WO2024251099A1 - 感知方法、通信装置及计算机可读存储介质 - Google Patents

感知方法、通信装置及计算机可读存储介质 Download PDF

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Publication number
WO2024251099A1
WO2024251099A1 PCT/CN2024/097174 CN2024097174W WO2024251099A1 WO 2024251099 A1 WO2024251099 A1 WO 2024251099A1 CN 2024097174 W CN2024097174 W CN 2024097174W WO 2024251099 A1 WO2024251099 A1 WO 2024251099A1
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Prior art keywords
perception
signal
report
signals
perception signal
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PCT/CN2024/097174
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English (en)
French (fr)
Inventor
马大为
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Beijing Ziguang Zhanrui Communication Technology Co Ltd
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Beijing Ziguang Zhanrui Communication Technology Co Ltd
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Priority to EP24818631.4A priority Critical patent/EP4727204A1/en
Publication of WO2024251099A1 publication Critical patent/WO2024251099A1/zh
Anticipated expiration legal-status Critical
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W24/00—Supervisory, monitoring or testing arrangements
    • H04W24/10—Scheduling measurement reports ; Arrangements for measurement reports
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters

Definitions

  • the present application relates to the field of communication technology, and in particular to a perception method, a communication device and a computer-readable storage medium.
  • One of the technical objectives of the present application is to provide a perception method, a communication device and a computer-readable storage medium, which are conducive to optimizing the configuration of perception signals.
  • an embodiment of the present application provides a perception method, the method comprising: measuring a first perception signal; responding to at least one satisfactory result of the measurement of the first perception signal; If the reporting conditions are met, the first perception report is sent.
  • the method also includes: measuring a second perception signal; and sending a second perception report, wherein the second perception report includes a measurement result of the second perception signal.
  • the method before measuring the second perception signal, the method further includes: receiving trigger signaling, where the trigger signaling is used to trigger the measurement of the second perception signal and/or the sending of the second perception report.
  • the first perception report includes at least one of the following: the arrival time of at least one perception signal in the first perception signal or the arrival time difference between the perception signals in the first perception signal; the arrival angle of at least one perception signal in the first perception signal; Doppler information of at least one perception signal in the first perception signal; resource index information of at least one perception signal in the first perception signal; channel quality information corresponding to at least one perception signal in the first perception signal; and the measurement time corresponding to the first perception report.
  • the first perception report also includes: configuration auxiliary information, where the configuration auxiliary information is used to assist resource configuration of the second perception signal and/or configuration of the second perception report.
  • the second perception report includes at least one of the following: the arrival time of at least one perception signal in the second perception signal or the arrival time difference between the perception signals in the second perception signal; the arrival angle of at least one perception signal in the second perception signal; Doppler information of at least one perception signal in the second perception signal; resource index information of at least one perception signal in the second perception signal; channel quality information corresponding to at least one perception signal in the second perception signal; and the measurement time corresponding to the second perception report.
  • the second perception signal satisfies at least one of the following: the second perception signal is the same as or different from the first perception signal; the resource overhead of the second perception signal is greater than the resource overhead of the first perception signal; the bandwidth of the second perception signal is greater than the bandwidth of the first perception signal; the frequency domain density of the second perception signal is greater than the frequency domain density of the first perception signal; the frequency domain density of the second perception signal; the duration of the second perception signal is greater than the duration of the first perception signal; and the time domain interval of the second perception signal is less than the time domain interval of the first perception signal.
  • an embodiment of the present application further provides a perception method, the method comprising: receiving a first perception report, wherein the first perception report is reported in response to at least one measurement result of the first perception signal satisfying a reporting condition.
  • the method further includes receiving a second perception report, where the second perception report includes a measurement result of a second perception signal.
  • the method before receiving the second perception report, the method further includes: sending trigger signaling, where the trigger signaling is used to trigger measurement of the second perception signal and/or sending of the second perception report.
  • the first perception report includes: the arrival time of at least one perception signal in the first perception signal or the arrival time difference between the perception signals in the first perception signal; the arrival angle of at least one perception signal in the first perception signal; Doppler information of at least one perception signal in the first perception signal; resource index information of at least one perception signal in the first perception signal; corresponding channel quality information of at least one perception signal in the first perception signal; and the measurement time corresponding to the first perception report.
  • the first perception report also includes: configuration auxiliary information, where the configuration auxiliary information is used to assist resource configuration of the second perception signal and/or configuration of the second perception report.
  • the second perception report includes at least one of the following: the arrival time of at least one perception signal in the second perception signal or the arrival time difference between the perception signals in the second perception signal; the arrival angle of at least one perception signal in the second perception signal; Doppler information of at least one perception signal in the second perception signal; resource index information of at least one perception signal in the second perception signal; channel quality information corresponding to at least one perception signal in the second perception signal; and the measurement time corresponding to the second perception report.
  • the second perception signal satisfies at least one of the following: the second perception signal is the same or different from the first perception signal; the resource overhead of the second perception signal is greater than the resource overhead of the first perception signal; the bandwidth of the second perception signal is greater than the bandwidth of the first perception signal; the frequency domain density of the second perception signal is greater than the frequency domain density of the first perception signal; the duration of the second perception signal is greater than the duration of the first perception signal; and the time domain interval of the second perception signal is smaller than the time domain interval of the first perception signal.
  • an embodiment of the present application provides a communication device, comprising: a processing module, used to measure a first perception signal; and a communication module, used to send a first perception report in response to at least one of the measurement results of the first perception signal satisfying a reporting condition.
  • an embodiment of the present application provides a communication device, comprising: a communication module, configured to receive a first perception report, wherein the first perception report is reported in response to at least one of the measurement results of the first perception signal satisfying a reporting condition.
  • an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon.
  • the computer program is executed by a processor, the perception method provided in any of the above aspects is executed.
  • an embodiment of the present application provides a communication device, comprising a memory and a processor, wherein the memory stores a computer program that can be executed on the processor, and when the processor runs the computer program, the steps of the perception method provided in the first aspect are executed.
  • an embodiment of the present application provides a communication device, comprising a memory and a processor, wherein the memory stores a computer program that can be executed on the processor, and when the processor runs the computer program, the steps of the perception method provided in the second aspect are executed.
  • an embodiment of the present application provides a chip (or a communication device) on which a computer program is stored.
  • the computer program is executed by the chip, the perception method provided in any of the above aspects is executed.
  • an embodiment of the present application provides a chip module, on which a computer program is stored, and when the computer program is executed by the chip module, any of the above aspects The provided sense method is executed.
  • an embodiment of the present application provides a computer program product, which includes a computer program.
  • the computer program runs on a computer, the computer executes the perception method provided in any of the above aspects.
  • an embodiment of the present application provides a communication system, which includes an apparatus for executing the method provided in the first aspect and an apparatus for executing the method provided in the second aspect.
  • the communication device measures the first perception signal, and sends a first perception report in response to at least one of the measurement results of the first perception signal satisfying the reporting condition.
  • the communication device determines that at least one measurement result of the first perception signal satisfies the reporting condition, the first perception report is reported, which not only enables the first communication device to obtain the perception result in a timely manner, but also facilitates the first communication device to reasonably configure subsequent perception according to the first perception report.
  • the first perception signal is measured first, and then the measurement of the second perception signal is triggered when the first perception report is reported to obtain a perception result with higher accuracy.
  • FIG1 is a schematic diagram of an application scenario of a perception method in an embodiment of the present application.
  • FIG2 is a schematic diagram of a flow chart of a sensing method in an embodiment of the present application.
  • FIG3 is a flow chart of another sensing method in an embodiment of the present application.
  • FIG4 is a flow chart of another sensing method in an embodiment of the present application.
  • FIG5 is a schematic diagram of the structure of a communication device in an embodiment of the present application.
  • FIG6 is a schematic diagram of the structure of another communication device in an embodiment of the present application.
  • FIG7 is a schematic diagram of the hardware structure of a communication device in an embodiment of the present application.
  • FIG8 is a flow chart of another sensing method in an embodiment of the present application.
  • the communication systems to which the embodiments of the present application are applicable include but are not limited to the third generation system (3rd generation, referred to as 3G), long term evolution (LTE) system, fourth generation system (4th generation, referred to as 4G), fifth generation (5th generation, referred to as 5G) system, new radio (NR) system, and future evolution system or multiple communication fusion systems.
  • 3G third generation system
  • LTE long term evolution
  • 4G fourth generation
  • 5G fifth generation
  • NR new radio
  • future evolution system or multiple communication fusion systems future evolution system or multiple communication fusion systems.
  • the 5G system can be a non-standalone (NSA) 5G system or a standalone (SA) 5G system.
  • SA standalone
  • the solution of the embodiments of the present application can also be applicable to various new communication systems in the future, such as 6G, 7G, etc.
  • the terminal in the embodiments of the present application may refer to various forms of user equipment (UE), access terminal, user unit, user station, mobile station, mobile station (MS), remote station, remote terminal, mobile device, user terminal, terminal equipment (Terminal Equipment), wireless communication equipment, user agent or user device.
  • UE user equipment
  • MS mobile station
  • remote station remote terminal
  • mobile device user terminal
  • Terminal Equipment Terminal Equipment
  • wireless communication equipment user agent or user device.
