WO2023174332A1 - 感知处理方法、装置、通信设备及可读存储介质 - Google Patents

感知处理方法、装置、通信设备及可读存储介质 Download PDF

Info

Publication number
WO2023174332A1
WO2023174332A1 PCT/CN2023/081633 CN2023081633W WO2023174332A1 WO 2023174332 A1 WO2023174332 A1 WO 2023174332A1 CN 2023081633 W CN2023081633 W CN 2023081633W WO 2023174332 A1 WO2023174332 A1 WO 2023174332A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensing
time slot
duration
frame
indicator
Prior art date
Application number
PCT/CN2023/081633
Other languages
English (en)
French (fr)
Inventor
丁圣利
姜大洁
李健之
姚健
Original Assignee
维沃移动通信有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 维沃移动通信有限公司 filed Critical 维沃移动通信有限公司
Publication of WO2023174332A1 publication Critical patent/WO2023174332A1/zh

Links

Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/0231—Traffic management, e.g. flow control or congestion control based on communication conditions
    • H04W28/0236—Traffic management, e.g. flow control or congestion control based on communication conditions radio quality, e.g. interference, losses or delay
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W28/00—Network traffic management; Network resource management
    • H04W28/02—Traffic management, e.g. flow control or congestion control
    • H04W28/0268—Traffic management, e.g. flow control or congestion control using specific QoS parameters for wireless networks, e.g. QoS class identifier [QCI] or guaranteed bit rate [GBR]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • H04W72/044—Wireless resource allocation based on the type of the allocated resource
    • H04W72/0453—Resources in frequency domain, e.g. a carrier in FDMA
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/50—Allocation or scheduling criteria for wireless resources
    • H04W72/54—Allocation or scheduling criteria for wireless resources based on quality criteria
    • H04W72/542—Allocation or scheduling criteria for wireless resources based on quality criteria using measured or perceived quality

