WO2022199183A1 - 一种感知方法及通信装置 - Google Patents

一种感知方法及通信装置 Download PDF

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Publication number
WO2022199183A1
WO2022199183A1 PCT/CN2021/142163 CN2021142163W WO2022199183A1 WO 2022199183 A1 WO2022199183 A1 WO 2022199183A1 CN 2021142163 W CN2021142163 W CN 2021142163W WO 2022199183 A1 WO2022199183 A1 WO 2022199183A1
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WIPO (PCT)
Prior art keywords
reference signal
communication device
target
sensed
cpi
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Ceased
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PCT/CN2021/142163
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English (en)
French (fr)
Inventor
彭晓辉
罗嘉金
杜瑞
周保建
颜敏
陈雁
郭英昊
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Huawei Technologies Co Ltd
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Huawei Technologies Co Ltd
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Application filed by Huawei Technologies Co Ltd filed Critical Huawei Technologies Co Ltd
Priority to EP21932790.5A priority Critical patent/EP4300862A4/en
Publication of WO2022199183A1 publication Critical patent/WO2022199183A1/zh
Priority to US18/472,757 priority patent/US12598026B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
    • G01S7/006—Transmission of data between radar, sonar or lidar systems and remote stations using shared front-end circuitry, e.g. antennas
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L1/00—Arrangements for detecting or preventing errors in the information received
    • H04L1/08—Arrangements for detecting or preventing errors in the information received by repeating transmission, e.g. Verdan system
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/08—Testing, supervising or monitoring using real traffic
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • G01S13/581—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets
    • G01S13/582—Velocity or trajectory determination systems; Sense-of-movement determination systems using transmission of interrupted pulse modulated waves and based upon the Doppler effect resulting from movement of targets adapted for simultaneous range and velocity measurements
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
    • G01S13/765—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted with exchange of information between interrogator and responder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L27/00—Modulated-carrier systems
    • H04L27/26—Systems using multi-frequency codes
    • H04L27/2601—Multicarrier modulation systems
    • H04L27/2602—Signal structure
    • H04L27/261—Details of reference signals
    • H04L27/2613—Structure of the reference signals
    • H04L27/26132—Structure of the reference signals using repetition
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/003—Arrangements for allocating sub-channels of the transmission path
    • H04L5/0053—Allocation of signalling, i.e. of overhead other than pilot signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L25/00—Baseband systems
    • H04L25/02—Details ; arrangements for supplying electrical power along data transmission lines
    • H04L25/0202—Channel estimation
    • H04L25/0224—Channel estimation using sounding signals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/0001—Arrangements for dividing the transmission path
    • H04L5/0014—Three-dimensional division
    • H04L5/0023—Time-frequency-space
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/003—Arrangements for allocating sub-channels of the transmission path
    • H04L5/0048—Allocation of pilot signals, i.e. of signals known to the receiver
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/003—Arrangements for allocating sub-channels of the transmission path
    • H04L5/0078—Timing of allocation
    • H04L5/0082—Timing of allocation at predetermined intervals
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/0091—Signalling for the administration of the divided path, e.g. signalling of configuration information
    • H04L5/0092—Indication of how the channel is divided

Definitions

  • the embodiments of the present application relate to the field of communication technologies, and in particular, to a sensing method and a communication device.
  • the channel is affected by the surrounding environment, and the channel measurement can be regarded as a way of perception in a sense. How to perform perception based on wireless communication to improve the performance of perception is a problem that needs to be considered.
  • Embodiments of the present application provide a sensing method and a communication device, so as to improve the sensing performance.
  • the method may be implemented by the following steps: the first communication device determines first information, where the first information is used to indicate the pulse repetition period PRI; the first communication device sends the first information to the second communication device, and correspondingly, the second communication device receives the first information first information from a first communication device.
  • the first information is used by the second communication device to send a reference signal, wherein the period of the reference signal in the time domain is less than or equal to the PRI; the second communication device sends the reference signal to the first communication device based on the first information, and correspondingly, the first communication device sends the reference signal to the first communication device.
  • the apparatus receives the reference signal from the second communication apparatus; the first communication apparatus senses the target to be sensed according to the reference signal.
  • the second communication apparatus can send the reference signal according to the PRI, and by limiting the period of the reference signal in the time domain to be less than or equal to the PRI, the Doppler information obtained by the first communication apparatus processing the reference signal will be more Accurate and improve perceptual performance.
  • the PRI is determined based on the maximum motion speed of the target to be sensed and the wavelength of the reference signal.
  • the maximum movement speed of the target to be sensed may be preset.
  • PRI complies with the following relationship: PRI is less than or equal to ⁇ /V max , where ⁇ is the wavelength of the reference signal, and V max is the maximum motion speed of the target to be sensed.
  • the second communication device determines the PRI according to the first information, and the determined value of the PRI can be regarded as a PRI reference value or as a PRI threshold, and the value of the PRI can guarantee: The Doppler variation range produced by the maximum motion speed will not exceed the maximum measurable Doppler range determined according to the length of the PRI.
  • the period of the reference signal in the time domain can also satisfy: the Doppler variation range generated by the maximum moving speed of the target to be sensed will not exceed the maximum measurable Doppler determined according to the period of the reference signal in the time domain range. There will be no speed measurement blur, improving the accuracy of the speed measurement, thereby helping to improve the performance of perception.
  • the first information is also used to indicate the coherent processing time CPI; the length of the reference signal is greater than or equal to the length of the CPI.
  • the first information indicates the CPI, and the second communication device can send the reference signal according to the CPI.
  • the CPI may be determined according to one or more of the following: the relative movement speed between the first communication device and the target to be sensed, the distance resolution unit, the first communication device and the target to be sensed The relative motion acceleration, or velocity resolution unit.
  • the CPI is determined according to the first value and/or the second value; wherein the first value is determined according to the relative movement speed between the first communication device and the target to be sensed and the distance resolution unit, and the second value is determined according to the first communication device.
  • the relative motion acceleration with the target to be sensed and the velocity resolution unit are determined. In a CPI time period, if the moving distance of the target to be sensed exceeds one distance resolution unit, the sensing result obtained by the signal processing of the CPI time period is inaccurate.
  • Determining the CPI by the range resolution unit can help achieve efficient accumulation of the signal. If the speed of the object to be sensed changes by more than one speed resolution unit within a CPI time period, the sensing result obtained by the signal processing of the CPI time period is inaccurate. According to the relative motion between the first communication device and the object to be sensed The acceleration, and velocity resolution units determine the CPI to facilitate efficient accumulation of the signal.
  • the CPI is the smaller of the first value and the second value. In this way, the CPI can be determined based on the consideration of the distance resolution and the speed resolution, which can further improve the perception performance.
  • the CPI conforms to the following relationship: CPI is less than or equal to ⁇ R/v; where ⁇ R is the distance resolution unit, and v is the relative motion speed between the first communication device and the target to be sensed; for example, the above-mentioned first
  • the value can be ⁇ R/v.
  • the CPI conforms to the following relationship: CPI is less than or equal to ⁇ v/a; where ⁇ v is the velocity resolution unit, and a is the relative motion acceleration between the first communication device and the target to be sensed.
  • ⁇ v ⁇ /CPI, where ⁇ is the wavelength of the reference signal.
  • ⁇ is the wavelength of the reference signal.
  • the value of v and/or the value of a can be obtained in the following manner.
  • the second communication apparatus sends a reference signal to the first communication apparatus, and the length and sending position of the reference signal may be determined in any manner, for example, a reference signal sent when there is data transmission for measuring channel conditions.
  • the first communication apparatus estimates the value of v and/or a according to the reference signal.
  • the initial values of v and a can be measured by the sensor of the target to be sensed.
  • the first communication device sends the first information to the second communication device, which can be forwarded by the control node. Specifically, the first communication device sends the first information to the control node. , so that the control node forwards the first information to the second communication device.
  • the first communication apparatus may also send the result of sensing the target to be sensed to the second communication apparatus, and the second communication apparatus receives the result, and configures the density of the reference signal in the time domain according to the result. Since the movement of the target to be sensed causes the channel to change, the accuracy of channel estimation based on the reference signal will be reduced, and the severity of the channel change is related to the movement speed of the terminal device. The greater the movement speed of the target to be sensed, the more severe the channel change will be. By increasing the density of the reference signal in the time domain, the accuracy of the channel estimation can be improved, thereby improving the demodulation performance of the receiver.
  • the first communication device senses the target to be sensed, obtains a sensing result, and sends the sensing result to the second communication device.
  • the second communication device may determine the motion speed of the object to be sensed according to the sensing result, and determine the density of the reference signal in the time domain according to the motion speed of the object to be sensed.
  • a communication device may be a first communication device, or a device (eg, a chip, or a chip system, or a circuit) in the first communication device, or capable of communicating with the first communication device.
  • the device matches the device used.
  • the antenna device may include modules that perform one-to-one correspondence with the methods/operations/steps/actions performed by the first communication device described in the first aspect, and the modules may be hardware circuits, software, or It can be implemented by hardware circuit combined with software.
  • the antenna device may include a processing module and a communication module. The processing module is used to call the communication module to perform the function of receiving and/or sending.
  • the processing module is used to determine the first information, the first information is used to indicate the pulse repetition period PRI; the communication module is used to send the first information to the second communication device, and the first information is used for the second communication device to send the reference signal , wherein the period of the reference signal in the time domain is less than or equal to the PRI; the communication module is further configured to receive the reference signal from the second communication device; the processing module is further configured to sense the target to be sensed according to the reference signal.
  • the communication module is further configured to send the first information to the control node, so that the control node forwards the first information to the second communication device.
  • the communication module is further configured to send a result of sensing the target to be sensed to the second communication apparatus, where the result is used for the second communication apparatus to configure the density of the reference signal in the time domain.
  • a communication device may be a second communication device, or a device in the second communication device (for example, a chip, or a chip system, or a circuit), or capable of communicating with the second communication device.
  • the device matches the device used.
  • the antenna device may include modules that perform one-to-one correspondence with the methods/operations/steps/actions performed by the second communication device described in the first aspect, and the modules may be hardware circuits, software, or It can be implemented by hardware circuit combined with software.
  • the antenna device may include a processing module and a communication module. The processing module is used to call the communication module to perform the function of receiving and/or sending.
  • the receiving module is configured to receive first information from the first communication device, where the first information is used to indicate the pulse repetition period PRI;
  • the sending module is configured to send a reference signal based on the first information, wherein the reference signal is in the time domain. The period is less than or equal to the PRI; the reference signal is used by the first communication device to sense the target to be sensed.
  • the receiving module is further configured to receive a result of sensing the target to be perceived from the first communication device; the processing module is further configured to configure the density of the reference signal in the time domain according to the result.
  • the PRI is determined based on the maximum motion speed of the target to be sensed and the wavelength of the reference signal.
  • the maximum movement speed of the target to be sensed may be preset.
  • PRI complies with the following relationship: PRI is less than or equal to ⁇ /V max , where ⁇ is the wavelength of the reference signal, and V max is the maximum motion speed of the target to be sensed.
  • the second communication device determines the PRI according to the first information, and the determined value of the PRI can be regarded as a PRI reference value or as a PRI threshold, and the value of the PRI can guarantee: The Doppler variation range produced by the maximum motion speed will not exceed the maximum measurable Doppler range determined according to the length of the PRI.
  • the period of the reference signal in the time domain can also satisfy: the Doppler variation range generated by the maximum moving speed of the target to be sensed will not exceed the maximum measurable Doppler determined according to the period of the reference signal in the time domain range. There will be no speed measurement blur, improving the accuracy of the speed measurement, thereby helping to improve the performance of perception.
  • the first information is also used to indicate the coherent processing time CPI; the length of the reference signal is greater than or equal to the length of the CPI.
  • the first information indicates the CPI, and the second communication device can send the reference signal according to the CPI.
  • the CPI may be determined according to one or more of the following: the relative movement speed between the first communication device and the target to be sensed, the distance resolution unit, the first communication device and the target to be sensed The relative motion acceleration, or velocity resolution unit.
  • the CPI is determined according to the first value and/or the second value; wherein the first value is determined according to the relative movement speed between the first communication device and the target to be sensed and the distance resolution unit, and the second value is determined according to the first communication device.
  • the relative motion acceleration with the target to be sensed and the velocity resolution unit are determined. In a CPI time period, if the moving distance of the target to be sensed exceeds one distance resolution unit, the sensing result obtained by the signal processing of the CPI time period is inaccurate.
  • Determining the CPI by the range resolution unit can help achieve efficient accumulation of the signal. If the speed of the object to be sensed changes by more than one speed resolution unit within a CPI time period, the sensing result obtained by the signal processing of the CPI time period is inaccurate. According to the relative motion between the first communication device and the object to be sensed The acceleration, and velocity resolution units determine the CPI to facilitate efficient accumulation of the signal.
  • the CPI is the smaller of the first value and the second value. In this way, the CPI can be determined based on the consideration of the distance resolution and the speed resolution, which can further improve the perception performance.
  • the CPI conforms to the following relationship: CPI is less than or equal to ⁇ R/v; where ⁇ R is the distance resolution unit, and v is the relative motion speed between the first communication device and the target to be sensed; for example, the above-mentioned first
  • the value can be ⁇ R/v.
  • ⁇ R c/B, where c is the speed of light and B is the bandwidth of the reference signal.
  • the CPI conforms to the following relationship: CPI is less than or equal to ⁇ v/a; where ⁇ v is the velocity resolution unit, and a is the relative motion acceleration between the first communication device and the target to be sensed.
  • ⁇ v ⁇ /CPI, where ⁇ is the wavelength of the reference signal.
  • ⁇ is the wavelength of the reference signal.
  • the value of v and/or the value of a can be obtained in the following manner.
  • the second communication apparatus sends a reference signal to the first communication apparatus, and the length and sending position of the reference signal may be determined in any manner, for example, a reference signal sent when there is data transmission for measuring channel conditions.
  • the first communication apparatus estimates the value of v and/or a according to the reference signal.
  • the initial values of v and a can be measured by the sensor of the target to be sensed.
  • an embodiment of the present application provides a communication apparatus, the communication apparatus includes a communication interface and a processor, and the communication interface is used for the apparatus to communicate with other devices, such as data or signal transmission and reception.
  • the communication interface may be a transceiver, circuit, bus, module, or other type of communication interface.
  • the processor is configured to invoke a set of programs, instructions or data to execute the method implemented by the first communication apparatus in the first aspect.
  • the apparatus may also include a memory for storing programs, instructions or data invoked by the processor. The memory is coupled to the processor, and when the processor executes the instructions or data stored in the memory, the method performed by the first communication apparatus described in the first aspect can be implemented.
  • an embodiment of the present application provides a communication apparatus, the communication apparatus includes a communication interface and a processor, and the communication interface is used for the apparatus to communicate with other devices, such as data or signal transmission and reception.
  • the communication interface may be a transceiver, circuit, bus, module, or other type of communication interface.
  • the processor is configured to invoke a set of programs, instructions or data to execute the method implemented by the second communication apparatus in the first aspect.
  • the apparatus may also include a memory for storing programs, instructions or data invoked by the processor. The memory is coupled to the processor, and when the processor executes the instructions or data stored in the memory, the method performed by the second communication apparatus described in the first aspect can be implemented.
  • the embodiments of the present application further provide a computer-readable storage medium, where computer-readable instructions are stored in the computer-readable storage medium, and when the computer-readable instructions are executed on a computer, the computer-readable instructions are executed as described in Section 1. The method described in an aspect or any possible design of the first aspect is performed.
  • an embodiment of the present application provides a chip system, where the chip system includes one or more processors, and the one or more processors are configured to read and execute a software program stored in a memory, so as to realize the above-mentioned first A method performed by a first communication device in one aspect or any possible design of the first aspect.
  • the chip system can be composed of chips, and can also include chips and other discrete devices.
  • the chip system may include a memory, or the chip system is connected to the memory.
  • an embodiment of the present application provides a chip system, where the chip system includes one or more processors, and the one or more processors are configured to read and execute a software program stored in a memory, so as to realize the above-mentioned first A method performed by a second communication device in an aspect or any possible design of the first aspect.
  • the chip system can be composed of chips, and can also include chips and other discrete devices.
  • the chip system may include a memory, or the chip system is connected to the memory.