  • the terminal may also be a cellular phone, a cordless phone, a Session Initiation Protocol (SIP) phone, a Wireless Local Loop (WLL) station, a Personal Digital Assistant (PDA), a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a wearable device, a terminal in a future 5G network or a terminal in a future evolved Public Land Mobile Network (PLMN), etc., and the embodiments of the present application are not limited to this.
  • SIP Session Initiation Protocol
  • WLL Wireless Local Loop
  • PDA Personal Digital Assistant
  • a base station (also called a base station device) is a device deployed in a radio access network (RAN) to provide wireless communication functions.
  • the equipment that provides base station functions includes a base transceiver station (BTS), in the third-generation (3G) network, the equipment that provides base station functions includes a node B (NodeB), in the fourth-generation (4G) network, the equipment that provides base station functions includes an evolved node B (eNB), in wireless local area networks (WLAN), the equipment that provides base station functions is an access point (AP), and the equipment that provides base station functions in NR is the next generation node base station (gNB), and the evolved node B (ng-eNB), wherein the gNB and the terminal device communicate using NR technology, and the ng-eNB and the terminal device communicate using Evolved Universal Terrestrial Radio Access (E-UTRA) technology, and both gNB
  • E-UTRA Evolved Universal Terrestrial Radio Access
  • Figure 1 is a schematic diagram of an application scenario of a perception method in an embodiment of the present application.
  • the method provided in the embodiment of the present application can be applied to a multi-station sensing scenario, where multi-station sensing refers to obtaining sensing results through collaboration between multiple communication devices.
  • the first communication device is a sender of the perception signal
  • the second communication device is a receiver of the perception signal
  • the first communication device may send a perception signal
  • the second communication device may receive the perception signal, and perform perception according to the received perception signal.
  • the sensing signal may be a defined reference signal, such as a channel state information reference signal (CSI-RS), a synchronization signal block (SSB), a positioning reference signal, or a positioning reference signal.
  • CSI-RS channel state information reference signal
  • SSB synchronization signal block
  • PRS positioning reference signal
  • SRS sounding reference signal
  • the perception signal may also be a newly defined reference signal, which is not limited in this embodiment.
  • the perception signal received by the second communication device may be the perception signal itself sent by the first communication device, that is, the perception signal sent by the first communication device may be sent directly to the second communication device without passing through any object; the perception signal received by the second communication device may also be a signal formed by hitting the target, for example, a reflection signal, etc., and the embodiment of the present invention does not impose any restrictions on this.
  • the first communication device may be a network device, and the second communication device may be a terminal; or the first communication device may be a first terminal, and the second communication device may be a second terminal; or the first communication device may be a first network device, and the second communication device may be a second network device; or the first communication device may be a terminal, and the second communication device may be a network device.
  • the solution of the embodiment of the present application can be applied to the scenario of single-station perception, where the single-station perception is to obtain the perception result through the self-transmission and self-reception of the same communication device.
  • the first communication device can send a perception signal and measure the perception signal sent by itself to obtain the perception result.
  • the communication device that performs single-station perception can be a terminal or a network device.
  • Figure 2 is a flow chart of a sensing method in an embodiment of the present application.
  • the method shown in Figure 2 can be applied to the second communication device described above, or the method shown in Figure 2 can be applied to a communication device performing single-station sensing.
  • the method shown in Fig. 2 may include S21 and S22.
  • S in each step number represents a step.
  • the first communication device sends a first sensing Signal
  • the second communication device receives the first perception signal and measures the first perception signal to obtain a measurement result of the first perception signal.
  • the second communication device in response to at least one measurement result of the first perception signal satisfying the reporting condition, sends a first perception report to the first communication device.
  • the second communication device can determine whether various measurement results of the first perception signal meet the reporting condition, and in response to at least one measurement result of the first perception signal satisfying the reporting condition, the second communication device can send a first perception report to the first communication device.
  • the first perception signal may include multiple perception signals, wherein the multiple perception signals may be configured at different time domain positions and/or frequency domain positions.
  • the first perception signal may be a group of periodic perception signals.
  • the measurement result of the first perception signal is obtained by measuring the first perception signal.
  • the measurement result of the first perception signal may include at least one of the following: arrival time of at least one perception signal in the first perception signal, arrival time difference between perception signals in the first perception signal, Doppler information of at least one perception signal in the first perception signal, channel quality information corresponding to at least one perception signal in the first perception signal, and measurement time of at least one perception signal in the first perception signal.
  • the channel quality information may be any one of the following: Reference Signal Receiving Power (RSRP), Signal-to-noise and Interference Ratio (SINR), or Reference Signal Received Quality (RSRQ), but is not limited thereto.
  • RSRP Reference Signal Receiving Power
  • SINR Signal-to-noise and Interference Ratio
  • RSSQ Reference Signal Received Quality
  • the measurement time may refer to the moment or measurement duration of measuring the perception signal.
  • the second communication device in response to a measurement result of at least one first perception signal satisfying a reporting condition, the second communication device sends a first perception report to the first communication device.
  • the second communication device sends a first perception report to the first communication device.
  • the second communication device when one or more specific measurement results of the first perception signal meet their respective corresponding reporting conditions, the second communication device sends a first perception report to the first communication device.
  • the reporting condition can be a value range, and the reporting condition can be satisfied. Specifically, for each measurement result, the second communication device can determine whether the measurement result is within the value range corresponding to the measurement result. If the determination result is yes, the second communication device can determine that the measurement result meets the reporting condition.
  • RSRP RSRP
  • the RSRP actually measured is greater than or equal to the received power threshold, it can be determined that the RSRP meets the reporting condition.
  • the second communication device sends a first perception report to the first communication device to inform the first communication device that a target object is perceived or a target event is detected.
  • the first perception report may include: notification information, which may be used to notify the first communication device that a target event is perceived or detected.
  • notification information which may be used to notify the first communication device that a target event is perceived or detected.
  • the second communication device may determine that an intrusion is perceived, thereby sending a first perception report to the first communication device to inform the first communication device that an intrusion event is detected.
  • the first perception report may include: at least one of the measurement results of the first perception signal.
  • the first perception report may include at least one of the following: the arrival time of at least one perception signal in the first perception signal, the arrival time difference between the perception signals in the first perception signal, the arrival angle of at least one perception signal in the first perception signal, the Doppler information of at least one perception signal in the first perception signal, and the channel quality information corresponding to at least one perception signal in the first perception signal.
  • the first perception report may further include at least one of the following: resource index information of at least one perception signal in the first perception signal, and a measurement time corresponding to the first perception report.
  • the perception signal corresponding to the resource index information in the first perception report may be a perception signal whose measurement result meets the reporting condition in the first perception signal
  • the measurement time corresponding to the first perception report may be the measurement time of the perception signal that meets the reporting condition in the first perception signal.
  • the first perception report may include the perceived object The physical state of the object, the position of the object, the motion state (such as the moving speed), the distance between the object and the second communication device, etc.
  • the physical state of the object can be calculated based on the measurement result of the first perception signal.
  • the first perception report may be sent via a physical layer channel or a high-layer signaling.
  • the second communication device is a terminal
  • the first communication device is a network device
  • the first perception report may be carried on a physical random access channel (PRACH), or carried on a physical uplink control channel (PUCCH), or carried on a medium access control-control element (MAC CE) signaling.
  • PRACH physical random access channel
  • PUCCH physical uplink control channel
  • MAC CE medium access control-control element
  • the second communication device determines that at least one measurement result of the first perception signal meets the reporting conditions, it sends a first perception report to the first communication device.
  • This not only enables the first communication device to promptly know that the second communication device perceives the target event or target object, but also enables it to further configure a more reasonable perception signal for subsequent perception based on the content of the first perception report.
  • the third communication device may send and receive a first perception signal, and measure the received first perception signal to obtain a measurement result of the first perception signal.
  • the third communication device sends or reports a first perception report in response to at least one of the measurement results of the first perception signal satisfying a reporting condition.
  • the third communication device may send a first perception report to the fourth communication device.
  • the third communication device sends a first perception report to the fourth communication device.
  • the third communication device sends a first perception report to the fourth communication device, which can promptly inform the fourth communication device that the target object is perceived or the target event is detected.
  • the fourth communication device is an access network device. If the third communication device is an access network device, the fourth communication device is a core network device.
  • the second communication device needs to continuously perform perception measurements.
  • it is expected that the perception signal can occupy more time-frequency resources.
  • continuously measuring the perception signal that occupies more time-frequency resources will cause a waste of resources.
  • a first perception signal is first used for preliminary perception, and when the target is perceived, the perception of the second perception signal is triggered to obtain a high-precision perception result.
  • the measuring communication device may measure the second perception signal.
  • the measuring communication device may refer to a device that measures the second perception signal, for example, the second communication device or the third communication device.
  • the second perception signal may be configured according to the first perception report.
  • the first perception report may be used at least to configure the second perception signal.
  • the communication device (such as the first communication device or the fourth communication device) that receives the first perception report may configure the second perception signal to the measuring communication device.
  • the measuring communication device may configure the second perception signal based on the first perception report.
  • a second perception report may be generated.
  • the accuracy of the second perception report is higher than the accuracy of the first perception report.
  • Fig. 3 is a flow chart of another sensing method in an embodiment of the present application.
  • the method shown in Fig. 3 can be applied to the second communication device or the third communication device mentioned above, and the method shown in Fig. 3 can include: S31 to S33.
  • S32 In response to at least one of the measurement results of the first perception signal satisfying a reporting condition, sending a first perception report, and measuring a second perception signal.
