensed signal and the sender of the second sensed signal to the second unit.

[0339] As another possible example (hereinafter referred to as Example D), the first unit can determine, based on the first configuration information, that a first sensing signal or a first signal occupies a first type of resource. Further, the first unit performs a first operation on the first signal to obtain a second signal. The first unit can determine, based on the second configuration information, that a second sensing signal or a third signal occupies a second type of resource. Further, the first unit performs a third operation on the third signal to obtain a fourth signal. Furthermore, when the first unit sends a second signal to the second unit, the first unit can send the second signal and first indication information to the second unit. The first indication information indicates that the first sensing signal or the first signal occupies a first type of resource, thereby enabling the second unit to determine the operation to be performed on the second signal based on the first sensing signal or the first type of resource it occupies. When the first unit sends a fourth signal to the second unit, the first unit can send the fourth signal and second indication information to the second unit. The second indication information indicates that the second sensing signal or the third signal occupies a second type of resource, thereby enabling the second unit to determine the operation to be performed on the fourth signal based on the second sensing signal or the third signal occupying a second type of resource. For details, please refer to the relevant content in Figure 11 below.

[0340] In other words, the operation performed by the first unit on the echo signal of the sensed signal can be related to the type of resource occupied by the sensed signal (or the echo signal of the sensed signal). The first network element can determine whether the sensed signal (or the echo signal of the sensed signal) occupies a first type of resource or a second type of resource by combining the first configuration information and the second configuration information. The first unit can perform a first operation on the echo signal of the sensed signal occupying a first type of resource, and can perform a third operation on the echo signal of the sensed signal occupying a second type of resource. Furthermore, the first unit can notify the second unit that the first sensed signal or the first signal occupies a first type of resource, and that the second sensed signal or the third signal occupies a second type of resource.

[0341] The above content can also be referenced to the content of Examples A and B in S810, and the content of the first instruction information and the second instruction information in S820.

[0342] In addition, as a possible implementation, the first unit may also send the type of the second signal and the type of the fourth signal to the second unit.

[0343] Step 1140: The second unit determines the sensing data based on the second signal and the fourth signal.

[0344] The process of determining the sensing signal based on the second and fourth signals is illustrated below with reference to Figures 12A and 12B. It is understood that examples a to f below are merely illustrative and not intended to limit this application. As sensing technology develops, other operations may be included, or some of the above operations may be deleted; this application does not impose any limitations on these modifications.

[0345] Example a: The second signal is the demapping data of the first resource, and the fourth signal is the demapping data of the second resource. Referring to (1) in Figure 12A, the second unit determines the corresponding range-velocity angle spectrum based on the second and fourth signals, and fuses the two range-velocity angle spectra to obtain sensing data.

[0346] The second unit can perform channel estimation and range-velocity angle spectrum estimation for the second signal to obtain the first range-velocity angle spectrum, and perform channel estimation and range-velocity angle spectrum estimation for the fourth signal to obtain the second range-velocity angle spectrum.

[0347] For example, in conjunction with Example C or Example D above, the second unit can perform channel estimation and range-velocity angle spectrum estimation for the second signal based on the first indication information to obtain a first range-velocity angle spectrum, and perform channel estimation and range-velocity angle spectrum estimation for the fourth signal based on the second indication information to obtain a second range-velocity angle spectrum. That is, the second unit can distinguish between the second signal and the fourth signal based on the first and second indication information, and then perform subsequent operations respectively.

[0348] Furthermore, the second unit determines a third distance velocity angle spectrum based on the first and second distance velocity angle spectra, and performs CFAR detection on the third distance velocity angle spectrum to obtain point cloud data. Specifically, the second unit determines the third distance velocity angle spectrum based on the first and second distance velocity angle spectra, which is equivalent to performing a distance velocity angle spectrum fusion operation. For example, the second unit can merge data at the same location in different spectra using methods such as averaging or weighted averaging; this application does not limit the specific fusion method.