Definitions

  • This application belongs to the field of communication technology, and specifically relates to a sensing processing method, device, communication equipment and readable storage medium.
  • synaesthesia integration can be realized in communication systems.
  • communication and perception there are two types of services: communication and perception.
  • fixed sensing frame configurations are usually used to perform sensing services.
  • using a fixed sensing frame configuration to perform sensing services may easily cause time resource redundancy or fail to meet sensing performance requirements.
  • Embodiments of the present application provide a sensing processing method, device, communication device, and readable storage medium, which can optimize the occupation of time resources by sensing while meeting sensing performance requirements.
  • the first aspect provides a perceptual processing method, including:
  • the first device acquires a first indicator, the first indicator includes the echo signal quality in the first sensing frame or the predicted echo signal quality in the second sensing frame, the second sensing frame is located in the A sensing frame after the first sensing frame, one of the sensing frames includes a corresponding first time slot for performing signal transmission and reception;
  • the first device determines the duration of the first time slot of the second sensing frame according to the first indicator.
  • the second aspect provides a perception processing method, including:
  • the second device receives first indication information from the first device, and the first indicator includes the echo in the first sensing frame.
  • the signal quality may include the predicted echo signal quality in a second sensing frame, which is a sensing frame located after the first sensing frame, and one of the sensing frames includes a corresponding signal for performing signal transmission and reception.
  • the first time slot, the first indication information is used to indicate the duration of the first time slot of the second sensing frame;
  • the second device when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; when the first device is a sensing functional network element, In the case of a receiving device in a sensing node, the second device includes at least one of a sending device in a sensing node and a sensing function network element; in the case where the first device is a sending device in a sensing node, the second device The second device includes a receiving device in the sensing node and at least one of the sensing function network elements.
  • a perception processing device applied to the first device, including:
  • Acquisition module configured to acquire a first indicator, the first indicator including the echo signal quality in the first sensing frame or the predicted echo signal quality in the second sensing frame, the second sensing frame is located A sensing frame after the first sensing frame, one of the sensing frames includes a corresponding first time slot for performing signal transmission and reception;
  • An adjustment module configured to determine the duration of the first time slot of the second sensing frame according to the first indicator.
  • a perception processing device applied to a second device, including:
  • a first receiving module configured to receive first indication information from the first device when the first device adjusts the duration of the first time slot according to a first indicator, where the first indicator includes a first sensing frame The echo signal quality within or including the predicted echo signal quality within the second sensing frame, the second sensing frame is the sensing frame located after the first sensing frame, one of the sensing frames includes a The first time slot corresponding to signal transmission and reception, the first indication information is used to indicate the duration of the first time slot of the second sensing frame;
  • the second device when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; when the first device is a sensing functional network element, In the case of a receiving device in a sensing node, the second device includes at least one of a sending device in a sensing node and a sensing function network element; in the case where the first device is a sending device in a sensing node, the second device The second device includes at least one of a receiving device in a sensing node and a sensing function network element.
  • a communication device in a fifth aspect, includes a processor and a memory.
  • the memory stores a program or instructions that can be run on the processor.
  • the program or instructions are implemented when executed by the processor. The steps of the method as described in the first aspect, or the steps of implementing the method as described in the second aspect.
  • a communication device including a processor and a communication interface, wherein when the communication device is a first device, the communication interface is used to obtain a first indicator, and the first indicator includes a first
  • the echo signal quality within the sensing frame may include the predicted echo signal quality within the second sensing frame.
  • the second sensing frame is a sensing frame located after the first sensing frame.
  • One of the sensing frames includes In performing the first time slot corresponding to signal transmission and reception; the processor is configured to determine the duration of the first time slot of the second sensing frame according to the first indicator;
  • the communication interface is configured to receive a first indication from the first device when the first device adjusts the duration of the first time slot according to the first indicator.
  • the first indicator includes the echo signal quality in the first sensing frame or the predicted echo signal quality in the second sensing frame
  • the second sensing frame is located after the first sensing frame Sensing frame, one of the sensing frames includes a corresponding first time slot for performing signal transmission and reception, and the first indication information is used to indicate the duration of the first time slot of the second sensing frame;
  • the second device when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; when the first device is a sensing functional network element, In the case of a receiving device in a sensing node, the second device includes at least one of a sending device in a sensing node and a sensing function network element; in the case where the first device is a sending device in a sensing node, the second device The second device includes at least one of a receiving device in a sensing node and a sensing function network element.
  • a seventh aspect provides a communication system, including: a first device and a second device.
  • the first device can be used to perform the steps of the perception processing method as described in the first aspect.
  • the second device can be used to perform The steps of the perception processing method described in the second aspect.
  • a readable storage medium is provided. Programs or instructions are stored on the readable storage medium. When the programs or instructions are executed by a processor, the steps of the method described in the first aspect are implemented, or the steps of the method are implemented as described in the first aspect. The steps of the method described in the second aspect.
  • a chip in a ninth aspect, includes a processor and a communication interface.
  • the communication interface is coupled to the processor.
  • the processor is used to run programs or instructions to implement the method described in the first aspect. steps, or steps to implement the method described in the second aspect.
  • a computer program/program product is provided, the computer program/program product is stored in a storage medium, and the computer program/program product is executed by at least one processor to implement the method as described in the first aspect
  • the first device acquires a first indicator
  • the first indicator includes the echo signal quality in the first sensing frame or the predicted echo signal quality in the second sensing frame
  • the frame is a sensing frame located after the first sensing frame, and one sensing frame includes a corresponding first time slot for performing signal transmission and reception; the first device determines the second sensing frame according to the first indicator.
  • the duration of the first time slot is a sensing frame located after the first sensing frame, and one sensing frame includes a corresponding first time slot for performing signal transmission and reception; the first device determines the second sensing frame according to the first indicator.
  • the duration of the first time slot is a sensing frame located after the first sensing frame, and one sensing frame includes a corresponding first time slot for performing signal transmission and reception; the first device determines the second sensing frame according to the first indicator.
  • the duration of the first time slot is a sensing frame located after the first sensing frame, and one sensing frame includes a corresponding first time slot for performing signal transmission
  • Figure 1 is a structural diagram of a network system applicable to the embodiment of the present application.
  • Figure 2 is a schematic flowchart of a perception processing method provided by an embodiment of the present application.
  • Figure 3 is an example diagram of the composition of a perception frame in a perception processing method provided by an embodiment of the present application
  • Figure 4 is an example diagram of a perceptual frame arrangement used in a perceptual processing method provided by an embodiment of the present application
  • Figure 5 is an example diagram of another perceptual frame arrangement used in a perceptual processing method provided by an embodiment of the present application.
  • FIG. 6 is a schematic flowchart of another perception processing method provided by an embodiment of the present application.
  • Figure 7 is a structural diagram of a perception processing device provided by an embodiment of the present application.
  • Figure 8 is a structural diagram of another perception processing device provided by an embodiment of the present application.
  • Figure 9 is a structural diagram of a communication device provided by an embodiment of the present application.
  • Figure 10 is a structural diagram of a terminal provided by an embodiment of the present application.
  • Figure 11 is a structural diagram of a network side device provided by an embodiment of the present application.
  • first, second, etc. in the description and claims of this application are used to distinguish similar objects and are not used to describe a specific order or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances so that the embodiments of the present application can be practiced in sequences other than those illustrated or described herein, and that "first" and “second” are distinguished objects It is usually one type, and the number of objects is not limited.
  • the first object can be one or multiple.
  • “and/or” in the description and claims indicates at least one of the connected objects, and the character “/" generally indicates that the related objects are in an "or” relationship.
  • LTE Long Term Evolution
  • LTE-Advanced, LTE-A Long Term Evolution
  • LTE-A Long Term Evolution
  • CDMA Code Division Multiple Access
  • TDMA Time Division Multiple Access
  • FDMA Frequency Division Multiple Access
  • OFDMA Orthogonal Frequency Division Multiple Access
  • SC-FDMA Single-carrier Frequency Division Multiple Access
  • NR New Radio
  • FIG. 1 shows a block diagram of a wireless communication system to which embodiments of the present application are applicable.
  • the wireless communication system includes a terminal 11 and a network side device 12.
  • the terminal 11 may be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer), or a notebook computer, a personal digital assistant (Personal Digital Assistant, PDA), a palmtop computer, a netbook, or a super mobile personal computer.
  • Tablet Personal Computer Tablet Personal Computer
  • laptop computer laptop computer
  • PDA Personal Digital Assistant
  • PDA Personal Digital Assistant
  • UMPC ultra-mobile personal computer
  • UMPC mobile Internet device
  • MID mobile Internet Device
  • AR augmented reality
  • VR virtual reality
  • robots wearable devices
  • WUE Vehicle User Equipment
  • PUE Pedestrian User Equipment
  • smart home home equipment with wireless communication functions, such as refrigerators, TVs, washing machines or furniture, etc.
  • game consoles personal computers (personal computer, PC), teller machine or self-service machine and other terminal-side devices.
  • Wearable devices include: smart watches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart bracelets, smart rings, smart necklaces, smart anklets) bracelets, smart anklets, etc.), smart wristbands, smart clothing, etc.
  • the network side device 12 may include an access network device or a core network device, where the access network device may also be called a radio access network device, a radio access network (Radio Access Network, RAN), a radio access network function or a wireless access network unit.
  • the access network device 12 may include a base station, a Wireless Local Area Network (WLAN) access point or a WiFi node, etc.
  • the base station may be called a Node B, an Evolved Node B (eNB), an access point, or a base transceiver station.
  • Base Transceiver Station BTS
  • radio base station radio transceiver
  • BSS Basic Service Set
  • ESS Extended Service Set
  • home B-node home evolved B-node
  • transmitting and receiving point TRP or some other appropriate term in the field, as long as it reaches
  • TRP Transmitting Receiving Point
  • the base station is not limited to specific technical terms. It should be noted that in the embodiment of this application, only the base station in the NR system is used as an example for introduction, and the specific type of the base station is not limited.
  • the core network equipment may include but is not limited to at least one of the following: core network node, core network function, mobility management entity (Mobility Management Entity, MME), access mobility management function (Access and Mobility Management Function, AMF), session management function (Session Management Function, SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Service Discovery function (Edge Application Server Discovery Function, EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), centralized network configuration ( Centralized network configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (Local NEF, or L-NEF), Binding Support Function (Binding Support Function, BSF), application function (Application Function, AF), etc.
  • MME mobility management entity
  • AMF Access and Mobility Management Function
  • SMF Session Management Function
  • UPF User Plane Function
  • PCF Policy Control Function
  • Synesthesia integration can also be called Integrated Sensing And Communication (ISAC).
  • ISAC achieves integrated low-cost implementation of dual functions of communication and sensing through hardware device sharing and software-defined functions.
  • the main features are: first, unified and simplified architecture; second, reconfigurable and scalable functions; third, efficiency improvement and cost reduce.
  • the advantages of communication perception integration mainly include three aspects: first, reduced equipment cost and size, second, improved spectrum utilization, and third, improved system performance.
  • ISAC development of ISAC is divided into four stages: coexistence, co-operation, co-design and co-collaboration.
  • Coexistence Communication and perception are two separate systems. The two will interfere with each other.
  • the main methods to solve the interference are: distance isolation, frequency band isolation, time-division work, Multiple Input Multiple Output (MIMO) technology and prediction Coding etc.
  • MIMO Multiple Input Multiple Output
  • Co-operation Communication and perception share a hardware platform and use shared information to improve common performance.
  • the power allocation between the two has a greater impact on system performance.
  • Co-design Communication and perception become a complete joint system, including joint signal design, waveform design, coding design, etc.
  • linear frequency modulation waveforms In the early stage, there were linear frequency modulation waveforms, spread spectrum waveforms, etc., and later focused on Orthogonal Frequency Division Multiplexing technology (Orthogonal Frequency Division) Multiplexing, OFDM) waveforms, MIMO technology, etc.
  • OFDM Orthogonal Frequency Division Multiplexing
  • radar detection of targets not only measures the distance of the target, but also measures the speed, azimuth angle, and pitch angle of the target, and extracts more information about the target from the above information, including the size and shape of the target. wait.
  • Radar technology was originally used for military purposes to detect aircraft, missiles, vehicles, ships and other targets. With the development of technology and the evolution of society, radar is increasingly used in civilian scenarios. A typical application is that weather radar measures the echoes of meteorological targets such as clouds and rain to determine the location, intensity and other information about clouds and rain for weather forecasting. Furthermore, with the vigorous development of the electronic information industry, Internet of Things, communication technology, etc., radar technology has begun to enter people's daily life applications, greatly improving the convenience and safety of work and life. For example, automotive radar provides early warning information for vehicle driving by measuring the distance and relative speed between vehicles, between vehicles and surrounding objects, and between vehicles and pedestrians, which greatly improves the safety level of road traffic.
  • radar is classified in many ways. According to the positional relationship between radar transceiver sites, it can be divided into: single-station radar and dual-station radar, as shown in the figure below.
  • single-station radar the signal transmitter and receiver are integrated and share an antenna; the advantage is that the target echo signal and the local oscillator of the receiver are naturally coherent, and signal processing is more convenient; the disadvantage is that signal transmission and reception cannot be performed at the same time, and can only be Signal waveforms with a certain duty cycle lead to blind spots in detection, which require complex algorithms to compensate; or signals can be sent and received at the same time, with strict isolation between sending and receiving, but this is difficult to achieve for high-power military radars.
  • the signal transmitter and receiver are located at different locations; the advantage is that signal transmission and reception can be carried out simultaneously, and continuous wave waveforms can be used for detection; the disadvantage is that it is difficult to achieve the same frequency and coherence between the receiver and transmitter, and the signal The processing is more complicated.
  • radar technology can adopt single-station radar mode or dual-station radar mode.
  • the transmitting and receiving signals share the same antenna, and the receiving and transmitting signals enter different radio frequency processing links through the circulator; in this mode, the continuous wave signal waveform can be used to achieve detection without blind zones, provided that the receiving signal It needs good isolation from the transmitting signal, usually about 100dB, to eliminate the leakage of the transmitting signal from flooding the receiving signal. Since the single-station radar receiver has all the information of the transmitted signal, it can perform signal processing through matched filtering (pulse compression) to obtain higher signal processing gain.
  • the measurement range of distance and speed can meet the measurement needs of common targets such as cars and pedestrians.
  • the measurement accuracy of dual-station radar is related to the position of the transceiver station relative to the target. It is necessary to select an appropriate transceiver station pair to improve detection performance.
  • the time resources occupied by the sensing services can also be optimized and designed to optimize the time resources occupied by the sensing services while satisfying the sensing performance.
  • Time resources other than performing specific sensing services can be used to perform other sensing services or perform data communication. This application was made for this purpose Perceptual processing methods.
  • the perception processing method includes:
  • Step 201 The first device obtains a first indicator.
  • the first indicator includes the echo signal quality in the first sensing frame or the predicted echo signal quality in the second sensing frame.
  • the second sensing frame is A sensing frame located after the first sensing frame, one of the sensing frames includes a corresponding first time slot for performing signal transmission and reception;
  • Step 202 The first device determines the duration of the first time slot of the second sensing frame according to the first indicator.
  • the sensing frame can also be called the sensing frame period.
  • the duration of the sensing frame or sensing frame period can be understood as the sensing frame period, which can be understood as the sensing node performing signal processing in the slow time dimension of the first signal and obtaining the sensing
  • the length of time required for the first parameter of the object which is used to represent at least one of the position information and motion information of the perceived object.
  • the slow time dimension signal processing of a first signal can be understood as: the signal processing of the first signal of all sensing signal periods within a sensing frame period.
  • a sensing frame includes a first time slot and a second time slot, where the first time slot is used to perform signal transmission and reception operations, and the second time slot is used to perform operations other than signal transmission and reception.
  • the above-mentioned first time slot can be called a signal transmission and reception time slot, and can include one or more sensing signal periods.
  • the sensing signal period refers to the time length of the sensing signal corresponding to a sensing signal transmission or fast-time dimension signal processing. , where a fast time dimension signal processing of the first signal can be understood as signal processing of the first signal within one signal period.
  • the above-mentioned second time slot can be called a comprehensive processing time slot.
  • the second time slot is used for some sensory signal processing operations (such as: slow time dimension Fast Fourier Transform (FFT)), data processing operations, Operations such as resource scheduling and waveform generation of the next sensing frame.
  • FFT Fast Fourier Transform
  • the time required for comprehensive processing of time slots mainly depends on two factors: first, the computing power of the device; second, the service type of the sensing service (such as ranging/speed/angle measurement, or radar imaging) and the algorithm used (including : Signal processing algorithms and data processing algorithms, etc.).
  • the above-mentioned sensing update period can be understood as the time when the sensing node performs signal processing of the slow time dimension of the first signal and obtains the first parameter of the sensing object once in the M1th sensing frame period and in the M2th sensing frame period.
  • M1 and M2 are both positive integers, and the difference between M2 and M1 is equal to the number of sensing frame periods included in the sensing update period.
  • the first parameter is used to represent at least one of the position information and motion information of the sensing object. .
  • signal transmission and reception includes continuous wave waveforms and pulse waveforms in time
  • signal transmission and reception in space includes: monostatic radar and bistatic radar.
  • monostatic radar means that the signal sending equipment and receiving equipment belong to the same equipment
  • bistatic radar means that the signal sending equipment and receiving equipment belong to different equipment.
  • the length of the above comprehensive processing time slot is determined.
  • the time length of the comprehensive processing time slot can be obtained by table lookup or mapping based on the sensing service type and the adopted algorithm and equipment capabilities.
  • the above-mentioned sensing requirements may be called sensing requirement information, and may specifically include at least one of the following: sensing target area, sensing object type, and perceived quality of service (Quality of Service, QoS).
  • the above-mentioned first sensing frame may be the current sensing frame
  • the above-mentioned echo signal quality may be understood as the echo signal quality of the sensing object, that is, obtained by performing sensing measurements on the sensing object using the first signal. echo signal quality.
  • the first device determining the duration of the first time slot of the second sensing frame based on the first indicator can be understood as adaptively adjusting the duration of the first time slot based on the first indicator, for example, including: Increasing or reducing the duration of the first time slot may also include keeping the duration of the first time slot unchanged.
  • the requirements can be met by determining the perception performance based on the echo signal quality in the current perception frame or the predicted echo signal quality in the second perception frame, and the impact of perception services on time resources can be appropriately reduced. If it is determined that the sensing performance cannot meet the requirements, the duration of the first time slot can be increased, so that more time resources can be used for sensing services and the sensing performance can be improved.
  • the first device acquires a first indicator
  • the first indicator includes the echo signal quality in the first sensing frame or the predicted echo signal quality in the second sensing frame
  • the frame is a sensing frame located after the first sensing frame, and one sensing frame includes a corresponding first time slot for performing signal transmission and reception; the first device determines the second sensing frame according to the first indicator.
  • the duration of the first time slot is a sensing frame located after the first sensing frame, and one sensing frame includes a corresponding first time slot for performing signal transmission and reception; the first device determines the second sensing frame according to the first indicator.
  • the duration of the first time slot is a sensing frame located after the first sensing frame, and one sensing frame includes a corresponding first time slot for performing signal transmission and reception; the first device determines the second sensing frame according to the first indicator.
  • the duration of the first time slot is a sensing frame located after the first sensing frame, and one sensing frame includes a corresponding first time slot for performing signal transmission
  • the method further includes at least one of the following:
  • the first device includes a sending device in a sensing node
  • the first device sends the first signal according to the adjusted duration of the first time slot
  • the first device receives the first signal according to the adjusted duration of the first time slot.
  • the first device may perform sensing services by sending and/or receiving the first signal, thereby realizing adaptive adjustment of the duration of the first time slot.
  • the first device may further include one of the following actions:
  • the second operation is part of the first operation.
  • the method before the first device obtains the first indicator, the method further includes:
  • the first device obtains target information.
  • the target information includes at least one of first information and capability information of a sensing node.
  • the first information includes sensing target area, sensing object type, sensing QoS, and sensing prior information. and at least one item of position information of the sensing node;
  • the first device determines an initial configuration according to the target information, and the initial configuration includes at least one of the following: configuration information of the first time slot, a duration of the second time slot, and an arrangement of sensing frames, wherein the first time slot Two time slots are one sense The corresponding time slot in the frame is used to perform operations other than signal transmission and reception.
  • the duration of the first time slot of the above-mentioned first sensing frame may be the above-mentioned initial duration, or may be a duration after one or more adjustments to the initial duration. Since at least one of the lower limit value of the duration of the first time slot and the upper limit value of the duration of the first time slot is determined based on the target information, the duration of the first time slot is determined according to actual sensing requirements. The adjustment range is limited, so excessive adjustment of the duration of the first time slot can be avoided.
  • the above-mentioned first device may be a sensing function network element or a sensing node. Based on the difference of the first device, the first device may obtain the first information in the following situations:
  • Case 1 When the first device is a sensing function network element, the first device obtains the first information or the first part of the first information from the sensing application server and/or the sensing service initiator; when the first device obtains the first information In the case of the first part, the first device generates the second part of the first information based on the acquired first part of the first information.
  • Case 2 When the first device is a sensing node, the first device obtains the first information or the first part of the first information from the sensing function network element and/or the sensing application server and/or the sensing service initiator; in the first When the device acquires the first part of the first information, the first device generates the second part of the first information based on the acquired first part of the first information.
  • the above-mentioned sensing target area refers to the location area where the sensing object may exist, or the location area that needs to be imaged or three-dimensionally reconstructed.
  • the above-mentioned sensing object type may be determined based on at least one of the following: motion speed of typical sensing objects, motion acceleration of typical sensing objects, and radar cross-section (RCS). That is to say, the type of sensing object includes information such as the motion speed of typical sensing objects, the motion acceleration of typical sensing objects, and typical RCS. Among them, typical RCS can be understood as the reflection cross-sectional area of the sensing object.
  • Perception QoS can be understood as a performance indicator for sensing the sensing target area or sensing object, which can include at least one of the following: sensing resolution requirements, sensing accuracy requirements, sensing range requirements, sensing delay requirements, sensing update rate requirements, detection Probability requirements and false alarm probability requirements.
  • the perception resolution requirements include further divided into ranging resolution requirements, angle measurement resolution requirements, speed measurement resolution requirements and imaging resolution requirements, etc.
  • perception accuracy requirements can be further divided into ranging accuracy requirements, angle measurement accuracy requirements, Speed measurement accuracy requirements and positioning accuracy requirements, etc.
  • perception range requirements can be further divided into distance measurement range requirements, speed measurement range requirements, angle measurement range requirements, imaging range requirements, etc.
  • perception delay requirements can be understood as the time when the perception signal is sent to obtain the perception result.
  • the time interval requirement, or the time interval requirement from the initiation of the sensing requirement to the acquisition of the sensing result; the sensing update rate requirement can be understood as the time interval requirement for two consecutive executions of sensing and obtaining the sensing result;
  • the detection probability requirement can be understood as the time interval when the sensing object exists In the case of , the probability of being detected correctly is required; the false alarm probability can be understood as the probability of being detected incorrectly when the perceived object does not exist.
  • the sensing prior information refers to the information provided to the sensing node about the spatial extent and/or motion attributes of the sensing object or sensing target area, and helps the sensing node narrow the search range. Specifically include at least one of the following:
  • Spatial range prior information such as the distance or position range of the object to be sensed or the sensing target area, and/or the angle range, etc.
  • Prior information on motion attributes such as the speed range and/or acceleration range of the object to be sensed, etc.
  • the location information of the sensing node can include the following two situations:
  • the location information of the sensing node is known. It can be obtained by accessing the network function that stores the location information of the sensing node (such as network management system, unified data management), or by reporting it by the sensing node. location information;
  • the sensing function network element should first obtain the location information of the sensing node.
  • the method of obtaining location information may be to request and obtain location information from the positioning management function or other service functions.
  • the positioning management function may be a location management function (LMF), a network function that receives location information from the Minimization of Drive Test (MDT);
  • the positioning service function may be an application service (Application Function, AF) , the AF can be a positioning server such as Wi-Fi, Bluetooth, or Ultra Wide Band (UWB), or it can be an application function that can obtain positioning information such as Global Positioning System (GPS). , such as map application (Application, APP).
  • the configuration information of the first time slot includes at least one of the following: an initial duration of the first time slot, an upper limit of the duration of the first time slot, and a duration of the first time slot. the lower limit value.
  • the initial duration of the first time slot and the duration after the adjustment of the first time slot are both determined by the upper limit of the first time slot and the lower limit of the first time slot. within the time interval.
  • the first device determines the initial configuration according to the target information to include at least one of the following:
  • the first device determines a lower limit of the duration of the first time slot based on Doppler resolution requirements, which are included in the perceived QoS;
  • the first device determines an upper limit of the duration of the first time slot according to the sensing object type
  • the first device determines the initial duration of the first time slot based on at least one of the sensing object type and the sensing prior information.
