WO2024012404A1 - 用于无线通信系统的电子设备、方法和存储介质 - Google Patents

用于无线通信系统的电子设备、方法和存储介质 Download PDF

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Publication number
WO2024012404A1
WO2024012404A1 PCT/CN2023/106549 CN2023106549W WO2024012404A1 WO 2024012404 A1 WO2024012404 A1 WO 2024012404A1 CN 2023106549 W CN2023106549 W CN 2023106549W WO 2024012404 A1 WO2024012404 A1 WO 2024012404A1
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WIPO (PCT)
Prior art keywords
signal
sensing
electronic device
base station
positioning
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PCT/CN2023/106549
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English (en)
French (fr)
Inventor
李浩进
张兆宇
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Sony Group Corp
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Sony Group Corp
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Publication date
Application filed by Sony Group Corp filed Critical Sony Group Corp
Priority to EP23838896.1A priority Critical patent/EP4557882A4/en
Priority to CN202380051972.0A priority patent/CN119487970A/zh
Priority to JP2025501362A priority patent/JP2025524630A/ja
Publication of WO2024012404A1 publication Critical patent/WO2024012404A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W88/00—Devices specially adapted for wireless communication networks, e.g. terminals, base stations or access point devices
    • H04W88/02—Terminal devices
    • 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
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B7/00—Radio transmission systems, i.e. using radiation field
    • H04B7/22—Scatter propagation systems, e.g. ionospheric, tropospheric or meteor scatter
    • 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
    • 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
    • H04L5/0044—Allocation of payload; Allocation of data channels, e.g. PDSCH or PUSCH
    • 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

Definitions

  • the present disclosure relates generally to wireless communication systems, and specifically to technologies related to integration of communication and perception.
  • perception can represent the detection of the status, characteristics, etc. of things in the environment.
  • the use cases of sensing can vary according to the application needs of different industries, such as autonomous vehicle/drone detection, real-time environmental monitoring, weather or air pollution monitoring, etc.
  • the target of perception may be, for example, the perception of obstacles, the perception of object position, the perception of object moving speed, the perception of air humidity/particle concentration, etc.
  • the present disclosure proposes a solution related to the integration of communication and perception. Specifically, the present disclosure provides an electronic device, a method and a storage medium for a wireless communication system.
  • One aspect of the present disclosure relates to an electronic device for a control device side of a wireless communication system, including: a processing circuit configured to: send a multiplexed signal to a terminal device, wherein the multiplexed signal multiplexes a communication signal and sensing signals, the sensing signals are at least used to sense the distance between the terminal device and the electronic device, the angle between the terminal device and the electronic device, and/or the movement of the terminal device The speed thereby determines the position of the terminal device, and receives an echo signal generated by at least reflection, scattering and/or diffraction of the sensing signal by the terminal device.
  • Another aspect of the present disclosure relates to a method for controlling a device side of a wireless communication system, including: sending a multiplexed signal to a terminal device, wherein the multiplexed signal multiplexes both a communication signal and a sensing signal, so describe perception
  • the signal is at least used to sense the distance between the terminal device and the electronic device, the angle between the terminal device and the electronic device, and/or the moving speed of the terminal device to determine the location of the terminal device. , and receive an echo signal generated by at least reflection, scattering and/or diffraction of the sensing signal by the terminal device.
  • an electronic device for a terminal device side of a wireless communication system including: a processing circuit configured to receive a multiplexed signal from a base station, wherein the multiplexed signal multiplexes a communication signal and Both sensing signals, wherein the sensing signal is at least reflected, scattered and/or diffracted by the electronic device and an echo signal generated is propagated to one or more base stations including the base station, and wherein the The sensing signal is at least used to sense the distance between the electronic device and the base station, the angle between the electronic device and the base station, and/or the moving speed of the electronic device to determine the location of the electronic device.
  • Another aspect of the present disclosure relates to a method for a terminal device side of a wireless communication system, including receiving a multiplexed signal from a base station, wherein the multiplexed signal multiplexes both a communication signal and a sensing signal, wherein, The echo signal generated by at least reflection, scattering and/or diffraction of the sensing signal by the electronic device is propagated to one or more base stations including the base station, and wherein the sensing signal is at least used to sense the The distance between the electronic device and the base station, the angle between the electronic device and the base station, and/or the moving speed of the electronic device are used to determine the location of the electronic device.
  • an electronic device for a core network side of a wireless communication system including: a processing circuit configured to: receive an indication from a base station that a sensing signal is at least reflected, scattered and/or diffracted by a terminal device.
  • the information of the generated echo signal is at least to determine the sensing result for the terminal device based on the difference between the sensing signal and the echo signal, wherein the sensing result includes the terminal device and the base station distance between the two terminals, the angle between the terminal device and the base station, the moving speed of the terminal device and/or the location of the terminal device, and the sensing result is sent to the base station.
  • Another aspect of the present disclosure relates to a method for a core network side of a wireless communication system, including: receiving from a base station information indicating an echo signal generated by at least reflection, scattering and/or diffraction of a sensing signal by a terminal device, The sensing result for the terminal device is determined at least based on the difference between the sensing signal and the echo signal, wherein the sensing result includes the distance between the terminal device and the base station, the terminal The angle between the device and the base station, the moving speed of the terminal device and/or the position of the terminal device, and the sensing result is sent to the base station.
  • Another aspect of the present disclosure relates to a non-transitory computer-readable storage medium storing executable instructions that, when executed, implement the method as described in the above aspect.
  • the device includes: a processor and a storage device, the The storage device stores executable instructions that, when executed, implement the method as described above.
  • Figure 1 schematically shows various sensing links under the integration of communication and sensing
  • Figure 2A schematically shows an exemplary scenario of integration of communication and perception
  • Figure 2B schematically illustrates an exemplary application of integration of communication and perception
  • FIG. 3 schematically illustrates a conceptual configuration of an electronic device on the control device side according to an embodiment of the present disclosure
  • Figure 5 schematically shows a schematic configuration of a multiplexed signal of a communication signal and a sensing signal according to an embodiment of the present disclosure
  • Figure 6 schematically shows the mobile communication positioning technology used in 5G
  • FIG. 8 schematically illustrates a conceptual operation flow of an electronic device on the terminal device side according to an embodiment of the present disclosure
  • Figure 9 schematically illustrates a conceptual configuration of electronic equipment on the core network side according to an embodiment of the present disclosure
  • Figure 10 schematically illustrates a conceptual operation flow of an electronic device on the core network side according to an embodiment of the present disclosure
  • FIG. 11A schematically illustrates an exemplary sensing principle for sensing the location of a terminal device according to an embodiment of the present disclosure
  • 11B schematically illustrates an exemplary sensing principle for sensing the location of a terminal device according to an embodiment of the present disclosure
  • Figure 12A schematically illustrates an exemplary information interaction according to an embodiment of the present disclosure
  • Figure 12B schematically illustrates an exemplary information interaction according to an embodiment of the present disclosure
  • FIG. 13 is a block diagram of an example structure of a computer as an information processing apparatus employable in the embodiment of the present disclosure
  • FIG. 14 is a block diagram illustrating a first example of a schematic configuration of a gNB to which the technology of the present disclosure may be applied;
  • 15 is a block diagram illustrating a second example of a schematic configuration of a gNB to which the technology of the present disclosure may be applied;
  • 16 is a block diagram illustrating an example of a schematic configuration of a smartphone to which the technology of the present disclosure can be applied.
  • 17 is a block diagram showing an example of a schematic configuration of a car navigation device to which the technology of the present disclosure can be applied.
  • a wireless communication system includes at least control equipment, terminal equipment, and core network side equipment.
  • the term “base station” or “control device” has the full breadth of its ordinary meaning and includes at least a wireless communication station that is part of a wireless communication system or a radio system to facilitate communication.
  • the base station may be an eNB of the 4G communication standard, a gNB of the 5G NR communication standard, a base station of the 6G communication standard, a remote radio head, a wireless access point, a drone control tower, or a communication device that performs similar functions.
  • “base station” and “control device” may be used interchangeably, or the “control device” may be implemented as a part of the “base station”.
  • the following uses a base station as an example to describe in detail the application examples of base stations/terminal equipment with reference to the accompanying drawings.
  • terminal device or “user equipment (UE)” has the full breadth of its ordinary meaning and includes at least a terminal device that is part of a wireless communication system or radio system to facilitate communication.
  • the terminal device may be, for example, a mobile phone, a laptop, a tablet, a vehicle-mounted communication device, a wearable device, a sensor, or the like, or elements thereof.
  • terminal equipment and “user equipment” (hereinafter may be referred to as “UE” for short) may be used interchangeably, or “terminal equipment” may be implemented as a part of "user equipment”.
  • control device side /"base station side
  • terminal equipment side /"user equipment side
  • terminal equipment side /"user equipment side
  • the embodiments of the present disclosure are mainly described below based on a communication system including a base station and user equipment, these descriptions can be correspondingly extended to include any other type of communication system on the control device side and the terminal device side.
  • the operations on the control device side may correspond to the operations of the base station
  • the operations on the user equipment side may correspondingly correspond to the operations of the terminal equipment.
  • the term “core network side device” or “core network side entity” has the full breadth of its ordinary meaning, and may be a network element device that provides one or more functions of the core network side, or where appropriate In this case, it may be a software and/or hardware module that provides one or more functions on the core network side.
  • the “equipment on the core network side” or the “entity on the core network side” may be a device that implements the one or more functions. and/or module collectively.
  • “equipment on the core network side” or “entity on the core network side” is sometimes referred to as “core network” for short.
  • traditional sensing technology for example, wireless sensing technology
  • traditional sensing technology itself has many limitations.
  • traditional sensing technology when there are multiple devices sensing in the same environment, interference will occur between devices using the same spectrum.
  • traditional sensing technology involves dedicated components of dedicated systems, such as radar/lidar equipment, so it requires higher equipment costs, and the dedicated system is separated from the actual service application, making it difficult to use the sensing results to provide services. application.
  • the communication coverage network between traditional wireless sensing devices has a small coverage area, making it difficult to transmit and apply sensing data over a wide range.
  • traditional sensing technology also has limitations in connectivity. Operators can only provide connectivity for sensing data transmission from UEs.
  • traditional sensing technology is limited in the sensing range, for example, it can only sense distance and angle.
  • communication and sensing are set up separately, so that each needs to occupy its own dedicated spectrum and/or hardware resources, resulting in a waste of resources.
  • the separation setting of communication and sensing will also lead to higher delays.
  • Integrating communication and perception can advantageously overcome the disadvantages of the above-mentioned separation of communication and perception settings.
  • the integration of sensing and communication can allow air interface resources to be shared, thereby improving resource utilization.
  • spectrum/resource management in the existing wireless communication system can be used to minimize interference between sensing devices.
  • existing wireless communication networks e.g., cellular network
  • local wireless networks also enable communication between wireless sensing devices.
  • Sensing devices are no longer limited to lidar, millimeter wave radar and ToF (Time of Flight) cameras using traditional sensing technologies. More devices can be called upon to participate in sensing and provide a wider range of sensing services.
  • radio frequency modules of existing wireless communication systems can be reused for sensing, thereby reducing costs.
  • communication and perception are integrated so that perception is no longer separated from service applications, so that service applications can be easily accessed.
  • FIG 1 shows schematically various sensing links under the integration of communication and sensing.
  • the sensing link may specifically include: 1) Base station echo sensing link: the base station sends sensing signals and receives at least reflection, scattering and/or deflection of the sensing signals via objects such as cars.
  • Inter-base station sensing link Base station 2 (or base station 1) receives the sensing signal sent by base station 1 (or corresponding base station 2); 3) Uplink sensing link: The base station receives the sensing signal sent by the UE Sensing signals; 4) Downlink sensing link: UE receives sensing signals sent by base stations; 5) UE echo sensing link: UE sends sensing signals and receives sensing signals that are at least reflected, scattered and/or reflected by objects such as people. Or the echo signal generated by diffraction; 6) Inter-UE sensing link: UE 2 (or UE 1) receives the sensing signal sent by UE 1 (or correspondingly UE 2).
  • Each sensing link in Figure 1 takes a sending node and a receiving node as an example.
  • different sensing links can be selected according to different sensing requirements.
  • the sending node and receiving node of each sensing link can be One or more, and actual sensing systems may include a variety of different sensing links.
  • humans and vehicles are used as sensing objects.
  • a sensing server which can collect sensing-related data from base stations and process the data to obtain sensing results.
  • the perception server may be located in the core network in the wireless communication system.
  • the perception server shown in FIG. 1 may also act as a location server that will be explained below, and may be, for example, a server in the core network for providing location management functions ( Location Management Function (LMF) entity.
  • LMF Location Management Function
  • specific objects can be appropriately perceived in various scenarios, such as determining the existence of obstacles, the location of specific objects, and the movement of specific objects based on the perception results of various sensing objects. Speed, air humidity/particle concentration, etc.
  • FIGS. 2A and 2B schematically illustrate an exemplary scenario and an exemplary application of integration of communication and perception respectively.
  • the base station can establish communication links with some terminals (such as vehicle-mounted terminals, drones, mobile phones shown as UE in the figure, etc.).
  • some terminals such as vehicle-mounted terminals, drones, mobile phones shown as UE in the figure, etc.
  • there may also be base stations and terminals (as shown in Figure 2A, vehicle-mounted Sensing links between the terminal and the drone), between the base station and obstacles (as shown in Figure 2A, trees), and between the terminal and other objects.
  • a variety of applications can be realized, such as drone operation, autonomous driving, robot motion control, augmented reality, smart factories, smart logistics, smart transportation, etc.
  • Figure 2B illustrates an exemplary application of intelligent transportation.
  • the base station can sense the vehicle's position, speed, movement direction, etc., thereby assisting in traffic guidance, safety warning, etc. Function.
  • the present disclosure mainly relates to a communication sensing integration solution using a base station echo sensing link with UE as the sensing object.
  • the present disclosure relates to a multiplexed signal that multiplexes a communication signal and a sensing signal sent by a base station to a UE, so that the sensing signal can be used to sense information involved in positioning the UE (for example, between the base station and the UE) distance, the angle between the base station and the UE and/or the moving speed of the UE, etc.), thereby providing enhanced services (e.g., adjusting the transmission frequency of the communication signal to improve resource utilization, using the information obtained by sensing the signal) Provide UE with more accurate and reliable positioning, reduce power consumption, etc.).
  • electronic device 30 may include processing circuitry 302 .
  • the processing circuit 302 may be configured to send a multiplexed signal to the UE, wherein the multiplexed signal multiplexes both the communication signal and the sensing signal, and the sensing signal is at least used to sense the distance between the UE and the electronic device 30 , the angle between the UE and the electronic device 30 and/or the moving speed of the UE to determine the position of the UE, and receive an echo signal generated by at least reflection, scattering and/or diffraction of the sensing signal by the UE.
  • the processing circuit 302 may be in the form of a general-purpose processor or a special-purpose processing circuit, such as an ASIC.
  • processing circuit 302 can be constructed from circuitry (hardware) or a central processing device such as a central processing unit (CPU).
  • the processing circuit 302 may carry a program (software) for operating the circuit (hardware) or central processing device.
  • the program can be stored in a memory (such as arranged in the memory 304) or an external storage medium connected from the outside, and downloaded via a network (such as the Internet).
  • processing circuitry 302 may include a signal multiplexing unit.
  • the signal multiplexing unit can multiplex the communication signal used for communication and the sensing signal used for sensing using an appropriate multiplexing method.
  • communication signals and sensing signals can be multiplexed using multiplexing methods such as time division multiplexing, frequency division multiplexing, code division multiplexing, or space division multiplexing.
  • processing circuitry 302 may also include controlling communication with the UE (optionally via Unit 306) and a communication control unit that communicates with entities of the core network when necessary.
  • the communication control unit may, for example, control sending a multiplexed signal that multiplexes both the communication signal and the sensing signal to the UE; and control receiving from the UE an echo signal generated by at least reflection, scattering and/or diffraction of the sensing signal by the UE.
  • control the transmission of control information to the UE for example, including but not limited to information indicating how communication signals and sensing signals are multiplexed and information indicating the transmission frequency of reference signals related to positioning
  • Control sending information to the core network for example, including but not limited to information indicating echo signals and request information requesting cooperative sensing
  • the electronic device 30 may also include a memory 304 and a communication unit 306 shown in dotted lines in the figure.
  • the electronic device 30 may also include other components not shown, such as radio frequency links, baseband processing units, network interfaces, processors, controllers, and the like.
  • Processing circuitry 302 may be associated with memory 304 and/or communication unit 306 .
  • the processing circuit 302 may be connected to the memory 304 directly or indirectly (for example, other components may be connected in between) to access data.
  • the processing circuit 302 may be connected directly or indirectly to the communication unit 306 to send radio signals via the communication unit 306 and to receive radio signals via the communication unit 306 .
  • the memory 304 may store various information generated by the processing circuit 302 or used in the operation of the processing circuit 302 (e.g., information about echo signals received from the UE, information about multiplexing methods, and references for adjusting positioning-related threshold information of the transmission frequency of the signal, etc.), programs and data for the operation of the electronic device 30, data to be transmitted by the communication unit 306, etc.
  • Memory 304 is drawn with a dashed line as it may also be located within processing circuitry 302 or external to electronic device 30 .
  • Memory 304 may be volatile memory and/or non-volatile memory.
  • memory 304 may include, but is not limited to, random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), read only memory (ROM), and flash memory.
  • the communication unit 306 may be configured to communicate with the terminal device under the control of the processing circuit 302 (eg, communication control unit).
  • communication unit 306 may be implemented as a transmitter or transceiver, including communication components such as an antenna array and/or a radio frequency link.
  • processing circuit 302 may also be implemented to include the communication unit 306 , for example, in combination with a communication control unit. Additionally, processing circuit 302 may also be implemented to include one or more other components in electronic device 30 , or processing circuit 302 may be implemented as electronic device 30 itself. In actual implementation, the processing circuit 302 may be implemented as a chip (such as an integrated circuit module including a single wafer), a hardware component, or a complete product.
  • each of the above units may be implemented as an independent physical entity, or may be composed of a single entity (for example, a processor (CPU) Or DSP, etc.), integrated circuit, etc.) to achieve.
  • processor CPU
  • DSP digital signal processor
  • the various units mentioned above are shown with dotted lines in the drawings to indicate that these units may not actually exist, and the operations/functions they implement may be implemented by the processing circuit itself.
  • the operation of the base station starts at S402.
  • the base station sends a multiplexed signal that multiplexes both the communication signal and the sensing signal to the UE.
  • the base station may transmit a multiplexed signal using beamforming such that the multiplexed signal is sent in a manner directed to a specific UE. This method is particularly advantageous for using the sensing signal in the multiplexed signal to sense a specific UE.
  • the communication signal may be any signal used for wireless communication.
  • the communication signal may include one or more of the following signals: positioning reference signal (Positioning Reference Signal, PRS), data demodulation reference signal (Demodulation Reference Signal, DMRS), channel state measurement reference signal (Channel State Information- Reference Signal, CSI-RS), sounding reference signal (Sounding Reference Signal, SRS) and communication data signal (where PRS, DMRS, CSI-RS and SRS can be used as positioning-related reference signals explained below), and the sensing signal can Multiplexed with any of the above communication signals.
  • positioning reference signal Positioning Reference Signal
  • PRS Positioning Reference Signal
  • DMRS data demodulation reference signal
  • CSI-RS channel state measurement reference signal
  • SRS Sounding reference signal
  • communication data signal where PRS, DMRS, CSI-RS and SRS can be used as positioning-related reference signals explained below
  • the sensing signal may be any appropriate signal for at least sensing the distance between the UE and the base station, the angle between the UE and the base station, and/or the moving speed of the UE to determine the location of the UE.
  • the sensing signal may not itself carry information that needs to be interpreted by the sensing object (eg, UE), but is intended to be at least reflected, scattered, and/or diffracted by the sensing object to produce an echo signal, thereby enabling e.g. based on sensing The difference between the signal and the echo signal determines the sensing result.
  • communication signals and sensing signals may be multiplexed in any suitable multiplexing manner.
  • communication signals and sensing signals can be multiplexed using multiplexing methods such as time division multiplexing, frequency division multiplexing, code division multiplexing, or space division multiplexing.
  • the communication signal and the sensing signal can be time-division multiplexed in units of symbols.
  • symbol units may mean, for example, that within the same time slot, some symbols are used for communication signals and other symbols are used for sensing signals.
  • this multiplexing method is simple to calculate and easy to implement, and can save the cost of resources such as spectrum.
  • Figure 5 illustrates an exemplary multiplexing method for multiplexing communication signals and sensing signals in accordance with the present disclosure.
  • the duration of a radio frame is 10ms, and a radio frame can include 10 subframes with a length of 1ms.
  • one subframe may include a different number (eg, n) of time slots, and each time slot may include 14 symbols.
  • some symbols within the same time slot may be used for communication signals and others for sensing signals.
  • symbols 0-5 and symbols 7-12 within one time slot can be used for communication
  • symbols 6 and 13 can be used for sensing.
  • FIG. 5 shows a specific scheme of dividing symbols within a time slot, it should be understood that the present disclosure is not limited to this scheme.
  • several consecutive symbols can be used for sensing signals, for example, symbols 0-10 can be used for communication and symbols 11-13 can be used for sensing.
  • sensing signals can be arranged at several locations within a time slot at non-uniform intervals.
  • symbols 0-2, 4-8, and 10-13 can be used for communication and symbols 3 and 9 can be used for sensing.
  • none of the above solutions is limiting, and several symbols in a time slot can be selected for communication signals in any appropriate manner, and the remaining symbols can be used for sensing signals.
  • Figure 5 uses the frame structure of 5G NR as an example to introduce the multiplexing of sensing signals and communication signals
  • the multiplexing method of the present disclosure can be applied to any frame structure, as long as the communication signals and communication signals are time-division multiplexed in units of symbols. Just sense the signal.
  • the multiplexing method for multiplexing communication signals and sensing signals may be predetermined/agreed (for example, the default multiplexing method specified in relevant communication standards), or may be dynamically determined (for example, according to Dynamically determined required sensing signaling density).
  • the base station may also send multiplexing information to the UE indicating how the communication signal and the sensing signal are multiplexed. For example, the base station can send a message to the UE indicating which multiplexing method is used, and in particular, in the case of time division multiplexing in units of symbols, it can also specifically indicate which symbols in a time slot will be used for sensing signals. .
  • the sensing signal multiplexed in the multiplexed signal may be at least reflected, scattered, and/or diffracted by the UE.
  • signals generated by at least reflection, scattering and/or diffraction of the sensing signal by the UE are collectively referred to as echo signals.
  • the term "echo signal” should be understood in a broad sense, that is, any signal in which the signal wave of the sensed signal propagates through the UE to the base station and experiences path loss caused by the UE.
  • the base station receives this echo signal.
  • the base station receives this echo signal.
  • the conceptual operation flow of the base station ends at S408.
  • the operating steps of the base station shown in Figure 4 are only illustrative. In practice, the operation of the base station may also include some additional or alternative steps.
  • the base station may also send multiplexing information indicating how the communication signal and the sensing signal are multiplexed to the UE.
  • the base station may also send information indicating the echo signal to the core network, and receive information indicating the sensing result from the core network.
  • the basic operation of the base station according to the present disclosure has been explained above. It can be understood that by multiplexing communication signals and sensing signals, the integration of communication and sensing can be achieved. On this basis, the base station can use the sensing results to provide enhanced services according to the situation. This will be explained below.
  • the sensing signal may be used to determine the moving speed of the UE, and the base station may dynamically adjust the reference signal related to positioning based on the mobile communication positioning technology based on the moving speed of the UE determined by sensing (hereinafter (referred to as positioning-related reference signal or positioning-related reference signal) transmission frequency, thereby improving resource utilization and reducing power consumption as much as possible while providing higher positioning accuracy and reliability.
  • the positioning-related reference signal may be a reference signal to be used when positioning the UE using mobile communication positioning technology.
  • positioning-related reference signals may include one or more of the following reference signals: Positioning Reference Signal (PRS), Demodulation Reference Signal (DMRS), Channel State Information Reference Signal (CSI-RS), and Sounding Reference Signal (SRS) .