  • the first perception report is sent within a preset time period. That is, the measuring communication device reports the first perception report immediately after determining that the target is perceived.
  • the measuring communication device when at least one of the measurement results of the first perception signal meets the reporting condition, in the solution of this embodiment, the measuring communication device also measures the second perception signal. Specifically, in response to at least one of the measurement results of the first perception signal meeting the reporting condition, the measuring communication device measures the second perception signal.
  • this embodiment does not limit the order of measuring the communication device sending the first perception report and measuring the second perception signal.
  • the measuring communication device may first measure the second perception signal and then send the first perception report.
  • the measuring communication device may first send a first perception report and then measure the second perception signal.
  • the measuring communication device may simultaneously measure the second perception signal and send the first perception report.
  • the second perception signal may include multiple perception signals, wherein the multiple perception signals may be configured at different time domain positions and/or frequency domain positions.
  • the second perception signal may be a group of periodic perception signals.
  • the second perception signal may be the same as the first perception signal.
  • the second perception signal may be CSI-RS, SSB, PRS, but is not limited thereto.
  • the type of the second perception signal may be the same as the type of the first perception signal, or the type of the second perception signal may be different from the type of the first perception signal.
  • the configuration of the second perception signal may be the same as the configuration of the first perception signal.
  • the measurement method of the second perception signal may be more complex than the measurement method of the first perception signal.
  • the measuring communication device measures the second perception signal in a more complex measurement manner to obtain a higher precision measurement result.
  • the second perception signal occupies more time-frequency resources.
  • the resource overhead of the second perception signal may be greater than the resource overhead of the first perception signal. Since the resource overhead of the second perception signal is greater than the resource overhead of the first perception signal, a more accurate perception result can be obtained by measuring the second perception signal.
  • the resource overhead of the second perception signal being greater than the resource overhead of the first perception signal may include at least one of the following:
  • the bandwidth of the second perception signal is greater than the bandwidth of the first perception signal
  • the bandwidth of the second perception signal is greater than the bandwidth of the first perception signal, and a more accurate perception distance can be obtained by measuring the second perception signal.
  • the frequency domain density of the second perception signal is greater than the frequency domain density of the first perception signal
  • the frequency domain density of the second perception signal is greater than the frequency domain density of the first perception signal, so that the perception range of the second perception signal can be greater than the perception range of the first perception signal.
  • the time domain interval of the second perception signal is smaller than the time domain interval of the first perception signal
  • the time domain density of the second perception signal is greater than the time domain density of the first perception signal.
  • the second perception signal may be a group of periodic perception signals, and the period of the second perception signal is less than the period of the first perception signal.
  • the time domain interval of the second perception signal is smaller than the time domain interval of the first perception signal.
  • the duration of the second perception signal is greater than the duration of the first perception signal
  • the duration of the second perception signal is greater than the duration of the first perception signal
  • the range of perception speed obtained by measuring the second perception signal is greater than the range of perception speed of the first perception signal
  • the second communication device measures the second perception signal to obtain a measurement result of the second perception signal.
  • the resource overhead of the second perception signal may be greater than that of the first perception signal, and a more accurate measurement result may be obtained by measuring the second perception signal.
  • the measurement result of the second perception signal may include at least one of the following: the arrival time of at least one perception signal in the second perception signal, the arrival time difference between the perception signals in the second perception signal, the arrival angle of at least one perception signal in the second perception signal, the Doppler information of at least one perception signal in the second perception signal, and the channel quality information corresponding to at least one perception signal in the second perception signal.
  • the measuring communication device sends a second perception report.
  • the second communication device may send a second perception report to the first communication device.
  • the third communication device may send a second perception report to the fourth communication device.
  • the second perception report may include a measurement result of the second perception signal.
  • various measurement results of the second perception signal may be included in the second perception report.
  • the second perception report may include at least one of the following: an arrival time of at least one perception signal in the second perception signals, an arrival time difference between perception signals in the second perception signals, an arrival angle of at least one perception signal in the second perception signals, a second perception signal;
  • the present invention relates to a method for detecting a Doppler signal of at least one perception signal in the first perception signal and a channel quality information corresponding to at least one perception signal in the second perception signal.
  • the second perception report may further include at least one of the following: resource index information of at least one perception signal in the second perception signal, measurement time corresponding to the second perception report, etc.
  • the perception signal corresponding to the resource index information in the second perception report may be a perception signal corresponding to the measurement result in the second perception report
  • the measurement time corresponding to the second perception report may be a measurement time of the perception signal corresponding to the measurement result.
  • the second perception report may be sent via physical layer or high layer signaling.
  • the scheme of this embodiment reports the perception result twice, the first time reports the preliminary perception result through the first perception report, and the second time reports the high-precision perception result through the second perception report.
  • the first perception signal is measured with low precision, and the high-precision measurement of the second perception signal is triggered when at least one measurement result of the first perception signal meets the reporting condition.
  • the first perception signal is used to monitor the intrusion event, and the second perception signal is triggered to measure the intrusion target after receiving the intrusion event report.
  • Fig. 8 is a flow chart of another sensing method in an embodiment of the present application.
  • the method shown in Fig. 8 is applied to the above-mentioned measuring communication device, and the method shown in Fig. 8 may include: S81 to S85.
  • the communication device that receives the first perception report may send a trigger signaling to the measurement communication device.
  • the trigger signaling may be used to trigger the measurement of the second perception signal and/or the sending of the second perception report. That is, the trigger signaling may be used to trigger the second communication device to measure the second perception signal and/or to trigger the second perception signal to send the second perception report.
  • the measuring communication device may measure the second perception signal.
  • Figure 4 is a flow chart of another perception method in an embodiment of the present application.
  • the method shown in Figure 4 can be applied to a multi-station perception scenario.
  • the method shown in Figure 4 may include: S41 to S45.
  • the second communication device measures a first perception signal.
  • the second communication device sends a first perception report to the first communication device.
  • the first communication device sends a trigger signaling to the second communication device.
  • the first communication device may send a The communication device sends a trigger signaling.
  • the trigger signaling can be used to trigger the measurement of the second perception signal and/or the sending of the second perception report. That is, the trigger signaling can be used to trigger the second communication device to measure the second perception signal and/or to trigger the second perception signal to send a second perception report.
  • the trigger signaling can be carried in downlink control information (Downlink Control Information, DCI).
  • the first perception report may further include first configuration auxiliary information, wherein the first configuration auxiliary information may be used for resource configuration of the second perception signal.
  • the first configuration auxiliary information can be used to indicate the expected configuration of the second perception signal.
  • the second communication device can determine the expected configuration of the second perception signal based on the measurement result of the first perception signal, and inform the first communication device through the first configuration auxiliary information, so that the second perception signal configured by the first communication device is more accurate and reasonable.
  • the second communication device can recommend the period of the second perception signal to the first communication device through the first configuration auxiliary information according to the speed of the target, so that the period of the second perception signal can be more adapted to the moving speed of the target, thereby obtaining a more accurate perception speed.
  • the first perception report may include second configuration auxiliary information, wherein the second configuration auxiliary information may be used for configuration of the second perception report.
  • the second configuration auxiliary information may be used for control information in the auxiliary trigger signaling.
  • the control information may include a measurement window of the second perception signal, etc.
  • the second communication device measures a second reference signal.
  • the second communication device measures the second reference signal and obtains a measurement result of the second reference signal.
  • the first communication device sends a second perception report to the second communication device.
  • the first communication device when the first communication device receives the first perception report, it triggers the second communication device to measure the second perception signal and/or send the second perception signal.
  • the report enables the second communication device to report the perception result twice, the first time reporting the preliminary perception result, and the second time reporting the high-precision perception result, which is beneficial to reducing the overall resource overhead of the perception signal and also beneficial to reducing the complexity and energy consumption of the perception measurement.
  • the above method can be implemented in the form of a software program, which runs in a processor integrated inside a chip or a chip module; or, the method can be implemented in hardware or a combination of hardware and software, such as using a dedicated chip or chip module, or using a dedicated chip or chip module in combination with a software program.
  • FIG. 5 is a schematic diagram of the structure of a communication device in an embodiment of the present application.
  • the communication device shown in FIG. 5 may be deployed in the first communication device or the fourth communication device described above.
  • the device shown in FIG. 5 may include:
  • the communication module 51 is configured to receive a first perception report, where the first perception report is reported in response to at least one of the measurement results of the first perception signal meeting a reporting condition.
  • the communication device shown in Figure 5 may correspond to a chip with communication and/or perception functions in the first communication device or the fourth communication device; or correspond to a chip or chip module with communication and/or perception functions in the first communication device or the fourth communication device, or correspond to the first communication device or the fourth communication device.
  • FIG. 6 is a schematic diagram of the structure of another communication device in an embodiment of the present application.
  • the communication device shown in FIG. 6 may be deployed in a second communication device or a third communication device.
  • the device shown in FIG. 6 may include:
  • a processing module 61 configured to measure a first perception signal
  • the communication module 62 is configured to respond to at least one of the measurement results of the first sensing signal.
  • a first perception report is sent when the reporting conditions are met.
  • the communication device shown in Figure 6 may correspond to a chip with communication and/or perception functions in the second communication device or the third communication device; or correspond to a chip or chip module with communication and/or perception functions in the second communication device or the third communication device, or correspond to the second communication device or the third communication device.
  • the embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the above-mentioned perception method is executed.