[0349] Example b: The second signal is the demapping data of the first resource, and the fourth signal is the demapping data of the second resource. Referring to (2) in Figure 12A, the second unit determines the corresponding point cloud data based on the second and fourth signals, and fuses the two point cloud data to obtain the perception data.

[0350] The second unit can perform channel estimation, range-velocity-angle spectrum estimation, and CFAR detection for the second signal to obtain the first point cloud data, and perform channel estimation, range-velocity-angle spectrum estimation, and CFAR detection for the fourth signal to obtain the second point cloud data.

[0351] For example, in conjunction with Example C or Example D above, the second unit can perform channel estimation, range-velocity angle-spectrum estimation, and CFAR detection on the second signal according to the first indication information to obtain first point cloud data, and perform channel estimation, range-velocity angle-spectrum estimation, and CFAR detection on the fourth signal according to the second indication information to obtain second point cloud data. That is, the second unit can distinguish between the second signal and the fourth signal according to the first and second indication information, and then perform subsequent operations respectively.

[0352] Furthermore, the second unit can determine the third point cloud data based on the first and second point cloud data, that is, perform a point cloud data fusion operation. For example, the second unit can merge data at the same location in different point cloud data through averaging or weighted averaging, etc. This application does not limit the specific fusion method.

[0353] Example c: The second signal is the first range spectrum, and the fourth signal is the second resource demapping data. Combining the second unit (3) in Figure 12A, the corresponding range velocity angle spectrum is determined according to the second signal and the fourth signal, and the two range velocity angle spectra are fused to obtain the sensing data.

[0354] The second unit can perform angle spectrum estimation and velocity spectrum estimation for the second signal to obtain the first range-velocity angle spectrum, and perform channel estimation and range-velocity angle spectrum estimation for the fourth signal to obtain the second range-velocity angle spectrum.

[0355] For example, in conjunction with Example C or Example D above, the second unit can perform angle spectrum estimation and velocity spectrum estimation for the second signal based on the first indication information to obtain a first range-velocity angle spectrum, and perform channel estimation and range-velocity angle spectrum estimation for the fourth signal based on the second indication information to obtain a second range-velocity angle spectrum.

[0356] Furthermore, the second unit can determine a third distance velocity angle spectrum based on the first and second distance velocity angle spectra, and perform CFAR detection on the third distance velocity angle spectrum to obtain point cloud data. Specifically, the second unit determines the third distance velocity angle spectrum based on the first and second distance velocity angle spectra, which is equivalent to performing a distance velocity angle spectrum fusion operation.

[0357] Example d: The second signal is the first distance spectrum, and the fourth signal is the second resource demapping data. Combining with (4) in Figure 12A, the second unit determines the corresponding point cloud data based on the second and fourth signals, and fuses the two point cloud data to obtain the perception data.

[0358] The second unit can perform angle spectrum estimation, velocity spectrum estimation, and CFAR detection on the second signal to obtain the first point cloud data, and perform channel estimation, range-velocity-angle spectrum estimation, and CFAR detection on the fourth signal to obtain the second point cloud data.

[0359] For example, in conjunction with Example C or Example D above, the second unit can perform angle spectrum estimation, velocity spectrum estimation, and CFAR detection on the second signal according to the first instruction information to obtain the first point cloud data, and perform channel estimation, range-velocity angle spectrum estimation, and CFAR detection on the fourth signal according to the second instruction information to obtain the second point cloud data.

[0360] Furthermore, the second unit can determine the third point cloud data based on the first and second point cloud data, that is, perform point cloud data fusion operation.

[0361] Example e: The second signal is the first range angle spectrum, and the fourth signal is the second resource demapping data. Combining with (5) in Figure 12B, the second unit determines the corresponding range velocity angle spectrum based on the second signal and the fourth signal, and fuses the two range velocity angle spectra to obtain sensing data.

[0362] The second unit can perform velocity spectrum estimation for the second signal to obtain the first range velocity angle spectrum, and perform channel estimation and range velocity angle spectrum estimation for the fourth signal to obtain the second range velocity angle spectrum.

