WO2025152002A1 - Method for determining parameter of sensing target, and apparatus - Google Patents

Abstract

The present invention provides a method for determining a parameter of a sensing target, an apparatus, a device, and a storage medium. The method comprises: determining variation information of multipath components on the basis of a current wireless channel and a reference wireless channel, wherein the multipath components comprise a first multipath component reflected by a corresponding sensing target of the current wireless channel and other varying second multipath components; and determining a parameter of the sensing target on the basis of the variation information of the multipath components. The present invention can provide a parameter determination mechanism for the sensing target, mitigating inaccuracies in sensing performance caused by a multipath component variation of an environment target due to the sensing target, improving the sensing performance for the sensing target.

Description

Method and device for determining perception target parameters Technical Field

The present disclosure relates to the field of communication technology, and in particular to a method, device, equipment and storage medium for determining perception target parameters.

Background Art

In a communication system, a sensing target can be sensed to determine the location and other parameters of the sensing target. For example, the wireless signal reflected by the sensing target can be directly measured to obtain the multipath component of the sensing target. Based on the time delay, angle, Doppler frequency and other information in the multipath component, the location and other parameters of the sensing target can be determined.

Summary of the invention

The present disclosure proposes a method, device, equipment and storage medium for determining perception target parameters to provide a parameter determination mechanism for a perception target, thereby reducing the situation in which the perception performance is inaccurate due to the change of multipath components of environmental targets caused by the perception target, and improving the perception performance of the perception target.

According to a first aspect of an embodiment of the present disclosure, a method for determining a perception target parameter is proposed, which is applied to a first receiving terminal. The method includes:

Determine the change information of the multipath components based on the current wireless channel and the reference wireless channel; wherein the multipath components include the first multipath components corresponding to the perceived target reflection of the current wireless channel and other changed second multipath components;

The parameters of the perceived target are determined according to the change information of the multipath components.

According to a second aspect of an embodiment of the present disclosure, a method for determining a perception target parameter is proposed, which is applied to a perception processing device. The method includes:

Receiving measurement information sent by a first receiving terminal, wherein the measurement information includes at least one of a first multipath component of a current wireless channel corresponding to a perceived target reflection, other changed second multipath components, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to the reference wireless channel;

The measurement information is used to perform a sensing operation on the sensing target.

According to a third aspect of an embodiment of the present disclosure, a first receiving terminal is provided, wherein the first receiving terminal includes:

A processing module, configured to determine change information of a multipath component based on a current wireless channel and a reference wireless channel; wherein the multipath component includes a first multipath component corresponding to a perceived target reflection of the current wireless channel and other changed second multipath components;

The processing module is further used to determine the parameters of the perceived target according to the change information of the multipath components.

According to a fourth aspect of an embodiment of the present disclosure, a perception processing device is provided, the perception processing device comprising:

A transceiver module, configured to receive measurement information sent by a first receiving terminal, wherein the measurement information includes at least one of a first multipath component of a current wireless channel corresponding to a perceived target reflection, other changed second multipath components, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to the reference wireless channel;

The processing module is used to use the measurement information to perform a perception operation on the perception target.

According to a fifth aspect of an embodiment of the present disclosure, a first receiving terminal is provided, characterized in that it includes:

one or more processors;

The first receiving terminal is used to execute the method for determining the perception target parameters described in any one of the first aspects.

According to a sixth aspect of an embodiment of the present disclosure, a perception processing device is provided, characterized in that it includes:

one or more processors;

The perception processing device is used to execute the perception target parameter determination method described in any one of the second aspects.

According to the seventh aspect of an embodiment of the present disclosure, a communication system is proposed, comprising a first receiving terminal and a perception processing device, wherein the first receiving terminal is configured to implement the perception target parameter determination method described in any one of the first aspects and the perception processing device is configured to implement the perception target parameter determination method described in any one of the second aspects.

According to an eighth aspect of an embodiment of the present disclosure, a storage medium is proposed, which stores instructions. When the instructions are executed on a communication device, the communication device executes the perceptual target parameter determination method as described in any one of the first aspect or the perceptual target parameter determination method as described in any one of the second aspect.

BRIEF DESCRIPTION OF THE DRAWINGS

The above and/or additional aspects and advantages of the present disclosure will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

FIG1 is a schematic diagram of the architecture of a communication system according to an embodiment of the present disclosure;

FIG2 is a schematic diagram of an example of sensing target impact environment provided by an embodiment of the present disclosure;

FIG3A is a schematic flow chart of a method for determining a perception target parameter provided by yet another embodiment of the present disclosure;

FIG3B is a schematic diagram showing an example of a method for determining a perception target parameter provided by yet another embodiment of the present disclosure;

FIG4A is a schematic diagram showing an example of an auxiliary perception operation of an environmental target change provided by an embodiment of the present disclosure;

FIG4B is a schematic diagram of an example of an auxiliary perception operation of an environmental target change provided by an embodiment of the present disclosure;

FIG4C is a schematic diagram showing an example of an auxiliary perception operation of an environmental target change provided by an embodiment of the present disclosure;

FIG4D is a schematic diagram of an example of an auxiliary perception operation of an environmental target change provided by an embodiment of the present disclosure;

FIG4E is a schematic diagram of an example of an auxiliary perception operation of an environmental target change provided by an embodiment of the present disclosure;

FIG5A is a schematic diagram of a flow chart of a method for determining a perception target parameter provided by yet another embodiment of the present disclosure;

FIG6A is a flow chart of a method for determining a perception target parameter provided by yet another embodiment of the present disclosure;

FIG7A is a schematic diagram of the structure of a first receiving terminal provided by an embodiment of the present disclosure;

FIG7B is a schematic diagram of the structure of a perception processing device provided by an embodiment of the present disclosure;

FIG8A is a schematic diagram of the structure of a communication device provided by an embodiment of the present disclosure;

FIG8B is a schematic diagram of the structure of a chip provided by an embodiment of the present disclosure.

DETAILED DESCRIPTION

The present disclosure proposes a method, device, equipment and storage medium for determining perception target parameters to provide a parameter determination mechanism for a perception target, thereby reducing the situation in which the perception performance is inaccurate due to the change of multipath components of environmental targets caused by the perception target, and improving the perception performance of the perception target.

According to a first aspect of an embodiment of the present disclosure, a method for determining a perception target parameter is proposed, which is applied to a first receiving terminal. The method includes:

Determine the change information of the multipath components based on the current wireless channel and the reference wireless channel; wherein the multipath components include the first multipath components corresponding to the perceived target reflection of the current wireless channel and other changed second multipath components;

The parameters of the perceived target are determined according to the change information of the multipath components.

In the above embodiment, a parameter determination mechanism for a perceived target can be provided, which can determine the parameters of the perceived target by combining the first multipath component reflected by the perceived target and other changing second multipath components, thereby reducing the situation in which the parameters of the perceived target are determined based only on the first multipath component reflected by the perceived target, resulting in inaccurate parameter determination, and reducing the situation in which the perceived target causes changes in the multipath components of the environmental target, resulting in inaccurate perception performance, thereby improving the perception performance of the perceived target.

In combination with some embodiments of the first aspect, in some embodiments, the reference wireless channel includes at least one of the following:

a wireless channel received by the first receiving terminal before a sensing target appears, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located and a wireless signal transmitted by the first transmitting terminal;

a wireless channel received by the first receiving terminal before the perceived target moves, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located, a received wireless signal transmitted by the first transmitting terminal, and a wireless signal reflected before the perceived target moves;

There are multiple perception targets, and the first receiving terminal receives a wireless channel, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located, a received wireless signal transmitted by the first transmitting terminal, and wireless signals reflected by remaining perception targets, and the remaining perception targets are perception targets other than the focus perception target among the multiple perception targets.

In combination with some embodiments of the first aspect, in some embodiments, the change information of the multipath component includes at least one of the following:

Directly receiving a multipath component of the current wireless channel corresponding to the reflection of the sensing target;

Other changing multipath components except the multipath component of the directly received current wireless channel corresponding to the perceived target reflection.

In combination with some embodiments of the first aspect, in some embodiments, the method further includes at least one of the following:

When the absolute strength of a multipath component received by the first receiving terminal is weakened to a first threshold value, it is determined that the multipath component received by the first receiving terminal is a multipath component with a multipath component change;

When the difference between the strength of any one of the multiple multipath components received by the first receiving terminal and the strength of the strongest multipath component among the multiple multipath components is greater than a second threshold, it is determined that any one of the multiple multipath components is a multipath component with a multipath component change.

