WO2023174345A1 - 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

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Publication number
WO2023174345A1
WO2023174345A1 PCT/CN2023/081701 CN2023081701W WO2023174345A1 WO 2023174345 A1 WO2023174345 A1 WO 2023174345A1 CN 2023081701 W CN2023081701 W CN 2023081701W WO 2023174345 A1 WO2023174345 A1 WO 2023174345A1
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sensing
information
network element
signal
function network
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PCT/CN2023/081701
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English (en)
French (fr)
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丁圣利
姜大洁
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维沃移动通信有限公司
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Publication of WO2023174345A1 publication Critical patent/WO2023174345A1/zh

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    • 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
    • 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
    • H04W28/08—Load balancing or load distribution
    • H04W28/086—Load balancing or load distribution among access entities
    • 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
    • H04W28/08—Load balancing or load distribution
    • H04W28/09—Management thereof
    • H04W28/0958—Management thereof based on metrics or performance parameters
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • 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 in the integrated synesthesia scenario.
  • fixed signal parameters are usually used to perform perception services.
  • communication services and/or one or more sensing services there are communication services and/or one or more sensing services, and the communication load or sensing scenarios are constantly changing. Using fixed signal parameters to perform sensing services can easily lead to poor sensing performance.
  • Embodiments of the present application provide a sensing processing method, device, communication device, and readable storage medium, which can improve sensing performance.
  • the first aspect provides a perceptual processing method, including:
  • the first device acquires target information, where the target information is determined based on a result obtained by executing the first sensing service;
  • the first device determines signal parameters of a first signal according to the target information, and the first signal is used to perform the first sensing service.
  • the second aspect provides a perception processing method, including:
  • the second device receives first indication information from the first device, the first indication information is used to indicate the adjusted signal parameters of the first signal, and the first signal is used to perform the first sensing service;
  • the second device performs the first operation based on the adjusted signal parameters
  • the first operation includes any of the following:
  • the parameter performs a second operation on the echo data received from the first device to obtain the target information, and the echo data is the echo data obtained by the first device performing the first sensing service based on the adjusted signal parameters;
  • the intermediate sensing result received from the first device is subjected to a third operation according to the adjusted signal parameters to obtain the target information, and the intermediate sensing
  • the result is a result obtained by the first device performing a first operation on the echo data.
  • the first operation is part of the operation in the second operation.
  • the third operation is the division of all operations in the second operation. remaining operations beyond the first operation;
  • the first signal is sent and/or received according to the adjusted signal parameters.
  • a perception processing device applied to the first device, including:
  • An acquisition module configured to acquire target information, the target information being determined based on the results obtained by executing the first sensing service
  • An adjustment module configured to determine signal parameters of a first signal according to the target information, and the first signal is used to perform the first sensing service.
  • a perception processing device is provided, applied to a second device, which is characterized in that it includes:
  • a first receiving module configured to receive first indication information from the first device, the first indication information being used to indicate the adjusted signal parameters of the first signal, and the first signal being used to perform the first sensing service;
  • a first execution module configured to perform a first operation based on the adjusted signal parameters
  • the first operation includes any of the following:
  • the second device is a first sensing function network element
  • a second operation is performed on the echo data received from the first device according to the adjusted signal parameters to obtain the target information, and the echo The data is the echo data obtained by the first device performing the first sensing service based on the adjusted signal parameters;
  • the intermediate sensing result received from the first device is subjected to a third operation according to the adjusted signal parameters to obtain the target information, and the intermediate sensing
  • the result is a result obtained by the first device performing a first operation on the echo data.
  • the first operation is part of the operation in the second operation.
  • the third operation is the division of all operations in the second operation. remaining operations beyond the first operation;
  • the first signal is sent and/or received according to the adjusted signal parameters.
  • 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.
  • 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 target information, and the target information is based on performing first sensing. The result of service acquisition is determined; the processor is used to adjust the signal parameters of the first signal according to the target information, and the first signal is used to execute the first sensing service;
  • the communication interface is used to receive first indication information from the first device, and the first indication information is used to indicate the adjusted signal parameters of the first signal, and the third indication information is used to indicate the adjusted signal parameters of the first signal.
  • a signal is used to perform the first sensing service; the processor is used to perform the first operation based on the adjusted signal parameters;
  • the first operation includes any of the following:
  • the second device is a first sensing function network element
  • a second operation is performed on the echo data received from the first device according to the adjusted signal parameters to obtain the target information, and the echo The data is the echo data obtained by the first device performing the first sensing service based on the adjusted signal parameters;
  • the intermediate sensing result received from the first device is subjected to a third operation according to the adjusted signal parameters to obtain the target information, and the intermediate sensing
  • the result is a result obtained by the first device performing a first operation on the echo data.
  • the first operation is part of the operation in the second operation.
  • the third operation is the division of all operations in the second operation. remaining operations beyond the first operation;
  • the first signal is sent and/or received according to the adjusted signal parameters.
  • 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 signal parameters of the first signal when the target information is obtained, the signal parameters of the first signal can be adjusted based on the target information, so that the signal parameters of the first signal can be flexibly adjusted based on the current sensing environment. In this way, it is possible to optimize the Signal parameters of the first signal used to perform perception in a synaesthesia integration scenario. Therefore, the embodiments of the present application can improve the perception performance.
  • Figure 1 is a structural diagram of a network system to which embodiments of the present application can be applied.
  • Figure 2 is a schematic flowchart of a perception processing method provided by an embodiment of the present application.
  • Figures 3 to 5 are diagrams illustrating different durations of the perception update cycle in a perception processing method provided by embodiments 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
  • system in the embodiments of this application "System” and “network” are often used interchangeably, and the techniques described can be used with the systems and radio technologies mentioned above as well as with other systems and radio technologies.
  • the following description describes the new air interface ( New Radio (NR) systems, and the NR terminology is used in most of the following descriptions, but these technologies can also be applied to applications other than NR system applications, such as 6th Generation (6G) communication systems.
  • 6G 6th Generation
  • 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.
  • Access network equipment may include base stations, Wireless Local Area Networks (WLAN) access points or WiFi nodes, etc.
  • the base stations may be called Node B, Evolved Node B (eNB), access point, base transceiver station ( Base Transceiver Station (BTS), radio base station, radio transceiver, Basic Service Set (BSS), Extended Service Set (ESS), home B-node, home evolved B-node, transmitting and receiving point ( Transmission Reception Point (TRP) or some other appropriate terminology in the field, as long as the same technical effect is achieved, the base station is not limited to specific technical terms. It should be noted that in the embodiment of this application, only in the NR system The base station is introduced as an example, and the specific type of 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 Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), 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
  • PCF
  • 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. Typical applications are gas Image radar measures the echoes of meteorological targets such as clouds and rain to determine the location and intensity of clouds and rain and other information 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.
  • 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 dual-station radar mode there is no isolation problem of sending and receiving signals, which greatly simplifies the complexity of the hardware. Since radar signal processing is based on known information, in 5G NR synaesthetic integration applications, known information such as synchronization signals and reference signals can be used for radar signal processing. However, due to the periodicity of synchronization signals, reference signals, etc., the blur diagram of the signal waveform is no longer a pushpin shape, but a nail plate shape. The degree of delay and Doppler ambiguity will increase, and the gain of the main lobe will be relatively small. The single-station radar mode is much slower, reducing the range of distance and speed measurements. Through appropriate parameter set design, the measurement range of distance and speed can meet the measurement needs of common targets such as cars and pedestrians. In addition, 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.
  • an embodiment of the present application provides a sensing processing method.
  • the sensing Known processing methods include:
  • Step 201 The first device obtains target information, which is determined based on the result obtained by executing the first sensing service;
  • the above target information may include at least one of the following: echo signal quality, a first parameter, and a first indicator of the first parameter.
  • 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 (Reference Signal Received Power, RSRP) and reference signal received quality (Reference Signal Received Quality, RSRQ).
  • SNR Signal Noise Ratio
  • SINR echo signal to interference noise ratio
  • SINR Signal to Interference Noise Ratio
  • RSRP Reference Signal Received Power
  • RSRQ Reference Signal Received Quality
  • the calculation of echo signal quality may be based on at least one of the following resource range signals:
  • Time dimension sensing signal period or sensing frame period
  • Frequency range one or more delay resolution units, or a preset delay range
  • Doppler dimension one or more Doppler units, or a preset Doppler range
  • Angle dimension one or more angle resolution units, or a preset angle range
  • Energy dimension A preset signal amplitude or power range.
  • the above-mentioned first parameter may include at least one of the following: parameters in a polar coordinate system and parameters in a rectangular coordinate system.
  • the parameters in the polar coordinate system can be understood as the parameters in the polar coordinate system that are directly obtained based on perception, specifically including 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, which angle may further include: direction angle and pitch angle;
  • the parameters in the rectangular coordinate system can be understood as the parameters in the rectangular coordinate system after coordinate transformation, specifically including at least one of the following: the coordinates of the sensing object in the rectangular coordinate system, (such as x-axis coordinate, y-axis coordinate and z axis coordinate) and the velocity of the perceived object in the Cartesian coordinate system (such as x-direction velocity, y-direction velocity and z-direction velocity).
  • the first indicator may be obtained by performing data processing based on the first parameter, and may specifically include at least one of the following: variance or standard deviation of residuals, prediction error covariance, and state estimation error covariance.
  • the residual refers to: the difference between the measured value of the first parameter in the second sensing frame and the predicted value of the corresponding first parameter in the first sensing frame in the second sensing frame; the variance or standard of the residual
  • the difference can be calculated using a sliding window method.
  • the first sensing frame can be understood as the sensing frame currently performing sensing measurement
  • the second sensing frame can be understood as the sensing frame located after the first sensing frame.
  • the prediction error covariance of the first parameter is obtained during the execution of the prediction algorithm; the state estimation error covariance of the first parameter is obtained during the execution of the filtering algorithm.
  • the above target information can be understood as the target perception result, that is, The echo data obtained by sensing and measuring the sensing object using the first signal, and the target sensing result obtained by performing calculations based on the echo data.
  • Step 202 The first device determines signal parameters of a first signal according to the target information, and the first signal is used to perform the first sensing service.
  • the above-mentioned first signal can be understood as a perceptual signal or a synaesthesia integrated signal.
  • the above-mentioned first device may be a first sensing node or a first sensing function network element, which is not further limited here.
  • the first sensing node can be understood as a sensing node or sensing device used to perform the first sensing service, and may include at least one of a sending device and a receiving device.
  • the first device determining the signal parameters of the first signal based on the target information can be understood as the first device adaptively adjusting the signal parameters of the first signal based on the target information.
  • the determined signal parameters can be called adjusted signal parameters.
  • the sensing function network elements (such as the first sensing function network element, the second sensing function network element, the third sensing function network element, etc.) in the embodiments of this application refer to the core network and/or the wireless access network responsible for The network node with at least one function such as sensing request processing, sensing resource scheduling, sensing information interaction, and sensing data processing can be based on the AMF or LMF upgrade in the existing 5G network, or it can be other network nodes or newly defined network nodes.
  • the signal parameters of the first signal when the target information is obtained, the signal parameters of the first signal can be adjusted based on the target information, so that the signal parameters of the first signal can be flexibly adjusted based on the current sensing environment.
  • the signal parameters of the first signal used to perform perception in the synesthesia integration scenario can be optimized on the premise of meeting the requirements of the perception performance indicators. Therefore, the embodiments of the present application can improve the perception performance.
  • the above signal parameters may include at least two of the following: first time resource information, sensing signal period, sensing update period, sensing frame period, bandwidth, antenna aperture, transmit power and beam direction.
  • the first time resource information includes any of the following:
  • the time unit and the time resource allocation within the time unit that can be used to execute the first sensing service are defined by the time unit and the time resource allocation within the time unit that can be used to execute the first sensing service.
  • fixed time resources can be allocated to execute the current sensing service; this time resource configuration method is based on dividing time resources according to a certain granularity; the granularity can be: OFDM in 5G communication services Symbol period, time slot, half frame or frame, etc., or time unit such as seconds, milliseconds, microseconds, etc. Specifically, allocation can be done in the following ways:
  • Bitmap mode Configure the time resources allocated to the sensing service in the form of a bitmap.
  • a 1 in the bitmap means that the corresponding time resources are allocated to the sensing service, and a 0 in the bitmap means that the corresponding time resources are not allocated to the sensing service. ;
  • This method can configure any type of continuous or discontinuous, periodic or aperiodic time resources;
  • Length plus period method Specify the length of each time period resource allocated to the sensing service, and give the period of occurrence of each time period resource allocated to the sensing service; this method can configure periodic time resources.
  • this time resource configuration method may also include an offset of each time period resource allocated to the sensing service relative to a certain time point.
  • the time length of the sensing signal period is equal to the time length of the sensing signal corresponding to the sensing node performing signal processing of the first signal fast time dimension.
  • Fast-time dimensional signal processing of a first signal can be understood as signal processing of the first signal within one signal period.
  • the above 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 within the M1th sensing frame period and the M2th sensing frame.
  • 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.
  • 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.
