Target sensing method and apparatus

Abstract

The present application relates to the technical field of communications, and provides a target sensing method and apparatus. The method comprises: receiving first information, the first information indicating a measurement result, and the measurement result being obtained on the basis of measurement of a sensing signal; and on the basis of measurement statistics of a sensing target, determining whether the sensing target is a false alarm target, the measurement statistics of the sensing target being related to the measurement result. A person skilled in the art can appreciate that using the measurement statistics to determine whether a sensing target is a false alarm target reduces the computational complexity caused by associating a large number of false point clouds into motion trajectories, thereby improving the speed and accuracy of determination.

Description

Target perception methods and devices

[0001] This application claims priority to Chinese patent application filed on March 24, 2025, with application number 202510363694.3 and entitled "Target Sensing Method and Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of communication technology, and more specifically, to a target sensing method and apparatus. Background Technology

[0003] Integrated sensing and communication (ISAC) has become a hot research topic. A key ISAC application is moving target detection in key areas, such as low-altitude UAV monitoring and intelligent traffic road detection. For the sensing and detection of moving targets, the environment is typically low-altitude / near-ground, in urban or suburban areas, which are complex and subject to severe clutter interference. Furthermore, when the reflected echoes from a moving target are reflected by reflectors before being received by the ISAC base station, a large number of multipath false alarms occur during target detection, which are difficult to distinguish and eliminate, significantly increasing the false alarm rate. Existing methods mostly identify false alarms by associating the sensed moving points with motion paths and then judging based on path features. This path feature-based method typically associates a large number of false point clouds, resulting in a significant amount of unnecessary computation, affecting real-time performance and wasting wireless resources. Summary of the Invention

[0004] This application provides a target perception method and apparatus that can save wireless resources used for perception and improve the accuracy of false alarm target identification.

[0005] Firstly, a target perception method is provided, which can be executed by a first device. This first device can be a communication device (such as a network device, a core network device, or a terminal device), a component within the communication device (such as a chip, chip system, circuit, or communication module), or a logic module or software capable of implementing all or part of the functions of the communication device.

[0006] The method may include: receiving first information, the first information indicating a measurement result, the measurement result being obtained based on a sensing signal; and determining whether the sensing target is a false alarm target based on the measurement statistics of the sensing target, wherein the measurement statistics of the sensing target are related to the measurement result.

[0007] In the technical solution of this application, the measurement statistics of the perceived target are obtained through measurement results, and the perceived target is judged based on the measurement statistics of the perceived target. This can save the amount of computation in the process of associating and matching a large number of false perceived targets, reduce the overall computational complexity, and improve the speed and accuracy of false alarm target judgment. On the other hand, the measurement statistics are obtained based on the measurement results, so there is no need to calculate prior environmental information, which improves the flexibility and feasibility of the solution.

[0008] For example, the measurement results may include at least one of the following: the position of the sensed target, the distance of the sensed target, the direction of departure (DOD) of the sensed target, or the direction of arrival (DOA) of the sensed target.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, determining whether a perceived target is a false alarm target based on the measurement statistics of the perceived target includes: determining whether a perceived target is a false alarm target based on the measurement statistics and threshold of the perceived target.

[0010] Based on the above technical solution, using measurement statistics and thresholds for joint discrimination is not only simple but also improves the accuracy of discrimination.

[0011] In conjunction with the first aspect, in some implementations of the first aspect, the determination of whether a perceived target is a false alarm target is based on the measurement statistics and threshold of the perceived target, including: if the measurement statistics of the perceived target are greater than the threshold, the perceived target is determined to be a false alarm target; or, if the measurement statistics of the perceived target are less than or equal to the threshold, the perceived target is determined not to be a false alarm target.

[0012] For example, the threshold can be determined based on at least one of the following: measurement statistics of the perceived target, radio resource information, and received signal-to-noise ratio.

[0013] Based on the above technical solution, the threshold value can be determined according to at least one of the measurement statistics of the sensed target, radio resource information, and received signal-to-noise ratio. When calculating the threshold, the measurement information of the sensed target itself, as well as the radio resource information and channel information used, can be taken into account. By comparing the measurement statistics and the threshold, it can be determined whether the sensed target is a false alarm target, which can improve the accuracy and reliability of the judgment.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: sending a second message indicating the resources of the sensing signal.

[0015] For example, the second information includes information on at least one of the following: time-domain resources, period, frequency-domain resources, and spatial stream number information of the sensed signal.

[0016] Based on the above technical solution, the sensing signals can be sent and received according to the instructions of the first device, realizing on-demand use and improving the resource utilization rate of the sensing system.

[0017] In conjunction with the first aspect, in certain implementations of the first aspect, the resources of the sensing signal are determined based on at least one of the following: parameters of the sensing target, capability information of the second device, capability information of the third device, currently available wireless resource information, the sensing signal being transmitted by the second device, and / or the sensing signal being received by the third device.

[0018] Based on the above technical solution, the sensing signal resources determined by the first device take into account the capability information of the sensing target, the sensing signal transceiver (i.e., the second and third devices), and the currently available wireless resource information, so that while the sensing system meets the sensing requirements, it can make more efficient use of wireless resources, thereby achieving reasonable allocation and conservation of resources.

[0019] For example, the parameters of the perceived target include at least one of the following: distance information, speed information, and range information of the perceived target.

[0020] In conjunction with the first aspect, in some implementations of the first aspect, the method further includes: receiving capability information, wherein the capability information is capability information of the second device and / or capability information of the third device.

[0021] For example, the capability information of the second device and / or the capability information of the third device includes at least one of the following: sensing available antenna aperture information, antenna array information, bandwidth information, location information, sensing configuration information, and available rooftop information.

[0022] Secondly, a target perception method is provided, which can be executed by a second device or a third device. The second or third device can be a communication device (such as a network device or a terminal device), a component within the communication device (such as a chip, chip system, circuit, or communication module), or a logic module or software capable of implementing all or part of the functions of the communication device.

[0023] The method includes: sending capability information; receiving second information, the second information being used to indicate the resources of a sensing signal, the resources of the sensing signal being determined based on the capability information; and sending or receiving the sensing signal based on the resources of the sensing signal.

[0024] In the technical solution of this application, after sending capability information, the resource for receiving sensing signals determined according to the capability information is received, and the transmission and reception of sensing signals are realized according to the indicated resources. This solution can realize the on-demand allocation of sensing resources, improve the utilization efficiency of resources, and at the same time ensure that sufficient available wireless resources are used for communication functions, avoiding resource waste.

[0025] For example, the capability information of the second device and / or the capability information of the third device includes at least one of the following: sensing available antenna aperture information, antenna array information, bandwidth information, location information, sensing configuration information, and available rooftop information.

[0026] Thirdly, a target perception method is provided, which can be executed by a first device. The first device can be a communication device (such as a network device, a core network device, or a terminal device), a component in the communication device (such as a chip, a chip system, a circuit, or a communication module), or a logic module or software that can realize all or part of the functions of the communication device.

[0027] The method includes: receiving capability information; transmitting second information, the second information being used to indicate the resources of a sensing signal, the resources of the sensing signal being determined based on the capability information; and receiving or transmitting the sensing signal based on the resources of the sensing signal.

[0028] For example, the capability information of the second device and / or the capability information of the third device includes at least one of the following: sensing available antenna aperture information, antenna array information, bandwidth information, location information, sensing configuration information, and available rooftop information.

[0029] Fourthly, a target perception method is provided, which can be executed by a third device. The third device can be a communication device (such as a network device or a terminal device), a component in the communication device (such as a chip, chip system, circuit, or communication module), or a logic module or software that can realize all or part of the functions of the communication device.

[0030] The method includes: determining a measurement result, the measurement result being obtained based on a sensing signal measurement, the measurement result being related to a measurement statistic of the sensing target, the measurement statistic being used to determine whether the sensing target is a false alarm target; and sending a first message, the first message indicating the measurement result.

[0031] For example, the measurement results include the position of the perceived target, the distance to the perceived target, the departure angle of the perceived target, or the arrival angle of the perceived target.

[0032] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the method further includes: receiving second information, the second information indicating the resources of the sensing signal.

[0033] For example, the second information includes information on at least one of the following: time-domain resources, period, frequency-domain resources, and spatial stream number information of the sensed signal.

[0034] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the resources of the sensing signal are determined based on at least one of the following: parameters of the sensing target, capability information of the second device, capability information of the third device, currently available wireless resource information, the sensing signal being transmitted by the second device, and / or the sensing signal being received by the third device.

[0035] For example, the parameters of the perceived target include at least one of the following: distance information, speed information, and range information of the perceived target.

[0036] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the method further includes: sending capability information, which is capability information of the second device and / or capability information of the third device.

[0037] For example, the capability information of the second device and / or the capability information of the third device includes at least one of the following: sensing available antenna aperture information, antenna array information, bandwidth information, location information, sensing configuration information, and available rooftop information.

[0038] Fifthly, a communication device is provided, comprising: a transceiver unit for receiving first information, the first information being used to indicate a measurement result; and a processing unit for determining whether a perceived target is a false alarm target based on a measurement statistic of the perceived target, wherein the measurement statistic of the perceived target is related to the measurement result.

[0039] In conjunction with the fifth aspect, in some implementations of the fifth aspect, the measurement result includes at least one of the following: the position of the perceived target, the distance of the perceived target, the departure direction angle of the perceived target, or the arrival direction angle of the perceived target.

[0040] In conjunction with the fifth aspect, in some implementations of the fifth aspect, the processing unit determines whether the perceived target is a false alarm target based on the measurement statistics of the perceived target, including: determining whether the perceived target is a false alarm target based on the measurement statistics and threshold of the perceived target.

[0041] In conjunction with the fifth aspect, in some implementations of the fifth aspect, the processing unit determines whether the perceived target is a false alarm target based on the measurement statistics and threshold of the perceived target, including: if the measurement statistics of the perceived target are greater than the threshold, the perceived target is determined to be a false alarm target; or if the measurement statistics of the perceived target are less than or equal to the threshold, the perceived target is determined not to be a false alarm target.

[0042] In conjunction with the fifth aspect, in some implementations of the fifth aspect, the threshold is determined based on at least one of the following: measurement statistics of the perceived target, radio resource information, and received signal-to-noise ratio.

[0043] In conjunction with the fifth aspect, in some implementations of the fifth aspect, the transceiver unit is also used to transmit second information, which indicates the resources of the sensing signal.

[0044] In conjunction with the fifth aspect, in some implementations of the fifth aspect, the resources of the sensing signal are determined based on at least one of the following: parameters of the sensing target, capability information of the second device, capability information of the third device, currently available wireless resource information, the sensing signal being transmitted by the second device, and / or the sensing signal being received by the third device.

[0045] In conjunction with the fifth aspect, in some implementations of the fifth aspect, the transceiver unit is also used to receive capability information, which is capability information of the second device and / or capability information of the third device.

[0046] In conjunction with the fifth aspect, in some implementations of the fifth aspect, the parameters of the perceived target include at least one of the following: distance information, speed information, and range information of the perceived target.

[0047] In conjunction with the fifth aspect, in some implementations of the fifth aspect, the capability information of the second device and / or the capability information of the third device includes at least one of the following: sensing available antenna aperture information, antenna array information, bandwidth information, location information, sensing configuration information, and available rooftop information.

[0048] In conjunction with the fifth aspect, in some implementations of the fifth aspect, the second information includes information on at least one of the following of the sensed signal: time-domain resources, period, frequency-domain resources, and spatial stream number information.

[0049] A sixth aspect provides a communication apparatus, comprising: a transceiver unit configured to transmit capability information; the transceiver unit further configured to receive second information indicating resources of a sensing signal, the resources of the sensing signal being determined based on the capability information; and the transceiver unit further configured to transmit or receive the sensing signal based on the resources of the sensing signal.