In the above embodiment, the first threshold value or the second threshold value can improve the accuracy of determining the multipath component with multipath component changes, and can improve the perception performance of the perception target.

In combination with some embodiments of the first aspect, in some embodiments, after determining the change information of the multipath component based on the current wireless channel and the reference wireless channel, the method further includes:

Send measurement information to a perception processing device, wherein the measurement information is used to instruct the perception processing device to perform a perception operation on the perception target, and the measurement information includes at least one of the first multipath component, the second multipath component, the first measurement timestamp corresponding to the current wireless channel, and the second measurement timestamp corresponding to the reference wireless channel.

In the above embodiment, the measurement information can be sent to the perception processing device, and the perception processing device can perform a perception operation on the perception target. When the processing entity for the position and characteristics of the perception target is located in the perception processing device, perception operations can be performed on the perception target, reducing the situation where the parameters of the perception target are determined only based on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination, and reducing the situation where the perception target causes changes in the multipath components of the environmental target, resulting in inaccurate perception performance, thereby improving the perception performance of the perception target.

In combination with some embodiments of the first aspect, in some embodiments, the measurement amount of the first multipath component includes at least one of the following:

Delay;

angle;

Doppler frequency;

strength;

The measurement amount of the second multipath component includes at least one of the following:

Delay;

angle;

Doppler frequency;

strength.

In combination with some embodiments of the first aspect, in some embodiments, determining the parameter of the perceived target according to the change information of the multipath component includes:

The position information of the environmental target in the reference wireless channel is determined, and the parameters of the perceived target are determined according to the change information of the multipath component and the position information of the environmental target.

In the above embodiment, when the position information of the environmental target in the reference wireless channel is known, the parameters of the perception target can be determined by combining the change information of the multipath component and the position information of the environmental target, thereby reducing the situation where the parameters of the perception target are determined only based on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination, and reducing the situation where the perception performance is inaccurate due to the change of the multipath component of the environmental target caused by the perception target, thereby improving the perception performance of the perception target.

In combination with some embodiments of the first aspect, in some embodiments, determining the parameters of the perception target according to the change information of the multipath component and the position information of the environmental target includes:

The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than an angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

The parameters of the perception target are determined according to the first multipath component, the first position information of the first environmental target, and the information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

In the above embodiment, when the perception target blocks the wireless signal of the first environmental target, the parameters of the perception target can be determined by combining the change information of the multipath component and the position information of the environmental target, thereby reducing the situation where the parameters of the perception target are determined only based on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination, and reducing the situation where the perception performance is inaccurate due to the change of the multipath component of the environmental target caused by the perception target, thereby improving the perception performance of the perception target.

In combination with some embodiments of the first aspect, in some embodiments, determining the parameters of the perception target according to the change information of the multipath component and the position information of the environmental target includes:

The perception target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the azimuth angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; the difference between the azimuth angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

Determine the parameters of the perception target based on the first multipath component, the first position information of the first environmental target, the second position information of the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

In the above embodiment, the wireless signals of the first environmental target and the second environmental target can be blocked at the perception target, and the parameters of the perception target can be determined by combining the change information of the multipath component and the position information of the environmental target. This can reduce the situation where the parameters of the perception target are determined only based on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination, and reduce the situation where the perception performance is inaccurate due to the change of the multipath component of the environmental target caused by the perception target. This can improve the perception performance of the perception target.

In combination with some embodiments of the first aspect, in some embodiments, determining the parameters of the perception target according to the change information of the multipath component and the position information of the environmental target includes:

The perception target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the azimuth angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; the difference between the azimuth angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

The parameters of the perception target are determined according to the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

In the above embodiment, the wireless signals of the first environmental target and the second environmental target can be blocked at the perception target, and the parameters of the perception target can be determined by combining the change information of the multipath component and the position information of the environmental target. This can reduce the situation where the parameters of the perception target are determined only based on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination, and reduce the situation where the perception performance is inaccurate due to the change of the multipath component of the environmental target caused by the perception target. This can improve the perception performance of the perception target.

In combination with some embodiments of the first aspect, in some embodiments, determining the parameters of the perception target according to the change information of the multipath component and the position information of the environmental target includes:

The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, the second multipath component of the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

The parameters of the perception target are determined according to the first position information of the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and the information that the perception target is located on the line connecting the first transmitting terminal and the first environmental target.

In the above embodiment, the wireless signals of the perception target and the first receiving terminal can be blocked at the first environmental target, and the parameters of the perception target can be determined by combining the change information of the multipath component and the position information of the environmental target. This can reduce the situation where the parameters of the perception target are determined only based on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination, and reduce the situation where the perception target causes the change of the multipath component of the environmental target, resulting in inaccurate perception performance. This can improve the perception performance of the perception target.

In combination with some embodiments of the first aspect, in some embodiments, determining the parameters of the perception target according to the change information of the multipath component and the position information of the environmental target includes:

The first environmental target blocks the wireless signals of the sensing target and the transmitting terminal, and the multipath component of the sensing target changes, and it is determined that the sensing target is located on the extension line of the first transmitting terminal and the first environmental target;

The parameters of the perception target are determined according to the first position information of the first environmental target, the changing multipath component of the perception target, the multipath component reflected by the second transmitting terminal through the perception target, and the information that the perception target is located on the extension line of the first transmitting terminal and the first environmental target.

In the above embodiment, the wireless signals of the perception target and the transmitting terminal can be blocked at the first environmental target, and the parameters of the perception target can be determined by combining the change information of the multipath component and the position information of the environmental target. This can reduce the situation where the parameters of the perception target are determined only based on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination, and reduce the situation where the perception target causes the change of the multipath component of the environmental target, resulting in inaccurate perception performance. This can improve the perception performance of the perception target.

In combination with some embodiments of the first aspect, in some embodiments, determining the parameters of the perception target according to the change information of the multipath component and the position information of the environmental target includes:

The sensing target blocks wireless signals of the first transmitting terminal and the first receiving terminal, and determines, according to the first multipath component and the second multipath component, that the sensing target is located on a line connecting the first transmitting terminal and the first receiving terminal;

The parameters of the perceived target are determined according to the multipath component reflected by the perceived target sent by the second receiving terminal and the information that the perceived target is located on a line connecting the first transmitting terminal and the first receiving terminal.

In the above embodiment, the wireless signals of the first transmitting terminal and the first receiving terminal can be blocked when the perception target is being perceived, and the change information of the multipath component and the position information of the environmental target can be combined to determine the parameters of the perception target, thereby reducing the situation in which the parameters of the perception target are determined based only on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination, and reducing the situation in which the perception performance is inaccurate due to the change of the multipath component of the environmental target caused by the perception target, thereby improving the perception performance of the perception target.

In combination with some embodiments of the first aspect, in some embodiments, determining the parameter of the perceived target according to the change information of the multipath component includes:

A parameter of a perceived target is determined according to the first multipath component and the second multipath component.

In the above embodiment, when the position information of the environmental target in the reference wireless channel is unknown, the first multipath component and the second multipath component can be combined to determine the parameters of the perceived target, thereby reducing the situation where the parameters of the perceived target are determined based only on the first multipath component reflected by the perceived target, resulting in inaccurate parameter determination, and reducing the situation where the perceived target causes the multipath component of the environmental target to change, resulting in inaccurate perception performance, thereby improving the perception performance of the perceived target.

In combination with some embodiments of the first aspect, in some embodiments, determining the parameter of the perceived target according to the first multipath component and the second multipath component includes:

The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than an angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

The parameters of the perception target are determined according to the first multipath component, the second multipath component, and information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

In combination with some embodiments of the first aspect, in some embodiments, the determining of the perception target according to the first multipath component and the second multipath component Target parameters include:

The sensing target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the direction angles of the first multipath component and the second multipath component of the first environmental target is greater than an angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target;

The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

Determine the parameters of the perception target based on the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

In combination with some embodiments of the first aspect, in some embodiments, determining the parameter of the perceived target according to the first multipath component and the second multipath component includes:

The sensing target blocks wireless signals of the first environmental target and the second environmental target, and determines that the sensing target is located on a line connecting the first transmitting terminal and the second environmental target according to the difference in direction angle between the first multipath component and the second multipath component of the first environmental target being greater than an angle difference threshold;

The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

Determine the parameters of the perception target based on the first multipath component, the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

In combination with some embodiments of the first aspect, in some embodiments, determining the parameter of the perceived target according to the first multipath component and the second multipath component includes:

The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, and the second multipath component corresponding to the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

The parameters of the perception target are determined according to the second multipath component corresponding to the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and the information that the perception target is located on the line connecting the first transmitting terminal and the first environmental target.