[0363] For example, in conjunction with Example C or Example D above, the second unit can perform velocity spectrum estimation for the second signal based on the first indication information to obtain a first range velocity angle spectrum, and perform channel estimation and range velocity angle spectrum estimation for the fourth signal based on the second indication information to obtain a second range velocity angle spectrum.

[0364] Furthermore, the second unit can determine a third distance velocity angle spectrum based on the first and second distance velocity angle spectra, and perform CFAR detection on the third distance velocity angle spectrum to obtain point cloud data. Specifically, the second unit determines the third distance velocity angle spectrum based on the first and second distance velocity angle spectra, which is equivalent to performing a distance velocity angle spectrum fusion operation.

[0365] Example f: The second signal is the first distance angle spectrum, and the fourth signal is the second resource demapping data. Combining with (6) in Figure 12B, the second unit determines the corresponding point cloud data based on the second and fourth signals, and fuses the two point cloud data to obtain the perception data.

[0366] The second unit can perform velocity spectrum estimation and CFAR detection for the second signal to obtain the first point cloud data, and perform channel estimation, range-velocity-angle spectrum estimation and CFAR detection for the fourth signal to obtain the second point cloud data.

[0367] For example, in conjunction with Example C or Example D above, the second unit can perform velocity spectrum estimation and CFAR detection for the second signal according to the first instruction information to obtain the first point cloud data, and perform channel estimation, range-velocity-angle spectrum estimation and CFAR detection for the fourth signal according to the second instruction information to obtain the second point cloud data.

[0368] Furthermore, the second unit can determine the third point cloud data based on the first and second point cloud data, that is, perform point cloud data fusion operation.

[0369] Example g: The second signal is the first distance velocity angle spectrum, and the fourth signal is the second resource demapping data. Combining with (7) in Figure 12B, the second unit determines the second distance velocity angle spectrum based on the fourth signal, and fuses the second signal (first distance velocity angle spectrum) and the second distance velocity angle spectrum to obtain sensing data.

[0370] For example, in conjunction with Example C or Example D above, the second unit can perform channel estimation and range-velocity angle spectrum estimation for the fourth signal based on the second indication information to obtain the second range-velocity angle spectrum.

[0371] Furthermore, the second unit can determine a third distance velocity angle spectrum based on the first and second distance velocity angle spectra, and perform CFAR detection on the third distance velocity angle spectrum to obtain point cloud data. Specifically, the second unit determines the third distance velocity angle spectrum based on the first and second distance velocity angle spectra, which is equivalent to performing a distance velocity angle spectrum fusion operation.

[0372] Example h: The second signal is the first distance-velocity angle spectrum, and the fourth signal is the second resource demapping data. Combining with (8) in Figure 12B, the second unit determines the corresponding point cloud data based on the second and fourth signals, and fuses the two point cloud data to obtain the perception data.

[0373] The second unit can perform CFAR detection on the second signal to obtain the first point cloud data, and perform channel estimation, range-velocity-angle spectrum estimation, and CFAR detection on the fourth signal to obtain the second point cloud data.

[0374] For example, in conjunction with Example C or Example D above, the second unit can perform CFAR detection on the second signal according to the first indication information to obtain the first point cloud data, and perform channel estimation, range-velocity-angle spectrum estimation, and CFAR detection on the fourth signal according to the second indication information to obtain the second point cloud data.

[0375] Furthermore, the second unit can determine the third point cloud data based on the first and second point cloud data, that is, perform point cloud data fusion operation.

[0376] Example i: The second signal is the first point cloud data, and the fourth signal is the second resource demapping data. Referring to (9) in Figure 12B, the second unit determines the second point cloud data based on the second signal and the fourth signal, and fuses the second signal (first point cloud data) and the second point cloud data to obtain the sensing data.

[0377] The second unit can perform channel estimation, range-velocity-angle spectrum estimation, and CFAR detection on the fourth signal to obtain the second point cloud data.

[0378] For example, in conjunction with Example C or Example D above, the second unit can perform channel estimation, range-velocity-angle spectrum estimation, and CFAR detection for the fourth signal based on the second indication information to obtain the second point cloud data.