[0050] In conjunction with the sixth aspect, in some implementations of the sixth aspect, the capability information of the second device and / or the capability information of the third device includes at least one of the following: sensing available antenna aperture information, antenna array information, bandwidth information, location information, sensing configuration information, and available rooftop information.

[0051] A seventh aspect provides a communication apparatus, comprising: a transceiver unit configured to receive capability information; the transceiver unit further configured to transmit second information indicating resources of a sensing signal, the resources of the sensing signal being determined based on the capability information; and the transceiver unit further configured to receive or transmit the sensing signal based on the resources of the sensing signal.

[0052] In conjunction with the sixth aspect, in some implementations of the sixth aspect, the capability information of the second device and / or the capability information of the third device includes at least one of the following: sensing available antenna aperture information, antenna array information, bandwidth information, location information, sensing configuration information, and available rooftop information.

[0053] Eighthly, a communication device is provided, comprising: a processing unit for determining a measurement result, the measurement result being obtained based on a sensing signal, the measurement result being related to a measurement statistic of a sensing target, the measurement statistic being used to determine whether the sensing target is a false alarm target; and a transceiver unit for transmitting first information, the first information indicating the measurement result.

[0054] In conjunction with the eighth aspect, in some implementations of the eighth aspect, the measurement results include the position of the perceived target, the distance of the perceived target, the departure direction angle of the perceived target, or the arrival direction angle of the perceived target.

[0055] In conjunction with the eighth aspect, in some implementations of the eighth aspect, the transceiver unit is also used to receive second information, which indicates the resources of the sensing signal.

[0056] In conjunction with the eighth aspect, in some implementations of the eighth aspect, the resources of the sensing signal are determined based on at least one of the following: parameters of the sensing target, capability information of the second device, capability information of the third device, currently available radio resource information, the sensing signal being transmitted by the second device, and / or the sensing signal being received by the third device.

[0057] In conjunction with the eighth aspect, in some implementations of the eighth aspect, the transceiver unit is also used to transmit capability information, which is capability information of the second device and / or capability information of the third device.

[0058] In conjunction with the eighth aspect, in some implementations of the eighth aspect, the parameters of the perceived target include at least one of the following: distance information, speed information, and range information of the perceived target.

[0059] In conjunction with the eighth aspect, in some implementations of the eighth aspect, the capability information of the second device and / or the capability information of the third device includes at least one of the following: sensing available antenna aperture information, antenna array information, bandwidth information, location information, sensing configuration information, and available rooftop information.

[0060] In conjunction with the eighth aspect, in some implementations of the eighth aspect, the second information includes information on at least one of the following of the sensed signal: time-domain resources, period, frequency-domain resources, and spatial stream number information.

[0061] A ninth aspect provides a communication apparatus for performing the method in any possible implementation of any of the first to fourth aspects. Specifically, the apparatus may include units and / or modules for performing the method in any possible implementation of any of the first to fourth aspects, such as processing units and / or communication units.

[0062] In one implementation, the device is a communication device (such as a terminal device or a network device). When the device is a communication device, the communication unit can be a transceiver or an input / output interface; the processing unit can be at least one processor. Optionally, the transceiver can be a transceiver circuit. Optionally, the input / output interface can be an input / output circuit.

[0063] In another implementation, the device is a chip, chip system, or circuit for communication equipment (such as terminal equipment or network equipment). When the device is a chip, chip system, or circuit for communication equipment, the communication unit can be an input / output interface, interface circuit, output circuit, input circuit, pin, or related circuit on the chip, chip system, or circuit; the processing unit can be at least one processor, processing circuit, or logic circuit.

[0064] A tenth aspect provides a communication apparatus, comprising: at least one processor for executing a computer program or instructions to perform a method in any of the possible implementations of any of the first to fourth aspects described above. Optionally, the apparatus further comprises a memory for storing the computer program or instructions; correspondingly, the at least one processor is configured to execute the computer program or instructions in the memory. Optionally, the apparatus further comprises a communication interface coupled to the processor, which can be used to input information to the processor or output information from the processor. Optionally, the processor reads the computer program or instructions from the memory through the communication interface.

[0065] In one implementation, the device is a communication device (such as a terminal device or a network device).

[0066] In another implementation, the device is a chip, chip system, or circuit for communication equipment (such as terminal equipment or network equipment).

[0067] Eleventhly, a processor is provided for performing the methods provided in any one of the first to fourth aspects described above.

[0068] Unless otherwise specified, or if it does not contradict its actual function or internal logic in the relevant description, the transmission and acquisition / reception operations involved in the processor can be understood as processor output and reception, input and other operations, or as transmission and reception operations performed by radio frequency circuits and antennas. This application does not limit them in this regard.

[0069] In a twelfth aspect, a computer-readable storage medium is provided, on which a computer program or instructions are stored, which, when executed on a communication device, cause the communication device to perform the method provided in any one of the first to fourth aspects.

[0070] In a thirteenth aspect, a computer program product is provided, comprising a computer program or instructions for performing the methods of any possible implementation of the first to fourth aspects described above. In other words, when the computer program product is run on a computer, it causes the computer to perform the methods provided in any of the first to fourth aspects described above.

[0071] In a fourteenth aspect, a chip is provided, the chip including a processor and a communication interface, wherein the processor reads instructions from a memory through the communication interface and executes the method provided in any one of the first to fourth aspects.

[0072] Optionally, as one implementation, the chip further includes a memory storing computer programs or instructions, and a processor for executing the computer programs or instructions in the memory. When the computer programs or instructions are executed, the processor is used to perform the methods provided in any one of the first to fourth aspects described above.

[0073] In a fifteenth aspect, a communication system is provided, comprising at least one of the aforementioned first device (or first communication device), second device (or second communication device), and third device (or third communication device). The first device is configured to perform the method provided in any implementation of the first and third aspects; the second device is configured to perform the method provided in any implementation of the second aspect; and the third device is configured to perform the method provided in any implementation of the second and fourth aspects. Attached Figure Description

[0074] Figure 1 is a schematic diagram of a wireless communication system according to an embodiment of this application.

[0075] Figure 2 is a schematic diagram of another wireless communication system according to an embodiment of this application.

[0076] Figure 3 is a schematic diagram of an access network device according to an embodiment of this application.

[0077] Figure 4 is a schematic diagram of the perception scene according to an embodiment of this application.

[0078] Figure 5 is a schematic diagram of a target perception method 500 provided in an embodiment of this application.

[0079] Figure 6 is a schematic diagram of the result of target perception provided in an embodiment of this application.

[0080] Figure 7 is a schematic diagram of a target perception method 700 provided in an embodiment of this application.

[0081] Figure 8 is a schematic diagram of target perception and false alarm discrimination and suppression provided in an embodiment of this application.

[0082] Figure 9 is a simulation effect diagram of a false alarm target suppression according to an embodiment of this application.

[0083] Figure 10 is a schematic diagram of another target perception method 1000 provided in the embodiments of this application.

[0084] Figure 11 is a schematic diagram of another target perception and false alarm discrimination suppression provided in an embodiment of this application.

[0085] Figure 12 is a schematic diagram of a communication device 1200 provided in an embodiment of this application.

[0086] Figure 13 is a schematic diagram of another communication device 1300 provided in an embodiment of this application.

[0087] Figure 14 is a schematic diagram of a chip system 1400 provided in an embodiment of this application. Detailed Implementation

[0088] In 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. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0089] I. In this application, "at least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural. In the textual description of this application, the character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, and c can mean: a, or, b, or, c, or, a and b, or, a and c, or, b and c, or, a, b, and c. Here, a, b, and c can each be single or multiple.

[0090] II. In this application, the terms "first," "second," and various numerical designations (e.g., #1, #2, etc.) indicate distinctions made for ease of description and are not intended to limit the scope of the embodiments of this application. For example, they may distinguish different messages, rather than describing a specific order or sequence. It should be understood that such descriptions can be interchanged where appropriate to describe solutions other than those in the embodiments of this application.

[0091] Third, in this application, descriptions such as "when," "under the circumstances," and "if" all refer to the device making corresponding processing under certain objective circumstances, and are not time-limited, nor do they require the device to make a judgment action when implementing it, nor do they imply any other limitations.

[0092] IV. In this application, "instruction" or "for instruction" can include both direct (or explicit) and indirect (or implicit) instruction. When describing instruction information as indicating A, it can include whether the instruction information directly or indirectly indicates A, but does not necessarily mean that the instruction information carries A. For example, in the case of indirect (or implicit) instruction, the receiving end of the instruction information can obtain A based on the parameters indicated by the instruction information, combined with other rules or parameters, or through deduction.

[0093] V. The indication methods involved in the embodiments of this application should be understood to cover various methods that enable the party to be indicated to obtain the information to be indicated. The information to be indicated can be sent as a whole or divided into multiple sub-information and sent separately. Moreover, the sending period and / or sending time of these sub-information can be the same or different. This application does not limit the sending method, for example.

[0094] VI. In this application, "protocol" can refer to standard protocols in the field of communications, such as 5G protocols, new radio (NR) protocols, and related protocols applied to future communication systems; this application does not limit this term. "Predefined" can include predefined terms, such as protocol definitions. "Preconfiguration" can be implemented by pre-storing corresponding codes, tables, or other means that can be used to indicate relevant information in the device; this application does not limit the implementation method.

[0095] VII. In this application, "communication" can also be described as "data transmission," "information transmission," "data processing," etc. "Transmission" includes "sending" and "receiving." For example, transmission can be uplink transmission, such as a terminal device sending a signal to a network device; transmission can also be downlink transmission, such as a network device sending a signal to a terminal device; transmission can also be sidelink transmission, such as a terminal device sending a signal to another terminal device. For example, "transmission" can be air interface level transmission, or it can be signal transmission from a chip input (I) / output (O) port, rather than air interface level transmission.

[0096] 8. In this application, terms such as “message”, “information”, “signal” or “information element (IE)” can be used interchangeably. There are no restrictions on the name of the message or information, as long as it can achieve the corresponding function.

[0097] 9. "Sending information to XX (device)" can be understood as the destination of the information being that device. This can include sending information directly or indirectly to that device. "Receiving information from XX (device), or receiving information from XX (device)" can be understood as the source of the information being that device. This can include receiving information directly or indirectly from that device. Information may undergo necessary processing between the source and destination, such as format changes, but the destination can understand the valid information from the source. Similar expressions in this application can be understood in a similar way, and will not be repeated here. In addition, "sending" can also be understood as the "output" of the chip interface, and "receiving" can also be understood as the "input" of the chip interface. In other words, "sending" or "receiving" can be performed between devices, for example, network devices and terminal devices can send or receive information through an air interface, or "sending" or "receiving" can be performed within a device, for example, through a bus, wiring, or interface between components, modules, chips, software modules, or hardware modules within the device.

[0098] 10. In this application, terms such as "exemplarily" and "for example" are used to indicate examples, illustrations, or descriptions to present concepts in a specific manner. Any embodiment or design described as an "example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. In the embodiments of this application, the terms "of," "corresponding (relevant)," "corresponding," and "associate" may sometimes be used interchangeably, and it should be noted that their intended meanings are consistent unless their distinctions are emphasized.

[0099] XI. In this application, configuration can be signaling configuration or can be described as configuring signaling. For example, signaling configuration includes configuration using signaling sent by network devices, which can be radio resource control (RRC) messages, downlink control information (DCI) messages, or system information blocks (SIBs). Another example is signaling configuration between network devices. These network devices can include access network devices, core network devices, or management plane devices, etc. Optionally, signaling configuration can also be configured to terminal devices or network devices using pre-configured signaling, or configured to terminal devices or network devices through pre-configuration. Here, pre-configuration means defining or configuring the values ​​of corresponding parameters in advance using a protocol, and storing them in the terminal device or network device during communication. Pre-configured messages can be modified or updated when the terminal device or network device is connected to the network.