In combination with some embodiments of the first aspect, in some embodiments, determining the parameter of the perceived target according to the first multipath component and the second multipath component includes:

The parameters of the perceived target are determined according to the multipath component of the change of the perceived target and the multipath component reflected by the second transmitting terminal through the perceived target.

According to a second aspect of an embodiment of the present disclosure, a method for determining a perception target parameter is proposed, which is applied to a perception processing device. The method includes:

Receiving measurement information sent by a first receiving terminal, wherein the measurement information includes at least one of a first multipath component of a current wireless channel corresponding to a perceived target reflection, other changed second multipath components, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to the reference wireless channel;

The measurement information is used to perform a sensing operation on the sensing target.

In the above embodiment, when receiving the measurement information sent by the first receiving terminal, the perception processing device can perform a perception operation on the perception target, and when the processing entity of the position and characteristics of the perception target is located in the perception processing device, the perception operation can be performed on the perception target, thereby reducing the situation in which the parameters of the perception target are determined only based on the first multipath component reflected by the perception target, resulting in inaccurate parameter determination, and reducing the situation in which the perception performance is inaccurate due to the change of the multipath component of the environmental target caused by the perception target, thereby improving the perception performance of the perception target.

In conjunction with some embodiments of the second aspect, in some embodiments, using the measurement information to perform a perception operation on the perception target includes:

Determine the location information of the environmental target in the reference wireless channel, and use the measurement information and the location information of the environmental target to perform a sensing operation on the sensing target.

In conjunction with some embodiments of the second aspect, in some embodiments, using the measurement information and the position information of the environmental target to perform a perception operation on the perception target includes:

The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than an angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

The parameters of the perception target are determined according to the first multipath component, the first position information of the first environmental target, and the information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

In conjunction with some embodiments of the second aspect, in some embodiments, using the measurement information and the position information of the environmental target to perform a perception operation on the perception target includes:

The perception target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the azimuth angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; the difference between the azimuth angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

Determine the parameters of the perception target based on the first multipath component, the first position information of the first environmental target, the second position information of the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

In conjunction with some embodiments of the second aspect, in some embodiments, using the measurement information and the position information of the environmental target to perform a perception operation on the perception target includes:

The perception target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the azimuth angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; the difference between the azimuth angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

The parameters of the perception target are determined according to the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

In conjunction with some embodiments of the second aspect, in some embodiments, using the measurement information and the position information of the environmental target to perform a perception operation on the perception target includes:

The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, the second multipath component of the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

The parameters of the perception target are determined according to the first position information of the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and the information that the perception target is located on the line connecting the first transmitting terminal and the first environmental target.

In conjunction with some embodiments of the second aspect, in some embodiments, using the measurement information and the position information of the environmental target to perform a perception operation on the perception target includes:

The first environmental target blocks the wireless signals of the sensing target and the transmitting terminal, and the multipath component of the sensing target changes, and it is determined that the sensing target is located on the extension line of the first transmitting terminal and the first environmental target;

The parameters of the perception target are determined according to the first position information of the first environmental target, the changing multipath component of the perception target, the multipath component reflected by the second transmitting terminal through the perception target, and the information that the perception target is located on the extension line of the first transmitting terminal and the first environmental target.

In conjunction with some embodiments of the second aspect, in some embodiments, using the measurement information and the position information of the environmental target to perform a perception operation on the perception target includes:

The sensing target blocks wireless signals of the first transmitting terminal and the first receiving terminal, and determines, according to the first multipath component and the second multipath component, that the sensing target is located on a line connecting the first transmitting terminal and the first receiving terminal;

The parameters of the perceived target are determined according to the multipath component reflected by the perceived target sent by the second receiving terminal and the information that the perceived target is located on a line connecting the first transmitting terminal and the first receiving terminal.

In conjunction with some embodiments of the second aspect, in some embodiments, using the measurement information to perform a perception operation on the perception target includes:

A sensing operation is performed on a sensing target according to the first multipath component and the second multipath component.

In combination with some embodiments of the second aspect, in some embodiments, performing a sensing operation on a sensing target according to the first multipath component and the second multipath component includes:

The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than an angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

The parameters of the perception target are determined according to the first multipath component, the second multipath component, and information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

In combination with some embodiments of the second aspect, in some embodiments, performing a sensing operation on a sensing target according to the first multipath component and the second multipath component includes:

The sensing target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the direction angles of the first multipath component and the second multipath component of the first environmental target is greater than an angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target;

The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

Determine the parameters of the perception target based on the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

In combination with some embodiments of the second aspect, in some embodiments, performing a sensing operation on a sensing target according to the first multipath component and the second multipath component includes:

The sensing target blocks wireless signals of the first environmental target and the second environmental target, and determines that the sensing target is located on a line connecting the first transmitting terminal and the second environmental target according to the difference in direction angle between the first multipath component and the second multipath component of the first environmental target being greater than an angle difference threshold;

The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

Determine the parameters of the perception target based on the first multipath component, the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

In combination with some embodiments of the second aspect, in some embodiments, performing a sensing operation on a sensing target according to the first multipath component and the second multipath component includes:

The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, and the second multipath component corresponding to the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

The parameters of the perception target are determined according to the second multipath component corresponding to the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and the information that the perception target is located on the line connecting the first transmitting terminal and the first environmental target.

In combination with some embodiments of the second aspect, in some embodiments, performing a sensing operation on a sensing target according to the first multipath component and the second multipath component includes:

The parameters of the perceived target are determined according to the multipath component of the change of the perceived target and the multipath component reflected by the second transmitting terminal through the perceived target.

In conjunction with some embodiments of the second aspect, in some embodiments, the measurement amount of the first multipath component includes at least one of the following:

Delay;

angle;

Doppler frequency;

strength;

The measurement amount of the second multipath component includes at least one of the following:

Delay;

angle;

Doppler frequency;

strength.

In conjunction with some embodiments of the second aspect, in some embodiments, the reference wireless channel includes at least one of the following:

a wireless channel received by the first receiving terminal before a sensing target appears, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located and a wireless signal transmitted by the first transmitting terminal;

a wireless channel received by the first receiving terminal before the perceived target moves, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located, a received wireless signal transmitted by the first transmitting terminal, and a wireless signal reflected before the perceived target moves;

There are multiple perception targets, and the first receiving terminal receives a wireless channel, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located, a received wireless signal transmitted by the first transmitting terminal, and wireless signals reflected by remaining perception targets, and the remaining perception targets are perception targets other than the focus perception target among the multiple perception targets.

According to a third aspect of an embodiment of the present disclosure, a first receiving terminal is provided, wherein the first receiving terminal includes:

A processing module, configured to determine change information of a multipath component based on a current wireless channel and a reference wireless channel; wherein the multipath component includes a first multipath component corresponding to a perceived target reflection of the current wireless channel and other changed second multipath components;

The processing module is further used to determine the parameters of the perceived target according to the change information of the multipath components.

According to a fourth aspect of an embodiment of the present disclosure, a perception processing device is provided, the perception processing device comprising:

The transceiver module is used to receive the measurement information sent by the first receiving terminal, wherein the measurement information includes the first multipath component of the current wireless channel corresponding to the perceived target reflection, the second multipath component of other changes, the first measurement timestamp corresponding to the current wireless channel, and the first measurement timestamp corresponding to the reference wireless channel. at least one of the second measurement timestamps of

The processing module is used to use the measurement information to perform a perception operation on the perception target.

According to a fifth aspect of an embodiment of the present disclosure, a first receiving terminal is provided, characterized in that it includes:

one or more processors;

The first receiving terminal is used to execute the method for determining the perception target parameters described in any one of the first aspects.

According to a sixth aspect of an embodiment of the present disclosure, a perception processing device is provided, characterized in that it includes:

one or more processors;

The perception processing device is used to execute the perception target parameter determination method described in any one of the second aspects.

According to the seventh aspect of an embodiment of the present disclosure, a communication system is proposed, comprising a first receiving terminal and a perception processing device, wherein the first receiving terminal is configured to implement the perception target parameter determination method described in any one of the first aspects and the perception processing device is configured to implement the perception target parameter determination method described in any one of the second aspects.