[0379] Furthermore, the second unit can determine the third point cloud data based on the first and second point cloud data, that is, perform point cloud data fusion operation.

[0380] Using the above method, the first unit can correctly distinguish two different types of sensing signals (i.e., sensing signals from the terminal and sensing signals from the access network device) from the received signals and perform corresponding operations respectively. The second unit can distinguish the second signal and the fourth signal according to the first instruction information and the second instruction information, and then perform subsequent operations on the second signal and the fourth signal respectively, and fuse the data corresponding to the second signal and the fourth signal respectively, thereby improving the sensing accuracy.

[0381] It is understood that, in order to achieve the functions in the above embodiments, each communication device (e.g., a terminal device or an access network device) includes hardware structures and / or software modules corresponding to perform each function. Figures 13 and 14 are schematic diagrams of possible communication devices provided in the embodiments of this application. These communication devices can be used to implement the functions of each communication device in the above method embodiments, and therefore can also achieve the beneficial effects of the above method embodiments.

[0382] As shown in Figure 13, the communication device 1300 includes a processing unit 1310 and a transceiver unit 1320.

[0383] When the communication device 1300 is used to implement the function of the first unit in the method embodiment shown in FIG8 or FIG11 above:

[0384] The processing unit 1310 is used to control the operation of the transceiver unit 1320; the transceiver unit 1320 is used to receive a first signal, the first signal being the echo signal of a first sensing signal, and to send a second signal to a second unit in the access network device, the second signal being obtained after performing a first operation on the first signal, the second signal being any one of first resource demapping data, first distance spectrum, first distance angle spectrum, first distance velocity angle spectrum, and first point cloud data.

[0385] In one possible implementation, if the first operation includes: radio frequency processing, CP removal, FFT, and resource demapping, the second signal is the first resource demapping data.

[0386] In one possible implementation, if the first operation includes: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, and distance spectrum estimation, the second signal is the first distance spectrum.

[0387] In one possible implementation, if the first operation includes: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, and range angle spectrum estimation, the second signal is the first range angle spectrum.

[0388] In one possible implementation, if the first operation includes: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, and range-velocity angle spectrum estimation, the second signal is the first range-velocity angle spectrum.

[0389] In one possible implementation, if the first operation includes: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, distance-velocity-angle spectrum estimation, and CFAR detection, the second signal is the first point cloud data.

[0390] In one possible implementation, the first operation further includes discarding data in the first range spectrum that is greater than the maximum detection range, the first range angle spectrum including data in the first range spectrum that is less than or equal to the maximum detection range; and / or, the first operation further includes discarding data in the first angle spectrum that is outside the beam scanning range, the first range angle spectrum including data in the first angle spectrum that is within the beam scanning range.

[0391] In one possible implementation, the transceiver unit 1320 is configured to receive first configuration information and / or second configuration information, wherein the first configuration information is configured to indicate a first type of resource, the first type of resource being used to receive the echo signal of the sensing signal sent by the access network device; and the second configuration information is configured to indicate a second type of resource, the second type of resource being used to receive the echo signal of the sensing signal sent by the terminal.

[0392] In one possible implementation, before sending the second signal, the processing unit 1310 is configured to determine, based on the first configuration information, that the first signal occupies the first type of resource, and to perform the first operation on the first signal to obtain the second signal.

[0393] In one possible implementation, when the second signal is sent to a second unit in the access network device, the transceiver unit 1320 is used to send the second signal and first indication information to the second unit, the first indication information indicating that the first signal occupies the first type of resource.

[0394] In one possible implementation, transceiver unit 1320 is configured to receive a third signal, which is an echo signal of the second sensing signal; processing unit 1310 is configured to determine, based on the second configuration information, that the third signal occupies the second type of resource; and to sequentially perform radio frequency processing, CP removal, FFT, and resource demapping on the third signal to obtain a fourth signal, which is the second resource demapping data; transceiver unit 1320 is configured to send the fourth signal to the second unit.

[0395] In one possible implementation, when sending the fourth signal to the second unit, the transceiver unit 1320 is configured to send the fourth signal and second indication information to the second unit, the second indication information indicating that the third signal occupies the resource of the second type.