  • an embodiment of the present application provides a communication system, where the communication system includes the communication apparatus described in the second aspect and the third aspect; or includes the communication apparatus described in the fourth aspect and the fifth aspect.
  • a computer program product comprising instructions which, when run on a computer, cause the method described in the above first aspect or any possible design of the first aspect to be implemented.
  • FIG. 1 is a schematic structural diagram of a communication system in an embodiment of the application
  • FIG. 3 is a schematic flowchart of a specific flow of a sensing method in an embodiment of the present application
  • FIG. 4a is one of the schematic diagrams of the application scenario architecture in the embodiment of the present application.
  • FIG. 4b is the second schematic diagram of the application scenario architecture in the embodiment of the present application.
  • FIG. 5 is the third schematic diagram of the application scenario architecture in the embodiment of the application.
  • FIG. 6 is a fourth schematic diagram of an application scenario architecture in an embodiment of the present application.
  • FIG. 7 is a fifth schematic diagram of an application scenario architecture in an embodiment of the present application.
  • FIG. 8 is a sixth schematic diagram of an application scenario architecture in an embodiment of the present application.
  • FIG. 9 is a schematic diagram of the configuration of DMRSs with different densities in an embodiment of the present application.
  • FIG. 10 is a schematic flowchart of a sensing method based on a reference signal in a scenario where a control node exists in an embodiment of the present application;
  • FIG. 11 is one of the schematic structural diagrams of the communication device in the embodiment of the application.
  • FIG. 12 is a second schematic structural diagram of a communication device according to an embodiment of the present application.
  • Embodiments of the present application provide a reference signal-based sensing method and communication device.
  • the method and the device are based on the same technical concept or similar technical concept. Since the methods and devices solve problems in similar principles, the implementation of the device and the method can be referred to each other, and repeated descriptions will not be repeated.
  • the reference signal-based sensing method and communication device provided in the embodiments of the present application may be applied to fourth generation (4th generation, 4G) communication systems, such as long term evolution (long term evolution, LTE) systems, fifth generation (5th generation, 5G) communication systems ) communication systems, such as 5G new radio (NR) systems, can also be applied to various communication systems evolving in the future, such as 6th generation (6G) communication systems, or air-space-sea-terrestrial integrated communication systems, etc. .
  • 4G fourth generation
  • 4G long term evolution
  • 5G new radio (NR) systems can also be applied to various communication systems evolving in the future, such as 6th generation (6G) communication systems, or air-space-sea-terrestrial integrated communication systems, etc.
  • FIG. 1 shows the architecture of a communication system to which the embodiments of the present application are applied.
  • the communication system 100 includes a network device 101 and a terminal device 102 .
  • the possible implementation forms and functions of the network device 101 and the terminal device 102 are introduced as examples.
  • the network device 101 provides services for the terminal devices 102 within the coverage. For example, as shown in FIG. 1 , the network device 101 provides wireless access to one or more terminal devices 102 within the coverage of the network device 101 .
  • the network device 101 is a node in a radio access network (radio access network, RAN), which may also be referred to as a base station, and may also be referred to as a RAN node (or device).
  • radio access network radio access network
  • RAN radio access network
  • examples of some network devices 101 are: next generation nodeB (gNB), next generation evolved nodeB (Ng-eNB), transmission reception point (TRP), evolved Node B (evolved Node B, eNB), radio network controller (RNC), Node B (Node B, NB), home base station (for example, home evolved NodeB, or home Node B, HNB), baseband unit (base band unit, BBU), active antenna processing unit (active antenna unit, AAU), or wireless fidelity (wireless fidelity, Wifi) access point (access point, AP), the network device 101 can also be a satellite, satellite Also known as high-altitude platforms, high-altitude aircraft, or satellite base stations.
  • the network device 101 can also be other devices with network device functions, for example, the network device 101 can also be used in device-to-device (device-to-device, D2D) communication, Internet of Vehicles, or machine-to-machine (M2M) communication.
  • D2D device-to-device
  • M2M machine-to-machine
  • a network device capable device may also be any possible network device in a future communication system.
  • Terminal equipment 102 also known as user equipment (UE), mobile station (MS), mobile terminal (MT), etc., is a device that provides voice and/or data connectivity to users. equipment.
  • the terminal device 102 includes a handheld device with a wireless connection function, a vehicle-mounted device, and the like.
  • the terminal device 102 may be a mobile phone (mobile phone), a tablet computer, a notebook computer, a palmtop computer, a mobile internet device (MID), a wearable device (such as a smart watch, a smart bracelet, a pedometer, etc.) ), in-vehicle equipment (eg, cars, bicycles, electric vehicles, airplanes, ships, trains, high-speed rail, etc.), virtual reality (VR) equipment, augmented reality (AR) equipment, industrial control (industrial control) wireless terminals in the field, smart home equipment (for example, refrigerators, TVs, air conditioners, electricity meters, etc.), intelligent robots, workshop equipment, wireless terminals in self-driving, wireless terminals in remote medical surgery , wireless terminal in smart grid, wireless terminal in transportation safety, wireless terminal in smart city, or wireless terminal in smart home, flying equipment (such as , intelligent robots, hot air balloons, drones, airplanes), etc.
  • in-vehicle equipment eg, cars, bicycles, electric vehicles, airplanes, ships,
  • the terminal device 102 can also be other devices with terminal device functions.
  • the terminal device 102 can also be device-to-device (device to device, D2D) communication, car networking, or machine-to-machine (machine-to-machine, M2M) communication
  • D2D device to device
  • M2M machine-to-machine
  • a device that functions as a terminal device can also be regarded as a terminal device.
  • the wireless perception technology obtains the characteristics of the signal propagation space by analyzing the changes of the wireless signal during the propagation process, so as to realize the perception of the scene.
  • wireless communication technology and wireless sensing technology can be combined to sense the surrounding environment while realizing communication.
  • a resource dedicated to sensing may be allocated to the time domain resource or the frequency domain resource in a time division or frequency division manner.
  • the function of communication and the function of perception can be realized at the same time through a set of hardware, and the interference of both communication and perception can be avoided at the same time.
  • implementing perception in this way will occupy additional communication resources and reduce communication efficiency.
  • sensing can be achieved by utilizing reference signals for communication.
  • a reference signal can usually be used to achieve channel estimation.
  • the reference signal is a sequence known to the sender and receiver.
  • the transmitting end sends a reference signal to the receiving end, and the receiving end performs channel estimation by detecting the reference signal, and feeds back the channel estimation result to the transmitting end.
  • a signal specially used for sensing may not be designed, and an existing reference signal may be used for sensing without occupying communication resources, which can save communication resources.
  • a sensing method and a communication apparatus are provided, and how to use a reference signal to realize sensing and improve sensing performance.
  • the reference signal will be described, and the reference signal may also be referred to as a pilot signal.
  • the reference signal used for sensing in this embodiment of the present application may be any signal, as long as it is a sequence known by the transmitter and the receiver.
  • the reference signal may be a channel state information reference signal (CSI-RS) or a demodulation reference signal (DMRS).
  • CSI-RS channel state information reference signal
  • DMRS demodulation reference signal
  • the transmitting end sends a reference signal to the receiving end, the receiving end receives the reference signal, and the receiving end processes the reference signal to obtain a sensing result.
  • An optional way of sensing based on the reference signal is introduced below.
  • the receiving end takes a signal whose length is coherent processing interval (CPI).
  • the reference signal is a periodic signal.
  • FIG. 2 shows a reference signal of multiple periods. The black rectangle in the signal whose length is CPI indicates the position of the reference signal. Rearranges signals of length CPI into a two-dimensional matrix by row. The length of each row of the matrix is the pulse repetition interval (PRI).
  • PRI in FIG. 2 is the period length of a reference signal in the time domain.
  • the receiver Since the position and sequence of the reference signal are known, the receiver knows the position and sequence of the reference signal transmitted by the transmitter, and the receiver uses the received reference signal and the known transmitted reference signal to process row by row, such as matching Filter processing, multi-carrier distance estimation processing, etc., to obtain time of arrival (TOA) estimates.
  • a TOA estimation result can be obtained for the signal of each line. For example, as shown in Figure 2, the first TOA result is obtained by processing the signal whose length is PRI in the first line, and the first TOA result is obtained by processing the signal whose length is PRI in the second line. 2 TOA results, ..., the Nth TOA result is obtained by processing the signal whose length is PRI in the Nth row.
  • the TOA result of each row can be regarded as a one-dimensional range image
  • the Doppler frequency information of the target to be perceived can be obtained by performing Fourier transform on the matrix composed of N one-dimensional range images by column.
  • the rows of the two-dimensional matrix after signal processing represent distance information
  • the columns represent Doppler frequency information.
  • the range information and Doppler frequency information can form a two-dimensional image, that is, a range-Doppler map.
  • the ordinate of the image is the relative velocity between the target to be perceived and the receiver.
  • the abscissa of the image is the relative distance from the sender to the receiver; or, in other scenarios, for example, the target to be perceived sends
  • the abscissa of the image is the relative distance from the target to be perceived to the receiving end.
  • the receiving end can obtain the sensing result of the target to be sensed according to the reference signal.
  • the sensing result can be, for example, the relative distance between the target to be sensed and the receiving end.
  • the target to be sensed does not transmit nor receive the reference signal, but forwards the reference signal of the transmitting end.
  • the sensing result may be the sum of the distance from the sending end to the target to be sensed and the distance from the target to be sensed to the receiving end.
  • Obtaining the sensing result of the target to be perceived according to the reference signal may also be the relative rate of the target to be perceived and the receiving end.
  • the reference signal When the reference signal is used for communication, there are some limitations. For example, in a 5G communication system, some reference signals are not always on and only exist when data is being sent. In addition, since the duration of the continuous transmission of the data packets is determined according to the service requirements of the user, when the duration of the continuous transmission of the data packets is short, the length of the reference signal is also relatively short. When the reference signal is used for sensing, the above-mentioned limitation of the reference signal may lead to the inability to guarantee the sensing performance.
  • the specific process of the sensing method provided by the embodiment of the present application is as follows.
  • the method may be performed by a first communication apparatus and a second communication apparatus, wherein the first communication apparatus may be a device for receiving a reference signal, and the second communication apparatus may be a device for transmitting a reference signal.
  • the first communication apparatus may also be called a receiving device, a receiving node or a receiving end
  • the second communication apparatus may also be called a sending device, a sending node, a transmitting node or a sending end.
  • the first communication apparatus determines first information.
  • the first information is used to indicate the PRI.
  • the first information may indicate the value of the PRI, and may also indicate a related parameter of the PRI, and the related parameter may characterize the PRI or the related parameter may be used to calculate the PRI.
  • the first communication device sends the first information to the second communication device, and correspondingly, the second communication device receives the first information from the first communication device.
  • the first information is used by the second communication apparatus to send a reference signal.
  • the second communication apparatus sends a reference signal to the first communication apparatus, and correspondingly, the first communication apparatus receives the reference signal from the second communication apparatus.
  • the second communication apparatus transmits a reference signal to the first communication apparatus based on the first information.
  • the period of the reference signal in the time domain is less than or equal to the PRI.
  • the first communication apparatus senses the target to be sensed according to the reference signal.
  • the second communication apparatus can send the reference signal according to the PRI, and by limiting the period of the reference signal in the time domain to be less than or equal to the PRI, when processing the reference signal, the first communication apparatus rearranges the reference signal into Two-dimensional matrix, the length of each row of the matrix is PRI, and the signal of each row can obtain a TOA estimation result.
  • the columns of the two-dimensional matrix represent the Doppler frequency information, and the obtained Doppler information will be more Accurate and improve perceptual performance.
  • the length of the PRI can affect the maximum measurable Doppler range.
  • the Doppler variation range of the target to be perceived should not exceed the maximum measurable Doppler range determined by the length of the PRI.
  • the Doppler change of the target to be sensed is caused by the speed of motion. Therefore, it is necessary to ensure that the Doppler change range generated by the maximum speed of the target to be sensed does not exceed the maximum measurable Doppler range determined according to the length of the PRI. .
  • PRI is determined according to the maximum motion speed of the target to be sensed and the wavelength of the reference signal.
  • the first communication device first acquires the maximum motion speed of the target to be sensed, and determines the PRI according to the maximum motion speed of the target to be sensed and the wavelength of the reference signal.
  • the maximum movement speed of the object to be sensed may be preset. For example, the correspondence between different scenes and the maximum movement speed can be predefined.
  • the scene may be, for example, a communication scene such as an urban area or a high speed.
  • the first communication device determines the maximum motion speed of the target to be sensed corresponding to the current scene according to the predefined correspondence.
  • the terminal device can receive information about the maximum motion speed of the target to be sensed from the network device, or the terminal device can receive the current scene from the network device, according to the correspondence between the predefined different scenes and the maximum motion speed relationship, to determine the maximum motion speed of the target to be sensed corresponding to the current scene.
  • the PRI conforms to the following relational formula (1): PRI is less than or equal to ⁇ /V max , where ⁇ is the wavelength of the reference signal, and V max is the maximum motion speed of the target to be sensed.
  • the first communication device determines the value of PRI according to the above-mentioned relational expression (1).
  • the first information may be the value of the PRI, and the second communication apparatus may obtain the value of the PRI according to the first information.
  • the first information may also indicate V max , and may also indicate V max and ⁇ .
  • the second communication apparatus determines the PRI according to V max and ⁇ , for example, the PRI may be determined according to the above-mentioned relational formula (1).
  • the first information may also indicate an index, and the index may be an index of PRI or an index of V max .
  • the second communication device stores the corresponding relationship between the index of PRI and the value of PRI, and may also store the corresponding relationship between the index of V max and V max .
  • the second communication apparatus determines the value of the PRI according to the index of the PRI indicated by the first information. If the first information indicates the index of V max , the second communication apparatus may determine the value of V max according to the index of V max .
  • the second communication device After receiving the first information, the second communication device determines the PRI according to the first information, and the determined value of the PRI can be regarded as a PRI reference value or as a PRI threshold, and the value of the PRI can guarantee: The Doppler variation range produced by the maximum motion speed will not exceed the maximum measurable Doppler range determined according to the length of the PRI.
  • the second communication apparatus determines that the period of the reference signal in the time domain is less than or equal to the PRI. It can be seen that since the smaller the PRI, the larger the maximum measurable Doppler range is, then, when the period of the reference signal in the time domain is less than or equal to the PRI, the maximum measurable range determined by the period of the reference signal in the time domain is The measured Doppler range will be greater than or equal to the maximum measurable Doppler range determined by the length of the PRI. Therefore, the period of the reference signal in the time domain can also satisfy: the Doppler variation range generated by the maximum moving speed of the target to be sensed will not exceed the maximum measurable Doppler determined according to the period of the reference signal in the time domain range. There will be no speed measurement blur, improving the accuracy of the speed measurement, thereby helping to improve the performance of perception.
  • the PRI when the reference signal is processed, the PRI is divided into rows. In order to ensure that the speed information is obtained by performing Fourier transform on the columns, the rows change periodically. For example, as shown in Figure 2. A period of a line in the time domain of a reference signal is shown, that is, a line is a period. Of course, one row may also have multiple periods of the reference signal in the time domain, that is, one row may have multiple periods. Take one row and one cycle as an example.
  • the PRI determined by the first information may be regarded as a threshold, which is denoted as a PRI threshold. When the second communication device actually sends the reference signal, the period of the reference signal in the time domain needs to be less than or equal to the PRI threshold.
  • the first communication device When the first communication device receives the reference signal and processes the reference signal, it can The period is divided into rows of the matrix, and the period of the reference signal in the time domain can be considered as the actual PRI, and the actual PRI is less than or equal to the PRI threshold, which ensures the performance of perception.
  • a row of the matrix can also be an integer multiple of the period of the reference signal in the time domain, and it can also ensure that the Fourier transform is performed on the column to obtain velocity information. Then, the integer multiple of the period of the reference signal in the time domain may be less than or equal to the PRI.
  • the first information may also be used to indicate the CPI.
  • the first information may indicate the value of the CPI, or may indicate a related parameter of the CPI, and the related parameter may represent the CPI or the related parameter may be used to calculate the CPI.
  • the length of the reference signal is greater than or equal to the length of the CPI.