According to an eighth aspect of an embodiment of the present disclosure, a storage medium is proposed, which stores instructions. When the instructions are executed on a communication device, the communication device executes the perceptual target parameter determination method as described in any one of the first aspect or the perceptual target parameter determination method as described in any one of the second aspect.

The embodiments of the present disclosure propose a method for determining a perception target parameter and a method for determining a perception target parameter. In some embodiments, the terms such as the method for determining a perception target parameter, the method for determining a perception target parameter, and information processing method, communication method, etc. can be replaced with each other, the terms such as the device for determining a perception target parameter, the device for determining a perception target parameter, and information processing device, communication device, etc. can be replaced with each other, and the terms such as information processing system, communication system, etc. can be replaced with each other.

The embodiments of the present disclosure are not exhaustive, but are only illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementation methods in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined, for example, some or all of the steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

In each embodiment of the present disclosure, unless otherwise specified or there is a logical conflict, the terms and/or descriptions between the embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form a new embodiment based on their internal logical relationships.

The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular form, such as "a", "an", "the", "above", "said", "aforementioned", "this", etc., may mean "one and only one", or "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English in translation, the noun after the article may be understood as a singular expression or a plural expression.

In the embodiments of the present disclosure, “plurality” refers to two or more.

In some embodiments, the terms "at least one of", "one or more", "a plurality of", "multiple", etc. can be used interchangeably.

In some embodiments, "at least one of A and B", "A and/or B", "A in one case, B in another case", "in response to one case A, in response to another case B", etc., may include the following technical solutions according to the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); in some embodiments, A and B (both A and B are executed). When there are more branches such as A, B, C, etc., the above is also similar.

In some embodiments, the recording method of "A or B" may include the following technical solutions according to the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). When there are more branches such as A, B, C, etc., the above is also similar.

The prefixes such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different description objects, and do not constitute restrictions on the position, order, priority, quantity or content of the description objects. The statement of the description object refers to the description in the context of the claims or embodiments, and should not constitute unnecessary restrictions due to the use of prefixes. For example, if the description object is a "field", the ordinal number before the "field" in the "first field" and the "second field" does not limit the position or order between the "fields", and the "first" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the description object is a "level", the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the number of description objects is not limited by the ordinal number, and can be one or more. Taking the "first device" as an example, the number of "devices" can be one or more. In addition, the objects modified by different prefixes may be the same or different. For example, if the description object is "device", then the "first device" and the "second device" may be the same device or different devices, and their types may be the same or different. For another example, if the description object is "information", then the "first information" and the "second information" may be the same information or different information, and their contents may be the same or different.

In some embodiments, “including A”, “comprising A”, “used to indicate A”, “carrying A” can be interpreted as directly carrying A, or indirectly carrying A. Continue with instruction A.

In some embodiments, terms such as "in response to ...", "in response to determining ...", "in the case of ...", "at the time of ...", "when ...", "if ...", "if ...", etc. can be used interchangeably.

In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", and "above" can be replaced with each other, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "no more than", "lower than", "lower than or equal to", "not higher than", and "below" can be replaced with each other.

In some embodiments, devices and equipment may be interpreted as physical or virtual, and their names are not limited to the names recorded in the embodiments. In some cases, they may also be understood as "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", "subject", etc.

In some embodiments, "network" can be interpreted as devices included in the network, such as access network equipment, core network equipment, etc.

In some embodiments, "access network device (AN device)" may also be referred to as "radio access network device (RAN device)", "base station (BS)", "radio base station (radio base station)", "fixed station" and in some embodiments may also be understood as "node", "access point (access point)", "transmission point (TP)", "reception point (RP)", "transmission and/or reception point (transmission/reception point, TRP)", "panel", "antenna panel", "antenna array", "cell", "macro cell", "small cell", "femto cell", "pico cell", "sector", "cell group", "serving cell", "carrier", "component carrier", "bandwidth part (bandwidth part, BWP)", etc.

In some embodiments, the term "terminal" or "terminal device" may be referred to as "user equipment (UE)", "user terminal (user terminal)", "mobile station (MS)", "mobile terminal (MT)", subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, wireless terminal, remote terminal, handset, user agent, mobile client, client, etc.

In some embodiments, acquisition of data, information, etc. may comply with the laws and regulations of the country where the data is obtained.

In some embodiments, data, information, etc. may be obtained with the user's consent.

In addition, each element, each row, or each column in the table of the embodiments of the present disclosure may be implemented as an independent embodiment, and the combination of any elements, any rows, and any columns may also be implemented as an independent embodiment.

FIG1 is a schematic diagram of the architecture of a communication system according to an embodiment of the present disclosure. As shown in FIG1 , a communication system 100 includes a terminal 101 and a network device 102 .

In some embodiments, the terminal 101 includes, for example, a mobile phone, a wearable device, an Internet of Things device, a car with communication function, a smart car, a tablet computer (Pad), a computer with wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, and at least one of a wireless terminal device in a smart home, but is not limited to these.

In some embodiments, the network device 102 may include, for example, at least one of an access network device and a core network device.

In some embodiments, the access network device is, for example, a node or device that accesses a terminal to a wireless network. The access network device may include an evolved Node B (eNB), a next generation evolved Node B (ng-eNB), a next generation Node B (gNB), a node B (NB), a home node B (HNB), a home evolved node B (HeNB), a wireless backhaul device, and a radio network controller (radio network controller) in a 5G communication system. The invention relates to a mobile troller (RNC), a base station controller (BSC), a base transceiver station (BTS), a base band unit (BBU), a mobile switching center, a network device in a sixth generation mobile communication standard (6G) communication system, an open network device (Open RAN), a cloud network device (Cloud RAN), a network device in other communication systems, and an access node in a Wi-Fi system, but is not limited thereto.

In some embodiments, the technical solution of the present disclosure may be applicable to the Open RAN architecture. In this case, the interfaces between or within the access network devices involved in the embodiments of the present disclosure may become internal interfaces of the Open RAN, and the processes and information interactions between these internal interfaces may be implemented through software or programs.

In some embodiments, the access network device may be composed of a centralized unit (central unit, CU) and a distributed unit (distributed unit, DU), wherein the CU may also be called a control unit (control unit). The CU-DU structure may be used to split the protocol layer of the access network device, with some functions of the protocol layer being centrally controlled by the CU, and the remaining part or all of the functions of the protocol layer being distributed in the DU, and the DU being centrally controlled by the CU, but not limited to this.

In some embodiments, the core network device may be a device including one or more network elements, or may be multiple devices or device groups, each including all or part of the one or more network elements. The network element may be virtual or physical. The core network may include, for example, at least one of the Evolved Packet Core (EPC), the 5G Core Network (5GCN), and the Next Generation Core (NGC).

In some embodiments, the core network device may be a device including a first network element, a second network element, etc., or may be a plurality of devices or a group of devices including all or part of the first network element, the second network element, etc. The network element may be virtual or physical. The core network may include, for example, at least one of an Evolved Packet Core (EPC), a 5G Core Network (5GCN), and a Next Generation Core (NGC).

In some embodiments, the first network element is, for example, a policy control function (PCF).

In some embodiments, the first network element is used to "support a unified policy framework to manage network behavior, provide policy rules to network entities for implementation, and access subscription information of a unified data repository (UDR)", and the name is not limited to this.

In some embodiments, the second network element is, for example, a unified data management function (UDM).

In some embodiments, the second network element is used to "be responsible for the management of user identification, subscription data, authentication data, and service network element registration management of the user", and the name is not limited to this.

In some embodiments, the third network element is, for example, an authentication service function (Authentication Service Function, AUSF).

In some embodiments, the third network element is used to "receive a request from an access and mobility management function (AMF) to authenticate the terminal, request a key from the UDM, and then forward the key issued by the UDM to the AMF for authentication processing", and the name is not limited to this.

In some embodiments, the third network element may be independent of the core network device.

In some embodiments, the third network element may be part of a core network device.

It can be understood that the communication system described in the embodiment of the present disclosure is for the purpose of more clearly illustrating the technical solution of the embodiment of the present disclosure, and does not constitute a limitation on the technical solution proposed in the embodiment of the present disclosure. A person of ordinary skill in the art can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution proposed in the embodiment of the present disclosure is also applicable to similar technical problems.