  • the lower limit of the duration of the first time slot is equal to the reciprocal of the Doppler resolution requirement. For example, assuming that the Doppler resolution requirement is ⁇ f 0 , the lower limit value T s,min of the duration of the first time slot satisfies:
  • the above first parameter may include at least one of the following:
  • the parameters in the polar coordinate system obtained directly by perception include at least one of the following: the radial distance of the sensing object relative to the sensing node, the radial velocity of the sensing object relative to the sensing node, and the angle of the sensing object relative to the sensing node.
  • the angle It may further include: direction angle and pitch angle;
  • the parameters in the rectangular coordinate system after coordinate changes include at least one of the following: the coordinates of the sensing object in the rectangular coordinate system (such as x-axis coordinates, y-axis coordinates, and z-axis coordinates) and the coordinates of the sensing object in the rectangular coordinate system speed (such as x-direction speed, y-direction speed and z-direction speed).
  • the constraint condition for the upper limit of the time length of the signal transmission and reception time slot is: the change of the first parameter of the sensing object within a signal transmission and reception time slot is less than the preset threshold requirement.
  • Perceptual object type main Describes typical speed ranges and typical acceleration ranges for typical perceptual objects in synaesthetic integration scenarios. For example, the typical speed of a high-speed moving vehicle is about 30m/s, while the typical speed of a pedestrian walking at a normal speed is about 1.3m/s; then for the perception of vehicles and pedestrians, a preset threshold for distance change within a perception frame is different.
  • the upper limit of the signal transmission and reception time slot time length is related to the type of sensing object.
  • the upper limit value T 1 of the duration of the first time slot satisfies at least one of the following:
  • ⁇ R represents the threshold value of the distance change of the sensing object in the first time slot
  • v max represents the maximum value of the typical speed range of the sensing object
  • ⁇ represents the threshold value of the angle change of the sensing object in a first time slot
  • R represents the distance of the sensing object
  • v max represents the maximum value of the typical speed range of the sensing object
  • ⁇ v represents the threshold value of the velocity change of the sensing object in a first time slot
  • a max represents the maximum value of the typical acceleration range of the sensing object.
  • the second preset threshold value of the distance change of the sensing object is ⁇ R
  • the maximum value of the typical speed range of the sensing object is v max
  • the first constraint requires that the distance change of the sensing object in a sensing frame is much smaller than the distance resolution, so that the distance of the sensing object in a sensing frame can be considered unchanged, and ultimately the response of all sensing signal periods in a sensing frame can be
  • the wave signal undergoes sensing signal processing to obtain single distance information of the sensing object.
  • the second preset threshold of the angle change of the sensing object is ⁇
  • the distance of the sensing object is R
  • the maximum value of the typical speed range of the sensing object is v max
  • the duration of the first time slot is T
  • one setting method of the second preset threshold ⁇ is eta 2 times the angular resolution, where eta 2 is a positive real number that is much smaller than 1.
  • v max /R is the maximum speed v max of the sensing object moving relative to the sensing node at a distance R from the sensing node, which is perpendicular to the direction connecting the sensing object and the sensing node. It is the limit case of the angle change rate.
  • the above second constraint requires that the angle change of the sensing object within a sensing frame is much smaller than the angular resolution, so that the angle of the sensing object within a sensing frame period can be considered unchanged, and ultimately the response to all sensing signal periods within a sensing frame can be The wave signal undergoes sensing signal processing to obtain single angle information of the sensing object.
  • the second preset threshold for the speed change of the sensing object is ⁇ v
  • the maximum value of the typical acceleration range of the sensing object is a max
  • the third constraint requires that the velocity change of the sensing object within a sensing frame is much smaller than the velocity resolution, so that the velocity of the sensing object within a sensing frame can be considered unchanged, and ultimately all sensing signal periods in a sensing frame can be
  • the echo signal is subjected to sensing signal processing to obtain the single speed information of the sensing object.
  • the upper limit when determining the upper limit of the time length of the first signal, the upper limit may be determined to be any of the following according to the sensing requirements of the sensing service:
  • the first constraint, the second constraint and the third constraint are satisfied at the same time; for example, this is the case when the sensing requirements are range measurement, speed measurement and angle measurement.
  • Two of the first constraint, the second constraint and the third constraint must be satisfied; for example, when the sensing requirements are ranging and angle measurement, only the first constraint and the second constraint need to be satisfied.
  • the sensing process after determining the value range of the duration of the first time slot (ie, the upper limit of the duration of the first time slot and the lower limit of the duration of the first time slot), before performing the sensing process, it is also necessary to Determine the initial duration of the first time slot.
  • the duration of the first time slot is directly proportional to the number N of sensing signal periods included in the first time slot.
  • the value of N will affect the echo signal power and echo signal-to-noise ratio (SNR) after coherent accumulation or non-coherent accumulation of one sensory signal processing.
  • the sensing performance and/or the time resource configuration are further optimized by setting the duration of the first time slot in the sensing frame. .
  • a method of determining the initial duration of the first time slot is: based on the sensing prior information or coverage requirements of the sensing object in the sensing requirements, and the target value of the echo signal power, The required length of the first time slot is calculated through the radar equation, taking into account the given other factors affecting the echo signal power.
  • the arrangement of the sensing frames includes any of the following:
  • the first arrangement is a serial arrangement between two adjacent sensing frames, and the second time slot of the third sensing frame and the first time slot of the fourth sensing frame do not overlap in time,
  • the third sensing frame is the previous sensing frame of the fourth sensing frame;
  • the second arrangement is a parallel arrangement between two adjacent sensing frames, and the second time slot of the fifth sensing frame and the first time slot of the sixth sensing frame at least partially overlap in time,
  • the fifth sensing frame is the previous sensing frame of the sixth sensing frame.
  • the third sensing frame and the fourth sensing frame are any two adjacent sensing frames
  • the fifth sensing frame and the sixth sensing frame are any two adjacent sensing frames.
  • the sensing result of the nth sensing frame can be used for setting signal parameters and resource scheduling of the n+1th sensing frame and subsequent sensing frames.
  • the sensing result of the nth sensing frame can be used for setting signal parameters and resource scheduling of the n+2th sensing frame and subsequent sensing frames.
  • the first device may determine the duration of the second time slot and the arrangement of the sensing frames based on the sensing requirements and the device capability information of the sensing node.
  • the above capability information may include at least one of the following: computing capability and parallel processing capability.
  • the duration of the second time slot may be set according to the computing capability of the sensing node and the computing volume of the algorithm corresponding to sensing QoS.
  • the arrangement of sensing frames in the first arrangement or the second arrangement depends on the parallel processing capabilities of the sensing nodes, as follows:
  • the second arrangement can be used
  • the sensing node does not have the capability of parallel processing, the first arrangement method needs to be used.
  • the initial configuration may further include the value of the above T offset .
  • both the sending device and the receiving device of the sensing node need to have parallel processing capabilities.
  • the first device can directly determine the duration of the second time slot and the arrangement of the sensing frames. If the first device is a sensing function network element, then the first device can directly determine the duration of the second time slot and the arrangement of the sensing frames. Before determining the duration and arrangement of sensing frames, first obtain the capability information of the sensing node.
  • the acquisition method can be: receiving the capability information sent by the sensing node, or querying the sensing function network element or the network node accessible to the sensing function network element. Node capability information.
  • the first device determines the duration of the first time slot of the second sensing frame according to the first indicator, including:
  • the first device determines the duration of the first time slot of the second sensing frame based on the first indicator, a first preset threshold value and a preset adjustment method.
  • the duration of the first time slot can be adjusted based on the echo signal quality obtained in the first sensing frame or the prediction result of the echo signal quality in the second sensing frame to obtain the first time slot of the second sensing frame.
  • the duration of the time slot can be adjusted based on the echo signal quality obtained in the first sensing frame or the prediction result of the echo signal quality in the second sensing frame to obtain the first time slot of the second sensing frame.
  • the preset adjustment method includes any of the following:
  • the duration of the first time slot is adjusted according to a preset configuration table.
  • the preset configuration table includes at least two first values, and the first values are parameter values of the first time slot.
  • Increasing or reducing the duration of the first time slot according to a fixed variation can be understood or replaced by increasing or decreasing the second perception according to the duration of the first time slot of the first perception frame and the fixed variation.
  • the duration of the first time slot of the frame; increasing or decreasing the duration of the first time slot according to the target ratio can be understood or replaced by increasing or decreasing the duration of the first time slot according to the duration of the first sensing frame and the target ratio. Reduce the duration of the first time slot of the second sensing frame.
  • the target ratio may be a fixed ratio or a dynamic ratio.
  • the target ratio is the ratio of the target value to the first indicator.
  • the target value is determined based on the first preset threshold value.
  • the method of determining the target value can be set according to actual needs. For example, when the first preset threshold value package When a threshold value is included, the above target value is equal to the first preset threshold value. When the first preset threshold value includes two threshold values, the target value may be equal to the geometric mean or arithmetic mean of the two threshold values.
  • first preset threshold value may include one or more threshold values. If the included threshold values are different, the corresponding preset adjustment method will be different.
  • the first preset threshold value includes a threshold value
  • the adjustment rule for the duration of the first time slot satisfies at least one of the following:
  • the first indicator is greater than the one threshold value, reduce the duration of the first time slot or keep the duration of the first time slot unchanged;
  • the duration of the first time slot is increased.
  • the first preset threshold value includes a first threshold value and a second threshold value, and the first threshold value is less than the second threshold value, and the The adjustment rule for the duration of the first time slot satisfies at least one of the following:
  • first indicator is greater than the second threshold value, reduce the duration of the first time slot or keep the duration of the first time slot unchanged;
  • the duration of the first time slot is increased.
  • the preset threshold value includes a third threshold value and a fourth threshold value
  • the adjustment rule for the duration of the first time slot satisfies at least one of the following:
  • the first time period is reduced.
  • the duration of the gap
  • the first time period is increased. The duration of the gap.
  • the above deviation can be determined based on the difference, the square of the difference, the ratio, etc., and is not further limited here.
  • the above adjustment rule can be understood or replaced by the determination rule of the first time slot of the second sensing frame.
  • the following is an exemplary description of the adjustment of the duration of the first time slot using different adjustment methods.
  • the duration of the first time slot For increasing or decreasing the duration of the first time slot according to a fixed variation amount, if the first indicator is greater than the first preset threshold value, then reducing the duration of the first time slot of the first sensing frame by a fixed amount The duration is then used as the duration of the first time slot of the second sensing frame; if the first indicator is less than the first preset threshold value, the duration of the first time slot is increased by a fixed duration and is used as the first duration of the second sensing frame. The duration of the gap.
  • the value of the duration of the first time slot may be kept unchanged.
  • the first preset threshold value may be one threshold value, or may include a first threshold value and a second threshold value, and the first threshold value is smaller than the second threshold value.
  • the first preset threshold value includes a first threshold value and a second threshold value
  • the first indicator being greater than the first preset threshold value can be understood as the first indicator being greater than the second threshold value, and the first indicator being less than
  • the first preset threshold value can be understood as the first indicator being smaller than the first threshold value.
  • the duration N′ of the first time slot of the second sensing frame satisfies :
  • N represents the duration of the first time slot of the first sensing frame
  • P represents the value of the first indicator
  • P 0 represents the above target value.
  • Q 0 is the first preset threshold value
  • the first preset threshold value includes a first threshold value and a second threshold value
  • the geometric mean or arithmetic mean of the first threshold and the second threshold can be used as Q 0
  • the first index is greater than the first preset
  • the threshold value can be understood as the first indicator being greater than the second threshold value
  • the first indicator being less than the first preset threshold value can be understood as the first indicator being less than the first threshold value.
  • the duration of the first time slot includes at least one array, and the array includes a plurality of first values of different sizes.
  • the value represents the value of the duration of the first time slot. If it is necessary to increase or decrease the sensing update frame period, you can select an increase or decrease value in the array based on the value of the duration of the first time slot.
  • the small new first value is used as the updated first time slot duration.
  • the first preset threshold value includes the third threshold and the fourth threshold. If the first indicator is greater than the third threshold, and the deviation between the first indicator and the third threshold is greater than the fourth threshold, then select a decrease value in the array.
  • the new first value of is used as the duration of the updated first time slot; if the first indicator is less than the third threshold, and the deviation between the fourth threshold and the first indicator is greater than the fourth threshold, select an increased value in the array The new first value is used as the updated duration value of the first time slot.
  • the method for determining the first indicator can be set according to actual needs.
  • the first device includes a receiving device in the sensing node
  • the first device Obtaining the first indicators includes:
  • the first device receives the first signal according to the duration of the first time slot of the first sensing frame to obtain echo data
  • the first device determines a target sensing result based on the echo data, and the target sensing result satisfies: the target sensing result includes result information of whether the sensing object is detected; in the case where the sensing object is detected , the target sensing result also includes the first indicator;
  • the first device determines the first indicator according to the target sensing result.
  • the method when the first device is a sensing function network element or a sending device in a sensing node, before the first device acquires the first indicator, the method further includes:
  • the first device receives second information from the receiving device in the sensing node.
  • the second information includes echo data, an intermediate sensing result obtained by performing a first operation on the echo data, and an intermediate sensing result obtained by performing a second operation on the echo data.
  • the first operation is a partial operation in the second operation
  • the target sensing result satisfies: the target sensing result includes the result information of whether the sensing object is detected; in the case of detecting the sensing object Below, the target sensing result also includes the first indicator;
  • the first device determines the first indicator based on the second information.
  • the first device when the first device includes a sending device in a sensing node, the first device also needs to send a first signal based on the duration of the first time slot of the first sensing frame.
  • the first device when the second information includes echo data, can perform a second operation on the echo data to obtain the determined Determine the first index; when the second information includes the intermediate sensing result, the first device can perform the remaining operations in the second operation except the first operation on the intermediate sensing result to obtain the first index.
  • the first device can directly parse the second information to obtain the first indicator.
  • the method also includes at least one of the following:
  • the first device In the case where the first device is a receiving device in a sensing node, the first device sends first indication information to the first target device, where the first indication information is used to indicate the adjusted first time slot. Duration, the first target device includes the sending device in the sensing node, or includes the sending device and sensing function network element in the sensing node;
  • the first device When the first device is a sending device in a sensing node, the first device sends first indication information to the second target device, where the first indication information is used to indicate the adjusted first time slot. Duration, the second target device includes the receiving device in the sensing node, or includes the receiving device and sensing function network element in the sensing node;
  • the first device When the first device is a sensing function network element, the first device sends first indication information to the sending device and the receiving device in the sensing node, and the first indication information is used to indicate the adjusted first The duration of the time slot.
  • the sensing node needs to indicate the adjusted first time slot to the sensing function network element. of duration.
  • the method further includes at least one of the following:
  • the first device includes a sending device in a sensing node
  • the first device sends the first signal according to the adjusted duration of the first time slot
  • the first device receives the first signal according to the adjusted duration of the first time slot.
  • the echo signal quality may include or represent at least one of the following: echo signal power, echo signal to noise ratio (Signal Noise Ratio, SNR), echo signal to interference noise ratio (Signal to Interference Noise Ratio, SINR) , Reference Signal Received Power (RSRP) and Reference Signal Received Quality (RSRQ).
  • SNR Signal to noise ratio
  • SINR echo signal to interference noise ratio
  • RSRP Reference Signal Received Power
  • RSSQ Reference Signal Received Quality
  • the sending device of the sensing node and the receiving device of the sensing node belong to the same device.
  • the process of adaptive adjustment of the duration of the first time slot is as follows: :
  • Step 1 The sensing node or sensing function network element obtains first information used for sensing signal configuration.
  • Step 2 The sensing node or sensing function network element sets the value range and initial duration of the first time slot in the sensing frame according to the Doppler measurement resolution requirements and sensing object type in the sensing requirements; and based on the sensing requirements and sensing The device capability information of the node determines the duration of the second time slot and the arrangement of sensing frames.
  • the device that performs the above operation is a sensing function network element, before performing the above process, it also includes the sensing function network element obtaining the capability information of the sensing node, and after performing the above process, it also includes the sensing function network element first The initial duration of the time slot, the duration of the second time slot and the arrangement of sensing frames are sent to the sensing node.
  • Step 3 The sensing node configures the sensing frame parameters according to the initial duration of the first time slot, the duration of the second time slot and the arrangement of the sensing frames, and transmits and receives the first signal according to the configuration of the sensing frame parameters, and
  • the echo data is obtained; the sensing node and/or sensing function network element performs sensing signal processing on the echo data.
  • it can include one of the following options:
  • the sensing node performs sensing signal processing on the echo data and generates the first sensing result
  • the sensing node performs part of the sensing signal processing operation on the echo data to obtain an intermediate sensing result, and sends the intermediate sensing result to the sensing function network element.
  • the sensing function network element performs the remaining part of the sensing signal processing operation to generate the first sensing result.
  • the sensing node sends the echo data to the sensing function network element, and the sensing function network element performs sensing signal processing on the echo data to generate a first sensing result.
  • the first sensing result includes: whether the sensing object is detected, and the echo signal quality if the sensing object is detected.
  • this step is executed in a loop; if the first sensing result shows that the sensing object is detected, the next step is entered.
  • Step 4 The sensing node or sensing function network element adjusts the duration of the first time slot according to the echo signal quality in the target sensing result.
  • the target sensing result is the first sensing result in step 3; otherwise, the target sensing result is the second sensing result in step 5.
  • the sensing node or sensing function network element According to the generation of the target sensing result by the sensing node or sensing function network element, and the device that performs the duration adjustment of the first time slot is the sensing node or sensing function network element, including one of the following situations:
  • the device that performs the duration adjustment of the first time slot is the sensing node, there is no need to interact with the target sensing result and the adjusted duration of the first time slot;
  • the target sensing result is generated by the sensing node, and the device that performs the duration adjustment of the first time slot is the sensing function network element.
  • the sensing node Before performing the duration adjustment of the first time slot, the sensing node needs to send the target sensing result to the sensing function network element. After performing the adjustment of the duration of the first timeslot, the sensing function network element needs to send the adjusted duration of the first timeslot to the sensing node;
  • the target sensing result is generated by the sensing function network element, and the device that performs the duration adjustment of the first time slot is the sensing node. Before performing the duration adjustment of the first time slot, the sensing function network element needs to send the target sensing result to the sensing node;
  • the target sensing result is generated by the sensing function network element, and the device that performs the duration adjustment of the first time slot is the sensing function network element. After performing the duration adjustment of the first time slot, the sensing function network element needs to send the adjusted value to the sensing node. The duration of the first time slot.
  • Step 5 The sensing node adjusts the sending and receiving of the first signal according to the adjusted length of the first time slot, and obtains the echo data; the sensing node and/or the sensing function network element performs sensing signal processing on the target echo data and/or data processing to obtain echo signal quality and/or first parameters of the perceived object, including one of the following options:
  • the sensing node performs sensing signal processing and/or data processing on the echo data to obtain the second sensing result
  • the sensing node performs partial operations of sensing signal processing and/or data processing on the echo data to obtain intermediate sensing results.
  • the intermediate sensing result is sent to the sensing function network element, and the sensing function network element performs the remaining part of sensing signal processing and/or data processing to obtain the second sensing result;
  • the sensing node sends the echo data to the sensing function network element, and the sensing function network element performs sensing signal processing and/or data processing on the echo data to obtain a second sensing result.
  • the above-mentioned second sensing result includes: whether the sensing object is detected, and the echo signal quality if the sensing object is detected, the first parameter of the sensing object, the filter value of the first parameter and/or the predicted value of the first parameter. Finally, steps 4 and 5 are executed in a loop until the sensing process is completed.
  • the sending device of the sensing node and the receiving device of the sensing node belong to different devices.
  • the sensing service is performed by the sending device sending the first signal and the receiving device receiving the first signal
  • the first time slot The process of adaptive adjustment of the duration is as follows:
  • Step 1 The sending end device, the receiving end device or the sensing function network element obtains the first information used for sensing signal configuration.
  • Step 2 The sending end device, the receiving end device or the sensing function network element sets the value range and initial duration of the first time slot in the sensing frame according to the Doppler measurement resolution requirements and sensing object type in the sensing requirements; and The duration of the second time slot and the arrangement of the sensing frames are determined according to the sensing requirements and the device capability information of the sensing node.
  • the device that performs the above operation is a sensing function network element, before performing the above process, it also includes the sensing function network element obtaining the capability information of the sending device and the receiving device, and after performing the above process, it also includes the sensing function network element The initial duration of the first time slot, the duration of the second time slot, and the arrangement of the sensing frames are sent to the sending device and the receiving device.
  • the device that performs the above operation is a sending device, before performing the above process, it also includes the sending device obtaining the capability information of the receiving device, and after performing the above process, it also includes the sending device changing the initial duration of the first time slot, the second time slot
  • the duration and arrangement of sensing frames are sent to at least one of the receiving device and the sensing function network element.
  • the device that performs the above operation is a receiving device, before performing the above process, it also includes the receiving device obtaining the capability information of the sending device, and after performing the above process, it also includes the receiving device changing the initial duration of the first time slot, the second time slot
  • the duration and arrangement of sensing frames are sent to at least one item summarized by the sending device and the sensing function network element.
  • Step 3 The sending end device and the receiving end device transmit and receive the first signal according to the initial duration of the first time slot, the duration of the second time slot and the arrangement of the sensing frames, and the receiving device obtains the echo data; the receiving end The equipment and/or sensing function network element performs sensing signal processing on the echo data. Specifically, it can include one of the following options:
  • the receiving end device performs sensing signal processing on the echo data and generates the first sensing result
  • the receiving end device performs part of the sensing signal processing operation on the echo data to obtain the intermediate sensing result, and sends the intermediate sensing result to the sensing function network element.
  • the sensing function network element performs the remaining part of the sensing signal processing operation to generate the first sensing result;
  • the receiving end device sends the echo data to the sensing function network element, and the sensing function network element performs sensing signal processing on the echo data to generate a first sensing result.
  • the first sensing result includes: whether the sensing object is detected, and the echo signal quality if the sensing object is detected.
  • this step is executed in a loop; if the first sensing result shows that the sensing object is detected, the next step is entered.
  • Step 4 The sending end device, the receiving end device or the sensing function network element adjusts the duration of the first time slot according to the echo signal quality in the target sensing result.
  • the target sensing result is the first sensing result in step 3; otherwise, the target sensing result is the second sensing result in step 5.
  • the target sensing result is generated by the receiving device, and the device that performs the duration adjustment of the first time slot is the receiving device. After performing the duration adjustment of the first time slot, the receiving device needs to send the adjusted third time to the sending device.
  • the duration of a time slot
  • the target sensing result is generated by the receiving device, and the device that performs the duration adjustment of the first time slot is the sensing function network element.
  • the receiving device Before performing the duration adjustment of the first time slot, the receiving device needs to send the target sensing result to the sensing function network element.
  • the sensing function network element needs to send the adjusted duration of the first time slot to the sending device and the receiving device;
  • the target sensing result is generated by the receiving device, and the device that performs the duration adjustment of the first time slot is the sending device.
  • the receiving device Before performing the duration adjustment of the first time slot, the receiving device needs to send the target sensing result to the sending device. After performing the adjustment of the duration of the first time slot, the sending device needs to send the adjusted duration of the first time slot to the receiving device;
  • the target sensing result is generated by the sensing function network element, and the device that performs the duration adjustment of the first time slot is the sensing function network element. After performing the duration adjustment of the first time slot, the sensing function network element needs to report to the sending end device and the receiving device. The end device sends the adjusted first time slot duration;
  • the target sensing result is generated by the sensing function network element, and the device that performs the duration adjustment of the first time slot is the sending device.
  • the sensing function network element Before performing the duration adjustment of the first time slot, the sensing function network element needs to send the target sensing result to the sending device.
  • the sending device After performing the adjustment of the duration of the first time slot, the sending device needs to send the adjusted duration of the first time slot to the receiving device and the sensing function network element;
  • the target sensing result is generated by the sensing function network element, and the device that performs the duration adjustment of the first time slot is the receiving device.
  • the sensing function network element Before performing the duration adjustment of the first time slot, the sensing function network element needs to send the target sensing result to the receiving device.
  • the receiving end device After performing the adjustment of the duration of the first time slot, the receiving end device needs to send the adjusted duration of the first time slot to the sending end device and the sensing function network element.
  • Step 5 The sensing node adjusts the sending and receiving of the first signal according to the adjusted length of the first time slot, and obtains the echo data; the sensing node and/or the sensing function network element performs sensing signal processing on the target echo data and/or data processing to obtain echo signal quality and/or first parameters of the perceived object, including one of the following options:
  • the sensing node performs sensing signal processing and/or data processing on the echo data to obtain the second sensing result
  • the sensing node performs some operations of sensing signal processing and/or data processing on the echo data to obtain an intermediate sensing result, and sends the intermediate sensing result to the sensing function network element, which performs sensing signal processing and/or data processing.