  • the sensing frame period can be understood as the length of time required for the sensing node to perform signal processing in the slow time dimension of the first signal and obtain the first parameter of the sensing object.
  • it may include a first time slot and a second time slot, where the first time slot may include multiple sensing signal periods, and the second time slot may be understood as a time slot used for tasks such as signal processing, resource scheduling, and signal waveform generation. Comprehensive processing of time slots.
  • the duration of the sensing update period is the time between the starting or ending moments of two adjacent sensing frame periods. interval; in Figure 4, the duration of the perception update cycle is equal to an integer multiple of the duration of the perception frame cycle; in Figure 5, the duration of the perception update cycle is equal to any value, and the perception update cycle is greater than or equal to an integer of the duration of the perception frame cycle times.
  • the method before the first device obtains the target information, the method further includes:
  • the first device obtains first information
  • the first device determines an initial configuration of signal parameters of the first signal based on the first information, the capability information and the location information of the first sensing node, and the initial configuration is used to perform initial sensing;
  • the first sensing node is the first device, or the first sensing node is a sensing node called by the first device to execute the first sensing service;
  • the first information includes at least one of the following : Sensing service type, sensing service execution time, sensing service global priority, Sensing object types, sensing prior information, sensing measurement quantities, perceived Quality of Service (QoS) requirements, signal processing algorithms and data processing algorithms.
  • the configuration before the signal parameters of the first signal are adjusted may be the above-mentioned initial configuration, or the configuration after one or more adjustments to the initial configuration. For example, adjustments can be made based on the configuration of the signal parameters corresponding to the first sensing frame to obtain the configuration of the signal parameters corresponding to the second sensing frame.
  • the above-mentioned sensing service type may include or be determined based on at least one of the following: ranging, speed measurement, angle measurement, imaging, target tracking, and target/state identification.
  • the execution time of the sensing service can be understood as the time point or time range during which the sensing service is expected to be executed.
  • the global priority of the sensing service can be understood as the global priority of the sensing service in the integrated synaesthesia network.
  • High-priority sensing services can preferentially occupy resources including equipment, aperture, power, time and frequency.
  • 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.
  • 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 a minimized drive test (MDT);
  • the positioning service function may be an application service (Application Function, AF) , the AF can be a positioning server of Wi-Fi, Bluetooth, or Ultra Wide Band (UWB), etc., or it can be a global positioning server.
  • Application function of positioning information such as Global Positioning System (GPS), such as map application (Application, APP).
  • GPS Global Positioning System
  • APP map application
  • the perceptual measurement quantity may include at least one of the following:
  • Original channel information compressed quantized information of channel matrix H or H, channel state information CSI (Channel State Information, CSI), such as amplitude/sum of squares of amplitude/or phase of frequency domain channel response, or I of frequency domain channel response Channel and Q signal characteristics, such as the amplitude/square of the amplitude of the I and/or Q signal;
  • CSI Channel State Information
  • RSRP Received Signal Strength Indication
  • RSSI Received Signal Strength Indication
  • Spectrum information channel power delay profile (Power Delay Profile, PDP), Doppler power spectrum, power angle spectrum (Power Azimuth Spectrum, PAS), pseudo-spectrum information, delay-Doppler two-dimensional spectrum, delay- Doppler-angle three-dimensional spectrum;
  • PDP Power Delay Profile
  • PAS Power Azimuth Spectrum
  • Multipath information power, phase, delay and angle information of each path in the multipath channel (including at least the first reach path, LOS path, first-order reflection path, and multi-order reflection path);
  • Angle information including arrival angle and departure angle
  • the projection operation can be I*cos(theta)+Q*sin(theta), where theta is a certain angle value, different theta corresponds to different projections, I represents the I-channel data, and Q represents the Q-channel data), the amplitude ratio or amplitude difference of the received signals of the first antenna and the second antenna, the phase difference of the signals of the first antenna and the second antenna, and the delay difference of the signals of the first antenna and the second antenna;
  • Information on the first parameter determined based on the original channel information Doppler spread, Doppler frequency shift, maximum delay spread, angle spread, coherence bandwidth, and coherence time.
  • the above-mentioned measured quantities it also includes new measured quantities generated by operations based on two or more of the above-mentioned measured quantities.
  • Perception QoS requirements are performance indicators for sensing the sensing target area or sensing object. Specifically, they can include at least one of the following: sensing resolution requirements, sensing accuracy requirements, sensing range requirements, sensing delay requirements, sensing update rate requirements, and 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 range requirements
  • the delay requirement can be understood as the time interval requirement between the sensing signal being sent and the sensing result being obtained, or the time interval requirement from the initiation of the sensing requirement to the sensing result being obtained; the sensing update rate requirement can be understood as the time interval between performing sensing twice and obtaining the sensing result.
  • Time interval requirements; detection probability requirements can be understood as the probability requirements of being correctly detected when the sensing object exists; false alarm probability can be understood as the probability of being incorrectly detected when the sensing object does not exist.
  • the signal processing algorithm is an algorithm that processes the echo signal to obtain the first parameters such as distance, angle, speed, etc., such as: multiple signal classification algorithm (Multiple Signal Classification, MUSIC) algorithm for angle super-resolution, distance sum Two-Dimensional Fast Fourier Transform (2D-FFT) algorithm for speed information extraction, etc.
  • multiple signal classification algorithm Multiple Signal Classification, MUSIC
  • 2D-FFT Two-Dimensional Fast Fourier Transform
  • the data processing algorithm performs further processing based on the first parameters obtained by the signal processing algorithm, for example: performing Kalman filtering on the first parameters including the distance, angle, speed, etc. of the sensing object, and performing Kalman filtering on the motion trajectory of the sensing object. Joint probabilistic association algorithm for matching association, etc.
  • the first sensing function network element sends the initial configuration to the first sensing node that executes the sensing service.
  • the first sensing node In the initial sensing phase, the first sensing node generates, sends, and receives the first signal according to the initial configuration of the signal parameters to obtain echo data, which is processed by the first sensing function network element and/or the first sensing node. , obtain target information.
  • the following situations may be included:
  • the first sensing node performs signal processing to obtain a sensing result; optionally, the first sensing node sends the sensing result to the first sensing function network element;
  • the first sensing node performs some operations in signal processing to obtain intermediate sensing results, and sends the intermediate sensing results and/or the echo data to the first sensing function network element, which performs signal processing. The remaining part of the operation is performed to obtain the sensing result; optionally, the first sensing function network element sends the sensing result to the first sensing node;
  • the first sensing node sends the echo data to the first sensing function network element, and the first sensing function network element performs signal processing to obtain sensing results; optionally, the first sensing function network element sends the sensing results to The first sensing node.
  • the first device obtaining target information includes any of the following:
  • the first device When the first device is a first sensing function network element, the first device receives second information from the first sensing node, and determines target information based on the second information; the second information includes: The echo data, the intermediate sensing result obtained by performing the first operation on the echo data, or the target information obtained by performing the second operation on the echo data, wherein the echo data is the sensing node performing the third operation based on the current signal parameters. Data obtained by a sensing service, the first operation is part of the second operation;
  • the first device When the first device is a first sensing node, the first device performs a first sensing service based on current signal parameters to obtain echo data, and performs a second operation on the echo data to obtain target information;
  • the first device When the first device is a first sensing node, the first device sends the third information to the first sensing function network element, and receives the target information sent by the first sensing function network element.
  • the third information It includes: echo data or an intermediate sensing result obtained by performing a first operation on the echo data, and the target information is target information determined by the first sensing function network element based on the third information.
  • the first sensing function network element when the first sensing function network element receives the echo data sent by the first sensing node, the first sensing function network element can perform a second operation on the echo data to obtain the target information; when the first sensing function network element When a sensing function network element receives the intermediate sensing result sent by the first sensing node, the first sensing function network element can perform a third operation on the intermediate sensing result to obtain the target information, and the third operation is the second operation The remaining operations except the first operation.
  • the first device when the first device is a first sensing function network element, the first device determines based on the first information, the capability information and the location information of the first sensing node. Before the initial configuration of the signal parameters of the first signal, the method further includes:
  • the first device determines a first set of sensing nodes for executing the first sensing service and a second set of sensing nodes used for executing the first sensing service after handover based on the first information.
  • the set of sensing nodes includes at least one first sensing node; the set of second sensing nodes includes zero or at least one second sensing node.
  • the first sensing function network element may select L sensing nodes that perform the first sensing service from one or more scheduled candidate devices based on the first information and the location information and capability information of the candidate devices, L is a positive integer, the L sensing nodes can be divided into two sets, namely the above-mentioned first sensing node set and the second sensing node set.
  • the first sensing node included in the first sensing node set can be understood as the sensing node currently used to perform the first sensing service; the second sensing node included in the second sensing node set can be understood as an alternative for performing the first sensing service.
  • Candidate sensing node for the first sensing service can be understood as the sensing node currently used to perform the first sensing service.
  • the specific selection method can be set according to actual needs. For example, in some embodiments, it can include one of the following methods:
  • the first sensing function network element selects L sensing nodes that perform the first sensing service based on the obtained capability information of one or more candidate devices, combined with the location information of the candidate devices and the first information.
  • Method 2 The first sensing function network element sends the first information or part of the first information to one or more candidate devices, and the candidate devices combine the first information or part of the first information with the location of the candidate device information, determine whether the first sensing service can be performed and send second feedback information to the first sensing function network element.
  • the first sensing function network element feedbacks candidates who can perform the first sensing service. Select L sensing nodes among the devices that perform the first sensing service; the second feedback information is used to indicate whether the capability information of the candidate device can meet the requirements of the first sensing service.
  • the above-mentioned first sensing function network element obtaining capability information of multiple candidate devices may specifically include the following situations:
  • Case 1 The capability information of the candidate device is reported in advance and stored in the first sensing function network element or a network node accessible to the first sensing function network element;
  • Case 2 After receiving the capability information query information sent by the first sensing function network element, the candidate device reports the capability information to the first sensing function network element.
  • the first sensing function network element does not need to obtain capability information of multiple candidate devices.
  • the method further includes:
  • the first sensing function network element updates at least one of the first sensing node set and the second sensing node set;
  • the preset update condition includes at least one of the following: at least one first sensing node in the first sensing node set is not suitable for performing the first sensing service; at least one first sensing node in the second sensing node set The two sensing nodes are switched to the first sensing node set and used to perform the first sensing service; at least one second sensing node is newly added to the second sensing set.
  • At least one of the first sensing node set and the second sensing node set can be updated in real time based on the relative position of each sensing node and the sensing object among the L sensing nodes and changes in the capability information of the sensing node.
  • the first sensing function network element determines L sensing nodes that perform the first sensing service, it can send sensing startup information and/or first information to the L sensing nodes, and the first sensing function network element sends the first sensing function network element to all but L sensing nodes.
  • Candidate devices other than the node send release messages.
  • the sensing startup information is used to indicate that the candidate device is determined to be a sensing node and can start executing the first sensing service; the device release information is used to indicate that the candidate device is not determined to be a sensing node and will no longer participate. Selection of sensing nodes for the first sensing service.
  • the first sensing node among the L sensing devices may send third feedback information to the first sensing function network element, where the third feedback information is used to instruct the first sensing node to determine to execute the first sensing service. Perceive the business.
  • the candidate device may also perform the following different response behaviors.
  • the method further includes at least one of the following:
  • the first device When the first device receives the first signaling sent by the first sensing function network element, it determines that the first device is occupied by the first sensing service until the first device receives the second signaling. make, The first signaling is signaling in the sensing node selection process, the second signaling is used to indicate that the first device is determined to be the first sensing node that performs the first sensing service, and the first The sensing function network element is a sensing function network element used to call the first device to perform the first sensing service;
  • the first device When receiving the first signaling sent by the second sensing function network element, the first device determines that the first device is occupied by the second sensing service of the second sensing function network element until the The first device receives third signaling or the timer times out, the third signaling is used to indicate that the first device is determined not to be the first sensing node that performs the second sensing service, and the timer and The second sensing service association;
  • the first device monitors the first signaling sent by any sensing function network element, it continues to monitor the first signaling sent by each sensing function network element. If the first device receives the third sensing function After receiving the second signaling sent by the first sensing function network element before the second signaling sent by the network element, the first device sends the first feedback information to the third sensing function network element, and the first device sends the first feedback information to the third sensing function network element. A feedback message is used to instruct the first device not to perform the sensing service of the corresponding sensing function network element.
  • the third sensing function network element confirms for the first device that the first signaling has been sent but the second signaling has not been sent. So that the sensing function network element;
  • the first device monitors the first signaling sent by the fourth sensing function network element, it continues to monitor the first signaling sent by each sensing function network element. If the first device receives the fourth The second signaling sent by the sensing function network element has been received before the first signaling sent by the first sensing function network element, and the global priority of the fourth sensing service of the fourth sensing function network element is lower than the global priority of the first sensing service, then the first device sends the first feedback information to the fourth sensing function network element.