  • the length of the CPI on the perceived performance is described below. From the perspective of signal-to-noise ratio, the longer the CPI, the longer the signal coherent accumulation time, which can improve the signal-to-noise ratio and improve the perception performance. The longer the CPI, the higher the resolution of the Doppler. But the length of CPI also needs to meet some conditions. For example, any one or more of the following conditions one or two.
  • Condition 1 It is required that within a CPI time period, the movement distance of the target to be sensed cannot exceed one distance resolution unit. If the moving distance of the target to be sensed exceeds one distance resolution unit within a CPI duration, the sensing result obtained by signal processing using the CPI duration is inaccurate, or it is considered to be an invalid accumulation of signals. In order to achieve effective accumulation of signals, the perception result obtained by using the signal processing within the CPI duration is more accurate, the above-mentioned condition 1 needs to be satisfied.
  • the value of the CPI is determined according to the relative movement speed between the first communication device and the target to be sensed and the distance resolution unit.
  • the CPI conforms to the following relational formula (2): CPI is less than or equal to ⁇ R/v; where ⁇ R is the distance resolution unit, and v is the relative motion speed between the first communication device and the target to be sensed.
  • ⁇ R is the distance resolution unit
  • v is the relative motion speed between the first communication device and the target to be sensed.
  • the distance resolution unit refers to the minimum distance that separates two identical target points in distance.
  • the two identical target points may refer to two target points with the same size, volume, material, and the like.
  • the range resolution unit may be protocol defined.
  • the terminal device may determine the distance resolution unit according to the protocol definition, or may acquire information of the distance resolution unit from the network device.
  • ⁇ R/v may be recorded as the first value, and the first value may also be c/Bv.
  • Condition 2 It is required that within one CPI time period, the speed change of the target to be sensed cannot exceed one speed resolution unit. If the speed of the target to be sensed changes by more than one speed resolution unit within a CPI duration, the sensing result obtained by signal processing using the CPI duration is inaccurate, or it is considered as invalid accumulation of signals. In order to realize the effective accumulation of signals, the perception result obtained by using the signal processing within the CPI duration is more accurate, the above-mentioned condition 2 needs to be satisfied.
  • the value of the CPI is determined according to the relative motion acceleration between the first communication device and the target to be sensed and the velocity resolution unit.
  • the CPI conforms to the following relational formula (4): CPI is less than or equal to ⁇ v/a; where ⁇ v is the velocity resolution unit, and a is the relative motion acceleration between the first communication device and the target to be sensed.
  • ⁇ v is the velocity resolution unit
  • a is the relative motion acceleration between the first communication device and the target to be sensed.
  • the velocity resolution unit may be protocol defined. If the first communication device is a terminal device, the terminal device may determine the speed resolution unit according to the protocol definition, and may also obtain the information of the speed resolution unit from the network device.
  • the CPI is determined according to the first value, which is determined according to the relative motion speed between the first communication device and the target to be sensed and the distance resolution unit.
  • the first value is ⁇ R/ v
  • CPI may conform to relation (2): CPI is less than or equal to ⁇ R/v; or conform to relation (3): CPI is less than or equal to c/Bv.
  • the CPI is determined according to the first value and the second value, and the CPI may conform to the relational formula (3) and the relational formula (5): CPI is less than or equal to c/Bv, and CPI is less than or equal to
  • the CPI when the first and second conditions are satisfied, the CPI may conform to the relational formula (6): the CPI is less than or equal to the minimum value of the first value and the second value. For example, if the first value is less than the second value, the CPI is less than or equal to the first value; if the second value is less than the first value, the CPI is less than or equal to the second value.
  • the first communication apparatus may determine the CPI according to the first value, may also determine the CPI according to the second value, or may determine the CPI according to the first value and the second value.
  • the first information indicates the CPI, which may directly indicate the value of the CPI, for example, may indicate that the value of the CPI is c/Bv and The smallest value in , if c/Bv is less than Then the first information indicates that the value of CPI is c/Bv. if is less than c/Bv, the first information indicates that the value of CPI is if is equal to c/Bv, then the first information indicates that the value of CPI is and any value of c/Bv.
  • the second communication device may obtain the value of the CPI according to the first information.
  • the first information may also indicate CPI-related parameters, for example, the first information indicates v and a, and the second communication apparatus may determine the CPI according to the known B, ⁇ , and c parameters and v and a indicated by the first information.
  • the first information may further indicate v, a, B, ⁇ , and c, and the second communication apparatus may determine the CPI according to the parameters v, a, B, ⁇ , and c indicated by the first information.
  • the second communication device After receiving the first information, the second communication device determines the CPI according to the first information.
  • the determined CPI value can be regarded as a CPI reference value or a CPI threshold value, and the CPI value can satisfy the above condition one or condition at least one of the two conditions.
  • the length of the continuously sent reference signal is greater than or equal to the length of the CPI, which helps to ensure that the reference signal has sufficient accumulation time during processing, ensures the signal-to-noise ratio, and improves the perception performance, and the continuously sent reference signal can meet the above conditions. At least one of Condition 1 or Condition 2 improves perceived performance.
  • the parameter v When the first communication device determines the CPI, the parameter v may be used, and the parameter a may also be used.
  • v is the relative motion speed between the first communication device and the target to be sensed
  • a is the relative motion acceleration between the first communication device and the target to be sensed.
  • the initial values of v and a can be obtained by measuring the sensor of the target to be sensed, for example, using the gyroscope of the target to be sensed to measure the relative movement speed of the target to be sensed and the first communication device.
  • the relative motion acceleration of the object to be sensed and the first communication device is measured by using an accelerometer of the object to be sensed.
  • the CPI is determined using the parameters measured by the sensor of the object to be sensed.
  • the values of v and a can be obtained in the following way.
  • the second communication apparatus sends a reference signal to the first communication apparatus, and the length and sending position of the reference signal may be determined in any manner, for example, a reference signal sent when there is data transmission for measuring channel conditions.
  • the first communication device estimates the values of v and a according to the reference signal, the first communication device determines the CPI according to the estimated values of v and a, and the first communication device sends the determined CPI value to the second communication device.
  • the communication device sends, the second communication device sends a reference signal to the first communication device according to the value of the CPI, and the first communication device senses the target to be sensed according to the reference signal.
  • the values of v and a may also change.
  • the first communication device obtains a sensing result of the target to be sensed, and the sensing result may include the changed values of v and a.
  • the first communication device determines the CPI according to the changed values of v and a, the first communication device sends the determined CPI value to the second communication device, and the second communication device sends a reference signal to the first communication device according to the CPI value,
  • the first communication apparatus senses the target to be sensed according to the reference signal. In this way, multiple iterations can be performed to optimize the value of CPI and improve the perceived performance.
  • the reference signal for measuring the channel condition sent when there is data transmission is greater than the length of the CPI, it means that the reference signal satisfies the condition of being greater than the length of the CPI, and can be used for sensing.
  • the reference signal with the CPI length may be intercepted from the reference signal with a length greater than the CPI, and the reference signal with the CPI length may be processed.
  • the types of the first communication device and the second communication device are described below based on different application scenarios.
  • the network device sends a downlink reference signal to the terminal device, the terminal device is moving, the terminal device senses the terminal device according to the received downlink reference signal, and the terminal device is the target to be sensed.
  • the first communication device is a terminal device
  • the second communication device is a network device. That is, the terminal device determines the first information, the terminal device sends the first information to the network device, the network device receives the first information, the network device sends a reference signal to the terminal device according to the first information, the terminal device receives the reference signal, and the terminal device according to the reference signal Perception of terminal equipment.
  • the first information may be radio resource control (radio resource control, RRC) signaling, or may be uplink control information (uplink Control Information, UCI).
  • the terminal device sends an uplink reference signal to the network device, the terminal device is moving, the network device senses the terminal device according to the received uplink reference signal, and the terminal device is the target to be sensed.
  • the first communication device is a network device
  • the second communication device is a terminal device. That is, the network device determines the first information, the network device sends the first information to the terminal device, the terminal device receives the first information, the terminal device sends a reference signal to the network device according to the first information, the network device receives the reference signal, and the network device according to the reference signal Perception of terminal equipment.
  • the first information may be RRC signaling, or may be downlink control information (downlink control information, DCI).
  • the UAV is moving, and the UAV is the target to be perceived.
  • the network device 1 sends the reference signal, the drone reflects the reference signal to the network device 2, the network device 2 receives the reference signal, and the network device 2 perceives the drone according to the received reference signal.
  • the first communication device is the network device 2
  • the second communication device is the network device 1 .
  • the network device 2 determines the first information, the network device 2 sends the first information to the network device 1, the network device 1 receives the first information from the network device 1, the network device 1 sends the reference signal according to the first information, and the network device 2 receives the reference signal , the network device 2 perceives the drone according to the reference signal.
  • the first information may be X2 interface signaling.
  • Both the first communication device and the second communication device are terminal devices.
  • the first information can be forwarded through the control node.
  • the first communication device determines the first information, the first communication device sends the first information to the control node, the control node receives the first information from the first communication device, the control node forwards the first information to the second communication device, and the second communication device
  • the apparatus receives the first information from the control node.
  • the first communication device is a terminal device 2
  • the second communication device is a terminal device 1
  • the network device is a control node.
  • the terminal device 2 is moving, and the terminal device 2 is the target to be sensed.
  • the terminal device 1 sends the reference signal, the terminal device 2 receives the reference signal from the terminal device 1, and the terminal device 2 senses the terminal device 2 according to the reference signal. Or terminal equipment 1 is moving, terminal equipment 1 is the target to be sensed, terminal equipment 1 sends a reference signal, terminal equipment 2 receives the reference signal from terminal equipment 1, and terminal equipment 2 senses terminal equipment 1 according to the reference signal.
  • the first information sent by the terminal device 2 to the network device may be RRC signaling or UCI; the first information sent by the network device to the terminal device 1 may be RRC signaling or DCI.
  • the second communication means may be multiple devices. There is a control node in the plurality of devices, the first communication device determines the first information, the first communication device sends the first information to the control node, the control node receives the first information from the first communication device, and the control node communicates with other second communication devices. The device forwards the first information, and other second communication devices receive the first information from the control node.
  • the terminal device is moving, and the terminal device is the target to be sensed.
  • There are four network devices around the terminal device which are network device 1, network device 2, network device 3, and network device 4.
  • the first communication device is a terminal device
  • the second communication device is four network devices.
  • the terminal device determines the first information
  • the terminal device sends the first information to the network device 4
  • the network device 4 forwards the first information to the network device 1, network device 2 and network device 3 respectively.
  • the network device respectively sends downlink reference signals to the terminal device according to the first information
  • the terminal device respectively receives the downlink reference signals from the four network devices.
  • the terminal device perceives the terminal device according to the received downlink reference signals from the four network devices.
  • a terminal device can sense its own location by using downlink reference signals from four network devices.
  • the first information sent by the terminal device to the network device 4 may be RRC signaling or UCI, and the first information may be sent between the network device and the network device through X2 interface signaling.
  • the first communication means may be multiple devices. There is one control node in multiple devices.
  • the control node determines the first information, the control node may receive the first information sent by other first communication devices, and the control node determines the final first information in combination with the first information of multiple first communication devices. Assuming that the first information is used to indicate the PRI, the control node determines the final PRI indicated by the first information according to the minimum value among the multiple PRIs indicated by the first information of the multiple first communication devices; it is assumed that the first information is used to indicate CPI, the control node determines the final CPI indicated by the first information according to the maximum value among the multiple CPIs indicated by the first information of the multiple first communication apparatuses.
  • the control node sends the first information to the second communication device, and the second communication device receives the first information from the control node.
  • the terminal device is moving, and the terminal device is the target to be sensed.
  • There are four network devices around the terminal device which are network device 1, network device 2, network device 3, and network device 4.
  • the first communication device is four network devices
  • the second communication device is a terminal device.
  • network device 4 is a control node
  • network device 1, network device 2 and network device 3 send first information to network device 4 respectively
  • network device 4 integrates the first information sent by network device 1, network device 2 and network device 3,
  • the final first message is determined.
  • the network device 4 sends the determined first information to the terminal device, and the terminal device receives the first information from the network device 4 .
  • the terminal device sends a reference signal to four network devices according to the first information, the four network devices respectively receive the reference signal from the terminal device, and the four network devices perceive the terminal device respectively according to the reference signal.
  • the first information may be sent between the network device and the network device through X2 interface signaling, and the first information sent by the network device 4 to the terminal device may be RRC signaling or DCI.
  • the first communication apparatus may also send a result of sensing the target to be sensed to the second communication apparatus, and the result of sensing the target to be sensed may be used by the second communication apparatus to configure the reference signal in the time domain density of.
  • the motion of the object to be sensed will cause the transmission of the receiving channel to change, and the channel estimation will be affected.
  • the first communication device senses the target to be sensed, obtains a sensing result, and sends the sensing result to the second communication device.
  • the sensing result includes the motion speed of the target to be sensed.
  • the second communication device can obtain the motion speed of the target to be sensed according to the sensing result, and determines the density of the reference signal in the time domain according to the motion speed of the target to be sensed. Due to the movement of the target, the channel changes continuously, so the sampling interval T ref of the reference signal in the time domain is equivalent to the sampling interval of the channel in the time domain.
  • the sampling rate needs to be greater than or equal to the highest frequency of the signal.
  • the density of the reference signal in the time domain has a positive correlation with the motion speed of the target to be sensed, that is, the greater the motion speed of the target to be sensed, the greater the density of the determined reference signal in the time domain.
  • the density of the reference signal in the time domain is determined according to the first motion speed of the object to be sensed as the first density
  • the density of the reference signal in the time domain is determined according to the second motion speed of the object to be sensed as the second density.
  • the first density is also higher than the second density.
  • the correspondence between the motion speed of the target to be sensed and the density of the reference signal in the time domain can be set, or the correspondence between the range of the motion speed of the target to be sensed and the density of the reference signal in the time domain can be set. relation. For example, when the moving speed of the target to be sensed is in the first range, the density of the corresponding reference signal in the time domain is density 1. When the moving speed of the target to be sensed is in the second range, the density of the corresponding reference signal in the time domain is density 2.
  • the density of the reference signal in the time domain can be understood as the ratio of the duration of the reference signal to the period in one cycle.
  • FIG. 9 configurations of DMRSs of different densities are shown.
  • the horizontal direction in FIG. 9 is the time domain, the vertical direction is the frequency domain, a small grid is a resource element (RE), the RE is the smallest unit that can be allocated on the time-frequency resource, and the position of the black grid is the DMRS.
  • the density value of the DMRS in the time domain is 1; the configuration of the DMRS in the time domain shown in Fig. 9(d) is adopted.
  • the first communication device determines the first information
  • S302 the first communication device sends the first information to the second communication device.
  • the first communication apparatus may enable the sensing function. That is, the first communication device has the function of turning on and off the sensing function, and when the sensing function is turned off, the method of the embodiment of FIG. 3 is not used for sensing.
  • the method in the embodiment of FIG. 3 may be used for sensing. In this way, when sensing based on the reference signal is required, the second communication device can enable the sensing function based on the demand, and can perform sensing according to the demand at any time without relying on the reference signal when sending data for sensing, so that the sensing time is more flexible.
  • the control node may send a trigger signal to the first communication device, the first communication device receives the trigger signal from the control node, and the trigger signal is used to instruct the first communication device to enable the sensing function, The first communication device enables the sensing function according to the trigger signal.
  • the first communication device is described by a receiving node
  • the second communication device is described by a transmitting node
  • the first information is used to indicate PRI and CPI.
  • the flow of the sensing method based on the reference signal is as follows.
  • the control node sends a trigger signal to the receiving node, where the trigger signal is used to instruct the receiving node to enable the sensing function, and correspondingly, the receiving node receives the trigger signal from the control node.
  • the receiving node enables the sensing function according to the trigger signal.
  • the type of trigger signal may be RRC signaling or DCI.
  • S1001 and S1002 are optional steps.
  • the receiving node determines the CPI and the PRI.
  • the receiving node determines the CPI and the PRI, and can refer to the first communication device in the embodiment of FIG. 3 to determine the first information and the first information indicates the relevant description of the PRI and the CPI.
  • the receiving node sends the CPI and PRI to the control node, and correspondingly, the control node receives the CPI and PRI from the receiving node.