[0100] 12. This application will present various aspects, embodiments, or features relating to systems that may include multiple devices, components, modules, etc. Each system may include devices, components, modules, etc., other than those illustrated, and / or may not include all and all of the devices, components, modules, etc. discussed in conjunction with the accompanying drawings.

[0101] Thirteen, the 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 emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0102] XIV. In the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application. The terms "comprising," "including," "having," and their variations all mean "including but not limited to," unless otherwise specifically emphasized.

[0103] First, let me introduce the communication system to which this application applies.

[0104] The technical solutions provided in this application can be applied to various communication systems, such as 5th generation (5G) or new radio (NR) systems, frequency division duplex (FDD) systems, and time division duplex (TDD) systems. The technical solutions provided in this application can also be applied to future communication networks. Furthermore, the technical solutions provided in this application can be applied to device-to-device (D2D) communication, vehicle-to-everything (V2X) communication, machine-to-machine (M2M) communication, machine-type communication (MTC), and Internet of Things (IoT) communication systems. The technical solutions provided in this application can also be applied to non-terrestrial network (NTN) systems such as inter-satellite communication and satellite communication.

[0105] As an example, a satellite communication system includes a satellite base station and terminal equipment. The satellite base station provides communication services to the terminal equipment. Satellite base stations can also communicate with each other. A satellite can act as a base station or as a terminal device. Here, "satellite" can refer to drones, hot air balloons, low-Earth orbit satellites, medium-Earth orbit satellites, high-Earth orbit satellites, etc. "Satellite" can also refer to non-terrestrial base stations or non-terrestrial equipment.

[0106] As an example, V2X communication can include: vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-pedestrian (V2P) communication, and vehicle-to-network (V2N) communication.

[0107] In a communication system, a device can send signals to or receive signals from another device. These signals can include information, signaling, or data. The device can also be replaced by an entity, network entity, communication equipment, communication module, node, communication node, etc. This application uses a device as an example for description.

[0108] The terminal device in this application embodiment can be a device or module that accesses the aforementioned communication system and has corresponding communication functions. The terminal device can include various devices with wireless communication capabilities, which can be used to connect people, objects, machines, etc. The terminal device can be widely applied in various scenarios, such as: cellular communication, D2D, V2X, peer-to-peer, M2M, MTC, IoT, virtual reality (VR), augmented reality (AR), industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, drones, robots, remote sensing, passive sensing, positioning, navigation and tracking, autonomous delivery, etc. The terminal device can be a terminal in any of the above scenarios, such as an MTC terminal, an IoT terminal, etc. Terminal equipment can be user equipment (UE), terminal, fixed equipment, mobile station equipment or mobile equipment, subscriber unit, handheld device, vehicle-mounted equipment, wearable device, cellular phone, smartphone, session initiation protocol (SIP) phone, wireless data card, personal digital assistant (PDA), computer, tablet computer, laptop computer, wireless modem, handset, laptop computer, computer with wireless transceiver capability, smart book, vehicle, satellite, global positioning system (GPS) device, target tracking device, aircraft (e.g., drone, helicopter, multiple helicopters, four helicopters, or airplanes), ship, remote control device, smart home device, industrial equipment, transportation vehicle with wireless communication capability, communication module, or roadside unit with terminal function, all conforming to the 3rd generation partnership project (3GPP) standard. The device may be a wireless communication unit (RSU), or a device built into the aforementioned device (e.g., a communication module, modem, or chip in the aforementioned device), or other processing devices connected to the wireless modem.

[0109] It should be understood that in certain scenarios, a UE can also be used as a base station. For example, a UE can act as a scheduling entity, providing sidelink signaling between UEs in scenarios such as V2X, D2D, or peer-to-peer.

[0110] In this embodiment, the device for implementing the functions of a terminal device, i.e., the terminal device, can be the terminal device itself, or it can be any device capable of supporting the terminal device in implementing the functions, such as a chip system, chip, circuit, or communication module (i.e., a communication module that performs communication functions). This device can be installed in the terminal device. In this embodiment, the chip system can be composed of chips, or it can include chips and other discrete devices. Furthermore, the device can also be configured with program instructions for performing corresponding communication functions.

[0111] The network device in this application embodiment can be a device or module with corresponding communication functions. The network device can be a device used to communicate with terminal devices; it can also be called an access network device or a wireless access network device, such as a base station. In this application embodiment, the network device can refer to a radio access network (RAN) node (or device) that connects the terminal device to the wireless network. A base station can broadly encompass, or be replaced by, various names including: NodeB, evolved NodeB (eNB), next-generation NodeB (gNB), relay station, access point, transmitting and receiving point (TRP), transmitter, master station, auxiliary station, multiple standard radio (MSR) node, home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, baseband unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), positioning node, etc. A base station can be a macro base station, micro base station, relay node, donor node, or similar, or a combination thereof. A base station can also refer to a communication module, modem, or chip installed within the aforementioned equipment or apparatus. A base station can also be a mobile switching center, a device that performs base station functions in D2D, V2X, and M2M communications, or a device that performs base station functions in future communication systems. A base station can support networks using the same or different access technologies. The embodiments of this application do not limit the specific technologies or device forms used in the network equipment.

[0112] Base stations can be fixed or mobile. For example, a helicopter or drone can be configured to act as a mobile base station, and one or more cells can move depending on the location of the mobile base station. In other examples, a helicopter or drone can be configured as a device to communicate with another base station.

[0113] In some deployments, the network devices mentioned in the embodiments of this application may be devices including CU, or DU, or devices including CU and DU, or devices with control plane CU nodes (central unit-control plane (CU-CP)) and user plane CU nodes (central unit-user plane (CU-UP)) and DU nodes.

[0114] In some deployments, multiple RAN nodes collaborate to assist terminal devices in achieving wireless access, with different RAN nodes each implementing some of the base station's functions. For example, RAN nodes can be CUs, DUs, CU-CPs, CU-UPs, or radio units (RUs). CUs and DUs can be configured separately or included in the same network element, such as a BBU. RUs can be included in radio equipment or radio units, such as RRUs, AAUs, or RRHs.

[0115] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, a radio access network can also be an open radio access network (O-RAN or ORAN) architecture. In an O-RAN system, CU can also be called an open CU (open CU, O-CU), DU can also be called an open DU (open DU, O-DU), CU-CP can also be called an open CU-CP (O-CU-CP), CU-UP can also be called an open CU-UP (O-CU-UP), and RU can also be called an open RU (open RU, O-RU). Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software modules and hardware modules.

[0116] In this embodiment, the device for implementing the functions of a network device can be a network device itself, or a device capable of supporting the network device in implementing those functions, such as a chip system, chip, circuit, or communication module (i.e., a communication module that performs communication functions). This device can be installed within the network device. In this embodiment, the chip system can be composed of chips, or it can include chips and other discrete devices. Furthermore, the device can be configured with program instructions for performing corresponding communication functions. This embodiment only uses a network device as an example to illustrate the device for implementing the functions of a network device, and does not limit the solution of this embodiment.

[0117] Network devices and terminal devices can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; and they can also be deployed in the air on airplanes, balloons, and satellites. This application does not limit the scenario in which the network devices and terminal devices are located.

[0118] Referring to Figure 1, as an example, Figure 1 is a schematic diagram of a wireless communication system applicable to an embodiment of this application. As shown in Figure 1, the wireless communication system includes a wireless access network 100. The wireless access network 100 may be a next-generation (e.g., future or higher version) wireless access network or a traditional (e.g., 5G, 4G, 3G, or 2G) wireless access network. One or more terminal devices (120a-120j, collectively referred to as 120) may be interconnected or connected to one or more network devices (110a, 110b, collectively referred to as 110) in the wireless access network 100. Network elements in the wireless communication system are connected through interfaces (e.g., NG, Xn) or air interfaces.

[0119] When network devices and terminal devices communicate, the network device can manage one or more cells, and a cell can include at least one terminal device. A cell can be understood as an area within the wireless signal coverage range of the network device.

[0120] Figure 1 is just a schematic diagram. The wireless communication system may also include other devices, such as core network devices, wireless relay devices and / or wireless backhaul devices, which are not shown in Figure 1.

[0121] Referring to Figure 2, as an example, Figure 2 is a schematic diagram of another wireless communication system applicable to embodiments of this application. This wireless communication system may be referred to as an ORAN system, for example. The wireless communication system may include a core network, access network equipment, and a UE. As an example, the ORAN system may also include other components besides those shown in Figure 2; specific details are not limited in this application.

[0122] Access network equipment can communicate with the core network (CN) via a backhaul link. Access network equipment can also communicate with the UE via an air interface. Specifically, the BBU in the access network equipment communicates with the core network via a backhaul link. The RU in the access network equipment communicates with at least one UE via an air interface. The BBU communicates with at least one RU via a fronthaul link; the BBU and RU may or may not be co-located. A BBU includes at least one CU and at least one DU, and the CU and DU can communicate via at least one midhaul link.

[0123] Referring to Figure 3, as an example, Figure 3 is a schematic diagram of an access network device applicable to an embodiment of this application.

[0124] Optionally, the access network equipment includes a CU. The CU is a logical node that carries the radio resource control (RRC), service data adaptation protocol (SDAP) layer, packet data convergence protocol (PDCP) layer, and other control functions of the access network equipment. The CU can connect to network nodes such as the core network through interfaces, such as the E2 interface. The CU may have some core network functions. The CU (e.g., the PDCP layer and / or higher layers of the CU) connects to the DU (e.g., the radio link control (RLC) layer and lower layers of the DU) through interfaces, such as the F1 interface. Optionally, the F1 interface can provide control plane (C-Plane) and user plane (U-Plane) functions (e.g., interface management, system information management, UE context management, RRC message transmission, etc.). F1AP is the application protocol of the F1 interface, defining the signaling procedures of F1 in some examples. The F1 interface supports control plane F1-C and user plane F1-U.

[0125] As an example, a CU includes CU-CP and CU-UP. CU-CP is a logical node carrying the control plane (PDCP-C) layer, which carries the RRC layer and the Packet Data Convergence Protocol layer, and is used to implement the CU's control plane functions. CU-CP can interact with network elements in the core network used to implement control plane functions. These network elements in the core network can be access and mobility function (AMF) network elements, such as the access and mobility management function (AMF) in a 5G system. The AMF network element is responsible for mobility management in the mobile network, such as terminal device location updates, terminal device registration with the network, and terminal device handover. CU-UP is a logical node carrying the user plane (PDCP-U) layer, which carries the SDAP layer and the Packet Data Convergence Protocol layer, and is used to implement the CU's user plane functions. CU-UP can interact with network elements in the core network used to implement user plane functions. These network elements in the core network, such as the user plane function (UPF) in a 5G system, are responsible for data forwarding and receiving in terminal devices. The above CU and DU configurations are merely examples. In practical applications, the functions of the CU and DU can be configured as needed. For instance, the CU or DU can be configured to have more protocol layer functions, or to have only some protocol layer processing functions. For example, some RLC layer functions and protocol layer functions above the RLC layer can be placed in the CU, while the remaining RLC layer functions and protocol layer functions below the RLC layer can be placed in the DU. Furthermore, the functions of the CU or DU can be divided according to service type or other system requirements. For example, based on latency, functions that require low latency can be placed in the DU, while functions that do not require low latency can be placed in the CU.