[0396] In one possible implementation, the sender of the first sensing signal is an access network device, and the sender of the second sensing signal is a terminal.

[0397] When the communication device 1300 is used to implement the function of the second unit in the method embodiment shown in FIG8 above:

[0398] The transceiver unit 1320 is used to receive a second signal, which is obtained after performing a first operation on the first signal. The second signal is any one of the following: first resource demapping data, first distance spectrum, first distance angle spectrum, first distance velocity angle spectrum, and first point cloud data. The first signal is the echo signal of the first sensing signal. The processing unit 1310 is used to perform a second operation on the second signal to obtain sensing data.

[0399] In one possible implementation, if the second signal is the first resource demapping data, the second operation includes: channel estimation, range-velocity angle spectrum estimation, and CFAR detection.

[0400] In one possible implementation, if the second signal is the first distance spectrum, the second operation includes: angle spectrum estimation, velocity spectrum estimation, and CFAR detection.

[0401] In one possible implementation, if the second signal is the first distance angle spectrum, the second operation includes: velocity spectrum estimation and CFAR detection.

[0402] In one possible implementation, if the second signal is the first distance-velocity angle spectrum, the second operation includes: CFAR detection.

[0403] In one possible implementation, the transceiver unit 1320 is configured to send first configuration information and / or second configuration information, wherein the first configuration information is configured to indicate a first type of resource, the first type of resource being used to receive the echo signal of the sensing signal sent by the access network device; and the second configuration information is configured to indicate a second type of resource, the second type of resource being used to receive the echo signal of the sensing signal sent by the terminal.

[0404] In one possible implementation, transceiver unit 1320 is configured to receive the second signal and first indication information, the first indication information indicating that the first signal occupies the first type of resource; when performing a second operation on the second signal to obtain sensing data, processing unit 1310 is configured to perform the second operation on the second signal according to the first indication information to obtain the sensing data.

[0405] In one possible implementation, transceiver unit 1320 is configured to receive the second signal and second indication information, the second indication information indicating that the first signal occupies the second type of resource; when performing a second operation on the second signal to obtain sensing data, processing unit 1310 is configured to perform the second operation on the second signal according to the second indication information to obtain the sensing data.

[0406] When the communication device 1300 is used to implement the function of the second unit in the method embodiment shown in FIG11 above:

[0407] The transceiver unit 1320 is used to receive a second signal, which is obtained after performing a first operation on a first signal. The second signal is any one of first resource demapping data, a first distance spectrum, a first distance angle spectrum, a first distance velocity angle spectrum, and first point cloud data. The first signal is the echo signal of a first sensing signal, and the sender of the first sensing signal is an access network device. The transceiver unit 1320 is used to receive a fourth signal, which is obtained after performing radio frequency processing, CP removal, FFT, and resource demapping on a third signal. The fourth signal is second resource demapping data, and the third signal is the echo signal of a second sensing signal. The sender of the second sensing signal is a terminal. The processing unit 1310 is used to determine sensing data based on the second signal and the fourth signal.

[0408] In one possible implementation, the transceiver unit 1320 is configured to send first configuration information and / or second configuration information, wherein the first configuration information is configured to indicate a first type of resource, the first type of resource being used to receive the echo signal of the sensing signal sent by the access network device; and the second configuration information is configured to indicate a second type of resource, the second type of resource being used to receive the echo signal of the sensing signal sent by the terminal.

[0409] In one possible implementation, when receiving the second signal, the transceiver unit 1320 is configured to receive the second signal and first indication information, the first indication information indicating that the first signal occupies the resource of the first type.

[0410] In one possible implementation, upon receiving the fourth signal, the transceiver unit 1320 is configured to receive the fourth signal and second indication information, the second indication information indicating that the third signal occupies the resource of the second type.