  • the remaining part of the operation is calculated to obtain the second perception result;
  • the sensing node sends the echo data to the sensing function network element, and the sensing function network element senses the echo data. processing and/or data processing to obtain a second perception result.
  • the above-mentioned second sensing result includes: whether the sensing object is detected, and the echo signal quality if the sensing object is detected, the first parameter of the sensing object, the filter value of the first parameter and/or the predicted value of the first parameter. Finally, steps 4 and 5 are executed in a loop until the sensing process is completed.
  • the perception processing method includes:
  • Step 601 When the first device adjusts the duration of the first time slot according to the first indicator, the second device receives the first indication information from the first device, and the first indicator includes the first time slot in the first perception frame.
  • the echo signal quality or the predicted echo signal quality in the second sensing frame is the sensing frame located after the first sensing frame, and one of the sensing frames includes a signal for executing Transmitting and receiving the corresponding first time slot, the first indication information is used to indicate the duration of the first time slot of the second sensing frame;
  • the second device when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; when the first device is a sensing functional network element, In the case of a receiving device in a sensing node, the second device includes at least one of a sending device in a sensing node and a sensing function network element; in the case where the first device is a sending device in a sensing node, the second device The second device includes at least one of a receiving device in a sensing node and a sensing function network element.
  • the method also includes at least one of the following:
  • the second device includes a sending device in a sensing node
  • the second device sends the first signal according to the adjusted duration of the first time slot
  • the second device receives the first signal according to the adjusted duration of the first time slot to obtain the echo data, and sends the echo data to the first device or the sensing function.
  • the network element sends second information, where the second information includes echo data, an intermediate sensing result obtained by performing a first operation on the echo data, or a target sensing result obtained by performing a second operation on the echo data, wherein the echo data
  • the wave data is data obtained by the receiving device in the sensing node performing sensing services based on the duration of the first time slot of the first sensing frame, and the first operation is part of the second operation, and the The target sensing result satisfies: the target sensing result includes result information of whether the sensing object is detected; in the case where the sensing object is detected, the target sensing result also includes the first indicator.
  • the method before the second device receives the first indication information from the first device, the method further includes:
  • the second device receives second indication information from the first device.
  • the second indication information is used to indicate initial configuration.
  • the initial configuration includes at least one of the following: configuration information of the first time slot, second time slot The duration of the slot and the arrangement of the sensing frame, wherein the second time slot is a corresponding time slot in a sensing frame used to perform operations other than signal transmission and reception.
  • the configuration information of the first time slot includes at least one of the following: an initial duration of the first time slot, an upper limit of the duration of the first time slot, and a duration of the first time slot. the lower limit value.
  • the lower limit of the duration of the first time slot is equal to the reciprocal of the Doppler resolution requirement, and the Doppler resolution requirement is included in the perceived QoS.
  • the upper limit value T 1 of the duration of the first time slot satisfies at least one of the following:
  • ⁇ R represents the threshold value of the distance change of the sensing object in the first time slot
  • v max represents the maximum value of the typical speed range of the sensing object
  • ⁇ represents the threshold value of the angle change of the sensing object in a first time slot
  • R represents the distance of the sensing object
  • v max represents the maximum value of the typical speed range of the sensing object
  • ⁇ v represents the threshold value of the velocity change of the sensing object in a first time slot
  • a max represents the maximum value of the typical acceleration range of the sensing object.
  • the arrangement of the sensing frames includes any of the following:
  • the first arrangement is a serial arrangement between two adjacent sensing frames, and the second time slot of the third sensing frame and the first time slot of the fourth sensing frame do not overlap in time,
  • the third sensing frame is the previous sensing frame of the fourth sensing frame;
  • the second arrangement is a parallel arrangement between two adjacent sensing frames, and the second time slot of the fifth sensing frame and the first time slot of the sixth sensing frame at least partially overlap in time,
  • the fifth sensing frame is the previous sensing frame of the sixth sensing frame.
  • the echo signal quality may include or represent at least one of the following: echo signal power of the sensing object, SNR of the sensing object, SINR of the sensing object, RSRP and RSRQ.
  • the perception processing device 700 includes:
  • Obtaining module 701 is used to obtain a first indicator, the first indicator includes the echo signal quality in the first sensing frame or the predicted echo signal quality in the second sensing frame, and the second sensing frame is A sensing frame located after the first sensing frame, one of the sensing frames includes a corresponding first time slot for performing signal transmission and reception;
  • the adjustment module 702 is configured to determine the duration of the first time slot of the second sensing frame according to the first indicator.
  • the perception processing device 700 further includes a first determination module.
  • the acquisition module 701 is also used to acquire target information.
  • the target information includes at least one of first information and capability information of the sensing node.
  • the first information includes sensing target area, sensing object type, and sensing quality of service QoS. , at least one of the sensing prior information and the position information of the sensing node;
  • the first determination module is configured to determine an initial configuration according to the target information, and the initial configuration includes at least one of the following: configuration information of the first time slot, the duration of the second time slot, and the arrangement of sensing frames, wherein,
  • the second time slot is a time slot corresponding to operations other than signal transmission and reception in a sensing frame.
  • the configuration information of the first time slot includes at least one of the following: an initial duration of the first time slot, an upper limit of the duration of the first time slot, and a duration of the first time slot. the lower limit value.
  • the first determination module is specifically configured to perform at least one of the following:
  • the lower limit of the duration of the first time slot is determined according to Doppler resolution requirements, which include: Contained in the perceived QoS;
  • the initial duration of the first time slot is determined according to at least one of the sensing object type and the sensing prior information.
  • the lower limit of the duration of the first time slot is equal to the reciprocal of the Doppler resolution requirement.
  • the upper limit value T 1 of the duration of the first time slot satisfies at least one of the following:
  • ⁇ R represents the threshold value of the distance change of the sensing object in the first time slot
  • v max represents the maximum value of the typical speed range of the sensing object
  • ⁇ represents the threshold value of the angle change of the sensing object in a first time slot
  • R represents the distance of the sensing object
  • v max represents the maximum value of the typical speed range of the sensing object
  • ⁇ v represents the threshold value of the velocity change of the sensing object in a first time slot
  • a max represents the maximum value of the typical acceleration range of the sensing object.
  • the arrangement of the sensing frames includes any of the following:
  • the first arrangement is a serial arrangement between two adjacent sensing frames, and the second time slot of the third sensing frame and the first time slot of the fourth sensing frame do not overlap in time,
  • the third sensing frame is the previous sensing frame of the fourth sensing frame;
  • the second arrangement is a parallel arrangement between two adjacent sensing frames, and the second time slot of the fifth sensing frame and the first time slot of the sixth sensing frame at least partially overlap in time,
  • the fifth sensing frame is the previous sensing frame of the sixth sensing frame.
  • the adjustment module 702 is specifically configured to determine the duration of the first time slot of the second sensing frame according to the first indicator, the first preset threshold value and the preset adjustment method.
  • the preset adjustment method includes any of the following:
  • the duration of the first time slot is adjusted according to a preset configuration table.
  • the preset configuration table includes at least two first values, and the first values are parameter values of the first time slot.
  • the target ratio is a ratio between a target value and the first indicator, and the target value is determined based on the first preset threshold value.
  • the first preset threshold value includes a threshold value
  • the adjustment rule for the duration of the first time slot satisfies at least one of the following:
  • the first indicator is greater than the one threshold value, reduce the duration of the first time slot or keep the duration of the first time slot unchanged;
  • the duration of the first time slot is increased.
  • the first preset threshold value includes a first threshold value and a second threshold value, and the first threshold value is less than the second threshold value, and the first time slot
  • the duration adjustment rules must satisfy at least one of the following:
  • first indicator is greater than the second threshold value, reduce the duration of the first time slot or keep the duration of the first time slot unchanged;
  • the duration of the first time slot is increased.
  • the preset threshold value includes a third threshold value and a fourth threshold value
  • the adjustment rule for the duration of the first time slot satisfies at least one of the following:
  • the first time period is reduced.
  • the duration of the gap
  • the first time period is increased. The duration of the gap.
  • the acquisition module 701 is specifically configured to perform the following operations:
  • the target sensing result is determined according to the echo data, and the target sensing result satisfies: the target sensing result includes the result information of whether the sensing object is detected; in the case of detecting the sensing object, the target sensing result satisfies the following requirements: The results also include said first indicator;
  • the first indicator is determined according to the target sensing result.
  • the sensing processing further includes:
  • the second receiving module is used to receive second information from the receiving device in the sensing node.
  • the second information includes echo data, an intermediate sensing result obtained by performing a first operation on the echo data, and a second operation on the echo data. Any one of the calculated target sensing result and the first indicator, wherein the echo data is obtained by the receiving device in the sensing node performing sensing services based on the duration of the first time slot of the first sensing frame.
  • the first operation is a partial operation in the second operation
  • the target sensing result satisfies: the target sensing result includes the result information of whether the sensing object is detected; when the sensing object is detected In the case of , the target sensing result also includes the first indicator;
  • the second determination module is used to determine the first indicator according to the second information.
  • the perception processing device further includes a sending module, the sending module is configured to perform at least one of the following:
  • first indication information is sent to the first target device, where the first indication information is used to indicate the adjusted duration of the first time slot, and the third A target device includes a sending device in the sensing node, or includes a sending device and a sensing function network element in the sensing node;
  • first indication information is sent to the second target device, where the first indication information is used to indicate the adjusted duration of the first time slot, and the third
  • the second target device includes a receiving device in the sensing node, or includes a receiving device and a sensing function network element in the sensing node;
  • first indication information is sent to the sending device and the receiving device in the sensing node, where the first indication information is used to indicate the adjusted duration of the first time slot.
  • the perception processing device further includes:
  • a sending module configured to send the first signal according to the adjusted duration of the first time slot when the first device includes a sending device in the sensing node;
  • the second receiving module is configured to receive the first signal according to the adjusted duration of the first time slot when the first device includes a receiving device in a sensing node.
  • the echo signal quality may include or represent at least one of the following: echo signal power of the sensing object, SNR of the sensing object, SINR, RSRP and RSRQ of the sensing object.
  • an embodiment of the present application provides a perception processing device applied to a second device.
  • the perception processing device 800 includes:
  • the first receiving module 801 is configured to receive first indication information from the first device when the first device adjusts the duration of the first time slot according to a first indicator, where the first indicator includes a first perception
  • the echo signal quality within the frame may include the predicted echo signal quality within the second sensing frame, the second sensing frame being the sensing frame located after the first sensing frame, and one of the sensing frames includes The first time slot corresponding to the signal transmission and reception is performed, and the first indication information is used to indicate the duration of the first time slot of the second sensing frame;
  • the second device when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; when the first device is a sensing functional network element, In the case of a receiving device in a sensing node, the second device includes at least one of a sending device in a sensing node and a sensing function network element; in the case where the first device is a sending device in a sensing node, the second device The second device includes at least one of a receiving device in a sensing node and a sensing function network element.
  • the perception processing device further includes an execution module, configured to execute at least one of the following:
  • the second device includes a sending device in a sensing node, send the first signal according to the adjusted duration of the first time slot;
  • the second device includes a receiving device in a sensing node
  • the first signal is received according to the adjusted duration of the first time slot to obtain echo data
  • the second device is sent to the first device or the sensing function network element.
  • Information includes echo data, an intermediate sensing result obtained by performing a first operation on the echo data, or a target sensing result obtained by performing a second operation on the echo data, wherein the echo data is the
  • the receiving device in the sensing node performs the data obtained by sensing services based on the duration of the first time slot of the first sensing frame, the first operation is part of the second operation, and the target sensing result satisfies:
  • the target sensing result includes result information of whether the sensing object is detected; if the sensing object is detected, the target sensing result also includes the first indicator.
  • the first receiving module 801 is further configured to receive second indication information from the first device, where the second indication information is used to indicate initial configuration, where the initial configuration includes at least one of the following: The configuration information of a time slot, the duration of a second time slot and the arrangement of sensing frames, wherein the second time slot is a corresponding time slot in a sensing frame used to perform operations other than signal transmission and reception.
  • the configuration information of the first time slot includes at least one of the following: an initial duration of the first time slot, an upper limit of the duration of the first time slot, and a duration of the first time slot. the lower limit value.
  • the lower limit of the duration of the first time slot is equal to the reciprocal of the Doppler resolution requirement, and the Doppler resolution requirement is included in the perceived QoS.
  • the upper limit value T 1 of the duration of the first time slot satisfies at least one of the following:
  • ⁇ R represents the threshold value of the distance change of the sensing object in the first time slot
  • v max represents the maximum value of the typical speed range of the sensing object
  • ⁇ represents the threshold value of the angle change of the sensing object in a first time slot
  • R represents the distance of the sensing object
  • v max represents the maximum value of the typical speed range of the sensing object
  • ⁇ v represents the threshold value of the velocity change of the sensing object in a first time slot
  • a max represents the maximum value of the typical acceleration range of the sensing object.
  • the arrangement of the sensing frames includes any of the following:
  • the first arrangement is a serial arrangement between two adjacent sensing frames, and the second time slot of the third sensing frame and the first time slot of the fourth sensing frame do not overlap in time,
  • the third sensing frame is the previous sensing frame of the fourth sensing frame;
  • the second arrangement is a parallel arrangement between two adjacent sensing frames, and the second time slot of the fifth sensing frame and the first time slot of the sixth sensing frame at least partially overlap in time,
  • the fifth sensing frame is the previous sensing frame of the sixth sensing frame.
  • the echo signal quality may include or represent at least one of the following: echo signal power of the sensing object, SNR of the sensing object, SINR, RSRP and RSRQ of the sensing object.
  • the perception processing device provided by the embodiments of the present application can implement each process implemented by the method embodiments of Figures 2 to 6, and achieve the same technical effect. To avoid duplication, the details will not be described here.
  • this embodiment of the present application also provides a communication device 900, which includes a processor 901 and a memory 902.
  • the memory 902 stores programs or instructions that can be run on the processor 901.
  • each step of the above-mentioned perception processing method embodiment is implemented, and the same technical effect can be achieved. To avoid duplication, the details will not be described here.
  • An embodiment of the present application also provides a terminal, including a processor and a communication interface.
  • the communication interface is used to obtain a first indicator.
  • the first indicator includes a value in a first sensing frame.
  • the echo signal quality may include a predicted echo signal quality within a second sensing frame, the second sensing frame being a sensing frame located after the first sensing frame, one of the sensing frames including a frame for performing signal transceiver The corresponding first time slot; the processor is configured to determine the duration of the first time slot of the second sensing frame according to the first indicator;
  • the communication interface is used to receive the first indication information from the first device when the first device adjusts the duration of the first time slot according to the first indicator.
  • the first indicator includes the The echo signal quality within a sensing frame may include the predicted echo signal quality within a second sensing frame.
  • the second sensing frame is a sensing frame located after the first sensing frame.
  • One sensing frame includes Used to perform signal transceiver corresponding to the first time slot, the first indication information is used to indicate the duration of the first time slot of the second sensing frame;
  • the second device when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; when the first device is a sensing functional network element, In the case of a receiving device in a node, the second device includes a sending device in a sensing node; in the case of the first device being a sending device in a sensing node, the second device includes a receiving device in a sensing node. equipment.
  • FIG. 10 is a schematic diagram of the hardware structure of a terminal that implements an embodiment of the present application.
  • the terminal 1000 includes but is not limited to: a radio frequency unit 1001, a network module 1002, an audio output unit 1003, an input unit 1004, a sensor 1005, a display unit 1006, a user input unit 1007, an interface unit 1008, a memory 1009, a processor 1010, etc. At least some parts.
  • the terminal 1000 may also include a power supply (such as a battery) that supplies power to various components.
  • the power supply may be logically connected to the processor 1010 through a power management system, thereby managing charging, discharging, and power consumption through the power management system. Management and other functions.
  • the terminal structure shown in FIG. 10 does not constitute a limitation on the terminal.
  • the terminal may include more or fewer components than shown in the figure, or some components may be combined or arranged differently, which will not be described again here.
  • the input unit 1004 may include a graphics processing unit (Graphics Processing Unit, GPU) 10041 and a microphone 10042.
  • the graphics processor 10041 is responsible for the image capture device (GPU) in the video capture mode or the image capture mode. Process the image data of still pictures or videos obtained by cameras (such as cameras).
  • the display unit 1006 may include a display panel 10061, which may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like.
  • the user input unit 1007 includes at least one of a touch panel 10071 and other input devices 10072 .
  • Touch panel 10071 also known as touch screen.
  • the touch panel 10071 may include two parts: a touch detection device and a touch controller.
  • Other input devices 10072 may include but are not limited to physical keyboards, function keys (such as volume control keys, switch keys, etc.), trackballs, mice, and joysticks, which will not be described again here.
  • the radio frequency unit 1001 after receiving downlink data from the network side device, can transmit it to the processor 1010 for processing; in addition, the radio frequency unit 1001 can send uplink data to the network side device.
  • the radio frequency unit 1001 includes, but is not limited to, an antenna, an amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, etc.
  • Memory 1009 may be used to store software programs or instructions as well as various data.
  • the memory 1009 may mainly include a first storage area for storing programs or instructions and a second storage area for storing data, wherein the first storage area may store an operating system, an application program or instructions required for at least one function (such as a sound playback function, Image playback function, etc.) etc.
  • memory 1009 may include volatile memory or nonvolatile memory, or memory 1009 may include both volatile and nonvolatile memory.
  • the non-volatile memory can be read-only memory (Read-Only Memory, ROM), programmable read-only memory (Programmable ROM, PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically removable memory. Erase programmable read-only memory (Electrically EPROM, EEPROM) or flash memory.
  • RAM Random Access Memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • DRAM synchronous dynamic random access memory
  • SDRAM double data rate synchronous dynamic random access memory
  • Double Data Rate SDRAM DDRSDRAM
  • enhanced SDRAM ESDRAM
  • synchronous link dynamic random access memory Synch link DRAM, SLDRAM
  • Direct Rambus RAM DRRAM
  • the processor 1010 may include one or more processing units; optionally, the processor 1010 integrates an application processor and a modem processor, where the application processor mainly handles operations related to the operating system, user interface, application programs, etc., Modem processors mainly process wireless communication signals, such as baseband processors. It can be understood that the above modem processor may not be integrated into the processor 1010.
  • the radio frequency unit 1001 is used to obtain a first indicator, the first indicator includes the echo signal quality in the first sensing frame or the predicted echo signal quality in the second sensing frame, and the second sensing
  • the frame is a sensing frame located after the first sensing frame, and one of the sensing frames includes a corresponding first time slot for performing signal transmission and reception;
  • Processor 1010 configured for the first device to determine the duration of the first time slot of the second sensing frame according to the first indicator
  • the communication interface is used to receive the first indication information from the first device when the first device adjusts the duration of the first time slot according to the first indicator.
  • the first indicator includes the echo signal quality in the first sensing frame or the predicted echo signal quality in the second sensing frame
  • the second sensing frame is the sensing frame located after the first sensing frame.
  • Frame one of the sensing frames includes a corresponding first time slot for performing signal transmission and reception, and the first indication information is used to indicate the duration of the first time slot of the second sensing frame;
  • the second device when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; when the first device is a sensing functional network element, In the case of a receiving device in a node, the second device includes a sending device in a sensing node; in the case of the first device being a sending device in a sensing node, the second device includes a receiving device in a sensing node. equipment.
  • the duration of the first time slot can be flexibly adjusted based on the first indicator of the sensing object according to changes in the sensing environment, so that the occupation of time resources by sensing can be optimized while meeting sensing performance requirements.
  • Embodiments of the present application also provide a network side device, including a processor and a communication interface.
  • the communication interface is used to obtain a first indicator.
  • the first indicator includes a first sensing frame.
  • the echo signal quality within or including the predicted echo signal quality within the second sensing frame, the second sensing frame is the sensing frame located after the first sensing frame, one of the sensing frames includes a The first time slot corresponding to signal transmission and reception;
  • the processor is configured to determine the duration of the first time slot of the second sensing frame according to the first indicator;
  • the communication interface is configured to receive a first time slot from the first device when the first device adjusts the duration of the first time slot according to the first indicator.
  • the first indicator includes the echo signal quality in the first sensing frame or the predicted echo signal quality in the second sensing frame
  • the The second sensing frame is a sensing frame located after the first sensing frame.
  • One of the sensing frames includes a corresponding first time slot for performing signal transmission and reception.
  • the first indication information is used to indicate the third sensing frame of the second sensing frame. The duration of a time slot;
  • the second device when the first device is a sensing function network element, the second device includes at least one of a receiving device in a sensing node and a sending device in a sensing node; when the first device is a sensing functional network element, In the case of a receiving device in a sensing node, the second device includes at least one of a sending device in a sensing node and a sensing function network element; in the case where the first device is a sending device in a sensing node, the second device The second device includes at least one of a receiving device in a sensing node and a sensing function network element.
  • This network-side device embodiment corresponds to the above-mentioned sensing function network element method embodiment.
  • Each implementation process and implementation method of the above-mentioned method embodiment can be applied to this network-side device embodiment, and can achieve the same technical effect.
  • the embodiment of the present application also provides a network side device.
  • the network side device 1100 includes: an antenna 1101, a radio frequency device 1102, a baseband device 1103, a processor 1104 and a memory 1105.
  • the antenna 1101 is connected to the radio frequency device 1102.
  • the radio frequency device 1102 receives information through the antenna 1101 and sends the received information to the baseband device 1103 for processing.
  • the baseband device 1103 processes the information to be sent and sends it to the radio frequency device 1102.
  • the radio frequency device 1102 processes the received information and then sends it out through the antenna 1101.
  • the method performed by the network side device in the above embodiment can be implemented in the baseband device 1103, which includes a baseband processor.
  • the baseband device 1103 may include, for example, at least one baseband board, which is provided with multiple chips, as shown in FIG. Program to perform the network device operations shown in the above method embodiments.
  • the network side device may also include a network interface 1106, which is, for example, a common public radio interface (CPRI).
  • a network interface 1106, which is, for example, a common public radio interface (CPRI).
  • CPRI common public radio interface
  • the network side device 1100 in this embodiment of the present invention also includes: instructions or programs stored in the memory 1105 and executable on the processor 1104.
  • the processor 1104 calls the instructions or programs in the memory 1105 to execute Figure 7 or Figure 8
  • the execution methods of each module are shown and achieve the same technical effect. To avoid repetition, they will not be described in detail here.
  • Embodiments of the present application also provide a readable storage medium.
  • Programs or instructions are stored on the readable storage medium.
  • the program or instructions are executed by a processor, each process of the above embodiments of the perception processing method is implemented and the same can be achieved. The technical effects will not be repeated here to avoid repetition.
  • the processor is the processor in the terminal described in the above embodiment.
  • the readable storage medium includes computer readable storage media, such as computer read-only memory ROM, random access memory RAM, magnetic disk or optical disk, etc.
  • An embodiment of the present application further provides a chip.
  • the chip includes a processor and a communication interface.
  • the communication interface is coupled to the processor.
  • the processor is used to run programs or instructions to implement the above embodiments of the perception processing method. Each process can achieve the same technical effect. To avoid duplication, it will not be described again here.
  • the chip mentioned in the embodiment of this application may also be called a system-level chip, a system chip, a chip system or a chip. System chip etc.
  • Embodiments of the present application further provide a computer program/program product.
  • the computer program/program product is stored in a storage medium.
  • the computer program/program product is executed by at least one processor to implement the above embodiments of the perception processing method.
  • Each process can achieve the same technical effect. To avoid repetition, we will not go into details here.
  • Embodiments of the present application also provide a communication system, including: a first device and a second device.
  • the first device is used to perform various processes in Figure 2 and the above method embodiments.
  • the second device is used to Each process in Figure 6 and the above method embodiments is executed, and the same technical effect can be achieved. To avoid repetition, the details will not be described here.
  • the disclosed devices and methods can be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or can be integrated into another system, or some features can be ignored, or not implemented.
  • the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, or they may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in various embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium.
  • the technical solution of the present disclosure is essentially or the part that contributes to the existing technology or the part of the technical solution can be embodied in the form of a software product.
  • the computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present disclosure.
  • the aforementioned storage media include: U disk, mobile hard disk, ROM, RAM, magnetic disk or optical disk and other media that can store program codes.
  • the program can be stored in a computer-readable storage medium.
  • the program can be stored in a computer-readable storage medium.
  • the process may include the processes of the embodiments of each of the above methods.
  • the storage medium can be a disk, Optical disc, read-only memory (Read-Only Memory, ROM) or random access memory (Random Access Memory, RAM), etc.
  • the methods of the above embodiments can be implemented by means of software plus the necessary general hardware platform. Of course, it can also be implemented by hardware, but in many cases the former is better. implementation.
  • the technical solution of the present application can be embodied in the form of a computer software product that is essentially or contributes to the existing technology.
  • the computer software product is stored in a storage medium (such as ROM/RAM, disk , CD), including several instructions to cause a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in various embodiments of this application.