  • the base station may, for example, send information indicating the echo signal to the core network, so that the core network can sense the UE, thereby obtaining information including, for example, the distance between the UE and the base station, the angle between the UE and the base station, The sensing result of one or more of the moving speed of the UE and the position of the UE.
  • the information indicating the echo signal may include at least one or more of the following information: amplitude of the echo signal, phase of the echo signal, frequency of the echo signal, transmission time of the sensing signal, reception time of the echo signal , the flight time from sending the sensing signal to receiving the echo signal.
  • the sensing result may be determined based at least on the difference between the sensing signal and the echo signal.
  • differences include, for example, one or more of the following: Doppler shift, time of flight, amplitude change, frequency change, and phase change.
  • the core network determines the sensing result.
  • the base station itself can also sense the distance, angle, moving speed and/or location of the UE based on similar sensing principles. In this case, the base station may not send information indicating the echo signal to the core network, but calculate the sensing result itself based on the difference between the sensing signal and the echo signal.
  • the base station may determine the relationship between the moving speed of the UE and at least one threshold based on the sensing result, and based on the determination, dynamically adjust the transmission frequency of the reference signal related to positioning.
  • the sensing result may directly include the moving speed of the UE, or may not explicitly include the moving speed of the UE but include information indicating the location of the UE (such as the distance between the UE and the base station, the angle between the UE and the base station, and/or or the location of the UE).
  • the base station may be based on the change magnitude between two sensing results (for example, the distance change magnitude and/or the angle change magnitude and/or the position change magnitude), or the sensing result and the previously determined distance between the UE and the base station. /The amplitude of change between the angle between the UE and the base station and/or the position of the UE is used to determine the moving speed of the UE.
  • the base station may, in response to determining that the moving speed of the UE is lower than or equal to the first threshold, reduce the transmission frequency of the reference signal related to positioning; in response to determining that the moving speed of the UE is higher than the first threshold and lower than or equal to the second a threshold, maintaining a transmission frequency of positioning-related reference signals; and in response to determining that the moving speed of the UE is higher than a second threshold: increasing the transmission frequency of positioning-related reference signals, and/or sending a request message to the core network to request
  • One or more other base stations cooperate to sense the UE (eg, cooperate to determine the distance/angle between the UE and the UE, the speed of movement of the UE, and/or the location of the UE).
  • the base station that performs cooperative sensing can be one or more base stations that participate in positioning the UE based on mobile communication positioning technology (such as the mobile communication positioning technology explained below with reference to FIG. 6). In this way, the scheduling of participating in cooperative sensing can be enabled. Easier and improves the accuracy of perceived results.
  • the base stations for cooperative sensing may also be selected by the core network based on the Reference Signal Receiving Power (RSRP) of each base station. For example, one or more base stations with the largest RSRP may be used as base stations to participate in cooperative sensing.
  • RSRP Reference Signal Receiving Power
  • the base station can determine the specific values of each threshold and the adjustment range of the transmission frequency of the positioning-related reference signal according to the actual situation.
  • two thresholds are used as examples above to introduce the method of dynamically adjusting the transmission frequency of positioning-related reference signals, this is not restrictive, and finer-grained or coarse-grained adjustments can also be made according to actual needs.
  • it is also possible to set only one threshold and when the moving speed of the UE is lower than the threshold, the sending frequency of positioning-related reference signals is dynamically reduced, and when the moving speed of the UE is higher than the threshold, the sending frequency is dynamically increased.
  • more thresholds can be set, and the base station can adjust the transmission frequency of positioning-related reference signals with different adjustment ranges according to the threshold interval in which the UE's movement speed is located.
  • increasing or reducing the transmission frequency of positioning-related reference signals may include shortening or extending the transmission period of positioning-related reference signals. This applies in particular where positioning-related reference signals are sent periodically. For example, when the base station determines the relationship between the moving speed of the UE and at least one threshold and then determines that it is necessary to increase the transmission frequency of the positioning-related reference signal, the base station may instead use a smaller transmission period than before to send the positioning-related reference. Signal. Similarly, for example, if the base station determines that it is necessary to reduce the transmission frequency of the positioning-related reference signal, the base station may instead use a longer transmission period than before to transmit the positioning-related reference signal.
  • increasing or reducing the transmission frequency of positioning-related reference signals may also include increasing or reducing the symbol density occupied by the positioning-related reference signals.
  • the positioning-related reference signals may be arranged in each symbol of a frame in a higher density manner, thereby increasing the frequency of positioning-related reference signals in a frame. The number of occupied symbols thereby substantially increases the transmission frequency of positioning-related reference signals within a predetermined time period (for example, within one or more predetermined frames).
  • the positioning-related reference signals may be arranged in each symbol of a frame in a higher and lower density manner, thereby substantially improving the transmission frequency within a predetermined time period.
  • the transmission frequency of positioning-related reference signals may be arranged in each symbol of a frame in a higher and lower density manner, thereby substantially improving the transmission frequency within a predetermined time period.
  • the base station may send a message to the UE to notify such change. For example, the base station may notify the UE of a new transmission cycle of positioning-related reference signals, or notify the UE of a new arrangement of positioning-related reference signals within a frame.
  • the base station that utilizes the sensing results to provide the first enhanced service according to the present disclosure has been explained above. According to the present disclosure, the base station providing the first enhanced service may also perform some alternative or additional operations. This is explained below.
  • the base station obtains a sensing result (for example, a sensing result obtained based on a sensing signal sent by a single base station (ie, the base station) when the UE moves at a low speed, or based on a sensing signal sent by multiple base stations when the UE moves at a high speed).
  • a sensing result for example, a sensing result obtained based on a sensing signal sent by a single base station (ie, the base station) when the UE moves at a low speed, or based on a sensing signal sent by multiple base stations when the UE moves at a high speed.
  • the sensing result can be further sent to the UE for the UE to verify the position of the UE indicated by the sensing result (the specific verification operation will be referred to the operation description of the UE side below).
  • the base station can receive the verification result from the UE, and further dynamically adjust the transmission frequency of the positioning-related reference signal according to the verification result.
  • the UE can autonomously determine its own position, and send the difference between the autonomously determined position and the position determined by the sensing result received from the base station back to the base station as a verification result.
  • the base station may reduce or maintain the transmission frequency of the positioning-related reference signal when the position difference indicated by the verification result is less than a predetermined threshold, and increase the transmission frequency of the positioning-related reference signal when the verification result indicates that the position difference is greater than the predetermined threshold.
  • Send frequency may be reduced or maintain the transmission frequency of the positioning-related reference signal when the position difference indicated by the verification result is less than a predetermined threshold, and increase the transmission frequency of the positioning-related reference signal when the verification result indicates that the position difference is greater than the predetermined threshold.
  • the UE may compare the calculated position difference with a predetermined threshold by itself, and only feed back to the base station information indicating that the current transmission frequency of the positioning-related reference signal is maintained when the position difference is lower than the predetermined threshold, and when the position difference When it is greater than a predetermined threshold, the value of the position difference is fed back to the base station, so that the base station can dynamically increase the transmission frequency of positioning-related reference signals according to the size of the difference.
  • this implementation enables more appropriate adjustment of the transmission frequency of positioning-related reference signals based on feedback from the UE.
  • the base station can also dynamically adjust the transmission frequency of positioning-related reference signals based on the positioning requirements of the UE.
  • the base station may first receive information indicating positioning requirements from the UE.
  • the information indicating positioning requirements may be information that directly indicates what positioning accuracy requirements the UE requires, or may be information that indirectly indicates its positioning accuracy requirements, such as applications to be enabled by the UE (for example, involving navigation functions) applications may indicate higher positioning accuracy requirements).
  • the base station may determine the UE's requirements for positioning accuracy based on the information received from the UE indicating the positioning requirements.
  • the base station can dynamically adjust the transmission frequency of the positioning-related reference signal based on the determined UE's requirements for positioning accuracy.
  • the base station may maintain or reduce the transmission frequency of positioning-related reference signals in response to determining that the UE's requirements for positioning accuracy are low, and may increase the transmission frequency of positioning-related reference signals in response to determining that the UE's requirements for positioning accuracy are high, and/or send request information to entities in the core network to Request one or more other base stations to cooperate in sensing the location of the UE.
  • the base station that performs cooperative sensing may be one or more base stations that participate in positioning the UE based on mobile communication positioning technology.
  • the base station can dynamically adjust the transmission frequency of positioning-related reference signals based solely on the sensing results, solely based on the UE's requirements for positioning accuracy, or based on a combination of the sensing results and the UE's requirements for positioning accuracy. In any of these three situations, the base station can further dynamically adjust the transmission frequency of the positioning-related reference signal based on the UE's feedback on the positioning result as described above. In particular, in an implementation in which the base station dynamically adjusts the transmission frequency of positioning-related reference signals based on a combination of sensing results and the UE's requirements for positioning accuracy, for example, the base station may first determine the mobile-based location based on the UE's requirements for positioning accuracy. The speed dynamically adjusts one or more thresholds of the transmission frequency, and then dynamically adjusts the transmission frequency of the positioning-related reference signal at any time based on the perceived movement speed of the UE and based on the determined one or more thresholds.
  • the sensing signal can be used to determine the location of the UE, and the base station can jointly apply both sensing positioning and positioning based on mobile communication positioning technology to determine the location of the UE, thereby providing more reliable and accurate positioning.
  • mobile communication positioning technology refers to the technology used for positioning in traditional wireless communication systems.
  • mobile communication positioning technology can include Assisted-Global Navigation Satellite System (A-GNSS), Downlink-Time Difference of Arrival (DL-TDOA), Uplink Arrival Time difference (Uplink-Time Difference of Arrival, UL-TDOA), downlink departure angle (Downlink-Angle of Departure, DL-AoD), uplink angle of arrival (Uplink-Angle of Arrival, UL-AoA), multi-round trip delay (Multi -Round Trip Time, Multi-RTT), New Radio Enhanced Cell ID (NR Enhanced Cell ID, E-CID), and positioning based on motion sensors such as gyroscopes, accelerometers, magnetometers, etc.
  • DL-TDOA Downlink-Time Difference of Arrival
  • Uplink-Time Difference of Arrival Uplink-Time Difference of Arrival
  • UL-TDOA downlink departure angle
  • Uplink-Angle of Arrival Uplink-Angle of Arrival
  • Figure 6 schematically shows some mobile communication positioning technologies used in 5G.
  • these mobile communication positioning technologies generally require the transmission of positioning-related reference signals between the base station and the UE, and the base station/UE measures the received positioning-related reference signals, and if necessary, transmits the positioning-related reference signals to the core network.
  • the location server reports measurement results and/or receives auxiliary positioning data from the location server to finally determine the location of the UE.
  • the mobile communication positioning technology shown in Figure 6 generally requires the UE's main serving base station and one or more other base stations to jointly position the UE. Table 1 below provides an overview of mobile positioning technologies commonly used in 5G.
  • the base station can obtain positioning technology based on mobile communication (for example, A-GNSS, DL-TDOA, UL-TDOA, DL-AoD, UL-AOA, Multi-RTT introduced above,
  • the first position of the UE i.e., the position based on mobile communication positioning
  • the second position of the UE may be determined based on the sensing results , based on the perceived location
  • weighting the first location and the second location respectively to finally determine the location of the UE.
  • the base station may itself determine the first location of the UE based on mobile communication positioning technology, or may receive information indicating the first location of the UE from a core network (eg, a location server).
  • a core network eg, a location server
  • the base station may, for example, send information indicating the echo signal of the sensing signal to the core network, so that the core network can calculate the sensing result for the UE, thereby obtaining, for example, the distance between the UE and the base station,
  • the sensing result is one or more of the angle between the UE and the base station, the moving speed of the UE, and the position of the UE.
  • the base station may determine the second location of the UE according to the sensing result received from the core network.
  • the base station may be based on the distance, angle, and/or speed information of the UE. and the last determined location of the UE and any other available auxiliary information to determine the second location of the UE.
  • the base station may use any suitable method to determine the weights to be applied to the first location and the second location.
  • the weights of the first position and the second position can be It is determined based on the ratio between the number of symbols occupied by the communication signal and the number of symbols occupied by the sensing signal in the predetermined period.
  • the predetermined period may be a time slot.
  • the base station may also allocate weights according to the accuracy of the first position and the second position.
  • the base station can monitor the respective accuracy of mobile communication positioning and sensing positioning within a period of time based on the UE's position feedback information, and assign a higher weight to the position determined by the positioning method with higher accuracy.
  • the weights assigned to the first position and the second position can be dynamically adjusted according to actual conditions (for example, the multiplexing method adopted and/or the accuracy of the two positioning methods). Furthermore, in some cases (for example, where the accuracy of the positioning results obtained using one of the positioning methods is very low), it is even possible to assign a zero value as a weight to the positioning results obtained using one of the positioning methods.
  • the base station can dynamically adjust the sending frequency of positioning-related reference signals based on the perceived movement speed of the UE and/or the positioning requirements of the UE.
  • the base station can use an appropriate mobile communication positioning method to determine the location of the UE based on the positioning-related reference signals. The first position, using the sensing result to determine the second position of the UE, and weighting the first position and the second position respectively to determine the position of the UE.
  • the base station can also feed back to the UE the position obtained through weighted calculation (that is, the position obtained by joint positioning using sensing technology and mobile communication positioning technology), and adjust the positioning correlation based on the UE's further feedback on the position.
  • electronic device 70 may include processing circuitry 702 .
  • the processing circuit 702 may be configured to receive a multiplexed signal from a base station, wherein the multiplexed signal multiplexes both a communication signal and a sensing signal that is at least reflected, scattered, and/or by the electronic device 70
  • the echo signal generated by diffraction is propagated to one or more base stations including the base station, and the sensing signal is at least used to sense the distance between the electronic device 70 and the base station, and the distance between the electronic device 70 and the base station.
  • the angle between the base stations and/or the moving speed of the electronic device 70 is used to determine the position of the electronic device 70 .
  • the processing circuit 702 may be in the form of a general-purpose processor or a special-purpose processing circuit, such as an ASIC.
  • processing circuit 702 can be constructed from circuitry (hardware) or a central processing device such as a central processing unit (CPU).
  • the processing circuit 702 may carry a program (software) for operating the circuit (hardware) or central processing device.
  • the program can be stored in memory (such as disposed in memory 704) or in an external storage connected from outside. media, and downloaded via a network (such as the Internet).
  • processing circuitry 702 may include a communications control unit that controls communications with a base station (optionally via communications unit 706).
  • the communication control unit may, for example, control receiving from the base station a multiplexed signal that multiplexes both the communication signal and the sensing signal; optionally, control receiving control information from the base station (for example, including but not limited to indicating how the communication signal and the sensing signal are Multiplexed information and information indicating the transmission frequency of positioning-related reference signals); and optionally, sending information indicating its positioning requirements to the base station, and so on.
  • processing circuit 702 may also include a position determination unit.
  • the location determination unit can autonomously determine the location of the electronic device 70 using applicable positioning technology.
  • the position determination unit can also compare the autonomously determined position with the position indicated in the information received from the base station, determine the position difference between the two, and provide feedback to the base station based on the position difference, so that the base station can operate as described above
  • the transmission frequency of the positioning-related reference signal is dynamically adjusted according to feedback from the electronic device 70 .
  • the electronic device 70 may also include a memory 704 and a communication unit 706 shown in dotted lines in the figure.
  • the electronic device 70 may also include other components not shown, such as radio frequency links, baseband processing units, network interfaces, processors, controllers, and the like.
  • Processing circuitry 702 may be associated with memory 704 and/or communication unit 706 .
  • the processing circuit 702 may be connected to the memory 704 directly or indirectly (for example, other components may be connected in between) to access data.
  • the processing circuit 702 may be connected directly or indirectly to the communication unit 706 to send radio signals via the communication unit 706 and to receive radio signals via the communication unit 706 .
  • the memory 704 may store various information generated by the processing circuit 702 or used in the operation of the processing circuit 702 (for example, information about the positioning requirements of the electronic device 702, information about the multiplexing method, information about the transmission frequency of the positioning-related reference signal. information, data for autonomous positioning, etc.), programs and data for operation of the electronic device 70, data to be sent by the communication unit 706, etc.
  • Memory 704 is drawn with a dashed line as it may also be located within processing circuit 702 or external to electronic device 70 .
  • Memory 704 may be volatile memory and/or non-volatile memory.
  • memory 704 may include, but is not limited to, random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), read only memory (ROM), and flash memory.
  • the communication unit 706 may be configured to communicate with the base station under the control of the processing circuit 702 (eg, communication control unit).
  • communication unit 706 may be implemented as a transmitter or transceiver, including communication components such as an antenna array and/or a radio frequency link.
  • processing circuit 702 is shown separate from the communication unit 706 in FIG. 7 , the processing circuit 702 may also be implemented including the communication unit 706 . Additionally, processing circuit 702 may also be implemented to include one or more other components in electronic device 70 , or processing circuit 702 may be implemented as electronic device 70 itself. In actual implementation, Processing circuitry 702 may be implemented as a chip (such as an integrated circuit module including a single wafer), a hardware component, or a complete product.
  • each of the above units may be implemented as an independent physical entity, or may be implemented by a single entity (for example, a processor (CPU or DSP, etc.), an integrated circuit, etc.).
  • processor CPU or DSP, etc.
  • integrated circuit etc.
  • the various units mentioned above are shown with dotted lines in the drawings to indicate that these units may not actually exist, and the operations/functions they implement may be implemented by the processing circuit itself.
  • the operation of the UE starts at S802.
  • the UE receives the above-described multiplexed signal that multiplexes both the communication signal and the sensing signal from the base station.
  • the multiplexed signal may be a signal multiplexed using any suitable multiplexing method.
  • the multiplexing method for multiplexing communication signals and sensing signals may be predetermined/agreed (for example, the default multiplexing method specified in relevant communication standards), or may be dynamically determined (for example, According to the dynamically determined required sensing signal transmission density).
  • the UE can directly demultiplex the communication signal and the sensing signal according to the predetermined/agreed multiplexing method.
  • the UE may receive information indicating the multiplexing method from the base station in advance (for example, before S804).
  • the sensing signal in the multiplexed signal may naturally be at least reflected, scattered and/or diffracted by the UE.
  • the echo signal generated by at least reflection, scattering and/or diffraction of the sensing signal by the UE can be propagated to one or more base stations including the base station that sends the multiplexed signal, so that the one or more base stations can perform the detection on the UE.
  • the UE does not need to perform reception operations and analysis operations for sensing signals.
  • the UE can also analyze the received sensing signals by itself to determine the sensing results independently and/or with assistance.
  • the multiplexed signal as a whole will be reflected, scattered and/or diffracted by the UE.
  • the base station only cares about the changes in the sensing signal after being reflected, scattered and/or diffracted, so as to sense the UE based on the changes.
  • the operation steps of the UE shown in Figure 8 are only illustrative. In practice, the operation of the UE may also include some additional or alternative steps. For example, as explained above, before receiving the multiplexed signal, the UE may also receive multiplexing information from the base station indicating how the communication signal and the sensing signal are multiplexed.
  • the present disclosure also provides enhanced services based on the integration of communication and perception.
  • the technical concepts and features of these enhanced services have been described above with reference to the operations on the base station side. The specific operations on the UE side under these enhanced services will be described below.
  • the sensing signal may be used to determine the moving speed of the UE, and the base station may dynamically adjust positioning related to the mobile communication positioning technology based on the moving speed of the UE determined by sensing.
  • the transmission frequency of the reference signal Under the first enhanced service, the UE may receive information indicating a transmission frequency of the positioning-related reference signal from the base station.
  • the transmission frequency of the positioning-related reference signal can be dynamically adjusted according to one or both of the following: the sensing result of the movement speed of the UE based on the sensing signal; and the positioning accuracy. Require.
  • the UE may send information indicating its positioning requirements to the base station in advance, so that the base station determines the UE's requirements for positioning accuracy based on the information.
  • the information indicating positioning requirements may be information that directly indicates what positioning accuracy requirements the UE needs, such as specific accuracy requirement parameters, or accuracy requirement levels.
  • the information indicating the positioning requirement may also be information indirectly indicating the positioning accuracy requirement, such as an application to be enabled by the UE.
  • the UE can receive information indicating the location of the UE from the base station, verify the location, and feed back the verification to the base station. The results are used by the base station to further adjust the transmission frequency of positioning-related reference signals.
  • the information indicating the location of the UE received by the UE from the base station may include a sensing result based on the sensing signal or a joint positioning result.
  • the sensing result may include the perceived distance between the UE and the base station, the angle between the UE and the base station, the moving speed of the UE, and/or the location of the UE.
  • the joint positioning result may include the position of the UE determined based on both the first position of the UE based on the mobile communication positioning technology and the second position based on the sensing result as described in detail above.
  • the UE may utilize the distance, location and/or moving speed information included in the sensing result and any other applicable information, and use any applicable method to determine the location of the UE based on the sensing result. The location of the result.
  • the UE After receiving information indicating the UE's location from the base station, the UE can autonomously determine its own location without using the information.
  • the UE may select any applicable (eg, supported by the UE) positioning method to determine its location independently of the location information received from the base station.
  • the UE may include estimating the location of the UE based on one or more of the following information: location information obtained based on RAT-only-DL positioning technology, location information based on A-GNSS, Global Positioning System (GPS) ), the last positioning result, and the motion information of the UE determined based on the motion sensor.
  • GPS Global Positioning System
  • the UE may determine the difference between the autonomously determined location and the location indicated in the information received from the base station, and provide feedback to the base station based on the difference. For example, the UE can feed back the difference value itself as a verification result for the position indicated in the information received from the base station, so that the base station can dynamically adjust the positioning-related reference signal based on the relationship between the position difference and the predetermined threshold. transmission frequency.
  • the UE may compare the calculated position difference with a predetermined threshold by itself, and only feed back to the base station information indicating that the current transmission frequency of the positioning-related reference signal is maintained when the position difference is lower than the predetermined threshold, and when the position difference When it is greater than a predetermined threshold, the value of the position difference is fed back to the base station, so that the base station can dynamically increase the transmission frequency of positioning-related reference signals according to the size of the difference.
  • Exemplary structures and exemplary operations of base stations and UEs according to the present disclosure are described in detail above. Next, an exemplary structure and an exemplary operation process of an electronic device on the core network side according to the present disclosure will be described with reference to FIGS. 9-11 .
  • the electronic device 90 on the core network side according to the present disclosure may be an electronic device that provides both positioning services and sensing services.
  • the electronic device 90 may be used for the location server or awareness server mentioned above.
  • the electronic device 90 may be used to provide an entity with location management functions (LMF).
  • LMF location management functions
  • electronic device 90 may include processing circuitry 902 .
  • the processing circuit 902 may be configured to receive information from the base station indicating an echo signal generated by at least reflection, scattering and/or diffraction of the sensing signal by the UE; at least based on the relationship between the sensing signal and the echo signal. The difference determines the sensing result for the UE, wherein the sensing result includes the distance between the UE and the base station, the angle between the UE and the base station, the moving speed of the UE and/or the location of the UE; and sending the sensing result to the base station .
  • the processing circuit 902 may be in the form of a general-purpose processor or a special-purpose processing circuit, such as an ASIC.
  • the processing circuit 902 can be constructed from circuitry (hardware) or a central processing device such as a central processing unit (CPU).
  • the processing circuit 902 may carry a program (software) for operating the circuit (hardware) or central processing device.
  • the program can be stored in a memory (such as arranged in the memory 904) or an external storage medium connected from the outside, and downloaded via a network (such as the Internet).
  • processing circuitry 902 may include a communications control unit that controls communications with a base station (optionally via communications unit 906).
  • the communication control unit may, for example, control receiving from the base station information indicating the amplitude, frequency and/or phase of the echo signal generated by at least reflection, scattering and/or diffraction of the sensing signal by the UE; control sending the sensing result of the UE to the base station ; and optionally, receiving request information from the base station requesting one or more other base stations to cooperate in sensing the location of the UE, and so on.
  • the processing circuit 902 may also include a sensing result determination unit.