  • the control node forwards the CPI and PRI to the transmitting node, and the transmitting node receives the CPI and PRI from the control node.
  • steps S1004 and S1005 may refer to the first communication device in the embodiment of FIG. 3 sending first information to the second communication device, where the first information indicates PRI and CPI, and there is a scene of a control node (such as scene 4, The relevant descriptions in 5 and 6) will not be repeated here.
  • the transmitting node determines, according to the information of the CPI, that the length of the reference signal sent continuously is not less than one CPI length; and according to the information of the PRI, determines that the period of the reference signal in the time domain is less than or equal to the length of one PRI. In this way, the transmitting node has configured the reference signal according to CPI and PRI.
  • the transmitting node transmits the configured reference signal through the air interface, and the receiving node receives the reference signal.
  • steps S1006 and S1007 may refer to the relevant descriptions when the second communication device sends a reference signal to the first communication device based on the first information in the embodiment of FIG. Repeat.
  • the receiving node senses the target to be sensed according to the reference signal.
  • This step corresponds to S304, and reference may be made to the relevant description of the first communication apparatus sensing the target to be sensed according to the reference signal in the embodiment of FIG. 3 .
  • the sensing target can be sensed by using the sensing signal, and the sending node and the receiving node of the sensing signal are the same device, for example, it can be called a sensing device.
  • the transmitter of the sensing device sends the sensing signal, and the sensing signal is received by the receiver of the sensing device through the wireless channel.
  • the sensing signal is a specific waveform signal, which combines the transmitted signal and the received signal and processes the signal to extract the target to be sensed in the wireless channel and obtain the sensing result.
  • the sensing device may determine the PRI, and the method for determining the PRI by the sensing device may refer to the above description of the method for determining the PRI by the first communication apparatus.
  • the meaning and function of the PRI are the same or similar.
  • the sensing device of the first communication apparatus sends the sensing signal according to the PRI.
  • the period of the sensing signal sent by the sensing device in the time domain is less than or equal to the PRI.
  • the sensing device may also determine the CPI, and the method for determining the CPI by the sensing device may refer to the relevant description of the method for determining the CPI by the first communication apparatus above.
  • the meaning and function of the CPI are the same or similar.
  • the sensing device sends the sensing signal according to the CPI.
  • the length of the sensing signal sent by the sensing device is greater than or equal to the length of the CPI.
  • the sensing device may determine the PRI and the CPI, and the sensing device sends the sensing signal according to the PRI and the CPI.
  • the length of the sensing signal sent by the sensing device is greater than or equal to the length of the CPI, and the period of the sensing signal sent by the sensing device in the time domain is less than or equal to PRI.
  • the conditions that the sensing signal meets are the same or similar to those that the reference signal meets above.
  • the network device and the terminal device may include hardware structures and/or software modules, and implement the above functions in the form of hardware structures, software modules, or hardware structures plus software modules . Whether one of the above functions is performed in the form of a hardware structure, a software module, or a hardware structure plus a software module depends on the specific application and design constraints of the technical solution.
  • an embodiment of the present application further provides a communication device 1100 .
  • the communication device 1100 may be a first communication device or a second communication device, or a first communication device or a second communication device.
  • the communication device 1100 may include modules that perform one-to-one correspondence with the methods/operations/steps/actions performed by the first communication device or the second communication device in the above method embodiments, and the modules may be hardware circuits, or However, software can also be implemented in combination with hardware circuits and software.
  • the communication device may include a processing module 1101 and a communication module 1102 .
  • the processing module 1101 is configured to call the communication module 1102 to perform the function of receiving and/or sending.
  • the communication module 1102, which may also be referred to as a transceiver module may include a receiving module 1102-1 and a sending module 1102-2.
  • the receiving module is used to perform the operations received in the method embodiments
  • the sending module is used to perform the received operations in the method embodiments. send action.
  • the processing module performs the sending or receiving operation through the communication module, which can be understood as the processing module issuing an instruction to the communication module, the communication module performs the sending or receiving operation, or the processing module instructs the communication module to perform the sending or receiving operation operation.
  • the processing module 1101 is configured to determine first information, where the first information is used to indicate the pulse repetition period PRI;
  • the sending module 1102-2 is configured to send first information to the second communication device, where the first information is used for the second communication device to send a reference signal, wherein the period of the reference signal in the time domain is less than or equal to the PRI;
  • the receiving module 1102-1 is configured to receive the reference signal from the second communication device
  • the processing module 1101 is configured to sense the object to be sensed according to the reference signal.
  • the receiving module 1102-1 is further configured to perform other receiving steps or operations performed by the first communication apparatus in the foregoing method embodiments.
  • the sending module 1102-2 is further configured to perform other sending steps or operations performed by the first communication apparatus in the foregoing method embodiments.
  • the processing module 1101 may also be configured to perform other corresponding steps or operations other than sending and receiving performed by the first communication apparatus in the above method embodiment, which will not be repeated here.
  • the receiving module 1102-1 is configured to receive first information from the first communication device, where the first information is used to indicate the pulse repetition period PRI;
  • the sending module 1102-2 is configured to send a reference signal according to the first information, where the reference signal is used by the first communication device to sense the target to be sensed, and the period of the reference signal in the time domain is less than or equal to the PRI.
  • the receiving module 1102-1 is further configured to perform other receiving steps or operations performed by the second communication apparatus in the foregoing method embodiments.
  • the sending module 1102-2 is further configured to perform other sending steps or operations performed by the second communication apparatus in the foregoing method embodiments.
  • the processing module 1101 may also be configured to perform other corresponding steps or operations other than sending and receiving performed by the second communication apparatus in the above method embodiments, which will not be repeated here.
  • the division of modules in the embodiments of the present application is schematic, and is only a logical function division. In actual implementation, there may be other division methods.
  • the functional modules in the various embodiments of the present application may be integrated into one processing unit. In the device, it can also exist physically alone, or two or more modules can be integrated into one module.
  • the above-mentioned integrated modules can be implemented in the form of hardware, and can also be implemented in the form of software function modules.
  • a communication apparatus 1200 provided by an embodiment of the present application is used to implement the functions of a terminal device or a network device in the foregoing method.
  • the communication device may be a network device, a device in a network device, or a device that can be used in conjunction with the network device.
  • the communication device may be the terminal device, or may be a device in the terminal device, or a device that can be used in combination with the terminal device.
  • the communication device may be a chip system.
  • the chip system may be composed of chips, or may include chips and other discrete devices.