The following embodiments of the present disclosure may be applied to the communication system 100 shown in FIG1 , or part of the subject, but are not limited thereto. The subjects shown in FIG1 are examples, and the communication system may include all or part of the subjects in FIG1 , or may include other subjects other than FIG1 , and the number and form of the subjects are arbitrary, and the subjects may be physical or virtual, and the connection relationship between the subjects is an example, and the subjects may be connected or disconnected, and the connection may be in any manner, and may be a direct connection or an indirect connection, and may be a wired connection or a wireless connection.

The embodiments of the present disclosure may be applied to Long Term Evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), SUPER 3B, IMT-Advanced, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), 5G new radio (NR), Future Radio Access (FRA), New-Radio Access Technology (RAT), New Radio (NR), New radio access (NX), Future generation radio access ... The present invention relates to wireless communication systems such as LTE, Wi-Fi (X), Global System for Mobile communications (GSM (registered trademark)), CDMA2000, Ultra Mobile Broadband (UMB), IEEE802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), IEEE 802.20, Ultra-WideBand (UWB), Bluetooth (registered trademark), Public Land Mobile Network (PLMN) network, Device to Device (D2D) system, Machine to Machine (M2M) system, Internet of Things (IoT) system, Vehicle to Everything (V2X), systems using other communication methods, and next-generation systems expanded based on them. In addition, a combination of multiple systems (for example, a combination of LTE or LTE-A with 5G, etc.) may also be applied.

In some embodiments, for example, direct measurement can be performed based on the wireless signal sent by the sensing target to obtain information such as the time delay, angle, and Doppler frequency of the multipath component, and then the position and other parameters of the sensing target can be determined. However, the sensing target may cause changes in the environmental multipath component, for example, the appearance or movement of the sensing target may cause changes in the environmental multipath component, thus making the accuracy of the information determination of the sensing target poor.

FIG2 is a schematic diagram of an example of a perception target influencing the environment provided by an embodiment of the present disclosure, wherein TX1 represents a transmitter, RX represents a receiver, E, E1, E2, E3 and E4 represent environmental targets, and T1, T2, T3 and T4 represent perception targets. The mutual influence between the perception target and the environmental target may include one or more of the following situations:

(1) Because the presence and movement of the sensing target can block or weaken the wireless signal sent from a transmitter to a certain environmental target, resulting in the above The environmental target is not visible at the receiver or the signal is weakened. For example, the wireless signal from the transmitter TX to the environmental target E1 in Figure 2 is blocked by the sensing target T1.

(2) The presence and movement of the sensing target may block or weaken the wireless signal reflected from an environmental target to the receiver, causing the environmental target to be invisible at the receiver or the signal to become weak. For example, the wireless signal from the environmental target E2 to the receiver RX in Figure 2 is blocked by the sensing target T1.

(3) Due to the appearance and movement of the sensing target, an environmental target may block or weaken the wireless signal from the transmitter to the sensing target, causing the sensing target to be invisible at the receiver or the signal to become weak. For example, the wireless signal from the transmitter TX to the sensing target T2 in Figure 2 is blocked by the environmental target E3.

(4) Due to the presence and movement of the sensing target, an environmental target may block or weaken the wireless signal reflected from the sensing target to the receiver, causing the sensing target to be invisible at the receiver or the signal to become weak. For example, the wireless signal reflected from the sensing target T3 to the receiver RX in Figure 2 is blocked by the environmental target E4.

(5) The appearance and movement of the sensing target may block or weaken the wireless signal from the transmitter to the receiver, that is, the receiver finds that the direct path (LOS) of the transmitter is invisible or the signal is weakened. For example, the direct path of the wireless signal from the transmitter TX to the receiver RX in Figure 2 is blocked by the sensing target T4. In fact, this situation also affects the wireless signal reflected by the sensing target at the receiver. Because the wireless signal of the transmitter is blocked or weakened by the sensing target, the signal reflected from the sensing target to the receiver also disappears or weakens accordingly, that is, the sensing target becomes invisible or the signal is weakened at the receiver.

(6) As the sensing target moves, the wireless signal reflected from the sensing target to the receiver changes. For example, its multipath component at the previous moment disappears or weakens, and a new multipath component is generated. For example, when the sensing target T1 moves to the position T1', the original reflected multipath component disappears, and a new reflected multipath component is generated.

(7) Due to the appearance and movement of the sensing target, some wireless signals reflected by the sensing target may reach a certain environmental target, causing the wireless signal reflected by the environmental target to the receiver to become stronger. Here, because the path from the transmitter to the sensing target to the environmental target is not a direct path, that is, its delay is greater than the direct path from the transmitter to the environmental target, it is possible for the receiver to distinguish the increased wireless signal from the delay characteristics.

(8) The wireless signal of environmental target E at receiver RX is not affected by the sensing target

(9) The wireless signal of the sensing target T1 at the receiver RX is not affected by the environmental targets.

The following describes in detail a method, apparatus, device and storage medium for determining perception target parameters provided by an embodiment of the present disclosure with reference to the accompanying drawings.

FIG3A is a schematic diagram of an example of a method for determining a perception target parameter provided by an embodiment of the present disclosure. As shown in FIG3A , the method may include the following steps:

Step S3101, the first transmitting terminal transmits a wireless signal;

In one embodiment of the present disclosure, the first transmitting terminal may be, for example, a terminal that transmits a wireless signal. The name of the first transmitting terminal is not limited. For example, the first transmitting terminal may also be referred to as a "first transmitter".

For example, in one embodiment of the present disclosure, the technical solution of the embodiment of the present disclosure can be applied to indoor scenes or outdoor scenes.

Step S3102: The first receiving terminal determines the change information of the multipath components based on the current wireless channel and the reference wireless channel; wherein the multipath components include the first multipath components corresponding to the perceived target reflection of the current wireless channel and other changed second multipath components;

In one embodiment of the present disclosure, the first receiving terminal may, for example, measure a first multipath component of the current wireless channel corresponding to the perceived target reflection. The first receiving terminal may, for example, perform multiple measurement operations.

In one embodiment of the present disclosure, the reference wireless channel includes at least one of the following:

a wireless channel received by the first receiving terminal before a sensing target appears, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located and a wireless signal transmitted by the first transmitting terminal;

a wireless channel received by the first receiving terminal before the motion of the sensing target, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located, a received wireless signal transmitted by the first transmitting terminal, and a wireless signal reflected before the sensing target moves;

There are multiple perception targets and wireless channels received by the first receiving terminal, wherein the wireless channel includes at least one of wireless signals reflected by environmental targets in the area where the first receiving terminal is located, wireless signals received from the first transmitting terminal, and wireless signals reflected by remaining perception targets, and the remaining perception targets are perception targets other than the focus perception target among the multiple perception targets.

In one embodiment of the present disclosure, the reference wireless channel includes a wireless channel received by a first receiving terminal before a perception target appears, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located and a received wireless signal transmitted by the first transmitting terminal.

In one embodiment of the present disclosure, the reference wireless channel includes a wireless channel received by the first receiving terminal before sensing the target movement, wherein the wireless channel includes a wireless signal reflected by an environmental target in an area where the first receiving terminal is located, a wireless signal transmitted by the first transmitting terminal, and Sense at least one of the wireless signals reflected before the target moves.

In one embodiment of the present disclosure, the reference wireless channel includes a wireless channel received by a first receiving terminal in the presence of multiple perception targets, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located, a received wireless signal transmitted by the first transmitting terminal, and wireless signals reflected by remaining perception targets, and the remaining perception targets are perception targets other than the focus perception target among the multiple perception targets.

For example, in one embodiment of the present disclosure, as shown in Figure 2, the multiple sensing targets may include T1, T2, T3 and T4. For example, when the sensing target of interest is T1, the reference wireless channel may include wireless signals reflected by sensing targets T2, T3 and T4.

The measurement amount of the first multipath component includes at least one of the following:

Delay;

angle;

Doppler frequency;

strength;

The measurement amount of the second multipath component includes at least one of the following:

Delay;

angle;

Doppler frequency;

strength.

In one embodiment of the present disclosure, the measurement quantity of the first multipath component includes a time delay.

In one embodiment of the present disclosure, the measurement quantity of the first multipath component includes an angle.

In one embodiment of the present disclosure, the measurement quantity of the first multipath component includes the Doppler frequency.

In one embodiment of the present disclosure, the measurement quantity of the first multipath component includes intensity.

In one embodiment of the present disclosure, the measurement quantity of the second multipath component includes a time delay.

In one embodiment of the present disclosure, the measurement quantity of the second multipath component includes an angle.

In one embodiment of the present disclosure, the measurement quantity of the second multipath component includes the Doppler frequency.