[0126] Optionally, the access network equipment includes a DU. As shown in Figure 3, the DU is a logical node carrying the RLC layer, medium access control (MAC) layer, higher physical layer (Higher PHY) layer, and other functions. In some examples, the DU can control at least one RU. The DU connects to the RU through interfaces, which can be fronthaul interfaces. In some examples, the Higher PHY layer includes the PHY layer processing, such as forward error correction (FEC) encoding and decoding, scrambling, modulation, and demodulation.

[0127] Optionally, the access network equipment includes a Runner (RU). As shown in Figure 3, the RU is a logical node that carries lower physical layer (Lower PHY) and radio frequency (RF) processing. In some examples, the RU may be a 3GPP transmission reception point (TRP), a remote radio head (RRH), or other similar entities. In some examples, the Lower-PHY includes PHY processing functions such as fast Fourier transform (FFT), inverse fast Fourier transform (IFFT), digital beamforming, and filtering. The RU communicates with one or more UEs via a radio link (such as an RF chain).

[0128] The DU and RU can be co-located or not. The DU and RU exchange control plane and user plane information via a fronthaul link through the lower-layer split CUS-plane (LLS-CUS-Plane) (or O-RAN CUS-Plane) interface. Here, CUS-Plane represents the control plane (C-Plane), user plane (UPlane), and synchronization plane (S-Plane) (CUS-Plane). LLS-CUS may include a lower-layer split control (LLS-C) interface providing the control plane and a lower-layer split user (LLS-U) interface providing the user plane. Additionally, LLS-CUS may include a lower-layer split synchronization (LLS-S) interface providing the synchronization plane. In some examples, the control plane (or control plane) refers to the real-time control between the DU and RU. The DU and RU exchange management plane information via the lower-layer split management (LLS-M) interface of the fronthaul link. The management plane (M-Plane) refers to the non-real-time management operations between the DU and RU.

[0129] DU and RU can cooperate to implement the functions of the PHY layer. A DU can be connected to one or more RUs. The functions of DU and RU can be configured in various ways depending on the design. For example, a DU can be configured to implement baseband functions, and an RU can be configured to implement mid-RF functions. Another example is that a DU can be configured to implement higher-level functions in the PHY layer, and an RU can be configured to implement lower-level functions in the PHY layer, or to implement both lower-level and RF functions. Higher-level functions in the physical layer can include a portion of the physical layer's functions that are closer to the MAC layer, while lower-level functions in the physical layer can include another portion of the physical layer's functions that are closer to the mid-RF side.

[0130] Figures 1 to 3 above are illustrative examples, and the embodiments of this application are not limited thereto.

[0131] To facilitate a better understanding of the technical solution of this application, some related technologies involved in the technical solution of this application are introduced.

[0132] 1. Perception: Also known as detection, this is the process of collecting and processing data to generate perception results. For example, data can be collected to determine the distance, shape, and type of surrounding obstacles; or data can be collected to determine the breathing rate and heart rate of a monitored object. The collected data can be obtained through sensors or through wireless signals.

[0133] Both wireless sensing and wireless communication are based on electromagnetic wave theory. The transmitting end modulates the electromagnetic wave signal, enabling it to carry source information. During propagation, the electromagnetic wave signal is affected by the wireless environment, meaning it is influenced by the environment and can therefore also carry environmental information. The receiving end analyzes the electromagnetic wave signal to obtain not only the carried source information but also sensing information reflecting the characteristics of the propagation environment. In other words, electromagnetic waves inherently possess both communication and sensing capabilities, making integrated sensing and communication (ISAC) possible. ISAC can also be called joint communications and sensing (JCAS) or simply integrated sensing and communication.

[0134] 2. Integrated Communication and Sensing: This is a key technology in future wireless communication networks. It aims to integrate wireless communication and sensing functions into the same system. By utilizing the various propagation characteristics of wireless signals, it can achieve sensing functions such as target positioning, detection, imaging, and identification, thereby obtaining information about the surrounding physical environment, exploring communication capabilities, and enhancing user experience.

[0135] For example, a first device transmits a sensing signal, and a second device (or the first device) receives the echo signal reflected from a target in the environment to perform sensing. The time delay of the echo signal relative to the transmitted sensing signal reflects the distance to the target; the Doppler shift of the echo signal relative to the transmitted sensing signal reflects the velocity of the target.

[0136] 3. Sensing Signal: A signal used to sense (or detect) a target (or object). Sensing signals can also be called detection signals, linear frequency modulated signals, radar signals, radar sensing signals, radar detection signals, environmental sensing signals, etc. Sensing signals can be pulse signals or signals from wireless communication systems. For example, a sensing signal can be an orthogonal frequency division multiplexing (OFDM) signal obtained by modulating a specific sequence on a subcarrier. This specific sequence can be any of the following: Zadoff-Chu sequence (ZC sequence), pseudo-random sequence, predefined sequence, etc. Pseudo-random sequences include any of the following: longest linear feedback shift register sequence (m-sequence), Gold sequence, etc. Predefined sequences can be, for example, random data symbols modulated by quadrature phase shift keying (QPSK), quadrature amplitude modulation (QAM), etc.

[0137] 4. Communication signals: Signals transmitted between communication devices for communication purposes, including signals transmitted between network devices and terminal devices. For example, communication signals are signals carried on the physical downlink shared channel (PDSCH). As another example, communication signals are signals carried on the physical uplink shared channel (PUSCH).

[0138] 5. Echo Signal: The echo signal is the signal generated when the sensed signal is reflected or scattered by the target. The time delay of the echo signal relative to the sensed signal reflects the distance of the target relative to the transmitter. The Doppler shift of the echo signal relative to the sensed signal reflects the velocity of the target.

[0139] 6. Sensing Target: Also known as a target, it can be any tangible object in the environment capable of reflecting / scattering / diffusing electromagnetic waves, such as mountains, forests, or buildings, and can also include mobile objects such as vehicles, drones, pedestrians, and terminal devices. The target can also be referred to as the perceived target, the detected target, the perceived object, the detected object, or the sensed device, etc., and this application does not limit the terminology. For electromagnetic sensing, a target can generally be modeled as at least one scattering point (also known as a scattering center), and the process of the target reflecting / scattering / diffusing electromagnetic waves can be equivalent to the process of at least one scattering point reflecting / scattering / diffusing electromagnetic waves. For point targets, the target can be modeled by one scattering point. For extended targets, the target can be modeled by multiple scattering points.

[0140] 7. Perception Scenarios: These can be divided into perception scenarios based on network devices, perception scenarios based on both network devices and terminal devices, and perception scenarios based on terminal devices. For example, see the perception scenarios shown in (1) to (6) of Figure 4.

[0141] Referring to Figure 4, as an example, Figure 4 is a schematic diagram of a perception scenario applicable to an embodiment of this application. Exemplary:

[0142] The perception scenario shown in Figure 4(1) is a network-based perception scenario, where the network device acts as both the sender and receiver of the perception signal. For example, when the perception signal 1 sent by the network device reaches the target object (e.g., a vehicle), the network device can receive the perception signal 2 after the perception signal 1 is reflected by the target object, and then process the perception signal 2 to obtain the perception result.

[0143] The sensing scenario shown in Figure 4(2) is also a network device-based sensing scenario, where one network device acts as the transmitter of the sensing signal and the other network device acts as the receiver of the sensing signal. For example, sensing signal 1 sent by network device A reaches the target object. After the sensing signal 1 is reflected by the target object, network device B can receive sensing signal 2. Then, network device B can process sensing signal 2 to obtain the sensing result.

[0144] The sensing scenario shown in Figure 4(3) is a sensing scenario based on network devices and terminal devices. The network device is the sender of the sensing signal, and the terminal device is the receiver of the sensing signal. For example, the sensing signal 1 sent by the network device reaches the target object. After the sensing signal 1 is reflected by the target object, the terminal device can receive the sensing signal 2. Then, the terminal device can process the sensing signal 2 to obtain the sensing result.

[0145] The sensing scenario shown in Figure 4(4) is also a sensing scenario based on network devices and terminal devices. The terminal device is the sender of the sensing signal, and the network device is the receiver of the sensing signal. For example, the sensing signal 1 sent by the terminal device reaches the target object. After the sensing signal 1 is reflected by the target object, the network device can receive the sensing signal 2. Then the network device can process the sensing signal 2 to obtain the sensing result.

[0146] The perception scenario shown in Figure 4(5) is a perception scenario based on a terminal device, where the terminal device acts as both the sender and receiver of the perception signal. For example, when perception signal 1 sent by the terminal device reaches the target object, the terminal device can receive perception signal 2 after the perception signal 1 is reflected by the target object, and then process perception signal 2 to obtain the perception result.

[0147] The sensing scenario shown in Figure 4(6) is also a sensing scenario based on terminal devices. One terminal device acts as the transmitter of the sensing signal, and the other terminal device acts as the receiver of the sensing signal. For example, the sensing signal 1 sent by terminal device a reaches the target object. After the sensing signal 1 is reflected by the target object, terminal device b can receive the sensing signal 2. Then, terminal device b can process the sensing signal 2 to obtain the sensing result.

[0148] The aforementioned sensing signal 2 can be understood as a reflected signal of sensing signal 1. Sensing signal 2 carries more information than sensing signal 1. For example, sensing signal 2 can carry source information and environmental information.

[0149] The following embodiments use the first device, the second device, and the third device as examples for illustration.

[0150] The first device refers to a device that implements sensing functions and services, including a device for identifying false alarm targets. The first device can be a core network device (or core network element), a component within a core network device (e.g., a processor, chip, or chip system), or a logic module or software capable of implementing all or part of the functions of the core network device. As an example, the first device is a core network device with sensing management functions. For example, the first device can be a separate functional module, such as a sensing management function (SeMF), or it can be a functional module within an existing core network element that incorporates sensing management functions. The sensing management function refers to the ability to implement sensing services and process relevant information, such as initiating sensing requests, processing and analyzing sensing data, and sending or receiving signals (e.g., sensing-related signals). The specific form of the first device is not limited. For example, the first device can also be a network device, a component within a network device (e.g., a processor, chip, or chip system), or a logic module or software capable of implementing all or part of the functions of the network device.

[0151] The second device represents the transmitting end of the sensing signal. The second device can be a network device, or a component within a network device (e.g., a processor, chip, or chip system), or a logic module or software capable of implementing all or part of the functions of the network device. The second device can also be a terminal device, or a component within a terminal device (e.g., a processor, chip, or chip system), or a logic module or software capable of implementing all or part of the functions of the terminal device.

[0152] The third device refers to a receiver of the sensed signal or the echo signal of the sensed signal. The third device can be a network device, or a component within a network device (e.g., a processor, chip, or chip system), or a logic module or software capable of implementing all or part of the functions of the network device. The third device can also be a terminal device, or a component within a terminal device (e.g., a processor, chip, or chip system), or a logic module or software capable of implementing all or part of the functions of the terminal device.

[0153] The third device may be the same as or different from the first device, and is not limited thereto. The third device may be the same as or different from the second device, and is not limited thereto.

[0154] Figure 5 is a schematic diagram of a target perception method 500 provided in an embodiment of this application. As shown in Figure 5, the method includes at least the following steps.

[0155] S510, the first device acquires the first information.

[0156] The first device acquires the first information in at least the following ways.

[0157] In one possible implementation, the first device receives first information. Based on this, S510, where the first device acquires the first information, can be replaced by: the first device receiving the first information. For example, a third device sends the first information to the first device, and correspondingly, the first device receives the first information. Specifically, the third device performs a measurement based on the received sensing signal or the echo signal of the sensing signal to obtain a measurement result, and sends the first information to the first device, the first information indicating the measurement result.