  • the sensing result determination unit may determine the response to the UE based on at least the difference between the sensing signal and the echo signal (for example, one or more of Doppler frequency shift, time of flight, amplitude change, frequency change and phase change). Perceived results.
  • the sensing results include the distance between the UE and the base station, the angle between the UE and the base station, the moving speed of the UE and/or the location of the UE.
  • the electronic device 90 may also include a memory 904 and a communication unit 906 shown in dotted lines in the figure.
  • the electronic device 90 may also include other components not shown, such as network interfaces, processors, controllers, and the like.
  • Processing circuitry 902 may be associated with memory 904 and/or communication unit 906 .
  • the processing circuit 902 may be connected to the memory 904 directly or indirectly (for example, other components may be connected in between) to access data.
  • processing circuitry 902 may be connected directly or indirectly to communication unit 906 to send signals via communication unit 906 and to receive signals via communication unit 906 .
  • the memory 904 may store various information generated by the processing circuit 902 or used for the operation of the processing circuit 902 (for example, information about the sensing signal and the echo signal, etc.), programs and data used for the operation of the electronic device 90, and will be used by the communication unit. 906 sent data, etc.
  • Memory 904 is drawn with a dashed line as it may also be located within the processing circuit 902 or external to the electronic device 90 .
  • Memory 904 may be volatile memory and/or non-volatile memory.
  • memory 904 may include, but is not limited to, random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), read only memory (ROM), and flash memory.
  • the communication unit 906 may be configured to communicate with the base station under the control of the processing circuit 902 (eg, communication control unit).
  • the communication unit 906 may be implemented as a communication component that performs wired communication via cables such as optical fibers.
  • the communication unit 906 may also include communication components adapted for wireless communication.
  • processing circuit 902 is shown separate from the communication unit 906 in FIG. 9 , the processing circuit 902 may also be implemented including the communication unit 906 . Additionally, the processing circuit 902 may also be implemented to include one or more other components in the electronic device 90 , or the processing circuit 902 may be implemented as the electronic device 90 itself. In actual implementation, the processing circuit 902 may be implemented as a chip (such as an integrated circuit module including a single wafer), a hardware component, or a complete product.
  • each of the above units may be implemented as an independent physical entity, or may be implemented by a single entity (for example, a processor (CPU or DSP, etc.), an integrated circuit, etc.).
  • processor CPU or DSP, etc.
  • integrated circuit etc.
  • the various units mentioned above are shown with dotted lines in the drawings to indicate that these units may not actually exist, and the operations/functions they implement may be implemented by the processing circuit itself.
  • the electronic device on the core network side receives information from the base station about the echo signal generated by at least reflection, scattering and/or diffraction of the sensing signal by the UE, so as to calculate the sensing result accordingly.
  • this information may include at least one or more of the following information: the amplitude of the echo signal, the phase of the echo signal, the frequency of the echo signal, the sending time of the sensing signal, the receiving time of the echo signal, and the base station The time of flight from when a sensing signal is sent to when the echo signal of that sensing signal is received.
  • the amplitude, frequency, phase, signal type, pattern and/or sequence in which the base station transmits the sensing signal may be predetermined and known to the core network.
  • the base station only needs to send the echo signal information to the electronic equipment on the core network side.
  • the electronic device on the core network side may also receive information in advance from the base station (for example, before or in S1004) indicating the sensing signal itself, for example, indicating the amplitude, frequency, phase, signal of the sensing signal. Information on type, pattern and/or sequence, etc.
  • the electronic device on the core network side may determine the sensing result for the UE based at least on the difference between the sensing signal and the echo signal.
  • differences may include one or more of the following: Doppler shift, time of flight, amplitude change, frequency change, and phase change.
  • Figures 11A and 11B illustrate the basic principles of perception.
  • Figure 11A shows an exemplary principle in which a single base station participates in sensing.
  • the base station can serve as both the transmitter of the sensing signal and the sensing signal.
  • the signal echoes to the receiving end of the signal.
  • the base station sends a sensing signal to the UE as a reflector, the sensing signal is at least reflected, scattered and/or diffracted by the UE and is propagated back to the base station as an echo signal.
  • the amplitude, phase and/or frequency of the echo signal will be different from the original perceived signal.
  • the distance and angle between the base station and the UE can be determined, for example.
  • the moving speed of the UE can also be determined.
  • the base station may send information related to the received echo signal to the electronic device on the core network side, and the electronic device on the core network side calculates the UE based on the principle shown in FIG. 11A Distance, angle and/or movement speed.
  • the electronic device on the core network side can also optionally refer to any other available information (for example, the location of the base station sending the sensing signal and the stored UE information) based on the sensed distance, angle and/or movement speed information. previous location, etc.) to calculate the location of the UE.
  • Figure 11B shows an exemplary principle in which multiple base stations participate in sensing.
  • multiple base stations participate in sensing (for example, when the UE's moving speed is high or the UE has high requirements for positioning accuracy as explained above)
  • one base station can act as the sender of the sensing signal, and another One or more base stations can act as receivers for echo signals.
  • the transmitting end base station sends a sensing signal to the UE as a reflector
  • the sensing signal is at least reflected, scattered and/or diffracted by the UE and can be propagated to the receiving end base station as an echo signal. Similar to what was explained with reference to FIG.
  • the amplitude, phase and/or frequency of the echo signal will be different from the original sensing signal and between the sensing signal and the echo signal.
  • the sensing signal can also be propagated back to the transmitting end base station as an echo signal after at least reflection, scattering and/or diffraction by the UE. .
  • the transmitting end base station can also send information about the received echo signal to the electronic device on the core network side to calculate the sensing result.
  • FIG. 11B only shows two base stations, there may be more than two base stations cooperating to sense the UE.
  • the sensing signal sent by one base station can be propagated to multiple receiving end base stations as echo signals after at least reflection, scattering and/or diffraction by the UE.
  • Each receiving end base station participating in cooperative sensing can Information indicating the echo signal received by itself can be sent to the device on the core network side.
  • each base station can send its own sensing signal to the UE.
  • the equipment on the core network side can calculate the sensing result by integrating at least the following information: the information sent by each base station about the echo signal of the sensing signal it sends to the UE, and the information sent by each base station about the echo signal sent by one or more other base stations to the UE.
  • the information sent by the echo signal of the sensing signal can be calculated by integrating at least the following information: the information sent by each base station about the echo signal of the sensing signal it sends to the UE, and the information sent by each base station about the echo signal sent by one or more other base stations to the UE.
  • the electronic device on the core network side determines the sensing result of the UE, it can send the sensing result to the base station in S1008.
  • the operating steps of the electronic equipment on the core network side shown in Figure 10 are only illustrative. In practice, the operation of the electronic equipment on the core network side may also include some additional or alternative steps.
  • the electronic device on the core network side may also receive request information from a base station requesting one or more other base stations to cooperate in sensing the location of the UE, and in response to the request, send information indicating participation in cooperative sensing to one or more base stations.
  • the electronic device on the core network side can schedule one or more base stations that participate in positioning the UE based on mobile communication positioning technology to perform cooperative sensing.
  • the mobile communication positioning technology may include, for example, DL-TDOA, UL-TDOA, DL-AoD, UL-AOA, Multi-RTT and ID NR E-CID.
  • the electronic device on the core network side may send information indicating participation in cooperative sensing to one or more base stations participating in positioning the UE based on mobile communication positioning technology.
  • the electronic device may then receive information indicative of one or more echo signals from various base stations as described with reference to FIG. 11B and integrate the received information and any other available information to sense the UE's location.
  • the electronic device on the core network side performs the calculation related to perception. However, this is not limiting and this calculation can also be performed by the base station.
  • FIGS. 12A and 12B The schematic configuration and operation process of the base station, terminal equipment and core network side entities implemented according to the present disclosure have been described above with reference to the accompanying drawings. Next, exemplary interactions between a base station, a UE, and a core network according to embodiments of the present disclosure will be described with reference to FIGS. 12A and 12B.
  • Figure 12A shows the interaction between the base station, the UE and the core network in the case of sensing initiated by the base station.
  • the base station may start sending a multiplexed signal that multiplexes the communication and sensing signals to the UE when determining that it is necessary to enable dynamic adjustment of the transmission frequency of the positioning-related reference signal.
  • gNB 1 which is the main serving base station of the UE, may transmit a multiplexed signal to the UE and receive an echo signal of the sensing signal multiplexed in the multiplexed signal from the UE. Subsequently, gNB 1 can send information about the echo signal to the LMF of the core network.
  • the LMF may calculate the difference between the echo signal and the sensing signal as described in detail above, and determine the sensing result for the UE based at least on the difference.
  • the sensing results may include the distance between the UE and gNB 1, the angle between the UE and gNB 1, the moving speed of the UE and/or the location of the UE.
  • the LMF can send the sensing results to gNB 1.
  • gNB 1 can determine the moving speed of the UE based on the sensing results, and dynamically adjust the sending frequency of positioning-related reference signals based on the moving speed of the UE.
  • gNB 1 can notify the UE of the adjusted transmission frequency.
  • gNB 1 After gNB 1 receives the sensing result from the LMF, when gNB 1 determines that it is necessary to request cooperative sensing from other base stations based on the sensing result (for example, when gNB 1 determines that the moving speed of the UE is higher than a predetermined threshold), gNB 1 Request information requesting one or more other base stations to cooperate in sensing the location of the UE may also be additionally sent to the LMF. After receiving such request information, the LMF can select appropriate base stations to participate in cooperative sensing (for example, those base stations that participate in positioning the UE based on mobile communication positioning technology) and send a message to these base stations (gNB 2 as shown in Figure 12A ) sends instructions for collaborative sensing.
  • appropriate base stations to participate in cooperative sensing for example, those base stations that participate in positioning the UE based on mobile communication positioning technology
  • the base stations participating in cooperative sensing may then receive echo signals from the UE to the sensing signals sent by gNB 1 (and other base stations participating in cooperative sensing) and/or send their own sensing signals to the UE, as described with reference to Figure 11B and receives the echo signal of the sensing signal and sends information about the one or more echo signals to the LMF (for simplicity, these processes are not shown in Figure 12A).
  • Perception from participation in collaboration After each base station receives information about the echo signal, the LMF can synthesize the information, determine the sensing result of cooperative sensing, and send the result to the UE's main serving base station gNB 1.
  • gNB 1 can then dynamically adjust the transmission frequency of positioning-related reference signals based on the sensing results of this cooperative sensing.
  • gNB 1 can also send location information based on sensing results or location information determined jointly based on both sensing and mobile communication positioning technology to the UE.
  • the UE can verify the position indicated in the sensing result based on the autonomously determined position, and feed back the verification result to gNB 1.
  • gNB 1 can further dynamically adjust the transmission frequency of positioning-related reference signals based on this feedback and indicate the new transmission frequency to the UE.
  • Figure 12B shows the interaction between the base station, the UE and the core network in the case of sensing initiated by the UE.
  • the UE sends a positioning requirement to gNB 1, which is the main serving base station of the UE, to trigger gNB 1 to send a multiplexed signal that multiplexes the communication signal and the sensing signal to the UE.
  • gNB 1 may receive an echo signal of the sensing signal from the UE and transmit information indicating the echo signal to the LMF of the core network.
  • LMF can calculate the sensing results and send the sensing results to gNB 1.
  • gNB 1 can dynamically adjust the transmission frequency of positioning-related reference signals based on the UE's demand for positioning accuracy and the movement speed of the UE based on the sensing results.
  • gNB 1 can notify the UE of the adjusted transmission frequency.
  • gNB 1 Request information requesting one or more other base stations to cooperate in sensing the location of the UE may also be additionally sent to the LMF.
  • the LMF can select appropriate base stations to participate in cooperative sensing (for example, those base stations that participate in positioning UEs based on mobile communication positioning technology) and send messages to these base stations (gNB 2 as shown in Figure 12B ) sends instructions for collaborative sensing.
  • the base station participating in cooperative sensing may then receive the corresponding echo signal and send information about the echo signal to the LMF as described with reference to FIG. 11B and FIG. 12A.
  • the LMF can synthesize this information, determine the sensing result of cooperative sensing, and send the result to the UE's main serving base station gNB 1.
  • gNB 1 can then dynamically adjust the transmission frequency of positioning-related reference signals based on the sensing results of this cooperative sensing.
  • gNB 1 can also send location information based on sensing results or location information determined jointly based on both sensing and mobile communication positioning technology to the UE.
  • the UE can verify the position indicated in the sensing result based on the autonomously determined position, and feed back the verification result to gNB 1.
  • gNB 1 can further dynamically adjust the transmission frequency of positioning-related reference signals based on this feedback and indicate the new transmission frequency to the UE.
  • a multiplexed signal that multiplexes the sensing signal and the multiplexed signal may also be sent periodically instead of being triggered by the base station or the UE.
  • machine-executable instructions in the machine-readable storage medium or program product may be configured to perform operations corresponding to the above-described apparatus and method embodiments.
  • the embodiments of the machine-readable storage medium or program product will be clear to those skilled in the art, and therefore will not be described again.
  • Machine-readable storage media and program products for carrying or including the above-described machine-executable instructions are also within the scope of the present disclosure.
  • Such storage media may include, but are not limited to, floppy disks, optical disks, magneto-optical disks, memory cards, memory sticks, and the like.
  • the above series of processes and devices can also be implemented through software and/or firmware.
  • the program constituting the software is installed from a storage medium or a network to a computer with a dedicated hardware structure, such as the general-purpose computer 1300 shown in FIG. 13.
  • the computer is installed with various programs , capable of performing various functions and more.
  • 13 is a block diagram showing an example structure of a computer as an information processing apparatus employable in the embodiment of the present disclosure.
  • the computer may correspond to the above-described exemplary core network side device according to the present disclosure.
  • the computer may also correspond to the above-described exemplary terminal device according to the present disclosure.
  • a central processing unit (CPU) 1301 performs various processes according to a program stored in a read-only memory (ROM) 1302 or a program loaded from a storage section 1308 into a random access memory (RAM) 1303 .
  • ROM read-only memory
  • RAM random access memory
  • data required when the CPU 1301 performs various processes and the like is also stored as necessary.
  • the CPU 1301, ROM 1302 and RAM 1303 are connected to each other via a bus 1304.
  • Input/output interface 1305 is also connected to bus 1304.
  • the following components are connected to the input/output interface 1305: an input part 1306, including a keyboard, a mouse, etc.; an output part 1307, including a display, such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage part 1308 , including hard disk, etc.; and communication part 1309, including network interface cards such as LAN cards, modems, etc.
  • the communication section 1309 performs communication processing via a network such as the Internet.
  • Driver 1310 is also connected to input/output interface 1305 as needed.
  • Removable media 1311 such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, etc. are installed on the drive 1310 as necessary, so that computer programs read therefrom are installed into the storage section 1308 as needed.
  • the program constituting the software is installed from a network such as the Internet or a storage medium such as the removable medium 1311.
  • this storage medium is not limited to the removable medium 1311 shown in FIG. 13 in which the program is stored and distributed separately from the device to provide the program to the user.
  • removable media 1311 include Magnetic disks (including floppy disks (registered trademark)), optical disks (including compact disk read-only memory (CD-ROM) and digital versatile disks (DVD)), magneto-optical disks (including minidisk (MD) (registered trademark)) and semiconductor memories.
  • the storage medium may be a ROM 1302, a hard disk included in the storage section 1308, or the like, in which programs are stored and distributed to users together with the device containing them.
  • the technology of the present disclosure can be applied to various products.
  • the electronic device 30 according to the embodiment of the present disclosure may be implemented as or included in various control devices/base stations, and the method shown in FIG. 4 may also be implemented by various control devices/base stations.
  • the electronic device 70 according to the embodiment of the present disclosure may be implemented as or included in various terminal devices/user devices, and the method shown in FIG. 8 may also be implemented by various terminal devices. /user-device implementation.
  • the control device/base station mentioned in this disclosure may be implemented as any type of base station, such as an evolved Node B (gNB), such as a macro gNB and a small gNB.
  • gNB evolved Node B
  • a small gNB may be a gNB covering a smaller cell than a macro cell, such as pico gNB, micro gNB, and home (femto) gNB.
  • the base station may be implemented as any other type of base station, such as a NodeB and a Base Transceiver Station (BTS).
  • the base station may include: a main body (also called a base station device) configured to control wireless communication; and one or more remote radio heads (RRH) disposed in a different place from the main body.
  • RRH remote radio heads
  • various types of terminals to be described below may operate as base stations by temporarily or semi-persistently performing base station functions.
  • the terminal device mentioned in this disclosure is also called a user device in some examples, and may be implemented as a mobile terminal (such as a smartphone, a tablet computer (PC), a notebook PC, a portable game terminal, a portable/dongle type mobile routers and digital cameras) or vehicle-mounted terminals (such as car navigation equipment).
  • the user equipment may also be implemented as a terminal performing machine-to-machine (M2M) communication (also known as a machine type communication (MTC) terminal).
  • M2M machine-to-machine
  • MTC machine type communication
  • the user equipment may be a wireless communication module (such as an integrated circuit module including a single die) installed on each of the above-mentioned terminals.
  • the term base station in this disclosure has the full breadth of its ordinary meaning and includes at least a wireless communication station used to facilitate communications as a wireless communication system or part of a radio system.
  • a base station may be, for example but not limited to, the following: the base station may be one or both of a base transceiver station (BTS) and a base station controller (BSC) in the GSM system, and may be a radio network controller in the WCDMA system.
  • BTS base transceiver station
  • BSC base station controller
  • One or both (RNC) and Node B can be eNBs in LTE and LTE-Advanced systems, gNBs, eLTE eNBs, etc. that appear in 5G communication systems, or can make corresponding eNBs in future communication systems. network node.
  • Some functions can also be implemented as entities with communication control functions in D2D, M2M and V2V communication scenarios, or as entities that play a spectrum coordination role in cognitive radio communication scenarios.
  • gNB 1400 includes multiple antennas 1410 and base station equipment 1420.
  • the base station device 1420 and each antenna 1410 may be connected to each other via an RF cable.
  • the gNB 1400 (or base station device 1420) here may correspond to the above-mentioned electronic device 30.
  • Antennas 1410 each include a single or multiple antenna elements, such as multiple antenna elements included in a multiple-input multiple-output (MIMO) antenna, and are used by base station device 1420 to transmit and receive wireless signals.
  • gNB 1400 may include multiple antennas 1410.
  • multiple antennas 1410 may be compatible with multiple frequency bands used by gNB 1400.
  • the base station device 1420 includes a controller 1421, a memory 1422, a network interface 1423, and a wireless communication interface 1425.
  • the controller 1421 may be, for example, a CPU or a DSP, and operates various functions of higher layers of the base station device 1420 . For example, the controller 1421 generates data packets based on the data in the signal processed by the wireless communication interface 1425 and delivers the generated packets via the network interface 1423 . The controller 1421 may bundle data from multiple baseband processors to generate bundled packets, and deliver the generated bundled packets. The controller 1421 may have logical functions to perform controls such as radio resource control, radio bearer control, mobility management, admission control, and scheduling. This control can be performed in conjunction with nearby gNB or core network nodes.
  • the memory 1422 includes RAM and ROM, and stores programs executed by the controller 421 and various types of control data such as terminal lists, transmission power data, and scheduling data.
  • the network interface 1423 is a communication interface used to connect the base station device 1420 to the core network 1424. Controller 1421 may communicate with core network nodes or additional gNBs via network interface 1423. In this case, the gNB 1400 and the core network node or other gNBs may be connected to each other through logical interfaces such as the S1 interface and the X2 interface.
  • the network interface 1423 may also be a wired communication interface or a wireless communication interface for a wireless backhaul line. If network interface 1423 is a wireless communication interface, network interface 1923 may use a higher frequency band for wireless communication than the frequency band used by wireless communication interface 1425.
  • the wireless communication interface 1425 supports any cellular communication scheme such as Long Term Evolution (LTE) and LTE-Advanced and provides wireless connectivity to terminals located in the cell of the gNB 1400 via the antenna 1410 .
  • Wireless communication interface 1425 may generally include, for example, a baseband (BB) processor 1426 and RF circuitry 1427.
  • BB processor 1426 can perform lines such as encoding/decoding, modulation/demodulation, and multiplexing/demultiplexing, and implements various types of signal processing.
  • the BB processor 1426 may have part or all of the above-mentioned logical functions.
  • the BB processor 1426 may be a memory that stores a communication control program, or a module including a processor and related circuitry configured to execute the program.
  • the update program can cause the functionality of the BB processor 1426 to change.
  • the module may be a card or blade that plugs into a slot of the base station device 1420. Alternatively, the module may be a chip mounted on a card or blade.
  • the RF circuit 1427 may include, for example, a mixer, filter, and amplifier, and transmit and receive wireless signals via the antenna 1410.
  • FIG. 14 shows an example in which one RF circuit 1427 is connected to one antenna 1410, the present disclosure is not limited to this illustration, but one RF circuit 1427 can be connected to multiple antennas 1410 at the same time.
  • the wireless communication interface 1425 may include multiple BB processors 1426.
  • multiple BB processors 1426 may be compatible with multiple frequency bands used by gNB 1400.
  • wireless communication interface 1425 may include a plurality of RF circuits 1427.
  • multiple RF circuits 1427 may be compatible with multiple antenna elements.
  • FIG. 14 shows an example in which the wireless communication interface 1425 includes multiple BB processors 1426 and multiple RF circuits 1427, the wireless communication interface 1425 may also include a single BB processor 1426 or a single RF circuit 1427.
  • gNB 15 is a block diagram illustrating a second example of a schematic configuration of a gNB to which the technology of the present disclosure may be applied.
  • gNB 1530 includes multiple antennas 1540, base station equipment 1550 and RRH 1560. RRH 1560 and each antenna 1540 may be connected to each other via RF cables. The base station equipment 1550 and the RRH 1560 may be connected to each other via high-speed lines such as fiber optic cables.
  • the gNB 1530 (or base station device 1550) here may correspond to the above-mentioned electronic device 30.
  • Antennas 1540 each include single or multiple antenna elements (such as multiple antenna elements included in a MIMO antenna) and are used by RRH 1560 to transmit and receive wireless signals.
  • gNB 1530 may include multiple antennas 1540.
  • multiple antennas 1540 may be compatible with multiple frequency bands used by gNB 1530.
  • the base station device 1550 includes a controller 1551, a memory 1552, a network interface 1553, a wireless communication interface 1555, and a connection interface 1557.
  • the controller 1551, the memory 1552, and the network interface 1553 are the same as the controller 1421, the memory 1422, and the network interface 1423 described with reference to FIG. 14 .
  • the wireless communication interface 1555 supports any cellular communication scheme such as LTE and LTE-Advanced and provides wireless communication to terminals located in the sector corresponding to the RRH 1560 via the RRH 1560 and the antenna 1540 .
  • the wireless communication interface 1555 may generally include a BB processor 1556, for example. Except that the BB processor 1556 is connected to the RF circuit 1564 of the RRH 1560 via the connection interface 1557, the BB processor 1556 is the same as the BB processor described with reference to FIG. 14 1426 is the same.
  • the wireless communication interface 1555 may include multiple BB processors 1556. For example, multiple BB processors 1556 may be compatible with multiple frequency bands used by gNB 1530.
  • FIG. 15 shows an example in which the wireless communication interface 1555 includes multiple BB processors 1556, the wireless communication interface 1555 may also include a single BB processor 1556.
  • connection interface 1557 is an interface for connecting the base station device 1550 (wireless communication interface 1555) to the RRH 1560.
  • the connection interface 1557 may also be a communication module used to connect the base station device 1550 (wireless communication interface 1555) to the communication in the above-mentioned high-speed line of the RRH 1560.
  • RRH 1560 includes a connection interface 1561 and a wireless communication interface 1563.
  • connection interface 1561 is an interface for connecting the RRH 1560 (wireless communication interface 1563) to the base station device 1550.
  • the connection interface 1561 may also be a communication module used for communication in the above-mentioned high-speed line.
  • Wireless communication interface 1563 transmits and receives wireless signals via antenna 1540.
  • Wireless communication interface 1563 may generally include RF circuitry 1564, for example.