  • the communication apparatus 1200 includes at least one processor 1220, which is configured to implement the function of the terminal device or the network device in the method provided in the embodiment of the present application.
  • the communication device 1200 may also include a communication interface 1210 .
  • the communication interface may be a transceiver, a circuit, a bus, a module or other types of communication interfaces, which are used to communicate with other devices through a transmission medium.
  • the transceiver may include a receiver and a transmitter, the receiver is used to implement the operation of receiving, and the transmitter is used to implement the operation of transmission.
  • the communication interface 1210 may include an input interface and an output interface, where the input interface corresponds to the operation of receiving, and the output interface corresponds to the operation of sending.
  • the communication interface 1210 is used by the apparatus in the apparatus 1200 to communicate with other devices.
  • the other device may be the second communication apparatus.
  • the communication device 1200 is the second communication device, the other device may be the first communication device.
  • the processor 1220 uses the communication interface 1210 to send and receive data, and is used to implement the methods described in the above method embodiments.
  • the communication interface 1210 is configured to send first information to the second communication device, where the first information is used for the second communication device to send a reference signal, wherein the reference signal is in the time domain.
  • the period is less than or equal to the PRI; the communication interface 1210 is further configured to receive a reference signal from the second communication device; the processor 1220 is configured to sense the target to be sensed according to the reference signal.
  • the communication interface 1210 is further configured to perform other receiving or sending steps or operations performed by the first communication device in the above method embodiments.
  • the processor 1220 may also be configured to perform other corresponding steps or operations other than sending and receiving performed by the first communication apparatus in the above method embodiment, which will not be repeated here.
  • the communication interface 1210 is configured to receive first information from the first communication device, where the first information is used to indicate the pulse repetition period PRI; the communication interface 1210 is further configured to send a reference signal according to the first information, wherein the reference signal is used for the first communication
  • the device senses the target to be sensed, and the period of the reference signal in the time domain is less than or equal to the PRI.
  • the communication interface 1210 is further configured to perform other receiving or sending steps or operations performed by the second communication apparatus in the above method embodiments.
  • the processing module 1101 may also be configured to perform other corresponding steps or operations other than sending and receiving performed by the second communication apparatus in the above method embodiments, which will not be repeated here.
  • the specific connection medium between the communication interface 1210 , the processor 1220 , and the memory 1230 is not limited in the embodiments of the present application.
  • the memory 1230, the processor 1220, and the communication interface 1210 are connected through a bus 1240 in FIG. 12.
  • the bus is represented by a thick line in FIG. 12, and the connection between other components is only for schematic illustration. , is not limited.
  • the bus can be divided into an address bus, a data bus, a control bus, and the like. For ease of representation, only one thick line is shown in FIG. 12, but it does not mean that there is only one bus or one type of bus.
  • the communication module 1102 and the communication interface 1210 may output or receive baseband signals.
  • the output or reception of the communication module 1102 and the communication interface 1210 may be radio frequency signals.
  • the processor may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a logic circuit, a field programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component, The methods, steps, and logic block diagrams disclosed in the embodiments of this application can be implemented or executed.
  • a general purpose processor may be a microprocessor or any conventional processor or the like.
  • the steps of the methods disclosed in conjunction with the embodiments of the present application may be directly embodied as executed by a hardware processor, or executed by a combination of hardware and software modules in the processor.
  • the memory 1230 may be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), etc., or a volatile memory (volatile memory), Such as random-access memory (random-access memory, RAM).
  • Memory is, but is not limited to, any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer.
  • the memory in this embodiment of the present application may also be a circuit or any other device capable of implementing a storage function, for storing program instructions and/or data.
  • Some or all of the operations and functions performed by the first communication device described in the above method embodiments of the present application, or some or all of the operations and functions performed by the second communication device, may be implemented by chips or integrated circuits.
  • an embodiment of the present application further provides a chip, including a processor, for supporting the communication apparatus to implement the first communication apparatus or the second communication in the foregoing method embodiment.
  • a chip including a processor, for supporting the communication apparatus to implement the first communication apparatus or the second communication in the foregoing method embodiment.
  • the functions involved in the device In a possible design, the chip is connected to a memory or the chip includes a memory for storing necessary program instructions and data of the communication device.
  • An embodiment of the present application provides a computer-readable storage medium storing a computer program, where the computer program includes instructions for executing the foregoing method embodiments.
  • the embodiments of the present application provide a computer program product containing instructions, which, when executed on a computer, enable the above method embodiments to be implemented.
  • the embodiments of the present application provide a computer program, which enables the above method embodiments to be implemented when it runs on a computer.
  • the embodiments of the present application may be provided as a method, a system, or a computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions
  • the apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.

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Abstract

本申请公开了一种感知方法及通信装置，以期提高感知的性能。该方法为：第一通信装置确定第一信息，第一信息用于指示脉冲重复周期PRI；第一通信装置向第二通信装置发送第一信息，对应地，第二通信装置接收来自第一通信装置的第一信息。第一信息用于第二通信装置发送参考信号，其中，参考信号在时域的周期小于或等于PRI；第二通信装置基于第一信息向第一通信装置发送参考信号，对应地，第一通信装置接收来自第二通信装置的参考信号；第一通信装置根据参考信号对待感知目标进行感知。

Description

一种感知方法及通信装置
相关申请的交叉引用
本申请要求在2021年03月25日提交中国国家知识产权局、申请号为202110320379.4、申请名称为“一种感知方法及通信装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及通信技术领域，尤其涉及一种感知方法及通信装置。
背景技术
无线感知技术通过分析无线信号在传播过程中的变化，获得信号传播空间的特性，以实现场景的感知。其中，信号传播空间可以看成信道。这里的场景既包括人的因素，例如是否有人以及人的位置、姿态、或动作，也包括其他外物因素，例如建筑物、移动的车辆等。雷达是一种最为经典的无线感知手段，在军事、农业、气象等领域都有广泛的应用，其基本原理是发射机发射特定的波形信号，经过无线信道到被接收机所接收，结合发射信号和接收信号进行信号处理，从而提取出无线信道中感兴趣的目标。无线通信系统的主要功能是用于收发机之间交互信息，其基本原理也是发射端发射特定的波形信号，经过无线信道后被接收机所接收，并经过信号处理后解调出发射端发射的信号。从发射、传输和接收整个物理过程来看，无线感知技术和无线通信的过程极为相似，因此可以将无线通信和无线感知技术合二为一，在实现通信的同时对周围的环境进行感知。
从物理过程来看，信道是受周围环境的影响，信道测量在某种意义上可以看成是一种感知的方式。如何基于无线通信进行感知，以提高感知的性能，是需要考虑的问题。
发明内容
本申请实施例提供一种感知方法及通信装置，以期提高感知的性能。
第一方面，提供一种感知方法，该方法可以由两个设备执行，两个设备可以记为第一通信装置和第二通信装置，基于参考信号的发送和接收角度来说，第一通信装置也可以称为接收设备、接收节点或接收端，第二通信装置也可以称为发送设备、发送节点、发射节点或发送端。以下以第一通信装置和第二通信装置来描述。该方法可以由第一通信装置和第二通信装置执行，也可以由第一通信装置和第二通信装置中的部件(例如处理器、芯片、或芯片系统等)执行。该方法可以通过以下步骤实现：第一通信装置确定第一信息，第一信息用于指示脉冲重复周期PRI；第一通信装置向第二通信装置发送第一信息，对应地，第二通信装置接收来自第一通信装置的第一信息。第一信息用于第二通信装置发送参考信号，其中，参考信号在时域的周期小于或等于PRI；第二通信装置基于第一信息向第一通信装置发送参考信号，对应地，第一通信装置接收来自第二通信装置的参考信号；第一通信装置根据参考信号对待感知目标进行感知。通过第一信息指示PRI，第二通信装置可以根据PRI发送参考信号，通过限定参考信号在时域的周期小于或等于PRI，这样第一通信 装置对参考信号进行处理得到的多普勒信息会更加准确，提高感知性能。
以下对第一方面的一些可能的设计进行说明。
在一个可能的设计中，PRI根据待感知目标的最大运动速度和参考信号的波长确定。可选的，待感知目标的最大运动速度可以是预先设定的。
在一个可能的设计中，PRI符合以下关系式：PRI小于或等于λ/V max，其中，λ为参考信号的波长，V max为待感知目标的最大运动速度。第二通信装置在接收到第一信息后，根据第一信息确定PRI，确定的PRI的值可以看作是一个PRI参考值或者看作成一个PRI阈值，该PRI的值能够保障：待感知目标的最大运动速度产生的多普勒变化范围，不会超出根据该PRI的长度确定的最大可测量的多普勒范围。该参考信号在时域的周期在小于或等于PRI时，该参考信号在时域的周期所确定的最大可测量的多普勒范围，就会大于或等于，根据该PRI的长度确定的最大可测量的多普勒范围。因此，该参考信号在时域的周期也就能够满足：待感知目标的最大运动速度产生的多普勒变化范围，不会超出根据该参考信号在时域的周期确定的最大可测量的多普勒范围。不会出现测速模糊，提高测速的准确性，从而有助于提高感知的性能。
在一个可能的设计中，第一信息还用于指示相参处理时间CPI；参考信号的长度大于或等于CPI的长度。通过第一信息指示CPI，第二通信装置可以根据CPI发送参考信号，通过限定参考信号的长度大于或等于CPI的长度，这样，有助于保证参考信号在处理时有足够的积累时间，保障信噪比，提升感知性能使用参考信号进行感知时才能保证感知的性能。