In one embodiment of the present disclosure, the measurement quantity of the second multipath component includes intensity.

Step S3103: The first receiving terminal determines parameters of the perception target according to the change information of the multipath component.

By way of example, in one embodiment of the present disclosure, the parameter determination subject of the perception target of the embodiment of the present disclosure may be, for example, a first receiving terminal, which may, for example, receive measurement information sent by other receiving terminals, and the measurement information may, for example, include at least one of a first multipath component, a second multipath component, a first measurement timestamp corresponding to a current wireless channel, and a second measurement timestamp corresponding to a reference wireless channel.

For example, in one embodiment of the present disclosure, for example, when a target is perceived to appear or move, the first receiving terminal detects change information of a multipath component of a wireless signal received by the first receiving terminal.

For example, in one embodiment of the present disclosure, the change information of the multipath component includes at least one of the following:

Directly receive the multipath component reflected by the corresponding sensing target of the current wireless channel;

Other changing multipath components except the multipath components directly received from the current wireless channel corresponding to the perceived target reflection.

For example, in one embodiment of the present disclosure, the change information of the multipath component includes the multipath component directly received from the corresponding sensing target reflection of the current wireless channel. The multipath component can be, for example, the multipath component from the transmitter TX1 to the receiver RX via the sensing target T1 in FIG2 .

For example, in one embodiment of the present disclosure, the change information of the multipath component includes change information of the multipath component of the environmental target at the first receiving terminal caused by the appearance or movement of the perceived target.

For example, in one embodiment of the present disclosure, the change information of the multipath component includes change information of the multipath component at the first receiving terminal caused by the appearance or movement of the perceived target.

For example, in one embodiment of the present disclosure, the method further includes at least one of the following:

The absolute strength of a multipath component received by the first receiving terminal is weakened to a first threshold value, and it is determined that the multipath component received by the first receiving terminal is a multipath component with a multipath component change;

If the difference between the strength of any one of the multiple multipath components received by the first receiving terminal and the strength of the strongest multipath component among the multiple multipath components is greater than a second threshold, it is determined that any one of the multiple multipath components is a multipath component with a multipath component change.

In one embodiment of the present disclosure, the first threshold value does not specifically refer to a fixed threshold value. The first in the first threshold value is used to distinguish from the second threshold value. The second in the second threshold value is used to distinguish from the first threshold value. The first threshold value and the second threshold value may be, for example, predefined, the first threshold value and the second threshold value may be, for example, semi-statically configured, and the first threshold value and the second threshold value may be, for example, dynamically indicated. The present disclosure embodiment does not limit this.

For example, in one embodiment of the present disclosure, the first threshold value may be, for example, threshold A, and the second threshold value may be, for example, threshold B. For a multipath component received by the first receiving terminal, if its absolute strength is weakened to be lower than threshold A, the first receiving terminal can determine that the multipath component is a multipath component affected by the appearance or movement of the perceived target. For a multipath component received by the first receiving terminal, if the difference between the strength of the multipath component and the strength of the strongest multipath component received by the first receiving terminal is greater than threshold B, the first receiving terminal can determine that the multipath component is a multipath component affected by the appearance or movement of the perceived target.

For example, in one embodiment of the present disclosure, the method further includes:

The absolute strength of a multipath component received by the first receiving terminal is weakened to a first threshold value, and it is determined that the multipath component received by the first receiving terminal is a multipath component with a multipath component change.

For example, in one embodiment of the present disclosure, the method further includes:

If the difference between the strength of any one of the multiple multipath components received by the first receiving terminal and the strength of the strongest multipath component among the multiple multipath components is greater than a second threshold, it is determined that any one of the multiple multipath components is a multipath component with a multipath component change.

Among them, in one embodiment of the present disclosure, determining the change information of the multipath component and the parameter of the perceived target according to the first multipath component and the second multipath component includes:

The position information of the environmental target in the reference wireless channel is determined, and the parameter of the perceived target is determined according to the first multipath component and the second multipath component.

In one embodiment of the present disclosure, the location information of the environmental target in the reference wireless channel may be determined, for example, and the first receiving terminal may determine the correspondence between the multipath component of the reference wireless channel and the environmental target. Alternatively, based on the sensing operation of the reference wireless channel, the first receiving terminal may determine the environmental target and its location in the area to which the first receiving terminal belongs, and establish the correspondence between the multipath component of the reference wireless channel and the environmental target.

Among them, in one embodiment of the present disclosure, based on the current wireless channel and the reference wireless channel, when the perceived target appears or moves, the receiver will detect the change of the multipath component of the wireless signal it receives. These changed multipath components are associated with the perceived target and/or the environmental target. For example, the receiver can measure the multipath component of the current wireless channel and compare it with the multipath component measured based on the reference wireless channel, so as to determine the changed multipath component and its associated environmental target, and the new multipath component is directly associated with the perceived target.

For example, in one embodiment of the present disclosure, for multiple situations in FIG. 2 , the first receiving terminal can determine the positional relationship between the perceived target and the transmitter, the environmental target, and/or the first receiving terminal based on the first multipath component and the second multipath component. For example:

For situation (1) in FIG. 2 , combined with other information, it can be determined that the sensing target T1 is located on the line from the transmitter TX to the environmental target E1 .

For situation (2) in FIG. 2 , combined with other information, it can be determined that the sensing target T1 is located on the line connecting the environmental target E2 to the receiver RX.

For situation (3) in FIG. 2 , it can be determined that the sensing target T2 is located on the extension line from the transmitter TX to the environmental target E3.

For situation (4) in FIG. 2 , it can be determined that the sensing target T3 is located on the extension line from the receiver RX to the environmental target E4.

For situation (5) in FIG. 2 , it can be determined that the sensing target T3 is located on the line from the transmitter TX to the receiver RX.

For case (6) in FIG. 2 , as the perceived target moves, the original multipath component and the new multipath component of the perceived target can be used for joint perception.

For example, in one embodiment of the present disclosure, the location information of the environmental target, the positional relationship between the perception target and the transmitter, the environmental target and/or the first receiving terminal can be jointly determined with the multipath component measured by the wireless signal directly reflected by the perception target to determine the location and other parameters of the perception target.

For example, in one embodiment of the present disclosure, determining the parameters of the perceived target according to the change information of the multipath component and the position information of the environmental target includes:

The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than the angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

Parameters of the perception target are determined according to the first multipath component, the first position information of the first environmental target, and the information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

Further, in one embodiment of the present disclosure, FIG4A is an example schematic diagram of an auxiliary perception operation of a change of an environmental target provided by an embodiment of the present disclosure. As shown in FIG4A, the first receiving terminal may be, for example, RX. The first transmitting terminal may be, for example, TX. Since the perception target reflects the wireless signal to the first receiving terminal, the first receiving terminal may measure the multipath component reflected by the perception target, and the multipath component reflected by the perception target has different time delays, direction angles and/or Doppler frequencies, for example, the time delays, direction angles and/or Doppler frequencies corresponding to the multipath components of the wireless signal reflected by the environmental target in the reference wireless channel may be different. The perception target T blocks the wireless signal of the environmental target E, and the first receiving terminal may determine that the environmental target E disappears or the signal strength decreases by more than the first threshold. Therefore, since the direction angle of the new multipath component introduced by the perception target is different from the direction angle of the component of the environmental target E, for example, the difference between the direction angle of the new multipath component introduced by the perception target and the direction angle of the multipath component of the environmental target E is greater than the angle difference threshold, it can be determined that the perception target is located on the line connecting TX and the environmental target E, which can be used to assist the perception operation for the perception target T. Based on the measurement of the multipath component reflected by the sensing target T, the location information of the environmental target E, and the information that the sensing target T is located on the line connecting TX to the environmental target E, the first receiving terminal can determine parameters such as the location of the sensing target T.