  • RF circuitry 1564 may include, for example, mixers, filters, and amplifiers, and transmit and receive wireless signals via antenna 1540 .
  • FIG. 15 shows an example in which one RF circuit 1564 is connected to one antenna 1540, the present disclosure is not limited to this illustration, but one RF circuit 1564 can be connected to multiple antennas 1540 at the same time.
  • wireless communication interface 1563 may include a plurality of RF circuits 1564.
  • multiple RF circuits 1564 may support multiple antenna elements.
  • FIG. 15 shows an example in which the wireless communication interface 1563 includes a plurality of RF circuits 1564, the wireless communication interface 1563 may also include a single RF circuit 1564.
  • the smart phone 1600 includes a processor 1601, a memory 1602, a storage device 1603, an external connection interface 1604, a camera 1606, a sensor 1607, a microphone 1608, an input device 1609, a display device 1610, a speaker 1611, a wireless communication interface 1612, one or more Antenna switch 1615, one or more antennas 1616, bus 1617, battery 1618, and auxiliary controller 1619.
  • the smart phone 1600 (or processor 1601) here may correspond to the above-mentioned electronic device 70.
  • the processor 1601 may be, for example, a CPU or a system on a chip (SoC), and controls functions of the application layer and other layers of the smartphone 1600 .
  • the memory 1602 includes RAM and ROM, and stores data and programs executed by the processor 1601 .
  • the storage device 1603 may include storage media such as semiconductor memory and hard disk.
  • External connection interface 1604 is for connecting external devices, such as memory cards and Universal Serial Bus (USB) devices, to the smartphone 1600 Interface.
  • the camera 1606 includes an image sensor such as a charge coupled device (CCD) and a complementary metal oxide semiconductor (CMOS) and generates a captured image.
  • Sensors 1607 may include a group of sensors such as measurement sensors, gyroscope sensors, geomagnetic sensors, and acceleration sensors.
  • the microphone 1608 converts the sound input to the smartphone 1600 into an audio signal.
  • the input device 1609 includes, for example, a touch sensor, a keypad, a keyboard, a button, or a switch configured to detect a touch on the screen of the display device 1610, and receives an operation or information input from a user.
  • the display device 1610 includes a screen such as a liquid crystal display (LCD) and an organic light emitting diode (OLED) display, and displays an output image of the smartphone 1600 .
  • the speaker 1611 converts the audio signal output from the smartphone 1600 into sound.
  • the wireless communication interface 1612 supports any cellular communication scheme such as LTE and LTE-Advanced, and performs wireless communication.
  • Wireless communication interface 1612 may generally include, for example, BB processor 1613 and RF circuitry 1619.
  • the BB processor 1613 can perform, for example, encoding/decoding, modulation/demodulation, and multiplexing/demultiplexing, and perform various types of signal processing for wireless communication.
  • RF circuitry 1614 may include, for example, mixers, filters, and amplifiers, and transmit and receive wireless signals via antenna 1616.
  • the wireless communication interface 1612 may be a chip module on which the BB processor 1613 and the RF circuit 1614 are integrated. As shown in FIG.
  • the wireless communication interface 1612 may include multiple BB processors 1613 and multiple RF circuits 1614. Although FIG. 16 shows an example in which the wireless communication interface 1612 includes multiple BB processors 1613 and multiple RF circuits 1614, the wireless communication interface 1612 may also include a single BB processor 1613 or a single RF circuit 1614.
  • the wireless communication interface 1612 may support other types of wireless communication schemes, such as short-range wireless communication schemes, near field communication schemes, and wireless local area network (LAN) schemes.
  • the wireless communication interface 1612 may include a BB processor 1613 and an RF circuit 1614 for each wireless communication scheme.
  • Each of the antenna switches 1615 switches the connection destination of the antenna 1616 between a plurality of circuits included in the wireless communication interface 1612 (for example, circuits for different wireless communication schemes).
  • Antennas 1616 each include a single or multiple antenna elements (such as multiple antenna elements included in a MIMO antenna) and are used by wireless communication interface 1612 to transmit and receive wireless signals.
  • smartphone 1600 may include multiple antennas 1616.
  • FIG. 16 shows an example in which smartphone 1600 includes multiple antennas 1616
  • smartphone 1600 may also include a single antenna 1616 .
  • smartphone 1600 may include an antenna 1616 for each wireless communication scheme.
  • the antenna switch 1615 may be omitted from the configuration of the smartphone 1600.
  • Bus 1617 connects processor 1601, memory 1602, storage device 1603, external connection interface 1604, camera
  • the imaging device 1606, the sensor 1607, the microphone 1608, the input device 1609, the display device 1610, the speaker 1611, the wireless communication interface 1612, and the auxiliary controller 1619 are connected to each other.
  • the battery 1618 provides power to the various blocks of the smartphone 1600 shown in Figure 16 via feeders, which are partially shown as dashed lines in the figure.
  • the auxiliary controller 1619 operates the minimum necessary functions of the smartphone 1600 in the sleep mode, for example.
  • the car navigation device 1720 includes a processor 1721, a memory 1722, a global positioning system (GPS) module 1724, a sensor 1725, a data interface 1726, a content player 1727, a storage media interface 1728, an input device 1729, a display device 1730, a speaker 1731, a wireless Communication interface 1733, one or more antenna switches 1736, one or more antennas 1737, and battery 1738.
  • the car navigation device 1720 (or the processor 1721) here may correspond to the above-mentioned electronic device 50 and/or the electronic device 100.
  • the processor 1721 may be, for example, a CPU or an SoC, and controls the navigation function and other functions of the car navigation device 1720 .
  • the memory 1722 includes RAM and ROM, and stores data and programs executed by the processor 1721 .
  • the GPS module 1724 measures the location (such as latitude, longitude, and altitude) of the car navigation device 1720 using GPS signals received from GPS satellites.
  • Sensors 1725 may include a group of sensors such as gyroscope sensors, geomagnetic sensors, and air pressure sensors.
  • the data interface 1726 is connected to, for example, the vehicle-mounted network 1741 via a terminal not shown, and acquires data generated by the vehicle (such as vehicle speed data).
  • the content player 1727 reproduces content stored in storage media, such as CDs and DVDs, which are inserted into the storage media interface 1728 .
  • the input device 1729 includes, for example, a touch sensor, a button, or a switch configured to detect a touch on the screen of the display device 1730, and receives an operation or information input from a user.
  • the display device 1730 includes a screen such as an LCD or an OLED display, and displays an image of a navigation function or reproduced content.
  • the speaker 1731 outputs the sound of the navigation function or the reproduced content.
  • the wireless communication interface 1733 supports any cellular communication scheme such as LTE and LTE-Advanced, and performs wireless communication.
  • Wireless communication interface 1733 may generally include, for example, BB processor 1734 and RF circuitry 1735.
  • the BB processor 1734 can perform, for example, encoding/decoding, modulation/demodulation, and multiplexing/demultiplexing, and perform various types of signal processing for wireless communications.
  • the RF circuit 1735 may include, for example, a mixer, filter, and amplifier, and transmit and receive wireless signals via the antenna 1737.
  • the wireless communication interface 1733 may also be a chip module on which the BB processor 1734 and the RF circuit 1735 are integrated. As shown in FIG.
  • the wireless communication interface 1733 may include a plurality of BB processors 1734 and a plurality of RF circuits 1735.
  • Figure 17 shows where the wireless communication interface 1733 includes Examples of multiple BB processors 1734 and multiple RF circuits 1735 , but the wireless communication interface 1733 may also include a single BB processor 1734 or a single RF circuit 1735 .
  • the wireless communication interface 1733 may support other types of wireless communication schemes, such as short-range wireless communication schemes, near field communication schemes, and wireless LAN schemes.
  • the wireless communication interface 1733 may include a BB processor 1734 and an RF circuit 1735 for each wireless communication scheme.
  • Each of the antenna switches 1736 switches the connection destination of the antenna 1737 between a plurality of circuits included in the wireless communication interface 1733, such as circuits for different wireless communication schemes.
  • Antennas 1737 each include a single or multiple antenna elements (such as multiple antenna elements included in a MIMO antenna) and are used by wireless communication interface 1733 to transmit and receive wireless signals.
  • car navigation device 1720 may include multiple antennas 1737 .
  • FIG. 17 shows an example in which the car navigation device 1720 includes multiple antennas 1737, the car navigation device 1720 may also include a single antenna 1737.
  • the car navigation device 1720 may include an antenna 1737 for each wireless communication scheme.
  • the antenna switch 1736 may be omitted from the configuration of the car navigation device 1720.
  • the battery 1738 provides power to the various blocks of the car navigation device 1720 shown in FIG. 17 via feeders, which are partially shown as dashed lines in the figure. Battery 1738 accumulates power provided from the vehicle.
  • the technology of the present disclosure may also be implemented as an in-vehicle system (or vehicle) 1740 including a car navigation device 1720 , an in-vehicle network 1741 , and one or more blocks of a vehicle module 1742 .
  • the vehicle module 1742 generates vehicle data such as vehicle speed, engine speed, and fault information, and outputs the generated data to the in-vehicle network 1741 .
  • machine-executable instructions in the machine-readable storage medium or program product may be configured to perform operations corresponding to the above-described apparatus and method embodiments.
  • the embodiments of the machine-readable storage medium or program product will be clear to those skilled in the art, and therefore will not be described again.
  • Machine-readable storage media and program products for carrying or including the above-described machine-executable instructions are also within the scope of the present disclosure.
  • Such storage media may include, but are not limited to, floppy disks, optical disks, magneto-optical disks, memory cards, memory sticks, and the like.
  • a plurality of functions included in one unit in the above embodiments may be implemented by separate devices.
  • multiple functions implemented by multiple units in the above embodiments may be implemented by separate devices respectively.
  • one of the above functions may be implemented by multiple units. Needless to say, such a configuration is included in the technical scope of the present disclosure.
  • steps described in the flowchart include not only processing performed in time series in the stated order but also processing performed in parallel or individually and not necessarily in time series. Furthermore, even in steps processed in time series, it goes without saying that the order can be appropriately changed.
  • the present disclosure can also have the following configuration:
  • An electronic device for the control device side of a wireless communication system including:
  • processing circuit configured as:
  • the multiplexed signal multiplexes both a communication signal and a sensing signal
  • the sensing signal is at least used to sense the distance between the terminal device and the electronic device, the the angle between the terminal device and the electronic device and/or the movement speed of the terminal device thereby determining the position of the terminal device