  • the candidate device when the candidate device receives the first signaling from the sensing function network element 1 in the sensing node selection process, the candidate device is occupied by the sensing service 1 of the sensing function network element 1, The candidate device starts executing the sensing service 1 until it receives the third signaling sent by the sensing function network element 1, or the candidate device receives the third signaling sent by the sensing function network element 1, or the timing corresponding to the sensing service 1
  • the timer times out; the timer can be initialized when receiving any signaling from the sensing function network element 1 in the sensing node selection process from the candidate device.
  • the timer corresponding to the sensing service of the sensing function network element can be started or restarted.
  • the candidate The device can consider that it is occupied by the sensing service of the sensing function network element. At this time, the sensing function network element can select the candidate device.
  • the candidate device after receiving the first signaling of the sensing service 1 of the sensing function network element 1 in the sensing node selection process, the candidate device continues to monitor the third sensing service of other sensing function network elements for other sensing services.
  • a signaling if the candidate device receives the second signaling of sensing service 2 of sensing function network element 2 before the candidate device receives the second signaling of sensing service 1, then The candidate device performs the sensing service 2 and sends first feedback information to the sensing function network element 1.
  • the first feedback information indicates that the candidate device cannot perform the sensing service 1.
  • the candidate device after receiving the first signaling of the sensing service 1 of the sensing function network element 1 in the sensing node selection process, the candidate device continues to monitor the sensing of other sensing services by other sensing function network elements. Node selection signaling; if the candidate device receives the first signaling of sensing service 2 with a higher global priority before the candidate device receives the second signaling of sensing service 1, the candidate device will no longer participate
  • the sensing node of sensing service 1 selects and sends first feedback information to sensing function network element 1, where the first feedback information indicates that the candidate device cannot perform sensing service 1.
  • the first device determines the signal parameters of the first signal according to the target information, it further includes:
  • the first device sends first indication information to the second device, where the first indication information is used to indicate the adjusted signal parameters;
  • the preset conditions include at least one of the following:
  • the first device is a first sensing node
  • the second device includes a first sensing function network element, and the first sensing function network element participates in signal processing;
  • the first device is a first sensing function network element
  • the second device includes a first sensing node
  • the participation of the first sensing function network element in signal processing can be understood as the first sensing function network element determines the target information.
  • the first sensing function network element can process the echo data sent by the first sensing node. Perform the first operation or perform the third operation on the intermediate sensing result sent by the first sensing node to obtain the target information.
  • the method when the first device is a first sensing node, after the first device determines the signal parameters of the first signal based on the target information, the method further includes:
  • the first device performs the first sensing service according to the adjusted signal parameters.
  • the sending device of the first sensing node and the receiving device of the first sensing node belong to the same device.
  • the signal parameters are adaptively adjusted. The process is as follows:
  • Step 1 The first sensing function network element obtains the first information related to the first sensing service.
  • the acquisition method includes:
  • Part of the information in the first information is received from the application server, and the remaining part of the first information is mapped based on the received part of the information in the first information.
  • Step 2 The first sensing function network element selects one or more first sensing nodes from the scheduled candidate devices according to the first information, the location information of the candidate devices, and the capability information of the candidate devices. Describe the first perception service.
  • the first sensing node is capable of performing sensing that satisfies relevant requirements in the first information in a spontaneous and self-collecting manner.
  • Step 3 The first sensing function network element or the first sensing node performs initial configuration of signal parameters based on the first information, the location information of one or more first sensing nodes, and the capability information of one or more first sensing nodes.
  • the initial configuration of the signal parameters of the plurality of first sensing nodes for executing the first sensing service may be the same or different.
  • the first sensing function network element sends the initial configuration of the signal parameters to the one or more first sensing nodes after determining the initial configuration.
  • Step 4 The one or more first sensing nodes perform initial sensing according to the initial configuration of their respective signal parameters.
  • the first sensing node generates and sends a first signal according to the initial configuration of signal parameters and receives the first signal to obtain echo data.
  • the next step is entered: the adaptive adjustment process of signal parameters.
  • Step 5 The first sensing node performs adaptive adjustment of signal parameters according to the target information, generates and sends a first signal according to the adjusted signal parameters and receives the first signal to obtain echo data. Based on the echo Data gets target information.
  • step 5 is 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 update period is The process of adaptive adjustment is as follows:
  • Step 1 The first sensing function network element obtains the first information related to the first sensing service.
  • the acquisition method includes:
  • Part of the information in the first information is received from the application server, and the remaining part of the first information is mapped based on the received part of the information in the first information.
  • Step 2 The first sensing function network element selects one or more first sensing nodes from the scheduled candidate devices to perform the first sensing service based on the first information, the location information of the candidate devices, and the capability information of the candidate devices. Some of the first sensing nodes among the plurality of first sensing nodes are sending devices, and some of the sensing nodes are receiving devices.
  • Step 3 The first sensing function network element or the sending device or the receiving device performs initial configuration of signal parameters based on the first information, the location information of the sending device and the receiving device, and the capability information of the sending device and the receiving device.
  • the initial configuration of the signal parameters of the multiple sending devices or receiving devices for performing the first sensing service may be the same or different.
  • the initial configuration of the signal parameters needs to be sent to at least one of the other two.
  • Step 4 The sending device generates and sends a first signal according to the initial configuration of signal parameters.
  • the receiving device receives the first signal according to the initial configuration of signal parameters and obtains echo data. After detecting the corresponding sensing object in the first information based on the echo data and obtaining the target information of a predetermined number of sensing frames, the next step is entered: the adaptive adjustment process of signal parameters.
  • Step 5 One of the first sensing function network element, the sending device, and the receiving device performs adaptive adjustment of signal parameters according to the target information, and sends the adjusted signal parameters to at least one of the other two. Then, the sending device generates and sends a first signal according to the adjusted signal parameters, and the receiving device receives the first signal according to the adjusted signal parameters to obtain echo data. Then target information is obtained based on the echo data.
  • step 5 is executed in a loop until the sensing process is completed.
  • adaptive adjustment can be performed for signal parameters in the time dimension.
  • the signal parameters of this time dimension include: sensing signal period, sensing frame period and sensing update period.
  • the first sensing function network element and/or the first sensing node sets an initial sensing signal period, sensing frame period and sensing update period according to the first information.
  • the first sensing node performs sending, receiving and processing of sensing signals according to the initial sensing signal period, sensing frame period and sensing update period, and interacts with the sensing function network element with sensing measurement quantities and/or sensing results, as well as signal parameters.
  • the first sensing function network element and/or the first sensing node performs adaptive configuration of the sensing signal waveform according to the sensing results, including:
  • the first sensing function network element and/or the first sensing node adaptively updates the configuration of the sensing signal period according to the first parameter of the sensing object
  • the first sensing function network element and/or the first sensing node adaptively updates the configuration of the sensing frame period according to the echo signal quality of the sensing object
  • the first sensing function network element and/or the first sensing node adaptively updates the configuration of the sensing update cycle according to the performance index of the first parameter of the sensing object.
  • the first sensing node performs sending, receiving and processing of sensing signals according to the updated sensing signal period, sensing frame period and sensing update period, and communicates with the first sensing function network element about sensing measurement quantities and/or sensing results, as well as signal parameters. Interaction.
  • two signal parameters, power and bandwidth can be jointly adaptively adjusted.
  • device A sends a first signal, at least one of the first signals
  • the path passes through the chest cavity that rises and falls when the human body breathes and is reflected to the second device for reception.
  • Device A extracts the respiratory frequency through signal processing.
  • a common method of processing the first signal is to process the first signal of a subcarrier or a resource block (RB) of the OFDM waveform to obtain the breathing frequency.
  • the distribution range of the transmission power distribution of device A in the frequency domain is greater than or equal to the one subcarrier or one RB.
  • the transmission power of one subcarrier or one RB should be appropriately increased, and the total transmission power of device A is constant, so the bandwidth of device A transmitting the first signal needs to be correspondingly reduced.
  • the respiratory frequency can be correctly extracted, or the confidence of the extracted respiratory frequency is greater than threshold B, that is, the sensing requirements can be met.
  • the transmit power of the one subcarrier or one RB can be appropriately reduced. , thereby being able to appropriately increase the bandwidth of the first signal transmitted by device A.
  • the specific values for the increase or decrease in the above-mentioned transmit power and bandwidth can be determined using any of the following calculation methods:
  • the perception processing method includes:
  • Step 601 The second device receives first indication information from the first device, the first indication information is used to indicate the adjusted signal parameters of the first signal, and the first signal is used to perform the first sensing service;
  • the second device performs the first operation based on the adjusted signal parameters
  • the first operation includes any of the following:
  • the second device is a first sensing function network element
  • a second operation is performed on the echo data received from the first device according to the adjusted signal parameters to obtain the target information, and the echo The data is the echo data obtained by the first device performing the first sensing service based on the adjusted signal parameters;
  • the parameter performs a third operation on the intermediate sensing result received from the first device to obtain the target information.
  • the intermediate sensing result is the result obtained by the first device performing a first operation on the echo data.
  • the first The operation is part of the operation in the second operation, and the third operation is the remaining operation in the second operation except the first operation;
  • the first signal is sent and/or received according to the adjusted signal parameters.
  • the first operation further includes any of the following:
  • the second operation is performed on the echo data obtained by the second device performing the first sensing service based on the adjusted signal parameters to obtain the target information.
  • the signal parameters include at least two of the following: first time resource information, sensing signal period, sensing update period, sensing frame period, bandwidth, antenna aperture, transmit power and beam direction.
  • the first time resource information includes any of the following:
  • the time unit and the time resource allocation within the time unit that can be used to execute the first sensing service are defined by the time unit and the time resource allocation within the time unit that can be used to execute the first sensing service.
  • the target information includes at least one of the following: echo signal quality of the first sensing frame, first parameter of the first sensing frame, prediction value of echo signal quality of the second sensing frame, prediction value of the echo signal quality of the second sensing frame, The predicted value of the first parameter of the sensing frame and the first indicator of the first parameter; wherein the first parameter is used to represent at least one of the position information and motion information of the sensing object, and the first indicator is In order to represent the perceptual performance of the perceptual object, the second perceptual frame is located after the first perceptual frame.
  • the echo signal quality may include or represent at least one of the following: echo signal power, SNR, SINR, RSRP, and RSRQ.
  • the first parameter includes at least one of the following:
  • the first indicator includes at least one of the following:
  • the method further includes:
  • the second device sends second information to the first device.
  • the second information includes: echo data, an intermediate sensing result obtained by performing a first operation on the echo data, or an intermediate sensing result obtained by performing a second operation on the echo data.
  • Target information wherein the echo data is data obtained by the first sensing node performing a first sensing service based on the adjusted signal parameters, and the first operation is part of the second operation.
  • the execution subject may be a perception processing device.
  • the perception processing device executing the perception processing method is taken as an example to illustrate the perception processing device provided by the embodiment of this application.
  • the perception processing device 700 includes:
  • the acquisition module 701 is used to acquire target information, which is determined based on the results obtained by executing the first sensing service;
  • Adjustment module 702 is configured to determine signal parameters of a first signal according to the target information, and the first signal is used to perform the first sensing service.
  • the signal parameters include at least two of the following: first time resource information, sensing signal period, sensing update period, sensing frame period, bandwidth, antenna aperture, transmit power and beam direction.
  • the first time resource information includes any of the following:
  • the time unit and the time resource allocation within the time unit that can be used to execute the first sensing service are defined by the time unit and the time resource allocation within the time unit that can be used to execute the first sensing service.
  • the target information includes at least one of the following: echo signal quality of the first sensing frame, first parameter of the first sensing frame, prediction value of echo signal quality of the second sensing frame, prediction value of the echo signal quality of the second sensing frame, The predicted value of the first parameter of the sensing frame and the first indicator of the first parameter; wherein the first parameter is used to represent at least one of the position information and motion information of the sensing object, and the first indicator is In order to represent the perceptual performance of the perceptual object, the second perceptual frame is located after the first perceptual frame.
  • the echo signal quality may include or represent at least one of the following: echo signal power, SNR, SINR, RSRP, and RSRQ.
  • the first parameter includes at least one of the following: parameters in a polar coordinate system; parameters in a rectangular coordinate system.
  • the first indicator includes at least one of the following:
  • the perception processing device 700 further includes: a first determination module,
  • the acquisition module 701 is also used to acquire the first information
  • the first determination module is configured to determine an initial configuration of signal parameters of the first signal based on the first information, the capability information and the location information of the first sensing node, and the initial configuration is used to perform initial sensing;
  • the first sensing node is the first device, or the first sensing node is a sensing node called by the first device to execute the first sensing service;
  • the first information includes at least one of the following : Sensing service type, sensing service execution time, sensing service global priority, sensing object type, sensing prior information, sensing measurement quantity, sensing service quality QoS requirements, signal processing algorithm and data processing algorithm.
  • the first determining module is further configured to determine, according to the first information, a first sensing function for performing the first sensing service.
  • a set of nodes and a second set of sensing nodes used to execute the first sensing service after switching the first set of sensing nodes includes at least one first sensing node; the second set of sensing nodes includes zero or at least one first sensing node. Two sensing nodes.