For example, in one embodiment of the present disclosure, determining the parameters of the perceived target according to the change information of the multipath component and the position information of the environmental target includes:

The perception target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the azimuth angle of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; the difference between the azimuth angle of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

Determine the parameters of the perception target based on the first multipath component, the first position information of the first environmental target, the second position information of the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

For example, in one embodiment of the present disclosure, determining the parameters of the perceived target according to the change information of the multipath component and the position information of the environmental target includes:

The perception target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the azimuth angle of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; the difference between the azimuth angle of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

The parameters of the perception target are determined according to the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

Further, in one embodiment of the present disclosure, FIG4B is an example schematic diagram of an auxiliary perception operation of a change of an environmental target provided by an embodiment of the present disclosure. As shown in FIG4B , the first receiving terminal may be, for example, RX. The first transmitting terminal may be, for example, TX. Since the perception target reflects the wireless signal to the first receiving terminal, the first receiving terminal may measure the multipath component reflected by the perception target, and the multipath component reflected by the perception target has different delays, azimuths and/or Doppler frequencies, for example, the delays, azimuths and/or Doppler frequencies corresponding to the reference wireless channel may be different. The perception target T blocks the wireless signals of the environmental targets E1 and E2, and the first receiving terminal may determine that the environmental targets E1 and E2 disappear or the signal strength decreases by more than the first threshold. Therefore, since the azimuth angle of the new multipath component introduced by the perception target is different from the azimuth angle of the multipath component of the environmental target E2, for example, the difference between the azimuth angle of the new multipath component introduced by the perception target and the azimuth angle of the multipath component of the environmental target E2 is greater than the angle difference threshold, it can be determined that the perception target is located on the line connecting TX and the environmental target E2. Since the azimuth angle of the new multipath component introduced by the perception target is the same as or similar to the azimuth angle of the multipath component of the environmental target E, for example, the difference between the azimuth angle of the new multipath introduced by the perception target and the azimuth angle of the multipath of the environmental target E1 is less than the angle difference threshold, it can be determined that the perception target is located on the line connecting RX and the environmental target E1, and these two lines can be used to assist the perception operation for the perception target T. Among them, based on these two lines, for example, the perception operation for the perception target T can be completed. Furthermore, based on the measurement of the multipath component reflected by the perception target, the position information of the environmental target E, the information that the perception target is located on the line connecting RX and the environmental target E1, and the information that the perception target T is located on the line connecting TX to the environmental target E2, the first receiving terminal can determine parameters such as the position of the perception target T.

For example, in one embodiment of the present disclosure, determining the parameters of the perceived target according to the change information of the multipath component and the position information of the environmental target includes:

The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, the second multipath component of the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

The parameters of the perception target are determined according to the first position information of the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and the information that the perception target is located on the line connecting the first transmitting terminal and the first environmental target.

Further, in one embodiment of the present disclosure, FIG4C is an example schematic diagram of an auxiliary perception operation of changes in an environmental target provided by an embodiment of the present disclosure. As shown in FIG4C , the first receiving terminal may be, for example, RX1. The second receiving terminal may be, for example, RX2. The first transmitting terminal may be, for example, TX. Due to the influence of obstacles, there is no direct path between the receiver RX1 and the perceived target. However, when there is no perceived target, the receiver RX1 can receive the reflected signal of the environmental target E. When the perceived target appears, the wireless signal of the environmental target E is blocked. Accordingly, the receiver finds that the environmental target E disappears or the signal strength decreases by more than the first threshold. The first receiving terminal can determine that the perceived target is located on the line connecting the transmitter TX and the environmental target E. The first receiving terminal can determine the parameters such as the position of the perceived target by jointly processing the line information, the location information of the environmental target E, and the measured values of the multipath components reflected by the perceived target received by other receivers RX2.

For example, in one embodiment of the present disclosure, determining the parameters of the perceived target according to the change information of the multipath component and the position information of the environmental target includes:

The first environmental target blocks the wireless signals of the sensing target and the transmitting terminal, and the multipath component of the sensing target changes, so that it is determined that the sensing target is located on the extension line of the first transmitting terminal and the first environmental target;

The parameters of the perception target are determined according to the first position information of the first environmental target, the multipath component of the second transmitting terminal reflected by the perception target, and the information that the perception target is located on the extension line of the first transmitting terminal and the first environmental target.

Further, in one embodiment of the present disclosure, FIG4D is an example schematic diagram of an auxiliary perception operation of an environmental target change provided by an embodiment of the present disclosure. As shown in FIG4D, the first receiving terminal may be, for example, RX. The first transmitting terminal may be, for example, TX1. The second transmitting terminal may be, for example, TX2. Through continuous perception operations, such as continuous measurement operations, when the perception target T moves behind the environmental target E, the receiver RX determines that the perception target T disappears or the signal strength decreases by more than a first threshold. The receiver RX may determine that the perception target T is located between the transmitter TX and On the extension line of the environmental target E. The first receiving terminal can determine the position of the sensing target T and other parameters by jointly processing the extension line information, the location information of the environmental target E, and the measurement values of the multipath components reflected by the sensing target T from other transmitters TX2.

For example, in one embodiment of the present disclosure, determining the parameters of the perceived target according to the change information of the multipath component and the position information of the environmental target includes:

The sensing target blocks the wireless signals of the first transmitting terminal and the first receiving terminal, and determines, according to the first multipath component and the second multipath component, that the sensing target is located on a line connecting the first transmitting terminal and the first receiving terminal;

The parameters of the perceived target are determined according to the multipath component reflected by the perceived target and the information sent by the second receiving terminal that the perceived target is located on the line connecting the first transmitting terminal and the first receiving terminal.

Further, in one embodiment of the present disclosure, FIG4E is an example schematic diagram of an auxiliary perception operation of an environmental target change provided by an embodiment of the present disclosure. As shown in FIG4E , the first receiving terminal may be, for example, RX1. The second receiving terminal may be, for example, RX2. The first transmitting terminal may be, for example, TX. When there is no perception target T, the receiver RX1 may receive the LOS path of the transmitter TX. When the perception target T appears, the wireless signal of the transmitter TX is blocked. Accordingly, the receiver RX1 determines that the transmitter TX disappears or the signal strength decreases by more than the first threshold. The receiver RX1 may determine that the perception target T is located on the line connecting the transmitter TX and the receiver RX1. This line information is jointly processed with the measured value of the multipath component reflected by the perception target T received by other receivers RX2, and the receiver RX1 may determine the position and other parameters of the perception target T.

For example, in one embodiment of the present disclosure, determining a parameter of a perceived target according to change information of a multipath component includes:

A parameter of a perceived target is determined according to the first multipath component and the second multipath component.

In one embodiment of the present disclosure, the location information of the environmental target in the reference wireless channel may be, for example, undetermined, that is, the real location of the environmental target is unknown. The first receiving terminal may jointly process the perception target and the environmental target to improve the accuracy of determining the parameters of the perception target.

Among them, in one embodiment of the present disclosure, based on the current wireless channel and the reference wireless channel, when the perception target appears or moves, the first receiving terminal can detect the change information of the multipath component of the wireless signal it receives. The change information of the multipath component reflects the interaction between the perception target and the related environmental targets. For example, the first receiving terminal can measure the multipath component of the current wireless channel and compare it with the multipath component measured based on the reference wireless channel, so as to determine the changed multipath component.

For example, in one embodiment of the present disclosure, for multiple situations in FIG. 2 , the first receiving terminal can determine the positional relationship between the perceived target and the transmitter, the environmental target, and/or the first receiving terminal based on the first multipath component and the second multipath component. For example:

For situation (1) in FIG. 2 , combined with other information, it can be determined that the sensing target T1 is located on the line from the transmitter TX to the environmental target E1 .

For situation (2) in FIG. 2 , combined with other information, it can be determined that the sensing target T1 is located on the line connecting the environmental target E2 to the receiver RX.

For situation (3) in FIG. 2 , it can be determined that the sensing target T2 is located on the extension line from the transmitter TX to the environmental target E3.

For situation (4) in FIG. 2 , it can be determined that the sensing target T3 is located on the extension line from the receiver RX to the environmental target E4.

For situation (5) in FIG. 2 , it can be determined that the sensing target T3 is located on the line from the transmitter TX to the receiver RX.

For case (6) in FIG. 2 , as the perceived target moves, the original multipath component and the new multipath component of the perceived target can be used for joint perception.

For example, in one embodiment of the present disclosure, the position relationship between the sensing target and the transmitter, the environmental target and/or the first receiving terminal can be used together with the multipath component of the wireless signal directly reflected by the sensing target to jointly determine the position and other parameters of the sensing target. The other parameters may include, for example, speed.

For example, in one embodiment of the present disclosure, determining a parameter of a perceived target according to a first multipath component and a second multipath component includes:

The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than the angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

Parameters of the perceived target are determined according to the first multipath component, the second multipath component, and information that the perceived target is located on a line connecting the first transmitting terminal and the first environmental target.