在一个可能的设计中，CPI可以根据以下一项或多项确定：所述第一通信装置与待感知目标的相对运动速度、距离分辨率单元、所述第一通信装置与所述待感知目标的相对运动加速度、或速度分辨率单元。可选的，CPI根据第一值和/或第二值确定；其中，第一值根据第一通信装置与待感知目标的相对运动速度以及距离分辨率单元确定，第二值根据第一通信装置与待感知目标的相对运动加速度以及速度分辨率单元确定。在一个CPI时长内，待感知目标的运动距离超过一个距离分辨率单元，那么采用该CPI时长的信号处理得到的感知结果就不准确，根据第一通信装置与待感知目标的相对运动速度、以及距离分辨率单元确定CPI能够有助于实现信号的有效积累。如果在一个CPI时长内，待感知目标的速度变化超过一个速度分辨率单元，那么采用该CPI时长的信号处理得到的感知结果就不准确，根据第一通信装置与所述待感知目标的相对运动加速度、以及速度分辨率单元确定CPI能够有助于实现信号的有效积累。
在一个可能的设计中，CPI为第一值和第二值中的较小值。这样能够使得CPI能够基于距离分辨率和速度分辨率两方面的考量而确定，能够更加提高感知性能。
在一个可能的设计中，CPI符合以下关系式：CPI小于或等于ΔR/v；其中，ΔR为距离分辨率单元，v为第一通信装置与待感知目标的相对运动速度；例如，上述第一值可以为ΔR/v。通过该关系式的约束，能够保证待感知目标在一个CPI时长内不会跨越一个距离分辨率单元，从而保证感知性能。
在一个可能的设计中，ΔR＝c/B，其中，c为光速，B为参考信号的带宽。
在一个可能的设计中，CPI符合以下关系式：CPI小于或等于Δv/a；其中，Δv为速度分辨率单元，a为第一通信装置与待感知目标的相对运动加速度。通过该关系式的约束，能够保证在一个CPI时长内，待感知目标的速度变化不能超过一个速度分辨率单元，从而 保证感知性能。
在一个可能的设计中，Δv＝λ/CPI，λ为参考信号的波长。例如上述第二值可以为
Figure PCTCN2021142163-appb-000001
可选的，上述v的值和/或a的值可以通过以下方式获得。第二通信装置向第一通信装置发送参考信号，该参考信号的长度和发送位置可以是通过任意方式确定的，例如，在有数据传输时发送的用于测量信道条件的参考信号。第一通信装置接收到参考信号后，根据参考信号预估v和/或a的值。或者，v和a的初始值可以通过待感知目标的传感器测量得到。
在一个可能的设计中，在有控制节点存在的场景，第一通信装置将第一信息发送给第二通信装置，可以通过控制节点转发，具体地，第一通信装置向控制节点发送第一信息，以使得控制节点将第一信息转发给第二通信装置。
在一个可能的设计中，第一通信装置还可以将对待感知目标进行感知的结果向第二通信装置发送，第二通信装置接收该结果，根据该结果配置参考信号在时域的密度。由于待感知目标的移动导致信道发生变化，根据参考信号进行信道估计的准确性就会降低，信道变化的剧烈程度与终端设备的运动速度有关。待感知目标的运动速度越大，信道变化就会越剧烈。通过增加参考信号在时域的密度，可以提高信道估计的准确性，从而提高接收机的解调性能。第一通信装置对待感知目标进行感知，获得感知结果，将感知结果发送给第二通信装置。第二通信装置根据感知结果可以确定待感知目标的运动速度，根据待感知目标的运动速度，确定参考信号在时域的密度。
第二方面，提供一种通信装置，该通信装置可以是第一通信装置，也可以是第一通信装置中的装置(例如，芯片，或者芯片系统，或者电路)，或者是能够和第一通信装置匹配使用的装置。一种设计中，该天线装置可以包括执行第一方面中所描述的第一通信装置执行的方法/操作/步骤/动作所一一对应的模块，该模块可以是硬件电路，也可是软件，也可以是硬件电路结合软件实现。一种设计中，该天线装置可以包括处理模块和通信模块。处理模块用于调用通信模块执行接收和/或发送的功能。示例性地：处理模块用于确定第一信息，第一信息用于指示脉冲重复周期PRI；通信模块用于向第二通信装置发送第一信息，第一信息用于第二通信装置发送参考信号，其中，参考信号在时域的周期小于或等于PRI；通信模块还用于接收来自第二通信装置的参考信号；处理模块还用于根据参考信号对待感知目标进行感知。
在一个可能的设计中，在有控制节点存在的场景，通信模块还用于向控制节点发送第一信息，以使得控制节点将第一信息转发给第二通信装置。
在一个可能的设计中，通信模块还用于将对待感知目标进行感知的结果向第二通信装置发送，该结果用于第二通信装置配置参考信号在时域的密度。
第三方面，提供一种通信装置，该通信装置可以是第二通信装置，也可以是第二通信装置中的装置(例如，芯片，或者芯片系统，或者电路)，或者是能够和第二通信装置匹配使用的装置。一种设计中，该天线装置可以包括执行第一方面中所描述的第二通信装置执行的方法/操作/步骤/动作所一一对应的模块，该模块可以是硬件电路，也可是软件，也可以是硬件电路结合软件实现。一种设计中，该天线装置可以包括处理模块和通信模块。处理模块用于调用通信模块执行接收和/或发送的功能。示例性地：接收模块用于接收来自第一通信装置的第一信息，第一信息用于指示脉冲重复周期PRI；发送模块用于基于第一信息发送参考信号，其中，参考信号在时域的周期小于或等于PRI；参考信号用于第一通 信装置对待感知目标进行感知。
在一个可能的设计中，接收模块还用于接收来自第一通信装置的对待感知目标进行感知的结果；处理模块还用于根据该结果配置参考信号在时域的密度。
第二方面或第三方面的有益效果可以参考第一方面的描述，在此不再赘述。
结合第二方面或第三方面，以下提供一些可能的设计。
在一个可能的设计中，PRI根据待感知目标的最大运动速度和参考信号的波长确定。可选的，待感知目标的最大运动速度可以是预先设定的。
在一个可能的设计中，PRI符合以下关系式：PRI小于或等于λ/V max，其中，λ为参考信号的波长，V max为待感知目标的最大运动速度。第二通信装置在接收到第一信息后，根据第一信息确定PRI，确定的PRI的值可以看作是一个PRI参考值或者看作成一个PRI阈值，该PRI的值能够保障：待感知目标的最大运动速度产生的多普勒变化范围，不会超出根据该PRI的长度确定的最大可测量的多普勒范围。该参考信号在时域的周期在小于或等于PRI时，该参考信号在时域的周期所确定的最大可测量的多普勒范围，就会大于或等于，根据该PRI的长度确定的最大可测量的多普勒范围。因此，该参考信号在时域的周期也就能够满足：待感知目标的最大运动速度产生的多普勒变化范围，不会超出根据该参考信号在时域的周期确定的最大可测量的多普勒范围。不会出现测速模糊，提高测速的准确性，从而有助于提高感知的性能。
在一个可能的设计中，第一信息还用于指示相参处理时间CPI；参考信号的长度大于或等于CPI的长度。通过第一信息指示CPI，第二通信装置可以根据CPI发送参考信号，通过限定参考信号的长度大于或等于CPI的长度，这样，有助于保证参考信号在处理时有足够的积累时间，保障信噪比，提升感知性能使用参考信号进行感知时才能保证感知的性能。
在一个可能的设计中，CPI可以根据以下一项或多项确定：所述第一通信装置与待感知目标的相对运动速度、距离分辨率单元、所述第一通信装置与所述待感知目标的相对运动加速度、或速度分辨率单元。可选的，CPI根据第一值和/或第二值确定；其中，第一值根据第一通信装置与待感知目标的相对运动速度以及距离分辨率单元确定，第二值根据第一通信装置与待感知目标的相对运动加速度以及速度分辨率单元确定。在一个CPI时长内，待感知目标的运动距离超过一个距离分辨率单元，那么采用该CPI时长的信号处理得到的感知结果就不准确，根据第一通信装置与待感知目标的相对运动速度、以及距离分辨率单元确定CPI能够有助于实现信号的有效积累。如果在一个CPI时长内，待感知目标的速度变化超过一个速度分辨率单元，那么采用该CPI时长的信号处理得到的感知结果就不准确，根据第一通信装置与所述待感知目标的相对运动加速度、以及速度分辨率单元确定CPI能够有助于实现信号的有效积累。
在一个可能的设计中，CPI为第一值和第二值中的较小值。这样能够使得CPI能够基于距离分辨率和速度分辨率两方面的考量而确定，能够更加提高感知性能。
在一个可能的设计中，CPI符合以下关系式：CPI小于或等于ΔR/v；其中，ΔR为距离分辨率单元，v为第一通信装置与待感知目标的相对运动速度；例如，上述第一值可以为ΔR/v。通过该关系式的约束，能够保证待感知目标在一个CPI时长内不会跨越一个距离分辨率单元，从而保证感知性能。
在一个可能的设计中，ΔR＝c/B，其中，c为光速，B为参考信号的带宽。
在一个可能的设计中，CPI符合以下关系式：CPI小于或等于Δv/a；其中，Δv为速度分辨率单元，a为第一通信装置与待感知目标的相对运动加速度。通过该关系式的约束，能够保证在一个CPI时长内，待感知目标的速度变化不能超过一个速度分辨率单元，从而保证感知性能。
在一个可能的设计中，Δv＝λ/CPI，λ为参考信号的波长。例如上述第二值为
Figure PCTCN2021142163-appb-000002
可选的，上述v的值和/或a的值可以通过以下方式获得。第二通信装置向第一通信装置发送参考信号，该参考信号的长度和发送位置可以是通过任意方式确定的，例如，在有数据传输时发送的用于测量信道条件的参考信号。第一通信装置接收到参考信号后，根据参考信号预估v和/或a的值。或者，v和a的初始值可以通过待感知目标的传感器测量得到。
第四方面，本申请实施例提供一种通信装置，所述通信装置包括通信接口和处理器，所述通信接口用于该装置与其它设备进行通信，例如数据或信号的收发。示例性的，通信接口可以是收发器、电路、总线、模块或其它类型的通信接口。处理器用于调用一组程序、指令或数据，执行上述第一方面中第一通信装置所实现的方法。所述装置还可以包括存储器，用于存储处理器调用的程序、指令或数据。所述存储器与所述处理器耦合，所述处理器执行所述存储器中存储的、指令或数据时，可以实现上述第一方面描述的第一通信装置执行的方法。
第五方面，本申请实施例提供一种通信装置，所述通信装置包括通信接口和处理器，所述通信接口用于该装置与其它设备进行通信，例如数据或信号的收发。示例性的，通信接口可以是收发器、电路、总线、模块或其它类型的通信接口。处理器用于调用一组程序、指令或数据，执行上述第一方面中第二通信装置所实现的方法。所述装置还可以包括存储器，用于存储处理器调用的程序、指令或数据。所述存储器与所述处理器耦合，所述处理器执行所述存储器中存储的、指令或数据时，可以实现上述第一方面描述的第二通信装置执行的方法。
第六方面，本申请实施例中还提供一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机可读指令，当所述计算机可读指令在计算机上运行时，使得如第一方面或第一方面中任一种可能的设计中所述的方法被执行。
第七方面，本申请实施例提供了一种芯片系统，该芯片系统包括一个或多个处理器，该一个或多个处理器用于读取并执行存储器中的存储的软件程序，以实现上述第一方面或第一方面中任一种可能的设计中第一通信装置执行的方法。该芯片系统可以由芯片构成，也可以包含芯片和其他分立器件。
可选的，该芯片系统可以包括存储器，或者，该芯片系统与存储器相连。
第八方面，本申请实施例提供了一种芯片系统，该芯片系统包括一个或多个处理器，该一个或多个处理器用于读取并执行存储器中的存储的软件程序，以实现上述第一方面或第一方面中任一种可能的设计中第二通信装置执行的方法。该芯片系统可以由芯片构成，也可以包含芯片和其他分立器件。
可选的，该芯片系统可以包括存储器，或者，该芯片系统与存储器相连。
第九方面，本申请实施例提供了一种通信系统，所述通信系统包括第二方面和第三方面所述的通信装置；或者包括如第四方面和第五方面所述的通信装置。
第十方面，提供了一种包含指令的计算机程序产品，当其在计算机上运行时，使得上述第一方面或第一方面的任一可能的设计中所述的方法被实现。
附图说明
图1为本申请实施例中通信系统的架构示意图；
图2为本申请实施例中基于参考信号感知的信号处理二维矩阵示意图；
图3为本申请实施例中感知方法的具体流程示意图；
图4a为本申请实施例中应用场景架构示意图之一；
图4b为本申请实施例中应用场景架构示意图之二；
图5为本申请实施例中应用场景架构示意图之三；
图6为本申请实施例中应用场景架构示意图之四；
图7为本申请实施例中应用场景架构示意图之五；
图8为本申请实施例中应用场景架构示意图之六；
图9为本申请实施例中不同密度的DMRS的配置示意图；
图10为本申请实施例中在存在控制节点的场景下基于参考信号的感知方法的流程示意图；
图11为本申请实施例中通信装置结构示意图之一；
图12为本申请实施例中通信装置结构示意图之二。
具体实施方式
本申请实施例提供一种基于参考信号的感知方法及通信装置。其中，方法和装置是基于同一技术构思或者基于相似的技术构思的，由于方法及装置解决问题的原理相似，因此装置与方法的实施可以相互参见，重复之处不再赘述。
本申请实施例的描述中，“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。本申请中所涉及的多个是指两个或两个以上。另外，需要理解的是，在本申请的描述中，“第一”、“第二”等词汇，仅用于区分描述的目的，而不能理解为指示或暗示相对重要性，也不能理解为指示或暗示顺序。
下面将结合附图，对本申请实施例进行详细描述。
本申请实施例提供的基于参考信号的感知方法及通信装置可以应用于第四代(4th generation，4G)通信系统，例如长期演进(long term evolution，LTE)系统，第五代(5th generation，5G)通信系统，例如5G新空口(new radio，NR)系统，也可以应用于未来演进的各种通信系统，例如第六代(6th generation，6G)通信系统、或者空天海地一体化通信系统等。
图1示出了本申请实施例适用的一种通信系统的架构。参阅图1所示，通信系统100中包括网络设备101和终端设备102。
首先对网络设备101和终端设备102的可能实现形式和功能进行举例介绍。
网络设备101为覆盖范围内的终端设备102提供服务。例如，参见图1所示，网络设备101为网络设备101覆盖范围内的一个或多个终端设备102提供无线接入。
网络设备101为无线接入网(radio access network，RAN)中的节点，又可以称为基站，还可以称为RAN节点(或设备)。目前，一些网络设备101的举例为：下一代基站(next generation nodeB，gNB)、下一代演进的基站(next generation evolved nodeB，Ng-eNB)、 传输接收点(transmission reception point，TRP)、演进型节点B(evolved Node B，eNB)、无线网络控制器(radio network controller，RNC)、节点B(Node B，NB)、家庭基站(例如，home evolved NodeB，或home Node B，HNB)、基带单元(base band unit，BBU)、有源天线处理单元(active antenna unit，AAU)，或无线保真(wireless fidelity，Wifi)接入点(access point，AP)，网络设备101还可以是卫星，卫星还可以称为高空平台、高空飞行器、或卫星基站。网络设备101还可以是其他具有网络设备功能的设备，例如，网络设备101还可以是设备到设备(device to device，D2D)通信、车联网或机器到机器(machine to machine，M2M)通信中担任网络设备功能的设备。网络设备101还可以是未来通信系统中任何可能的网络设备。
终端设备102，又称之为用户设备(user equipment，UE)、移动台(mobile station，MS)、移动终端(mobile terminal，MT)等，是一种向用户提供语音和/或数据连通性的设备。例如，终端设备102包括具有无线连接功能的手持式设备、车载设备等。目前，终端设备102可以是：手机(mobile phone)、平板电脑、笔记本电脑、掌上电脑、移动互联网设备(mobile internet device，MID)、可穿戴设备(例如智能手表、智能手环、计步器等)，车载设备(例如，汽车、自行车、电动车、飞机、船舶、火车、高铁等)、虚拟现实(virtual reality，VR)设备、增强现实(augmented reality，AR)设备、工业控制(industrial control)中的无线终端、智能家居设备(例如，冰箱、电视、空调、电表等)、智能机器人、车间设备、无人驾驶(self driving)中的无线终端、远程手术(remote medical surgery)中的无线终端、智能电网(smart grid)中的无线终端、运输安全(transportation safety)中的无线终端、智慧城市(smart city)中的无线终端，或智慧家庭(smart home)中的无线终端、飞行设备(例如，智能机器人、热气球、无人机、飞机)等。终端设备102还可以是其他具有终端设备功能的设备，例如，终端设备102还可以是设备到设备(device to device，D2D)通信、车联网或机器到机器(machine-to-machine，M2M)通信中担任终端设备功能的设备。特别地，在网络设备间进行通信的时候，担任终端设备功能的网络设备也可以看作是终端设备。
无线感知技术通过分析无线信号在传播过程中的变化，获得信号传播空间的特性，以实现场景的感知。鉴于无线通信技术与无线感知技术的过程相似，可以将无线通信技术和无线感知技术结合起来，在实现通信的同时对周围的环境进行感知。
在一种实现方式中，可以通过时分或者频分的方式，在时域资源或者频域资源上分配一段专门用于感知的资源。这种方式可以通过一套硬件同时实现通信的功能和感知的功能，同时避免通信和感知二者的干扰。但是通过这种方式实现感知，会额外占用通信的资源，降低通信的效率。
基于此，在另一种实现方式中，可以通过利用用于通信的参考信号来实现感知。在无线通信系统中，通常可以采用参考信号实现信道估计。参考信号是发送端和接收端已知的序列。发送端向接收端发送参考信号，接收端通过检测参考信号进行信道估计，并反馈信道估计的结果给发送端。这种实现方式，可以不设计专门用于感知的信号，利用现有的参考信号进行感知，无需占用通信的资源，能够节省通信资源。
本申请实施例中，提供一种感知方法及通信装置，介绍如何利用参考信号来实现感知，提高感知的性能。
首先对参考信号进行说明，参考信号也可以称为导频信号。本申请实施例中实现感知 所用的参考信号可以是任意的信号，只要是发送端和接收端已知的序列即可。例如，参考信号可以是信道状态信息参考信号(channel state information reference signal，CSI-RS)，或者解调参考信号(demodulation reference signal，DMRS)。
发送端向接收端发送参考信号，接收端接收参考信号，接收端对参考信号进行处理，获得感知结果。以下介绍一种根据参考信号进行感知的可选方式。如图2所示，接收端取一段长度为相参处理时间(coherent processing interval，CPI)的信号。参考信号为周期性的信号，图2中示出了多个周期的参考信号，长度为CPI的信号中黑色矩形表示参考信号的位置。将长度为CPI的信号按照行重新排列成一个二维矩阵。矩阵的每一行的长度为脉冲重复周期(pulse repetition interval，PRI)。图2中PRI为一个参考信号在时域的周期长度。由于参考信号的位置和序列都是已知的，接收端已知发送端发射的参考信号的位置和序列，接收端利用接收的参考信号与已知的发射的参考信号按行进行处理，例如匹配滤波处理，多载波距离估计处理等，获得到达时间(time of arrival，TOA)估计。每一行的信号都可以获得一个TOA估计结果，例如图2中所示，对第一行长度为PRI的信号进行处理获得第1个TOA结果，对第二行长度为PRI的信号进行处理获得第2个TOA结果，……，对第N行长度为PRI的信号进行处理获得第N个TOA结果。每一行的TOA结果可以看作一维距离像，将N个一维距离像组成的矩阵按列进行傅里叶变换，可以得到待感知目标的多普勒频率信息。经过信号处理之后的二维矩阵的行代表距离信息，列代表多普勒频率信息。距离信息和多普勒频率信息可以构成二维的图像，即距离-多普勒图谱。图像的纵坐标为待感知目标与接收端的相对速率。在待感知目标不发送也不接收参考信号，而是转发发送端的参考信号到接收端的场景下，图像的横坐标为发送端到接收端的相对距离；或者，在其他场景下，例如待感知目标发送参考信号的场景下，又例如待感知目标接收参考信号的场景下，图像的横坐标为待感知目标到接收端的相对距离。
于此，接收端便可以根据参考信号获得对待感知目标的感知结果，感知结果例如可以是待感知目标到接收端的相对距离，在待感知目标不发送也不接收参考信号，而是转发发送端的参考信号到接收端的场景下，感知结果可以是发送端到待感知目标的距离与待感知目标到接收端的距离之和。根据参考信号获得对待感知目标的感知结果也可以是待感知目标与接收端的相对速率。
参考信号在用于通信时，会有一些限制。例如，在5G通信系统中，有些参考信号不是永远在线(always on)，只有在发送数据的情况下才会存在。并且，由于数据包连续发送的时长是根据用户的业务需求确定的，在数据包连续发送时长较短时，参考信号的长度也比较短。当使用参考信号进行感知时，参考信号的上述限制可能会导致感知的性能得不到保障。
如图3所示，本申请实施例提供的感知方法的具体流程如下所述。该方法可以通过第一通信装置和第二通信装置来执行，其中，第一通信装置可以是接收参考信号的设备，第二通信装置可以是发送参考信号的设备。基于参考信号的发送和接收角度来说，第一通信装置也可以称为接收设备、接收节点或接收端，第二通信装置也可以称为发送设备、发送节点、发射节点或发送端。
S301、第一通信装置确定第一信息。
第一信息用于指示PRI。第一信息可以指示PRI的值，也可以指示PRI的相关参数，该相关参数可以表征PRI或该相关参数可以用于计算PRI。
S302、第一通信装置向第二通信装置发送第一信息，对应地，第二通信装置接收来自第一通信装置的第一信息。