[0158] In a second possible implementation, the first device itself determines the first information. Based on this, S510, where the first device acquires the first information, can be replaced by: the first device determining the first information. Specifically, the first device obtains the measurement result based on the received sensing signal or the echo signal of the sensing signal.

[0159] The first piece of information indicates the measurement result, which is obtained based on the sensing signal.

[0160] The term "sensing signal" can be replaced with "reference signal," "pilot signal," "wireless signal," "first signal," etc., and this application does not impose any limitations on this. For ease of understanding and description, the following explanation mainly uses the sensing signal as an example. The measurement result refers to the sensing-related result obtained from the echo signal of the received sensing signal. The measurement result can also be called sensing information, sensing measurement, sensing processed result, result information, sensing target information, or other names, and this application does not limit this terminology.

[0161] Optionally, the measurement results include at least one of the following: the position of the perceived target, the distance to the perceived target, the angle of the perceived target, and the velocity or velocity component of the perceived target. This information is described below.

[0162] 1) The position of the perceived target can be the absolute position of the perceived target or the relative position of the perceived target, such as the relative position of the perceived target relative to the third device, or the relative position of the perceived target relative to the second device.

[0163] 2) The distance to the target can be the distance from the sensing signal from the second device to the target (e.g., the one-way distance), or the distance from the sensing signal from the second device to the target and then to the third device (e.g., the round-trip distance). The distance from the second device to the target and then to the third device is the sum of the distance from the second device to the target and the distance of the echo signal from the sensing signal to the third device.

[0164] 3) Target Angle: This includes angles related to the target. For example, the target angle includes the target departure direction angle (DOD) and / or the target arrival direction angle (DOA). The target departure direction angle is the angle between the line connecting the sensing signal from the transmitting source (e.g., the second device) to the target and a reference direction (e.g., the normal direction of the antenna array). The target arrival direction angle is the angle between the line connecting the echo signal of the sensing signal from the target to the receiving end (e.g., the third device) and a reference direction (e.g., the normal direction of the antenna array).

[0165] 4) The velocity or velocity component of the perceived target: This can be the absolute velocity of the perceived target or the relative velocity of the perceived target. For example, when the second and third devices are movable, the relative velocity of the perceived target can be the relative velocity of the perceived target relative to the third device or the relative velocity of the perceived target relative to the second device. The velocity component of the perceived target can be the velocity component of the perceived target in a certain direction, such as the velocity component of the perceived target in the horizontal or vertical direction.

[0166] S520, the first device determines false alarm targets based on the first information.

[0167] Specifically, the first device determines whether the target exists and whether the existing target is a false alarm target based on the measurement statistics of the target.

[0168] Next, we will introduce the perceived target and measurement statistics.

[0169] 1) Perceive the target.

[0170] In this context, the perceived target is related to the measurement result; that is, the perceived target can be determined based on the measurement result. For example, a first or third device senses whether a target exists in the region of interest, acquires the number of perceived targets, calculates the measurement statistics for each perceived target, and then determines whether it is a false alarm target based on the measurement statistics.

[0171] As an example, after pulse compression of the echo signal of the sensing signal, target sensing is performed on the range-Doppler (RD) spectrum to determine whether a sensing target exists in the region of interest. As shown in Figure 6, as an example, in Figure 6(a), the left image shows the result of pulse compression of the echo signal of the sensing signal, and the right image shows the detected RD spectrum. Each point in the RD spectrum corresponds to a sensing target. In this way, the number of sensing targets and the distance and angle information of each sensing target can be obtained. The set of sensing target points obtained in the RD spectrum can be called a motion point cloud. In other words, in the motion point cloud of the region of interest, each point represents a sensing target. The above is an example illustration regarding the method of determining the sensing target, and the embodiments of this application are not limited thereto. For example, the sensing target can also be determined based on some algorithms.

[0172] Once the presence of the target is determined, a dual-angle estimation is performed on the detected target, as shown in Figure 6(b). Each peak represents information about a target. The DOA and DOD of the target can be obtained through dual-angle estimation.

[0173] 2) Measurement statistics of perceived targets.

[0174] The measurement statistics of the perceived target are related to the measurement results; therefore, the measurement statistics of the perceived target can also be called the "statistics of the perceived parameters," meaning that the measurement statistics of the perceived target are related to the parameters in the measurement results. Specifically, if the measurement statistics are determined based on the measurement results, or if the measurement statistics are determined based on the measurement results and other parameters, then it can be understood that the measurement statistics are related to the measurement results.

[0175] One possible implementation involves the first device determining measurement statistics of the perceived target based on measurement results indicated by the first information. Two examples are described below.

[0176] Example 1: The measurement results include the DOD and DOA of the perceived target, and the measurement statistics of the perceived target related to the measurement results satisfy Formula 1.

[0177] Where R represents the measurement statistics of the perceived target. DOD for sensing targets. The DOA for the perceived target.

[0178] Example 2: The measurement results include the DOD, DOA, and distance of the perceived target, and the measurement statistics of the perceived target related to the measurement results satisfy Formula 2.

[0179] Where R represents the measurement statistics of the perceived target. DOD for sensing targets. To perceive the DOA of the target, R pulse To sense the distance to the target, R angle L is the baseline distance between the second and third devices, where L is the distance obtained based on the DOD and DOA of the perceived target.

[0180] The above implementation is illustrative, and the embodiments of this application are not limited thereto. For example, the first information may indicate a measurement statistic related to the measurement result; as another example, other devices may determine the measurement statistic based on the measurement result and indicate it to the first device.

[0181] Optionally, the first device determines whether the perceived target is a false alarm target based on the measurement statistics and threshold of the perceived target.

[0182] The threshold is used to compare with the measurement statistics of the sensed target to determine whether the sensed target is a false alarm. The threshold can be a specific value or a range of values, and there is no limitation on this.

[0183] In one possible implementation, the threshold is a numerical value. If the measurement statistics of the perceived target are greater than the threshold, the perceived target is determined to be a false alarm target; or, if the measurement statistics of the perceived target are less than or equal to the threshold, the perceived target is determined not to be a false alarm target.

[0184] In another possible implementation, if the measurement statistics of the perceived target are within the numerical range (i.e., an example of a threshold), the perceived target is determined to be a false alarm target; or, if the measurement statistics of the perceived target are not within the numerical range, the perceived target is determined not to be a false alarm target.

[0185] There are no restrictions on how the threshold is determined. For example, the threshold can be predefined or determined based on prior information.

[0186] Optionally, the threshold is related to at least one of the following: measurement statistics of the perceived target, radio resource information, and received signal-to-noise ratio.

[0187] Among them, radio resource information refers to information about the radio resources used by the sensing signal. This will be explained in detail later in conjunction with the resources of the sensing signal.

[0188] The received signal-to-noise ratio (SNR) represents the signal-to-noise ratio of the perceived signal to the echo signal of a certain perceived target.

[0189] The following are two examples of threshold calculation.

[0190] Example 1: The measurement results include the perceived target's DOD and DOA, and the threshold satisfies Formula 3.

[0191] Where G represents the threshold, DOD for sensing targets. DOA for the perceived target; This represents the mean squared error of the DOD. Let η be the mean square error of DOA. d The confidence level for false alarm detection can be adjusted by adjusting η. d The degree of suppression of the control threshold is used to achieve a balance between the suppression rate and the false alarm rate for false alarm targets.

[0192] The mean square error of DOD and DOA is related to radio resource information and measurement results. As an example, radio resource information can indicate the antenna apertures of the second and third devices, thereby determining the angular resolution of DOD and DOA. Measurement results include the signal-to-noise ratio (SNR) of the echo signal of the sensed signal, and both the angular resolution and the SNR of the echo signal of the sensed signal can jointly affect the estimation accuracy of DOD and DOA.

[0193] Example 2: The measurement results include the perceived target's DOD and DOA, the perceived target's distance, and the threshold satisfies Formula 4.

[0194] Where G represents the threshold, R pulse R represents the distance term in the measurement results. angle The distance is obtained based on the perceived target's DOD and DOA. DOD for sensing targets. DOA for the perceived target; This represents the mean squared error of the DOD. This represents the mean squared error of DOA. For the mean square error of distance estimation, based on similar reasons as in Example 1, the mean square errors of DOD, DOA, and distance are also related to wireless resource information and measurement results, η. d The confidence level for false alarm detection can be adjusted by adjusting η. d The degree of suppression of the control threshold is used to achieve a balance between the suppression rate and the false alarm rate for false alarm targets.

[0195] Optionally, method 500 further includes: S502, the first device sends second information, the second information indicating the resources of the sensing signal. For simplicity, the resources of the sensing signal will be referred to as sensing resources below.

[0196] For example, a second device receives second information from a first device, and thus the second device can transmit a sensing signal based on the sensing resources indicated by the second information. As another example, a third device receives second information from a first device, and thus the third device can receive a sensing signal or an echo signal of a sensing signal based on the sensing resources indicated by the second information. It can be understood that, taking the second device as an example, the first device can directly transmit the second information to the second device, or it can transmit the second information to the second device through other devices.

[0197] Furthermore, optionally, taking the second device as an example, after the first device sends the second information, the second device confirms whether the sensing resource indicated by the second information is suitable. If the sensing resource is unsuitable, the second device can send an indication message to the first device, indicating that the sensing resource is unsuitable. The first device then re-determines the sensing resource based on the indication message. Afterward, the first device can re-indicate the re-determined sensing resource to the second device until the second device confirms that the sensing resource is suitable. Alternatively, if the sensing resource is suitable, the second device can directly send a sensing signal according to the sensing resource indicated by the second information; or, if the sensing resource is suitable, the second device can send an indication message to the first device, indicating that the sensing resource is suitable, and the second device sends a sensing signal according to the sensing resource indicated by the second information. The third device is similar and will not be described in detail here.

[0198] The indication information indicating that the sensing resource is unsuitable can be replaced with any of the following: the indication information indicates disagreement with the sensing resource, the indication information indicates rejection of the sensing resource, the indication information indicates non-acceptance of the sensing resource, etc. The content of the indication information is not limited, and any method that causes the first device to re-determine the sensing resource based on the indication information is applicable to the embodiments of this application. Furthermore, the reasons for the unsuitability of the sensing resource are not limited. For example, reasons for the unsuitability of the sensing resource include at least one of the following: insufficient allocated wireless resources, mismatch of the current sensing configuration, or sensing accuracy that cannot meet the discrimination requirements, etc.

[0199] Similarly, the instruction information indicating that the perceived resource is appropriate can also be replaced with any of the following: the instruction information indicating consent to the perceived resource, the instruction information indicating acceptance of the perceived resource, etc.

[0200] The implementation of the instruction information is not limited in this application. Several implementation methods are described below.

[0201] One possible implementation is that the indication information is implemented using at least one bit. Taking the indication information implemented using one bit as an example, if the value of this bit is the first value, then the indication information is considered inappropriate for indicating the sensing resource; if the value of this bit is the second value, then the indication information is considered appropriate for indicating the sensing resource. The first and second values ​​are different, such as the first value being "0" and the second value being "1"; or the first value being "1" and the second value being "0".

[0202] Another possible implementation is to use a specific field to indicate the information. For example, if the second device sends the specific field to the first device, the first device determines that the sensing resources are unsuitable; if the second device does not send the specific field to the first device, the first device determines that the sensing resources are suitable.

[0203] The above description uses the example of the second information indicating sensing resources, but the embodiments of this application are not limited to this. For example, the second information may indicate information related to the sensing signal, such as sensing resources, the sequence of sensing signals, the generation method of sensing signals, etc.

[0204] The following section details the relevant solutions for sensing resources. It is understood that the solutions described below can be used in conjunction with the previous solutions for identifying false alarm targets, or they can be used independently. The sensing resources will be discussed in two aspects below.