  • the sensing result including the distance, the angle, the moving speed and/or the position of the terminal device
  • the sensing result is determined based on at least the difference between the sensing signal and the echo signal, and And wherein, the difference includes one or more of the following: Doppler frequency shift, time of flight, amplitude change, frequency change and phase change.
  • the transmission frequency of the positioning-related reference signal is dynamically adjusted.
  • mobile communication positioning Technologies include one or more of the following: downlink time difference of arrival DL-TDOA, uplink time difference of arrival UL-TDOA, downlink angle of departure DL-AoD, uplink angle of arrival UL-AOA, multi-round trip delay Multi-RTT, and new radio enhancements Type cell ID NR E-CID.
  • the mobile communication positioning technology includes one or more of the following: assisted global satellite navigation system positioning A-GNSS, motion sensor-based positioning, DL- TDOA, UL-TDOA, DL-AoD, UL-AOA, Multi-RTT and NR E-CID;
  • the first position and the second position are respectively weighted to determine the position of the terminal device.
  • the transmission frequency of the positioning-related reference signal is dynamically adjusted.
  • the communication signal includes one or more of the following signals: positioning reference signal PRS, data demodulation reference signal DMRS, channel state measurement reference signal CSI-RS, Detection reference signal SRS and communication data signal.
  • the reference signal related to positioning includes one or more of the following reference signals: positioning reference signal PRS, demodulation reference signal DMRS, channel state information Reference signal CSI-RS and sounding reference signal SRS.
  • a method for controlling the device side of a wireless communication system including:
  • the multiplexed signal multiplexes both a communication signal and a sensing signal
  • the sensing signal is at least used to sense the distance between the terminal device and the electronic device, the the angle between the terminal device and the electronic device and/or the movement speed of the terminal device thereby determining the position of the terminal device
  • An electronic device used on the terminal equipment side of a wireless communication system including:
  • processing circuitry configured to receive multiplexed signals from the base station,
  • the multiplexed signal multiplexes both the communication signal and the sensing signal
  • the echo signal generated by at least reflection, scattering and/or diffraction of the sensing signal by the electronic device is propagated to one or more base stations including the base station, and
  • the sensing signal is at least used to sense the distance between the electronic device and the base station, the angle between the electronic device and the base station, and/or the moving speed of the electronic device to determine the electronic device. The location of the device.
  • Information indicating the location of the electronic device is received from the base station, wherein the information includes a sensing result based on a sensing signal or a joint positioning result, wherein the sensing result includes the perceived distance, the angle, The moving speed and/or the position of the electronic device, the joint positioning result includes the electronic device determined based on both the first position of the electronic device based on mobile communication positioning technology and the second position based on the sensing result. the location of the device,
  • Feedback is provided to the base station based on the difference between the autonomously determined position and the position indicated in the information received from the base station.
  • autonomously determining the location of the electronic device includes estimating the location of the electronic device based on one or more of the following information: obtained based on RAT-only-DL positioning technology The location information, the location information based on the assisted global satellite navigation system positioning A-GNSS, the location information obtained based on the global positioning system GPS, the last positioning result and the movement information of the electronic device determined based on the motion sensor.
  • a method for a terminal device side of a wireless communication system comprising:
  • the multiplexed signal multiplexes both the communication signal and the sensing signal
  • the echo signal generated by at least reflection, scattering and/or diffraction of the sensing signal by the electronic device is propagated to one or more base stations including the base station, and
  • the sensing signal is at least used to sense the distance between the electronic device and the base station, the angle between the electronic device and the base station, and/or the moving speed of the electronic device to determine the electronic device. The location of the device.
  • An electronic device for the core network side of a wireless communication system including:
  • processing circuit configured as:
  • the sensing result for the terminal device is determined at least based on the difference between the sensing signal and the echo signal, wherein the sensing result includes the distance between the terminal device and the base station, the terminal the angle between the device and the base station, the speed of movement of the terminal device and/or the position of the terminal device, and
  • the mobile communication positioning technology includes one or more of the following: assisted global satellite navigation system positioning A-GNSS, downlink time difference of arrival DL-TDOA, uplink time difference of arrival UL-TDOA, downlink angle of departure DL-AoD, uplink angle of arrival UL-AOA, multi-RTT and new radio enhanced cell ID NR E-CID .
  • a method for the core network side of a wireless communication system including:
  • the sensing result for the terminal device is determined at least based on the difference between the sensing signal and the echo signal, wherein the sensing result includes the distance between the terminal device and the base station, the terminal Equipment and Description the angle between the base stations, the speed of movement of the terminal device and/or the position of the terminal device, and
  • a device including:
  • a storage device stores executable instructions that, when executed, implement the method described in any one of (15), (23), and (27).

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Abstract

本发明涉及用于无线通信系统的电子设备、方法和存储介质。一种用于无线通信系统的控制设备侧的电子设备，包括：处理电路，被配置为：向终端设备发送复用信号，其中，所述复用信号复用了通信信号和感知信号二者，所述感知信号至少用于感知所述终端设备与所述电子设备之间的距离、所述终端设备与所述电子设备之间的角度和/或所述终端设备的移动速度从而确定所述终端设备的位置，和接收由所述终端设备对所述感知信号的至少反射、散射和/或绕射而产生的回波信号。

Description

用于无线通信系统的电子设备、方法和存储介质
相关申请交叉引用
本申请基于并要求于2022年7月13日提交的标题为“用于无线通信系统的电子设备、方法和存储介质”的中国专利申请202210826602.7的优先权，其全部内容通过引用并入本文。
技术领域
本公开一般地涉及无线通信系统，并且具体地涉及与通信和感知一体化有关的技术。
背景技术
一般而言，通信可以表示两方或多方之间的信息传输。一般而言，感知可以表示对环境中事物的状态、特征等的探测。感知的用例可以根据不同行业的应用需求而变化，例如自动驾驶汽车/无人机检测、环境实时监测、天气或空气污染监测等。感知的目标例如可以是对障碍物的感知、对物体位置的感知、对物体移动速度的感知、对空气湿度/颗粒物浓度等的感知。
传统地，通信和感知是独立存在的。需要一种使通信和感知一体化的方案。
发明内容
本公开提出了一种与通信和感知一体化有关的方案，具体地，本公开提供了一种用于无线通信系统的电子设备、方法和存储介质。
本公开的一个方面涉及一种用于无线通信系统的控制设备侧的电子设备，包括：处理电路，被配置为：向终端设备发送复用信号，其中，所述复用信号复用了通信信号和感知信号二者，所述感知信号至少用于感知所述终端设备与所述电子设备之间的距离、所述终端设备与所述电子设备之间的角度和/或所述终端设备的移动速度从而确定所述终端设备的位置，和接收由所述终端设备对所述感知信号的至少反射、散射和/或绕射而产生的回波信号。
本公开的另一个方面涉及一种用于无线通信系统的控制设备侧的方法，包括：向终端设备发送复用信号，其中，所述复用信号复用了通信信号和感知信号二者，所述感知 信号至少用于感知所述终端设备与所述电子设备之间的距离、所述终端设备与所述电子设备之间的角度和/或所述终端设备的移动速度从而确定所述终端设备的位置，和接收由所述终端设备对所述感知信号的至少反射、散射和/或绕射而产生的回波信号。
本公开的另一个方面涉及一种用于无线通信系统的终端设备侧的电子设备，包括：处理电路，被配置为从基站接收复用信号，其中，所述复用信号复用了通信信号和感知信号二者，其中，所述感知信号被所述电子设备至少反射、散射和/或绕射而产生的回波信号被传播到包括所述基站的一个或多个基站，以及其中，所述感知信号至少用于感知所述电子设备与所述基站之间的距离、所述电子设备与所述基站之间的角度和/或所述电子设备的移动速度从而确定所述电子设备的位置。
本公开的另一个方面涉及一种用于无线通信系统的终端设备侧的方法，包括：从基站接收复用信号，其中，所述复用信号复用了通信信号和感知信号二者，其中，所述感知信号被所述电子设备至少反射、散射和/或绕射而产生的回波信号被传播到包括所述基站的一个或多个基站，以及其中，所述感知信号至少用于感知所述电子设备与所述基站之间的距离、所述电子设备与所述基站之间的角度和/或所述电子设备的移动速度从而确定所述电子设备的位置。
本公开的另一个方面涉及一种用于无线通信系统的核心网侧的电子设备，包括：处理电路，被配置为：从基站接收指示感知信号被终端设备至少反射、散射和/或绕射而产生的回波信号的信息，至少是基于所述感知信号与所述回波信号之间的差异确定对所述终端设备的感知结果，其中，所述感知结果包括所述终端设备与所述基站之间的距离、所述终端设备与所述基站之间的角度、所述终端设备的移动速度和/或所述终端设备的位置，和向所述基站发送所述感知结果。
本公开的另一个方面涉及一种用于无线通信系统的核心网侧的方法，包括：从基站接收指示感知信号被终端设备至少反射、散射和/或绕射而产生的回波信号的信息，至少是基于所述感知信号与所述回波信号之间的差异确定对所述终端设备的感知结果，其中，所述感知结果包括所述终端设备与所述基站之间的距离、所述终端设备与所述基站之间的角度、所述终端设备的移动速度和/或所述终端设备的位置，和向所述基站发送所述感知结果。
本公开的另一个方面涉及一种存储有可执行指令的非暂时性计算机可读存储介质，所述可执行指令当被执行时实现如上述方面所述的方法。
本公开的另一个方面涉及一种设备。所述设备包括：处理器和存储装置，所述 存储装置存储有可执行指令，所述可执行指令当被执行时实现如前所述的方法。
提供上述概述是为了总结一些示例性的实施例，以提供对本文所描述的主题的各方面的基本理解。因此，上述特征仅仅是例子并且不应该被解释为以任何方式缩小本文所描述的主题的范围或精神。本文所描述的主题的其他特征、方面和优点将从以下结合附图描述的具体实施方式而变得明晰。
附图说明
当结合附图考虑实施例的以下具体描述时，可以获得对本公开内容更好的理解。在各附图中使用了相同或相似的附图标记来表示相同或者相似的部件。各附图连同下面的具体描述一起包含在本说明书中并形成说明书的一部分，用来例示说明本公开的实施例和解释本公开的原理和优点。其中：
图1示意性地示出了通信和感知一体化下的各种感知链路；
图2A示意性地示出了通信和感知一体化的示例性场景；
图2B示意性地示出了通信和感知一体化的示例性应用；
图3示意性地示出了根据本公开的实施例的控制设备侧的电子设备的概念性配置；
图4示意性地示出了根据本公开的实施例的控制设备侧的电子设备的概念性操作流程；
图5示意性地示出了根据本公开的实施例的通信信号与感知信号的复用信号的示意性配置；
图6示意性地示出了5G中使用的移动通信定位技术；
图7示意性地示出了根据本公开的实施例的终端设备侧的电子设备的概念性配置；
图8示意性地示出了根据本公开的实施例的终端设备侧的电子设备的概念性操作流程；
图9示意性地示出了根据本公开的实施例的核心网侧的电子设备的概念性配置；
图10示意性地示出了根据本公开的实施例的核心网侧的电子设备的概念性操作流程；
图11A示意性地示出了根据本公开的实施例的感知终端设备的位置的示例性感知原理；
图11B示意性地示出了根据本公开的实施例的感知终端设备的位置的示例性感知原理；
图12A示意性地示出了根据本公开的实施例的示例性信息交互；
图12B示意性地示出了根据本公开的实施例的示例性信息交互；
图13为作为本公开的实施例中可采用的信息处理设备的计算机的示例结构的框图；
图14为示出可以应用本公开的技术的gNB的示意性配置的第一示例的框图；
图15为示出可以应用本公开的技术的gNB的示意性配置的第二示例的框图；
图16为示出可以应用本公开的技术的智能电话的示意性配置的示例的框图；以及
图17为示出可以应用本公开的技术的汽车导航设备的示意性配置的示例的框图。
虽然在本公开内容中所描述的实施例可能易于有各种修改和另选形式，但是其具体实施例在附图中作为例子示出并且在本文中被详细描述。但是，应当理解，附图以及对其的详细描述不是要将实施例限定到所公开的特定形式，而是相反，目的是要涵盖属于权利要求的精神和范围内的所有修改、等同和另选方案。
具体实施方式
以下描述根据本公开的设备和方法等各方面的代表性应用。这些例子的描述仅是为了增加上下文并帮助理解所描述的实施例。因此，对本领域技术人员而言明晰的是，以下所描述的实施例可以在没有具体细节当中的一些或全部的情况下被实施。在其他情况下，众所周知的过程步骤没有详细描述，以避免不必要地模糊所描述的实施例。其他应用也是可能的，本公开的方案并不限制于这些示例。
典型地，无线通信系统至少包括控制设备、终端设备和核心网侧的设备。
在本公开中，术语“基站”或“控制设备”具有其通常含义的全部广度，并且至少包括作为无线通信系统或无线电系统的一部分以便于通信的无线通信站。作为例子，基站例如可以是4G通信标准的eNB、5G NR通信标准的gNB、6G通信标准的基站、远程无线电头端、无线接入点、无人机控制塔台或者执行类似功能的通信装置。在本公开中，“基站”和“控制设备”可以互换地使用，或者“控制设备”可以实现为“基站”的一部分。下文将以基站为例结合附图详细描述基站/终端设备的应用示例。
在本公开中，术语“终端设备”或“用户设备(UE)”具有其通常含义的全部广度，并且至少包括作为无线通信系统或无线电系统的一部分以便于通信的终端设备。作为例子，终端设备例如可以是移动电话、膝上型电脑、平板电脑、车载通信设备、可穿戴设备、传感器等之类的终端设备或其元件。在本公开中，“终端设备”和“用户设备”(以下可被简称为“UE”)可以互换地使用，或者“终端设备”可以实现为“用户设备”的一部分。
在本公开中，术语“控制设备侧”/“基站侧”具有其通常含义的全部广度，通常指示通信系统下行链路中发送数据的一侧。类似地，术语“终端设备侧”/“用户设备侧”具有其通常含义的全部广度，并且相应地可以指示通信系统下行链路中接收数据的一侧。
应指出，以下虽然主要基于包含基站和用户设备的通信系统对本公开的实施例进行了描述，但是这些描述可以相应地扩展到包含任何其它类型的控制设备侧和终端设备侧的通信系统的情况。例如，对于下行链路的情况，控制设备侧的操作可对应于基站的操作，而用户设备侧的操作可相应地对应于终端设备的操作。
在本公开中，术语“核心网侧的设备”或“核心网侧的实体”具有其通常含义的全部广度，并且可以是提供核心网侧的一个或多个功能的网元设备，或者在适当情况下，可以是提供核心网侧的一个或多个功能的软件和/或硬件模块。特别地，在以分布式的方式提供核心网侧的一个或多个功能的情况下，“核心网侧的设备”或“核心网侧的实体”可以是对实现这一个或多个功能的设备和/或模块的统称。在下文中，“核心网侧的设备”或“核心网侧的实体”有时也被简称为“核心网”。
如在背景技术部分介绍的，传统地，通信和感知是独立存在的。但是，通信和感知分离设置存在许多弊端。
一方面，传统的感知技术(例如，无线传感技术)本身存在许多局限性。例如，在传统的感知技术下，当同一环境中存在多个设备进行感知时，使用相同频谱的设备之间会产生干扰。再例如，传统的感知技术涉及专用系统的专用组件，例如雷达/激光雷达设备，因此需要较高的设备成本，并且专用系统与实际的服务应用分离，从而难以很好地将利用感知结果提供服务应用。再例如，传统的无线感知设备之间的通信覆盖网络覆盖范围较小，难以在大范围内传输和应用感知数据。再例如，传统的感知技术在连接性方面也存在局限性，运营商只能为来自UE的传感数据传输提供连接性。此外，传统的感知技术的感知范围的限制，例如，仅仅能感知距离和角度。
另一方面，通信和感知分离设置，使得各自需要占用各自专用的频谱和/或硬件资源，从而导致资源的浪费。此外，当需要提供通信服务与感知服务相结合的服务时，通信与感知的分离设置也会导致较高的时延。
将通信与感知相融合可以有利地克服上述通信和感知分离设置的弊端。例如，感知与通信一体化，可以使得空口资源被共享，从而提高资源利用率。还例如，在通信和感知一体化的情况下，可以借助现有的无线通信系统中的频谱/资源管理，从而使感知设备之间的干扰最小化。再例如，可以借助于现有的无线通信网络(例如，蜂窝 网络)进行大范围感知。此外，本地无线网络也使得可以支持无线感知设备之间的通信。感知设备不再限于使用传统感知技术的激光雷达、毫米波雷达和ToF(Time of Flight，飞行时间)摄像头，进而能够调用更多的设备参与感知并且提供更广泛的感知服务。还例如，在通信和感知一体化的情况下，现有无线通信系统的射频模块可以被重用于感知，从而降低成本。又例如，将通信与感知融合，使得感知不再与服务应用分离，从而可以轻松接触服务应用程序。
在通信与感知一体化的情况下，感知可以在多个实体之间进行。图1示出了示意性地示出了通信和感知一体化下的各种感知链路。如图1所示，例如，感知链路具体可以包括：1)基站回波感知链路：基站发送感知信号，并接收经由诸如车之类的物体对感知信号至少进行反射、散射和/或绕射而产生的回波信号；2)基站间感知链路：基站2(或基站1)接收基站1(或相应地基站2)发送的感知信号；3)上行感知链路：基站接收UE发送的感知信号；4)下行感知链路：UE接收基站发送的感知信号；5)UE回波感知链路：UE发送感知信号并接收经由诸如人之类的物体对感知信号至少进行反射、散射和/或绕射而产生的回波信号；6)UE间感知链路：UE 2(或UE 1)接收UE 1(或相应地UE 2)发送的感知信号。图1中每种感知链路都以一个发送节点和一个接收节点作为例子，实际系统中，根据不同的感知需求可以选择不同的感知链路，每种感知链路的发送节点和接收节点可以有一个或多个，且实际感知系统可以包括多种不同的感知链路。此外，图1的基站感知链路和UE感知链路中将人和车作为感知对象的例子，实际上可以存在各种感知对象，诸如建筑物、道路上的障碍物、动物等等。更特别地，可以利用各种感知链路来对发送节点与接收节点之间的介质(例如，空气)进行感知。
图1中还示出了感知服务器，其可以从基站收集与感知相关的数据，并对数据进行处理以获得感知结果。例如，感知服务器可以位于无线通信系统中的核心网中，例如，图1中所示的感知服务器也可以充当下文将说明的位置服务器，并且可以例如是核心网中的用于提供定位管理功能(Location Management Function，LMF)的实体。
利用图1示出的感知链路，可以在各种场景下对特定对象进行适当的感知，例如基于对各种感知对象的感知结果来确定障碍物的存在、特定物体的位置、特定物体的移动速度、空气的湿度/颗粒物浓度等等。
图2A和图2B分别示意性地示出了通信和感知一体化的示例性场景和示例性应用。
如图2A所示，基站可以与一些终端(例如车载终端、无人机、图中以UE示出的移动电话等)建立通信链路。同时，还可以存在例如基站与终端(如图2A示出的，车载 终端和无人机)之间、基站与障碍物(如图2A示出的，树木)、终端与其他物体之间的感知链路。在这样的场景下，可以实现各种各样的应用，例如无人机操作、自动驾驶、机器人运动控制、增强现实、智能工厂、智能物流以及智能交通等等。
图2B示出了智能交通的示例性应用。例如，通过基站与车辆上的终端(例如，车载终端或移动通信设备)之间的感知链路，基站可以对车辆的位置、速度、移动方向等进行感知，从而辅助实现交通疏导、安全预警等功能。