  • the storage medium may include ROM, RAM, a magnetic disk or an optical disk, etc.
  • the storage medium may also include a non-volatile memory (non-volatile) or a non-transitory memory, etc.
  • An embodiment of the present application also provides a communication device, including a memory and a processor, wherein the memory stores a computer program that can be executed on the processor, and the processor executes the steps of the above-mentioned perception method when running the computer program.
  • Figure 7 is a schematic diagram of the hardware structure of a communication device in an embodiment of the present application.
  • the communication device shown in Figure 7 includes a memory 71, a processor 72 and a transceiver 73.
  • the processor 72 is coupled to the memory 71 and the transceiver 73.
  • the memory 71 can be located inside the terminal or outside the terminal.
  • the memory 71, the processor 72 and the transceiver 73 can be connected via a communication bus.
  • the transceiver 73 is used to communicate with other devices or communication networks.
  • the transceiver 73 may be a transmitter.
  • the memory 71 stores a computer program that can be run on the processor 72, and when the processor 72 runs the computer program, the transceiver 73 executes the steps of the method provided in the above embodiment.
  • the communication device shown in FIG7 may be the first communication device or the fourth communication device described above, or the communication device shown in FIG7 may also be the second communication device or the third communication device.
  • the processor may be a central processing unit. (central processing unit, referred to as CPU), the processor may also be other general-purpose processors, digital signal processors (digital signal processor, referred to as DSP), application specific integrated circuits (application specific integrated circuits, referred to as ASIC), field programmable gate arrays (field programmable gate arrays, referred to as FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • the general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.
  • the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories.
  • the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory.
  • the volatile memory may be a random access memory (RAM), which is used as an external cache.
  • RAM random access memory
  • SRAM static RAM
  • DRAM dynamic random access memory
  • SDRAM synchronous DRAM
  • DDR SDRAM double data rate SDRAM
  • ESDRAM enhanced SDRAM
  • SLDRAM synchronous link DRAM
  • DR RAM direct rambus RAM
  • the above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination.
  • the above embodiments can be implemented in whole or in part in the form of a computer program product.
  • the computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part.
  • the computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device.
  • the computer program can be stored in a computer-readable storage medium. or from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program may be transmitted from one website, computer, server or data center to another website, computer, server or data center by wire or wireless means.
  • the size of the serial numbers of the above-mentioned processes does not mean the order of execution.
  • the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.
  • the disclosed methods, devices and systems can be implemented in other ways.
  • the device embodiments described above are merely schematic; for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation; for example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.
  • Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
  • each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may be physically included separately, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.
  • each module/unit contained therein may be implemented in the form of hardware such as circuits, or at least part of the modules/units may be implemented in the form of software programs, which run on a processor integrated inside the chip, and the remaining (if any) modules/units may be implemented in the form of hardware such as circuits; for each device or product applied to or integrated in a chip module, each module/unit contained therein may be implemented in the form of hardware such as circuits, and different modules/units may be located in the chip module.
  • the same component for example, a chip, a circuit module, etc.
  • different components for example, a chip, a circuit module, etc.
  • the remaining (if any) modules/units can be implemented in hardware such as circuits
  • the various modules/units contained therein can all be implemented in hardware such as circuits