[0205] Aspect 1, Perceiving Resources.

[0206] Sensing resources refer to resources related to the sensing signal. As an example, sensing resources include at least one of the following: time-domain resources, periodicity, frequency-domain resources, and spatial stream number information; in other words, the second information may indicate at least one of the following: time-domain resources, periodicity, frequency-domain resources, and spatial stream number information.

[0207] 1) Time-domain resources refer to the available resources of the sensed signal in the time domain dimension. Time-domain resources may include one or more time-domain units (or, may also be called time cells). A time-domain unit may be a symbol, an OFDM symbol, a mini-slot, a slot, a partial slot, a subframe, or a radio frame, etc. A slot may consist of 6, 7, 12, or 14 symbols; a mini-slot may include at least one symbol (e.g., 2, 7, or 14 symbols, or any number of symbols less than or equal to 14); the duration of a subframe in the time domain may be 1 millisecond (ms). It should be understood that the above-described time-domain unit sizes are merely for the convenience of understanding the scheme of this application and do not constitute a limitation on the scope of protection of this application. It is understood that the above-described time-domain unit sizes can be other values, and this application does not limit them.

[0208] 2) Period, representing the transmission interval of the sensing signal. When the sensing signal is transmitted at specific time intervals, this fixed interval time can be called the period of the sensing signal. For example, for multiple consecutive OFDM symbols, the fixed number of time slots between them is one period. As an example, the period can include large periods and small periods. For example, a large period consists of 5 time slots, and one of the time slots contains 9 small periods, each of which is 1 OFDM symbol. It is understood that the number of time slots and the number of OFDM symbols included in the above period are merely examples and can be other values, which do not limit the scope of protection of this application, and this application does not limit them.

[0209] 3) Frequency domain resources represent the available resources of the sensed signal in the frequency dimension. Frequency domain resources can include one or more frequency domain units. Among them, a frequency domain unit can be a resource block (RB), a subcarrier, a resource block group (RBG), a predefined subband, a precoding resource block group (PRG), a bandwidth part (BWP), a resource element (RE) (also called a resource unit or resource particle), a carrier, or a serving cell.

[0210] 4) Spatial stream number information, representing the situation where the sensing signal is transmitted simultaneously through multiple antennas and / or the number of independent sensing data streams transmitted. For example, in a multi-antenna system, the sensing signal can be decomposed into multiple independent data streams, each of which is transmitted through a different antenna channel.

[0211] Aspect 2, the method of determining perceived resources.

[0212] Optionally, the sensing resources are determined based on at least one of the following: parameters of the sensing target, capability information of the second device, capability information of the third device, and currently available wireless resource information.

[0213] The currently available wireless resource information may refer to the information provided by a network device (such as an AMF) to the first device regarding the currently available wireless resources, so that the first device can configure the wireless resources required for sensing from the available wireless resources.

[0214] The parameter information of the perceived target refers to information about parameters related to the perceived target. As an example, the parameter information of the perceived target includes at least one of the following: distance information of the perceived target, velocity information of the perceived target, and range information of the perceived target.

[0215] Among them, the distance information of the sensing target represents the distance between the region of interest to be sensed and the second device; the speed information of the sensing target represents the moving speed of the sensing target; and the range information of the sensing target can also represent the size of the area to be sensed.

[0216] Optionally, method 500 further includes: S501, the first device receives capability information of the second device and capability information of the third device. The capability information of the second device indicates the capability of the second device to provide perception services in the target perception process. The capability information of the third device indicates the capability of the third device to provide perception services in the target perception process.

[0217] In some examples, the capability information of the second device includes at least one of the following: information on available antenna aperture, antenna array, bandwidth, location, sensing configuration, available rooftop orientation, supported range resolution, angular resolution, supported maximum sensing range, supported maximum sensing speed, supported angular sensing range, whether feedback of measurement results is supported, supported maximum transmit current, and supported maximum transmit power. The capability information of the third device includes at least one of the following: information on available antenna aperture, bandwidth, configuration, available rooftop orientation, supported range resolution, angular resolution, supported maximum sensing range, supported maximum sensing speed, supported angular sensing range, whether feedback of measurement results is supported, supported maximum transmit current, and supported maximum transmit power.

[0218] The available antenna aperture information can refer to the effective area or related characteristic parameters of the antenna when receiving or transmitting sensing signals. Antenna array information refers to the data acquired by an array of multiple antenna elements when receiving or transmitting signals, used to improve communication quality or achieve environmental sensing functions. Bandwidth information can refer to the bandwidth available for transmitting sensing signals or receiving echo signals from sensing signals. Position information refers to the position information of the second and / or third devices, which can be the absolute position of the second and / or third devices or their relative position to the first device. Sensing configuration information can refer to the sensing configuration supported by the current device, such as single-base sensing, dual-base sensing, or multi-base sensing. Available antenna surface information refers to the spatial characteristics of the antenna installation position that can be used to transmit sensing signals and receive echo signals from sensing signals, including parameters such as the antenna's azimuth and elevation angles. Range resolution can refer to the minimum distance between two adjacent targets that the device (such as the second and / or third device) can distinguish. Angular resolution can refer to the minimum angular interval between two adjacent targets that the device (such as the second and / or third device) can distinguish. Maximum sensing distance refers to the farthest distance at which the device (such as the second and / or third device) can effectively sense and detect a target. Maximum sensing speed refers to the maximum speed at which the device (such as the second and / or third device) can effectively sense and detect a target. Angular sensing range refers to the horizontal or vertical angular range at which the device (such as the second and / or third device) can sense a target, indicating the size of the area that the device (such as the second and / or third device) can cover. Whether feedback measurement results are supported refers to whether the device (such as the second and / or third device) can receive feedback information from the measurement results of the first device. Supported maximum transmit stream refers to the maximum number of parallel data streams supported by the device (such as the second and / or third device) when transmitting sensing signals. Supported maximum transmit power refers to the maximum radio frequency output power allowed by the device (such as the second and / or third device) when transmitting sensing signals.

[0219] It should be understood that capability information can also be called "provide capabilities information" or other names, and this application does not limit it. The transmission of capability information from the second and / or third devices to the first device can also be understood as the second and / or third devices providing capabilities to the first device.

[0220] The various solutions of the embodiments of this application have been described above. For ease of understanding, the process applicable to the embodiments of this application will be described below, taking the first device as SeMF as an example and referring to Figures 7 to 11.

[0221] Figure 7 is a schematic diagram of a target perception method 700 provided in an embodiment of this application. As an example, Figure 7 can be applied to a single-base scenario, that is, when the second device and the third device are the same device. Here, the second device and the third device are network devices as an example for illustration. The method 700 may include the following steps.

[0222] S710, network devices send sensing request information.

[0223] Specifically, network devices can send awareness request information to SeMF via AMF.

[0224] The perception request information can be initiated by the device that initiates the perception service; for example, the perception request information can be initiated by the perception service client.

[0225] The sensing service client can be a logical functional entity. It can be an entity within a public land mobile network (PLMN), such as an operation and maintenance (O&M) tool. Alternatively, it can be an entity outside the PLMN, such as a third-party location server deployed by a non-operator. A typical sensing service client might be a network device, a user equipment, or a sensing-related interface from an upper application layer. The sensing service client can initiate sensing requests carrying parameters such as application quality of service (QoS) to request information about one or more targets. As an example, in this embodiment, a sensing request is sent to the SeMF via a network device.

[0226] Optionally, method 700 further includes: the network device sending parameter information of the sensing target. The parameter information of the sensing target refers to information about parameters related to the sensing target; the description of the parameter information of the sensing target in S502 also applies here, and for simplicity, it will not be repeated here.

[0227] The parameter information of the perceived target and the perception request information can be carried in one signaling message or in different signaling messages; there is no limitation on this.

[0228] S720: Network devices transmit capability information; correspondingly, SeMF receives capability information.

[0229] One possible implementation is that the network device sends capability information to SeMF, which indicates the network device's ability to provide sensing services in the target sensing process. The description of the capability information can be found in the description of the capability information of the second and / or third devices in S502.

[0230] Another possible implementation is that the AMF sends capability information to the SeMF, which indicates the currently available radio resource information. The currently available radio resource information can be found in the description of the currently available radio resource information in S502.

[0231] It should be understood that network devices can send capability information proactively to SeMF, or they can send it after SeMF issues a request and the network device responds.

[0232] S730, SeMF determines the resources for sensing signals.

[0233] SeMF determines the resources of the sensed signal based on at least one of the following: parameters of the sensed target, network device capability information, and currently available radio resource information.

[0234] The resources of a defined sensing signal may include the time-domain resources, periodicity, frequency-domain resources, and spatial stream number information required for the sensing signal.

[0235] The process in S730 is similar to that in S502, and its detailed description is omitted here to avoid redundancy.

[0236] S740, SeMF sends the second message.

[0237] The process of S740 is similar to that of S502, and its detailed description is omitted here to avoid redundancy.

[0238] In the S750, network devices configure and send sensing signals to the sensing target.

[0239] When a network device confirms that the radio resources allocated by SeMF are available, the network device sends a sensing signal to the sensing target based on information such as the sensing resources allocated by SeMF, the time and period of transmitting the sensing signal, and the number of spatial streams.

[0240] S760, network devices receive sensing signal echoes.

[0241] The network device receives the echo signal of the sensing signal and performs parameter estimation on the echo signal of the sensing signal.

[0242] By analyzing the echo signals of the sensed signals, the signal-to-noise ratio (SNR) of the echo signals can be obtained, along with information such as the position, distance, and angle of the sensed target. In some possible implementations, the network device determines the motion point cloud in the region of interest based on the echo signals of the sensed signals, and obtains the DOD and DOA angle information of each sensed target, as described in the introduction to sensed targets in S520.

[0243] S770, the network device sends the first message to SeMF.

[0244] The network device indicates the measurement result through the first information, and SeMF receives the first information accordingly.

[0245] In some possible implementations, the process of acquiring the perceived target in the region of interest in S760 can also be performed by SeMF. In other words, SeMF can sense whether a perceived target exists in the region of interest, determine the motion point cloud of the region of interest, and determine the DOD and DOA information of each perceived target.

[0246] The process of S770 is similar to that of S510, and its detailed description will be omitted here to avoid redundancy.

[0247] S780, SeMF identifies false alarm targets.

[0248] The description in S520 also applies to S780.

[0249] In some possible implementations, SeMF can calculate measurement statistics and thresholds based on the DOD and DOA angle information of each sensed target.

[0250] As an example, the measurement statistic can be calculated using Formula 1, and the threshold can be calculated using Formula 3. The current sensed target is determined to be a false alarm target when the following condition is met; otherwise, the current sensed target is a real target: R>G

[0251] Where R represents the measurement statistics of the perceived target, and G represents the threshold.

[0252] S790, SeMF sends third information to network devices.

[0253] In some possible implementations, the third information indicates the judgment result of SeMF; in other words, the third information carries the judgment result of the perception request information.

[0254] In some examples, the third information may include one or more of the following: the number of real targets, the location information of the real targets, and the velocity information of the real targets.

[0255] As an example, method 700 can be referred to as a sensing information interaction procedure or a sensing information transfer procedure.

[0256] The method provided in the above embodiments enables SeMF to determine the configuration of sensing resources based on at least one of the parameter information of the sensing target, the capability information of the network device, and the information of currently available wireless resources, so that the wireless resources used for sensing can be determined on demand, reducing resource waste.

[0257] Figure 8 is a schematic diagram of target perception and false alarm discrimination suppression provided in an embodiment of this application, which can be understood in conjunction with method 700.