[0411] In one possible implementation, the second signal is the first range-velocity angle spectrum; when determining the sensing data based on the second signal and the fourth signal, the processing unit 1310 is configured to perform velocity spectrum estimation on the second signal based on the first indication information to obtain a first range-velocity angle spectrum; perform channel estimation and range-velocity angle spectrum estimation on the fourth signal based on the second indication information to obtain a second range-velocity angle spectrum; determine a third range-velocity angle spectrum based on the first range-velocity angle spectrum and the second range-velocity angle spectrum; and perform CFAR detection on the third range-velocity angle spectrum to obtain point cloud data.

[0412] In one possible implementation, the second signal is the first resource demapping data; when determining the sensing data based on the second signal and the fourth signal, the processing unit 1310 is configured to perform channel estimation and range-velocity angle spectrum estimation on the second signal to obtain a first range-velocity angle spectrum; perform channel estimation and range-velocity angle spectrum estimation on the fourth signal to obtain a second range-velocity angle spectrum; determine a third range-velocity angle spectrum based on the first range-velocity angle spectrum and the second range-velocity angle spectrum; and perform CFAR detection on the third range-velocity angle spectrum to obtain point cloud data.

[0413] In one possible implementation, the second signal is the first resource demapping data; when determining the sensing data based on the second signal and the fourth signal, the processing unit 1310 is configured to perform channel estimation, range-velocity-angle spectrum estimation and CFAR detection on the second signal to obtain first point cloud data; perform channel estimation, range-velocity-angle spectrum estimation and CFAR detection on the fourth signal to obtain second point cloud data; and determine third point cloud data based on the first point cloud data and the second point cloud data.

[0414] In one possible implementation, the second signal is the first distance spectrum; when determining the sensing data based on the second signal and the fourth signal, the processing unit 1310 is configured to perform angle spectrum estimation and velocity spectrum estimation on the second signal to obtain a first distance-velocity angle spectrum; perform channel estimation and distance-velocity angle spectrum estimation on the fourth signal to obtain a second distance-velocity angle spectrum; determine a third distance-velocity angle spectrum based on the first distance-velocity angle spectrum and the second distance-velocity angle spectrum; and perform CFAR detection on the third distance-velocity angle spectrum to obtain point cloud data.

[0415] In one possible implementation, the second signal is the first range spectrum; when determining sensing data based on the second signal and the fourth signal, the processing unit 1310 is configured to perform angle spectrum estimation, velocity spectrum estimation and CFAR detection on the second signal to obtain first point cloud data; perform channel estimation, range-velocity-angle spectrum estimation and CFAR detection on the fourth signal to obtain second point cloud data; and determine third point cloud data based on the first point cloud data and the second point cloud data.

[0416] In one possible implementation, the second signal is the first range angle spectrum; when determining the sensing data based on the second signal and the fourth signal, the processing unit 1310 is configured to perform velocity spectrum estimation on the second signal to obtain a first range velocity angle spectrum; perform channel estimation and range velocity angle spectrum estimation on the fourth signal to obtain a second range velocity angle spectrum; determine a third range velocity angle spectrum based on the first range velocity angle spectrum and the second range velocity angle spectrum; and perform CFAR detection on the third range velocity angle spectrum to obtain point cloud data.

[0417] In one possible implementation, the second signal is the first range-angle spectrum; when determining the sensing data based on the second signal and the fourth signal, the processing unit 1310 is configured to perform velocity spectrum estimation and CFAR detection on the second signal to obtain first point cloud data; perform channel estimation, range-velocity angle spectrum estimation and CFAR detection on the fourth signal to obtain second point cloud data; and determine third point cloud data based on the first point cloud data and the second point cloud data.

[0418] In one possible implementation, the second signal is the first distance-velocity angle spectrum; when determining the sensing data based on the second signal and the fourth signal, the processing unit 1310 is used to perform channel estimation and distance-velocity angle spectrum estimation on the fourth signal to obtain a second distance-velocity angle spectrum; determine a third distance-velocity angle spectrum based on the first distance-velocity angle spectrum and the second distance-velocity angle spectrum; and perform CFAR detection on the third distance-velocity angle spectrum to obtain point cloud data.