更具体地，本公开主要涉及利用基站回波感知链路以UE作为感知对象的通信感知一体化方案。特别地，本公开涉及在由基站向UE发送复用了通信信号和感知信号的复用信号，使得能够利用感知信号来感知与对UE进行定位所涉及的信息(例如，基站与UE之间的距离、基站与UE之间的角度和/或UE的移动速度，等等)，从而借助于通过感知信号获得的信息来提供增强的服务(例如，调整通信信号的发送频率以便提升资源利用率、为UE提供更准确且可靠的定位、降低功耗等)。
下面将参考附图详细说明本公开的方案。
根据本公开的实施例的基站的结构及操作流程
首先将参考图3说明根据本公开的实施例的用于控制设备/基站的电子设备30的概念性结构。
如图3所示，电子设备30可以包括处理电路302。该处理电路302可以被配置为向UE发送复用信号，其中，所述复用信号复用了通信信号和感知信号二者，所述感知信号至少用于感知UE与电子设备30之间的距离、UE与电子设备30之间的角度和/或UE的移动速度从而确定UE的位置，和接收由UE对所述感知信号的至少反射、散射和/或绕射而产生的回波信号。
处理电路302可以是通用处理器的形式，也可以是专用处理电路，例如ASIC。例如，处理电路302能够由电路(硬件)或中央处理设备(诸如，中央处理单元(CPU))构造。此外，处理电路302上可以承载用于使电路(硬件)或中央处理设备工作的程序(软件)。该程序能够存储在存储器(诸如，布置在存储器304中)或从外面连接的外部存储介质中，以及经网络(诸如，互联网)下载。
在一个实现中，处理电路302可以包括信号复用单元。该信号复用单元可以采用适当的复用方法将用于通信的通信信号和用于感知的感知信号进行复用。例如，可以利用时分复用、频分复用、码分复用或空分复用等复用方法对通信信号和感知信号进行复用。
在一个实现中，处理电路302还可以包括控制与UE进行通信(可选地经由通信 单元306)以及在必要时与核心网的实体进行通信的通信控制单元。该通信控制单元例如可以控制向UE发送复用了通信信号和感知信号二者的复用信号；控制从UE接收由UE对感知信号的至少反射、散射和/或绕射而产生的回波信号；可选地，控制向UE发送控制信息(例如，包括但不限于指示通信信号与感知信号被如何复用的信息和指示与定位相关的参考信号的发送频率的信息)；以及可选地，控制向核心网发送信息(例如，包括但不限于指示回波信号的信息和请求协作感知的请求信息)等等。
可选地，电子设备30还可以包括图中以虚线示出的存储器304以及通信单元306。此外，电子设备30还可以包括未示出的其它部件，诸如射频链路、基带处理单元、网络接口、处理器、控制器等。处理电路302可以与存储器304和/或通信单元306关联。例如，处理电路302可以直接或间接(例如，中间可能连接有其它部件)连接到存储器304，以进行数据的存取。还例如，处理电路302可以直接或间接连接到通信单元306，以经由通信单元306发送无线电信号以及经由通信单元306接收无线电信号。
存储器304可以存储由处理电路302产生或用于处理电路302的操作的各种信息(例如，关于从UE接收的回波信号的信息、关于复用方法的信息以及用于调整与定位相关的参考信号的发送频率的阈值信息等)、用于电子设备30操作的程序和数据、将由通信单元306发送的数据等。存储器304用虚线绘出，因为它还可以位于处理电路302内或者位于电子设备30外。存储器304可以是易失性存储器和/或非易失性存储器。例如，存储器304可以包括但不限于随机存储存储器(RAM)、动态随机存储存储器(DRAM)、静态随机存取存储器(SRAM)、只读存储器(ROM)、闪存存储器。
通信单元306可以被配置为在处理电路302(例如通信控制单元)的控制下与终端设备进行通信。在一个示例中，通信单元306可以被实现为发射机或收发机，包括天线阵列和/或射频链路等通信部件。
虽然图3中示出了处理电路302与通信单元306分离，但是处理电路302也可以被实现为包括通信单元306，例如，与通信控制单元相结合地实现。此外，处理电路302还可以被实现为包括电子设备30中的一个或多个其它部件，或者处理电路302可以被实现为电子设备30本身。在实际实现时，处理电路302可以被实现为芯片(诸如包括单个晶片的集成电路模块)、硬件部件或完整的产品。
应注意，上述各个单元仅是根据其所实现的具体功能划分的逻辑模块，而不是用于限制具体的实现方式，例如可以以软件、硬件或者软硬件结合的方式来实现。在实际实现时，上述各个单元可被实现为独立的物理实体，或者也可由单个实体(例如，处理器(CPU 或DSP等)、集成电路等)来实现。此外，上述各个单元在附图中用虚线示出指示这些单元可以并不实际存在，而它们所实现的操作/功能可由处理电路本身来实现。
下面，将参考图4示出的控制设备/基站侧的概念性操作流程40来详细说明作为基站的电子设备30所实施的各操作。
基站的操作开始于S402。
在S404处，基站向UE发送复用了通信信号和感知信号二者的复用信号。特别地，基站可以使用波束赋形发送复用信号，从而使得该复用信号以指向特定UE的方式被发送。这种方式对于利用复用信号中的感知信号对特定UE进行感知是特别有利的。
根据本公开，通信信号可以是用于无线通信的任何信号。特别地，通信信号可以包括以下信号中的一个或多个：定位参考信号(Positioning Reference Signal，PRS)、数据解调参考信号(Demodulation Reference Signal，DMRS)、信道状态测量参考信号(Channel State Information-Reference Signal，CSI-RS)、探测参考信号(Sounding Reference Signal，SRS)和通信数据信号(其中PRS、DMRS、CSI-RS和SRS可以被用作下文说明的定位相关参考信号)，并且感知信号可以与上述任一种通信信号复用。根据本公开，感知信号可以是至少用于感知UE与基站之间的距离、UE与基站之间的角度和/或UE的移动速度从而确定UE的位置的任何适当的信号。例如，感知信号可以本身并不携带需要由感知对象(例如，UE)解读的信息，而是旨在被感知对象至少反射、散射和/或绕射而产生回波信号，从而使得能够例如基于感知信号与回波信号之间的差异来确定感知结果。
根据本公开，可以按任何适当的复用方式来复用通信信号和感知信号。例如，可以利用时分复用、频分复用、码分复用或空分复用等复用方法对通信信号和感知信号进行复用。优选地，通信信号与感知信号可以符号为单位被时分复用。这里，“以符号为单位”例如可以表示在同一个时隙内，一些符号用于通信信号，另一些符号用于感知信号。有利地是，这种复用方式计算简单便于实施，并且可以节省例如频谱等的资源的开销。
图5示出了根据本公开的用于对通信信号和感知信号进行复用的示例性复用方法。如图5所示，以5G NR为例，一个无线电帧的持续时间为10ms，并且一个无线电帧可以包括10个长度为1ms的子帧。取决于不同的子载波间隔，一个子帧可以包括不同数量(例如，n个)的时隙，每个时隙可以包括14个符号。根据本公开，可以将同一个时隙内的一些符号用于通信信号，另一些用于感知信号。如图5所示，可以将一个时隙内的符号0-5以及符号7-12用于通信，并且将符号6和符号13用于感知。
虽然图5示出了一种在一个时隙内划分符号的具体方案，但是应理解本公开并不限于这种方案。例如，可以将连续的若干个符号用于感知信号，例如，可以将符号0-10用于通信而将符号11-13用于感知。再例如，可以按非均匀的间隔在一个时隙内的若干位置处布置感知信号，例如，可以将符号0-2、4-8、10-13用于通信而将符号3、9用于感知。应理解，上述任一方案都不是限制性的，而是可以按照任何适当的方式选择一个时隙中的若干符号用于通信信号，并且将剩余符号用于感知信号。此外，虽然图5以5G NR的帧结构为例介绍了感知信号与通信信号的复用，但是本公开的复用方法可以适用于任何帧结构，只要是以符号为单位时分复用通信信号与感知信号即可。
根据本公开，对通信信号和感知信号进行复用的复用方法可以是预先确定/约定的(例如，在相关通信标准中规定的默认复用方法)，也可以是动态确定的(例如，根据动态确定的所需要的感知信号发送密度)。在后者情况下，在图4所示的步骤S404之前，基站还可以向UE发送指示通信信号与感知信号被如何复用的复用信息。例如，基站可以向UE发信息指示使用了哪种复用方法，并且特别地，在以符号为单位进行时分复用的情况下，还可以具体指示一个时隙中的哪些符号将用于感知信号。
继续参考图4，随着在S404处基站向UE发送了复用信号，复用信号中所复用的感知信号可以被UE至少反射、散射和/或绕射。在本公开中为了方便说明，感知信号被UE至少反射、散射和/或绕射而产生的信号被统称为回波信号。应该从广义的角度理解术语“回波信号”，即感知信号的信号波经过UE而传播到基站的任何经历了由UE导致的路径损耗的信号。
在图4中的S406处，基站接收这种回波信号。通过发送复用了通信信号与感知信号的复用信号，并接收感知信号的回波信号，可以实现通信与感知的一体化。
基站的概念性操作流程在S408处结束。
要指出的是，图4所示的基站的操作步骤仅仅是示意性的。在实践中，基站的操作还可以包括一些附加或替代的步骤。例如，如上文说明的，在发送复用信号之前，基站还可以向UE发送指示通信信号与感知信号被如何复用的复用信息。再例如，如下文将详细说明的，在接收到回波信号后，基站还可以向核心网发送指示回波信号的信息，并从核心网接收指示感知结果的信息。
以上已经说明了根据本公开的基站的基本操作。可以理解的是，借助于通信信号与感知信号的复用，可以实现通信与感知的一体化。在此基础上，基站可以根据情况利用感知结果来提供增强的服务。下面将对此展开说明。
根据本公开的第一增强服务的基站侧的操作
根据本公开的第一增强服务，感知信号可以被用于确定UE的移动速度，并且基站可以基于由感知确定的UE的移动速度来动态调整与基于移动通信定位技术的定位相关的参考信号(以下简称为与定位相关的参考信号或定位相关参考信号)的发送频率，从而在提供更高的定位准确度和可靠性的同时尽可能地提升资源利用率并降低功耗。根据本公开，定位相关参考信号可以是在利用移动通信定位技术对UE进行定位时要使用的参考信号。例如，定位相关参考信号可以包括以下参考信号中的一个或多个：定位参考信号(PRS)、解调参考信号(DMRS)、信道状态信息参考信号(CSI-RS)和探测参考信号(SRS)。
在接收到感知信号的回波信号之后，基站例如可以向核心网发送指示回波信号的信息，以供核心网对UE进行感知，从而获得例如包括UE与基站的距离、UE与基站的角度、UE的移动速度和UE的位置中的一项或多项的感知结果。例如，指示回波信号的信息可以至少包括以下信息中的一个或多个：回波信号的幅度、回波信号的相位、回波信号的频率、感知信号的发送时间、回波信号的接收时间、从发送感知信号到接收回波信号的飞行时间。
根据本公开，感知结果可以至少是基于感知信号与回波信号之间的差异确定的。这种差异例如包括以下中的一个或多个：多普勒频移、飞行时间、幅度变化、频率变化和相位变化。具体的感知原理将在下文参考核心网的电子设备的操作详细说明。
要说明的是，虽然本公开中优选由核心网来确定感知结果。但是，在一些实现中，也可以基于类似的感知原理由基站本身对UE的距离、角度、移动速度和/或位置进行感知。这种情况下，基站可以不向核心网发送指示回波信号的信息，而是自己基于感知信号与回波信号之间的差异来计算感知结果。
根据本公开的第一增强服务，基站可以基于感知结果确定UE的移动速度与至少一个阈值的大小关系，并且基于所述确定，动态调整与定位相关的参考信号的发送频率。如上文所述，感知结果可以直接包括UE的移动速度，也可以不显式地包括UE的移动速度而是包括指示UE的位置的信息(例如UE与基站的距离、UE与基站的角度和/或UE的位置)。在后者情况下，基站可以基于两次感知结果之间的变化幅度(例如，距离变化幅度和/或角度变化幅度和/或位置变化幅度)，或者感知结果与之前确定的UE与基站的距离/UE与基站的角度和/或UE的位置之间的变化幅度，来确定UE的移动速度。
具体地，基站可以响应于确定UE的移动速度低于或等于第一阈值，降低与定位相关的参考信号的发送频率；响应于确定UE的移动速度高于第一阈值且低于或等于第二 阈值，维持与定位相关的参考信号的发送频率；和响应于确定UE的移动速度高于第二阈值：提高与定位相关的参考信号的发送频率，和/或向核心网发送请求信息，以请求一个或多个其他基站协作，以对UE进行感知(例如，协作确定UE与之间的距离/角度、UE的移动速度和/或UE的位置)。优选地，进行协作感知的基站可以是参与基于移动通信定位技术(如下文参考图6说明的移动通信定位技术)对UE进行定位的一个或多个基站，这样，能够使对参与协作感知的调度更为容易，并且提高感知结果的准确度。替代地，进行协作感知的基站也可以是核心网根据各个基站的参考信号接收功率(Reference Signal Receiving Power，RSRP)选择的。例如，可以将具有最大RSRP的一个或多个基站作为要参与协作感知的基站。
根据本公开，基站可以根据实际情况确定各个阈值的具体取值以及对定位相关参考信号的发送频率的调整幅度。上文中虽然以两个阈值为例介绍了动态调整定位相关参考信号的发送频率的方法，但是这不是限制性的，还可以根据实际需求进行更细粒度或更粗粒度的调整。例如，也可以仅设置一个阈值，当UE的移动速度低于该阈值时动态降低定位相关参考信号的发送频率，而当UE的移动速度高于该阈值时，动态提高发送频率。再例如，还可以设置更多的阈值，基站可以根据UE的移动速度所在的阈值区间，以不同的调整幅度调整定位相关参考信号的发送频率。
根据一个具体实现方式，提高或降低与定位相关的参考信号的发送频率可以包括缩短或延长定位相关参考信号的发送周期。这尤其适用于定位相关参考信号被周期性发送的情况。例如，在基站确定UE的移动速度与至少一个阈值的大小关系后判定需要提高定位相关参考信号的发送频率的情况下，基站可以改用与之前相比更小的发送周期来发送该定位相关参考信号。类似地，例如，在基站判定需要降低定位相关参考信号的发送频率的情况下，基站可以改用与之前相比更长的发送周期来发送该定位相关参考信号。
根据一个具体实现方式，提高或降低与定位相关的参考信号的发送频率还可以包括增加或减少定位相关参考信号所占用的符号密度。例如，在基站判定需要提高定位相关参考信号的发送频率的情况下，可以例如以更高密度的方式将定位相关参考信号布置在一个帧的各个符号中，从而提高定位相关参考信号在一个帧中占用的符号个数，进而实质上提高预定时间段内(例如，预定的一个或多个帧内)的定位相关参考信号的发送频率。类似地，在基站判定需要降低定位相关参考信号的发送频率的情况下，可以例如以更高低密度的方式将定位相关参考信号布置在一个帧的各个符号中，进而实质上提高预定时间段内的定位相关参考信号的发送频率。
根据本公开，当基站确定需要提高或降低定位相关参考信号的发送频率时，基站可以向UE发送消息以通知这种变化。例如，基站可以向UE通知定位相关参考信号的新的发送周期，或者向UE通知定位相关参考信号在帧内的新的布置方式。
以上已经说明了根据本公开的利用感知结果来提供第一增强服务的基站的基本操作。根据本公开，提供第一增强服务的基站还可以进行一些替代的或附加的操作。下面对此进行说明。
根据一个实现方式，基站在获得感知结果(例如，UE低速运动的情况下基于单基站(即所述基站)发送的感知信号获得的感知结果，或者UE高速运动的情况下基于多个基站发送的感知信号获得协作感知结果)后，可以进一步将该感知结果发送给UE，以供UE对该感知结果指示的UE的位置进行校验(具体的校验操作将在下文参考UE端的操作说明)。随后，基站可以从UE接收校验结果，并根据校验结果进一步动态调整定位相关参考信号的发送频率。
具体而言，UE可以自主确定自己的位置，并且将自主确定的位置与从基站接收的感知结果确定的位置之间的差作为校验结果发送回基站。基站例如可以在该校验结果指示的位置差小于预定阈值的情况下降低或维持定位相关参考信号的发送频率，并且在该校验结果指示位置差异大于预定阈值的情况下提高定位相关参考信号的发送频率。替代地，UE可自己将计算出的位置差与预定阈值进行比较，并且在该位置差低于预定阈值时仅向基站反馈指示维持定位相关参考信号的当前发送频率的信息，并且在该位置差大于预定阈值时向基站反馈该位置差的值，以便基站根据该差异的大小来动态提高定位相关参考信号的发送频率。有利地，这种实现方式使得能够基于UE的反馈来更恰当地调整定位相关参考信号的发送频率。
根据一个实现方式，基站还可以基于UE的定位需求来动态调整定位相关参考信号的发送频率。例如，基站可以首先从UE接收指示定位需求的信息。例如，该指示定位需求的信息可以是直接指示UE需要什么样的定位准确度的要求的信息，也可以是间接指示其定位准确度要求的信息，诸如UE要启用的应用(例如，涉及导航功能的应用可以指示较高的定位准确度要求)。随后，基站可以基于从UE接收的指示定位需求的信息来确定UE对定位准确度的要求。接下来，基站可以基于所确定的UE对定位准确度的要求，动态调整定位相关参考信号的发送频率。例如，基站可以响应于确定UE对定位准确度的要求低，维持或降低定位相关参考信号的发送频率，并且可以响应于确定UE对定位准确度的要求高：提高定位相关参考信号的发送频率，和/或向核心网的实体发送请求信息，以 请求一个或多个其他基站协作感知UE的位置。如上文说明的，优选地，进行协作感知的基站可以是参与基于移动通信定位技术对UE进行定位的一个或多个基站。
要说明的是，基站可以单独基于感知结果、单独基于UE对定位准确度的需求或者基于感知结果和UE对定位准确度的需求的结合来动态调整定位相关参考信号的发送频率。在这三种情况下的任意一种中，基站均可以进一步如上文所述基于UE对定位结果的反馈来进一步动态调整定位相关参考信号的发送频率。特别地，在基站基于感知结果和UE对定位准确度的需求的结合来动态调整定位相关参考信号的发送频率的实现方式中，例如，基站可以首先基于UE对定位准确度的要求来确定基于移动速度动态调整发送频率的一个或多个阈值，然后随时基于感知到的UE的移动速度并基于所确定的一个或多个阈值来动态调整定位相关参考信号的发送频率。
根据本公开的第二增强服务的基站侧的操作
根据本公开的第二增强服务，感知信号可以被用于确定UE的位置，并且基站可以联合应用感知定位和基于移动通信定位技术的定位二者来确定UE的位置，从而提供更可靠且更准确的定位。
在传统的无线通信系统中，依赖移动通信定位技术来对UE进行定位。在本公开中，移动通信定位技术指的是传统地无线通信系统中用于定位的技术。例如，在5G中，移动通信定位技术可以包括辅助的全球卫星导航系统定位(Asisting-Global Navigation Satellite System，A-GNSS)、下行到达时间差(Downlink-Time Difference of Arrival，DL-TDOA)、上行到达时间差(Uplink-Time Difference of Arrival，UL-TDOA)、下行离开角(Downlink-Angle of Departure，DL-AoD)、上行到达角(Uplink-Angle of Arrival，UL-AoA)、多往返时延(Multi-Round Trip Time，Multi-RTT)、新无线电增强型小区ID(NR Enhanced Cell ID，E-CID)、以及基于诸如陀螺仪、加速度计、磁力计等的运动传感器的定位，等等。
图6示意性地示出了5G中使用的一些移动通信定位技术。如图6所示，这些移动通信定位技术一般需要在基站与UE之间传送定位相关参考信号，并且由基站/UE对接收到的定位相关参考信号进行测量，并且在必要时向位于核心网的位置服务器上报测量结果和/或从位置服务器接收辅助定位数据，以便最终确定UE的位置。此外，图6中示出的移动通信定位技术一般需要由UE的主服务基站以及一个或多个其他基站来共同对UE进行定位。下表1概述了5G中通常使用的移动定位技术。


表1
随着各行各业发展，产生了各种对定位可靠性和准确度有着高要求的应用，例如车联网、自动驾驶、智能制造、智慧物流、无人机、资产追踪等等。仅仅利用现有的移动通信定位技术可能难以达到这些应用场景下对于定位可靠性和准确度的要求。利用本公开的通信与感知一体化的方案，将感知定位与传统的定位技术相融合，可以提供更可靠且更准确的定位。
根据本公开的第二增强服务，基站可以一方面获得基于移动通信定位技术(例如，上文介绍的A-GNSS、DL-TDOA、UL-TDOA、DL-AoD、UL-AOA、Multi–RTT、NR E-CID和基于运动传感器的定位中的一个或多个)的UE的第一位置(即，基于移动通信定位的位置)；另一方面可以基于感知结果来确定UE的第二位置(即，基于感知的位置)；并且对第一位置和第二位置分别进行加权以最终确定UE的位置。
例如，基站可以自己基于移动通信定位技术确定UE的第一位置，或者可以从核心网(例如，位置服务器)接收指示UE的第一位置的信息。
如上文在介绍第一增强服务时说明的，基站例如可以向核心网发送指示感知信号的回波信号的信息，以供核心网计算对UE的感知结果，从而获得例如包括UE与基站的距离、UE与基站的角度、UE的移动速度和UE的位置中的一项或多项的感知结果。基站可以根据从核心网接收的感知结果来确定UE的第二位置。例如，在感知结果不直接指示UE的位置，而是指示UE与基站的距离、UE与基站的角度和/或UE的移动速度的情况下，基站可以基于UE的距离、角度和/或速度信息以及上一次确定的UE的位置以及任何其他可用的辅助信息来确定UE的第二位置。
根据本公开，基站可以用任何适当的方法来确定要应用于第一位置和第二位置的权重。例如，在通信信号与感知信号被时分复用的情况下，第一位置和第二位置的权重可 以根据在预定时段中通信信号所占的符号数与感知信号所占的符号数之间的比值来确定。例如，预定时段可以是一个时隙。再例如，还可以基站还可以根据第一位置和第二位置的准确度来分配权重。例如，基站可以根据UE对位置的反馈信息来监视移动通信定位和感知定位在一段时间内各自的准确度，并且向准确度较高的定位方式确定的位置分配较高的权重。根据本公开，可以根据实际情况(例如，所采用的复用方法和/或两种定位方式的准确度)动态调整分配给第一位置和第二位置的权重。此外，在一些情况下(例如，运用其中一种定位方式获得的定位结果准确度很低)，甚至可以为运用其中一种定位方式获得的定位结果分配零值作为其权重。
以上已经说明了根据本公开的两种增强服务。实际上，这两种增强服务也可以结合实施。例如，基站可以基于感知到的UE的移动速度和/或UE的定位需求动态调整定位相关参考信号的发送频率，同时，基站可以基于所述定位相关参考信号利用适当的移动通信定位方法确定UE的第一位置、利用感知结果确定UE的第二位置并对第一位置和第二位置分别进行加权以确定UE的位置。进一步可选地，基站还可以向UE反馈通过加权计算获得的位置(即应用感知技术与移动通信定位技术进行联合定位获得的位置)，并且基于UE对该位置的进一步反馈来调整所述定位相关参考信号的发送频率。
根据本公开的UE的结构和操作流程
上文详细说明了根据本公开的基站的示例性结构以及示例性操作。下面，将结合图7-图8说明根据本公开的终端设备的示例性结构以及示例性操作流程。
首先将参考图7说明根据本公开的实施例的用于终端设备/UE的电子设备70的概念性结构。
如图7所示，电子设备70可以包括处理电路702。该处理电路702可以被配置为从基站接收复用信号，其中，所述复用信号复用了通信信号和感知信号二者，所述感知信号被所述电子设备70至少反射、散射和/或绕射而产生的回波信号被传播到包括所述基站的一个或多个基站，以及其中，所述感知信号至少用于感知电子设备70与所述基站之间的距离、电子设备70与所述基站之间的角度和/或电子设备70的移动速度从而确定电子设备70的位置。
处理电路702可以是通用处理器的形式，也可以是专用处理电路，例如ASIC。例如，处理电路702能够由电路(硬件)或中央处理设备(诸如，中央处理单元(CPU))构造。此外，处理电路702上可以承载用于使电路(硬件)或中央处理设备工作的程序(软件)。该程序能够存储在存储器(诸如，布置在存储器704中)或从外面连接的外部存储 介质中，以及经网络(诸如，互联网)下载。
在一个实现中，处理电路702可以包括控制与基站进行通信(可选地经由通信单元706)的通信控制单元。该通信控制单元例如可以控制从基站接收复用了通信信号和感知信号二者的复用信号；可选地，控制从基站接收控制信息(例如，包括但不限于指示通信信号与感知信号被如何复用的信息和指示与定位相关的参考信号的发送频率的信息)；以及可选地，向基站发送指示其定位需求的信息，等等。
在一个可选的实现中，处理电路702还可以包括位置确定单元。该位置确定单元可以利用适用的定位技术自主确定电子设备70的位置。该位置确定单元还可以将自主确定的位置与从基站接收到的信息中指示的位置进行比较，确定二者之间的位置差，并基于该位置差向基站进行反馈，以便基站如上文所述根据电子设备70的反馈来动态调整定位相关参考信号的发送频率。
此外，可选地，电子设备70还可以包括图中以虚线示出的存储器704以及通信单元706。此外，电子设备70还可以包括未示出的其它部件，诸如射频链路、基带处理单元、网络接口、处理器、控制器等。处理电路702可以与存储器704和/或通信单元706关联。例如，处理电路702可以直接或间接(例如，中间可能连接有其它部件)连接到存储器704，以进行数据的存取。还例如，处理电路702可以直接或间接连接到通信单元706，以经由通信单元706发送无线电信号以及经由通信单元706接收无线电信号。
存储器704可以存储由处理电路702产生或用于处理电路702的操作的各种信息(例如，关于电子设备702的定位需求的信息、关于复用方法的信息、关于定位相关参考信号的发送频率的信息、用于自主定位的数据等)、用于电子设备70操作的程序和数据、将由通信单元706发送的数据等。存储器704用虚线绘出，因为它还可以位于处理电路702内或者位于电子设备70外。存储器704可以是易失性存储器和/或非易失性存储器。例如，存储器704可以包括但不限于随机存储存储器(RAM)、动态随机存储存储器(DRAM)、静态随机存取存储器(SRAM)、只读存储器(ROM)、闪存存储器。
通信单元706可以被配置为在处理电路702(例如通信控制单元)的控制下与基站进行通信。在一个示例中，通信单元706可以被实现为发射机或收发机，包括天线阵列和/或射频链路等通信部件。
虽然图7中示出了处理电路702与通信单元706分离，但是处理电路702也可以被实现为包括通信单元706。此外，处理电路702还可以被实现为包括电子设备70中的一个或多个其它部件，或者处理电路702可以被实现为电子设备70本身。在实际实现时， 处理电路702可以被实现为芯片(诸如包括单个晶片的集成电路模块)、硬件部件或完整的产品。
应注意，上述各个单元仅是根据其所实现的具体功能划分的逻辑模块，而不是用于限制具体的实现方式，例如可以以软件、硬件或者软硬件结合的方式来实现。在实际实现时，上述各个单元可被实现为独立的物理实体，或者也可由单个实体(例如，处理器(CPU或DSP等)、集成电路等)来实现。此外，上述各个单元在附图中用虚线示出指示这些单元可以并不实际存在，而它们所实现的操作/功能可由处理电路本身来实现。
下面，将参考图8说明作为终端设备/UE侧的电子设备70的概念性操作流程80。
UE的操作开始于S802。
在S804处，UE从基站接收上文说明的复用了通信信号和感知信号二者的复用信号。如上文说明的，复用信号可以是采用任何适当的复用方式复用的信号。如上文说明的，对通信信号和感知信号进行复用的复用方法可以是预先确定/约定的(例如，在相关通信标准中规定的默认复用方法)，也可以是动态确定的(例如，根据动态确定的所需要的感知信号发送密度)。在前者情况下，UE可以直接根据预先确定/约定的复用方法，解复用通信信号和感知信号。在后者情况下，UE可以预先(例如在S804之前)从基站接收指示复用方法的信息。
随着UE从基站接收到复用信号，复用信号中的感知信号可以自然地被UE至少反射、散射和/或绕射。感知信号被UE至少反射、散射和/或绕射而产生的回波信号可以被传播到包括发送复用信号的基站的一个或多个基站，从而使得这一个或多个基站可以对该UE进行感知，特别是感知UE与基站之间的距离、UE与基站之间的角度和/或UE的移动速度，从而可以确定UE的位置。要说明的是，UE对感知信号的反射、散射和/或绕射是物理上自然发生的，即，对于UE是透明的。根据本公开的一些实施例，UE无需为感知信号进行接收操作和分析操作。但是，在UE具备能够分析感知信号的能力的情况下，也可以自己对接收到的感知信号进行分析，以自主和/或辅助确定感知结果。此外，实际上复用信号整体上都会被UE反射、散射和/或绕射。但是，基站只关心感知信号在被反射、散射和/或绕射后产生的变化，以便对基于该变化对UE进行感知。
UE的概念性操作流程在S806处结束。
要指出的是，图8所示的UE的操作步骤仅仅是示意性的。在实践中，UE的操作还可以包括一些附加或替代的步骤。例如，如上文说明的，在接收复用信号之前，UE还可以从基站接收指示通信信号与感知信号被如何复用的复用信息。
以上已经说明了根据本公开的UE的基本操作。可以理解的是，借助于通信信号与感知信号的复用，可以实现通信与感知的一体化。如上文所详细描述的，本公开还提供了基于通信与感知一体化的增强服务。这些增强服务的技术构思以及特征已经在上文参考基站侧的操作进行了说明，下边将说明在这些增强服务下UE侧的具体操作。
如上文说明的，根据本公开的第一增强服务，感知信号可以被用于确定UE的移动速度，并且基站可以基于由感知确定的UE的移动速度来动态调整与基于移动通信定位技术的定位相关的参考信号的发送频率。在第一增强服务下，UE可以从基站接收指示定位相关参考信号的发送频率的信息。特别地，如上文详细说明的，定位相关参考信号的发送频率可以根据以下项中的一者或二者而动态调整：基于感知信号的对UE的移动速度的感知结果；和对定位准确度的要求。在后者情况下，UE可以预先向基站发送指示其定位需求的信息，以便基站基于该信息来确定UE对定位准确度的要求。例如，该指示定位需求的信息可以是直接指示UE需要什么样的定位准确度的要求的信息，诸如具体的准确度要求参数，或者准确度要求级别。或者，该指示定位需求的信息也可以是间接指示其定位准确度要求的信息，诸如UE要启用的应用。