第一信息用于第二通信装置发送参考信号。
S303、第二通信装置向第一通信装置发送参考信号，对应地，第一通信装置接收来自第二通信装置的参考信号。
第二通信装置基于第一信息，向第一通信装置发送参考信号。其中，参考信号在时域的周期小于或等于PRI。
S304、第一通信装置根据参考信号对待感知目标进行感知。
根据参考信号对待感知目标进行感知的方法详见上文中图2相关的描述，此处不再赘述。
通过第一信息指示PRI，第二通信装置可以根据PRI发送参考信号，通过限定参考信号在时域的周期小于或等于PRI，这样第一通信装置对参考信号进行处理时，将参考信号重新排列成二维矩阵，矩阵的每一行的长度为PRI，每一行的信号都可以获得一个TOA估计结果，经过信号处理之后的二维矩阵的列代表多普勒频率信息，得到的多普勒信息会更加准确，提高感知性能。
以下对图3实施例的一些可选实现方式进行说明。
首先对PRI的长度对感知性能的影响进行说明。PRI的长度可以影响最大可测量的多普勒范围。PRI的长度越小，最大可测量的多普勒范围越大。待感知目标的多普勒变化范围不应该超出根据PRI的长度确定的最大可测量的多普勒范围。待感知目标的多普勒变化是由运动速度产生的，因此，需要保证待感知目标的最大运动速度产生的多普勒变化范围，不超出根据PRI的长度确定的最大可测量的多普勒范围。PRI是根据待感知目标的最大运动速度和参考信号的波长确定的。
第一通信装置首先获取待感知目标的最大运动速度，根据待感知目标的最大运动速度和参考信号的波长确定PRI。待感知目标的最大运动速度可以是预先设定的。例如可以预先定义好不同场景与最大运动速度的对应关系。其中场景例如可以是城区、或高速等通信场景。第一通信装置根据预先定义的该对应关系，确定当前场景对应的待感知目标的最大运动速度。如果第一通信装置为终端设备，终端设备可以从网络设备接收待感知目标的最大运动速度的信息，或者终端设备可以从网络设备接收当前的场景，根据预定义的不同场景与最大运动速度的对应关系，确定当前场景对应的待感知目标的最大运动速度。
一种实现方式中，PRI符合以下关系式(1)：PRI小于或等于λ/V max，其中，λ为参考信号的波长，V max为待感知目标的最大运动速度。
第一通信装置根据上述关系式(1)确定PRI的值。第一信息可以是该PRI的值，第二通信装置根据第一信息可以得到该PRI的值。第一信息也可以指示V max，还可以指示V max和λ。第二通信装置根据V max和λ确定PRI，例如可以根据上述关系式(1)确定PRI。第一信息还可以指示索引，该索引可以是PRI的索引，也可以是V max的索引。第二通信装置存储有PRI的索引与PRI的值的对应关系，也可以存储有V max的索引与V max的对应关系。若第一信息指示PRI的索引，第二通信装置根据第一信息指示的PRI的索引确定PRI的值。若第一信息指示V max的索引，第二通信装置可以根据V max的索引确定V max的值。
第二通信装置在接收到第一信息后，根据第一信息确定PRI，确定的PRI的值可以看作是一个PRI参考值或者看作成一个PRI阈值，该PRI的值能够保障：待感知目标的最大 运动速度产生的多普勒变化范围，不会超出根据该PRI的长度确定的最大可测量的多普勒范围。
第二通信装置确定参考信号在时域的周期小于或等于PRI。可以看出，由于PRI越小，最大可测量的多普勒范围越大，那么，该参考信号在时域的周期在小于或等于PRI时，该参考信号在时域的周期所确定的最大可测量的多普勒范围，就会大于或等于，根据该PRI的长度确定的最大可测量的多普勒范围。因此，该参考信号在时域的周期也就能够满足：待感知目标的最大运动速度产生的多普勒变化范围，不会超出根据该参考信号在时域的周期确定的最大可测量的多普勒范围。不会出现测速模糊，提高测速的准确性，从而有助于提高感知的性能。
由图2可以看出，在对参考信号进行处理时，PRI是按行划分的，为了保证对列进行傅里叶变换获得速度信息，行与行之间是周期变化的，例如，图2示出了一行为一个参考信号在时域的周期，即一行为一个周期。当然，也可以一行为参考信号在时域的多个周期，即一行为多个周期。以一行为一个周期为例。第一信息确定的PRI可以看成是一个阈值，记为PRI阈值。第二通信装置在实际发送参考信号时，参考信号在时域的周期需要小于或者等于这个PRI阈值，在第一通信装置接收参考信号并对参考信号进行处理时，可以根据参考信号在时域的周期进行矩阵的行划分，这里的参考信号在时域的周期可以认为是实际的PRI，实际的PRI小于或等于PRI阈值，保证了感知的性能。
可以理解的是，矩阵的一行也可以是参考信号在时域的周期的整数倍，也可以保证对列进行傅里叶变换获得速度信息。那么参考信号在时域的周期的整数倍小于或等于PRI即可。
第一信息还可以用于指示CPI。第一信息可以指示CPI的值，也可以指示CPI的相关参数，该相关参数可以表征CPI或该相关参数可以用于计算CPI。参考信号的长度大于或等于CPI的长度。通过第一信息指示CPI，第二通信装置可以根据CPI发送参考信号，通过限定参考信号的长度大于或等于CPI的长度，这样，使用参考信号进行感知时才能保证感知的性能。
以下对CPI的长度对感知性能的影响进行说明。从信噪比的角度来看，CPI越长，信号相干积累时间也就越长，就可以提高信噪比，提升感知性能。CPI越长，多普勒的分辨率也就越高。但是CPI的长度也需要满足一些条件。例如下述条件一或条件二中的任意一项或多项。
例如，条件一：要求在一个CPI时长内，待感知目标的运动距离不能超过一个距离分辨率单元。如果在一个CPI时长内，待感知目标的运动距离超过一个距离分辨率单元，那么采用该CPI时长的信号处理得到的感知结果就不准确，或者认为是信号的无效积累。为了实现信号的有效积累，使用CPI时长内的信号处理得到的感知结果更准确，则需要满足上述条件一。
CPI的值根据第一通信装置与待感知目标的相对运动速度以及距离分辨率单元确定。例如，CPI符合以下关系式(2)：CPI小于或等于ΔR/v；其中，ΔR为距离分辨率单元，v为第一通信装置与待感知目标的相对运动速度。通过关系式(2)的约束，能够保证待感知目标在一个CPI时长内不会跨越一个距离分辨率单元，从而保证感知性能。距离分辨率单元是指在距离上将两个相同的目标点区分开的最小距离。其中，两个相同的目标点可以是指大小、体积、材质等都相同的两个目标点。距离分辨率单元可以是协议定义好的。如 果第一通信装置为终端设备，终端设备可以根据协议定义确定距离分辨率单元，也可以从网络设备获取距离分辨率单元的信息。可选的，距离分辨率单元ΔR可以通过以下公式确定：ΔR＝c/B，其中，c为光速，B为参考信号的带宽，如参考信号的最小频点为f 0，最大频点为f N，那么参考信号的带宽定义为B＝f N-f 0。将ΔR＝c/B代入上述关系式(2)，得到关系式(2)的变型关系式(3)：CPI小于或等于c/Bv。为方便描述，ΔR/v可以记为第一值，第一值也可以是c/Bv。
又例如，条件二：要求在一个CPI时长内，待感知目标的速度变化不能超过一个速度分辨率单元。如果在一个CPI时长内，待感知目标的速度变化超过一个速度分辨率单元，那么采用该CPI时长的信号处理得到的感知结果就不准确，或者认为是信号的无效积累。为了实现信号的有效积累，使用CPI时长内的信号处理得到的感知结果更准确，则需要满足上述条件二。
CPI的值根据第一通信装置与待感知目标的相对运动加速度以及速度分辨率单元确定。例如，CPI符合以下关系式(4)：CPI小于或等于Δv/a；其中，Δv为所述速度分辨率单元，a为第一通信装置与待感知目标的相对运动加速度。通过关系式(4)的约束，能够保证在一个CPI时长内，待感知目标的速度变化不能超过一个速度分辨率单元，从而保证感知性能。速度分辨率单元是指在速度上将两个相同的目标点区分开的最小速度差。其中，两个相同的目标点可以是指大小、体积、材质等都相同的两个目标点。速度分辨率单元可以是协议定义好的。如果第一通信装置为终端设备，终端设备可以根据协议定义确定速度分辨率单元，也可以从网络设备获取速度分辨率单元的信息。可选的，速度分辨率单元Δv可以通过以下公式确定：Δv＝λ/CPI，λ为参考信号的波长。将Δv＝λ/CPI代入上述关系式(4)，得到关系式(4)的变型关系式(5)：CPI小于或等于
Figure PCTCN2021142163-appb-000003
为方便描述，
Figure PCTCN2021142163-appb-000004
可以记为第二值。
综上所述，在满足条件一的情况下，CPI根据第一值确定，第一值根据第一通信装置与待感知目标的相对运动速度以及距离分辨率单元确定，例如第一值为ΔR/v，CPI可以符合关系式(2)：CPI小于或等于ΔR/v；或者符合关系式(3)：CPI小于或等于c/Bv。
在满足条件二的情况下，CPI根据第二值确定，第二值根据第一通信装置与待感知目标的相对运动加速度以及速度分辨率单元确定。例如第二值
Figure PCTCN2021142163-appb-000005
CPI可以符合关系式(4)：CPI小于或等于Δv/a；或者符合关系式(5)：CPI小于或等于
Figure PCTCN2021142163-appb-000006
在满足条件一和条件二的情况下，CPI根据第一值和第二值确定，CPI可以符合关系式(3)和关系式(5)：CPI小于或等于c/Bv，且CPI小于或等于
Figure PCTCN2021142163-appb-000007
一种可能的实现中，在满足条件一和条件二的情况下，CPI可以符合关系式(6)：CPI小于或等于第一值和第二值中的最小值。例如第一值小于第二值，则CPI小于或等于第一值；如果第二值小于第一值，则CPI小于或等于第二值。假设第一值为c/Bv，第二值为
Figure PCTCN2021142163-appb-000008
CPI用公式可以表示为CPI＝min(c/Bv，
Figure PCTCN2021142163-appb-000009
)。
第一通信装置可以根据第一值确定CPI，也可以根据第二值确定CPI，也可以根据第一值和第二值确定CPI。第一信息指示CPI，可以直接指示该CPI的值，例如，可以指示该CPI的值为c/Bv和
Figure PCTCN2021142163-appb-000010
中的最小的值，如果c/Bv小于
Figure PCTCN2021142163-appb-000011
则第一信息指示CPI的值为c/Bv。如果
Figure PCTCN2021142163-appb-000012
小于c/Bv，则第一信息指示CPI的值为
Figure PCTCN2021142163-appb-000013
如果
Figure PCTCN2021142163-appb-000014
等于c/Bv，则第一信息指示CPI的值为
Figure PCTCN2021142163-appb-000015
和c/Bv中的任意一个值。第二通信装置根据第一信息可以得到该CPI的值。第一信息也可以指示CPI相关的参数，例如，第一信息指示v和a， 第二通信装置可以根据已知的B、λ和c参数以及第一信息指示的v和a，来确定CPI。第一信息还可以指示v、a、B、λ和c，第二通信装置可以根据第一信息指示的v、a、B、λ和c这些参数确定CPI。第二通信装置可以根据第一信息指示的CPI相关的参数，根据公式CPI＝min(c/Bv，
Figure PCTCN2021142163-appb-000016
)来确定CPI。
第二通信装置在接收到第一信息后，根据第一信息确定CPI，确定的CPI的值可以看作是一个CPI参考值或者看作成一个CPI阈值，该CPI的值能够满足上述条件一或条件二中的至少一个条件。连续发送的参考信号的长度大于或等于CPI的长度，这样，有助于保证参考信号在处理时有足够的积累时间，保障信噪比，提升感知性能，而且连续发送的参考信号能够满足上述条件一或条件二中的至少一个条件，提高感知的性能。
第一通信装置在确定CPI时，可能会用到参数v，还可能用到参数a。v为第一通信装置与待感知目标的相对运动速度，a为第一通信装置与待感知目标的相对运动加速度。一种实现方式中，v和a的初始值可以通过待感知目标的传感器测量得到，例如，使用待感知目标的陀螺仪测量待感知目标与第一通信装置的相对运动速度。又例如，使用待感知目标的加速度计测量待感知目标与第一通信装置的相对运动加速度。使用待感知目标的传感器测量得到的参数确定CPI。在另一种实现方式中，v和a的值可以通过以下方式获得。第二通信装置向第一通信装置发送参考信号，该参考信号的长度和发送位置可以是通过任意方式确定的，例如，在有数据传输时发送的用于测量信道条件的参考信号。第一通信装置接收到参考信号后，根据参考信号预估v和a的值，第一通信装置根据预估的v和a的值确定CPI，第一通信装置将确定的CPI的值向第二通信装置发送，第二通信装置根据CPI的值向第一通信装置发送参考信号，第一通信装置根据参考信号对待感知目标进行感知。待感知目标在运动时，v和a的值可能也是在变化的。第一通信装置获得待感知目标的感知结果，感知结果可以包括变化后的v和a的值。第一通信装置根据变化后的v和a的值确定CPI，第一通信装置将确定的CPI的值向第二通信装置发送，第二通信装置根据CPI的值向第一通信装置发送参考信号，第一通信装置根据参考信号对待感知目标进行感知。如此可以迭代执行多次，优化CPI的值，提高感知性能。当然，也可以执行一次过程即可确定CPI。
如果在有数据传输时发送的用于测量信道条件的参考信号的长度大于CPI的长度，说明该参考信号满足大于CPI长度的条件，可以用于感知。在用该参考信号进行感知时，在处理该参考信号的过程中，可以从大于CPI长度的该参考信号中截取CPI长度的参考信号，对CPI长度的参考信号进行处理即可。
以下基于不同的应用场景，对第一通信装置和第二通信装置的类型进行说明。
应用场景1：
如图4a所示，网络设备向终端设备发送下行参考信号，终端设备在移动，终端设备根据接收的下行的参考信号对终端设备进行感知，终端设备为待感知目标。这种场景下，第一通信装置为终端设备，第二通信装置为网络设备。即，终端设备确定第一信息，终端设备向网络设备发送第一信息，网络设备接收第一信息，网络设备根据第一信息向终端设备发送参考信号，终端设备接收参考信号，终端设备根据参考信号对终端设备进行感知。例如，第一信息可以是无线资源控制(radio resource control，RRC)信令，也可以是上行控制信息(uplink Control Information，UCI)。
应用场景2：
如图4b所示，终端设备向网络设备发送上行参考信号，终端设备在移动，网络设备 根据接收的上行参考信号对终端设备进行感知，终端设备为待感知目标。这种场景下，第一通信装置为网络设备，第二通信装置为终端设备。即，网络设备确定第一信息，网络设备向终端设备发送第一信息，终端设备接收第一信息，终端设备根据第一信息向网络设备发送参考信号，网络设备接收参考信号，网络设备根据参考信号对终端设备进行感知。例如，第一信息可以是RRC信令，也可以是下行控制信息(downlink control information，DCI)。
应用场景3：
如图5所示，无人机在移动，无人机为待感知目标。网络设备1发送参考信号，无人机将参考信号反射到网络设备2，网络设备2接收参考信号，网络设备2根据接收的参考信号对无人机进行感知。这种场景下，第一通信装置为网络设备2，第二通信装置为网络设备1。网络设备2确定第一信息，网络设备2向网络设备1发送第一信息，网络设备1接收来自网络设备1的第一信息，网络设备1根据第一信息发送参考信号，网络设备2接收参考信号，网络设备2根据参考信号对无人机进行感知。例如，第一信息可以是X2接口信令。
应用场景4：
第一通信装置和第二通信装置都是终端设备，这种情况下，可以通过控制节点来转发第一信息。第一通信装置确定第一信息，第一通信装置向控制节点发送第一信息，控制节点接收来自第一通信装置的第一信息，控制节点向第二通信装置转发该第一信息，第二通信装置从控制节点接收第一信息。如图6所示，第一通信装置为终端设备2，第二通信装置为终端设备1，网络设备为控制节点。终端设备2在移动，终端设备2为待感知目标。终端设备1发送参考信号，终端设备2从终端设备1接收参考信号，终端设备2根据参考信号对终端设备2进行感知。或者终端设备1在移动，终端设备1为待感知目标，终端设备1发送参考信号，终端设备2从终端设备1接收参考信号，终端设备2根据参考信号对终端设备1进行感知。终端设备2向网络设备发送的第一信息可以是RRC信令或UCI；网络设备向终端设备1发送的第一信息可以是RRC信令或DCI。
应用场景5：
第二通信装置可能为多个设备。多个设备中有一个控制节点，第一通信装置确定第一信息，第一通信装置向控制节点发送第一信息，控制节点接收来自第一通信装置的第一信息，控制节点向其它第二通信装置转发该第一信息，其它第二通信装置从控制节点接收第一信息。
如图7所示，终端设备在移动，终端设备为待感知目标。终端设备周围存在4个网络设备，为网络设备1、网络设备2、网络设备3和网络设备4。第一通信装置为终端设备，第二通信装置为4个网络设备。假设网络设备4为控制节点，终端设备确定第一信息，终端设备向网络设备4发送第一信息，网络设备4将第一信息分别转发给网络设备1、网络设备2和网络设备3。4个网络设备分别根据第一信息向终端设备发送下行参考信号，终端设备从4个网络设备分别接收下行参考信号。终端设备根据接收的来自4个网络设备的下行参考信号对终端设备进行感知。例如，终端设备可以利用来自4个网络设备的下行参考信号，对自身的位置进行感知。终端设备向网络设备4发送的第一信息可以是RRC信令或UCI，网络设备与网络设备之间可以通过X2接口信令来发送第一信息。
应用场景6：
第一通信装置可能为多个设备。多个设备中有一个控制节点。控制节点确定第一信息，控制节点可以接收其他第一通信装置发送的第一信息，控制节点结合多个第一通信装置的第一信息确定最终的第一信息。假设第一信息用于指示PRI，则控制节点根据多个第一通信装置的第一信息指示的多个PRI中的最小值，确定最终的第一信息指示的PRI；假设第一信息用于指示CPI，则控制节点根据多个第一通信装置的第一信息指示的多个CPI中的最大值，确定最终的第一信息指示的CPI。控制节点向第二通信装置发送第一信息，第二通信装置接收来自控制节点的第一信息。
如图8所示，终端设备在移动，终端设备为待感知目标。终端设备周围存在4个网络设备，为网络设备1、网络设备2、网络设备3和网络设备4。第一通信装置为4个网络设备，第二通信装置为终端设备。假设网络设备4为控制节点，网络设备1、网络设备2和网络设备3分别向网络设备4发送第一信息，网络设备4综合网络设备1、网络设备2和网络设备3发送的第一信息，确定最终的第一信息。网络设备4向终端设备发送确定的第一信息，终端设备接收来自网络设备4的第一信息。终端设备根据第一信息向4个网络设备发送参考信号，4个网络设备分别接收来自终端设备的参考信号，4个网络设备分别根据参考信号对终端设备进行感知。网络设备与网络设备之间可以通过X2接口信令来发送第一信息，网络设备4向终端设备发送的第一信息可以是RRC信令或DCI。
由于待感知目标的移动导致信道发生变化，根据参考信号进行信道估计的准确性就会降低，信道变化的剧烈程度与终端设备的运动速度有关。待感知目标的运动速度越大，信道变化就会越剧烈。通过增加参考信号在时域的密度，可以提高信道估计的准确性，从而提高接收机的解调性能。基于此，本申请实施例中，第一通信装置还可以向第二通信装置发送对待感知目标进行感知的结果，该对待感知目标进行感知的结果可以用于第二通信装置配置参考信号在时域的密度。例如，待感知目标为运动的设备，待感知目标的运动会导致接收信道发送变化，信道估计会受到影响。第一通信装置对待感知目标进行感知，获得感知结果，将感知结果发送给第二通信装置。感知结果中包括待感知目标的运动速度，第二通信装置根据感知结果可以获得待感知目标的运动速度，根据待感知目标的运动速度，确定参考信号在时域的密度。由于目标的运动，信道是连续变化的，所以参考信号在时域的采样间隔T ref相当于信道在时域的采样间隔，根据奈奎斯特采样定理，采样率需要大于或者等于信号最高频率的两倍，这里信道变化的频率为多普勒频率f d＝v/λ，因此得出关系
Figure PCTCN2021142163-appb-000017
即
Figure PCTCN2021142163-appb-000018
也就是，参考信号在时域的采样间隔T ref与运动速度成反比或负相关，而参考信号在时域的采样间隔与参考信号在时域的密度是成反比或负相关的，因此可以知道：参考信号在时域的密度与待感知目标的运动速度具有正相关的关系，即：待感知目标的运动速度越大，确定的参考信号在时域的密度越大。例如，根据待感知目标的第一运动速度确定参考信号在时域的密度为第一密度，根据待感知目标的第二运动速度确定参考信号在时域的密度为第二密度，该第一运动速度大于第二运动速度时，第一密度也高于第二密度。一种可能的实现中，可以设置待感知目标的运动速度与参考信号在时域的密度之间的对应关系，或者设置待感知目标的运动速度范围与参考信号在时域的密度之间的对应关系。例如，待感知目标的运动速度在第一范围时，对应参考信号在时域的密度为密度1。待感知目标的运动速度在第二范围时，对应参考信号在时域的密度为密度2。
参考信号在时域的密度可以理解为在一个周期内参考信号出现的时长与周期的比值。例如，如图9所示，示出了不同密度的DMRS的配置。图9中的横向为时域，纵向为频域，一个小格子为一个资源块(resource element，RE)，RE是时频资源上可分配的最小单元，黑色格子的位置为DMRS。图9的(a)，DMRS在时域的密度值为1；采用图9的(d)所 示的DMRS在时域的配置。