  • different modules/units can be located in the same component (for example, a chip, a circuit module, etc.) or different components in the terminal, or at least some modules/units can be implemented in the form of a software program, which runs on a processor integrated inside the terminal, and the remaining (if any) modules/units can be implemented in hardware such as circuits.
  • the above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium.
  • the above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute some steps of the method described in each embodiment of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store program codes.

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Abstract

一种感知方法、通信装置及计算机可读存储介质，所述方法包括：测量第一感知信号；响应于所述第一感知信号的测量结果的至少一种满足上报条件，发送第一感知报告。本申请提供的方案有利于优化感知信号的配置。

Description

感知方法、通信装置及计算机可读存储介质
本申请要求于2023年6月6日提交中国专利局、申请号为202310666495.0、发明名称为“感知方法、通信装置及计算机可读存储介质”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及通信技术领域，尤其涉及一种感知方法、通信装置及计算机可读存储介质。
背景技术
随着无线通信技术的进一步演进，未来的通信装置如用户设备(User Equipment，UE)等，可能不会单单配置有通信功能，还可以承担一部分感知(Sensing)功能。这里提到的感知，其原理与雷达(Radar)相同，都是基于通信设备接收到的电磁波来估计通信设备周边的环境中各个物体的形状、运动形态等信息。应用于通信设备的感知方法预计能够应用于自动驾驶、入侵检测、安全生产等诸多领域，具有重要的研究意义。
发明内容
本申请的技术目的之一在于提供一种感知方法、通信装置及计算机可读存储介质，有利于优化感知信号的配置。
第一方面，本申请实施例提供一种感知方法，所述方法包括：测量第一感知信号；响应于所述第一感知信号的测量结果的至少一种满 足上报条件，发送第一感知报告。
可选的，所述方法还包括：测量第二感知信号；发送第二感知报告，所述第二感知报告包括所述第二感知信号的测量结果。
可选的，在所述测量第二感知信号之前，所述方法还包括：接收触发信令，所述触发信令用于触发所述第二感知信号的测量和/或所述第二感知报告的发送。
可选的，所述第一感知报告包括以下至少一项：所述第一感知信号中至少一个感知信号的到达时间或所述第一感知信号中感知信号之间的到达时间差；所述第一感知信号中至少一个感知信号的到达角；所述第一感知信号中至少一个感知信号的多普勒信息；所述第一感知信号中至少一个感知信号的资源索引信息；所述第一感知信号中至少一个感知信号对应的信道质量信息；所述第一感知报告对应的测量时间。
可选的，所述第一感知报告还包括：配置辅助信息，所述配置辅助信息用于辅助所述第二感知信号的资源配置和/或所述第二感知报告的配置。
可选的，所述第二感知报告包括以下至少一项：所述第二感知信号中至少一个感知信号的到达时间或所述第二感知信号中感知信号之间的到达时间差；所述第二感知信号中至少一个感知信号的到达角；所述第二感知信号中至少一个感知信号的多普勒信息；所述第二感知信号中至少一个感知信号的资源索引信息；所述第二感知信号中至少一个感知信号对应的信道质量信息；所述第二感知报告对应的测量时间。
可选的，所述第二感知信号满足以下至少一项：所述第二感知信号和所述第一感知信号相同或不同；所述第二感知信号的资源开销大于所述第一感知信号的资源开销；所述第二感知信号的带宽大于所述第一感知信号的带宽；所述第二感知信号的频域密度大于所述第一感 知信号的频域密度；所述第二感知信号的持续时间大于所述第一感知信号的持续时间；所述第二感知信号的时域间隔小于所述第一感知信号的时域间隔。
第二方面，本申请实施例还提供一种感知方法，所述方法包括：接收第一感知报告，所述第一感知报告响应于第一感知信号的测量结果的至少一种满足上报条件被上报。
可选的，所述方法还包括接收第二感知报告，所述第二感知报告包括第二感知信号的测量结果。
可选的，在所述接收第二感知报告之前，所述方法还包括：发送触发信令，所述触发信令用于触发所述第二感知信号的测量和/或所述第二感知报告的发送。
可选的，所述第一感知报告包括：所述第一感知信号中至少一个感知信号的到达时间或所述第一感知信号中感知信号之间的到达时间差；所述第一感知信号中至少一个感知信号的到达角；所述第一感知信号中至少一个感知信号的多普勒信息；所述第一感知信号中至少一个感知信号的资源索引信息；所述第一感知信号中至少一个感知信号的对应的信道质量信息；所述第一感知报告对应的测量时间。
可选的，所述第一感知报告还包括：配置辅助信息，所述配置辅助信息用于辅助所述第二感知信号的资源配置和/或所述第二感知报告的配置。
可选的，所述第二感知报告包括以下至少一项：所述第二感知信号中至少一个感知信号的到达时间或所述第二感知信号中感知信号之间的到达时间差；所述第二感知信号中至少一个感知信号的到达角；所述第二感知信号中至少一个感知信号的多普勒信息；所述第二感知信号中至少一个感知信号的资源索引信息；所述第二感知信号中至少一个感知信号对应的信道质量信息；所述第二感知报告对应的测量时间。
可选的，所述第二感知信号满足以下至少一项：所述第二感知信号和所述第一感知信号相同或不同；所述第二感知信号的资源开销大于所述第一感知信号的资源开销；所述第二感知信号的带宽大于所述第一感知信号的带宽；所述第二感知信号的频域密度大于所述第一感知信号的频域密度；所述第二感知信号的持续时间大于所述第一感知信号的持续时间；所述第二感知信号的时域间隔小于所述第一感知信号的时域间隔。
第三方面，本申请实施例提供一种通信装置，所述装置包括：处理模块，用于测量第一感知信号；通信模块，用于响应于所述第一感知信号的测量结果的至少一种满足上报条件，发送第一感知报告。
第四方面，本申请实施例提供一种通信装置，所述装置包括：通信模块，用于接收第一感知报告，所述第一感知报告响应于所述第一感知信号的测量结果的至少一种满足上报条件被上报。
第五方面，本申请实施例提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器运行时，使得上述任一方面提供的感知方法被执行。
第六方面，本申请实施例提供一种通信装置，包括存储器和处理器，所述存储器上存储有可在所述处理器上运行的计算机程序，所述处理器运行所述计算机程序时执行第一方面提供的感知方法的步骤。
第七方面，本申请实施例提供一种通信装置，包括存储器和处理器，所述存储器上存储有可在所述处理器上运行的计算机程序，所述处理器运行所述计算机程序时执行第二方面提供的感知方法的步骤。
第八方面，本申请实施例提供一种芯片(或者说通信装置)，该芯片上存储有计算机程序，在计算机程序被芯片执行时，使得上述任一方面提供的感知方法被执行。
第九方面，本申请实施例提供一种芯片模组，该芯片模组上存储有计算机程序，在计算机程序被芯片模组执行时，使得上述任一方面 提供的感知方法被执行。
第十方面，本申请实施例提供一种计算机程序产品，所述计算机程序产品包括计算机程序，当所述计算机程序在计算机上运行时，使得所述计算机执行上述任一方面提供的感知方法。
第十一方面，本申请实施例提供一种通信系统，所述通信系统包括用于执行第一方面提供的方法的装置和用于执行第二方面提供的方法的装置。
与现有技术相比，本申请实施例的技术方案具有以下有益效果：
本申请实施例的方案中，通信装置测量第一感知信号，响应于第一感知信号的测量结果的至少一种满足上报条件，发送第一感知报告。上述方案中，当通信装置确定第一感知信号的至少一种测量结果满足上报条件时上报第一感知报告，不仅能够使第一通信装置及时地获知感知结果，还能够便于第一通信装置根据第一感知报告对后续的感知进行合理的配置。
进一步，本申请实施例的方案中，先对第一感知信号进行测量，然后在上报第一感知报告的情况下触发第二感知信号的测量，以获得精度更高的感知结果。采用这样的方案，能够避免为获得高精度的测量结果而持续地采用资源开销较大的感知信号进行测量，在保证感知结果的准确性的前提下有利于降低感知信号的整体资源开销。上述档案也能够避免持续地采用复杂度较高的方法进行测量，有利于降低感知测量的复杂度和能耗。
附图说明
图1是本申请实施例中一种感知方法的应用场景示意图；
图2是本申请实施例中一种感知方法的流程示意图；
图3是本申请实施例中另一种感知方法的流程示意图；
图4是本申请实施例中又一种感知方法的流程示意图；
图5是本申请实施例中一种通信装置的结构示意图；
图6是本申请实施例中另一种通信装置的结构示意图；
图7是本申请实施例中一种通信装置的硬件结构示意图；
图8是本申请实施例中又一种感知方法的流程示意图。
具体实施方式
需要说明的是，本申请实施例适用的通信系统包括但不限于第三代系统(3th-generation，简称3G)、长期演进(long term evolution，简称LTE)系统、第四代系统(4th-generation，简称4G)、第五代(5th-generation，简称5G)系统、新空口(New Radio，简称NR)系统，以及未来演进系统或者多种通信融合系统。其中，5G系统可以为非独立组网(non-standalone，简称NSA)的5G系统或独立组网(standalone，简称SA)的5G系统。本申请实施例的方案还可适用于未来新的各种通信系统，例如，6G、7G等。
本申请实施例中的终端可以指各种形式的用户设备(User Equipment，简称UE)、接入终端、用户单元、用户站、移动站、移动台(Mobile Station，简称MS)、远方站、远程终端、移动设备、用户终端、终端设备(Terminal Equipment)、无线通信设备、用户代理或用户装置。终端还可以是蜂窝电话、无绳电话、会话启动协议(Session Initiation Protocol，简称SIP)电话、无线本地环路(Wireless Local Loop，简称WLL)站、个人数字处理(Personal Digital Assistant，简称PDA)、具有无线通信功能的手持设备、计算设备或连接到无线调制解调器的其它处理设备、车载设备、可穿戴设备，未来5G网络中的终端或者未来演进的公用陆地移动通信网络(Public Land Mobile Network，简称PLMN)中的终端等，本申请实施例对此并不限定。