如上文说明的，在根据本公开的第一增强服务和根据本公开的第二增强服务下，UE都可以从基站接收指示UE位置的信息，并对该位置进行校验并向基站反馈校验结果以供基站进一步调整定位相关参考信号的发送频率。
具体而言，UE从基站接收的指示UE位置的信息可以包括基于感知信号的感知结果或者联合定位结果。这里，如上文所述，感知结果可以包括感知到的UE与基站的距离、UE与基站的角度、UE的移动速度和/或UE的位置。联合定位结果可以包括如上文详细描述的根据基于移动通信定位技术的UE的第一位置和基于感知结果的第二位置二者确定的UE的位置。特别地，在感知结果本身不直接包括UE的位置的情况下，UE可以利用感知结果中包括的距离、位置和/或移动速度信息以及任意其他适用的信息、使用任何适用的方法来确定基于感知结果的位置。
在从基站接收到指示UE的位置的信息后，UE可以在不使用该信息的情况下，自主确定自己的位置。UE可以选择任何适用的(例如，UE所支持的)定位方法，与从基站接收的位置信息相独立地确定自己的位置。例如，UE可以包括基于以下信息中的一个或多个估计UE的位置：基于RAT-only-DL定位技术获得的位置信息、基于A-GNSS的位置信息、基于全球定位系统(Global Positioning System，GPS)获得的位置信息、上一次的定位结果以及基于运动传感器确定的UE的运动信息。
在自主确定UE的位置之后，UE可以确定自主确定的位置与从基站接收到的信息中指示的位置之间的差，并基于该差向基站进行反馈。例如，UE可以将该差值本身作为对于从基站接收到的信息中指示的位置的校验结果反馈回基站，以便基站基于该位置差与预定阈值之间的大小关系来动态调整定位相关参考信号的发送频率。替代地，UE可自己将计算出的位置差与预定阈值进行比较，并且在该位置差低于预定阈值时仅向基站反馈指示维持定位相关参考信号的当前发送频率的信息，并且在该位置差大于预定阈值时向基站反馈该位置差的值，以便基站根据该差异的大小来动态提高定位相关参考信号的发送频率。
根据本公开的核心网侧的电子设备的结构和操作流程
上文详细说明了根据本公开的基站和UE的示例性结构以及示例性操作。下面，将结合图9-图11说明根据本公开的核心网侧的电子设备的示例性结构以及示例性操作流程。
首先将参考图9说明根据本公开的实施例的用于核心网侧的电子设备90的概念性结构。根据本公开的核心网侧的电子设备90可以是提供定位服务和感知服务二者的电子设备。例如，电子设备90例如可以用于上文提到的位置服务器或感知服务器。特别地，电子设备90可以用于提供定位管理功能(LMF)的实体。
如图9所示，电子设备90可以包括处理电路902。该处理电路902可以被配置为从基站接收指示感知信号被UE至少反射、散射和/或绕射而产生的回波信号的信息；至少是基于所述感知信号与所述回波信号之间的差异确定对UE的感知结果，其中，所述感知结果包括UE与基站之间的距离、UE与基站之间的角度、UE的移动速度和/或UE的位置；和向基站发送所述感知结果。
处理电路902可以是通用处理器的形式，也可以是专用处理电路，例如ASIC。例如，处理电路902能够由电路(硬件)或中央处理设备(诸如，中央处理单元(CPU))构造。此外，处理电路902上可以承载用于使电路(硬件)或中央处理设备工作的程序(软件)。该程序能够存储在存储器(诸如，布置在存储器904中)或从外面连接的外部存储介质中，以及经网络(诸如，互联网)下载。
在一个实现中，处理电路902可以包括控制与基站进行通信(可选地经由通信单元906)的通信控制单元。该通信控制单元例如可以控制从基站接收指示感知信号被UE至少反射、散射和/或绕射而产生的回波信号的幅度、频率和/或相位的信息；控制向基站发送对UE的感知结果；以及可选地，从基站接收请求一个或多个其他基站协作感知UE的位置的请求信息，等等。
在一个实现中，处理电路902还可以包括感知结果确定单元。该感知结果确定单元可以至少是基于感知信号与回波信号之间的差异(例如，多普勒频移、飞行时间、幅度变化、频率变化和相位变化中的一个或多个)确定对UE的感知结果。如上文说明的，感知结果包括UE与基站之间的距离、UE与基站之间的角度、UE的移动速度和/或UE的位置。
此外，可选地，电子设备90还可以包括图中以虚线示出的存储器904以及通信单元906。此外，电子设备90还可以包括未示出的其它部件，诸如网络接口、处理器、控制器等。处理电路902可以与存储器904和/或通信单元906关联。例如，处理电路902可以直接或间接(例如，中间可能连接有其它部件)连接到存储器904，以进行数据的存取。还例如，处理电路902可以直接或间接连接到通信单元906，以经由通信单元906发送信号以及经由通信单元906接收信号。
存储器904可以存储由处理电路902产生或用于处理电路902的操作的各种信息(例如，关于感知信号和回波信号的信息等)、用于电子设备90操作的程序和数据、将由通信单元906发送的数据等。存储器904用虚线绘出，因为它还可以位于处理电路902内或者位于电子设备90外。存储器904可以是易失性存储器和/或非易失性存储器。例如，存储器904可以包括但不限于随机存储存储器(RAM)、动态随机存储存储器(DRAM)、静态随机存取存储器(SRAM)、只读存储器(ROM)、闪存存储器。
通信单元906可以被配置为在处理电路902(例如通信控制单元)的控制下与基站进行通信。在一个示例中，通信单元906可以被实现为经由光纤等线缆进行有线通信的通信部件。在一个示例中，通信单元906也可以包括适于进行无线通信的通信部件。
虽然图9中示出了处理电路902与通信单元906分离，但是处理电路902也可以被实现为包括通信单元906。此外，处理电路902还可以被实现为包括电子设备90中的一个或多个其它部件，或者处理电路902可以被实现为电子设备90本身。在实际实现时，处理电路902可以被实现为芯片(诸如包括单个晶片的集成电路模块)、硬件部件或完整的产品。
应注意，上述各个单元仅是根据其所实现的具体功能划分的逻辑模块，而不是用于限制具体的实现方式，例如可以以软件、硬件或者软硬件结合的方式来实现。在实际实现时，上述各个单元可被实现为独立的物理实体，或者也可由单个实体(例如，处理器(CPU或DSP等)、集成电路等)来实现。此外，上述各个单元在附图中用虚线示出指示这些单元可以并不实际存在，而它们所实现的操作/功能可由处理电路本身来实现。
下面，将参考图10说明作为核心网侧的电子设备90的概念性操作流程100。
核心网侧的电子设备的操作开始于S1002。
在S1004处，核心网侧的电子设备从基站接收关于感知信号被UE至少反射、散射和/或绕射而产生的回波信号的信息，以便据此来计算感知结果。例如，这种信息可以至少包括以下信息中的一个或多个：回波信号的幅度、回波信号的相位、回波信号的频率、感知信号的发送时间、回波信号的接收时间、和基站从发送感知信号到接收到该感知信号的回波信号的飞行时间。根据一种实现方式，基站要以什么样的幅度、频率、相位、信号类型、图样和/或序列发送感知信号可以是预定的，并且是核心网已知的。在这种情况下，基站只需要向核心网侧的电子设备发送回波信号的信息即可。根据另一种实现方式，核心网侧的电子设备也可以预先从基站接收(例如，在S1004之前或在S1004中)指示感知信号本身的信息，例如，指示感知信号的幅度、频率、相位、信号类型、图样和/或序列等的信息。
随后，在S1006，核心网侧的电子设备可以至少基于感知信号与回波信号之间的差异确定对UE的感知结果。根据本公开，这种差异可以包括以下中的一个或多个：多普勒频移、飞行时间、幅度变化、频率变化和相位变化。图11A和图11B示出了感知的基本原理。
图11A示出了由单个基站参与感知的示例性原理。在单个基站参与感知的情况下(例如，在上文中说明的当UE的移动速度较低时或UE对定位准确度的要求较低时)，该基站可以既充当感知信号的发送端又充当感知信号的回波信号的接收端。当该基站向作为反射体的UE发送感知信号时，该感知信号经过UE的至少反射、散射和/或绕射，作为回波信号被传播回该基站。经过UE的至少反射、散射和/或绕射，该回波信号的幅度、相位和/或频率会与原始的感知信号不同。基于感知信号与回波信号在幅度、相位和/或频率方面的变化，结合飞行时间，可以例如确定出基站与UE之间的距离和角度。特别地，当UE以一定速度移动时，在感知信号与回波信号之间还会存在多普勒频移。在幅度、相位、频率和飞行时间的基础上进一步结合多普勒频移，还可以确定出UE的移动速度。
在图11A所示的情况下，基站可以将与接收到的回波信号相关的信息发送给核心网侧的电子设备，并且由核心网侧的电子设备基于图11A所示的原理来计算UE的距离、角度和/或移动速度。此外，核心网侧的电子设备还可以在感知到的距离、角度和/或移动速度信息的基础上，可选地参照任何其他可用信息(例如，发送感知信号的基站的位置以及所存储的UE先前位置等)来计算出UE的位置。
图11B示出了由多个基站参与感知的示例性原理。在多个基站参与感知的情况下(例如，在上文中说明的当UE的移动速度较高时或UE对定位准确度的要求较高时)，一个基站可以充当感知信号的发送端，另外的一个或多个基站可以充当回波信号的接收端。如图11B所示，当发送端基站向作为反射体的UE发送感知信号时，该感知信号经过UE的至少反射、散射和/或绕射，作为回波信号可以被传播到接收端基站。类似于参考图11A说明的，经过UE的至少反射、散射和/或绕射，该回波信号的幅度、相位和/或频率会与原始的感知信号不同并且在感知信号与回波信号之间还可能存在多普勒频移。基于飞行时间、幅度变化、相位变化、频率变化和/或多普勒频移，可以例如确定出接收端基站与UE之间的距离、角度以及UE的移动速度。
要说明的是，在图11B的情况下，虽然未在图上示出，但是，该感知信号经过UE的至少反射、散射和/或绕射，也可以作为回波信号被传播回发送端基站。这种情况与图11A的原理类似。发送端基站也可以将关于接收到的回波信号的信息发送给核心网侧的电子设备以进行对感知结果的计算。
虽然图11B仅仅示出了两个基站，但是可以存在多于两个基站协作对UE进行感知。在这种情况下，一个基站发送出的感知信号经过UE的至少反射、散射和/或绕射，可以作为回波信号被传播到多个接收端基站，参与协作感知的每个接收端基站都可以将指示自己接收到的回波信号的信息发送给核心网侧的设备。此外，在多个基站协作对UE进行感知的情况下，每个基站都可以向UE发送自己的感知信号。核心网侧的设备可以综合至少以下信息来计算感知结果：每个基站发送的关于自己向UE发送的感知信号的回波信号的信息，和每个基站发送的关于其他一个或多个基站向UE发送的感知信号的回波信号的信息。
回到图10，核心网侧的电子设备在确定了对UE的感知结果后，可以在S1008向基站发送该感知结果。
核心网侧的电子设备的概念性操作流程在S1010处结束。
要指出的是，图10所示的核心网侧的电子设备的操作步骤仅仅是示意性的。在实践中，核心网侧的电子设备的操作还可以包括一些附加或替代的步骤。例如，核心网侧的电子设备还可以从基站接收请求一个或多个其他基站协作感知UE的位置的请求信息，并且响应于该请求，向一个或多个基站发送指示参与协作感知的信息。优选地，核心网侧的电子设备可以调度参与基于移动通信定位技术对UE进行定位的一个或多个基站进行协作感知。如上文说明的，移动通信定位技术可以例如包括DL-TDOA、UL-TDOA、DL-AoD、 UL-AOA、Multi-RTT和ID NR E-CID。例如，核心网侧的电子设备可以向参与基于移动通信定位技术对UE进行定位的一个或多个基站发送指示参与协作感知的信息。随后，该电子设备可以如参考图11B描述的，从各个基站接收指示一个或多个回波信号的信息，并且综合接收到的信息和任何其他可用信息对UE的位置进行感知。
以上已经说明了根据本公开的核心网侧的电子设备的基本操作。应理解的是，本公开中优选由核心网侧的电子设备进行与感知相关的计算。但是，这并不是限制性的，也可以由基站来进行这种计算。
基站、UE以及核心网之间的交互
以上已经结合附图说明了根据本公开实施的基站、终端设备以及核心网侧实体的示意性配置以及操作流程。下面，将参考图12A和图12B说明根据本公开的实施例的基站、UE以及核心网之间的示例性交互。
图12A示出了在由基站发起感知的情况下，在基站、UE以及核心网之间的交互。例如，基站可以在确定需要启用定位相关参考信号的发送频率的动态调整的情况下，开始向UE发送复用了通信和感知信号的复用信号。如图12A所示，作为UE的主服务基站的gNB 1可以向UE发送复用信号，并且从UE接收复用信号中复用的感知信号的回波信号。随后，gNB 1可以将关于回波信号的信息发送到核心网的LMF。LMF可以如上文详细描述的，计算回波信号与感知信号之间的差异，并且至少基于该差异确定对UE的感知结果。如上文所述，感知结果可以包括UE与gNB 1之间的距离、UE与gNB 1之间的角度、UE的移动速度和或/UE的位置。接下来，LMF可以将感知结果发送给gNB 1。gNB 1可以根据感知结果确定UE的移动速度，并且基于UE的移动速度来动态调整定位相关参考信号的发送频率。gNB 1可以将调整后的发送频率通知给UE。
在gNB 1从LMF接收到感知结果后，在gNB 1基于该感知结果判定需要请求其他基站协作感知的情况下(例如，在gNB 1判定UE的移动速度高于预定阈值的情况下)，gNB 1还可以附加地向LMF发送请求一个或多个其他基站协作感知UE的位置的请求信息。在接收到这样的请求信息后，LMF可以选择恰当的要参与协作感知的基站(例如，参与基于移动通信定位技术对UE进行定位的那些基站)并向这些基站(如图12A所示的gNB 2)发送进行协作感知的指示。参与协作感知的基站随后可以如参考图11B描述的那样，从UE接收对gNB 1(以及参与协作感知的其他基站)发送的感知信号的回波信号，和/或向UE发送其自己的感知信号并接收该感知信号的回波信号，并将关于这一个或多个回波信号的信息发送给LMF(为简明起见，图12A未示出这些过程)。在从参与协作感知 的各个基站接收到关于回波信号的信息之后，LMF可以综合这些信息，确定协作感知的感知结果，并将该结果发送给UE的主服务基站gNB 1。gNB 1随后可以基于该协作感知的感知结果来动态调整定位相关参考信号的发送频率。
可选地，如上文说明的，gNB 1还可以将基于感知结果的位置信息或者基于感知与移动通信定位技术二者联合确定的位置信息发送给UE。UE可以基于自主确定的位置对该感知结果中指示的位置进行校验，并向gNB 1反馈校验结果。gNB 1可以进一步基于该反馈动态调整定位相关参考信号的发送频率并向UE指示新的发送频率。
图12B示出了在由UE发起感知的情况下，在基站、UE以及核心网之间的交互。例如，UE向作为UE的主服务基站的gNB 1发送定位需求，以触发gNB 1向UE发送复用了通信信号和感知信号的复用信号。随后，如参考图12B所述的，gNB 1可以从UE接收感知信号的回波信号，并将指示回波信号的信息发送到核心网的LMF。LMF可以计算感知结果，并且将感知结果发送给gNB 1。gNB 1可以基于UE对定位准确度的需求以及根据感知结果确定UE的移动速度二者来动态调整定位相关参考信号的发送频率。gNB 1可以将调整后的发送频率通知给UE。
在gNB 1从UE接收到定位需求后，在gNB 1基于该定位需求判定需要请求其他基站协作感知的情况下(例如，在gNB 1判定UE对定位准确度具有高要求的情况下)，gNB 1还可以附加地向LMF发送请求一个或多个其他基站协作感知UE的位置的请求信息。在接收到这样的请求信息后，LMF可以选择恰当的要参与协作感知的基站(例如，参与基于移动通信定位技术对UE进行定位的那些基站)并向这些基站(如图12B所示的gNB 2)发送进行协作感知的指示。参与协作感知的基站随后可以如参考图11B和图12A描述的那样，接收相应的回波信号并向LMF发送关于回波信号的信息。在LMF可以综合这些信息，确定协作感知的感知结果，并将该结果发送给UE的主服务基站gNB 1。gNB 1随后可以基于该协作感知的感知结果来动态调整定位相关参考信号的发送频率。
与参考图12A说明的类似，可选地，gNB 1还可以将基于感知结果的位置信息或者基于感知与移动通信定位技术二者联合确定的位置信息发送给UE。UE可以基于自主确定的位置对该感知结果中指示的位置进行校验，并向gNB 1反馈校验结果。gNB 1可以进一步基于该反馈动态调整定位相关参考信号的发送频率并向UE指示新的发送频率。
要说明的是，图12A、图12B示出的交互仅仅是示意性的而不是限制性的。例如，根据本公开，复用了感知信号和复用信号的复用信号也可以被周期性地被发送，而不是由基站或UE触发的。
以上已经参考附图对本公开进行了详细说明。本公开使得能够实现通信和感知的一体化并在此基础上实现增强的服务。
应当理解，根据本公开实施例的机器可读存储介质或程序产品中的机器可执行指令可以被配置为执行与上述设备和方法实施例相应的操作。当参考上述设备和方法实施例时，机器可读存储介质或程序产品的实施例对于本领域技术人员而言是明晰的，因此不再重复描述。用于承载或包括上述机器可执行指令的机器可读存储介质和程序产品也落在本公开的范围内。这样的存储介质可以包括但不限于软盘、光盘、磁光盘、存储卡、存储棒等等。
另外，应当理解，上述系列处理和设备也可以通过软件和/或固件实现。在通过软件和/或固件实现的情况下，从存储介质或网络向具有专用硬件结构的计算机，例如图13所示的通用计算机1300安装构成该软件的程序，该计算机在安装有各种程序时，能够执行各种功能等等。图13是示出作为本公开的实施例中可采用的信息处理设备的计算机的示例结构的框图。在一个例子中，该计算机可以对应于根据本公开的上述示例性核心网侧的设备。在另一个例子中，该计算机也可以对应于根据本公开的上述示例性终端设备。
在图13中，中央处理单元(CPU)1301根据只读存储器(ROM)1302中存储的程序或从存储部分1308加载到随机存取存储器(RAM)1303的程序执行各种处理。在RAM 1303中，也根据需要存储当CPU 1301执行各种处理等时所需的数据。
CPU 1301、ROM 1302和RAM 1303经由总线1304彼此连接。输入/输出接口1305也连接到总线1304。
下述部件连接到输入/输出接口1305：输入部分1306，包括键盘、鼠标等；输出部分1307，包括显示器，比如阴极射线管(CRT)、液晶显示器(LCD)等，和扬声器等；存储部分1308，包括硬盘等；和通信部分1309，包括网络接口卡比如LAN卡、调制解调器等。通信部分1309经由网络比如因特网执行通信处理。
根据需要，驱动器1310也连接到输入/输出接口1305。可拆卸介质1311比如磁盘、光盘、磁光盘、半导体存储器等等根据需要被安装在驱动器1310上，使得从中读出的计算机程序根据需要被安装到存储部分1308中。
在通过软件实现上述系列处理的情况下，从网络比如因特网或存储介质比如可拆卸介质1311安装构成软件的程序。
本领域技术人员应当理解，这种存储介质不局限于图13所示的其中存储有程序、与设备相分离地分发以向用户提供程序的可拆卸介质1311。可拆卸介质1311的例子包含 磁盘(包含软盘(注册商标))、光盘(包含光盘只读存储器(CD-ROM)和数字通用盘(DVD))、磁光盘(包含迷你盘(MD)(注册商标))和半导体存储器。或者，存储介质可以是ROM 1302、存储部分1308中包含的硬盘等等，其中存有程序，并且与包含它们的设备一起被分发给用户。
本公开的技术能够应用于各种产品。
例如，根据本公开的实施例的电子设备30可以被实现为各种控制设备/基站或者被包含在各种控制设备/基站中，而如图4所示的方法也可由各种控制设备/基站实现。例如，根据本公开的实施例的电子设备70可以被实现为各种终端设备/用户设备或者被包含在各种终端设备/用户设备中，而如图8所示的方法也可由各种终端设备/用户设备实现。
例如，本公开中提到的控制设备/基站可以被实现为任何类型的基站，例如演进型节点B(gNB)，诸如宏gNB和小gNB。小gNB可以为覆盖比宏小区小的小区的gNB，诸如微微gNB、微gNB和家庭(毫微微)gNB。代替地，基站可以被实现为任何其他类型的基站，诸如NodeB和基站收发台(Base Transceiver Station，BTS)。基站可以包括：被配置为控制无线通信的主体(也称为基站设备)；以及设置在与主体不同的地方的一个或多个远程无线头端(Remote Radio Head，RRH)。另外，下面将描述的各种类型的终端均可以通过暂时地或半持久性地执行基站功能而作为基站工作。
例如，本公开中提到的终端设备在一些示例中也称为用户设备，可以被实现为移动终端(诸如智能电话、平板计算机(PC)、笔记本式PC、便携式游戏终端、便携式/加密狗型移动路由器和数字摄像装置)或者车载终端(诸如汽车导航设备)。用户设备还可以被实现为执行机器对机器(M2M)通信的终端(也称为机器类型通信(MTC)终端)。此外，用户设备可以为安装在上述终端中的每个终端上的无线通信模块(诸如包括单个晶片的集成电路模块)。
以下将参照图14至图17描述根据本公开的示例。
[关于基站的示例]
应当理解，本公开中的基站一词具有其通常含义的全部广度，并且至少包括被用于作为无线通信系统或无线电系统的一部分以便于通信的无线通信站。基站的例子可以例如是但不限于以下：基站可以是GSM系统中的基站收发信机(BTS)和基站控制器(BSC)中的一者或两者，可以是WCDMA系统中的无线电网络控制器(RNC)和Node B中的一者或两者，可以是LTE和LTE-Advanced系统中的eNB，可以是5G通信系统中出现的gNB，eLTE eNB等等，或者可以使未来通信系统中对应的网络节点。本公开的基站中的 部分功能也可以实现为在D2D、M2M以及V2V通信场景下对通信具有控制功能的实体，或者实现为在认知无线电通信场景下起频谱协调作用的实体。
第一示例
图14是示出可以应用本公开内容的技术的gNB的示意性配置的第一示例的框图。gNB 1400包括多个天线1410以及基站设备1420。基站设备1420和每个天线1410可以经由RF线缆彼此连接。在一种实现方式中，此处的gNB 1400(或基站设备1420)可以对应于上述电子设备30。
天线1410中的每一个均包括单个或多个天线元件(诸如包括在多输入多输出(MIMO)天线中的多个天线元件)，并且用于基站设备1420发送和接收无线信号。如图14所示，gNB 1400可以包括多个天线1410。例如，多个天线1410可以与gNB 1400使用的多个频段兼容。
基站设备1420包括控制器1421、存储器1422、网络接口1423以及无线通信接口1425。
控制器1421可以为例如CPU或DSP，并且操作基站设备1420的较高层的各种功能。例如，控制器1421根据由无线通信接口1425处理的信号中的数据来生成数据分组，并经由网络接口1423来传递所生成的分组。控制器1421可以对来自多个基带处理器的数据进行捆绑以生成捆绑分组，并传递所生成的捆绑分组。控制器1421可以具有执行如下控制的逻辑功能：该控制诸如为无线资源控制、无线承载控制、移动性管理、接纳控制和调度。该控制可以结合附近的gNB或核心网节点来执行。存储器1422包括RAM和ROM，并且存储由控制器421执行的程序和各种类型的控制数据(诸如终端列表、传输功率数据以及调度数据)。
网络接口1423为用于将基站设备1420连接至核心网1424的通信接口。控制器1421可以经由网络接口1423而与核心网节点或另外的gNB进行通信。在此情况下，gNB 1400与核心网节点或其他gNB可以通过逻辑接口(诸如S1接口和X2接口)而彼此连接。网络接口1423还可以为有线通信接口或用于无线回程线路的无线通信接口。如果网络接口1423为无线通信接口，则与由无线通信接口1425使用的频段相比，网络接口1923可以使用较高频段用于无线通信。
无线通信接口1425支持任何蜂窝通信方案(诸如长期演进(LTE)和LTE-先进)，并且经由天线1410来提供到位于gNB 1400的小区中的终端的无线连接。无线通信接口1425通常可以包括例如基带(BB)处理器1426和RF电路1427。BB处理器1426可以执 行例如编码/解码、调制/解调以及复用/解复用，并且执行层(例如L1、介质访问控制(MAC)、无线链路控制(RLC)和分组数据汇聚协议(PDCP))的各种类型的信号处理。代替控制器1421，BB处理器1426可以具有上述逻辑功能的一部分或全部。BB处理器1426可以为存储通信控制程序的存储器，或者为包括被配置为执行程序的处理器和相关电路的模块。更新程序可以使BB处理器1426的功能改变。该模块可以为插入到基站设备1420的槽中的卡或刀片。可替代地，该模块也可以为安装在卡或刀片上的芯片。同时，RF电路1427可以包括例如混频器、滤波器和放大器，并且经由天线1410来传送和接收无线信号。虽然图14示出一个RF电路1427与一根天线1410连接的示例，但是本公开并不限于该图示，而是一个RF电路1427可以同时连接多根天线1410。
如图14所示，无线通信接口1425可以包括多个BB处理器1426。例如，多个BB处理器1426可以与gNB 1400使用的多个频段兼容。如图14所示，无线通信接口1425可以包括多个RF电路1427。例如，多个RF电路1427可以与多个天线元件兼容。虽然图14示出其中无线通信接口1425包括多个BB处理器1426和多个RF电路1427的示例，但是无线通信接口1425也可以包括单个BB处理器1426或单个RF电路1427。
第二示例
图15是示出可以应用本公开内容的技术的gNB的示意性配置的第二示例的框图。gNB 1530包括多个天线1540、基站设备1550和RRH 1560。RRH 1560和每个天线1540可以经由RF线缆而彼此连接。基站设备1550和RRH 1560可以经由诸如光纤线缆的高速线路而彼此连接。在一种实现方式中，此处的gNB 1530(或基站设备1550)可以对应于上述电子设备30。
天线1540中的每一个均包括单个或多个天线元件(诸如包括在MIMO天线中的多个天线元件)并且用于RRH 1560发送和接收无线信号。如图15所示，gNB 1530可以包括多个天线1540。例如，多个天线1540可以与gNB 1530使用的多个频段兼容。
基站设备1550包括控制器1551、存储器1552、网络接口1553、无线通信接口1555以及连接接口1557。控制器1551、存储器1552和网络接口1553与参照图14描述的控制器1421、存储器1422和网络接口1423相同。
无线通信接口1555支持任何蜂窝通信方案(诸如LTE和LTE-先进)，并且经由RRH 1560和天线1540来提供到位于与RRH 1560对应的扇区中的终端的无线通信。无线通信接口1555通常可以包括例如BB处理器1556。除了BB处理器1556经由连接接口1557连接到RRH 1560的RF电路1564之外，BB处理器1556与参照图14描述的BB处理器 1426相同。如图15所示，无线通信接口1555可以包括多个BB处理器1556。例如，多个BB处理器1556可以与gNB 1530使用的多个频段兼容。虽然图15示出其中无线通信接口1555包括多个BB处理器1556的示例，但是无线通信接口1555也可以包括单个BB处理器1556。
连接接口1557为用于将基站设备1550(无线通信接口1555)连接至RRH 1560的接口。连接接口1557还可以为用于将基站设备1550(无线通信接口1555)连接至RRH 1560的上述高速线路中的通信的通信模块。
RRH 1560包括连接接口1561和无线通信接口1563。
连接接口1561为用于将RRH 1560(无线通信接口1563)连接至基站设备1550的接口。连接接口1561还可以为用于上述高速线路中的通信的通信模块。
无线通信接口1563经由天线1540来传送和接收无线信号。无线通信接口1563通常可以包括例如RF电路1564。RF电路1564可以包括例如混频器、滤波器和放大器，并且经由天线1540来传送和接收无线信号。虽然图15示出一个RF电路1564与一根天线1540连接的示例，但是本公开并不限于该图示，而是一个RF电路1564可以同时连接多根天线1540。
如图15所示，无线通信接口1563可以包括多个RF电路1564。例如，多个RF电路1564可以支持多个天线元件。虽然图15示出其中无线通信接口1563包括多个RF电路1564的示例，但是无线通信接口1563也可以包括单个RF电路1564。
[关于用户设备的示例]
第一示例
图16是示出可以应用本公开内容的技术的智能电话1600的示意性配置的示例的框图。智能电话1600包括处理器1601、存储器1602、存储装置1603、外部连接接口1604、摄像装置1606、传感器1607、麦克风1608、输入装置1609、显示装置1610、扬声器1611、无线通信接口1612、一个或多个天线开关1615、一个或多个天线1616、总线1617、电池1618以及辅助控制器1619。在一种实现方式中，此处的智能电话1600(或处理器1601)可以对应于上述电子设备70。
处理器1601可以为例如CPU或片上系统(SoC)，并且控制智能电话1600的应用层和另外层的功能。存储器1602包括RAM和ROM，并且存储数据和由处理器1601执行的程序。存储装置1603可以包括存储介质，诸如半导体存储器和硬盘。外部连接接口1604为用于将外部装置(诸如存储卡和通用串行总线(USB)装置)连接至智能电话1600 的接口。
摄像装置1606包括图像传感器(诸如电荷耦合器件(CCD)和互补金属氧化物半导体(CMOS))，并且生成捕获图像。传感器1607可以包括一组传感器，诸如测量传感器、陀螺仪传感器、地磁传感器和加速度传感器。麦克风1608将输入到智能电话1600的声音转换为音频信号。输入装置1609包括例如被配置为检测显示装置1610的屏幕上的触摸的触摸传感器、小键盘、键盘、按钮或开关，并且接收从用户输入的操作或信息。显示装置1610包括屏幕(诸如液晶显示器(LCD)和有机发光二极管(OLED)显示器)，并且显示智能电话1600的输出图像。扬声器1611将从智能电话1600输出的音频信号转换为声音。