  • the perception processing device 700 further includes:
  • An update module configured to update at least one of the first sensing node set and the second sensing node set by the first sensing function network element when the preset update conditions are met;
  • the preset update condition includes at least one of the following: at least one first sensing node in the first sensing node set is not suitable for performing the first sensing service; at least one first sensing node in the second sensing node set The two sensing nodes are switched to the first sensing node set and used to perform the first sensing service; at least one second sensing node is newly added to the second sensing set.
  • the acquisition module is specifically used to perform any of the following:
  • the first device is a first sensing function network element
  • second information is received from the first sensing node, and target information is determined based on the second information
  • the second information includes: echo data, The intermediate sensing result obtained by performing the first operation on the echo data or the target information obtained by performing the second operation on the echo data, wherein the echo data is obtained by the sensing node performing the first sensing service based on the current signal parameters.
  • Data, the first operation is part of the second operation;
  • the first device When the first device is a first sensing node, perform a first sensing service based on current signal parameters to obtain echo data, and perform a second operation on the echo data to obtain target information;
  • the third information is sent to the first sensing function network element, and the target information sent by the first sensing function network element is received.
  • the third information includes: reply The wave data or the intermediate sensing result obtained by performing the first operation on the echo data, and the target information is the target information determined by the first sensing function network element based on the third information.
  • the perception processing device 700 further includes:
  • the first sending module is configured to send the first instruction to the second device when the preset conditions are met.
  • Indication information the first indication information is used to indicate the adjusted signal parameter;
  • the preset conditions include at least one of the following:
  • the first device is a first sensing node
  • the second device includes a first sensing function network element, and the first sensing function network element participates in signal processing;
  • the first device is a first sensing function network element
  • the second device includes a first sensing node
  • the sensing processing device 700 further includes:
  • the second execution module is configured to execute the first sensing service according to the adjusted signal parameters.
  • the sensing processing device 700 further includes a third execution module, configured to perform at least one of the following:
  • the first device When the first device receives the first signaling sent by the first sensing function network element, it determines that the first device is occupied by the first sensing service until the first device receives the second signaling.
  • the first signaling is the signaling in the sensing node selection process
  • the second signaling is used to indicate that the first device is determined to be the first sensing node that performs the first sensing service
  • the The first sensing function network element is a sensing function network element used to call the first device to perform the first sensing service
  • the first device When receiving the first signaling sent by the second sensing function network element, the first device determines that the first device is occupied by the second sensing service of the second sensing function network element until the The first device receives third signaling or the timer times out, the third signaling is used to indicate that the first device is determined not to be the first sensing node that performs the second sensing service, and the timer and The second sensing service association;
  • the first device monitors the first signaling sent by any sensing function network element, it continues to monitor the first signaling sent by each sensing function network element. If the first device receives the third sensing function After receiving the second signaling sent by the first sensing function network element before the second signaling sent by the network element, the first feedback information is sent to the third sensing function network element, and the first feedback information is used for Instruct the first device not to perform the sensing service of the corresponding sensing function network element, and the third sensing function network element is the sensing function network to which the first device confirms that the first signaling has been sent but the second signaling has not been sent. Yuan;
  • the first device monitors the first signaling sent by the fourth sensing function network element, it continues to monitor the first signaling sent by each sensing function network element. If the first device receives the fourth The second signaling sent by the sensing function network element has been received before the first signaling sent by the first sensing function network element, and the global priority of the fourth sensing service of the fourth sensing function network element is lower than the global priority of the first sensing service, then the first feedback information is sent to the fourth sensing function network element.
  • 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 used to receive first indication information from the first device, the first indication The information is used to indicate the adjusted signal parameters of the first signal, and the first signal is used to perform the first sensing service;
  • the first execution module 802 is used to execute the first operation based on the adjusted signal parameters
  • the first operation includes any of the following:
  • the second device is a first sensing function network element
  • a second operation is performed on the echo data received from the first device according to the adjusted signal parameters to obtain the target information, and the echo The data is the echo data obtained by the first device performing the first sensing service based on the adjusted signal parameters;
  • the intermediate sensing result received from the first device is subjected to a third operation according to the adjusted signal parameters to obtain the target information, and the intermediate sensing
  • the result is a result obtained by the first device performing a first operation on the echo data.
  • the first operation is part of the operation in the second operation.
  • the third operation is the division of all operations in the second operation. remaining operations beyond the first operation;
  • the first signal is sent and/or received according to the adjusted signal parameters.
  • the first operation further includes any of the following:
  • the second operation is performed on the echo data obtained by the second device performing the first sensing service based on the adjusted signal parameters to obtain the target information.
  • the signal parameters include at least two of the following: first time resource information, sensing signal period, sensing update period, sensing frame period, bandwidth, antenna aperture, transmit power and beam direction.
  • the first time resource information includes any of the following:
  • the time unit and the time resource allocation within the time unit that can be used to execute the first sensing service are defined by the time unit and the time resource allocation within the time unit that can be used to execute the first sensing service.
  • the target information includes at least one of the following: echo signal quality of the first sensing frame, first parameter of the first sensing frame, prediction value of echo signal quality of the second sensing frame, prediction value of the echo signal quality of the second sensing frame, The predicted value of the first parameter of the sensing frame and the first indicator of the first parameter; wherein the first parameter is used to represent at least one of the position information and motion information of the sensing object, and the first indicator is In order to represent the perceptual performance of the perceptual object, the second perceptual frame is located after the first perceptual frame.
  • the echo signal quality may include or represent at least one of the following: echo signal power, SNR, SINR, RSRP, and RSRQ.
  • the first parameter includes at least one of the following:
  • the first indicator includes at least one of the following:
  • the sensing processing device 800 further includes:
  • the second sending module is configured to send second information to the first device, where the second information includes: echo data, an intermediate sensing result obtained by performing a first operation on the echo data, or performing a second operation on the echo data.
  • the perception processing device in the embodiment of the present application may be an electronic device, such as an electronic device with an operating system, or may be a component in the electronic device, such as an integrated circuit or chip.
  • the electronic device may be a terminal or other devices other than the terminal.
  • terminals may include but are not limited to the types of terminals 11 listed above, and other devices may be servers, network attached storage (Network Attached Storage, NAS), etc., which are not specifically limited in the embodiment of this application.
  • 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.
  • Embodiments of the present application also provide a terminal, including a processor and a communication interface.
  • the terminal is a first device
  • the communication interface is used to obtain target information, and the target information is based on a result obtained by executing the first sensing service.
  • the processor is configured to adjust the signal parameters of the first signal according to the target information, and the first signal is used to perform the first sensing service;
  • the communication interface is used to receive first indication information from the first device, and the first indication information is used to indicate the adjusted signal parameters of the first signal.
  • the signal is used to perform the first sensing service; the processor is used to perform the first operation based on the adjusted signal parameters;
  • the first operation includes sending and/or receiving the first signal based on the adjusted signal parameters.
  • 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.
  • Volatile memory can be random access memory (Random Access Memory, RAM), static random access memory (Static RAM, SRAM), dynamic random access memory Memory (Dynamic RAM, DRAM), synchronous dynamic random access memory (Synchronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (Double Data Rate SDRAM, DDRSDRAM), enhanced synchronous dynamic random access memory (Enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (Synch link DRAM, SLDRAM) and direct memory bus random access memory (Direct Rambus RAM, DRRAM).
  • RAM Random Access Memory
  • SRAM static random access memory
  • DRAM dynamic random access memory Memory
  • DRAM synchronous dynamic random access memory
  • SDRAM double data rate synchronous dynamic random access memory
  • Double Data Rate SDRAM Double Data Rate SDRAM
  • DDRSDRAM double data rate synchronous dynamic random access memory
  • Enhanced SDRAM, ESDRAM enhanced synchronous dynamic random access memory
  • Synch link DRAM, SLDRAM synchronous link dynamic random access memory
  • 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 target information, and the target information is determined based on the result obtained by executing the first sensing service; the processor 1010 is used to obtain the target information according to the target information. Adjusting signal parameters of a first signal used to perform the first sensing service;
  • the radio frequency unit 1001 is configured to receive first indication information from the first device, where the first indication information is used to indicate the adjusted signal parameters of the first signal, and the third A signal is used to perform the first sensing service; the processor is used to perform the first operation based on the adjusted signal parameters;
  • the first operation includes sending and/or receiving the first signal based on the adjusted signal parameters.
  • Embodiments of the present application also provide a network side device, including a processor and a communication interface.
  • the communication device is a first device
  • the communication interface is used to obtain target information, and the target information is based on executing the first sensing service. The obtained result is determined;
  • the processor is used to adjust the signal parameters of the first signal according to the target information, and the first signal is used to perform the first sensing service;
  • the communication interface is used to receive first indication information from the first device, and the first indication information is used to indicate the adjusted signal parameters of the first signal, and the third indication information is used to indicate the adjusted signal parameters of the first signal.
  • a signal is used to perform the first sensing service; the processor is used to perform the first operation based on the adjusted signal parameters;
  • the first operation includes any of the following:
  • the second device is a first sensing function network element
  • a second operation is performed on the echo data received from the first device according to the adjusted signal parameters to obtain the target information, and the echo The data is the echo data obtained by the first device performing the first sensing service based on the adjusted signal parameters;
  • the parameter performs a third operation on the intermediate sensing result received from the first device to obtain the target information.
  • the intermediate sensing result is the result obtained by the first device performing a first operation on the echo data.
  • the first The operation is part of the operation in the second operation, and the third operation is the remaining operation in the second operation except the first operation;
  • the first signal is sent and/or received according to the adjusted signal parameters.
  • This network-side device embodiment corresponds to the above-mentioned network-side device method embodiment.
  • Each implementation process and implementation manner 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 the embodiment of the present application 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.
  • Each process of the embodiment of the perception processing method can achieve the same technical effect. To avoid duplication, it will not be described again here.
  • chips mentioned in the embodiments of this application may also be called system-on-chip, system-on-a-chip, system-on-chip or system-on-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 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.