本申请实施例中的网络设备也可以称为接入网设备，例如，可以 为基站(base station，简称BS)(也可称为基站设备)，网络设备是一种部署在无线接入网(Radio Access Network，RAN)用以提供无线通信功能的装置。例如在第二代(2nd-generation，简称2G)网络中提供基站功能的设备包括基地无线收发站(base transceiver station，简称BTS)，第三代(3rd-generation，简称3G)网络中提供基站功能的设备包括节点B(NodeB)，在第四代(4th-generation，简称4G)网络中提供基站功能的设备包括演进的节点B(evolved NodeB，简称eNB)，在无线局域网络(wireless local area networks，简称WLAN)中，提供基站功能的设备为接入点(access point，简称AP)，NR中的提供基站功能的设备下一代基站节点(nextgeneration node base station，简称gNB)，以及继续演进的节点B(ng-eNB)，其中gNB和终端设备之间采用NR技术进行通信，ng-eNB和终端设备之间采用演进的通用地面无线电接入(Evolved Universal Terrestrial Radio Access，简称E-UTRA)技术进行通信，gNB和ng-eNB均可连接到5G核心网。本申请实施例中的网络设备还包含在未来新的通信系统中提供基站功能的设备等。
参照图1，图1是本申请实施例中一种感知方法的应用场景示意图。
如图1所示，本申请实施例提供的方法可以应用于多站式感知的场景中。其中，多站式感知是指通过多个通信装置之间的协作来获得感知结果。
如图1所示，第一通信装置为感知信号的发送方，第二通信装置为感知信号的接收方。
具体而言，第一通信装置可以发送感知信号，第二通信装置可以接收感知信号，并根据接收到感知信号进行感知。
其中，感知信号可以是已定义的参考信号，例如可以是信道状态信息参考信号(Channel State Information-Reference Signal，CSI-RS)、同步信号块(Synchronizing Signal Block，SSB)、定位参考信号 (positioning reference signal，简称PRS)或探测参考信号(sounding reference signal,简称SRS)等。或者，所述感知信号也可以是新定义的参考信号，本实施例对此并不进行限制。
需要说明的是，第二通信装置接收到的感知信号可以是第一通信装置发出的感知信号本身，也即，可以是第一通信装置发出的感知信号未经任何物体，直接发送至第二通信装置的；第二通信装置接收到的感知信号也可以是碰到目标而形成的信号，例如，反射信号等，本发明实施例对此并不进行任何限制。在具体实施中，第一通信装置可以是网络设备，第二通信装置为终端；或者，第一通信装置可以是第一终端，第二通信装置为第二终端；或者，第一通信装置可以是第一网络设备，第二通信装置可以是第二网络设备；或者，第一通信装置可以是终端，第二通信装置可以是网络设备。
此外，本申请实施例的方案可以适用于单站式感知的场景中，单站式感知是通过同一个通信装置的自发自收来获得感知结果。具体的，第一通信装置可以发送感知信号，并对自身发送的感知信号进行测量，得到感知结果。执行单站式感知的通信设备可以是终端，也可以是网络设备。
下面结合附图对本申请的具体实施例做详细的说明。
参照图2，图2是本申请实施例中一种感知方法的流程示意图。在多站式感知的场景中，图2示出的方法可以应用于上述的第二通信装置，或者，图2示出的方法可以应用于执行单站式感知的通信装置。
图2示出的方法可以包括S21和S22。其中，本申请中各个步骤编号中的S表示步骤(step)。
S21，测量第一感知信号；
S22，响应于第一感知信号的测量结果的至少一种满足上报条件，发送第一感知报告。
在多站式感知的场景下，在S21中，第一通信装置发送第一感知 信号，相应的，第二通信装置接收第一感知信号，并对第一感知信号进行测量，以得到第一感知信号的测量结果。在S22中，响应于至少一种第一感知信号的测量结果满足上报条件，第二通信装置向第一通信装置发送第一感知报告。具体的，第二通信装置可以判断第一感知信号的各种测量结果是否上报条件，响应于第一感知信号的至少一种测量结果满足上报条件，第二通信装置可以向第一通信装置发送第一感知报告。在具体实施中，第一感知信号可以包括多个感知信号，其中，多个感知信号可以配置在不同的时域位置和/或频域位置上。示例性的，第一感知信号可以是一组周期性的感知信号。
通过对第一感知信号的测量，获得第一感知信号的测量结果。具体的，第一感知信号的测量结果可以包括以下至少一种：第一感知信号中的至少一个感知信号的到达时间、第一感知信号中的感知信号之间的到达时间差、第一感知信号中至少一个感知信号的多普勒信息、第一感知信号中至少一个感知信号对应的信道质量信息、第一感知信号中至少一个感知信号的测量时间。
其中，信道质量信息可以是以下任意一项：参考信号接收功率(Reference Signal Receiving Power，RSRP)、信干噪比(Signal-to-noise and Interference Ratio，SINR)或者参考信号接收质量(Signal Reference Signal Received Quality，RSRQ)，但并不限于此。此外，测量时间可以是指对感知信号进行测量的时刻或测量时长。
在S22中，响应于至少一种第一感知信号的测量结果满足上报条件，第二通信装置向第一通信装置发送第一感知报告。
示例性的，第一感知信号的任意一种测量结果满足该种测量结果对应的上报条件，第二通信装置向第一通信装置发送第一感知报告。
又示例性的，第一感知信号的特定一种或多种测量结果满足各自对应的上报条件，第二通信装置向第一通信装置发送第一感知报告。
在具体实施中，上报条件可以是取值范围，满足上报条件可以是 指实际测量的结果属于对应的取值范围。具体的，针对每种测量结果，第二通信装置可以判断该测量结果是否处于该种测量结果对应的取值范围，如果判断结果为是，则第二通信装置可以确定该测量结果满足上报条件。
以RSRP为例，若实际测量得到的RSRP大于或等于接收功率阈值，则可以确定RSRP满足上报条件。
本申请实施例的方案中，第二通信装置向第一通信装置发送第一感知报告，以告知第一通信装置感知到目标物体或检测到目标事件。
在本申请的一实施例中，第一感知报告可以包括：通知信息，所述通知信息可以用于通知第一通信装置感知到目标事件或者检测到目标事件。以入侵检测的应用场景为例，若第一感知信号的测量结果中的至少一种满足上报条件，则第二通信装置可以确定感知到入侵，由此向第一通信装置发送第一感知报告，以告知第一通信装置检测到入侵事件。
在具体实施中，第一感知报告可以包括：第一感知信号的测量结果的至少一种。具体地，第一感知报告可以包括以下至少一项：第一感知信号中至少一个感知信号的到达时间、第一感知信号中感知信号之间的到达时间差、第一感知信号中至少一个感知信号的到达角、第一感知信号中至少一个感知信号的多普勒信息、第一感知信号中至少一个感知信号对应的信道质量信息。
在本申请的一实施例中，第一感知报告还可以包括以下至少一项：第一感知信号中至少一个感知信号的资源索引信息、所述第一感知报告对应的测量时间。其中，第一感知报告中资源索引信息对应的感知信号可以是第一感知信号中测量结果满足上报条件的感知信号，第一感知报告对应的测量时间可以是第一感知信号中满足上报条件的感知信号的测量时间。
在本申请的另一实施例中，第一感知报告可以包括感知到的物体 的物理状态，物体的位置、运动状态(如移动速度等)、与第二通信装置之间的距离等。其中，物体的物理状态可以是根据上述的第一感知信号的测量结果计算得到的。
进一步地，第一感知报告可以通过物理层信道或高层信令发送。例如，第二通信装置为终端，第一通信装置为网络设备，第一感知报告可以承载于物理随机接入信道(Physical Random Access Channel，PRACH),或者，或者承载于物理上行控制信道(Physical Uplink Control Channel，PUCCH)，或者，可以承载于媒体接入控制-控制元素(Medium Access Control-Control Element，MAC CE)信令中等。
由此，上述方案中，在多站式感知的场景中，当第二通信装置确定第一感知信号的至少一种测量结果满足上报条件时向第一通信装置发送第一感知报告，不仅能够使第一通信装置及时地获知第二通信装置感知到目标事件或目标物体，从而能够进一步根据第一感知报告的内容配置更加合理的感知信号用于后续的感知。
在单站式感知的场景下，S21中，第三通信装置可以发送并接收第一感知信号，并对接收到的第一感知信号进行测量，得到第一感知信号的测量结果。
在S22中，第三通信装置响应于第一感知信号的测量结果的至少一种满足上报条件，发送或上报第一感知报告。
示例性的，第一感知信号的任意一种测量结果满足该种测量结果对应的上报条件，第三通信装置可以向第四通信装置发送第一感知报告。
又示例性的，第一感知信号的特定一种或多种测量结果满足各自对应的上报条件，第三通信装置向第四通信装置发送第一感知报告。
本申请实施例的方案中，第三通信装置向第四通信装置发送第一感知报告，能够及时地告知第四通信装置感知到目标物体或检测到目标事件。
在具体实施中，若第三通信装置为终端，则第四通信装置为接入网设备。若第三通信装置为接入网设备，则第四通信装置为核心网设备。在采用通信装置进行感知的应用场景中，为了保证感知的实时性，第二通信装置需要持续地进行感知测量。此外，为了保证感知的准确性，期望感知信号能够占用较多的时频资源。然而在一些场景中，感知目标出现概率较低的情况下，持续地对占用较多时频资源的感知信号进行测量，会造成资源浪费的问题。
例如，在入侵监测的场景中，入侵者作为感知目标，其出现的概率较低，若一方面会导致终端测量的复杂度与能耗增加，若网络设备配置终端持续测量并上报高精度的感知结果，不仅会感知信号的时频资源开销较大，也会导致终端测量的复杂度与能耗的增加。为此，本申请的一实施例中，先采用第一感知信号进行初步的感知，当感知到目标时触发第二感知信号的感知，以获得高精度的感知结果。
在S12之后，测量通信装置可以对第二感知信号进行测量。其中，测量通信装置可以是指对第二感知信号进行测量的装置，例如，可以是第二通信装置，也可以是第三通信装置。
在本申请的一实施例中，第二感知信号可以是根据第一感知报告进行配置的。换言之，第一感知报告可以至少用于配置第二感知信号。
示例性的，接收第一感知报告的通信装置(如第一通信装置或第四通信装置)可以向测量通信装置配置第二感知信号。
又示例性的，测量通信装置可以基于第一感知报告配置第二感知信号。
进一步地，通过对第二感知信号进行的测量，可以生成第二感知报告。在本申请实施例的方案中，第二感知报告的精度高于第一感知报告的精度。
关于第二感知信号和第二感知报告的更多内容可以参照下文的相关描述。
参照图3，图3是本申请实施例中另一种感知方法的流程示意图。图3示出的方法可以应用于上述的第二通信装置或第三通信装置执行，图3示出的方法可以包括：S31至S33。
S31，测量第一感知信号。
S32，响应于第一感知信号的测量结果的至少一种满足上报条件，发送第一感知报告，以及测量第二感知信号。
S33，发送第二感知报告。
关于S31以及S32中发送第一感知报告的具体内容可以参见上文关于图2的相关描述，在此不再赘述。
在具体实施中，在确定第一感知信号的测量结果的至少一种满足上报条件之后预设时长内发送第一感知报告。也即，测量通信装置在确定感知到目标之后立即上报第一感知报告。
此外，在第一感知信号的测量结果的至少一种满足上报条件的情况下，本实施例的方案中，测量通信装置还测量第二感知信号。具体的，响应于第一感知信号的测量结果的至少一种满足上报条件，测量通信装置测量第二感知信号。
需要说明的是，本实施例对于测量通信装置发送第一感知报告和测量第二感知信号的先后顺序并不进行限制。
作为一种可能的实现方式，测量通信装置可以先测量第二感知信号，再发送第一感知报告。
作为另一种可能的实现方式，测量通信装置可以先发送第一感知报告，再测量第二感知信号。