无线通信接口1612支持任何蜂窝通信方案(诸如LTE和LTE-先进)，并且执行无线通信。无线通信接口1612通常可以包括例如BB处理器1613和RF电路1619。BB处理器1613可以执行例如编码/解码、调制/解调以及复用/解复用，并且执行用于无线通信的各种类型的信号处理。同时，RF电路1614可以包括例如混频器、滤波器和放大器，并且经由天线1616来传送和接收无线信号。无线通信接口1612可以为其上集成有BB处理器1613和RF电路1614的一个芯片模块。如图16所示，无线通信接口1612可以包括多个BB处理器1613和多个RF电路1614。虽然图16示出其中无线通信接口1612包括多个BB处理器1613和多个RF电路1614的示例，但是无线通信接口1612也可以包括单个BB处理器1613或单个RF电路1614。
此外，除了蜂窝通信方案之外，无线通信接口1612可以支持另外类型的无线通信方案，诸如短距离无线通信方案、近场通信方案和无线局域网(LAN)方案。在此情况下，无线通信接口1612可以包括针对每种无线通信方案的BB处理器1613和RF电路1614。
天线开关1615中的每一个在包括在无线通信接口1612中的多个电路(例如用于不同的无线通信方案的电路)之间切换天线1616的连接目的地。
天线1616中的每一个均包括单个或多个天线元件(诸如包括在MIMO天线中的多个天线元件)，并且用于无线通信接口1612传送和接收无线信号。如图16所示，智能电话1600可以包括多个天线1616。虽然图16示出其中智能电话1600包括多个天线1616的示例，但是智能电话1600也可以包括单个天线1616。
此外，智能电话1600可以包括针对每种无线通信方案的天线1616。在此情况下，天线开关1615可以从智能电话1600的配置中省略。
总线1617将处理器1601、存储器1602、存储装置1603、外部连接接口1604、摄 像装置1606、传感器1607、麦克风1608、输入装置1609、显示装置1610、扬声器1611、无线通信接口1612以及辅助控制器1619彼此连接。电池1618经由馈线向图16所示的智能电话1600的各个块提供电力，馈线在图中被部分地示为虚线。辅助控制器1619例如在睡眠模式下操作智能电话1600的最小必需功能。
第二示例
图17是示出可以应用本公开内容的技术的汽车导航设备1720的示意性配置的示例的框图。汽车导航设备1720包括处理器1721、存储器1722、全球定位系统(GPS)模块1724、传感器1725、数据接口1726、内容播放器1727、存储介质接口1728、输入装置1729、显示装置1730、扬声器1731、无线通信接口1733、一个或多个天线开关1736、一个或多个天线1737以及电池1738。在一种实现方式中，此处的汽车导航设备1720(或处理器1721)可以对应于上述电子设备50和/或电子设备100。
处理器1721可以为例如CPU或SoC，并且控制汽车导航设备1720的导航功能和另外的功能。存储器1722包括RAM和ROM，并且存储数据和由处理器1721执行的程序。
GPS模块1724使用从GPS卫星接收的GPS信号来测量汽车导航设备1720的位置(诸如纬度、经度和高度)。传感器1725可以包括一组传感器，诸如陀螺仪传感器、地磁传感器和空气压力传感器。数据接口1726经由未示出的终端而连接到例如车载网络1741，并且获取由车辆生成的数据(诸如车速数据)。
内容播放器1727再现存储在存储介质(诸如CD和DVD)中的内容，该存储介质被插入到存储介质接口1728中。输入装置1729包括例如被配置为检测显示装置1730的屏幕上的触摸的触摸传感器、按钮或开关，并且接收从用户输入的操作或信息。显示装置1730包括诸如LCD或OLED显示器的屏幕，并且显示导航功能的图像或再现的内容。扬声器1731输出导航功能的声音或再现的内容。
无线通信接口1733支持任何蜂窝通信方案(诸如LTE和LTE-先进)，并且执行无线通信。无线通信接口1733通常可以包括例如BB处理器1734和RF电路1735。BB处理器1734可以执行例如编码/解码、调制/解调以及复用/解复用，并且执行用于无线通信的各种类型的信号处理。同时，RF电路1735可以包括例如混频器、滤波器和放大器，并且经由天线1737来传送和接收无线信号。无线通信接口1733还可以为其上集成有BB处理器1734和RF电路1735的一个芯片模块。如图17所示，无线通信接口1733可以包括多个BB处理器1734和多个RF电路1735。虽然图17示出其中无线通信接口1733包括 多个BB处理器1734和多个RF电路1735的示例，但是无线通信接口1733也可以包括单个BB处理器1734或单个RF电路1735。
此外，除了蜂窝通信方案之外，无线通信接口1733可以支持另外类型的无线通信方案，诸如短距离无线通信方案、近场通信方案和无线LAN方案。在此情况下，针对每种无线通信方案，无线通信接口1733可以包括BB处理器1734和RF电路1735。
天线开关1736中的每一个在包括在无线通信接口1733中的多个电路(诸如用于不同的无线通信方案的电路)之间切换天线1737的连接目的地。
天线1737中的每一个均包括单个或多个天线元件(诸如包括在MIMO天线中的多个天线元件)，并且用于无线通信接口1733传送和接收无线信号。如图17所示，汽车导航设备1720可以包括多个天线1737。虽然图17示出其中汽车导航设备1720包括多个天线1737的示例，但是汽车导航设备1720也可以包括单个天线1737。
此外，汽车导航设备1720可以包括针对每种无线通信方案的天线1737。在此情况下，天线开关1736可以从汽车导航设备1720的配置中省略。
电池1738经由馈线向图17所示的汽车导航设备1720的各个块提供电力，馈线在图中被部分地示为虚线。电池1738累积从车辆提供的电力。
本公开内容的技术也可以被实现为包括汽车导航设备1720、车载网络1741以及车辆模块1742中的一个或多个块的车载系统(或车辆)1740。车辆模块1742生成车辆数据(诸如车速、发动机速度和故障信息)，并且将所生成的数据输出至车载网络1741。
以上参照附图描述了本公开的示例性实施例，但是本公开当然不限于以上示例。本领域技术人员可在所附权利要求的范围内得到各种变更和修改，并且应理解这些变更和修改自然将落入本公开的技术范围内。
应当理解，根据本公开实施例的机器可读存储介质或程序产品中的机器可执行指令可以被配置为执行与上述设备和方法实施例相应的操作。当参考上述设备和方法实施例时，机器可读存储介质或程序产品的实施例对于本领域技术人员而言是明晰的，因此不再重复描述。用于承载或包括上述机器可执行指令的机器可读存储介质和程序产品也落在本公开的范围内。这样的存储介质可以包括但不限于软盘、光盘、磁光盘、存储卡、存储棒等等。
另外，应当理解，上述系列处理和设备也可以通过软件和/或固件实现。在通过软件和/或固件实现的情况下，在相关设备的存储介质(例如图3所示的电子设备30、图7所示的电子设备70或图9所示的电子设备90的存储器304、704或904中)存储构成相 应软件的相应程序，当所述程序被执行时，能够执行各种功能。
例如，在以上实施例中包括在一个单元中的多个功能可以由分开的装置来实现。替选地，在以上实施例中由多个单元实现的多个功能可分别由分开的装置来实现。另外，以上功能之一可由多个单元来实现。无需说，这样的配置包括在本公开的技术范围内。
在该说明书中，流程图中所描述的步骤不仅包括以所述顺序按时间序列执行的处理，而且包括并行地或单独地而不是必须按时间序列执行的处理。此外，甚至在按时间序列处理的步骤中，无需说，也可以适当地改变该顺序。
虽然已经详细说明了本公开及其优点，但是应当理解在不脱离由所附的权利要求所限定的本公开的精神和范围的情况下可以进行各种改变、替代和变换。而且，本公开实施例的术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。
此外，本公开还可以具有如下配置：
(1)一种用于无线通信系统的控制设备侧的电子设备，包括：
处理电路，被配置为：
向终端设备发送复用信号，其中，所述复用信号复用了通信信号和感知信号二者，所述感知信号至少用于感知所述终端设备与所述电子设备之间的距离、所述终端设备与所述电子设备之间的角度和/或所述终端设备的移动速度从而确定所述终端设备的位置，和
接收由所述终端设备对所述感知信号的至少反射、散射和/或绕射而产生的回波信号。
(2)如(1)所述的电子设备，其中，通信信号与感知信号以符号为单位被时分复用。
(3)如(1)或(2)所述的电子设备，其中，所述处理电路进一步被配置为向所述终端设备发送指示通信信号与感知信号被如何复用的复用信息。
(4)如(1)所述的电子设备，其中，所述处理电路进一步被配置为：
向核心网的实体发送至少指示所述回波信号的信息，和
从所述实体接收感知结果，感知结果包括所述距离、所述角度、所述移动速度和/或所述终端设备的位置，
其中，所述感知结果至少是基于所述感知信号与所述回波信号之间的差异确定的，并 且其中，所述差异包括以下中的一个或多个：多普勒频移、飞行时间、幅度变化、频率变化和相位变化。
(5)如(4)所述的电子设备，其中，所述处理电路进一步被配置为：
基于所述感知结果确定所述终端设备的移动速度与至少一个阈值的大小关系，
基于所述确定，动态调整与定位相关的参考信号的发送频率。
(6)如(5)所述的电子设备，其中，所述处理电路进一步被配置为：
响应于确定所述终端设备的移动速度低于或等于第一阈值，降低与定位相关的参考信号的发送频率，
响应于确定所述终端设备的移动速度高于第一阈值且低于或等于第二阈值，维持与定位相关的参考信号的发送频率，和
响应于确定所述终端设备的移动速度高于第二阈值：
-提高与定位相关的参考信号的发送频率，和/或
-向核心网的所述实体发送请求信息，以请求一个或多个其他电子设备协作以对所述终端设备进行感知。
(7)如(6)所述的电子设备，其中，提高或降低与定位相关的参考信号的发送频率包括：
-缩短或延长所述参考信号的发送周期，或
-增加或减少所述参考信号所占用的符号密度。
(8)如(1)所述的电子设备，其中，所述处理电路进一步被配置为：
从所述终端设备接收指示定位需求的信息，
确定所述终端设备对定位准确度的要求，和
基于所确定的所述终端设备对定位准确度的要求，动态调整与定位相关的参考信号的发送频率，其中，
-响应于确定所述终端设备对定位准确度的要求低，维持或降低与定位相关的参考信号的发送频率，和
-响应于确定所述终端设备对定位准确度的要求高：提高与定位相关的参考信号的发送频率，和/或向核心网的所述实体发送请求信息，以请求一个或多个其他电子设备协作感知所述终端设备的位置。
(9)如(6)或(8)所述的电子设备，其中，所述一个或多个其他电子设备是参与基于移动通信定位技术对所述终端设备进行定位的一个或多个基站，其中，移动通信定位 技术包括以下中的一个或多个：、下行到达时间差DL-TDOA、上行到达时间差UL-TDOA、下行离开角DL-AoD、上行到达角UL-AOA、多往返时延Multi-RTT和新无线电增强型小区ID NR E-CID。
(10)如(4)所述的电子设备，其中，所述处理电路进一步被配置为：
获得基于移动通信定位技术的所述终端设备的第一位置，其中，移动通信定位技术包括以下中的一个或多个：辅助的全球卫星导航系统定位A-GNSS、基于运动传感器的定位、DL-TDOA、UL-TDOA、DL-AoD、UL-AOA、Multi–RTT和NR E-CID；
基于所述感知结果确定所述终端设备的第二位置；和
对第一位置和第二位置分别进行加权以确定所述终端设备的位置。
(11)如(10)所述的电子设备，其中，在通信信号与感知信号被时分复用的情况下，第一位置和第二位置的权重是根据在预定时段中通信信号所占的符号数与感知信号所占的符号数之间的比值来确定的。
(12)如(4)或(10)所述的电子设备，其中，所述处理电路进一步被配置为：
向所述终端设备发送指示所述终端设备的位置的信息，其中，所述信息包括所述感知结果或者基于第一位置和第二位置确定的所述位置；和
基于所述终端设备对指示所述终端设备的位置的信息的反馈，动态调整与定位相关的参考信号的发送频率。
(13)如(1)所述的电子设备，其中，所述通信信号包括以下信号中的一个或多个：定位参考信号PRS、数据解调参考信号DMRS、信道状态测量参考信号CSI-RS、探测参考信号SRS和通信数据信号。
(14)如(5)或(8)所述的电子设备，其中，与定位相关的参考信号包括以下参考信号中的一个或多个：定位参考信号PRS、解调参考信号DMRS、信道状态信息参考信号CSI-RS和探测参考信号SRS。
(15)一种用于无线通信系统的控制设备侧的方法，包括：
向终端设备发送复用信号，其中，所述复用信号复用了通信信号和感知信号二者，所述感知信号至少用于感知所述终端设备与所述电子设备之间的距离、所述终端设备与所述电子设备之间的角度和/或所述终端设备的移动速度从而确定所述终端设备的位置，和
接收由所述终端设备对所述感知信号的至少反射、散射和/或绕射而产生的回波信号。
(16)一种用于无线通信系统的终端设备侧的电子设备，包括：
处理电路，被配置为从基站接收复用信号，
其中，所述复用信号复用了通信信号和感知信号二者，
其中，所述感知信号被所述电子设备至少反射、散射和/或绕射而产生的回波信号被传播到包括所述基站的一个或多个基站，以及
其中，所述感知信号至少用于感知所述电子设备与所述基站之间的距离、所述电子设备与所述基站之间的角度和/或所述电子设备的移动速度从而确定所述电子设备的位置。
(17)如(16)所述的电子设备，其中，通信信号与感知信号以符号为单位被时分复用。
(18)如(16)或(17)所述的电子设备，其中，所述处理电路进一步被配置为从所述基站接收指示通信信号与感知信号被如何复用的复用信息。
(19)如(16)或(17)所述的电子设备，其中，所述处理电路进一步被配置为：
从所述基站接收指示与定位相关的参考信号的发送频率的信息，其中，所述参考信号的发送频率是根据基于所述感知信号的对所述电子设备的移动速度的感知结果而动态调整的。
(20)如(16)或(17)所述的电子设备，其中，所述处理电路进一步被配置为：
向所述基站发送指示定位需求的信息，和
从所述基站接收指示与定位相关的参考信号的发送频率的信息，其中，所述参考信号的发送频率是根据对定位准确度的要求而动态调整的。
(21)如(16)或(17)所述的电子设备，其中，所述处理电路进一步被配置为：
从所述基站接收指示所述电子设备的位置的信息，其中，所述信息包括基于感知信号的感知结果或者联合定位结果，其中，所述感知结果包括感知到的所述距离、所述角度、所述移动速度和/或所述电子设备的位置，所述联合定位结果包括根据基于移动通信定位技术的所述电子设备的第一位置和基于感知结果的第二位置二者确定的所述电子设备的位置，
自主确定所述电子设备的位置，和
基于自主确定的位置与从基站接收到的所述信息中指示的位置之间的差，向所述基站进行反馈。
(22)如(21)所述的电子设备，其中，自主确定所述电子设备的位置包括基于以下信息中的一个或多个估计所述电子设备的位置：基于RAT-only-DL定位技术获得的位置信息、基于辅助的全球卫星导航系统定位A-GNSS的位置信息、基于全球定位系统GPS获得的位置信息、上一次的定位结果以及基于运动传感器确定的所述电子设备的运动信息。
(23)一种用于无线通信系统的终端设备侧的方法，包括：
从基站接收复用信号，
其中，所述复用信号复用了通信信号和感知信号二者，
其中，所述感知信号被所述电子设备至少反射、散射和/或绕射而产生的回波信号被传播到包括所述基站的一个或多个基站，以及
其中，所述感知信号至少用于感知所述电子设备与所述基站之间的距离、所述电子设备与所述基站之间的角度和/或所述电子设备的移动速度从而确定所述电子设备的位置。
(24)一种用于无线通信系统的核心网侧的电子设备，包括：
处理电路，被配置为：
从基站接收指示感知信号被终端设备至少反射、散射和/或绕射而产生的回波信号的信息，
至少是基于所述感知信号与所述回波信号之间的差异确定对所述终端设备的感知结果，其中，所述感知结果包括所述终端设备与所述基站之间的距离、所述终端设备与所述基站之间的角度、所述终端设备的移动速度和/或所述终端设备的位置，和
向所述基站发送所述感知结果。
(25)如(24)所述的电子设备，其中，所述差异包括以下中的一个或多个：多普勒频移、飞行时间、幅度变化、频率变化和相位变化。
(26)如(24)或(25)所述的电子设备，其中，所述电路系统进一步被配置为：
从所述基站接收请求一个或多个其他基站协作感知所述终端设备的位置的请求信息，和
向参与基于移动通信定位技术对所述终端设备进行定位的一个或多个基站发送指示参与协作感知的信息，其中，移动通信定位技术包括以下中的一个或多个：辅助的全球卫星导航系统定位A-GNSS、下行到达时间差DL-TDOA、上行到达时间差UL-TDOA、下行离开角DL-AoD、上行到达角UL-AOA、多往返时延Multi-RTT和新无线电增强型小区ID NR E-CID。
(27)一种用于无线通信系统的核心网侧的方法，包括：
从基站接收指示感知信号被终端设备至少反射、散射和/或绕射而产生的回波信号的信息，
至少是基于所述感知信号与所述回波信号之间的差异确定对所述终端设备的感知结果，其中，所述感知结果包括所述终端设备与所述基站之间的距离、所述终端设备与所述 基站之间的角度、所述终端设备的移动速度和/或所述终端设备的位置，和
向所述基站发送所述感知结果。
(28)一种存储有可执行指令的非暂时性计算机可读存储介质，所述可执行指令当被执行时实现如(15)、(23)和(27)中任一项所述的方法。
(29)一种设备，包括：
处理器，
存储装置，存储有可执行指令，所述可执行指令当被执行时实现如(15)、(23)和(27)中任一项所述的方法。

Claims (30)

  1. 一种用于无线通信系统的控制设备侧的电子设备，包括：
    处理电路，被配置为：
    向终端设备发送复用信号，其中，所述复用信号复用了通信信号和感知信号二者，所述感知信号至少用于感知所述终端设备与所述电子设备之间的距离、所述终端设备与所述电子设备之间的角度和/或所述终端设备的移动速度从而确定所述终端设备的位置，和
    接收由所述终端设备对所述感知信号的至少反射、散射和/或绕射而产生的回波信号。
  2. 如权利要求1所述的电子设备，其中，通信信号与感知信号以符号为单位被时分复用。
  3. 如权利要求1或2所述的电子设备，其中，所述处理电路进一步被配置为向所述终端设备发送指示通信信号与感知信号被如何复用的复用信息。
  4. 如权利要求1所述的电子设备，其中，所述处理电路进一步被配置为：
    向核心网的实体发送至少指示所述回波信号的信息，和
    从所述实体接收感知结果，感知结果包括所述距离、所述角度、所述移动速度和/或所述终端设备的位置，
    其中，所述感知结果至少是基于所述感知信号与所述回波信号之间的差异确定的，并且其中，所述差异包括以下中的一个或多个：多普勒频移、飞行时间、幅度变化、频率变化和相位变化。
  5. 如权利要求4所述的电子设备，其中，所述处理电路进一步被配置为：
    基于所述感知结果确定所述终端设备的移动速度与至少一个阈值的大小关系，
    基于所述确定，动态调整与定位相关的参考信号的发送频率。
  6. 如权利要求5所述的电子设备，其中，所述处理电路进一步被配置为：
    响应于确定所述终端设备的移动速度低于或等于第一阈值，降低与定位相关的参考信号的发送频率，
    响应于确定所述终端设备的移动速度高于第一阈值且低于或等于第二阈值，维持与定位相关的参考信号的发送频率，和
    响应于确定所述终端设备的移动速度高于第二阈值：
    -提高与定位相关的参考信号的发送频率，和/或
    -向核心网的所述实体发送请求信息，以请求一个或多个其他电子设备协作以对所述终端设备进行感知。
  7. 如权利要求6所述的电子设备，其中，提高或降低与定位相关的参考信号的发送频率包括：
    -缩短或延长所述参考信号的发送周期，或
    -增加或减少所述参考信号所占用的符号密度。
  8. 如权利要求1所述的电子设备，其中，所述处理电路进一步被配置为：
    从所述终端设备接收指示定位需求的信息，
    确定所述终端设备对定位准确度的要求，和
    基于所确定的所述终端设备对定位准确度的要求，动态调整与定位相关的参考信号的发送频率，其中，
    -响应于确定所述终端设备对定位准确度的要求低，维持或降低与定位相关的参考信号的发送频率，和
    -响应于确定所述终端设备对定位准确度的要求高：提高与定位相关的参考信号的发送频率，和/或向核心网的所述实体发送请求信息，以请求一个或多个其他电子设备协作感知所述终端设备的位置。
  9. 如权利要求6或8所述的电子设备，其中，所述一个或多个其他电子设备是参与基于移动通信定位技术对所述终端设备进行定位的一个或多个基站，其中，移动通信定位技术包括以下中的一个或多个：、下行到达时间差DL-TDOA、上行到达时间差UL-TDOA、下行离开角DL-AoD、上行到达角UL-AOA、多往返时延Multi-RTT和新无线电增强型小区ID NR E-CID。
  10. 如权利要求4所述的电子设备，其中，所述处理电路进一步被配置为：
    获得基于移动通信定位技术的所述终端设备的第一位置，其中，移动通信定位技术包括以下中的一个或多个：A-GNSS、基于运动传感器的定位、DL-TDOA、UL-TDOA、DL-AoD、UL-AOA、Multi–RTT和NR E-CID；
    基于所述感知结果确定所述终端设备的第二位置；和
    对第一位置和第二位置分别进行加权以确定所述终端设备的位置。
  11. 如权利要求10所述的电子设备，其中，在通信信号与感知信号被时分复用的情况下，第一位置和第二位置的权重是根据在预定时段中通信信号所占的符号数与感知信号所占的符号数之间的比值来确定的。
  12. 如权利要求4或10所述的电子设备，其中，所述处理电路进一步被配置为：
    向所述终端设备发送指示所述终端设备的位置的信息，其中，所述信息包括所述感知结果或者基于第一位置和第二位置确定的所述位置；和
    基于所述终端设备对指示所述终端设备的位置的信息的反馈，动态调整与定位相关的参考信号的发送频率。
  13. 如权利要求1所述的电子设备，其中，所述通信信号包括以下信号中的一个或多个：定位参考信号PRS、数据解调参考信号DMRS、信道状态测量参考信号CSI-RS、探测参考信号SRS和通信数据信号。
  14. 如权利要求5或8所述的电子设备，其中，与定位相关的参考信号包括以下参考信号中的一个或多个：定位参考信号PRS、解调参考信号DMRS、信道状态信息参考信号CSI-RS和探测参考信号SRS。
  15. 一种用于无线通信系统的控制设备侧的方法，包括：
    向终端设备发送复用信号，其中，所述复用信号复用了通信信号和感知信号二者，所述感知信号至少用于感知所述终端设备与所述电子设备之间的距离、所述终端设备与所述电子设备之间的角度和/或所述终端设备的移动速度从而确定所述终端设备的位置，和
    接收由所述终端设备对所述感知信号的至少反射、散射和/或绕射而产生的回波信号。
  16. 一种用于无线通信系统的终端设备侧的电子设备，包括：
    处理电路，被配置为从基站接收复用信号，
    其中，所述复用信号复用了通信信号和感知信号二者，
    其中，所述感知信号被所述电子设备至少反射、散射和/或绕射而产生的回波信号被传播到包括所述基站的一个或多个基站，以及
    其中，所述感知信号至少用于感知所述电子设备与所述基站之间的距离、所述电子设备与所述基站之间的角度和/或所述电子设备的移动速度从而确定所述电子设备的位置。
  17. 如权利要求16所述的电子设备，其中，通信信号与感知信号以符号为单位被时分复用。
  18. 如权利要求16或17所述的电子设备，其中，所述处理电路进一步被配置为从所述基站接收指示通信信号与感知信号被如何复用的复用信息。
  19. 如权利要求16或17所述的电子设备，其中，所述处理电路进一步被配置为：
    从所述基站接收指示与定位相关的参考信号的发送频率的信息，其中，所述参考信号的发送频率是根据基于所述感知信号的对所述电子设备的移动速度的感知结果而动态调整的。
  20. 如权利要求16或17所述的电子设备，其中，所述处理电路进一步被配置为：
    向所述基站发送指示定位需求的信息，和
    从所述基站接收指示与定位相关的参考信号的发送频率的信息，其中，所述参考信号的发送频率是根据对定位准确度的要求而动态调整的。
  21. 如权利要求16或17所述的电子设备，其中，所述处理电路进一步被配置为：
    从所述基站接收指示所述电子设备的位置的信息，其中，所述信息包括基于感知信号的感知结果或者联合定位结果，其中，所述感知结果包括感知到的所述距离、所述角度、所述移动速度和/或所述电子设备的位置，所述联合定位结果包括根据基于移动通信定位技术的所述电子设备的第一位置和基于感知结果的第二位置二者确定的所述电子设备的位置，
    自主确定所述电子设备的位置，和
    基于自主确定的位置与从基站接收到的所述信息中指示的位置之间的差，向所述基站进行反馈。
  22. 如权利要求21所述的电子设备，其中，自主确定所述电子设备的位置包括基于以下信息中的一个或多个估计所述电子设备的位置：基于RAT-only-DL定位技术获得的位置信息、基于辅助的全球卫星导航系统定位A-GNSS的位置信息、基于全球定位系统GPS获得的位置信息、上一次的定位结果以及基于运动传感器确定的所述电子设备的运动信息。
  23. 一种用于无线通信系统的终端设备侧的方法，包括：
    从基站接收复用信号，
    其中，所述复用信号复用了通信信号和感知信号二者，
    其中，所述感知信号被所述电子设备至少反射、散射和/或绕射而产生的回波信号被传播到包括所述基站的一个或多个基站，以及
    其中，所述感知信号至少用于感知所述电子设备与所述基站之间的距离、所述电子设备与所述基站之间的角度和/或所述电子设备的移动速度从而确定所述电子设备的位置。
  24. 一种用于无线通信系统的核心网侧的电子设备，包括：
    处理电路，被配置为：
    从基站接收指示感知信号被终端设备至少反射、散射和/或绕射而产生的回波信号的信息，
    至少是基于所述感知信号与所述回波信号之间的差异确定对所述终端设备的感知结果，其中，所述感知结果包括所述终端设备与所述基站之间的距离、所述终端设备与所述基站之间的角度、所述终端设备的移动速度和/或所述终端设备的位置，和
    向所述基站发送所述感知结果。
  25. 如权利要求24所述的电子设备，其中，所述差异包括以下中的一个或多个：多普勒频移、飞行时间、幅度变化、频率变化和相位变化。
  26. 如权利要求24或25所述的电子设备，其中，所述电路系统进一步被配置为：
    从所述基站接收请求一个或多个其他基站协作感知所述终端设备的位置的请求信息，和
    向参与基于移动通信定位技术对所述终端设备进行定位的一个或多个基站发送指示参与协作感知的信息，其中，移动通信定位技术包括以下中的一个或多个：辅助的全球卫星导航系统定位A-GNSS、下行到达时间差DL-TDOA、上行到达时间差UL-TDOA、下行离开角DL-AoD、上行到达角UL-AOA、多往返时延Multi-RTT和新无线电增强型小区ID NR E-CID。
  27. 一种用于无线通信系统的核心网侧的方法，包括：
    从基站接收指示感知信号被终端设备至少反射、散射和/或绕射而产生的回波信号的信息，
    至少是基于所述感知信号与所述回波信号之间的差异确定对所述终端设备的感知结果，其中，所述感知结果包括所述终端设备与所述基站之间的距离、所述终端设备与所述基站之间的角度、所述终端设备的移动速度和/或所述终端设备的位置，和
    向所述基站发送所述感知结果。
  28. 一种存储有可执行指令的非暂时性计算机可读存储介质，所述可执行指令当被执行时实现如权利要求15、23和27中任一项所述的方法。
  29. 一种设备，包括：
    处理器，
    存储装置，存储有可执行指令，所述可执行指令当被执行时实现如15、23和27中任一项所述的方法。
  30. 一种计算机程序产品，所述计算机程序产品包括指令，当所述指令被处理器执行时使所述处理器执行如权利要求15、23和27中任一项所述的方法。
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CN118659800A (zh) * 2024-08-19 2024-09-17 浙江大学 一种基于毫米波的全双工通信感知一体化系统
WO2025152500A1 (zh) * 2024-01-19 2025-07-24 中兴通讯股份有限公司 信息配置方法、设备及存储介质
WO2025156168A1 (zh) * 2024-01-24 2025-07-31 Oppo广东移动通信有限公司 无线通信方法、装置、设备及存储介质
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WO2025156168A1 (zh) * 2024-01-24 2025-07-31 Oppo广东移动通信有限公司 无线通信方法、装置、设备及存储介质
WO2025156783A1 (zh) * 2024-01-25 2025-07-31 华为技术有限公司 感知方法及装置
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