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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：第一设备获取目标信息，所述目标信息基于执行第一感知业务获得的结果确定；所述第一设备根据所述目标信息确定第一信号的信号参数，所述第一信号用于执行所述第一感知业务。

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3月18日在中国提交的中国专利申请No.202210273500.7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，在传统的感知场景中，通常采用固定的信号参数执行感知业务。在通信感知一体化场景下，存在通信业务和/或一个或多个感知业务，且通信负荷或感知场景在不断变化，采用固定的信号参数执行感知业务容易造成感知性能较差。
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，能够提高感知性能。
第一方面，提供了一种感知处理方法，包括：
第一设备获取目标信息，所述目标信息基于执行第一感知业务获得的结果确定；
所述第一设备根据所述目标信息确定第一信号的信号参数，所述第一信号用于执行所述第一感知业务。
第二方面，提供了一种感知处理方法，包括：
第二设备从第一设备接收第一指示信息，所述第一指示信息用于指示第一信号调整后的信号参数，所述第一信号用于执行第一感知业务；
所述第二设备基于调整后的信号参数执行第一操作；
所述第一操作包括以下任一项：
在所述第二设备为第一感知功能网元的情况下，根据所述调整后的信号 参数对从第一设备接收到的回波数据进行第二运算得到所述目标信息，所述回波数据为所述第一设备基于调整后的信号参数执行第一感知业务获得的回波数据；
在所述第二设备为第一感知功能网元的情况下，根据所述调整后的信号参数对从第一设备接收到的中间感知结果进行第三运算得到所述目标信息，所述中间感知结果为所述第一设备对所述回波数据进行第一运算得到结果，所述第一运算为所述第二运算中的部分运算，所述第三运算为所述第二运算中除所述第一运算之外的剩余运算；
在所述第二设备为第一感知节点的情况下，根据所述调整后的信号参数发送和/或接收所述第一信号。
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，用于获取目标信息，所述目标信息基于执行第一感知业务获得的结果确定；
调整模块，用于根据所述目标信息确定第一信号的信号参数，所述第一信号用于执行所述第一感知业务。
第四方面，提供了一种感知处理装置，应用于第二设备，其特征在于，包括：
第一接收模块，用于从第一设备接收第一指示信息，所述第一指示信息用于指示第一信号调整后的信号参数，所述第一信号用于执行第一感知业务；
第一执行模块，用于基于调整后的信号参数执行第一操作；
所述第一操作包括以下任一项：
在所述第二设备为第一感知功能网元的情况下，根据所述调整后的信号参数对从第一设备接收到的回波数据进行第二运算得到所述目标信息，所述回波数据为所述第一设备基于调整后的信号参数执行第一感知业务获得的回波数据；
在所述第二设备为第一感知功能网元的情况下，根据所述调整后的信号参数对从第一设备接收到的中间感知结果进行第三运算得到所述目标信息，所述中间感知结果为所述第一设备对所述回波数据进行第一运算得到结果，所述第一运算为所述第二运算中的部分运算，所述第三运算为所述第二运算中除所述第一运算之外的剩余运算；
在所述第二设备为第一感知节点的情况下，根据所述调整后的信号参数发送和/或接收所述第一信号。
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。
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目标信息，所述目标信息基于执行第一感知业务获得的结果确定；所述处理器用于据所述目标信息调整第一信号的信号参数，所述第一信号用于执行所述第一感知业务；
或者，在所述通信设备为第二设备时，所述通信接口用于从第一设备接收第一指示信息，所述第一指示信息用于指示第一信号调整后的信号参数，所述第一信号用于执行第一感知业务；所述处理器用于基于调整后的信号参数执行第一操作；
所述第一操作包括以下任一项：
在所述第二设备为第一感知功能网元的情况下，根据所述调整后的信号参数对从第一设备接收到的回波数据进行第二运算得到所述目标信息，所述回波数据为所述第一设备基于调整后的信号参数执行第一感知业务获得的回波数据；
在所述第二设备为第一感知功能网元的情况下，根据所述调整后的信号参数对从第一设备接收到的中间感知结果进行第三运算得到所述目标信息，所述中间感知结果为所述第一设备对所述回波数据进行第一运算得到结果，所述第一运算为所述第二运算中的部分运算，所述第三运算为所述第二运算中除所述第一运算之外的剩余运算；
在所述第二设备为第一感知节点的情况下，根据所述调整后的信号参数发送和/或接收所述第一信号。
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。
本申请实施例中，在获取到所述目标信息的情况下，可以基于该目标信息对第一信号的信号参数进行调整，从而可以基于当前感知环境灵活的调整第一信号的信号参数。这样，可以在满足感知性能指标要求的前提下，优化 通感一体化场景中用于执行感知的第一信号的信号参数。因此，本申请实施例可以提高感知性能。
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至图5是本申请实施例提供的一种感知处理方法中感知更新周期的不同时长的示例图；
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。接入网设备可以包括基站、无线局域网(Wireless Local Area Networks，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(Transmission Reception 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。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。
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，第一设备获取目标信息，所述目标信息基于执行第一感知业务获得的结果确定；
本申请实施例中，上述目标信息可以包括以下至少一项：回波信号质量、第一参数和第一参数的第一指标。
其中，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)。
可选地，回波信号质量的计算可以基于以下至少一项资源范围的信号：
时间维度：感知信号周期或感知帧周期；
频率范围：一个或多个时延分辨率单元，或者预设的时延范围；
多普勒维度：一个或者多个多普勒单元，或者预设的多普勒范围；
角度维度：一个或多个角度分辨单元，或者预设的角度范围；
能量维度：预设的信号幅度或功率范围。
可选地，上述第一参数可以包括以下至少一项：极坐标系下的参数和直角坐标系下的参数。
针对极坐标系下的参数可以理解为基于感知直接获取的极坐标系下的参数，具体包括以下至少一项：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；
针对直角坐标系下的参数可以理解为经坐标变换后在直角坐标系下的参数，具体包括以下至少一项：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)。
可选地，第一指标可以是基于第一参数进行数据处理得到，具体可以包括以下至少一项：残差的方差或标准差、预测误差协方差和状态估计误差协方差。
其中，所述残差是指：第二感知帧对于第一参数的测量值与第一感知帧对于第二感知帧的对应第一参数的预测值之差；所述的残差的方差或标准差的计算可以采用滑窗的方式，第一感知帧可以理解为当前执行感知测量的感知帧，第二感知帧可以理解为位于第一感知帧之后的感知帧。
第一参数的预测误差协方差在预测算法执行过程中得到的；第一参数的状态估计误差协方差在滤波算法执行过程中得到的。
可选地，在一些实施例中，上述目标信息可以理解为目标感知结果，即 利用第一信号对感知对象进行感知测量获得的回波数据，基于该回波数据进行运算获得的目标感知结果。
步骤202，所述第一设备根据所述目标信息确定第一信号的信号参数，所述第一信号用于执行所述第一感知业务。
上述第一信号可以理解为感知信号或者通感一体化信号。上述第一设备可以为第一感知节点或者第一感知功能网元，在此不做进一步的限定。其中第一感知节点可以理解为用于执行所述第一感知业务的感知节点或感知设备，可以包括发送设备和接收设备中的至少一项。
本申请实施例中，所述第一设备根据所述目标信息确定第一信号的信号参数可以理解为，第一设备根据所述目标信息自适应调整第一信号的信号参数。其中，确定的信号参数可以称之为调整后的信号参数。
应理解，本申请实施例中的感知功能网元(如第一感知功能网元、第二感知功能网元和第三感知功能网元等)是指核心网和/或无线接入网中负责感知请求处理、感知资源调度、感知信息交互、感知数据处理等至少一项功能的网络节点，可以是基于现有5G网络中AMF或LMF升级，也可以是其他网络节点或新定义的网络节点。
本申请实施例中，在获取到目标信息的情况下，可以基于该目标信息对第一信号的信号参数进行调整，从而可以基于当前感知环境灵活的调整第一信号的信号参数。这样，可以在满足感知性能指标要求的前提下，优化通感一体化场景中用于执行感知的第一信号的信号参数。因此，本申请实施例可以提高感知性能。
可选地，在一些实施例中，上述信号参数可以包括以下至少两项：第一时间资源信息、感知信号周期、感知更新周期、感知帧周期、带宽、天线孔径、发射功率和波束指向。
可选地，所述第一时间资源信息包括以下任一项：
用于分配给所述第一感知业务的固定时间资源；
时间单元和所述时间单元内可用于执行所述第一感知业务的时间资源配比。
本申请实施例中，可以分配固定时间资源用来执行当前感知业务；此种时间资源配置方式基于对时间资源按照某个颗粒度进行划分；所述的颗粒度可以是：5G通信业务中的OFDM符号周期、时隙、半帧或帧等，或者秒、毫秒、微秒等时间单位。具体地，可以通过以下方式进行分配：
1、位图方式：以位图的方式配置分配给感知业务的时间资源，位图中为1代表相应的时间资源分配给感知业务、位图中为0代表相应的时间资源不分配给感知业务；此种方式可配置连续或不连续、周期或非周期的任意类型 时间资源；
2、长度加周期方式：指定分配给感知业务的每段时间资源的长度，并给出分配给感知业务的各段时间资源出现的周期；此种方式可配置周期性的时间资源。可选地，此种时间资源配置方式还可以包括分配给感知业务的每段时间资源相对于某个时间点的偏移。
可选地，感知信号周期的时间长度等于感知节点进行一次第一信号快时间维的信号处理对应的感知信号的时间长度。一次第一信号快时间的维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。
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。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。
可选地，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。具体可以包括第一时隙和第二时隙，其中，第一时隙可以包括多个感知信号周期，该第二时隙可以理解为一个用于信号处理、资源调度、信号波形产生等任务的综合处理时隙。
以下各实施例中，以一个所述感知更新周期内包括一个感知帧周期为例进行说明。例如，感知更新周期与感知帧周期的时间的对应关系如图3至图5所示：在图3中，感知更新周期的时长为相邻两个感知帧周期的起始时刻或结束时刻的时间间隔；在图4中，感知更新周期的时长等于感知帧周期的时长的整数倍；在图5中，感知更新周期的时长等于任意数值，且感知更新周期大于或等于感知帧周期的时长的整数倍。
可选地，在一些实施例中，所述第一设备获取目标信息之前，所述方法还包括：
所述第一设备获取第一信息；
所述第一设备根据所述第一信息、第一感知节点的能力信息和位置信息确定第一信号的信号参数的初始配置，所述初始配置用于执行初始感知；
其中，所述第一感知节点为所述第一设备，或者所述第一感知节点为所述第一设备调用执行所述第一感知业务的感知节点；所述第一信息包括以下至少一项：感知业务类型、感知业务的执行时间、感知业务的全局优先级、 感知对象类型、感知先验信息、感知测量量、感知服务质量(Quality of Service，QoS)要求、信号处理算法和数据处理算法。
本申请实施例中，在进行第一信号的信号参数调整时，第一信号的信号参数调整前的配置可以为上述初始配置，或者对初始配置进行一次或多次调整后的配置。例如，可以基于第一感知帧对应的信号参数的配置进行调整，得到第二感知帧对应的信号参数的配置。
可选地，上述感知业务类型可以包括以下至少一项或者基于以下至少一项确定：测距、测速、测角、成像、目标跟踪、以及目标/状态识别。
可选地，感知业务的执行时间可以理解为期望执行感知业务的时间点或时间范围。
可选地，感知业务的全局优先级可以理解为感知业务在通感一体化网络中的全局优先级，高优先级感知业务可优先占用包括设备、孔径、功率、时间和频率等资源。
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。
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，感知测量量可以包括以下至少一项：
原始信道信息：信道矩阵H或H的压缩量化信息、信道状态信息CSI(Channel State Information，CSI)，例如频域信道响应的幅度/幅度的平方和/或相位，或者是频域信道响应的I路与Q路信号特征，例如I路和/或Q路信号幅度/幅度的平方；
信号强度信息：RSRP、接收信号强度指示(Received Signal Strength Indication，RSSI)；
谱信息：信道功率时延谱(Power Delay Profile，PDP)、多普勒功率谱、功率角度谱(Power Azimuth Spectrum，PAS)、伪谱信息、时延-多普勒二维谱、时延-多普勒-角度三维谱；
感知点云信息；
多径信息：多径信道中各条径(至少包括首达径、LOS径、一阶反射径、多阶反射径)的功率、相位、时延和角度信息；
角度信息：包括到达角和离开角；
不同天线对应信号的差别信息：第一天线与第二天线的频域信道响应的商或共轭乘(或第一天线与第二天线的频域信道响应的商或共轭乘的幅度或相位，或第一天线与第二天线的频域信道响应的商或共轭乘的I路或Q路，或第一天线与第二天线的频域信道响应的商或共轭乘的I路或Q路的投影运算，投影运算可以是I*cos(theta)+Q*sin(theta)，其中theta为某一角度值，不同的theta对应不同的投影，I代表I路数据，Q代表Q路数据)、第一天线与第二天线的接收信号的幅度比或幅度差、第一天线与第二天线信号的相位差、第一天线与第二天线信号的时延差；