作为又一种可能的实现方式，测量通信装置可以同时地测量第二感知信号以及发送第一感知报告。具体的，第二感知信号可以包括多个感知信号，其中，多个感知信号可以配置在不同的时域位置和/或频域位置上。示例性的，第二感知信号可以是一组周期性的感知信号。
本申请的一实施例中，第二感知信号可以和第一感知信号是相同的。具体的，第二感知信号可以是CSI-RS、SSB、PRS，但并不限于此。第二感知信号的类型可以与第一感知信号的类型相同，或者，第二感知信号的类型可以与第一感知信号的类型不同。此外，第二感知信号的配置可以和第一感知信号的配置是相同的。
进一步地，S32中，第二感知信号的配置和第一感知信号的配置相同的情况下，第二感知信号的测量方法可以比第一感知信号的测量方法更复杂。换言之，测量通信装置采用更为复杂的测量方式对第二感知信号进行测量，以获得更高精度的测量结果。
本申请的另一实施例中，相较于第一感知信号，第二感知信号占用更多的时频资源。换言之，第二感知信号的资源开销可以大于第一感知信号的资源开销。由于第二感知信号的资源开销大于第一感知信号的资源开销，因此，通过测量第二感知信号，能够获得更加准确的感知结果。
更具体的，第二感知信号的资源开销大于第一感知信号的资源开销可以包括以下至少一项：
(1)第二感知信号的带宽大于第一感知信号的带宽；
具体的，第二感知信号的带宽大于第一感知信号的带宽，通过测量第二感知信号能够获得精度更高的感知距离。
(2)第二感知信号的频域密度大于第一感知信号的频域密度；
具体的，第二感知信号的频域密度大于第一感知信号的频域密度，能够使第二感知信号的感知范围大于第一感知信号的感知范围。
(3)第二感知信号的时域间隔小于第一感知信号的时域间隔；
换言之，第二感知信号的时域密度大于第一感知信号的时域密度。示例性的，第二感知信号可以是一组周期性的感知信号，且第二感知信号的周期小于第一感知信号的周期。
在具体实施中，第二感知信号的时域间隔小于第一感知信号的时域间隔，通过测量第二感知信号，能够获得精度更高的感知速度。
(4)第二感知信号的持续时间大于第一感知信号的持续时间；
具体的，第二感知信号的持续时间大于第一感知信号的持续时间，通过测量第二感知信号得到的感知速度的范围大于第一感知信号感知速度的范围。
进一步地，第二通信装置对第二感知信号进行测量，可以得到第二感知信号的测量结果。本实施例的方案中，第二感知信号的资源开销可以大于第一感知信号，通过测量第二感知信号，能够获得更加准确的测量结果。
在具体实施中，第二感知信号的测量结果可以包括以下至少一项：第二感知信号中至少一个感知信号的到达时间、第二感知信号中感知信号之间的到达时间差、第二感知信号中至少一个感知信号的到达角、第二感知信号中至少一个感知信号的多普勒信息、第二感知信号中至少一个感知信号对应的信道质量信息。
在S33中，测量通信装置发送第二感知报告。
示例性的，响应于获得第二感知信号的测量结果，第二通信装置可以向第一通信装置发送第二感知报告。
又示例性的，响应于获得第二感知信号的测量结果，第三通信装置可以向第四通信装置发送第二感知报告。
在具体实施中，第二感知报告可以包括第二感知信号的测量结果。具体的，第二感知信号的各种测量结果均可以包含在第二感知报告中。
更具体的，第二感知报告可以包括以下至少一项：第二感知信号中至少一个感知信号的到达时间、第二感知信号中感知信号之间的到达时间差、第二感知信号中至少一个感知信号的到达角、第二感知信 号中至少一个感知信号的多普勒信息、第二感知信号中至少一个感知信号对应的信道质量信息。
在本申请的一实施例中，第二感知报告还可以包括以下至少一项：第二感知信号中至少一个感知信号的资源索引信息、第二感知报告对应的测量时间等。其中，第二感知报告中资源索引信息对应的感知信号可以是第二感知报告中测量结果对应的感知信号，第二感知报告对应的测量时间可以是测量结果对应的感知信号的测量时间。
在具体实施中，第二感知报告可以通过物理层或高层信令发送。
由上，本实施例的方案中分两次上报感知结果，第一次通过第一感知报告上报初步的感知结果，第二次通过第二感知报告上报高精度的感知结果，先对第一感知信号进行低精度的测量，并在第一感知信号的至少一种测量结果满足上报条件的情况下触发第二感知信号的高精度的测量。例如，在入侵检测场景中，采用第一感知信号进行入侵事件监测，并在收到入侵事件报告后触发第二感知信号用于入侵目标的测量。
采用这样的方案，能够避免为获得高精度的测量结果而持续地采用资源开销较大的感知信号进行测量，有利于降低感知信号的整体资源开销，或者能够避免持续地采用复杂度较高的测量方法进行测量，有利于降低感知测量的复杂度和能耗。
关于图3示出的感知方法的更多内容可以参照本文提供的其他实施例的相关描述，在此不再赘述。
参照图8，图8是本申请实施例中又一种感知方法的流程示意图。图8示出的方法应用于上述的测量通信装置，图8示出的方法可以包括：S81至S85。
S81：测量第一感知信号。
S82，发送第一感知报告。
关于S81和S82的具体内容可以参照上文的相关描述，在此不再赘述。
S83，接收触发信令。
具体的，接收第一感知报告的通信装置在接收到第一感知报告之后，可以向测量通信装置发送触发信令。
其中，触发信令可以用于触发第二感知信号的测量和/或第二感知报告的发送。也即，触发信令可以用于触发第二通信装置测量第二感知信号和/或用于触发第二感知信号发送第二感知报告。
S84，测量第二感知信号。
具体的，响应于接收到的触发信令，测量通信装置可以测量第二感知信号。
S85，发送第二感知报告。
关于S84和S85的具体内容可以参照上文的相关描述，在此不再赘述。
关于图8示出的感知方法的更多内容可以参照本文提供的其他实施例的相关描述，在此不再赘述。
参照图4，图4是本申请实施例中又一种感知方法的流程示意图，图4示出的方法可以应用于多站式感知的场景，图4示出的方法可以包括：S41至S45。
S41，第二通信装置测量第一感知信号。
S42，第二通信装置向第一通信装置发送第一感知报告。
关于S41和S42的具体内容可以参照上文的相关描述，在此不再赘述。
S43，第一通信装置向第二通信装置发送触发信令。
具体的，响应于第一感知报告的接收，第一通信装置可以向第二 通信装置发送触发信令。其中，触发信令可以用于触发第二感知信号的测量和/或第二感知报告的发送。也即，触发信令可以用于触发第二通信装置测量第二感知信号和/或用于触发第二感知信号发送第二感知报告。示例性的，触发信令可以承载于下行控制信息(Downlink Control Information，DCI)中。
在本申请的一实施例中，第一感知报告还可以包括第一配置辅助信息。其中，第一配置辅助信息可以用于第二感知信号的资源配置。
示例性的，第一配置辅助信息可以用于指示第二感知信号的期望配置。具体的，第二通信装置可以根据第一感知信号的测量结果确定第二感知信号的期望配置，并通过第一配置辅助信息告知第一通信装置，使得第一通信装置配置的第二感知信号更加准确、合理。
例如，第二通信装置可以根据目标的速度通过第一配置辅助信息向第一通信装置建议第二感知信号的周期等，使得第二感知信号的周期能够和目标的移动速度更加适配，从而获得更加准确的感知速度。
在本申请的另一实施例中，第一感知报告可以包括第二配置辅助信息，其中，第二配置辅助信息可以用于第二感知报告的配置。示例性的，第二配置辅助信息可以用于辅助触发信令中的控制信息。其中，控制信息可以包括第二感知信号的测量窗口等。
S44，第二通信装置测量第二参考信号。
具体的，响应于接收到的触发信令，第二通信装置测量第二参考信号，并获得第二参考信号的测量结果。
S45，第一通信装置向第二通信装置发送第二感知报告。
关于S44和S45的具体内容可以参照上文的相关描述，在此不再赘述。
由上，本实施例的方案中，第一通信装置在接收到第一感知报告的情况下，触发第二通信装置测量第二感知信号和/或发送第二感知 报告，使得第二通信装置分两次上报感知结果，第一次上报初步的感知结果，第二次上报高精度的感知结果，有利于降低感知信号的整体资源开销，也有利于降低感知测量的复杂度和能耗。
关于图4示出的感知方法的更多内容可以参照本文提供的其他实施例的相关描述，在此不再赘述。
需要说明的是，本文提供的各个实施例可以单独使用，也可以相互结合使用，以实现不同的技术效果。
可以理解的是，在具体实施中，上述方法可以采用软件程序的方式实现，该软件程序运行于芯片或芯片模组内部集成的处理器中；或者，该方法可以采用硬件或者软硬结合的方式来实现，例如用专用的芯片或芯片模组来实现，或者，用专用的芯片或芯片模组结合软件程序来实现。
参照图5，图5是本申请实施例中一种通信装置的结构示意图，图5示出的通信装置可以部署于上述的第一通信装置或第四通信装置，图5示出的装置可以包括：
通信模块51，用于接收第一感知报告，所述第一感知报告响应于所述第一感知信号的测量结果的至少一种满足上报条件被上报。
在具体实施中，图5示出的通信装置可以对应于第一通信装置或第四通信装置中具有通信和/或感知功能的芯片；或者对应于第一通信装置或第四通信装置中包括具有通信和/或感知功能的芯片或芯片模组，或者对应于第一通信装置或第四通信装置。
参照图6，图6是本申请实施例中另一种通信装置的结构示意图，图6示出的通信装置可以部署于第二通信装置或第三通信装置，图6示出的装置可以包括：
处理模块61，用于测量第一感知信号；
通信模块62，用于响应于所述第一感知信号的测量结果的至少 一种满足上报条件，发送第一感知报告。
在具体实施中，图6示出的通信装置可以对应于第二通信装置或第三通信装置中具有通信和/或感知功能的芯片；或者对应于第二通信装置或第三通信装置中包括具有通信和/或感知功能的芯片或芯片模组，或者对应于第二通信装置或第三通信装置。
关于本申请实施例中的通信装置的工作原理、工作方法和有益效果等更多内容，可以参照上文关于感知方法的相关描述，在此不再赘述。
本申请实施例还提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器运行时，上述的感知方法被执行。所述存储介质可以包括ROM、RAM、磁盘或光盘等。所述存储介质还可以包括非挥发性存储器(non-volatile)或者非瞬态(non-transitory)存储器等。
本申请实施例还提供一种通信装置，包括存储器和处理器，所述存储器上存储有可在所述处理器上运行的计算机程序，所述处理器运行所述计算机程序时执行上述的感知方法的步骤。
参照图7，图7是本申请实施例中一种通信装置的硬件结构示意图。图7示出的通信装置包括存储器71、处理器72和收发器73，处理器72和存储器71、收发器73耦合，存储器71可以位于终端内，也可以位于终端外。存储器71、处理器72和收发器73可以通过通信总线连接。收发器73用于与其他设备或通信网络通信。
可选的，收发器73可以为发射机。所述存储器71上存储有可在所述处理器72上运行的计算机程序，所述处理器72运行所述计算机程序时收发器73执行上述实施例所提供的方法中的步骤。
图7示出的通信装置可以是上述的第一通信装置或第四通信装置，或者，图7示出的通信装置也可以是第二通信装置或第三通信装置。应理解，本申请实施例中，所述处理器可以为中央处理单元 (central processing unit，简称CPU)，该处理器还可以是其他通用处理器、数字信号处理器(digital signal processor，简称DSP)、专用集成电路(application specific integrated circuit，简称ASIC)、现场可编程门阵列(field programmable gate array，简称FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件等。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。