[0419] In one possible implementation, the second signal is the first range-velocity angle spectrum; when determining sensing data based on the second signal and the fourth signal, the processing unit 1310 is configured to perform CFAR detection on the second signal to obtain first point cloud data; perform channel estimation, range-velocity angle spectrum estimation and CFAR detection on the fourth signal to obtain second point cloud data; and determine third point cloud data based on the first point cloud data and the second point cloud data.

[0420] In one possible implementation, the second signal is the first point cloud data; when determining the sensing data based on the second signal and the fourth signal, the processing unit 1310 is used to perform channel estimation, range-velocity-angle spectrum estimation and CFAR detection on the fourth signal to obtain the second point cloud data; and to determine the third point cloud data based on the first point cloud data and the second point cloud data.

[0421] For some possible designs and beneficial effects of the communication device 1300, please refer to the relevant content in the embodiments shown in Figure 8 or Figure 11 above, and will not be repeated here.

[0422] As shown in Figure 14, the communication device 1400 includes a processor 1410 and an interface circuit 1420. The processor 1410 and the interface circuit 1420 are coupled to each other. It is understood that the interface circuit 1420 can be a transceiver or an input / output interface. Optionally, the communication device 1400 may further include a memory 1430 for storing instructions executed by the processor 1410, or storing input data required by the processor 1410 to execute instructions, or storing data generated after the processor 1410 executes instructions.

[0423] When the communication device 1400 is used to implement the above method embodiment, the processor 1410 is used to implement the function of the processing unit 1310, and the interface circuit 1420 is used to implement the function of the transceiver unit 1320.

[0424] It is understood that the processor in the embodiments of this application 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), 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.

[0425] This application also provides another example of a device, the notification device including at least one processor and at least one memory, the at least one processor and the at least one memory being coupled together, the at least one memory being used to store instructions, which, when executed by the at least one processor, cause the communication device to perform the methods described in the above embodiments. Taking a communication device including a processor and a memory as an example, as shown in FIG14, communication device 1400 includes a processor 1410 and a memory 1430. The processor 1410 and the memory 1430 are coupled together, the memory 1430 storing instructions, and when the instructions stored in the memory 1430 are executed by the processor 1410, the communication device 1400 performs the methods performed by the various communication devices in the above embodiments.

[0426] The method steps in the embodiments of this application can be implemented in hardware or in software instructions executable by a processor. The software instructions can consist of corresponding software modules, which can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. The storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Additionally, the ASIC can reside in the aforementioned terminal device or access network device. The processor and storage medium can also exist as discrete components in the terminal device or access network device.

[0427] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this application are performed entirely or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video optical disc; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both types of storage media.

[0428] 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.

Claims

1. A communication method, characterized in that, The method is applied to a first unit in an access network device, and the method includes: Receive a first signal, wherein the first signal is the echo signal of the first sensing signal; A second signal is sent to the second unit in the access network device. The second signal is obtained after performing a first operation on the first signal. The second signal is any one of the first resource demapping data, the first distance spectrum, the first distance angle spectrum, and the first distance velocity angle spectrum.

2. The method as described in claim 1, characterized in that, If the first operation includes: radio frequency processing, removal of cyclic prefix (CP), fast Fourier transform (FFT), and resource demapping, then the second signal is the first resource demapping data.

3. The method as described in claim 1, characterized in that, If the first operation includes: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, and distance spectrum estimation, then the second signal is the first distance spectrum.

4. The method as described in claim 1, characterized in that, If the first operation includes: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, and range angle spectrum estimation, then the second signal is the first range angle spectrum.

5. The method as described in claim 1, characterized in that, If the first operation includes: radio frequency processing, CP removal, FFT, resource demapping, channel estimation, and range-velocity angle spectrum estimation, then the second signal is the first range-velocity angle spectrum.