基于原始信道信息确定的第一参数的信息：多普勒扩展、多普勒频移、最大时延扩展、角度扩展、相干带宽、相干时间。
除上述测量量外，还包括基于上述测量量中的两个或两个以上进行运算生成的新的测量量。
感知QoS要求是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，信号处理算法是对回波信号进行处理得到距离、角度、速度等第一参数的算法，例如：进行角度超分辨的多信号分类算法(Multiple Signal Classification，MUSIC)算法、进行距离和速度信息提取的二维快速傅里叶变换(2-Dimensional Fast Fourier Transform，2D-FFT)算法等。
可选地，数据处理算法是基于信号处理算法得到的第一参数进行进一步的处理，例如：对包括感知对象的距离、角度、速度等第一参数进行卡尔曼滤波，对感知对象的运动轨迹进行匹配关联的联合概率关联算法等。
本申请实施例中，如果上述第一设备为第一感知功能网元执行，则第一感知功能网元在确定初始配置后，向执行感知业务的第一感知节点发送该初始配置。在初始感知阶段，第一感知节点根据所述信号参数的初始配置进行第一信号的生成、发送和接收，得到回波数据，由第一感知功能网元和/或第一感知节点进行信号处理，获得目标信息。具体可以包括以下情况：
由第一感知节点进行信号处理，得到感知结果；可选地，第一感知节点将感知结果发送给第一感知功能网元；
由第一感知节点进行信号处理中的部分运算，获得中间感知结果，并将中间感知结果和/或所述回波数据发送给第一感知功能网元，由第一感知功能网元进行信号处理中的剩余部分运算，得到感知结果；可选地，第一感知功能网元将感知结果发送给第一感知节点；
第一感知节点将所述的回波数据发送给第一感知功能网元，由第一感知功能网元进行信号处理，得到感知结果；可选地，第一感知功能网元将感知结果发送给第一感知节点。
基于以上不同的情况，针对第一设备的不同，对应的获取目标信息的行为不同，例如，在一些实施例中，所述第一设备获取目标信息包括以下任一项：
在所述第一设备为第一感知功能网元的情况下，所述第一设备从第一感知节点接收第二信息，并基于所述第二信息确定目标信息；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信息，其中，所述回波数据为所述感知节点基于当前的信号参数执行第一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；
在所述第一设备为第一感知节点的情况下，第一设备基于当前的信号参数执行第一感知业务获得回波数据，并对所述回波数据进行第二运算得到目标信息；
在所述第一设备为第一感知节点的情况下，第一设备向第一感知功能网元发送第三信息，并接收所述第一感知功能网元发送的目标信息，所述第三信息包括：回波数据或对回波数据进行第一运算得到的中间感知结果，所述目标信息为所述第一感知功能网元基于所述第三信息确定的目标信息。
本申请实施例中，当第一感知功能网元接收到第一感知节点发送的回波数据的情况下，第一感知功能网元可以对回波数据执行第二运算，得到目标信息；当第一感知功能网元接收到第一感知节点发送的中间感知结果的情况下，第一感知功能网元可以对中间感知结果执行第三运算，得到目标信息，该第三运算为所述第二运算中除第一运算之外的剩余运算。
可选地，在一些实施例中，在所述第一设备为第一感知功能网元的情况下，所述第一设备根据所述第一信息、第一感知节点的能力信息和位置信息确定第一信号的信号参数的初始配置之前，所述方法还包括：
所述第一设备根据所述第一信息确定用于执行所述第一感知业务的第一感知节点集合和用于切换后执行所述第一感知业务的第二感知节点集合，所述第一感知节点集合包含至少一个第一感知节点；所述第二感知节点集合包含零个或至少一个第二感知节点。
本申请实施例中，第一感知功能网元可以从调度的一个或多个候选设备中根据第一信息以及候选设备的位置信息和能力信息，选择执行第一感知业务的L个感知节点，L为正整数，该L个感知节点可以划分为两个集合，即上述第一感知节点集合和第二感知节点集合。其中，第一感知节点集合中包括的第一感知节点可以理解为当前用于执行第一感知业务的感知节点；第二感知节点集合中包括的第二感知节点可以理解为备选作为用于执行第一感知业务的备选感知节点。
具体的选择方法可以根据实际需要进行设置，例如，在一些实施例中，可以包括以下方法之一：
方法一：第一感知功能网元根据获取的一个或多个候选设备的能力信息，结合候选设备的位置信息和第一信息，选择执行第一感知业务的L个感知节点。
方法二：第一感知功能网元将第一信息或第一信息中的部分发送至一个或多个候选设备，由候选设备根据第一信息或第一信息中的部分，并结合候选设备的位置信息，确定是否能够执行第一感知业务并向第一感知功能网元发送第二反馈信息，第一感知功能网元从反馈能够执行第一感知业务的候选 设备中选择执行第一感知业务的L个感知节点；所述第二反馈信息用于指示所述候选设备的能力信息是否能够满足第一感知业务的需求。
针对上述方法一，上述第一感知功能网元获取多个候选设备的能力信息具体可以包括以下情况：
情况1，候选设备的能力信息提前上报并存储在第一感知功能网元或第一感知功能网元可访问的网络节点中；
情况2，候选设备接收第一感知功能网元发送的能力信息查询信息后，向第一感知功能网元上报能力信息。
针对上述方法二，第一感知功能网元无需获取多个候选设备的能力信息。
可选地，在一些实施例中，所述第一感知功能网元根据所述第一信息确定第一感知节点集合和第二感知节点集合之后，所述方法还包括：
在预设的更新条件满足的情况下，所述第一感知功能网元更新第一感知节点集合和第二感知节点集合中的至少一项；
其中，所述预设的更新条件包含以下至少一项：第一感知节点集合中的至少一个第一感知节点不适合执行所述第一感知业务；所述第二感知节点集合中的至少一个第二感知节点切换至第一感知节点集合并用于执行所述第一感知业务；所述第二感知集合中新加入至少一个第二感知节点。
本申请实施例中，可以根据L个感知节点中每一感知节点与感知对象的相对位置以及感知节点的能力信息变化进行实时更新第一感知节点集合和第二感知节点集合中的至少一项。
进一步，在第一感知功能网元确定执行第一感知业务的L个感知节点后，可以向L个感知节点发送感知启动信息和/或第一信息，第一感知功能网元向除L个感知节点以外的其他候选设备发送释放信息。
其中，所述感知启动信息用于指示候选设备被确定为感知节点、可以启动执行所述第一感知业务；所述设备释放信息用于指示所述候选设备没有被确定为感知节点、不再参与所述第一感知业务的感知节点选择。
L个感知设备中的第一感知节点确定执行第一感知业务后，可以向第一感知功能网元发送第三反馈信息，所述第三反馈信息用于指示该第一感知节点确定执行第一感知业务。
进一步地，在感知节点的选择过程中，从感知功能网元开始执行感知节点选择到向候选设备发送第三反馈信息的过程中，候选设备还可以执行以下不同的响应行为。例如，在一些实施中，在所述第一设备为第一感知节点的情况下，第一设备获取目标信息的步骤之前，所述方法还包括以下至少一项：
所述第一设备在接收到第一感知功能网元发送的第一信令的情况下，确定所述第一设备被所述第一感知业务占用，直到所述第一设备收到第二信令， 所述第一信令为感知节点选择过程中的信令，所述第二信令用于指示所述第一设备被确定是执行所述第一感知业务的第一感知节点，所述第一感知功能网元为用于调用所述第一设备执行所述第一感知业务的感知功能网元；
所述第一设备在接收到第二感知功能网元发送的所述第一信令的情况下，确定所述第一设备被所述第二感知功能网元的第二感知业务占用，直到所述第一设备收到第三信令或定时器超时，所述第三信令用于指示所述第一设备被确定不是执行所述第二感知业务的第一感知节点，所述定时器与所述第二感知业务关联；
所述第一设备监听到任一个感知功能网元发送的第一信令的情况下，继续监听各感知功能网元发送的第一信令，若所述第一设备在接收到第三感知功能网元发送的第二信令之前接收到所述第一感知功能网元发送的第二信令，则所述第一设备向所述第三感知功能网元发送第一反馈信息，所述第一反馈信息用于指示所述第一设备不执行对应的感知功能网元的感知业务，所述第三感知功能网元为所述第一设备确认已发送第一信令但未发送第二信令的感知功能网元；
所述第一设备监听到第四感知功能网元发送的第一信令的情况下，继续监听各感知功能网元发送的第一信令，若所述第一设备在接收到所述第四感知功能网元发送的所述第二信令之前接收到所述第一感知功能网元发送的所述第一信令，且所述第四感知功能网元的第四感知业务的全局优先级低于所述第一感知业务的全局优先级，则所述第一设备向所述第四感知功能网元发送所述第一反馈信息。
例如，在一些实施例中，候选设备在收到感知功能网元1在感知节点选择过程中的第一信令时，所述候选设备即被所述感知功能网元1的感知业务1占用，直到候选设备收到感知功能网元1发送的第三信令开始执行所述感知业务1，或者，候选设备收到感知功能网元1发送的第三信令，或者，感知业务1对应的定时器超时；所述定时器可以从候选设备收到感知功能网元1在感知节点选择过程中的任意一条信令时初始化。应理解，在接收到任意一个感知功能网元的在感知节点选择过程中的第一信令时可以启动或者重启与该感知功能网元的感知业务对应的定时器，在定时器超时前，候选设备可以认为其被该感知功能网元的感知业务占用，此时该感知功能网元可以选择该候选设备。
例如，在一些实施例中，候选设备在收到所述感知功能网元1的感知业务1在感知节点选择过程中的第一信令后，继续监听其他感知功能网元针对其他感知业务的第一信令；如果在所述候选设备收到所述感知业务1的第二信令之前，所述候选设备收到感知功能网元2的感知业务2的第二信令，则 所述候选设备执行感知业务2，并向感知功能网元1发送第一反馈信息，所述第一反馈信息指示所述候选设备不能执行感知业务1。
例如，在一些实施例中，候选设备在收到所述感知功能网元1的感知业务1在感知节点选择过程中的第一信令后，继续监听其他感知功能网元针对其他感知业务的感知节点选择信令；如果在所述候选设备收到感知业务1的第二信令之前，候选设备收到全局优先级更高的感知业务2的第一信令，则所述候选设备不再参与所述感知业务1的感知节点选择、并向感知功能网元1发送第一反馈信息，所述第一反馈信息指示所述候选设备不能执行感知业务1。
可选地，在一些实施例中，所述第一设备根据所述目标信息确定第一信号的信号参数之后，还包括：
在满足预设条件的情况下，所述第一设备向第二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所述信号参数；
其中，所述预设条件包括以下至少一项：
所述第一设备为第一感知节点，所述第二设备包括第一感知功能网元，且第一感知功能网元参与信号处理；
所述第一设备为第一感知功能网元，所述第二设备包括第一感知节点。
本申请实施例中，第一感知功能网元参与信号处理可以理解为，由第一感知功能网元确定目标信息，具体地，第一感知功能网元可以对第一感知节点发送的回波数据进行第一运算或者对第一感知节点发送的中间感知结果进行第三运算得到目标信息。
可选地，在一些实施例中，在所述第一设备为第一感知节点的情况下，所述第一设备根据所述目标信息确定第一信号的信号参数之后，还包括：
所述第一设备根据调整后的所述信号参数执行所述第一感知业务。
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，第一感知节点的发送设备和第一感知节点的接收设备属于同一个设备，采用第一感知节点自发自收的方式执行感知业务的情况下，信号参数的自适应调节的流程如下：
步骤1，第一感知功能网元获取与第一感知业务相关的第一信息，获取方法包括：
从应用服务器接收第一信息；或者
从应用服务器接收第一信息中的部分信息，并根据接收的第一信息的部分信息映射出第一信息中的剩余部分。
步骤2，第一感知功能网元根据第一信息、候选设备的位置信息、候选设备的能力信息，从调度的候选设备中选择一个或多个第一感知节点执行所 述第一感知业务。所述第一感知节点够以自发自收的方式执行满足第一信息中相关需求的感知。
步骤3，第一感知功能网元或第一感知节点根据第一信息、一个或多个第一感知节点的位置信息、一个或多个第一感知节点的能力信息进行信号参数的初始配置。
由于所述的多个第一感知节点的位置信息和/或能力信息的相同或不同，多个第一感知节点执行第一感知业务的信号参数的初始配置可以相同或不同。
如果确定初始配置由第一感知功能网元执行，则第一感知功能网元在确定初始配置后，向所述的一个或多个第一感知节点发送所述信号参数的初始配置。
步骤4，所述一个或多个第一感知节点根据各自的信号参数的初始配置执行初始感知。第一感知节点根据信号参数的初始配置生成并发送第一信号并接收第一信号，得到回波数据。在基于所述的回波数据检测到第一信息中对应的感知对象、并获得预定数量的感知帧的目标信息后，进入下一步骤：信号参数的自适应调节过程。
步骤5，所述第一感知节点根据目标信息进行信号参数的自适应调节，并根据调节后的信号参数生成并发送第一信号并接收第一信号，得到回波数据，基于所述的回波数据得到目标信息。
最后循环执行步骤5，直到感知过程结束。
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，感知更新周期的自适应调节的流程如下：
步骤1，第一感知功能网元获取与第一感知业务相关的第一信息，获取方法包括：
从应用服务器接收第一信息；或者
从应用服务器接收第一信息中的部分信息，并根据接收的第一信息的部分信息映射出第一信息中的剩余部分。
步骤2，第一感知功能网元根据第一信息、候选设备的位置信息、候选设备的能力信息，从调度的候选设备中选择一个或多个第一感知节点执行所述第一感知业务。多个第一感知节点中部分第一感知节点为发送设备，部分感知节点为接收设备。
步骤3，第一感知功能网元或发送设备或接收设备根据第一信息、发送设备和接收设备的位置信息、发送设备和接收设备的能力信息进行信号参数的初始配置。
由于所述多个发送设备或接收设备的位置信息和/或能力信息的相同或 不同，所述多个发送设备或接收设备执行第一感知业务的信号参数的初始配置可以相同或不同。
确定初始配置由第一感知功能网元、发送设备和接收设备中的任意一个完成后，需向另外两个中的至少一个发送信号参数的初始配置。
步骤4，所述发送设备根据信号参数的初始配置生成并发送第一信号，所述接收设备根据信号参数的初始配置接收第一信号，得到回波数据。在基于所述的回波数据检测到第一信息中对应的感知对象、并获得预定数量的感知帧的目标信息后，进入下一步骤：信号参数的自适应调节过程。
步骤5，第一感知功能网元、发送设备和接收设备中的一者根据目标信息进行信号参数的自适应调节，并将调整后的信号参数发送给另外两者中的至少一个。然后由所述发送设备根据调整后的信号参数生成并发送第一信号，所述接收设备根据调整后的信号参数接收第一信号，得到回波数据。接着基于所述回波数据得到目标信息。
最后循环执行步骤5，直到感知过程结束。