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Quality & Reliability (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

本申请公开了一种感知处理方法、装置、通信设备及可读存储介质，属于通信技术领域，本申请实施例的感知处理方法包括：第一设备获取第一指标，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙；所述第一设备根据所述第一指标确定所述第二感知帧的第一时隙的时长。

Description

感知处理方法、装置、通信设备及可读存储介质
相关申请的交叉引用
本申请主张在2022年03月18日在中国提交的中国专利申请No.202210273470.X的优先权，其全部内容通过引用包含于此。
技术领域
本申请属于通信技术领域，具体涉及一种感知处理方法、装置、通信设备及可读存储介质。
背景技术
随着通信技术的发展，在通信系统中，可以实现通感一体化。通感一体化场景中同时存在通信和感知两种类型的业务，目前，在传统的感知方法中，通常采用固定的感知帧的配置执行感知业务。在通感一体化场景中，由于存在通信和感知业务，且通信负荷或感知场景在不断变化，采用固定的感知帧的配置执行感知业务容易造成时间资源冗余或者无法满足感知性能需求。
发明内容
本申请实施例提供一种感知处理方法、装置、通信设备及可读存储介质，能够在满足感知性能需求的情况下，优化感知对时间资源的占用。
第一方面，提供了一种感知处理方法，包括：
第一设备获取第一指标，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙；
所述第一设备根据所述第一指标确定所述第二感知帧的第一时隙的时长。
第二方面，提供了一种感知处理方法，包括：
在第一设备根据第一指标对第一时隙的时长进行调整的情况下，第二设备从所述第一设备接收第一指示信息，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙，所述第一指示信息用于指示第二感知帧的第一时隙的时长；
其中，在所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；在所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备和感知功能网元中的至少一项；在所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备 和感知功能网元中的至少一项。
第三方面，提供了一种感知处理装置，应用于第一设备，包括：
获取模块，用于获取第一指标，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙；
调整模块，用于根据所述第一指标确定所述第二感知帧的第一时隙的时长。
第四方面，提供了一种感知处理装置，应用于第二设备，包括：
第一接收模块，用于在第一设备根据第一指标对第一时隙的时长进行调整的情况下，从所述第一设备接收第一指示信息，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙，所述第一指示信息用于指示第二感知帧的第一时隙的时长；
其中，在所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；在所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备和感知功能网元中的至少一项；在所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备和感知功能网元中的至少一项。
第五方面，提供了一种通信设备，该通信设备包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤。
第六方面，提供了一种通信设备，包括处理器及通信接口，其中，在所述通信设备为第一设备时，所述通信接口用于获取第一指标，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙；所述处理器用于根据所述第一指标确定所述第二感知帧的第一时隙的时长；
或者，在所述通信设备为第二设备时，所述通信接口用于在第一设备根据第一指标对第一时隙的时长进行调整的情况下，从所述第一设备接收第一指示信息，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙，所述第一指示信息用于指示第二感知帧的第一时隙的时长；
其中，在所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；在所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备和感知功能网元中的至少一项；在所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备和感知功能网元中的至少一项。
第七方面，提供了一种通信系统，包括：第一设备及第二设备，所述第一设备可用于执行如第一方面所述的感知处理方法的步骤，所述第二设备可用于执行如第二方面所述的感知处理方法的步骤。
第八方面，提供了一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如第一方面所述的方法的步骤，或者实现如第二方面所述的方法的步骤。
第九方面，提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如第一方面所述的方法的步骤，或实现如第二方面所述的方法的步骤。
第十方面，提供了一种计算机程序/程序产品，所述计算机程序/程序产品被存储在存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现如第一方面所述的方法的步骤，或实现如第二方面所述的方法的步骤。
本申请实施例，第一设备获取第一指标，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙；所述第一设备根据所述第一指标确定所述第二感知帧的第一时隙的时长。这样，可以根据感知环境的变化基于第一指标灵活调整第一时隙的时长，从而可以在满足感知性能需求的情况下，优化感知对时间资源的占用。
附图说明
图1是本申请实施例可应用的一种网络系统的结构图；
图2是本申请实施例提供的一种感知处理方法的流程示意图；
图3是本申请实施例提供的一种感知处理方法中感知帧的组成示例图；
图4是本申请实施例提供的一种感知处理方法中应用的一种感知帧排列方式示例图；
图5是本申请实施例提供的一种感知处理方法中应用的另一种感知帧排列方式示例图；
图6是本申请实施例提供的另一种感知处理方法的流程示意图；
图7是本申请实施例提供的一种感知处理装置的结构图；
图8是本申请实施例提供的另一种感知处理装置的结构图；
图9是本申请实施例提供的一种通信设备的结构图；
图10是本申请实施例提供的一种终端的结构图；
图11是本申请实施例提供的一种网络侧设备的结构图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施 例，本领域普通技术人员所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的术语在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”所区别的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”一般表示前后关联对象是一种“或”的关系。
值得指出的是，本申请实施例所描述的技术不限于长期演进型(Long Term Evolution，LTE)/LTE的演进(LTE-Advanced，LTE-A)系统，还可用于其他无线通信系统，诸如码分多址(Code Division Multiple Access，CDMA)、时分多址(Time Division Multiple Access，TDMA)、频分多址(Frequency Division Multiple Access，FDMA)、正交频分多址(Orthogonal Frequency Division Multiple Access，OFDMA)、单载波频分多址(Single-carrier Frequency Division Multiple Access，SC-FDMA)和其他系统。本申请实施例中的术语“系统”和“网络”常被可互换地使用，所描述的技术既可用于以上提及的系统和无线电技术，也可用于其他系统和无线电技术。以下描述出于示例目的描述了新空口(New Radio，NR)系统，并且在以下大部分描述中使用NR术语，但是这些技术也可应用于NR系统应用以外的应用，如第6代(6th Generation，6G)通信系统。
图1示出本申请实施例可应用的一种无线通信系统的框图。无线通信系统包括终端11和网络侧设备12。其中，终端11可以是手机、平板电脑(Tablet Personal Computer)、膝上型电脑(Laptop Computer)或称为笔记本电脑、个人数字助理(Personal Digital Assistant，PDA)、掌上电脑、上网本、超级移动个人计算机(ultra-mobile personal computer，UMPC)、移动上网装置(Mobile Internet Device，MID)、增强现实(augmented reality，AR)/虚拟现实(virtual reality，VR)设备、机器人、可穿戴式设备(Wearable Device)、车载设备(Vehicle User Equipment，VUE)、行人终端(Pedestrian User Equipment，PUE)、智能家居(具有无线通信功能的家居设备，如冰箱、电视、洗衣机或者家具等)、游戏机、个人计算机(personal computer，PC)、柜员机或者自助机等终端侧设备，可穿戴式设备包括：智能手表、智能手环、智能耳机、智能眼镜、智能首饰(智能手镯、智能手链、智能戒指、智能项链、智能脚镯、智能脚链等)、智能腕带、智能服装等。需要说明的是，在本申请实施例并不限定终端11的具体类型。网络侧设备12可以包括接入网设备或核心网设备，其中，接入网设备也可以称为无线接入网设备、无线接入网(Radio Access Network,RAN)、无线接入网功能或无线接入网单元。接入网设备12可以包括基站、无线局域网(Wireless Local Area Network，WLAN)接入点或WiFi节点等，基站可被称为节点B、演进节点B(eNB)、接入点、基收发机站(Base Transceiver Station，BTS)、无线电基站、无线电收发机、基本服务集(Basic Service Set，BSS)、扩展服务集(Extended Service Set，ESS)、家用B节点、家用演进型B节点、发送接收点(Transmitting Receiving Point，TRP)或所述领域中其他某个合适的术语，只要达到 相同的技术效果，所述基站不限于特定技术词汇，需要说明的是，在本申请实施例中仅以NR系统中的基站为例进行介绍，并不限定基站的具体类型。核心网设备可以包含但不限于如下至少一项：核心网节点、核心网功能、移动管理实体(Mobility Management Entity，MME)、接入移动管理功能(Access and Mobility Management Function，AMF)、会话管理功能(Session Management Function，SMF)、用户平面功能(User Plane Function，UPF)、策略控制功能(Policy Control Function，PCF)、策略与计费规则功能单元(Policy and Charging Rules Function，PCRF)、边缘应用服务发现功能(Edge Application Server Discovery Function，EASDF)、统一数据管理(Unified Data Management，UDM)，统一数据仓储(Unified Data Repository，UDR)、归属用户服务器(Home Subscriber Server，HSS)、集中式网络配置(Centralized network configuration，CNC)、网络存储功能(Network Repository Function，NRF)，网络开放功能(Network Exposure Function，NEF)、本地NEF(Local NEF，或L-NEF)、绑定支持功能(Binding Support Function，BSF)、应用功能(Application Function，AF)等。需要说明的是，在本申请实施例中仅以NR系统中的核心网设备为例进行介绍，并不限定核心网设备的具体类型。
为了方便理解，以下对本申请实施例涉及的一些内容进行说明：
一、通感一体化。
通感一体化也可以称之为通信和感知一体化(Integrated Sensing And Communication,ISAC)。ISAC通过硬件设备共用和软件定义功能的方式获得通信和感知双功能的一体化低成本实现，特点主要有：一是架构统一且简化，二是功能可重构可扩展，三是效率提升和成本降低。通信感知一体化的优势主要有三个方面：一是设备成本降低和尺寸减小，二是频谱利用率提升，三是系统性能提升。
ISAC的发展划分为四个阶段：共存、共运行、共设计和共同协作。
共存：通信和感知是两个相互分立的系统，两者会相互干扰，解决干扰的主要方法是：距离隔离、频段隔离、时分工作、多输入多输出(Multiple Input Multiple Output，MIMO)技术和预编码等。
共运行：通信和感知共用硬件平台，利用共有信息提升共同的性能，二者之间的功率分配对系统性能影响较大。
共设计：通信和感知成为一个完全的联合系统，包括联合信号设计、波形设计、编码设计等，前期有线性调频波形、扩频波形等，后来聚焦到正交频分复用技术(Orthogonal Frequency Division Multiplexing，OFDM)波形、MIMO技术等。
共同协作：多个通信感知一体化节点相互协作实现公共目标。例如，通过通信数据传输共享雷达探测信息，典型场景有驾驶辅助系统、雷达辅助通信等。
二、雷达技术。
随着雷达技术的发展，雷达探测目标不仅是测量目标的距离，还包括测量目标的速度、方位角、俯仰角，以及从以上信息中提取出更多有关目标的信息，包括目标的尺寸和形状 等。
雷达技术最初用于军事用途，用来探测飞机、导弹、车辆、舰艇等目标。随着技术的发展和社会的演进，雷达越来越多用于民用场景，典型应用是气象雷达通过测量云雨等气象目标的回波来测定关于云雨的位置、强度等信息用来进行天气的预报。进一步地，随着电子信息产业、物联网、通信技术等的蓬勃发展，雷达技术开始进入到人们的日常生活应用中，大大提高了工作和生活的便利性、安全性等。例如，汽车雷达通过测量车辆之间、车辆与周边环境物之间、车辆与行人之间等的距离和相对速度对车辆的驾驶提供预警信息，极大地提高了道路交通的安全水平。
在技术层面上，雷达有很多分类方式。按照雷达收发站点之间的位置关系可以分为：单站雷达和双站雷达，如下图所示。对于单站雷达，信号发射机与接收机一体、共用天线；优点是目标回波信号与接收机本振之间天然是相干的、信号处理较为方便；缺点是信号收发不能同时进行，只能采用具有一定占空比的信号波形，从而带来探测的盲区，需要采用复杂的算法来弥补；或者收发信号同时进行，收发之间严格隔离，但是对于大功率的军用雷达来说很难做到。对于双站雷达，信号发射机与接收机位于不同的位置；优点是信号收发能够同时进行，可以采用连续波波形进行探测；缺点是接收机与发射机之间很难实现同频和相干，信号处理较为复杂。
在通感一体化无线感知应用中，雷达技术可以采用单站雷达模式，也可以采用双站雷达模式。
在单站雷达模式下，收发信号共用天线，接收信号与发射信号通过环形器进入不同的射频处理链路；在这种模式下，可以采用连续波信号波形实现无盲区的探测，前提是接收信号与发射信号需要很好的隔离，通常需要100dB左右的隔离度，以消除发射信号泄露对接收信号的淹没。由于单站雷达的接收机具有发射信号的全部信息，从而可以通过匹配滤波(脉冲压缩)的方式进行信号处理，获得较高的信号处理增益。
在双站雷达模式下，不存在收发信号的隔离问题，极大地简化的硬件的复杂度。由于雷达信号处理建立在已知信息的基础上，在第五代移动通信技术(5th Generation Mobile Communication Technology，5G)NR通感一体化应用中，可以利用同步信号和参考信号等已知信息进行雷达信号处理。但是，由于同步信号、参考信号等的周期性，信号波形的模糊图不再是图钉形，而是钉板形，时延和多普勒的模糊程度会增大、且主瓣的增益相较单站雷达模式降低了许多，降低了距离和速度的测量范围。通过恰当的参数集设计，距离和速度的测量范围能够满足汽车、行人等常见目标的测量需求。此外，双站雷达的测量精度与收发站点相对目标的位置有关，需要选择合适的收发站点对来提高探测性能。
在通信感知一体化场景下，同时存在通信和感知两种类型的业务。除了可以采用通信感知一体化波形同时进行通信和感知业务以外，还可以通过对感知业务占用的时间资源进行优化设计，在满足感知性能的情况下，优化感知业务对时间资源的占用。在执行特定的感知业务之外的时间资源可用于执行其他感知业务或进行数据通信。为此提出了本申请的 感知处理方法。
下面结合附图，通过一些实施例及其应用场景对本申请实施例提供的感知处理方法进行详细地说明。
参照图2，本申请实施例提供了一种感知处理方法，如图2所示，该感知处理方法包括：
步骤201，第一设备获取第一指标，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙；
步骤202，所述第一设备根据所述第一指标确定所述第二感知帧的第一时隙的时长。
本申请实施例中，感知帧也可以称之为感知帧周期，感知帧或者感知帧周期的时长可以理解为感知帧周期可以理解为感知节点进行一次第一信号慢时间维的信号处理并获取感知对象的第一参数所需要的时间长度，所述第一参数用于表示感知对象的位置信息和运动信息中的至少一项。一次第一信号的慢时间维的信号处理可以理解为：对一个感知帧周期内所有感知信号周期的第一信号的信号处理。
如图3所示，一个感知帧包括第一时隙和第二时隙，其中第一时隙用于执行信号收发操作，所述第二时隙用于执行信号收发之外的操作。上述第一时隙可以称之为信号收发时隙，可以包括一个或多个感知信号周期，感知信号周期是指是进行一次感知信号的收发或快时间维的信号处理对应的感知信号的时间长度，其中，一次第一信号快时间维的信号处理可以理解为一个信号周期内对第一信号的信号处理。上述第二时隙可以称之为综合处理时隙，第二时隙用于部分感知信号处理运算(如：慢时间维的快速傅里叶变换(Fast Fourier Transform，FFT))、数据处理运算、资源调度和下一感知帧的波形生成等操作。综合处理时隙所需的时长主要取决于两个因素：一是设备的运算能力；二是感知业务的业务类型(例如：测距/测速/测角，或雷达成像)及采用的算法(包括：信号处理算法和数据处理算法等)。
可选地，上述感知更新周期可以理解为感知节点在第M1个感知帧周期内执行一次第一信号的慢时间维的信号处理并获取感知对象的第一参数对应的时间与在第M2个感知帧周期内执行一次信号的慢时间维的信号处理并获取感知对象的第一参数对应的时间之间的时间间隔。其中，M1和M2均为正整数，且M2与M1的差值等于感知更新周期包括的感知帧周期的数量，所述第一参数用于表示感知对象的位置信息和运动信息中的至少一项。
可选地，在一个感知信号周期内，信号的收发在时间上包括连续波波形和脉冲波形，信号的收发在空间上包括：单基地雷达和双基地雷达。其中单基地雷达是指信号的发送设备和接收设备属于同一设备，双基地雷达是指信号的发送设备和接收设备属于不同的设备。
对于给定的感知业务类型及采用的算法(在感知需求中给出)和给定的设备能力，上述综合处理时隙的时间长度是确定的。在通感一体化应用中，可以通过查表或映射的方式，由感知业务类型及采用的算法、设备能力，获取综合处理时隙的时间长度。上述感知需求可以称之为感知需求信息，具体可以包括以下至少一项：感知目标区域、感知对象类型和感知服务质量(Quality of Service，QoS)。
可选地，在一些实施例中，上述第一感知帧可以为当前的感知帧，上述回波信号质量可以理解为感知对象的回波信号质量，即利用第一信号对感知对象进行感知测量获得的回波信号质量。
本申请实施例中，所述第一设备根据所述第一指标确定所述第二感知帧的第一时隙的时长可以理解为根据第一指标自适应调整第一时隙的时长，例如包括增大或者减小第一时隙的时长，也可以包括保持第一时隙的时长不变的情况。例如，本申请实施例中通过基于当前感知帧内的回波信号质量或者预测的在第二感知帧内的回波信号质量确定感知性能可以满足要求，则可以适当地减小感知业务对时间资源的占用，若确定感知性能无法满足要求，可以增大第一时隙的时长，从而可以有更多的时间资源用于感知业务，提高感知性能。
本申请实施例，第一设备获取第一指标，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙；所述第一设备根据所述第一指标确定所述第二感知帧的第一时隙的时长。这样，可以根据感知环境的变化基于第一指标灵活调整第一时隙的时长，从而可以在满足感知性能需求的情况下，优化感知对时间资源的占用。
可选地，在一些实施例中，所述第一设备根据所述第一指标确定所述第二感知帧的第一时隙的时长之后，所述方法还包括以下至少一项：
在所述第一设备包括感知节点中的发送设备的情况下，所述第一设备根据调整后的第一时隙的时长发送所述第一信号；
在所述第一设备包括感知节点中的接收设备的情况下，所述第一设备根据调整后的第一时隙的时长接收所述第一信号。
本申请实施例中，所述第一设备在确定调整后的第一时隙的时长后，可以通过发送和/或接收第一信号，执行感知业务，从而实现自适应调节第一时隙的时长。应理解，在所述第一设备包括感知节点中的接收设备的情况下，所述第一设备在接收第一信号获得回波数据后，还可以进一步包括以下行为之一：
向第二设备发送回波数据；
对回波数据进行第一运算获得中间感知结果，然后向第二设备发送中间感知结果；
对回波数据进行第二运算获得目标感知结果，向第二设备发送目标感知结果，第二运算为所述第一运算中的部分运算。
可选地，在一些实施例中，所述第一设备获取第一指标之前，所述方法还包括：
所述第一设备获取目标信息，所述目标信息包括第一信息和感知节点的能力信息中的至少一项，所述第一信息包括感知目标区域、感知对象类型、感知QoS、感知先验信息和感知节点的位置信息中的至少一项；
所述第一设备根据所述目标信息确定初始配置，所述初始配置包括以下至少一项：第一时隙的配置信息、第二时隙的时长和感知帧的排列方式，其中，所述第二时隙为一个感 知帧中用于执行信号收发之外的操作对应的时隙。
本申请实施例中，上述第一感知帧的第一时隙的时长可以为上述初始时长，也可以为对初始时长进行一次或多次调整后的时长。由于基于目标信息确定所述第一时隙的时长的下限值和所述第一时隙的时长的上限值中的至少一项，从而根据实际的感知需求对第一时隙的时长的调整范围进行限制，因此可以避免对第一时隙的时长进行过度调整。
本申请实施例中，上述第一设备可以为感知功能网元，也可以为感知节点，基于第一设备的不同，第一设备获取第一信息可以存在以下几种情况：
情况1，在所述第一设备是感知功能网元时，第一设备从感知应用服务器和/或感知业务发起方获取第一信息或第一信息的第一部分；在第一设备获取第一信息的第一部分的情况下，由第一设备根据获取的第一信息的第一部分生成第一信息的第二部分。
情况2，在所述第一设备是感知节点时，第一设备从感知功能网元和/或感知应用服务器和/或感知业务发起方获取第一信息或第一信息的第一部分；在第一设备获取第一信息的第一部分的情况下，由第一设备根据获取的第一信息的第一部分生成第一信息的第二部分。
上述感知目标区域是指感知对象可能存在的位置区域，或者需要进行成像或三维重构的位置区域。
可选地，上述感知对象类型可以基于以下至少一项确定：典型感知对象的运动速度、典型感知对象的运动加速度和雷达截面积(Radar cross-section，RCS)。也就是说感知对象类型中包含了典型感知对象的运动速度、典型感知对象的运动加速度和典型RCS等信息等，其中，典型RCS可以理解为感知对象的反射截面积。
感知QoS可以理解为对感知目标区域或感知对象进行感知的性能指标，具体可以包括以下至少一项：感知分辨率要求、感知精度要求、感知范围要求、感知时延要求、感知更新速率要求、检测概率要求和虚警概率要求。其中，感知分辨率要求包括进一步分为测距分辨率要求、测角分辨率要求、测速分辨率要求和成像分辨率要求等；感知精度要求可以进一步分为测距精度要求、测角精度要求、测速精度要求和定位精度要求等；感知范围要求可以进一步分为测距范围要求、测速范围要求、测角范围要求和成像范围要求等；感知时延要求可以理解为感知信号发送到获得感知结果的时间间隔要求，或者从感知需求发起到获取感知结果的时间间隔要求；感知更新速率要求可以理解为相邻两次执行感知并获得感知结果的时间间隔要求；检测概率要求可以理解为在感知对象存在的情况下，被正确检测出来的概率要求；虚警概率可以理解为在感知对象不存在的情况下，被错误检测出来的概率。
可选地，感知先验信息是指提供给感知节点的关于感知对象或感知目标区域的空间范围和/或运动属性，并有助于感知节点缩小搜索范围的信息。具体包括以下至少一项：
空间范围先验信息，例如待感知对象或感知目标区域的距离或位置范围，和/或，角度范围等；
运动属性先验信息，例如待感知对象的速度范围，和/或，加速度范围等。
可选地，感知节点的位置信息可以包括以下两种情况：
对于固定位置的感知节点，如基站、TRP，感知节点的位置信息已知，可通过访问存储感知节点位置信息的网络功能(如网管系统、统一数据管理)、或由感知节点上报，获取感知节点位置信息；