[0258] SeMF can determine sensing resources, including sensing temporal resources, sensing spatial stream information, etc., corresponding to S730 in method 700.

[0259] The network device sends a sensing signal based on the sensing resources determined by SeMF, corresponding to S750 in method 700; the network device receives the echo signal of the sensing signal, corresponding to S760 in method 700.

[0260] After receiving the echo signal of the sensing signal, the SeMF or network device estimates the DOD and DOA of the sensing signal, as well as the signal-to-noise ratio of the echo signal. The SeMF calculates the threshold value, sequentially distinguishes each sensing target, and obtains the point cloud sensing result, which corresponds to S780 in method 700.

[0261] Figure 9 is a simulation effect diagram of false alarm target suppression according to an embodiment of this application, which can be understood as the point cloud perception result in Figure 8. The ISAC base station is located at point (0,0), and there are two sensing targets at a distance of about 200 meters, as shown by the two “☆” in the left figure. The wireless sensing signal will reflect between the two sensing targets, so that the echo detects the false alarm signal, as shown by the “○” in the left figure.

[0262] The simulation used a 16-antenna + 256-pulse frame for MIMO angle estimation. By calculating and adjusting the resources of the sensed signal, the technical solution of this application was used for target perception and false alarm target suppression. The results are shown in the middle and right figures. In the middle figure, "×" represents detected and deleted multipath false alarm targets, achieving a false alarm target suppression rate >95%. In the right figure, "×" represents real targets that were mistakenly detected as false alarm targets, achieving a real target false alarm rate <5%.

[0263] Figure 10 is a schematic diagram of another target perception method 1000 provided in an embodiment of this application.

[0264] The scenario described in this application is a dual-base scenario, that is, the second device and the third device are different devices.

[0265] It should be understood that when the second device and the third device are different devices, they can both be network devices, or both be terminal devices. Alternatively, the second device and the third device can be a terminal device and the other a network device.

[0266] S1010, the second device sends a sensing request message.

[0267] The processes of S1010 and S710 are similar and will not be described in detail here.

[0268] S1020, SeMF receiver capability information.

[0269] In S1020, compared with S720, S1020 can be divided into S1020a and S1020b, which represent the second device and the third device transmitting capability information, respectively. The description of the capability information of the second device and the third device can be referred to S502.

[0270] The exchange of capability information in S1020 and the allocation of sensing signals in S1030 are synchronously shared for the second and third devices.

[0271] In one possible implementation, as another approach to the dual-base scenario, when the second and / or third devices are terminal devices, in order to determine the location information and the capability information of the second and / or third devices, it is also necessary to obtain the positioning information of the second and / or third devices through the participation of the location management function (LMF) responsible for location information in the core network.

[0272] The following explanation uses the second device as a terminal device and the third device as a network device as an example.

[0273] To obtain the positioning information of the second device, before the capability information exchange in S1020, the method further includes S1011 and S1012.

[0274] S1011, SeMF sends a location information request to LMF.

[0275] When SeMF sends a location information request to LMF, AMF receives the request and forwards it to LMF.

[0276] S1012, LMF sends location information feedback to SeMF.

[0277] Based on the positioning request, the LMF sends a positioning capability query request to the second device to obtain the positioning capability information of the second device. The second device, in response to the LMF's positioning capability query request, sends its own positioning capability information to the LMF. Based on the positioning capability information provided by the second device, the LMF determines the required auxiliary data and sends the auxiliary data information to the second device.

[0278] As an example, auxiliary data includes satellite information, network device locations, etc., to help the second device locate itself.

[0279] The LMF calculates the location information of the second device based on the measurement results of the positioning information returned by the second device, and feeds the results back to the SeMF. The LMF feeds back the location information of the second device to the SeMF, and the SeMF can determine the location information of the second device based on the feedback information of the LMF, and obtain the baseline distance between the second device and the third device based on the location information of the second device.

[0280] S1030, SeMF determines the resources for sensing signals.

[0281] When both the second and third devices are network devices, the process of S1030 determining the resources of the sensed signal is similar to S730, and will not be described in detail here.

[0282] In one possible implementation, when the second device is a terminal device, LMF is also required when determining the configuration of sensing resources. The terminal device status is considered to determine whether target sensing can be performed. If it is determined that it can be performed, the corresponding sensing signal resource determination is performed.

[0283] Determining the status of a terminal device can include determining whether the terminal device is moving, whether there is a line of sight (LOS), and determining the resources for sensing signals based on the specific circumstances.

[0284] In some examples, the mobility of a terminal device can affect the propagation characteristics of wireless signals, such as the Doppler effect and channel changes. Therefore, it is necessary to determine whether the terminal device is in motion. For example, if the terminal device is in motion, it may be necessary to allocate a wider spectrum of resources to cope with rapidly changing channels; if the terminal is stationary or moving at low speed, the allocation of spectrum resources can be reduced to save energy.

[0285] In other examples, if a LOS path exists, the signal propagation is mainly direct wave, the channel stability and reliability are high, and the signal transmission efficiency is also high. In this case, the allocation of spectrum resources can be appropriately reduced to save energy.

[0286] As an example, by obtaining capability information such as the maximum transmit stream, maximum transmit power, number of antennas, and aperture information supported by the terminal device, the network device can configure sensing resources according to the wireless resource allocation situation for the MIMO multi-stream sensing transmission of the terminal device.

[0287] S1040 to S1070 can be referenced from S740 to S770.

[0288] Unlike S750 and S760, which are self-transmitting and self-receiving processes, in S1050 and S1060 of method 700, the second device sends a sensing signal to the sensing target, and the third device receives the echo signal of the sensing signal.

[0289] In some examples, in S1060, when the second device is a terminal device, after receiving the echo signal of the sensing signal, it is also necessary to consider the movement state of the terminal device and perform parameter estimation, which also includes: motion compensation aperture synthesis to improve the accuracy of parameter estimation.

[0290] This process is similar to the motion compensation and phase correction methods in synthetic aperture radar (SAR) technology. That is, motion-compensated aperture synthesis compensates and stitches together signal data from multiple locations during motion to synthesize a virtual large aperture, thereby improving positioning accuracy, especially in dynamic scenarios, where it can compensate for signal deviations caused by device movement.

[0291] S1080, the first device identifies false alarm targets.

[0292] The description in S520 also applies to S1080.

[0293] When the second and third devices are different devices, the conditions for satisfying the measurement statistics and thresholds also include the distance information of the perceived target in the measurement results and the distance L between the second and third devices, as exemplified by Formulas 3 and 4.

[0294] As an example, when the measurement statistic R is greater than the threshold G, the sensed echo is determined to be a multipath echo, and the corresponding sensed target is determined to be a false alarm target; when the measurement statistic R is less than or equal to the threshold G, the sensed echo is determined to be a target echo, and the corresponding sensed target is determined not to be a false alarm target. That is, the determination of the measurement statistic R and the threshold G satisfies:

[0295] In some possible implementations, when the second device is a terminal device, after performing the false alarm target determination in S1080, method 700 further includes S1081: location result check information.

[0296] The LMF sends positioning check information to the SeMF. For example, the LMF sends the positioning information of the second device to the SeMF. The SeMF compares the received positioning information of the second device with the positioning information in S1012. The smaller the difference between the two positioning information, the higher the reliability of the judgment result in S1080. Alternatively, the SeMF combines the positioning information of the second device and the measurement results of the sensed target to comprehensively judge the reliability of the judgment result. Or, in some examples, the positioning check information sent by the LMF to the SeMF is a request to initiate positioning check information. If the SeMF responds to the request and instructs the LMF to perform a positioning result check, the LMF sends the positioning information of the second device to the SeMF.

[0297] S1090 can refer to S790, and SeMF sends third information to the second device.

[0298] The third piece of information indicates the judgment result.

[0299] In some possible implementations, when the second device is a terminal device, the third information may also include the result of the positioning check performed in S1081.

[0300] Figure 11 is a schematic diagram of another target perception and false alarm discrimination suppression provided in the embodiments of this application, which can be understood in conjunction with method 1000.

[0301] As shown in Figure 11, SeMF can configure sensing resources for sensing signals. These sensing resources include: sensing time domain resources, sensing frequency domain resources, sensing spatial stream number information, etc. During the determination of these sensing resources and their transmission to the second and third devices, the second and third devices share resource allocation information, corresponding to S1030 and S1040 in method 1000.

[0302] SeMF also calculates spatial resolution, distance resolution, and coverage based on spatial stream number information in the resources of the sensed signal.

[0303] The second device sends a sensing signal according to the sensing resources determined by SeMF, corresponding to S1050 in method 1000; the third device receives the echo signal of the sensing signal, corresponding to S1060 in method 1000.

[0304] After receiving the echo signal of the sensing signal, the SeMF or the third device estimates the DOD and DOA of the sensing signal and the signal-to-noise ratio of the echo signal. The SeMF calculates the threshold value, sequentially distinguishes each sensing target, and obtains the point cloud sensing result, which corresponds to S1080 in method 1000.

[0305] In some possible examples, after comparing the measurement statistics of the perceived target with a threshold to determine whether the perceived target is a false alarm target, the false alarm suppression level can be controlled according to the decision result, thereby adjusting the threshold and improving the effect of false alarm detection.

[0306] The methods provided by the embodiments of this application have been described in detail above with reference to Figures 5 to 11. The apparatus provided by the embodiments of this application will be described in detail below with reference to Figures 12 to 14. It should be understood that the descriptions of the apparatus embodiments correspond to the descriptions of the method embodiments; therefore, any content not described in detail can be referred to the method embodiments above, and for the sake of brevity, will not be repeated here.

[0307] Referring to Figure 12, which is a schematic diagram of a communication device 1200 provided in an embodiment of this application, the communication device 1200 includes a transceiver unit 1210 and a processing unit 1220. The transceiver unit 1210 can be used to implement corresponding communication functions. The transceiver unit 1210 can also be referred to as a communication interface or a communication unit. The processing unit 1220 can be used to perform processing, such as judging false alarm targets, or generating sensing signals.

[0308] Optionally, the device 1200 further includes a storage unit, which can be used to store instructions and / or data. The processing unit 1220 can read the instructions and / or data in the storage unit so that the device can implement the aforementioned method embodiments.

[0309] In a first possible design, the device 1200 can be the first device in the aforementioned embodiments (the first device shown in FIG. 5, and also the SeMF in FIG. 7 to 10). The device 1200 can implement the steps or processes corresponding to those performed by the first device in the above method embodiments. Specifically, the transceiver unit 1210 can be used to perform transceiver-related operations (such as sending and / or receiving data or messages) of the first device in the above method embodiments; the processing unit 1220 can be used to perform processing-related operations of the first device in the above method embodiments, or operations other than transceiver (such as operations other than sending and / or receiving data or messages).

[0310] One possible implementation is a processing unit 1220, used to determine sensing resources and identify false alarm targets.

[0311] Optionally, the transceiver unit 1210 is also used to receive sensing request information, capability information, and first information, and to send second information and third information.

[0312] In a second possible design, the device 1200 can be the second device in the aforementioned embodiments (the second device shown in Figures 5 and 10, and the network device shown in Figure 7). This device 1200 can implement the steps or processes performed by the second device in the above method embodiments. Specifically, the transceiver unit 1210 can be used to perform transceiver-related operations of the second device in the above method embodiments (such as sending and / or receiving data or messages); the processing unit 1220 can be used to perform processing-related operations of the second device in the above method embodiments, or operations other than transceiver operations (such as operations other than sending and / or receiving data or messages).

[0313] One possible implementation is that the transceiver unit 1210 is used to transmit sensing request information, capability information, and sensing signals, and to receive second information and third information.