在一些实施例中，可以针对时间维的信号参数进行自适应调整。该时间维的信号参数包括：感知信号周期、感知帧周期和感知更新周期。
第一感知功能网元和/或第一感知节点根据第一信息设置初始的感知信号周期、感知帧周期和感知更新周期。
第一感知节点根据初始的感知信号周期、感知帧周期和感知更新周期执行感知信号的发送、接收和处理，并与感知功能网元进行感知测量量和/或感知结果、以及信号参数的交互。
第一感知功能网元和/或第一感知节点根据感知结果进行感知信号波形的自适应配置，包括：
第一感知功能网元和/或第一感知节点根据感知对象的第一参数自适应地更新感知信号周期的配置；
第一感知功能网元和/或第一感知节点根据感知对象的回波信号质量自适应地更新感知帧周期的配置；
第一感知功能网元和/或第一感知节点根据感知对象的第一参数的性能指标自适应地更新感知更新周期的配置。
第一感知节点根据更新的感知信号周期、感知帧周期和感知更新周期执行感知信号的发送、接收和处理，并与第一感知功能网元进行感知测量量和/或感知结果、以及信号参数的交互。
可选地，在一些实施例中，可以针对功率与带宽两个信号参数联合自适应调整。
例如，在呼吸检测的场中，设备A发送第一信号，第一信号的至少一个 径经过人体呼吸时起伏的胸腔反射至第二设备接收，设备A通过信号处理提取出呼吸频率。
所述第一信号处理的一种常用方法是对OFDM波形的一个子载波或一个资源块(Resource Block，RB)的第一信号进行处理，以得到呼吸频率。在呼吸检测方法进行过程中，设备A的发射功率分布在频率域的分布范围大于或等于所述一个子载波或一个RB。
在设备B进行呼吸检测信号处理时，如果所述一个子载波或一个RB的回波信号质量小于门限A，则无法正确提取出呼吸频率、或提取出的呼吸频率的置信度小于门限B。此时，应适当地增大所述一个子载波或一个RB的发射功率，而设备A的总发射功率是一定的，因此需要对应地减小设备A发射第一信号的带宽。
反之，如果所述一个子载波或一个RB的回波信号质量大于门限A，则能够正确地提取出呼吸频率、或提取出的呼吸频率的置信度大于门限B，即能够满足感知需求。此时，如果所述一个子载波或一个RB的回波信号质量大于门限C，或提取出的呼吸频率的置信度大于门限D，则能够适当减小所述一个子载波或一个RB的发射功率，从而能够适当增大设备A发射第一信号的带宽。
可选地，上述发射功率和带宽的增大或减小的具体取值可以采用以下任一项计算方式确定：
根据当前时刻回波信号质量与门限A或门限B、门限C或门限D，计算出发射功率或带宽的目标值；
以预设的发射功率或带宽的取值以步进值的方式调节发射功率或带宽；
基于预设的发射功率和带宽的取值表格以查表的方式设置发射功率和带宽。
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，第二设备从第一设备接收第一指示信息，所述第一指示信息用于指示第一信号调整后的信号参数，所述第一信号用于执行第一感知业务；
所述第二设备基于调整后的信号参数执行第一操作；
其中，所述第一操作包括以下任一项：
在所述第二设备为第一感知功能网元的情况下，根据所述调整后的信号参数对从第一设备接收到的回波数据进行第二运算得到所述目标信息，所述回波数据为所述第一设备基于调整后的信号参数执行第一感知业务获得的回波数据；
在所述第二设备为第一感知功能网元的情况下，根据所述调整后的信号 参数对从第一设备接收到的中间感知结果进行第三运算得到所述目标信息，所述中间感知结果为所述第一设备对所述回波数据进行第一运算得到结果，所述第一运算为所述第二运算中的部分运算，所述第三运算为所述第二运算中除所述第一运算之外的剩余运算；
在所述第二设备为第一感知节点的情况下，根据所述调整后的信号参数发送和/或接收所述第一信号。
可选地，在所述第二设备为第一感知节点的情况下，所述第一操作还包括以下任一项：
对所述第二设备基于调整后的信号参数执行第一感知业务获得的回波数据进行所述第一运算，得到所述中间感知结果；
对所述第二设备基于调整后的信号参数执行第一感知业务获得的回波数据进行所述第二运算，得到所述目标信息。
可选地，所述信号参数包括以下至少两项：第一时间资源信息、感知信号周期、感知更新周期、感知帧周期、带宽、天线孔径、发射功率和波束指向。
可选地，所述第一时间资源信息包括以下任一项：
用于分配给所述第一感知业务的固定时间资源；
时间单元和所述时间单元内可用于执行所述第一感知业务的时间资源配比。
可选地，所述目标信息包括以下至少一项：第一感知帧的回波信号质量、第一感知帧的第一参数、对第二感知帧的回波信号质量的预测值、对第二感知帧的第一参数的预测值和所述第一参数的第一指标；其中，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，所述第一指标用于表示对感知对象的感知性能，所述第二感知帧位于所述第一感知帧之后。
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、SNR、SINR、RSRP和RSRQ。
可选地，所述第一参数包括以下至少一项：
极坐标系下的参数；
直角坐标系下的参数。
可选地，所述第一指标包括以下至少一项：
残差的方差或标准差；
预测误差协方差；
状态估计误差协方差。
可选地，在所述第二设备为第一感知节点的情况下，所述第二设备基于调整后的信号参数执行第一操作之后，所述方法还包括：
所述第二设备向所述第一设备发送第二信息，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信息，其中，所述回波数据为所述第一感知节点基于调整后的信号参数执行第一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。
本申请实施例提供的感知处理方法，执行主体可以为感知处理装置。本申请实施例中以感知处理装置执行感知处理方法法为例，说明本申请实施例提供的感知处理装置。
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，用于获取目标信息，所述目标信息基于执行第一感知业务获得的结果确定；
调整模块702，用于根据所述目标信息确定第一信号的信号参数，所述第一信号用于执行所述第一感知业务。
可选地，所述信号参数包括以下至少两项：第一时间资源信息、感知信号周期、感知更新周期、感知帧周期、带宽、天线孔径、发射功率和波束指向。
可选地，所述第一时间资源信息包括以下任一项：
用于分配给所述第一感知业务的固定时间资源；
时间单元和所述时间单元内可用于执行所述第一感知业务的时间资源配比。
可选地，所述目标信息包括以下至少一项：第一感知帧的回波信号质量、第一感知帧的第一参数、对第二感知帧的回波信号质量的预测值、对第二感知帧的第一参数的预测值和所述第一参数的第一指标；其中，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，所述第一指标用于表示对感知对象的感知性能，所述第二感知帧位于所述第一感知帧之后。
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、SNR、SINR、RSRP和RSRQ。
可选地，所述第一参数包括以下至少一项：极坐标系下的参数；直角坐标系下的参数。
可选地，所述第一指标包括以下至少一项：
残差的方差或标准差；
预测误差协方差；
状态估计误差协方差。
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还用于获取第一信息；
所述第一确定模块用于根据所述第一信息、第一感知节点的能力信息和位置信息确定第一信号的信号参数的初始配置，所述初始配置用于执行初始感知；
其中，所述第一感知节点为所述第一设备，或者所述第一感知节点为所述第一设备调用执行所述第一感知业务的感知节点；所述第一信息包括以下至少一项：感知业务类型、感知业务的执行时间、感知业务的全局优先级、感知对象类型、感知先验信息、感知测量量、感知服务质量QoS要求、信号处理算法和数据处理算法。
可选地，在所述第一设备为第一感知功能网元的情况下，所述第一确定模块还用于根据所述第一信息确定用于执行所述第一感知业务的第一感知节点集合和用于切换后执行所述第一感知业务的第二感知节点集合，所述第一感知节点集合包含至少一个第一感知节点；所述第二感知节点集合包含零个或至少一个第二感知节点。
可选地，所述感知处理装置700还包括：
更新模块，用于在预设的更新条件满足的情况下，所述第一感知功能网元更新第一感知节点集合和第二感知节点集合中的至少一项；
其中，所述预设的更新条件包含以下至少一项：第一感知节点集合中的至少一个第一感知节点不适合执行所述第一感知业务；所述第二感知节点集合中的至少一个第二感知节点切换至第一感知节点集合并用于执行所述第一感知业务；所述第二感知集合中新加入至少一个第二感知节点。
可选地，所述获取模块具体用于执行以下任一项：
在所述第一设备为第一感知功能网元的情况下，从第一感知节点接收第二信息，并基于所述第二信息确定目标信息；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信息，其中，所述回波数据为所述感知节点基于当前的信号参数执行第一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；
在所述第一设备为第一感知节点的情况下，基于当前的信号参数执行第一感知业务获得回波数据，并对所述回波数据进行第二运算得到目标信息；
在所述第一设备为第一感知节点的情况下，向第一感知功能网元发送第三信息，并接收所述第一感知功能网元发送的目标信息，所述第三信息包括：回波数据或对回波数据进行第一运算得到的中间感知结果，所述目标信息为所述第一感知功能网元基于所述第三信息确定的目标信息。
可选地，所述感知处理装置700还包括：
第一发送模块，用于在满足预设条件的情况下，向第二设备发送第一指 示信息，所述第一指示信息用于指示调整后的所述信号参数；
其中，所述预设条件包括以下至少一项：
所述第一设备为第一感知节点，所述第二设备包括第一感知功能网元，且第一感知功能网元参与信号处理；
所述第一设备为第一感知功能网元，所述第二设备包括第一感知节点。
可选地，在所述第一设备为第一感知节点的情况下，所述感知处理装置700还包括：
第二执行模块，用于根据调整后的所述信号参数执行所述第一感知业务。
可选地，在所述第一设备为第一感知节点的情况下，所述感知处理装置700还包括第三执行模块，用于执行以下至少一项：
所述第一设备在接收到第一感知功能网元发送的第一信令的情况下，确定所述第一设备被所述第一感知业务占用，直到所述第一设备收到第二信令，所述第一信令为感知节点选择过程中的信令，所述第二信令用于指示所述第一设备被确定是执行所述第一感知业务的第一感知节点，所述第一感知功能网元为用于调用所述第一设备执行所述第一感知业务的感知功能网元；
所述第一设备在接收到第二感知功能网元发送的所述第一信令的情况下，确定所述第一设备被所述第二感知功能网元的第二感知业务占用，直到所述第一设备收到第三信令或定时器超时，所述第三信令用于指示所述第一设备被确定不是执行所述第二感知业务的第一感知节点，所述定时器与所述第二感知业务关联；
所述第一设备监听到任一个感知功能网元发送的第一信令的情况下，继续监听各感知功能网元发送的第一信令，若所述第一设备在接收到第三感知功能网元发送的第二信令之前接收到所述第一感知功能网元发送的第二信令，则向所述第三感知功能网元发送第一反馈信息，所述第一反馈信息用于指示所述第一设备不执行对应的感知功能网元的感知业务，所述第三感知功能网元为所述第一设备确认已发送第一信令但未发送第二信令的感知功能网元；
所述第一设备监听到第四感知功能网元发送的第一信令的情况下，继续监听各感知功能网元发送的第一信令，若所述第一设备在接收到所述第四感知功能网元发送的所述第二信令之前接收到所述第一感知功能网元发送的所述第一信令，且所述第四感知功能网元的第四感知业务的全局优先级低于所述第一感知业务的全局优先级，则向所述第四感知功能网元发送所述第一反馈信息。
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，用于从第一设备接收第一指示信息，所述第一指示 信息用于指示第一信号调整后的信号参数，所述第一信号用于执行第一感知业务；
第一执行模块802，用于基于调整后的信号参数执行第一操作；
其中，所述第一操作包括以下任一项：
在所述第二设备为第一感知功能网元的情况下，根据所述调整后的信号参数对从第一设备接收到的回波数据进行第二运算得到所述目标信息，所述回波数据为所述第一设备基于调整后的信号参数执行第一感知业务获得的回波数据；
在所述第二设备为第一感知功能网元的情况下，根据所述调整后的信号参数对从第一设备接收到的中间感知结果进行第三运算得到所述目标信息，所述中间感知结果为所述第一设备对所述回波数据进行第一运算得到结果，所述第一运算为所述第二运算中的部分运算，所述第三运算为所述第二运算中除所述第一运算之外的剩余运算；
在所述第二设备为第一感知节点的情况下，根据所述调整后的信号参数发送和/或接收所述第一信号。
可选地，在所述第二设备为第一感知节点的情况下，所述第一操作还包括以下任一项：
对所述第二设备基于调整后的信号参数执行第一感知业务获得的回波数据进行所述第一运算，得到所述中间感知结果；
对所述第二设备基于调整后的信号参数执行第一感知业务获得的回波数据进行所述第二运算，得到所述目标信息。
可选地，所述信号参数包括以下至少两项：第一时间资源信息、感知信号周期、感知更新周期、感知帧周期、带宽、天线孔径、发射功率和波束指向。
可选地，所述第一时间资源信息包括以下任一项：
用于分配给所述第一感知业务的固定时间资源；
时间单元和所述时间单元内可用于执行所述第一感知业务的时间资源配比。
可选地，所述目标信息包括以下至少一项：第一感知帧的回波信号质量、第一感知帧的第一参数、对第二感知帧的回波信号质量的预测值、对第二感知帧的第一参数的预测值和所述第一参数的第一指标；其中，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，所述第一指标用于表示对感知对象的感知性能，所述第二感知帧位于所述第一感知帧之后。
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、SNR、SINR、RSRP和RSRQ。
可选地，所述第一参数包括以下至少一项：
极坐标系下的参数；
直角坐标系下的参数。
可选地，所述第一指标包括以下至少一项：
残差的方差或标准差；
预测误差协方差；
状态估计误差协方差。
可选地，在所述第二设备为第一感知节点的情况下，所述感知处理装置800还包括：
第二发送模块，用于向所述第一设备发送第二信息，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信息，其中，所述回波数据为所述第一感知节点基于调整后的信号参数执行第一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。