6. The method as described in claim 5, characterized in that, The first operation further includes discarding data in the first range spectrum that is greater than the maximum detection range, wherein the first range angle spectrum includes data in the first range spectrum that is less than or equal to the maximum detection range; and / or, The first operation also includes discarding data in the first angular spectrum that is outside the beam scanning range, wherein the first angular spectrum includes data in the first angular spectrum that is within the beam scanning range.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: The system receives first configuration information and / or second configuration information, wherein the first configuration information is used to indicate a first type of resource, which is used to receive the echo signal of the sensing signal sent by the access network device; and the second configuration information is used to indicate a second type of resource, which is used to receive the echo signal of the sensing signal sent by the terminal.

8. The method as described in claim 7, characterized in that, Before sending the second signal, the method further includes: Based on the first configuration information, it is determined that the first signal occupies the resource of the first type; Perform the first operation on the first signal to obtain the second signal.

9. The method as described in claim 8, characterized in that, Sending the second signal to the second unit in the access network device includes: Send the second signal and the first indication information to the second unit, wherein the first indication information indicates the resource of the first type occupied by the first signal.

10. The method according to any one of claims 7-9, characterized in that, The method further includes: Receive a third signal, which is the echo signal of the second sensing signal; Based on the second configuration information, it is determined that the third signal occupies the resource of the second type; The third signal is sequentially processed by radio frequency processing, CP removal, FFT and resource demapping to obtain a fourth signal, which is the second resource demapping data; The fourth signal is sent to the second unit.

11. The method as described in claim 10, characterized in that, Sending the fourth signal to the second unit includes: The fourth signal and the second indication information are sent to the second unit, the second indication information indicating the resource of the second type occupied by the third signal.

12. The method as described in claim 10 or 11, characterized in that, The sender of the first sensing signal is the access network device, and the sender of the second sensing signal is the terminal.

13. A communication method, characterized in that, The method is applied to a second unit in an access network device, and the method includes: Receive a second signal, which is obtained after performing a first operation on the first signal. The second signal is any one of the first resource demapping data, the first distance spectrum, the first distance angle spectrum, and the first distance velocity angle spectrum. The first signal is the echo signal of the first sensing signal. A second operation is performed in response to the second signal to obtain sensing data.

14. The method as described in claim 13, characterized in that, If the second signal is the first resource demapping data, the second operation includes: channel estimation, range-velocity angle spectrum estimation, and CFAR detection.

15. The method as described in claim 13, characterized in that, If the second signal is the first distance spectrum, the second operation includes: angle spectrum estimation, velocity spectrum estimation, and CFAR detection.

16. The method as described in claim 13, characterized in that, If the second signal is the first distance angle spectrum, the second operation includes: velocity spectrum estimation and CFAR detection.

17. The method as described in claim 13, characterized in that, If the second signal is the first distance-velocity angle spectrum, the second operation includes: CFAR detection.

18. The method according to any one of claims 13-17, characterized in that, The method further includes: Send first configuration information and / or second configuration information, wherein the first configuration information is used to indicate a first type of resource, the first type of resource being used to receive the echo signal of the sensing signal sent by the access network device; and the second configuration information is used to indicate a second type of resource, the second type of resource being used to receive the echo signal of the sensing signal sent by the terminal.

19. The method as described in claim 18, characterized in that, Receiving the second signal includes: Receive the second signal and the first indication information, wherein the first indication information indicates that the first signal occupies the resource of the first type; Perform a second operation on the second signal to obtain perceived data, including: The second operation is performed on the second signal according to the first instruction information to obtain the sensing data.

20. The method as described in claim 18, characterized in that, Receiving the second signal includes: Receive the second signal and the second indication information, wherein the second indication information indicates that the first signal occupies the resource of the second type; Perform a second operation on the second signal to obtain perceived data, including: Perform the second operation on the second signal according to the second instruction information to obtain the sensing data.

21. A communication device, characterized in that, Includes units or modules for performing the method as described in any one of claims 1 to 20.

22. A communication device, characterized in that, The communication device includes at least one processor; the at least one processor is configured to perform the method as described in any one of claims 1 to 20.

23. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a program that, when run on the device, causes the device to perform the method as described in any one of claims 1 to 20.

24. A computer program product, characterized in that, The computer program product includes a program or instructions that, when executed by a device, cause the device to perform the method as described in any one of claims 1 to 20.

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