[0314] In a third possible design, device 1200 can be the third device in the aforementioned embodiments (the third device shown in Figures 5 and 10, and the network device shown in Figure 7). This device 1200 can implement the steps or processes corresponding to those executed by the third device in the above method embodiments. Specifically, the transceiver unit 1210 can be used to perform transceiver-related operations of the third device in the above method embodiments (such as sending and / or receiving data or messages); the processing unit 1220 can be used to perform processing-related operations of the third device in the above method embodiments, or operations other than transceiver (such as operations other than sending and / or receiving data or messages).

[0315] One possible implementation is a transceiver unit 1210, which is used to transmit capability information and first information, and receive second information and echo signals of the sensing signal; and a processing unit 1220, which is used to perform parameter estimation on the echo signals of the sensing signal.

[0316] It should be understood that the specific process of each unit performing the above-mentioned corresponding steps has been described in detail in the above method embodiments, and will not be repeated here for the sake of brevity.

[0317] It should also be understood that the device 1200 here is embodied in the form of a functional unit. The term "unit" here can refer to an application-specific integrated circuit (ASIC), electronic circuitry, a processor (e.g., a shared processor, a proprietary processor, or a group processor, etc.) and memory for executing one or more software or firmware programs, integrated logic circuitry, and / or other suitable components supporting the described functions. In an alternative example, those skilled in the art will understand that the device 1200 can be specifically the communication device in the above embodiments, and can be used to execute the various processes and / or steps corresponding to the communication device in the above method embodiments; to avoid repetition, these will not be described again here.

[0318] The apparatus 1200 of each of the above-described schemes has the function of implementing the corresponding steps performed by the communication device (such as the first device, or the second device) in the above-described methods. The function can be implemented in hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions; for example, the transceiver unit can be replaced by a transceiver (e.g., the transmitting unit in the transceiver unit can be replaced by a transmitter, and the receiving unit in the transceiver unit can be replaced by a receiver), and other units, such as processing units, can be replaced by processors, each performing the transceiver operations and related processing operations in the respective method embodiments.

[0319] In addition, the transceiver unit 1210 may also be a transceiver circuit (for example, it may include a receiving circuit and a transmitting circuit), and the processing unit may be a processing circuit.

[0320] It should be noted that the device in Figure 12 can be the communication device in the foregoing embodiments (such as the first device or the second device), or it can be a chip or a chip system, such as a system on a chip (SoC). The transceiver unit can be an input / output circuit or a communication interface; the processing unit is a processor, microprocessor, or integrated circuit integrated on the chip. No limitations are imposed here.

[0321] Referring to Figure 13, as an example, Figure 13 is a schematic diagram of another communication device 1300 provided in an embodiment of this application. The device 1300 includes a processor 1310, which is coupled to a memory 1320. The memory 1320 is used to store computer programs or instructions and / or data. The processor 1310 is used to execute the computer programs or instructions stored in the memory 1320, or to read the data stored in the memory 1320, in order to execute the methods in the above method embodiments.

[0322] Optionally, there may be one or more processors 1310.

[0323] Optionally, the memory 1320 may be one or more.

[0324] Alternatively, the memory 1320 can be integrated with the processor 1310, or it can be set separately.

[0325] Optionally, as shown in FIG13, the device 1300 further includes a transceiver 1330 for receiving and / or transmitting signals. For example, a processor 1310 is used to control the transceiver 1330 to receive and / or transmit signals.

[0326] As an example, processor 1310 may have the functions of processing unit 1020 shown in FIG12, memory 1320 may have the functions of storage unit, and transceiver 1330 may have the functions of transceiver unit 1010 shown in FIG12.

[0327] As one option, the device 1300 is used to implement the operations performed by the communication device (such as the first device, or the second device) in the various method embodiments described above.

[0328] For example, processor 1310 is used to execute computer programs or instructions stored in memory 1320 to implement the relevant operations of the communication device in the various method embodiments described above.

[0329] It should be understood that the processor mentioned 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, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor.

[0330] It should also be understood that the memory mentioned in the embodiments of this application can be volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes the following forms: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0331] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory (storage module) can be integrated into the processor.

[0332] It should also be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0333] Referring to Figure 14, as an example, Figure 14 is a schematic diagram of a chip system 1400 provided in an embodiment of this application. The chip system 1400 (or may also be referred to as a processing system) includes logic circuitry 1410 and an input / output interface 1420.

[0334] The logic circuit 1410 can be a processing circuit in the chip system 1400. The logic circuit 1410 can be coupled to a memory unit, calling instructions from the memory unit, enabling the chip system 1400 to implement the methods and functions of the embodiments of this application. The input / output interface 1420 can be an input / output circuit in the chip system 1400, outputting processed information from the chip system 1400, or inputting data or signaling information to be processed into the chip system 1400 for processing.

[0335] As one approach, the chip system 1400 is used to implement operations performed by communication devices (such as the first device, the second device, and the third device) in the various method embodiments described above.

[0336] For example, logic circuit 1410 is used to implement processing-related operations performed by communication devices (such as the first device, the second device, and the third device) in the above method embodiments; input / output interface 1420 is used to implement sending and / or receiving-related operations performed by communication devices (such as the first device, the second device, and the third device) in the above method embodiments.

[0337] This application also provides a computer-readable storage medium storing a computer program or instructions for implementing the methods executed by a communication device (such as a first device, a second device, or a third device) in the above-described method embodiments. For example, when the computer program or instructions are run on the communication device, the communication device (such as a first device, a second device, or a third device) causes the communication device (such as a first device, a second device, or a third device) to execute the above-described methods (such as methods 500, 700, and 1000).

[0338] This application also provides a computer program product comprising instructions that, when executed by a computer, implement the methods performed by a communication device (such as the first device, the second device, or the third device) in the above-described method embodiments. For example, when the computer program or instructions are run on the communication device, the communication device (such as the first device, the second device, or the third device) performs the above-described methods (such as methods 500, 700, and 1000).

[0339] This application also provides a communication system, which includes the first device, second device, and third device as described in the above embodiments. For example, the system includes the first device, second device, and third device in the embodiment of FIG5; or, the system includes the SeMF and network device in the embodiment of FIG7; or, the system includes the SeMF, second device, and third device in the embodiment of FIG10.

[0340] The explanations and beneficial effects of the relevant contents in any of the devices provided above can be found in the corresponding method embodiments provided above, and will not be repeated here.

[0341] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of apparatus or units may be electrical, mechanical, or other forms.

[0342] 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 instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. For example, the computer can be a personal computer, a server, or a network device, etc. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) 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 media can be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid-state disks, SSDs). For example, the aforementioned available media include, but are not limited to, USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks, and other media capable of storing program code.

[0343] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A target perception method, characterized in that, Applied to a first device, the method includes: Receive first information, the first information indicating a measurement result, the measurement result being obtained based on sensing signals; Based on the measurement statistics of the perceived target, it is determined whether the perceived target is a false alarm target, and the measurement statistics of the perceived target are related to the measurement results.

2. The method according to claim 1, characterized in that, The measurement results include at least one of the following: the position of the sensing target, the distance of the sensing target, the departure direction angle of the sensing target, or the arrival direction angle of the sensing target.

3. The method according to claim 1 or 2, characterized in that, The determination of whether a perceived target is a false alarm target based on the measurement statistics of the perceived target includes: Based on the measurement statistics and thresholds of the perceived target, it is determined whether the perceived target is a false alarm target.

4. The method according to claim 3, characterized in that, The step of determining whether the perceived target is a false alarm target based on the measurement statistics and thresholds of the perceived target includes: If the measurement statistics of the sensed target are greater than the threshold, the sensed target is determined to be a false alarm target; or, If the measurement statistics of the perceived target are less than or equal to the threshold, the perceived target is determined not to be a false alarm target.

5. The method according to claim 3 or 4, characterized in that, The threshold is determined based on at least one of the following: the measurement statistics of the sensed target, radio resource information, and the received signal-to-noise ratio.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: Send a second message, which indicates the resources of the sensing signal.

7. The method according to any one of claims 1 to 6, characterized in that, The resources of the sensing signal are determined based on at least one of the following: parameters of the sensing target, capability information of the second device, capability information of the third device, currently available wireless resource information, the sensing signal being sent by the second device, and / or the sensing signal being received by the third device.

8. The method according to claim 7, characterized in that, The method further includes: Receive capability information, wherein the capability information is the capability information of the second device and / or the capability information of the third device.

9. The method according to claim 7 or 8, characterized in that, The parameters of the perceived target include at least one of the following: distance information, speed information, and range information of the perceived target.

10. The method according to any one of claims 7 to 9, characterized in that, The capability information of the second device and / or the capability information of the third device includes at least one of the following: sensing available antenna aperture information, antenna array information, bandwidth information, location information, sensing configuration information, and available rooftop information.

11. The method according to any one of claims 6 to 10, characterized in that, The second information includes at least one of the following information about the sensed signal: time domain resources, period, frequency domain resources, and spatial stream number information.

12. A target perception method, comprising: The method includes: Send capability information; Receive second information, the second information being used to indicate the resources of the sensing signal, the resources of the sensing signal being determined based on the capability information; Based on the resources of the sensing signal, the sensing signal is sent or received.

13. The method according to claim 12, characterized in that, The capability information includes at least one of the following: available antenna aperture information, antenna array information, bandwidth information, location information, sensing configuration information, and available rooftop information.

14. A target perception method, characterized in that, The method includes: Reception capability information; Send a second message, the second message being used to indicate the resources of the sensing signal, the resources of the sensing signal being determined based on the capability information; Based on the resources of the sensing signal, receive or transmit the sensing signal.

15. The method according to claim 14, characterized in that, The capability information includes at least one of the following: available antenna aperture information, antenna array information, bandwidth information, location information, sensing configuration information, and available rooftop information.

16. A target perception method, comprising: The method includes: The measurement result is determined based on the measurement of the sensing signal. The measurement result is related to the measurement statistics of the sensing target. The measurement statistics are used to determine whether the sensing target is a false alarm target. Send a first message, which indicates the measurement result.

17. The method according to claim 16, characterized in that, The measurement results include at least one of the following: the position of the sensing target, the distance of the sensing target, the departure direction angle of the sensing target, or the arrival direction angle of the sensing target.

18. The method according to claim 16 or 17, characterized in that, The method further includes: Receive second information, which indicates the resources of the sensing signal.

19. The method of claim 18, wherein, The resources of the sensing signal are determined based on at least one of the following: parameters of the sensing target, capability information of the second device, capability information of the third device, currently available wireless resource information, the sensing signal being transmitted by the second device, and / or the sensing signal being received by the third device.

20. The method of claim 19, wherein, The method further includes: Send capability information, which is the capability information of the second device and / or the capability information of the third device.

21. The method of claim 19 or 20, wherein, The parameters of the perceived target include at least one of the following: distance information, speed information, and range information of the perceived target.

22. The method of any one of claims 19-21, wherein, The capability information of the second device and / or the capability information of the third device includes at least one of the following: sensing available antenna aperture information, antenna array information, bandwidth information, location information, sensing configuration information, and available rooftop information.

23. The method of any one of claims 18-22, wherein, The second information includes at least one of the following information about the sensed signal: time domain resources, period, frequency domain resources, and spatial stream number information.

24. A communications device, characterized by Includes a processor, the processor being configured to cause the communication device to perform the method of any one of claims 1 to 23 by executing a computer program or instructions, or by using logic circuitry.

25. A computer readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or instructions that, when executed on a communication device, cause the communication device to perform the method of any one of claims 1 to 23.

26. A computer program product, characterised in that, It includes a computer program or instructions that, when run on a communication device, cause the communication device to perform the method of any one of claims 1 to 23.

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