S301第一通信装置确定第一信息，S302第一通信装置向第二通信装置发送第一信息。在S301之前，第一通信装置可以开启感知功能。即第一通信装置具有感知功能的开启和关闭功能，当感知功能关闭时，不会采用图3实施例的方法进行感知。当第一通信装置开启感知功能时，可以采用图3实施例的方法进行感知。这样，在需要基于参考信号进行感知时，第二通信装置可以基于需求开启感知功能，可以随时根据需求进行感知，而不需要依赖与在发送数据时的参考信号进行感知，使得感知时间更加灵活，提升感知性能。在有控制节点存在的场景中，在S301之前，控制节点可以向第一通信装置发送触发信号，第一通信装置接收来自控制节点的触发信号，触发信号用于指示第一通信装置开启感知功能，第一通信装置根据触发信号开启感知功能。
基于上述实施例的描述，下面结合具体的应用场景，对本申请实施例提供的基于参考信号的感知方法作进一步详细的描述。
基于参考信号的发送和接收角度来说，假设第一通信装置用接收节点来描述，第二通信装置用发射节点来描述，第一信息用于指示PRI和CPI。在存在控制节点的场景下，如图10所示，基于参考信号的感知方法的流程如下所述。
S1001、控制节点向接收节点发送触发信号，触发信号用于指示接收节点开启感知功能，对应地，接收节点接收来自控制节点的触发信号。
S1002、接收节点根据触发信号，开启感知功能。
触发信号的类型可以是RRC信令，也可以是DCI。
S1001和S1002为可选步骤。
S1003、接收节点确定CPI和PRI。
该步骤与S301对应，接收节点确定CPI和PRI，可以参考图3实施例中第一通信装置确定第一信息且第一信息指示PRI和CPI的相关描述。
S1004、接收节点向控制节点发送CPI和PRI，对应地，控制节点接收来自接收节点的CPI和PRI。
S1005、控制节点向发射节点转发CPI和PRI，发射节点接收来自控制节点的CPI和PRI。
接收节点发送CPI和PRI以及控制节点转发CPI和PRI可以通过第一信息的形式发送或转发。步骤S1004和S1005的各种可能的实现可以参考图3实施例中第一通信装置向第二通信装置发送第一信息，第一信息指示PRI和CPI，且存在控制节点的场景(例如场景4、5、6)中的相关描述，在此不再赘述。
S1006、发射节点根据CPI的信息，确定连续发送的参考信号的长度不少于一个CPI长度；以及根据PRI的信息，确定参考信号在时域的周期小于或等于一个PRI的长度。这样，发射节点根据CPI和PRI配置好了参考信号。
S1007、发射节点将配置好的参考信号通过空口发射，接收节点接收参考信号。
步骤S1006和S1007的各种可能的实现可以参考图3实施例中第二通信装置基于第一信息向第一通信装置发送参考信号，且第一信息指示PRI和CPI时的相关描述，在此不再赘述。
S1008、接收节点根据参考信号对待感知目标进行感知。
该步骤与S304对应，可以参考图3实施例中第一通信装置根据参考信号对待感知目 标进行感知的相关描述。
在感知的技术中，可以利用感知信号对待感知目标进行感知，感知信号的发送节点和接收节点为同一个设备，例如，可以称为感知设备。感知设备的发送机发送感知信号，感知信号经过无线信道被感知设备的接收机接收。感知信号是一种特定的波形信号，结合发射信号和接收信号，对信号进行处理，能够提取出无线信道中待感知目标，获取感知结果。本申请实施例中，感知设备可以确定PRI，感知设备确定PRI的方法可以参考上文中的第一通信装置确定PRI的方法的相关描述，PRI的含义和功能是相同或相似的。第一通信装置感知设备根据PRI发送感知信号，例如，感知设备发送的感知信号在时域的周期小于或等于PRI。或者，感知设备还可以确定CPI，感知设备确定CPI的方法可以参考上文中的第一通信装置确定CPI的方法的相关描述，CPI的含义和功能是相同或相似的。感知设备根据CPI发送感知信号，例如，感知设备发送的感知信号的长度大于或等于CPI的长度。或者，感知设备可以确定PRI和CPI，感知设备根据PRI和CPI发送感知信号，例如，感知设备发送的感知信号的长度大于或等于CPI的长度，并且感知设备发送的感知信号在时域的周期小于或等于PRI。感知信号符合的条件与上文中参考信号符合的条件是相同或相似的。
为了实现上述本申请实施例提供的方法中的各功能，网络设备和终端设备可以包括硬件结构和/或软件模块，以硬件结构、软件模块、或硬件结构加软件模块的形式来实现上述各功能。上述各功能中的某个功能以硬件结构、软件模块、还是硬件结构加软件模块的方式来执行，取决于技术方案的特定应用和设计约束条件。
如图11所示，基于同一技术构思，本申请实施例还提供了一种通信装置1100，该通信装置1100可以是第一通信装置或第二通信装置，也可以是第一通信装置或第二通信装置中的装置，或者是能够和第一通信装置或第二通信装置匹配使用的装置。一种设计中，该通信装置1100可以包括执行上述方法实施例中第一通信装置或第二通信装置执行的方法/操作/步骤/动作所一一对应的模块，该模块可以是硬件电路，也可是软件，也可以是硬件电路结合软件实现。一种设计中，该通信装置可以包括处理模块1101和通信模块1102。处理模块1101用于调用通信模块1102执行接收和/或发送的功能。进一步地，通信模块1102，也可以称为收发模块，可以包括接收模块1102-1和发送模块1102-2，接收模块用于执行方法实施例中接收的操作，发送模块用于执行方法实施例中发送的操作。本申请实施例中，处理模块通过通信模块执行发送或接收的操作，可以理解为处理模块给通信模块下发指令，通信模块来执行发送或接收的操作，或者处理模块指示通信模块执行发送或接收的操作。
当用于执行第一通信装置执行的方法时：
处理模块1101用于确定第一信息，所述第一信息用于指示脉冲重复周期PRI；
发送模块1102-2用于向第二通信装置发送第一信息，第一信息用于第二通信装置发送参考信号，其中，参考信号在时域的周期小于或等于PRI；
接收模块1102-1用于接收来自第二通信装置的参考信号；
处理模块1101用于根据参考信号对待感知目标进行感知。
接收模块1102-1还用于执行上述方法实施例中第一通信装置执行的其它接收的步骤或操作。发送模块1102-2还用于执行上述方法实施例中第一通信装置执行的其它发送的步骤或操作。处理模块1101还可以用于执行上述方法实施例第一通信装置执行的除收发之外的其它对应的步骤或操作，在此不再一一赘述。
当用于执行第二通信装置执行的方法时：
接收模块1102-1用于接收来自第一通信装置的第一信息，第一信息用于指示脉冲重复周期PRI；
发送模块1102-2用于根据第一信息发送参考信号，其中，参考信号用于第一通信装置对待感知目标进行感知，参考信号在时域的周期小于或等于PRI。
接收模块1102-1还用于执行上述方法实施例中第二通信装置执行的其它接收的步骤或操作。发送模块1102-2还用于执行上述方法实施例中第二通信装置执行的其它发送的步骤或操作。处理模块1101还可以用于执行上述方法实施例第二通信装置执行的除收发之外的其它对应的步骤或操作，在此不再一一赘述。
本申请实施例中对模块的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，另外，在本申请各个实施例中的各功能模块可以集成在一个处理器中，也可以是单独物理存在，也可以两个或两个以上模块集成在一个模块中。上述集成的模块既可以采用硬件的形式实现，也可以采用软件功能模块的形式实现。
如图12所示为本申请实施例提供的通信装置1200，用于实现上述方法中终端设备或网络设备的功能。当实现网络设备的功能时，该通信装置可以是网络设备，也可以是网络设备中的装置,或者是能够和网络设备匹配使用的装置。当实现终端设备的功能时，该通信装置可以是终端设备，也可以是终端设备中的装置,或者是能够和终端设备匹配使用的装置。其中，该通信装置可以为芯片系统。本申请实施例中，芯片系统可以由芯片构成，也可以包含芯片和其他分立器件。通信装置1200包括至少一个处理器1220，用于实现本申请实施例提供的方法中终端设备或网络设备的功能。通信装置1200还可以包括通信接口1210。在本申请实施例中，通信接口可以是收发器、电路、总线、模块或其它类型的通信接口，用于通过传输介质和其它设备进行通信。其中，收发器可以包括接收器和发送器，接收器用于实现接收的操作，发送器用于实现发送的操作。当该通信装置为芯片系统时，通信接口1210可以包括输入接口和输出接口，输入接口对应执行接收的操作，输出接口对应执行发送的操作。例如，通信接口1210用于装置1200中的装置可以和其它设备进行通信。示例性地，通信装置1200是第一通信装置时，该其它设备可以是第二通信装置。通信装置1200是第二通信装置时，该其它装置可以是第一通信装置。处理器1220利用通信接口1210收发数据，并用于实现上述方法实施例所述的方法。示例性地，当实现第一通信装置的功能时，通信接口1210用于向第二通信装置发送第一信息，第一信息用于第二通信装置发送参考信号，其中，参考信号在时域的周期小于或等于PRI；通信接口1210还用于接收来自第二通信装置的参考信号；处理器1220用于根据参考信号对待感知目标进行感知。
通信接口1210还用于执行上述方法实施例中第一通信装置执行的其它接收或发送的步骤或操作。处理器1220还可以用于执行上述方法实施例第一通信装置执行的除收发之外的其它对应的步骤或操作，在此不再一一赘述。
当用于执行第二通信装置执行的方法时：
通信接口1210用于接收来自第一通信装置的第一信息，第一信息用于指示脉冲重复周期PRI；通信接口1210还用于根据第一信息发送参考信号，其中，参考信号用于第一通信装置对待感知目标进行感知，参考信号在时域的周期小于或等于PRI。
通信接口1210还用于执行上述方法实施例中第二通信装置执行的其它接收或发送的 步骤或操作。处理模块1101还可以用于执行上述方法实施例第二通信装置执行的除收发之外的其它对应的步骤或操作，在此不再一一赘述。
通信装置1200还可以包括至少一个存储器1230，用于存储程序指令和/或数据。存储器1230和处理器1220耦合。本申请实施例中的耦合是装置、单元或模块之间的间接耦合或通信连接，可以是电性，机械或其它的形式，用于装置、单元或模块之间的信息交互。处理器1220可能和存储器1230协同操作。处理器1220可能执行存储器1230中存储的程序指令。所述至少一个存储器中的至少一个可以包括于处理器中。
本申请实施例中不限定上述通信接口1210、处理器1220以及存储器1230之间的具体连接介质。本申请实施例在图12中以存储器1230、处理器1220以及通信接口1210之间通过总线1240连接，总线在图12中以粗线表示，其它部件之间的连接方式，仅是进行示意性说明，并不引以为限。所述总线可以分为地址总线、数据总线、控制总线等。为便于表示，图12中仅用一条粗线表示，但并不表示仅有一根总线或一种类型的总线。
通信装置1100和通信装置1200具体是芯片或者芯片系统时，通信模块1102和通信接口1210所输出或接收的可以是基带信号。通信装置1100和通信装置1200具体是设备时，通信模块1102和通信接口1210所输出或接收的可以是射频信号。在本申请实施例中，处理器可以是通用处理器、数字信号处理器、专用集成电路、逻辑电路、现场可编程门阵列或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件，可以实现或者执行本申请实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者任何常规的处理器等。结合本申请实施例所公开的方法的步骤可以直接体现为硬件处理器执行完成，或者用处理器中的硬件及软件模块组合执行完成。
在本申请实施例中，存储器1230可以是非易失性存储器，比如硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SSD)等，还可以是易失性存储器(volatile memory)，例如随机存取存储器(random-access memory，RAM)。存储器是能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。本申请实施例中的存储器还可以是电路或者其它任意能够实现存储功能的装置，用于存储程序指令和/或数据。
本申请上述方法实施例描述的第一通信装置所执行的操作和功能中的部分或全部，或第二通信装置所执行的操作和功能中的部分或全部，可以用芯片或集成电路来完成。
为了实现上述图11或图12所述的通信装置的功能，本申请实施例还提供一种芯片，包括处理器，用于支持该通信装置实现上述方法实施例中第一通信装置或第二通信装置所涉及的功能。在一种可能的设计中，该芯片与存储器连接或者该芯片包括存储器，该存储器用于保存该通信装置必要的程序指令和数据。
本申请实施例提供了一种计算机可读存储介质，存储有计算机程序，该计算机程序包括用于执行上述方法实施例的指令。
本申请实施例提供了一种包含指令的计算机程序产品，当其在计算机上运行时，使得上述方法实施例被实现。
本申请实施例提供一种计算机程序，当其在计算机上运行时，使得上述方法实施例被实现。
本领域内的技术人员应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实 施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
本申请是参照根据本申请实施例的方法、设备(系统)、和计算机程序产品的流程图和/或方框图来描述的。应理解可由计算机程序指令实现流程图和/或方框图中的每一流程和/或方框、以及流程图和/或方框图中的流程和/或方框的结合。可提供这些计算机程序指令到通用计算机、专用计算机、嵌入式处理机或其他可编程数据处理设备的处理器以产生一个机器，使得通过计算机或其他可编程数据处理设备的处理器执行的指令产生用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的装置。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
尽管已描述了本申请的优选实施例，但本领域内的技术人员一旦得知了基本创造性概念，则可对这些实施例作出另外的变更和修改。所以，所附权利要求意欲解释为包括优选实施例以及落入本申请范围的所有变更和修改。
显然，本领域的技术人员可以对本申请实施例进行各种改动和变型而不脱离本申请实施例的精神和范围。这样，倘若本申请实施例的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (30)

  1. 一种感知方法，其特征在于，包括：
    第一通信装置确定第一信息，所述第一信息用于指示脉冲重复周期PRI；
    所述第一通信装置向第二通信装置发送所述第一信息，所述第一信息用于所述第二通信装置发送参考信号，其中，所述参考信号在时域的周期小于或等于所述PRI；
    所述第一通信装置接收来自所述第二通信装置的所述参考信号；
    所述第一通信装置根据所述参考信号对待感知目标进行感知。
  2. 如权利要求1所述的方法，其特征在于，所述方法还包括：
    所述第一通信装置向所述第二通信装置发送对所述待感知目标进行感知的结果，所述对所述待感知目标进行感知的结果用于所述第二通信装置配置参考信号在时域的密度。
  3. 一种感知方法，其特征在于，包括：
    第二通信装置接收来自第一通信装置的第一信息，所述第一信息用于指示脉冲重复周期PRI；
    所述第二通信装置根据所述第一信息发送参考信号，其中，所述参考信号用于所述第一通信装置对待感知目标进行感知，所述参考信号在时域的周期小于或等于所述PRI。
  4. 如权利要求3所述的方法，其特征在于，所述方法还包括：
    所述第二通信装置接收来自所述第一通信装置的对所述待感知目标进行感知的结果；
    所述第二通信装置根据所述对所述待感知目标进行感知的结果，配置参考信号在时域的密度。
  5. 如权利要求1～4任一项所述的方法，其特征在于，所述PRI根据所述待感知目标的最大运动速度和参考信号的波长确定。
  6. 如权利要求5所述的方法，其特征在于，所述PRI符合以下关系式：所述PRI小于或等于λ/V max，其中，所述λ为所述参考信号的波长，V max为所述待感知目标的最大运动速度。
  7. 如权利要求1～6任一项所述的方法，其特征在于，所述第一信息还用于指示相参处理时间CPI；所述参考信号的长度大于或等于所述CPI的长度。
  8. 如权利要求7所述的方法，其特征在于，所述CPI根据以下一项或多项确定：
    所述第一通信装置与待感知目标的相对运动速度、距离分辨率单元、所述第一通信装置与所述待感知目标的相对运动加速度、或速度分辨率单元。
  9. 如权利要求8所述的方法，其特征在于，所述CPI符合以下关系式：CPI小于或等于ΔR/v；
    其中，ΔR为所述距离分辨率单元，v为所述第一通信装置与待感知目标的相对运动速度。
  10. 如权利要求8或9所述的方法，其特征在于，所述CPI符合以下关系式：CPI小于或等于Δv/a；
    其中，Δv为所述速度分辨率单元，a为所述第一通信装置与待感知目标的相对运动加速度。
  11. 如权利要求10所述的方法，其特征在于，所述Δv＝λ/CPI，λ为所述参考信号的波长。
  12. 如权利要求8～11任一项所述的方法，其特征在于，所述CPI为第一值和第二值中的最小值；所述第一值根据所述第一通信装置与待感知目标的相对运动速度和所述距离分辨率单元确定，所述第二值根据所述第一通信装置与所述待感知目标的相对运动加速度和所述速度分辨率单元确定。
  13. 一种通信装置，其特征在于，包括：处理器，所述处理器与存储器耦合，所述存储器用于存储程序或指令，当所述程序或指令被所述处理器执行时，使得如权利要求1、2或5～12中任一项所述的方法被实现。
  14. 一种通信装置，其特征在于，包括：处理器，所述处理器与存储器耦合，所述存储器用于存储程序或指令，当所述程序或指令被所述处理器执行时，使得如权利要求3、4、或5～12中任一项所述的方法被实现。
  15. 一种计算机可读存储介质，其特征在于，所述计算机存储介质中存储有计算机可读指令，当所述计算机可读指令在通信装置上运行时，如权利要求1、2或5～12中任一项所述的方法被执行；或者，如权利要求3、4、或5～12中任一项所述的方法被执行。
  16. 一种计算机程序产品，其特征在于，包括程序指令，当其在计算机上执行时，使得权利要求1、2或5～12任一项所述的方法被执行；或者，如权利要求3、4、或5～12中任一项所述的方法被执行。
  17. 一种通信装置，其特征在于，包括：
    处理模块，用于确定第一信息，所述第一信息用于指示脉冲重复周期PRI；
    发送模块，向第二通信装置发送所述第一信息，所述第一信息用于所述第二通信装置发送参考信号，其中，所述参考信号在时域的周期小于或等于所述PRI；
    接收模块，用于接收来自所述第二通信装置的所述参考信号；
    所述处理模块，还用于根据所述参考信号对待感知目标进行感知。
  18. 如权利要求17所述的装置，其特征在于，所述发送模块还用于：
    向所述第二通信装置发送对所述待感知目标进行感知的结果，所述对所述待感知目标进行感知的结果用于所述第二通信装置配置参考信号在时域的密度。
  19. 一种通信装置，其特征在于，包括：
    接收模块，用于接收来自第一通信装置的第一信息，所述第一信息用于指示脉冲重复周期PRI；
    发送模块，用于根据所述第一信息发送参考信号，其中，所述参考信号用于所述第一通信装置对待感知目标进行感知，所述参考信号在时域的周期小于或等于所述PRI。
  20. 如权利要求19所述的装置，其特征在于，所述接收模块，还用于接收来自所述第一通信装置的对所述待感知目标进行感知的结果；
    所述装置还包括处理模块，用于根据所述对所述待感知目标进行感知的结果，配置参考信号在时域的密度。
  21. 如权利要求17～20所述的装置，其特征在于，所述PRI根据所述待感知目标的最大运动速度和参考信号的波长确定。
  22. 如权利要求21所述的装置，其特征在于，所述PRI符合以下关系式：所述PRI小于或等于λ/V max，其中，所述λ为所述参考信号的波长，V max为所述待感知目标的最大运动速度。
  23. 如权利要求17～22任一项所述的装置，其特征在于，所述第一信息还用于指示相参 处理时间CPI；所述参考信号的长度大于或等于所述CPI的长度。
  24. 如权利要求23所述的装置，其特征在于，所述CPI根据以下一项或多项确定：
    所述第一通信装置与待感知目标的相对运动速度、距离分辨率单元、所述第一通信装置与所述待感知目标的相对运动加速度、或速度分辨率单元。
  25. 如权利要求24所述的装置，其特征在于，所述CPI符合以下关系式：CPI小于或等于ΔR/v；
    其中，ΔR为所述距离分辨率单元，v为所述第一通信装置与待感知目标的相对运动速度。
  26. 如权利要求24或25所述的装置，其特征在于，所述CPI符合以下关系式：CPI小于或等于Δv/a；
    其中，Δv为所述速度分辨率单元，a为所述第一通信装置与待感知目标的相对运动加速度。
  27. 如权利要求26所述的装置，其特征在于，所述Δv＝λ/CPI，λ为所述参考信号的波长。
  28. 如权利要求24～27任一项所述的装置，其特征在于，所述CPI为第一值和第二值中的最小值；所述第一值根据所述第一通信装置与待感知目标的相对运动速度和所述距离分辨率单元确定，所述第二值根据所述第一通信装置与所述待感知目标的相对运动加速度和所述速度分辨率单元确定。
  29. 一种通信装置，其特征在于，包括：通信接口和处理器，所述通信接口用于所述装置与其它设备进行通信，所述处理器用于调用一组程序、指令或数据，当所述程序、指令或数据被所述处理器调用时，使得如权利要求3、4、或5～12中任一项所述的方法被实现。
  30. 一种通信系统，其特征在于，包括如权利要求13所述的装置和权利要求14所述的装置，或者，包括如权利要求17、18、21～28中任一项所述的装置以及如权利要求19、20、21～28中任一项所述的装置。
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