本申请实施例中的感知处理装置可以是电子设备，例如具有操作系统的电子设备，也可以是电子设备中的部件，例如集成电路或芯片。该电子设备可以是终端，也可以为除终端之外的其他设备。示例性的，终端可以包括但不限于上述所列举的终端11的类型，其他设备可以为服务器、网络附属存储器(Network Attached Storage，NAS)等，本申请实施例不作具体限定。
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，在所述终端为第一设备时，所述通信接口用于获取目标信息，所述目标信息基于执行第一感知业务获得的结果确定；所述处理器用于据所述目标信息调整第一信号的信号参数，所述第一信号用于执行所述第一感知业务；
或者，在所述终端为第二设备时，所述通信接口用于从第一设备接收第一指示信息，所述第一指示信息用于指示第一信号调整后的信号参数，所述第一信号用于执行第一感知业务；所述处理器用于基于调整后的信号参数执行第一操作；
所述第一操作包括根据所述调整后的信号参数发送和/或接收所述第一信号。
该终端实施例与上述终端侧方法实施例对应，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，在所述终端为第一设备时，所述射频单元1001用于获取目标信息，所述目标信息基于执行第一感知业务获得的结果确定；所述处理器1010用于据所述目标信息调整第一信号的信号参数，所述第一信号用于执行所述第一感知业务；
或者，在所述终端为第二设备时，所述射频单元1001用于从第一设备接收第一指示信息，所述第一指示信息用于指示第一信号调整后的信号参数，所述第一信号用于执行第一感知业务；所述处理器用于基于调整后的信号参数执行第一操作；
所述第一操作包括根据所述调整后的信号参数发送和/或接收所述第一信号。
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，在所述通信设备为第一设备时，所述通信接口用于获取目标信息，所述目标信息基于执行第一感知业务获得的结果确定；所述处理器用于据所述目标信息调整第一信号的信号参数，所述第一信号用于执行所述第一感知业务；
或者，在所述通信设备为第二设备时，所述通信接口用于从第一设备接收第一指示信息，所述第一指示信息用于指示第一信号调整后的信号参数，所述第一信号用于执行第一感知业务；所述处理器用于基于调整后的信号参数执行第一操作；
所述第一操作包括以下任一项：
在所述第二设备为第一感知功能网元的情况下，根据所述调整后的信号参数对从第一设备接收到的回波数据进行第二运算得到所述目标信息，所述回波数据为所述第一设备基于调整后的信号参数执行第一感知业务获得的回波数据；
在所述第二设备为第一感知功能网元的情况下，根据所述调整后的信号 参数对从第一设备接收到的中间感知结果进行第三运算得到所述目标信息，所述中间感知结果为所述第一设备对所述回波数据进行第一运算得到结果，所述第一运算为所述第二运算中的部分运算，所述第三运算为所述第二运算中除所述第一运算之外的剩余运算；
在所述第二设备为第一感知节点的情况下，根据所述调整后的信号参数发送和/或接收所述第一信号。
该网络侧设备实施例与上述网络侧设备方法实施例对应，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，本申请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。
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 (22)

  1. 一种感知处理方法，包括：
    第一设备获取目标信息，所述目标信息基于执行第一感知业务获得的结果确定；
    所述第一设备根据所述目标信息确定第一信号的信号参数，所述第一信号用于执行所述第一感知业务。
  2. 根据权利要求1所述的方法，其中，所述信号参数包括以下至少两项：第一时间资源信息、感知信号周期、感知更新周期、感知帧周期、带宽、天线孔径、发射功率和波束指向。
  3. 根据权利要求2所述的方法，其中，所述第一时间资源信息包括以下任一项：
    用于分配给所述第一感知业务的固定时间资源；
    时间单元和所述时间单元内可用于执行所述第一感知业务的时间资源配比。
  4. 根据权利要求1所述的方法，其中，所述目标信息包括以下至少一项：第一感知帧的回波信号质量、第一感知帧的第一参数、对第二感知帧的回波信号质量的预测值、对第二感知帧的第一参数的预测值和所述第一参数的第一指标；其中，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，所述第一指标用于表示对感知对象的感知性能，所述第二感知帧位于所述第一感知帧之后。
  5. 根据权利要求4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。
  6. 根据权利要求5所述的方法，其中，所述第一参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；
    感知对象相对于感知节点的角度；
    感知对象在直角坐标系下的坐标；
    感知对象在直角坐标系下的速度。
  7. 根据权利要求5所述的方法，其中，所述第一指标包括以下至少一项：
    残差的方差或标准差；
    预测误差协方差；
    状态估计误差协方差。
  8. 根据权利要求1所述的方法，其中，所述第一设备获取目标信息之前， 所述方法还包括：
    所述第一设备获取第一信息；
    所述第一设备根据所述第一信息、第一感知节点的能力信息和位置信息确定第一信号的信号参数的初始配置，所述初始配置用于执行初始感知；
    其中，所述第一感知节点为所述第一设备，或者所述第一感知节点为所述第一设备调用执行所述第一感知业务的感知节点；所述第一信息包括以下至少一项：感知业务类型、感知业务的执行时间、感知业务的全局优先级、感知对象类型、感知先验信息、感知测量量、感知服务质量QoS要求、信号处理算法和数据处理算法。
  9. 根据权利要求8所述的方法，其中，在所述第一设备为第一感知功能网元的情况下，所述第一设备根据所述第一信息、第一感知节点的能力信息和位置信息确定第一信号的信号参数的初始配置之前，所述方法还包括：
    所述第一设备根据所述第一信息确定用于执行所述第一感知业务的第一感知节点集合和用于切换后执行所述第一感知业务的第二感知节点集合，所述第一感知节点集合包含至少一个第一感知节点；所述第二感知节点集合包含零个或至少一个第二感知节点。
  10. 根据权利要求9所述的方法，其中，所述第一感知功能网元根据所述第一信息确定第一感知节点集合和第二感知节点集合之后，所述方法还包括：
    在预设的更新条件满足的情况下，所述第一感知功能网元更新第一感知节点集合和第二感知节点集合中的至少一项；
    其中，所述预设的更新条件包含以下至少一项：第一感知节点集合中的至少一个第一感知节点不适合执行所述第一感知业务；所述第二感知节点集合中的至少一个第二感知节点切换至第一感知节点集合并用于执行所述第一感知业务；所述第二感知集合中新加入至少一个第二感知节点。
  11. 根据权利要求1至10中任一项所述的方法，其中，所述第一设备获取目标信息包括以下任一项：
    在所述第一设备为第一感知功能网元的情况下，所述第一设备从第一感知节点接收第二信息，并基于所述第二信息确定目标信息；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信息，其中，所述回波数据为所述感知节点基于当前的信号参数执行第一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；
    在所述第一设备为第一感知节点的情况下，第一设备基于当前的信号参数执行第一感知业务获得回波数据，并对所述回波数据进行第二运算得到目标信息；
    在所述第一设备为第一感知节点的情况下，第一设备向第一感知功能网元发送第三信息，并接收所述第一感知功能网元发送的目标信息，所述第三信息包括：回波数据或对回波数据进行第一运算得到的中间感知结果，所述目标信息为所述第一感知功能网元基于所述第三信息确定的目标信息。
  12. 根据权利要求1至10中任一项所述的方法，其中，所述第一设备根据所述目标信息确定第一信号的信号参数之后，还包括：
    在满足预设条件的情况下，所述第一设备向第二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所述信号参数；
    其中，所述预设条件包括以下至少一项：
    所述第一设备为第一感知节点，所述第二设备包括第一感知功能网元，且第一感知功能网元参与信号处理；
    所述第一设备为第一感知功能网元，所述第二设备包括第一感知节点。
  13. 根据权利要求1至10中任一项所述的方法，其中，在所述第一设备为第一感知节点的情况下，所述第一设备根据所述目标信息确定第一信号的信号参数之后，还包括：
    所述第一设备根据调整后的所述信号参数执行所述第一感知业务。
  14. 根据权利要求1至10中任一项所述的方法，其中，在所述第一设备为第一感知节点的情况下，第一设备获取目标信息的步骤之前，所述方法还包括以下至少一项：
    所述第一设备在接收到第一感知功能网元发送的第一信令的情况下，确定所述第一设备被所述第一感知业务占用，直到所述第一设备收到第二信令，所述第一信令为感知节点选择过程中的信令，所述第二信令用于指示所述第一设备被确定是执行所述第一感知业务的第一感知节点，所述第一感知功能网元为用于调用所述第一设备执行所述第一感知业务的感知功能网元；
    所述第一设备在接收到第二感知功能网元发送的所述第一信令的情况下，确定所述第一设备被所述第二感知功能网元的第二感知业务占用，直到所述第一设备收到第三信令或定时器超时，所述第三信令用于指示所述第一设备被确定不是执行所述第二感知业务的第一感知节点，所述定时器与所述第二感知业务关联；
    所述第一设备监听到任一个感知功能网元发送的第一信令的情况下，继续监听各感知功能网元发送的第一信令，若所述第一设备在接收到第三感知功能网元发送的第二信令之前接收到所述第一感知功能网元发送的第二信令，则所述第一设备向所述第三感知功能网元发送第一反馈信息，所述第一反馈信息用于指示所述第一设备不执行对应的感知功能网元的感知业务，所述第三感知功能网元为所述第一设备确认已发送第一信令但未发送第二信令的感 知功能网元；
    所述第一设备监听到第四感知功能网元发送的第一信令的情况下，继续监听各感知功能网元发送的第一信令，若所述第一设备在接收到所述第四感知功能网元发送的所述第二信令之前接收到所述第一感知功能网元发送的所述第一信令，且所述第四感知功能网元的第四感知业务的全局优先级低于所述第一感知业务的全局优先级，则所述第一设备向所述第四感知功能网元发送所述第一反馈信息。
  15. 一种感知处理方法，包括：
    第二设备从第一设备接收第一指示信息，所述第一指示信息用于指示第一信号调整后的信号参数，所述第一信号用于执行第一感知业务；
    所述第二设备基于调整后的信号参数执行第一操作；
    其中，所述第一操作包括以下任一项：
    在所述第二设备为第一感知功能网元的情况下，根据所述调整后的信号参数对从第一设备接收到的回波数据进行第二运算得到目标信息，所述回波数据为所述第一设备基于调整后的信号参数执行第一感知业务获得的回波数据；
    在所述第二设备为第一感知功能网元的情况下，根据所述调整后的信号参数对从第一设备接收到的中间感知结果进行第三运算得到所述目标信息，所述中间感知结果为所述第一设备对所述回波数据进行第一运算得到结果，所述第一运算为所述第二运算中的部分运算，所述第三运算为所述第二运算中除所述第一运算之外的剩余运算；
    在所述第二设备为第一感知节点的情况下，根据所述调整后的信号参数发送和/或接收所述第一信号。
  16. 根据权利要求15所述的方法，其中，在所述第二设备为第一感知节点的情况下，所述第一操作还包括以下任一项：
    对所述第二设备基于调整后的信号参数执行第一感知业务获得的回波数据进行所述第一运算，得到中间感知结果；
    对所述第二设备基于调整后的信号参数执行第一感知业务获得的回波数据进行所述第二运算，得到目标信息。
  17. 根据权利要求15或16所述的方法，其中，在所述第二设备为第一感知节点的情况下，所述第二设备基于调整后的信号参数执行第一操作之后，所述方法还包括：
    所述第二设备向所述第一设备发送第二信息，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信息，其中，所述回波数据为所述第一感知节点基于调整 后的信号参数执行第一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。
  18. 根据权利要求15或16所述的方法，其中，在所述第二设备为第一感知功能网元的情况下，所述第二设备基于调整后的信号参数执行第一操作之后，所述方法还包括：
    所述第二设备向所述第一设备发送所述目标信息。
  19. 一种感知处理装置，应用于第一设备，包括：
    获取模块，用于获取目标信息，所述目标信息基于执行第一感知业务获得的结果确定；
    调整模块，用于根据所述目标信息确定第一信号的信号参数，所述第一信号用于执行所述第一感知业务。
  20. 一种感知处理装置，应用于第二设备，包括：
    第一接收模块，用于从第一设备接收第一指示信息，所述第一指示信息用于指示第一信号调整后的信号参数，所述第一信号用于执行第一感知业务；
    第一执行模块，用于基于调整后的信号参数执行第一操作；
    其中，所述第一操作包括以下任一项：
    在所述第二设备为第一感知功能网元的情况下，根据所述调整后的信号参数对从第一设备接收到的回波数据进行第二运算得到目标信息，所述回波数据为所述第一设备基于调整后的信号参数执行第一感知业务获得的回波数据；
    在所述第二设备为第一感知功能网元的情况下，根据所述调整后的信号参数对从第一设备接收到的中间感知结果进行第三运算得到所述目标信息，所述中间感知结果为所述第一设备对所述回波数据进行第一运算得到结果，所述第一运算为所述第二运算中的部分运算，所述第三运算为所述第二运算中除所述第一运算之外的剩余运算；
    在所述第二设备为第一感知节点的情况下，根据所述调整后的信号参数发送和/或接收所述第一信号。
  21. 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，其中，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18中任一项所述的感知处理方法的步骤。
  22. 一种可读存储介质，所述可读存储介质上存储程序或指令，其中，所述程序或指令被处理器执行时实现如权利要求1至18任一项所述的感知处理方法的步骤。
PCT/CN2023/081701 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 WO2023174345A1 (zh)

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