还应理解，本申请实施例中的存储器可以是易失性存储器或非易失性存储器，或可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，简称ROM)、可编程只读存储器(programmable ROM，简称PROM)、可擦除可编程只读存储器(erasable PROM，简称EPROM)、电可擦除可编程只读存储器(electrically EPROM，简称EEPROM)或闪存。易失性存储器可以是随机存取存储器(random access memory，简称RAM)，其用作外部高速缓存。通过示例性但不是限制性说明，许多形式的随机存取存储器(random access memory，简称RAM)可用，例如静态随机存取存储器(static RAM，简称SRAM)、动态随机存取存储器(DRAM)、同步动态随机存取存储器(synchronous DRAM，简称SDRAM)、双倍数据速率同步动态随机存取存储器(double data rate SDRAM，简称DDR SDRAM)、增强型同步动态随机存取存储器(enhanced SDRAM，简称ESDRAM)、同步连接动态随机存取存储器(synchlink DRAM，简称SLDRAM)和直接内存总线随机存取存储器(direct rambus RAM，简称DR RAM)。
上述实施例，可以全部或部分地通过软件、硬件、固件或其他任意组合来实现。当使用软件实现时，上述实施例可以全部或部分地以计算机程序产品的形式实现。所述计算机程序产品包括一个或多个计算机指令或计算机程序。在计算机上加载或执行所述计算机指令或计算机程序时，全部或部分地产生按照本申请实施例所述的流程或功能。所述计算机可以为通用计算机、专用计算机、计算机网络、或者其他可编程装置。所述计算机程序可以存储在计算机可读存储介质 中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，所述计算机程序可以从一个网站站点、计算机、服务器或数据中心通过有线或无线方式向另一个网站站点、计算机、服务器或数据中心进行传输。
应理解，在本申请的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本申请实施例的实施过程构成任何限定。
在本申请所提供的几个实施例中，应该理解到，所揭露的方法、装置和系统，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的；例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式；例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本申请各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理包括，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。例如，对于应用于或集成于芯片的各个装置、产品，其包含的各个模块/单元可以都采用电路等硬件的方式实现，或者，至少部分模块/单元可以采用软件程序的方式实现，该软件程序运行于芯片内部集成的处理器，剩余的(如果有)部分模块/单元可以采用电路等硬件方式实现；对于应用于或集成于芯片模组的各个装置、产品，其包含的各个模块/单元可以都采用电路等硬件的方式实现，不同的模块/单元可以位于芯片模组的 同一组件(例如芯片、电路模块等)或者不同组件中，或者，至少部分模块/单元可以采用软件程序的方式实现，该软件程序运行于芯片模组内部集成的处理器，剩余的(如果有)部分模块/单元可以采用电路等硬件方式实现；对于应用于或集成于终端的各个装置、产品，其包含的各个模块/单元可以都采用电路等硬件的方式实现，不同的模块/单元可以位于终端内同一组件(例如，芯片、电路模块等)或者不同组件中，或者，至少部分模块/单元可以采用软件程序的方式实现，该软件程序运行于终端内部集成的处理器，剩余的(如果有)部分模块/单元可以采用电路等硬件方式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本申请各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，简称ROM)、随机存取存储器(Random Access Memory，简称RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
应理解，本文中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A 和/或B，可以表示：单独存在A，同时存在A 和B，单独存在B这三种情况。另外，本文中字符“/”，表示前后关联对象是一种“或”的关系。
本申请实施例中出现的“多个”是指两个或两个以上。
本申请实施例中出现的第一、第二等描述，仅作示意与区分描述对象之用，没有次序之分，也不表示本申请实施例中对设备个数的特别限定，不能构成对本申请实施例的任何限制。
虽然本申请披露如上，但本申请并非限定于此。任何本领域技术人员，在不脱离本申请的精神和范围内，均可作各种更动与修改，因此本申请的保护范围应当以权利要求所限定的范围为准。

Claims (19)

  1. 一种感知方法，其特征在于，所述方法包括：
    测量第一感知信号；
    响应于所述第一感知信号的测量结果的至少一种满足上报条件，发送第一感知报告。
  2. 根据权利要求1所述的感知方法，其特征在于，所述方法还包括：
    测量第二感知信号；
    发送第二感知报告，所述第二感知报告包括所述第二感知信号的测量结果。
  3. 根据权利要求2所述的感知方法，其特征在于，在所述测量第二感知信号之前，所述方法还包括：
    接收触发信令，所述触发信令用于触发所述第二感知信号的测量和/或所述第二感知报告的发送。
  4. 根据权利要求1至3任一项所述的感知方法，其特征在于，所述第一感知报告包括以下至少一项：
    所述第一感知信号中至少一个感知信号的到达时间或所述第一感知信号中感知信号之间的到达时间差；
    所述第一感知信号中至少一个感知信号的到达角；
    所述第一感知信号中至少一个感知信号的多普勒信息；
    所述第一感知信号中至少一个感知信号的资源索引信息；
    所述第一感知信号中至少一个感知信号对应的信道质量信息；
    所述第一感知报告对应的测量时间。
  5. 根据权利要求4所述的感知方法，其特征在于，所述第一感知报告还包括：
    配置辅助信息，所述配置辅助信息用于辅助第二感知信号的资源配置和/或所述第二感知报告的配置。
  6. 根据权利要求2至5任一项所述的感知方法，其特征在于，第二感知报告包括以下至少一项：
    所述第二感知信号中至少一个感知信号的到达时间或所述第二感知信号中感知信号之间的到达时间差；
    所述第二感知信号中至少一个感知信号的到达角；
    所述第二感知信号中至少一个感知信号的多普勒信息；
    所述第二感知信号中至少一个感知信号的资源索引信息；
    所述第二感知信号中至少一个感知信号对应的信道质量信息；
    所述第二感知报告对应的测量时间。
  7. 根据权利要求2所述的方法，其特征在于，所述第二感知信号满足以下至少一项：
    所述第二感知信号和所述第一感知信号相同或不同；
    所述第二感知信号的资源开销大于所述第一感知信号的资源开销；
    所述第二感知信号的带宽大于所述第一感知信号的带宽；
    所述第二感知信号的频域密度大于所述第一感知信号的频域密度；
    所述第二感知信号的持续时间大于所述第一感知信号的持续时间；
    所述第二感知信号的时域间隔小于所述第一感知信号的时域间隔。
  8. 一种感知方法，其特征在于，所述方法包括：
    接收第一感知报告，所述第一感知报告响应于第一感知信号的测量结果的至少一种满足上报条件被上报。
  9. 根据权利要求8所述的感知方法，其特征在于，所述方法还包括：
    接收第二感知报告，所述第二感知报告包括第二感知信号的测量结果。
  10. 根据权利要求9所述的感知方法，其特征在于，在接收第二感知报告之前，所述方法还包括：
    发送触发信令，所述触发信令用于触发所述第二感知信号的测量和/或所述第二感知报告的发送。
  11. 根据权利要求8至10任一项所述的感知方法，其特征在于，所述第一感知报告包括：
    所述第一感知信号中至少一个感知信号的到达时间或所述第一感知信号中感知信号之间的到达时间差；
    所述第一感知信号中至少一个感知信号的到达角；
    所述第一感知信号中至少一个感知信号的多普勒信息；
    所述第一感知信号中至少一个感知信号的资源索引信息；
    所述第一感知信号中至少一个感知信号对应的信道质量信息；
    所述第一感知报告对应的测量时间。
  12. 根据权利要求11所述的感知方法，其特征在于，所述第一感知报告还包括：
    配置辅助信息，所述配置辅助信息用于辅助第二感知信号的资源配置和/或所述第二感知报告的配置。
  13. 根据权利要求9至12任一项所述的方法，其特征在于，第二感知报告包括以下至少一项：
    所述第二感知信号中至少一个感知信号的到达时间或所述第二感知信号中感知信号之间的到达时间差；
    所述第二感知信号中至少一个感知信号的到达角；
    所述第二感知信号中至少一个感知信号的多普勒信息；
    所述第二感知信号中至少一个感知信号的资源索引信息；
    所述第二感知信号中至少一个感知信号对应的信道质量信息；
    所述第二感知报告对应的测量时间。
  14. 根据权利要求10所述的方法，其特征在于，所述第二感知信号满足以下至少一项：
    所述第二感知信号和所述第一感知信号相同或不同；
    所述第二感知信号的资源开销大于所述第一感知信号的资源开销；
    所述第二感知信号的带宽大于所述第一感知信号的带宽；
    所述第二感知信号的频域密度大于所述第一感知信号的频域密度；
    所述第二感知信号的持续时间大于所述第一感知信号的持续时间；
    所述第二感知信号的时域间隔小于所述第一感知信号的时域间隔。
  15. 一种通信装置，其特征在于，所述装置包括：
    处理模块，用于测量第一感知信号；
    通信模块，用于响应于所述第一感知信号的测量结果的至少一种满足上报条件，发送第一感知报告。
  16. 一种通信装置，其特征在于，所述装置包括：
    通信模块，用于接收第一感知报告，所述第一感知报告响应于所述第一感知信号的测量结果的至少一种满足上报条件被上报。
  17. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，所述计算机程序被处理器运行时，使得权利要求1至7任一项所述的感知方法被执行或权利要求8至14任一项所述的感知方法被执行。
  18. 一种通信装置，包括存储器和处理器，所述存储器上存储有可在所述处理器上运行的计算机程序，其特征在于，所述处理器运行所述计算机程序时执行权利要求1至7任一项所述的感知方法的步骤。
  19. 一种通信装置，包括存储器和处理器，所述存储器上存储有可在所述处理器上运行的计算机程序，其特征在于，所述处理器运行所述计算机程序时执行权利要求8至14任一项所述的感知方法的步骤。
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