对于移动的感知节点，如终端，在进行感知测量之前，感知功能网元应先获取感知节点的位置信息，获得位置信息的方法可以是向定位管理功能或其他服务功能请求和获得位置信息。所述定位管理功能可以是位置管理功能(Location Management Function，LMF)、接收最小化路测(Minimization of Drive Test，MDT)位置信息的网络功能；定位服务功能可以是应用服务(Application Function，AF)，该AF可以是Wi-Fi、蓝牙(Bluetooth)、或超宽带(Ultra Wide Band，UWB)等的定位服务器，也可以是可获得全球定位系统(Global Positioning System，GPS)等定位信息的应用功能，如地图应用程序(Application，APP)。
可选地，所述第一时隙的配置信息包括以下至少一项：所述第一时隙的初始时长、所述第一时隙的时长的上限值和所述第一时隙的时长的下限值。
其中，所述第一时隙的初始时长以及对所述第一时隙的时长进行调整之后的时长均位于第一时隙的时长的上限值和第一时隙的时长的下限值确定的时间区间内。
可选地，所述第一设备根据所述目标信息确定初始配置包括以下至少一项：
所述第一设备根据多普勒分辨率要求确定所述第一时隙的时长的下限值，所述多普勒分辨率要求包含于所述感知QoS内；
所述第一设备根据所述感知对象类型确定所述第一时隙的时长的上限值；
所述第一设备根据所述感知对象类型和所述感知先验信息中的至少一项，确定所述第一时隙的初始时长。
可选地，在一些实施例中，所述第一时隙的时长的下限值等于所述多普勒分辨率要求的倒数。例如，假设多普勒分辨率要求为Δf0，则所述第一时隙的时长的下限值Ts,min满足：
需要说明的是，在无线感知过程中，假设感知对象的第一参数在一个信号收发时隙内保持不变。上述假设的前提是，感知对象在一个信号收发时隙内的第一参数的变化小于一定的预设门限的要求。上述第一参数可以包括以下至少一项：
感知直接获取的极坐标系下的参数，包括以下至少一项：感知对象相对于感知节点的径向距离、感知对象相对于感知节点的径向速度和感知对象相对于感知节点的角度，该角度进一步可以包括：方向角和俯仰角；
经坐标变化后在直角坐标系下的参数，包括以下至少一项：感知对象在直角坐标系下的坐标，(如x轴坐标、y轴坐标和z轴坐标)和感知对象在直角坐标系下的速度(如x向速度、y向速度和z向速度)。
也就是说，本申请实施例中，信号收发时隙时间长度取值的上限值的约束条件是：感知对象的第一参数在一个信号收发时隙内的变化小于预设门限的要求。感知对象类型主要 描述了通感一体化场景中典型感知对象的典型速度范围和典型加速度范围。例如，高速运动的车辆的典型速度约为30m/s，而正常速度行走行人的典型速度约为1.3m/s；则对于车辆和行人的感知，一个感知帧内的距离变化的预设门限是不同的。
在上述预设门限的约束下，信号收发时隙时间长度取值的上限值与感知对象类型有关。可选地，在一些实施例中，所述第一时隙的时长的上限值T1满足以下至少一项：
ΔR表示一个第一时隙内感知对象的距离变化的门限值，vmax表示感知对象的典型速度范围的最大值；
Δφ表示一个第一时隙内感知对象的角度变化的门限值，R表示感知对象的距离，vmax表示感知对象的典型速度范围的最大值；
Δv表示一个第一时隙内感知对象的速度变化的门限值，amax表示感知对象的典型加速度范围的最大值。
本申请实施例中，假设一个第一时隙内，感知对象的距离变化的第二预设门限值为ΔR，感知对象的典型速度范围的最大值为vmax，则第一时隙的时长Ts的取值应满足第一约束：
其中，第一约束要求一个感知帧内感知对象的距离变化远小于距离分辨率，从而能够认为感知对象在一个感知帧内的距离不变，最终能够对一个感知帧内的所有感知信号周期的回波信号进行感知信号处理获取感知对象的单一的距离信息。
假设一个第一时隙内，感知对象的角度变化的第二预设门限为Δφ，感知对象的距离为R，感知对象的典型速度范围的最大值为vmax，则第一时隙的时长Ts的取值应满足第二约束：
其中，所述第二预设门限Δφ的一种设置方式是角度分辨率的η2倍，其中η2为远小于1的正实数。上式中vmax/R是感知对象在距离感知节点R处以垂直于感知对象和感知节点连线方向的最大速度vmax相对于感知节点运动，是角度变化率的极限情况。
上述第二约束要求一个感知帧内感知对象的角度变化远小于角度分辨率，从而能够认为感知对象在一个感知帧周期内的角度不变，最终能够对一个感知帧内的所有感知信号周期的回波信号进行感知信号处理获取感知对象的单一的角度信息。
假设一个第一时隙内，感知对象的速度变化的第二预设门限为Δv，感知对象的典型加速度范围的最大值为amax，则第一时隙的时长Ts的取值应满足第三约束：
其中，第三约束要求一个感知帧内感知对象的速度变化远小于速度分辨率，从而能够认为感知对象在一个感知帧内的速度不变，最终能够对一个感知帧内的所有感知信号周期 的回波信号进行感知信号处理获取感知对象的单一的速度信息。
可选地，在确定第一信号的时间长度的上限值时，可以根据感知业务的感知需求，确定上限值为以下任一项：
同时满足第一约束、第二约束和第三约束；例如，感知需求为测距、测速和测角时为此种情况。
满足第一约束、第二约束和第三约束中的两项；例如，感知需求为测距和测角时只需满足第一约束和第二约束。
满足第一约束、第二约束和第三约束中的一项；例如，感知需求为测距时只需满足第一约束。
可选地，在确定第一时隙的时长的取值范围(即第一时隙的时长的上限值和第一时隙的时长的下限值)之后，在执行感知过程之前，还需确定第一时隙的初始时长。
对于给定的感知信号周期，第一时隙的时长直接正比于第一时隙内包含的感知信号周期的数目N。同时，N的取值会影响进行一次感知信号处理的相参积累或非相参积累后的回波信号功率和回波信噪比(Signal Noise Ratio，SNR)。
本申请实施例中，考虑在影响回波信号功率的其他因素(功率、孔径等)给定的情况下，通过设置感知帧内第一时隙的时长进一步优化感知性能和/或优化时间资源配置。
可选地，在一些实施例中，确定第一时隙的初始时长的一种方法是：根据感知需求中的感知对象的感知先验信息或覆盖范围要求，以及回波信号功率的目标值，结合给定的影响回波信号功率的其他因素，通过雷达方程计算所需的第一时隙的时长。
可选地，所述感知帧的排列方式包括以下任一项：
第一排列方式，所述第一排列方式为相邻两个感知帧之间串行排列，且第三感知帧的第二时隙与第四感知帧的第一时隙在时间上不重叠，所述第三感知帧为所述第四感知帧的上一个感知帧；
第二排列方式，所述第二排列方式为相邻两个感知帧之间并行排列，且第五感知帧的第二时隙与第六感知帧的第一时隙在时间上至少部分重叠，所述第五感知帧为所述第六感知帧的上一个感知帧。
本申请实施例中，上述第三感知帧和第四感知为任意相邻的两个感知帧，第五感知帧和第六感知帧为任意相邻的两个感知帧。
针对上述第一排列方式，如图4所示，在这种排列方式下，第n感知帧的感知结果可以用于第n+1感知帧及之后感知帧的信号参数的设置与资源调度。
针对上述第二排列方式，如图5所示，第六感知帧的第一时隙的起始时间与第五感知帧的第二时隙的起始时间的偏移为Toffset。如果Toffset＝0，则表示没有专门的时间资源分配给所述第二时隙，感知帧之间的信号收发在感知信号周期的颗粒度上是连续的；如果Toffset>0，则表示有专门的时间资源分配给所述第二时隙。在这种排列方式下，第n感知帧的感知结果可以用于第n+2感知帧及之后感知帧的信号参数的设置与资源调度。
需要说明的是，在一些实施例中，第一设备可以根据感知需求和感知节点的设备能力信息确定第二时隙的时长和感知帧的排列方式。
可选地，上述能力信息可以包括以下至少一项：运算能力和并行处理能力。
例如，在一些实施例中，可以根据感知节点的运算能力和感知QoS对应的算法的运算量设置第二时隙的时长。
在通感一体化场景中，感知帧的排列采用第一排列方式或第二排列方式取决于感知节点的并行处理能力，具体如下：
如果感知节点具备并行处理的能力，则可以采用第二排列方式；
如果感知节点不具备并行处理的能力，则需采用第一排列方式。
进一步地，当初始配置中的排列方式为包括第二排列方式的情况下，初始配置还可以进一步包括上述Toffset的取值。
可选地，双基地雷达采用上述第二排列方式时，需要感知节点的发送设备和接收设备均具有并行处理能力。
应理解，如果第一设备为感知节点，则第一设备可以直接确定第二时隙的时长和感知帧的排列方式，若果第一设备为感知功能网元，则在确定第二时隙的时长和感知帧的排列方式之前，首先获取感知节点的能力信息，获取方式可以是：接收感知节点发送的能力信息，或，从感知功能网元或感知功能网元可访问的网络节点中查询感知节点的能力信息。
所述第一设备根据所述第一指标确定所述第二感知帧的第一时隙的时长包括：
所述第一设备根据所述第一指标、第一预设门限值和预设的调整方式确定所述第二感知帧的第一时隙的时长。
本申请实施例中，可以基于第一感知帧获得的回波信号质量或者对第二感知帧内的回波信号质量的预测结果对第一时隙的时长进行调整获得第二感知帧的第一时隙的时长。
可选地，所述预设的调整方式调整包括以下任一项：
按照固定变化量增大或减小所述第一时隙的时长；
按照目标比值增大或减小所述第一时隙的时长；
按照预设的配置表调整所述第一时隙的时长，所述预设的配置表包括至少两个第一值，所述第一值为所述第一时隙的参数值。
其中，按照固定变化量增大或减小所述第一时隙的时长可以理解或替换为按照第一感知帧的第一时隙的时长和所述固定变化量增大或减小第二感知帧的第一时隙的时长；按照目标比值增大或减小所述第一时隙的时长可以理解或替换为按照第一感知帧的第一时隙的时长和所述目标比值增大或减小第二感知帧的第一时隙的时长。
本申请实施例中，上述目标比值可以为一个固定的比值，也可以为一个动态的比值，例如，在一些实施例中，所述目标比值为目标值与所述第一指标的比值，所述目标值基于所述第一预设门限值确定。
可选地，目标值的确定方式可以根据实际需要进行设置，例如，当第一预设门限值包 括一个门限值的情况下，上述目标值等于第一预设门限值。当第一预设门限值包括两个门限值的情况下，该目标值可以等于该两个门限值的几何平均值或算术平均值。
应理解，上述第一预设门限值可以包括一个或者多个门限值，在包括的门限值不同的情况下，对应的预设的调整方式的方式不同。
例如，在一些实施例中，所述第一预设门限值包括一个门限值，所述第一时隙的时长的调整规则满足以下至少一项：
在所述第一指标大于所述一个门限值的情况下，减小所述第一时隙的时长或者保持所述第一时隙的时长不变；
在所述第一指标小于所述一个门限值的情况下，增大所述第一时隙的时长。
可选地，一些实施例中，所述第一预设门限值包括第一门限值和第二门限值，且所述第一门限值小于所述第二门限值，所述第一时隙的时长的调整规则满足以下至少一项：
在所述第一指标大于所述第二门限值的情况下，减小所述第一时隙的时长或者保持所述第一时隙的时长不变；
在所述第一指标小于所述第一门限值的情况下，增大所述第一时隙的时长。
可选地，一些实施例中，所述预设门限值包括第三门限值和第四门限值，所述第一时隙的时长的调整规则满足以下至少一项：
在所述第一指标大于所述第三门限值，且所述第一指标与所述第三门限值的偏差大于所述第四门限值的情况下，减小所述第一时隙的时长；
在所述第一指标小于所述第三门限值，且所述第三门限值与所述第一指标的偏差大于所述第四门限值的情况下，增大所述第一时隙的时长。
应理解，上述偏差可以基于差值、差值的平方、比值等方式确定，在此不做进一步的限定。上述调整规则可以理解或替换为所述第二感知帧的第一时隙的确定规则。
以下针对采用不同调整方式对第一时隙的时长的调整进行示例性说明。
针对按照固定变化量增大或减小所述第一时隙的时长的方式，如果第一指标大于第一预设门限值，则将第一感知帧的第一时隙的时长减小固定时长后作为第二感知帧的第一时隙的时长；如果第一指标小于第一预设门限值，则将第一时隙的时长增大固定时长后作为第二感知帧的第一时隙的时长。
可选地，在一些实施例中，在第一指标大于第一预设门限值的情况下，可以保持第一时隙的时长的取值不变。
可选地，第一预设门限值可以为一个门限值，也可以包括第一门限值和第二门限值，且第一门限值小于第二门限值。当第一预设门限值包括第一门限值和第二门限值，则第一指标大于第一预设门限值可以理解为第一指标大于第二门限值，第一指标小于第一预设门限值可以理解为第一指标小于第一门限值。
针对按照目标比值增大或减小所述第一时隙的时长的方式，如果第一指标小于或大于第一预设门限值，则第二感知帧的第一时隙的时长N′满足：
其中，N表示第一感知帧的第一时隙的时长，P表示第一指标的取值；P0表示上述目标值。例如，当第一预设门限为一个门限值的情况下，Q0为该第一预设门限值；当第一预设门限值包括第一门限值和第二门限值，且第一门限值小于第二门限值的情况下，可以采用第一门限值和第二门限值的几何平均值或算术平均值作为Q0，且第一指标大于第一预设门限值可以理解为第一指标大于第二门限值，第一指标小于第一预设门限值可以理解为第一指标小于第一门限值。
针对按照预设的配置表调整所述第一时隙的时长的方式可以理解为，第一时隙的时长包括至少一个数组，在该数组中包括多个大小不同的第一值，该第一值表示第一时隙的时长的取值，在需要增大或者减小感知更新帧周期的情况下，可以基于当第一时隙的时长的取值大小，在数组中选择一个增大或减小的新的第一值作为更新后的第一时隙的时长。例如，第一预设门限值包括第三门限和第四门限，如果第一指标大于第三门限，且第一指标与第三门限的偏差大于第四门限，则在数组中选择一个减小的新的第一值作为更新后的第一时隙的时长；如果第一指标小于第三门限，且第四门限与第一指标的偏差大于第四门限，则在数组中选择一个增大的新的第一值作为更新后的第一时隙的时长值。
可选地，对于第一指标的确定方式可以根据实际需要进行设置，例如，在一些实施例中，在所述第一设备包括所述感知节点中的接收设备的情况下，所述第一设备获取第一指标包括：
所述第一设备根据所述第一感知帧的第一时隙的时长接收第一信号获得回波数据；
所述第一设备根据所述回波数据确定目标感知结果，所述目标感知结果满足：所述目标感知结果包括是否检测到所述感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括所述第一指标；
所述第一设备根据所述目标感知结果确定所述第一指标。
例如，在一些实施例中，在所述第一设备为感知功能网元或感知节点中的发送设备的情况下，所述第一设备获取第一指标之前，所述方法还包括：
所述第一设备从感知节点中的接收设备接收第二信息，所述第二信息包括回波数据、对回波数据进行第一运算得到的中间感知结果、对回波数据进行第二运算得到的目标感知结果和第一指标中的任一项，其中，所述回波数据为所述感知节点中的接收设备基于所述第一感知帧的第一时隙的时长执行感知业务获得的数据，所述第一运算为所述第二运算中的部分运算，所述目标感知结果满足：所述目标感知结果包括是否检测到所述感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括所述第一指标；
所述第一设备根据第二信息确定所述第一指标。
本申请实施例中，在所述第一设备包括感知节点中的发送设备的情况下，第一设备还需要基于所述第一感知帧的第一时隙的时长发送第一信号。
可选地，当第二信息包括回波数据时，第一设备可以对回波数据进行第二运算获得确 定第一指标；当第二信息包括中间感知结果时，第一设备可以对中间感知结果进行第二运算中除第一运算之外的剩余运算获得第一指标。当第二信息包括目标感知结果时，第一设备可以直接从第二信息中解析获得第一指标。
可选地，所述方法还包括以下至少一项：
在所述第一设备为感知节点中的接收设备的情况下，所述第一设备向第一目标设备发送第一指示信息，所述第一指示信息用于指示调整后的第一时隙的时长，所述第一目标设备包括所述感知节点中的发送设备，或者包括所述感知节点中的发送设备和感知功能网元；
在所述第一设备为感知节点中的发送设备的情况下，所述第一设备向第二目标设备发送第一指示信息，所述第一指示信息用于指示调整后的第一时隙的时长，所述第二目标设备包括所述感知节点中的接收设备，或者包括所述感知节点中的接收设备和感知功能网元；
在所述第一设备为感知功能网元的情况下，所述第一设备向感知节点中的发送设备和接收设备发送第一指示信息，所述第一指示信息用于指示调整后的第一时隙的时长。
需要说明的是，在所述第一设备为感知节点的情况下，若感知功能网元需要参与回波数据的运算或处理，则感知节点需要向感知功能网元指示调整后的第一时隙的时长。
可选地，所述第一设备根据所述第一指标确定所述第二感知帧的第一时隙的时长之后，所述方法还包括以下至少一项：
在所述第一设备包括感知节点中的发送设备的情况下，所述第一设备根据调整后的第一时隙的时长发送第一信号；
在所述第一设备包括感知节点中的接收设备的情况下，所述第一设备根据调整后的第一时隙的时长接收所述第一信号。
可选地，回波信号质量可以包括或表示以下至少一项：回波信号功率、回波信号噪声比(Signal Noise Ratio，SNR)、回波信号干扰噪声比(Signal to Interference Noise Ratio，SINR)、参考信号接收功率(Reference Signal Received Power，RSRP)和参考信号接收质量(Reference Signal Received Quality，RSRQ)。
为了更好的理解本申请以下通过一些实例进行详细说明。
在一些实施例中，感知节点的发送设备和感知节点的接收设备属于同一个设备，采用感知节点自发自收的方式执行感知业务的情况下，第一时隙的时长的自适应调整的流程如下：
步骤1，感知节点或感知功能网元获取用来进行感知信号配置的第一信息。
步骤2，感知节点或感知功能网元根据感知需求中的多普勒测量分辨率要求和感知对象类型设置感知帧中第一时隙的时长的取值范围和初始时长；并根据感知需求和感知节点的设备能力信息确定第二时隙的时长和感知帧的排列方式。
可选地，如果执行上述操作的设备为感知功能网元，在执行上述过程之前，还包括感知功能网元获取感知节点的能力信息，在执行上述过程之后，还包括感知功能网元将第一时隙的初始时长、第二时隙的时长和感知帧的排列方式发送至感知节点。
步骤3，感知节点根据第一时隙的初始时长、第二时隙的时长和感知帧的排列方式进行感知帧参数的配置，并根据感知帧参数的配置进行第一信号的发送和接收，并得到回波数据；由感知节点和/或感知功能网元对回波数据进行感知信号处理。具体可以包括以下选项之一：
感知节点对回波数据进行感知信号处理，生成第一感知结果；
感知节点对回波数据进行感知信号处理的部分运算，得到中间感知结果，并将中间感知结果发送给感知功能网元，由感知功能网元进行感知信号处理的剩余部分运算，生成第一感知结果；
感知节点将回波数据发送给感知功能网元，由感知功能网元对回波数据进行感知信号处理，生成第一感知结果。
所述第一感知结果包括：是否检测出感知对象，以及在检测出感知对象的情况下的回波信号质量。
如果所述的第一感知结果显示没有检测出感知对象，则循环执行本步骤操作；如果所述的第一感知结果显示检测出感知对象，则进入下一步流程。
步骤4，感知节点或感知功能网元根据目标感知结果中的回波信号质量调整第一时隙的时长。
在第一次进入本步骤时，所述目标感知结果为第3步中的第一感知结果；否则，所述目标感知结果为第5步中的第二感知结果。
根据目标感知结果的生成由感知节点或感知功能网元，以及执行第一时隙的时长调整的设备是感知节点或感知功能网元，包括以下情况之一：
目标感知结果由感知节点生成，且执行第一时隙的时长调整的设备是感知节点，则无需交互目标感知结果和调整后的第一时隙的时长；
目标感知结果由感知节点生成，且执行第一时隙的时长调整的设备是感知功能网元，则在执行第一时隙的时长调整之前，感知节点需向感知功能网元发送目标感知结果，在执行第一时隙的时长调整之后，感知功能网元需向感知节点发送调整后的第一时隙的时长；
目标感知结果由感知功能网元生成，且执行第一时隙的时长调整的设备是感知节点，则在执行第一时隙的时长调整之前，感知功能网元需向感知节点发送目标感知结果；
目标感知结果由感知功能网元生成，且执行第一时隙的时长调整的设备是感知功能网元，则在执行第一时隙的时长调整之后，感知功能网元需向感知节点发送调整后的第一时隙的时长。
步骤5，感知节点根据调整后的第一时隙的时长，调整第一信号的发送和接收，并得到回波数据；由感知节点和/或感知功能网元对目标回波数据进行感知信号处理和/或数据处理，获得回波信号质量和/或感知对象的第一参数，包括以下选项之一：
感知节点对回波数据进行感知信号处理和/或数据处理，得到第二感知结果；
感知节点对回波数据进行感知信号处理和/或数据处理的部分运算，得到中间感知结果， 并将中间感知结果发送给感知功能网元，由感知功能网元进行感知信号处理和/或数据处理的剩余部分运算，得到第二感知结果；
感知节点将回波数据发送给感知功能网元，由感知功能网元对回波数据进行感知信号处理和/或数据处理，得到第二感知结果。
上述第二感知结果包括：是否检测出感知对象，以及在检测出感知对象情况下的回波信号质量、感知对象的第一参数、第一参数的滤波值和/或第一参数的预测值。最后循环执行第4步和第5步，直至感知过程结束。
在一些实施例中，感知节点的发送设备和感知节点的接收设备属于不同的设备，可以采用发送设备发送第一信号，接收设备接收第一信号的方式执行感知业务的情况下，第一时隙的时长的自适应调整的流程如下：
步骤1，发送端设备、接收端设备或感知功能网元获取用来进行感知信号配置的第一信息。
步骤2，发送端设备、接收端设备或感知功能网元根据感知需求中的多普勒测量分辨率要求和感知对象类型设置感知帧中第一时隙的时长的取值范围和初始时长；并根据感知需求和感知节点的设备能力信息确定第二时隙的时长和感知帧的排列方式。
可选地，如果执行上述操作的设备为感知功能网元，在执行上述过程之前，还包括感知功能网元获取发送设备和接收设备的能力信息，在执行上述过程之后，还包括感知功能网元将第一时隙的初始时长、第二时隙的时长和感知帧的排列方式发送给发送设备和接收设备。如果执行上述操作的设备为发送设备，在执行上述过程之前，还包括发送设备获取接收设备的能力信息，在执行上述过程之后，还包括发送设备将第一时隙的初始时长、第二时隙的时长和感知帧的排列方式发送给接收设备和感知功能网元中的至少一项。如果执行上述操作的设备为接收设备，在执行上述过程之前，还包括接收设备获取发送设备的能力信息，在执行上述过程之后，还包括接收设备将第一时隙的初始时长、第二时隙的时长和感知帧的排列方式发送给发送设备和感知功能网元汇总的至少一项。
步骤3，发送端设备和接收端设备根据第一时隙的初始时长、第二时隙的时长和感知帧的排列方式进行第一信号的发送和接收，接收设备得到回波数据；由接收端设备和/或感知功能网元对回波数据进行感知信号处理。具体可以包括以下选项之一：
接收端设备对回波数据进行感知信号处理，生成第一感知结果；
接收端设备对回波数据进行感知信号处理的部分运算，得到中间感知结果，并将中间感知结果发送给感知功能网元，由感知功能网元进行感知信号处理的剩余部分运算，生成第一感知结果；
接收端设备将回波数据发送给感知功能网元，由感知功能网元对回波数据进行感知信号处理，生成第一感知结果。
所述第一感知结果包括：是否检测出感知对象，以及在检测出感知对象的情况下的回波信号质量。
如果所述的第一感知结果显示没有检测出感知对象，则循环执行本步骤操作；如果所述的第一感知结果显示检测出感知对象，则进入下一步流程。
步骤4，发送端设备、接收端设备或感知功能网元根据目标感知结果中的回波信号质量调整第一时隙的时长。
在第一次进入本步骤时，所述目标感知结果为第3步中的第一感知结果；否则，所述目标感知结果为第5步中的第二感知结果。
目标感知结果由接收端设备生成，且执行第一时隙的时长调整的设备是接收端设备，则在执行第一时隙的时长调整之后，接收端设备需向发送端设备发送调整后的第一时隙的时长；
目标感知结果由接收端设备生成，且执行第一时隙的时长调整的设备是感知功能网元，则在执行第一时隙的时长调整之前，接收端设备需向感知功能网元发送目标感知结果，在执行第一时隙的时长调整之后，感知功能网元需向发送端设备和接收端设备发送调整后的第一时隙的时长；
目标感知结果由接收端设备生成，且执行第一时隙的时长调整的设备是发送端设备，则在执行第一时隙的时长调整之前，接收端设备需向发送端设备发送目标感知结果，在执行第一时隙的时长调整之后，发送端设备需向接收端设备发送调整后的第一时隙的时长；
目标感知结果由感知功能网元生成，且执行第一时隙的时长调整的设备是感知功能网元，则在执行第一时隙的时长调整之后，感知功能网元需向发送端设备和接收端设备发送调整后的第一时隙的时长；
目标感知结果由感知功能网元生成，且执行第一时隙的时长调整的设备是发送端设备，则在执行第一时隙的时长调整之前，感知功能网元需向发送端设备发送目标感知结果，在执行第一时隙的时长调整之后，发送端设备需向接收端设备和感知功能网元发送调整后的第一时隙的时长；
目标感知结果由感知功能网元生成，且执行第一时隙的时长调整的设备是接收端设备，则在执行第一时隙的时长调整之前，感知功能网元需向接收端设备发送目标感知结果，在执行第一时隙的时长调整之后，接收端设备需向发送端设备和感知功能网元发送调整后的第一时隙的时长。
步骤5，感知节点根据调整后的第一时隙的时长，调整第一信号的发送和接收，并得到回波数据；由感知节点和/或感知功能网元对目标回波数据进行感知信号处理和/或数据处理，获得回波信号质量和/或感知对象的第一参数，包括以下选项之一：
感知节点对回波数据进行感知信号处理和/或数据处理，得到第二感知结果；
感知节点对回波数据进行感知信号处理和/或数据处理的部分运算，得到中间感知结果，并将中间感知结果发送给感知功能网元，由感知功能网元进行感知信号处理和/或数据处理的剩余部分运算，得到第二感知结果；
感知节点将回波数据发送给感知功能网元，由感知功能网元对回波数据进行感知信号 处理和/或数据处理，得到第二感知结果。
上述第二感知结果包括：是否检测出感知对象，以及在检测出感知对象情况下的回波信号质量、感知对象的第一参数、第一参数的滤波值和/或第一参数的预测值。最后循环执行第4步和第5步，直至感知过程结束。
参照图6，本申请实施例还提供了另一种感知处理方法。如图6所示，该感知处理方法包括：
步骤601，在第一设备根据第一指标对第一时隙的时长进行调整的情况下，第二设备从所述第一设备接收第一指示信息，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙，所述第一指示信息用于指示第二感知帧的第一时隙的时长；
其中，在所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；在所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备和感知功能网元中的至少一项；在所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备和感知功能网元中的至少一项。
可选地，所述方法还包括以下至少一项：
在所述第二设备包括感知节点中的发送设备的情况下，所述第二设备根据调整后的第一时隙的时长发送第一信号；
在所述第二设备包括感知节点中的接收设备的情况下，所述第二设备根据调整后的第一时隙的时长接收第一信号获得回波数据，向所述第一设备或感知功能网元发送第二信息，所述第二信息包括回波数据、对回波数据进行第一运算得到的中间感知结果或者对回波数据进行第二运算得到的目标感知结果，其中，所述回波数据为所述感知节点中的接收设备基于所述第一感知帧的第一时隙的时长执行感知业务获得的数据，所述第一运算为所述第二运算中的部分运算，所述目标感知结果满足：所述目标感知结果包括是否检测到所述感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括所述第一指标。
可选地，所述第二设备从所述第一设备接收第一指示信息之前，所述方法还包括：
所述第二设备从所述第一设备接收第二指示信息，所述第二指示信息用于指示初始配置，所述初始配置包括以下至少一项：第一时隙的配置信息、第二时隙的时长和感知帧的排列方式，其中，所述第二时隙为一个感知帧中用于执行信号收发之外的操作对应的时隙。
可选地，所述第一时隙的配置信息包括以下至少一项：所述第一时隙的初始时长、所述第一时隙的时长的上限值和所述第一时隙的时长的下限值。
可选地，所述第一时隙的时长的下限值等于多普勒分辨率要求的倒数，所述多普勒分辨率要求包含于所述感知QoS内。
可选地，所述第一时隙的时长的上限值T1满足以下至少一项：
ΔR表示一个第一时隙内感知对象的距离变化的门限值，vmax表示感知对象的典型速度范围的最大值；
Δφ表示一个第一时隙内感知对象的角度变化的门限值，R表示感知对象的距离，vmax表示感知对象的典型速度范围的最大值；
Δv表示一个第一时隙内感知对象的速度变化的门限值，amax表示感知对象的典型加速度范围的最大值。
可选地，所述感知帧的排列方式包括以下任一项：
第一排列方式，所述第一排列方式为相邻两个感知帧之间串行排列，且第三感知帧的第二时隙与第四感知帧的第一时隙在时间上不重叠，所述第三感知帧为所述第四感知帧的上一个感知帧；
第二排列方式，所述第二排列方式为相邻两个感知帧之间并行排列，且第五感知帧的第二时隙与第六感知帧的第一时隙在时间上至少部分重叠，所述第五感知帧为所述第六感知帧的上一个感知帧。
可选地，回波信号质量可以包括或表示以下至少一项：感知对象的回波信号功率、感知对象的SNR、感知对象的SINR、RSRP和RSRQ。
参照图7，本申请实施例提供了一种感知处理装置，应用于第一设备，如图7所示，该感知处理装置700，包括：
获取模块701，用于获取第一指标，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙；
调整模块702，用于根据所述第一指标确定所述第二感知帧的第一时隙的时长。
可选地，所述感知处理装置700还包括第一确定模块。
所述获取模块701还用于获取目标信息，所述目标信息包括第一信息和感知节点的能力信息中的至少一项，所述第一信息包括感知目标区域、感知对象类型、感知服务质量QoS、感知先验信息和感知节点的位置信息中的至少一项；
所述第一确定模块用于根据所述目标信息确定初始配置，所述初始配置包括以下至少一项：第一时隙的配置信息、第二时隙的时长和感知帧的排列方式，其中，所述第二时隙为一个感知帧中用于执行信号收发之外的操作对应的时隙。
可选地，所述第一时隙的配置信息包括以下至少一项：所述第一时隙的初始时长、所述第一时隙的时长的上限值和所述第一时隙的时长的下限值。
可选地，所述第一确定模块具体用于执行以下至少一项：
根据多普勒分辨率要求确定所述第一时隙的时长的下限值，所述多普勒分辨率要求包 含于所述感知QoS内；
根据所述感知对象类型确定所述第一时隙的时长的上限值；
根据所述感知对象类型和所述感知先验信息中的至少一项，确定所述第一时隙的初始时长。
可选地，所述第一时隙的时长的下限值等于所述多普勒分辨率要求的倒数。
可选地，所述第一时隙的时长的上限值T1满足以下至少一项：
ΔR表示一个第一时隙内感知对象的距离变化的门限值，vmax表示感知对象的典型速度范围的最大值；
Δφ表示一个第一时隙内感知对象的角度变化的门限值，R表示感知对象的距离，vmax表示感知对象的典型速度范围的最大值；
Δv表示一个第一时隙内感知对象的速度变化的门限值，amax表示感知对象的典型加速度范围的最大值。
可选地，所述感知帧的排列方式包括以下任一项：
第一排列方式，所述第一排列方式为相邻两个感知帧之间串行排列，且第三感知帧的第二时隙与第四感知帧的第一时隙在时间上不重叠，所述第三感知帧为所述第四感知帧的上一个感知帧；
第二排列方式，所述第二排列方式为相邻两个感知帧之间并行排列，且第五感知帧的第二时隙与第六感知帧的第一时隙在时间上至少部分重叠，所述第五感知帧为所述第六感知帧的上一个感知帧。
可选地，所述调整模块702具体用于：根据所述第一指标、第一预设门限值和预设的调整方式确定所述第二感知帧的第一时隙的时长。
可选地，所述预设的调整方式调整包括以下任一项：
按照固定变化量增大或减小所述第一时隙的时长；
按照目标比值增大或减小所述第一时隙的时长；
按照预设的配置表调整所述第一时隙的时长，所述预设的配置表包括至少两个第一值，所述第一值为所述第一时隙的参数值。
可选地，所述目标比值为目标值与所述第一指标的比值，所述目标值基于所述第一预设门限值确定。
可选地，所述第一预设门限值包括一个门限值，所述第一时隙的时长的调整规则满足以下至少一项：
在所述第一指标大于所述一个门限值的情况下，减小所述第一时隙的时长或者保持所述第一时隙的时长不变；
在所述第一指标小于所述一个门限值的情况下，增大所述第一时隙的时长。
可选地，所述第一预设门限值包括第一门限值和第二门限值，且所述第一门限值小于所述第二门限值，所述第一时隙的时长的调整规则满足以下至少一项：
在所述第一指标大于所述第二门限值的情况下，减小所述第一时隙的时长或者保持所述第一时隙的时长不变；
在所述第一指标小于所述第一门限值的情况下，增大所述第一时隙的时长。
可选地，所述预设门限值包括第三门限值和第四门限值，所述第一时隙的时长的调整规则满足以下至少一项：
在所述第一指标大于所述第三门限值，且所述第一指标与所述第三门限值的偏差大于所述第四门限值的情况下，减小所述第一时隙的时长；
在所述第一指标小于所述第三门限值，且所述第三门限值与所述第一指标的偏差大于所述第四门限值的情况下，增大所述第一时隙的时长。
可选地，在所述第一设备包括所述感知节点中的接收设备的情况下，所述获取模块701具体用于执行以下操作：
根据所述第一感知帧的第一时隙的时长接收第一信号获得回波数据；
根据所述回波数据确定目标感知结果，所述目标感知结果满足：所述目标感知结果包括是否检测到所述感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括所述第一指标；
根据所述目标感知结果确定所述第一指标。
可选地，在所述第一设备为感知功能网元或感知节点中的发送设备的情况下，所述感知处理还包括：
第二接收模块，用于从感知节点中的接收设备接收第二信息，所述第二信息包括回波数据、对回波数据进行第一运算得到的中间感知结果、对回波数据进行第二运算得到的目标感知结果和第一指标中的任一项，其中，所述回波数据为所述感知节点中的接收设备基于所述第一感知帧的第一时隙的时长执行感知业务获得的数据，所述第一运算为所述第二运算中的部分运算，所述目标感知结果满足：所述目标感知结果包括是否检测到所述感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括所述第一指标；
第二确定模块，用于根据第二信息确定所述第一指标。
可选地，所述感知处理装置还包括发送模块，所述发送模块用于执行以下至少一项：
在所述第一设备为感知节点中的接收设备的情况下，向第一目标设备发送第一指示信息，所述第一指示信息用于指示调整后的第一时隙的时长，所述第一目标设备包括所述感知节点中的发送设备，或者包括所述感知节点中的发送设备和感知功能网元；
在所述第一设备为感知节点中的发送设备的情况下，向第二目标设备发送第一指示信息，所述第一指示信息用于指示调整后的第一时隙的时长，所述第二目标设备包括所述感知节点中的接收设备，或者包括所述感知节点中的接收设备和感知功能网元；
在所述第一设备为感知功能网元的情况下，向感知节点中的发送设备和接收设备发送第一指示信息，所述第一指示信息用于指示调整后的第一时隙的时长。
可选地，所述感知处理装置还包括：
发送模块，用于在所述第一设备包括感知节点中的发送设备的情况下，根据调整后的第一时隙的时长发送第一信号；
第二接收模块，用于在所述第一设备包括感知节点中的接收设备的情况下，根据调整后的第一时隙的时长接收所述第一信号。
可选地，回波信号质量可以包括或表示以下至少一项：感知对象的回波信号功率、感知对象的SNR、感知对象的SINR、RSRP和RSRQ。
参照图8，本申请实施例提供了一种感知处理装置，应用于第二设备，如图8所示，该感知处理装置800，包括：
第一接收模块801，用于在第一设备根据第一指标对第一时隙的时长进行调整的情况下，从所述第一设备接收第一指示信息，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙，所述第一指示信息用于指示第二感知帧的第一时隙的时长；
其中，在所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；在所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备和感知功能网元中的至少一项；在所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备和感知功能网元中的至少一项。
可选地，所述感知处理装置还包括执行模块，用于执行以下至少一项：
在所述第二设备包括感知节点中的发送设备的情况下，根据调整后的第一时隙的时长发送第一信号；
在所述第二设备包括感知节点中的接收设备的情况下，根据调整后的第一时隙的时长接收第一信号获得回波数据，向所述第一设备或感知功能网元发送第二信息，所述第二信息包括回波数据、对回波数据进行第一运算得到的中间感知结果或者对回波数据进行第二运算得到的目标感知结果，其中，所述回波数据为所述感知节点中的接收设备基于所述第一感知帧的第一时隙的时长执行感知业务获得的数据，所述第一运算为所述第二运算中的部分运算，所述目标感知结果满足：所述目标感知结果包括是否检测到所述感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括所述第一指标。
可选地，所述第一接收模块801还用于，从所述第一设备接收第二指示信息，所述第二指示信息用于指示初始配置，所述初始配置包括以下至少一项：第一时隙的配置信息、第二时隙的时长和感知帧的排列方式，其中，所述第二时隙为一个感知帧中用于执行信号收发之外的操作对应的时隙。
可选地，所述第一时隙的配置信息包括以下至少一项：所述第一时隙的初始时长、所述第一时隙的时长的上限值和所述第一时隙的时长的下限值。
可选地，所述第一时隙的时长的下限值等于多普勒分辨率要求的倒数，所述多普勒分辨率要求包含于所述感知QoS内。
可选地，所述第一时隙的时长的上限值T1满足以下至少一项：
ΔR表示一个第一时隙内感知对象的距离变化的门限值，vmax表示感知对象的典型速度范围的最大值；
Δφ表示一个第一时隙内感知对象的角度变化的门限值，R表示感知对象的距离，vmax表示感知对象的典型速度范围的最大值；
Δv表示一个第一时隙内感知对象的速度变化的门限值，amax表示感知对象的典型加速度范围的最大值。
可选地，所述感知帧的排列方式包括以下任一项：
第一排列方式，所述第一排列方式为相邻两个感知帧之间串行排列，且第三感知帧的第二时隙与第四感知帧的第一时隙在时间上不重叠，所述第三感知帧为所述第四感知帧的上一个感知帧；
第二排列方式，所述第二排列方式为相邻两个感知帧之间并行排列，且第五感知帧的第二时隙与第六感知帧的第一时隙在时间上至少部分重叠，所述第五感知帧为所述第六感知帧的上一个感知帧。
可选地，回波信号质量可以包括或表示以下至少一项：感知对象的回波信号功率、感知对象的SNR、感知对象的SINR、RSRP和RSRQ。
本申请实施例提供的感知处理装置能够实现图2至图6的方法实施例实现的各个过程，并达到相同的技术效果，为避免重复，这里不再赘述。
可选的，如图9所示，本申请实施例还提供一种通信设备900，包括处理器901和存储器902，存储器902上存储有可在所述处理器901上运行的程序或指令，该程序或指令被处理器901执行时实现上述感知处理方法实施例的各个步骤，且能达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例还提供一种终端，包括处理器和通信接口，所述通信接口用于获取第一指标，在所述终端为第一设备时，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙；所述处理器用于根据所述第一指标确定所述第二感知帧的第一时隙的时长；
或者，在所述终端为第二设备时，所述通信接口用于在第一设备根据第一指标对第一时隙的时长进行调整的情况下，从所述第一设备接收第一指示信息，所述第一指标包括第 一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙，所述第一指示信息用于指示第二感知帧的第一时隙的时长；
其中，在所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；在所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备；在所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备。
该终端实施例与上述感知节点方法实施例对应，上述方法实施例的各个实施过程和实现方式均可适用于该终端实施例中，且能达到相同的技术效果。具体地，图10为实现本申请实施例的一种终端的硬件结构示意图。
该终端1000包括但不限于：射频单元1001、网络模块1002、音频输出单元1003、输入单元1004、传感器1005、显示单元1006、用户输入单元1007、接口单元1008、存储器1009以及处理器1010等中的至少部分部件。
本领域技术人员可以理解，终端1000还可以包括给各个部件供电的电源(比如电池)，电源可以通过电源管理系统与处理器1010逻辑相连，从而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。图10中示出的终端结构并不构成对终端的限定，终端可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置，在此不再赘述。
应理解的是，本申请实施例中，输入单元1004可以包括图形处理单元(Graphics Processing Unit，GPU)10041和麦克风10042，图形处理器10041对在视频捕获模式或图像捕获模式中由图像捕获装置(如摄像头)获得的静态图片或视频的图像数据进行处理。显示单元1006可包括显示面板10061，可以采用液晶显示器、有机发光二极管等形式来配置显示面板10061。用户输入单元1007包括触控面板10071以及其他输入设备10072中的至少一种。触控面板10071，也称为触摸屏。触控面板10071可包括触摸检测装置和触摸控制器两个部分。其他输入设备10072可以包括但不限于物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆，在此不再赘述。
本申请实施例中，射频单元1001接收来自网络侧设备的下行数据后，可以传输给处理器1010进行处理；另外，射频单元1001可以向网络侧设备发送上行数据。通常，射频单元1001包括但不限于天线、放大器、收发信机、耦合器、低噪声放大器、双工器等。
存储器1009可用于存储软件程序或指令以及各种数据。存储器1009可主要包括存储程序或指令的第一存储区和存储数据的第二存储区，其中，第一存储区可存储操作系统、至少一个功能所需的应用程序或指令(比如声音播放功能、图像播放功能等)等。此外，存储器1009可以包括易失性存储器或非易失性存储器，或者，存储器1009可以包括易失性和非易失性存储器两者。其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。易 失性存储器可以是随机存取存储器(Random Access Memory，RAM)，静态随机存取存储器(Static RAM，SRAM)、动态随机存取存储器(Dynamic RAM，DRAM)、同步动态随机存取存储器(Synchronous DRAM，SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM，DDRSDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM，ESDRAM)、同步连接动态随机存取存储器(Synch link DRAM，SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM，DRRAM)。本申请实施例中的存储器1009包括但不限于这些和任意其它适合类型的存储器。
处理器1010可包括一个或多个处理单元；可选的，处理器1010集成应用处理器和调制解调处理器，其中，应用处理器主要处理涉及操作系统、用户界面和应用程序等的操作，调制解调处理器主要处理无线通信信号，如基带处理器。可以理解的是，上述调制解调处理器也可以不集成到处理器1010中。
其中，射频单元1001，用于获取第一指标，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙；
处理器1010，用于所述第一设备根据所述第一指标确定所述第二感知帧的第一时隙的时长；
或者，在所述终端为第二设备时，所述通信接口用于在第一设备根据第一指标对第一时隙的时长进行调整的情况下，从所述第一设备接收第一指示信息，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙，所述第一指示信息用于指示第二感知帧的第一时隙的时长；
其中，在所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；在所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备；在所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备。
本申请实施例中，可以根据感知环境的变化基于感知对象的第一指标灵活调整第一时隙的时长，从而可以在满足感知性能需求的情况下，优化感知对时间资源的占用。
本申请实施例还提供一种网络侧设备，包括处理器和通信接口，在所述网络侧设备为第一设备时，通信接口用于获取第一指标，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙；所述处理器用于根据所述第一指标确定所述第二感知帧的第一时隙的时长；
或者，在所述网络侧设备为第二设备时，所述通信接口用于在第一设备根据第一指标对第一时隙的时长进行调整的情况下，从所述第一设备接收第一指示信息，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述 第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙，所述第一指示信息用于指示第二感知帧的第一时隙的时长；
其中，在所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；在所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备和感知功能网元中的至少一项；在所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备和感知功能网元中的至少一项。
该网络侧设备实施例与上述感知功能网元方法实施例对应，上述方法实施例的各个实施过程和实现方式均可适用于该网络侧设备实施例中，且能达到相同的技术效果。
具体地，本申请实施例还提供了一种网络侧设备。如图11所示，该网络侧设备1100包括：天线1101、射频装置1102、基带装置1103、处理器1104和存储器1105。天线1101与射频装置1102连接。在上行方向上，射频装置1102通过天线1101接收信息，将接收的信息发送给基带装置1103进行处理。在下行方向上，基带装置1103对要发送的信息进行处理，并发送给射频装置1102，射频装置1102对收到的信息进行处理后经过天线1101发送出去。
以上实施例中网络侧设备执行的方法可以在基带装置1103中实现，该基带装置1103包括基带处理器。
基带装置1103例如可以包括至少一个基带板，该基带板上设置有多个芯片，如图11所示，其中一个芯片例如为基带处理器，通过总线接口与存储器1105连接，以调用存储器1105中的程序，执行以上方法实施例中所示的网络设备操作。
该网络侧设备还可以包括网络接口1106，该接口例如为通用公共无线接口(common public radio interface，CPRI)。
具体地，本发明实施例的网络侧设备1100还包括：存储在存储器1105上并可在处理器1104上运行的指令或程序，处理器1104调用存储器1105中的指令或程序执行图7或图8所示各模块执行的方法，并达到相同的技术效果，为避免重复，故不在此赘述。
本申请实施例还提供一种可读存储介质，所述可读存储介质上存储有程序或指令，该程序或指令被处理器执行时实现上述感知处理方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
其中，所述处理器为上述实施例中所述的终端中的处理器。所述可读存储介质，包括计算机可读存储介质，如计算机只读存储器ROM、随机存取存储器RAM、磁碟或者光盘等。
本申请实施例另提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现上述感知处理方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
应理解，本申请实施例提到的芯片还可以称为系统级芯片，系统芯片，芯片系统或片 上系统芯片等。
本申请实施例另提供了一种计算机程序/程序产品，所述计算机程序/程序产品被存储在存储介质中，所述计算机程序/程序产品被至少一个处理器执行以实现上述感知处理方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
本申请实施例还提供了一种通信系统，包括：第一设备及第二设备，所述第一设备用于执行如图2及上述各个方法实施例的各个过程，所述第二设备用于执行如图6及上述各个方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本公开的范围。
所属领域的技术人员可以清楚地了解到，为描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本申请所提供的实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本公开各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本公开的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本公开各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来控制相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、 光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random Access Memory，RAM)等。
需要说明的是，在本文中，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、物品或者装置不仅包括那些要素，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、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去、或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以计算机软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是手机，计算机，服务器，空调器，或者网络设备等)执行本申请各个实施例所述的方法。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内。

Claims (29)

  1. 一种感知处理方法，包括：
    第一设备获取第一指标，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙；
    所述第一设备根据所述第一指标确定所述第二感知帧的第一时隙的时长。
  2. 根据权利要求1所述的方法，其中，所述第一设备获取第一指标之前，所述方法还包括：
    所述第一设备获取目标信息，所述目标信息包括第一信息和感知节点的能力信息中的至少一项，所述第一信息包括感知目标区域、感知对象类型、感知服务质量QoS、感知先验信息和感知节点的位置信息中的至少一项；
    所述第一设备根据所述目标信息确定初始配置，所述初始配置包括以下至少一项：第一时隙的配置信息、第二时隙的时长和感知帧的排列方式，其中，所述第二时隙为一个感知帧中用于执行信号收发之外的操作对应的时隙。
  3. 根据权利要求2所述的方法，其中，所述第一时隙的配置信息包括以下至少一项：所述第一时隙的初始时长、所述第一时隙的时长的上限值和所述第一时隙的时长的下限值。
  4. 根据权利要求3所述的方法，其中，所述第一设备根据所述目标信息确定初始配置包括以下至少一项：
    所述第一设备根据多普勒分辨率要求确定所述第一时隙的时长的下限值，所述多普勒分辨率要求包含于所述感知QoS内；
    所述第一设备根据所述感知对象类型确定所述第一时隙的时长的上限值；
    所述第一设备根据所述感知对象类型和所述感知先验信息中的至少一项，确定所述第一时隙的初始时长。
  5. 根据权利要求4所述的方法，其中，所述第一时隙的时长的下限值等于所述多普勒分辨率要求的倒数。
  6. 根据权利要求4所述的方法，其中，所述第一时隙的时长的上限值T1满足以下至少一项：
    ΔR表示一个第一时隙内感知对象的距离变化的门限值，vmax表示感知对象的典型速度范围的最大值；
    Δφ表示一个第一时隙内感知对象的角度变化的门限值，R表示感知对象的距离，vmax表示感知对象的典型速度范围的最大值；
    Δv表示一个第一时隙内感知对象的速度变化的门限值，amax表示感知对象的典型加速度范围的最大值。
  7. 根据权利要求2所述的方法，其中，所述感知帧的排列方式包括以下任一项：
    第一排列方式，所述第一排列方式为相邻两个感知帧之间串行排列，且第三感知帧的第二时隙与第四感知帧的第一时隙在时间上不重叠，所述第三感知帧为所述第四感知帧的上一个感知帧；
    第二排列方式，所述第二排列方式为相邻两个感知帧之间并行排列，且第五感知帧的第二时隙与第六感知帧的第一时隙在时间上至少部分重叠，所述第五感知帧为所述第六感知帧的上一个感知帧。
  8. 根据权利要求1所述的方法，其中，所述第一设备根据所述第一指标确定所述第二感知帧的第一时隙的时长包括：
    所述第一设备根据所述第一指标、第一预设门限值和预设的调整方式确定所述第二感知帧的第一时隙的时长。
  9. 根据权利要求8所述的方法，其中，所述预设的调整方式调整包括以下任一项：
    按照固定变化量增大或减小所述第一时隙的时长；
    按照目标比值增大或减小所述第一时隙的时长；
    按照预设的配置表调整所述第一时隙的时长，所述预设的配置表包括至少两个第一值，所述第一值为所述第一时隙的参数值。
  10. 根据权利要求9所述的方法，其中，所述目标比值为目标值与所述第一指标的比值，所述目标值基于所述第一预设门限值确定。
  11. 根据权利要求8所述的方法，其中，所述第一预设门限值包括一个门限值，所述第一时隙的时长的调整规则满足以下至少一项：
    在所述第一指标大于所述一个门限值的情况下，减小所述第一时隙的时长或者保持所述第一时隙的时长不变；
    在所述第一指标小于所述一个门限值的情况下，增大所述第一时隙的时长。
  12. 根据权利要求8所述的方法，其中，所述第一预设门限值包括第一门限值和第二门限值，且所述第一门限值小于所述第二门限值，所述第一时隙的时长的调整规则满足以下至少一项：
    在所述第一指标大于所述第二门限值的情况下，减小所述第一时隙的时长或者保持所述第一时隙的时长不变；
    在所述第一指标小于所述第一门限值的情况下，增大所述第一时隙的时长。
  13. 根据权利要求8所述的方法，其中，所述预设门限值包括第三门限值和第四门限值，所述第一时隙的时长的调整规则满足以下至少一项：
    在所述第一指标大于所述第三门限值，且所述第一指标与所述第三门限值的偏差大于所述第四门限值的情况下，减小所述第一时隙的时长；
    在所述第一指标小于所述第三门限值，且所述第三门限值与所述第一指标的偏差大于所述第四门限值的情况下，增大所述第一时隙的时长。
  14. 根据权利要求1至13中任一项所述的方法，其中，在所述第一设备包括所述感知节点中的接收设备的情况下，所述第一设备获取第一指标包括：
    所述第一设备根据所述第一感知帧的第一时隙的时长接收第一信号获得回波数据；
    所述第一设备根据所述回波数据确定目标感知结果，所述目标感知结果满足：所述目标感知结果包括是否检测到感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括所述第一指标；
    所述第一设备根据所述目标感知结果确定所述第一指标。
  15. 根据权利要求1至13中任一项所述的方法，其中，在所述第一设备为感知功能网元或感知节点中的发送设备的情况下，所述第一设备获取第一指标之前，所述方法还包括：
    所述第一设备从感知节点中的接收设备接收第二信息，所述第二信息包括回波数据、对回波数据进行第一运算得到的中间感知结果、对回波数据进行第二运算得到的目标感知结果和第一指标中的任一项，其中，所述回波数据为所述感知节点中的接收设备基于所述第一感知帧的第一时隙的时长执行感知业务获得的数据，所述第一运算为所述第二运算中的部分运算，所述目标感知结果满足：所述目标感知结果包括是否检测到感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括所述第一指标；
    所述第一设备根据第二信息确定所述第一指标。
  16. 根据权利要求1至13中任一项所述的方法，其中，所述方法还包括以下至少一项：
    在所述第一设备为感知节点中的接收设备的情况下，所述第一设备向第一目标设备发送第一指示信息，所述第一指示信息用于指示调整后的第一时隙的时长，所述第一目标设备包括所述感知节点中的发送设备，或者包括所述感知节点中的发送设备和感知功能网元；
    在所述第一设备为感知节点中的发送设备的情况下，所述第一设备向第二目标设备发送第一指示信息，所述第一指示信息用于指示调整后的第一时隙的时长，所述第二目标设备包括所述感知节点中的接收设备，或者包括所述感知节点中的接收设备和感知功能网元；
    在所述第一设备为感知功能网元的情况下，所述第一设备向感知节点中的发送设备和接收设备发送第一指示信息，所述第一指示信息用于指示调整后的第一时隙的时长。
  17. 根据权利要求1至13中任一项所述的方法，其中，所述第一设备根据所述第一指标确定所述第二感知帧的第一时隙的时长之后，所述方法还包括以下至少一项：
    在所述第一设备包括感知节点中的发送设备的情况下，所述第一设备根据调整后的第一时隙的时长发送第一信号；
    在所述第一设备包括感知节点中的接收设备的情况下，所述第一设备根据调整后的第一时隙的时长接收所述第一信号。
  18. 根据权利要求1至13中任一项所述的方法，其中，所述回波信号质量包括以下至少一项：回波信号功率、回波信号噪声比、回波信号干扰噪声比、参考信号接收功率和参考信号接收质量。
  19. 一种感知处理方法，包括：
    在第一设备根据第一指标对第一时隙的时长进行调整的情况下，第二设备从所述第一设备接收第一指示信息，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙，所述第一指示信息用于指示第二感知帧的第一时隙的时长；
    其中，在所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；在所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备和感知功能网元中的至少一项；在所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备和感知功能网元中的至少一项。
  20. 根据权利要求19所述的方法，其中，所述方法还包括以下至少一项：
    在所述第二设备包括感知节点中的发送设备的情况下，所述第二设备根据调整后的第一时隙的时长发送第一信号；
    在所述第二设备包括感知节点中的接收设备的情况下，所述第二设备根据调整后的第一时隙的时长接收第一信号获得回波数据，向所述第一设备或感知功能网元发送第二信息，所述第二信息包括回波数据、对回波数据进行第一运算得到的中间感知结果或者对回波数据进行第二运算得到的目标感知结果，其中，所述回波数据为所述感知节点中的接收设备基于所述第一感知帧的第一时隙的时长执行感知业务获得的数据，所述第一运算为所述第二运算中的部分运算，所述目标感知结果满足：所述目标感知结果包括是否检测到感知对象的结果信息；在检测到所述感知对象的情况下，所述目标感知结果还包括所述第一指标。
  21. 根据权利要求19所述的方法，其中，所述第二设备从所述第一设备接收第一指示信息之前，所述方法还包括：
    所述第二设备从所述第一设备接收第二指示信息，所述第二指示信息用于指示初始配置，所述初始配置包括以下至少一项：第一时隙的配置信息、第二时隙的时长和感知帧的排列方式，其中，所述第二时隙为一个感知帧中用于执行信号收发之外的操作对应的时隙。
  22. 根据权利要求21所述的方法，其中，所述第一时隙的配置信息包括以下至少一项：所述第一时隙的初始时长、所述第一时隙的时长的上限值和所述第一时隙的时长的下限值。
  23. 根据权利要求22所述的方法，其中，所述第一时隙的时长的下限值等于多普勒分辨率要求的倒数，所述多普勒分辨率要求包含于所述感知QoS内。
  24. 根据权利要求22所述的方法，其中，所述第一时隙的时长的上限值T1满足以下至少一项：
    ΔR表示一个第一时隙内感知对象的距离变化的门限值，vmax表示感知对象的典型速度范围的最大值；
    Δφ表示一个第一时隙内感知对象的角度变化的门限值，R表示感知对象 的距离，vmax表示感知对象的典型速度范围的最大值；
    Δv表示一个第一时隙内感知对象的速度变化的门限值，amax表示感知对象的典型加速度范围的最大值。
  25. 根据权利要求22所述的方法，其中，所述感知帧的排列方式包括以下任一项：
    第一排列方式，所述第一排列方式为相邻两个感知帧之间串行排列，且第三感知帧的第二时隙与第四感知帧的第一时隙在时间上不重叠，所述第三感知帧为所述第四感知帧的上一个感知帧；
    第二排列方式，所述第二排列方式为相邻两个感知帧之间并行排列，且第五感知帧的第二时隙与第六感知帧的第一时隙在时间上至少部分重叠，所述第五感知帧为所述第六感知帧的上一个感知帧。
  26. 一种感知处理装置，应用于第一设备，包括：
    获取模块，用于获取第一指标，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙；
    调整模块，用于根据所述第一指标确定所述第二感知帧的第一时隙的时长。
  27. 一种感知处理装置，应用于第二设备，包括：
    第一接收模块，用于在第一设备根据第一指标对第一时隙的时长进行调整的情况下，从所述第一设备接收第一指示信息，所述第一指标包括第一感知帧内的回波信号质量或者包括预测的在第二感知帧内的回波信号质量，所述第二感知帧为位于所述第一感知帧之后的感知帧，一个所述感知帧包括用于执行信号收发对应的第一时隙，所述第一指示信息用于指示第二感知帧的第一时隙的时长；
    其中，在所述第一设备为感知功能网元的情况下，所述第二设备包括感知节点中的接收设备和感知节点中的发送设备中的至少一项；在所述第一设备为感知节点中的接收设备的情况下，所述第二设备包括感知节点中的发送设备和感知功能网元中的至少一项；在所述第一设备为感知节点中的发送设备的情况下，所述第二设备包括感知节点中的接收设备和感知功能网元中的至少一项。
  28. 一种通信设备，包括处理器和存储器，所述存储器存储可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1至25任一项所述的感知处理方法的步骤。
  29. 一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如权利要求1至25任一项所述的感知处理方法的步骤。
PCT/CN2023/081633 2022-03-18 2023-03-15 感知处理方法、装置、通信设备及可读存储介质 WO2023174332A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202210273470.X 2022-03-18
CN202210273470.XA CN116828621A (zh) 2022-03-18 2022-03-18 感知处理方法、装置、通信设备及可读存储介质

Publications (1)

Publication Number Publication Date
WO2023174332A1 true WO2023174332A1 (zh) 2023-09-21

Family

ID=88022400

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2023/081633 WO2023174332A1 (zh) 2022-03-18 2023-03-15 感知处理方法、装置、通信设备及可读存储介质

Country Status (2)

Country Link
CN (1) CN116828621A (zh)
WO (1) WO2023174332A1 (zh)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104994046A (zh) * 2015-07-14 2015-10-21 宁波大学 一种认知无线电系统中的帧间频谱感知方法
WO2015160158A1 (ko) * 2014-04-13 2015-10-22 엘지전자(주) 무선 통신 시스템에서 d2d 단말 그룹 관리 방법 및 이를 위한 장치
CN105898873A (zh) * 2016-03-31 2016-08-24 北京邮电大学 数据帧的分配方法与装置以及数据传输方法与装置
CN106549722A (zh) * 2016-11-09 2017-03-29 宁波大学 一种基于历史感知信息的双门限能量检测方法

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015160158A1 (ko) * 2014-04-13 2015-10-22 엘지전자(주) 무선 통신 시스템에서 d2d 단말 그룹 관리 방법 및 이를 위한 장치
CN104994046A (zh) * 2015-07-14 2015-10-21 宁波大学 一种认知无线电系统中的帧间频谱感知方法
CN105898873A (zh) * 2016-03-31 2016-08-24 北京邮电大学 数据帧的分配方法与装置以及数据传输方法与装置
CN106549722A (zh) * 2016-11-09 2017-03-29 宁波大学 一种基于历史感知信息的双门限能量检测方法

Also Published As

Publication number Publication date
CN116828621A (zh) 2023-09-29

Similar Documents

Publication Publication Date Title
CN115604728A (zh) 通信感知方法、装置及网络设备
WO2023125154A1 (zh) 感知信号周期的确定方法、装置、通信设备及存储介质
WO2023174332A1 (zh) 感知处理方法、装置、通信设备及可读存储介质
WO2023116756A1 (zh) 感知测量方法、装置、通信设备及可读存储介质
WO2023174342A1 (zh) 感知处理方法、装置、通信设备及可读存储介质
CN116390115A (zh) 感知、感知配置方法、装置及通信设备
WO2023174345A1 (zh) 感知处理方法、装置、通信设备及可读存储介质
WO2024012237A1 (zh) 感知处理方法、装置、终端及设备
WO2024012252A1 (zh) 感知处理方法、装置、终端、网络侧设备及可读存储介质
WO2024012253A1 (zh) 感知处理方法、装置、终端、网络侧设备及可读存储介质
WO2024120359A1 (zh) 信息处理、传输方法及通信设备
WO2024012366A1 (zh) 感知处理方法、装置、终端及设备
WO2024109641A1 (zh) 信号传输方法、装置及通信设备
WO2023231844A1 (zh) 感知测量方法、装置、设备、终端和存储介质
WO2023231867A1 (zh) 感知方式切换方法、装置及通信设备
WO2023231842A1 (zh) 感知方式切换方法、装置、终端及网络侧设备
WO2023231870A1 (zh) 通信方法、装置、终端、网络侧设备及核心网设备
WO2023231921A1 (zh) 无线感知切换方法及设备
WO2023231919A1 (zh) 无线感知条件切换方法及设备
WO2023231846A1 (zh) 感知方式切换处理方法、装置、通信设备及可读存储介质
WO2023231841A1 (zh) 感知功能的切换方法、装置及通信设备
WO2023231868A1 (zh) 感知方式切换方法、装置、通信设备及存储介质
WO2023226826A1 (zh) 感知方法、装置及通信设备
WO2024051545A1 (zh) 测量信息发送方法、接收方法及通信设备
WO2024109785A1 (zh) 信号传输方法、装置及通信设备

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 23769834

Country of ref document: EP

Kind code of ref document: A1