Further, in one embodiment of the present disclosure, as shown in FIG4A , the multipath component of the environmental target E changes, and the sensing target T is located on the line connecting the transmitter and the environmental target E, which can be used to assist the sensing operation of the sensing target T. For example, based on the measurement of the multipath component reflected by the sensing target T, the changed multipath component, and the information that the sensing target T is located on the line connecting TX to the environmental target E, parameters such as the position of the sensing target T can be determined.

For example, in one embodiment of the present disclosure, determining a parameter of a perceived target according to a first multipath component and a second multipath component includes:

The sensing target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the direction angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target;

The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

Determine the parameters of the perception target based on the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

For example, in one embodiment of the present disclosure, determining a parameter of a perceived target according to a first multipath component and a second multipath component includes:

The sensing target blocks the wireless signals of the first environmental target and the second environmental target, and determines that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target according to the difference in the direction angle between the first multipath component and the second multipath component of the first environmental target being greater than the angle difference threshold;

The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

Determine the parameters of the perception target based on the first multipath component, the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

Further, in one embodiment of the present disclosure, as shown in FIG4B , the multipath components of environmental target E1 and environmental target E2 change, and the perception target T is located on the line connecting the transmitter and environmental target E2, and on the line connecting the environmental target E1 to the receiver. The above two line information can be used to assist the perception operation of the perception target T. The perception operation of the perception target T can be completed based on the changed multipath component and the information of the above two lines. In order to improve the accuracy, the perception processing device can determine the parameters such as the position of the perception target T based on the measurement of the multipath component reflected by the perception target T, the changed multipath component, and the information of the two lines.

For example, in one embodiment of the present disclosure, determining a parameter of a perceived target according to a first multipath component and a second multipath component includes:

The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, the second multipath component corresponding to the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

The parameters of the perception target are determined according to the second multipath component corresponding to the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and the information that the perception target is located on the line connecting the first transmitting terminal and the first environmental target.

Further, in one embodiment of the present disclosure, as shown in FIG4C , the multipath component of the environmental target E changes, and the sensing target T is located on the line connecting the transmitter TX and the environmental target E. This line information can be processed jointly with the changing multipath component and the measured value of the multipath component reflected by the sensing target T received by other receivers RX2, so as to determine the position of the sensing target T and other parameters.

For example, in one embodiment of the present disclosure, determining a parameter of a perceived target according to a first multipath component and a second multipath component includes:

The parameters of the perceived target are determined according to the multipath components of the changes in the perceived target and the multipath components reflected by the second transmitting terminal through the perceived target.

Furthermore, in one embodiment of the present disclosure, as shown in FIG4D , the multipath component of the environmental target T changes, and the changed multipath component is jointly processed with the measured value of the multipath component reflected by the sensing target T from other transmitters TX2, so as to determine parameters such as the position of the sensing target T.

In one embodiment of the present disclosure, FIG. 4A to FIG. 4D are exemplary schematic diagrams of auxiliary perception operations of changes in parallel environmental targets.

In some embodiments, steps S3101 to S3103 are optional, and one or more of these steps may be omitted or replaced in different embodiments.

The communication method involved in the embodiment of the present disclosure may include at least one of step S3101 to step S3103. For example, step S3101 may be implemented as an independent embodiment, step S3102 may be implemented as an independent embodiment, step S3103 may be implemented as an independent embodiment, and steps S3102 to S3103 may be implemented as independent embodiments, but are not limited thereto.

In some embodiments, steps S3102 to S3103 are optional, and one or more of these steps may be omitted or replaced in different embodiments.

FIG3B is a schematic diagram of an example of a method for determining a perception target parameter provided by an embodiment of the present disclosure. In one embodiment of the present disclosure, the method for determining a perception target parameter shown in FIG3B is a parallel scheme to the method for determining a perception target parameter shown in FIG3A. In one embodiment, for example, the embodiment shown in FIG3A can be executed separately from the embodiment shown in FIG3B. The difference between the method for determining a perception target parameter shown in FIG3A and the method for determining a perception target parameter shown in FIG3B can be, for example, that the execution subject of the perception operation performed on the perception target is different.

FIG3B is a schematic diagram of an example of a method for determining a perception target parameter provided by an embodiment of the present disclosure. As shown in FIG3B , the method may include the following steps:

Step S3201, the first transmitting terminal transmits a wireless signal;

Step S3202: The first receiving terminal obtains a first multipath component and a second multipath component;

Step S3203: The first receiving terminal sends measurement information to the sensing processing device, wherein the measurement information includes at least one of a first multipath component reflected by a sensing target corresponding to the current wireless channel, other changed second multipath components, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to the reference wireless channel;

In one embodiment of the present disclosure, the measurement information sent by the first receiving terminal may include, for example, a first multipath component of the current wireless channel corresponding to the perceived target reflection and other changing second multipath components.

In one embodiment of the present disclosure, the measurement information sent by the first receiving terminal may, for example, include a first multipath component corresponding to the perceived target reflection of the current wireless channel, other changing second multipath components, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to the reference wireless channel.

In one embodiment of the present disclosure, the first timestamp may be used, for example, to indicate a measurement timestamp of the current wireless channel. The first timestamp does not specifically refer to a fixed timestamp. For example, when multiple measurements are performed on the current wireless channel, the first timestamp corresponding to each measurement is different. The first in the first timestamp may be used, for example, to distinguish from the second timestamp.

Step S3204: The sensing processing device receives measurement information sent by the first receiving terminal;

In one embodiment of the present disclosure, the executor of the perception operation on the perception target may be, for example, a perception processing device, which may be, for example, a central device different from any receiving terminal, and which may be, for example, a device that receives measurement information sent by at least one receiving terminal.

Step S3205: The perception processing device uses the measurement information to perform a perception operation on the perception target.

Among them, in one embodiment of the present disclosure, using measurement information to perform a sensing operation on a sensing target includes:

The position information of the environmental target in the reference wireless channel is determined, and the sensing operation is performed on the sensing target using the measurement information and the position information of the environmental target.

For example, in one embodiment of the present disclosure, using measurement information and location information of an environmental target to perform a sensing operation on a sensing target includes:

The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than the angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

Parameters of the perception target are determined according to the first multipath component, the first position information of the first environmental target, and the information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target.

For example, in one embodiment of the present disclosure, using measurement information and location information of an environmental target to perform a sensing operation on a sensing target includes:

The perception target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the azimuth angle of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; the difference between the azimuth angle of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

Determine the parameters of the perception target based on the first multipath component, the first position information of the first environmental target, the second position information of the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

For example, in one embodiment of the present disclosure, using measurement information and location information of an environmental target to perform a sensing operation on a sensing target includes:

The perception target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the azimuth angle of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; the difference between the azimuth angle of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

The parameters of the perception target are determined according to the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

For example, in one embodiment of the present disclosure, using measurement information and location information of an environmental target to perform a sensing operation on a sensing target includes:

The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, the second multipath component of the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

The parameters of the perception target are determined according to the first position information of the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and the information that the perception target is located on the line connecting the first transmitting terminal and the first environmental target.

For example, in one embodiment of the present disclosure, using measurement information and location information of an environmental target to perform a sensing operation on a sensing target includes:

The first environmental target blocks the wireless signals of the sensing target and the transmitting terminal, and the multipath component of the sensing target changes, so that it is determined that the sensing target is located on the extension line of the first transmitting terminal and the first environmental target;

The parameters of the perception target are determined according to the first position information of the first environmental target, the multipath component of the change of the perception target, the multipath component of the second transmitting terminal reflected by the perception target, and the information that the perception target is located on the extension line of the first transmitting terminal and the first environmental target.

For example, in one embodiment of the present disclosure, using measurement information and location information of an environmental target to perform a sensing operation on a sensing target includes:

The sensing target blocks the wireless signals of the first transmitting terminal and the first receiving terminal, and determines, according to the first multipath component and the second multipath component, that the sensing target is located on a line connecting the first transmitting terminal and the first receiving terminal;

The parameters of the perceived target are determined according to the multipath component reflected by the perceived target and the information sent by the second receiving terminal that the perceived target is located on the line connecting the first transmitting terminal and the first receiving terminal.

For example, in one embodiment of the present disclosure, using measurement information to perform a sensing operation on a sensing target includes:

A sensing operation is performed on a sensing target according to the first multipath component and the second multipath component.

For example, in one embodiment of the present disclosure, performing a sensing operation on a sensing target according to a first multipath component and a second multipath component includes:

The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than the angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

Determine the sensing target according to the first multipath component, the second multipath component, and the information that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target. Target parameters.

For example, in one embodiment of the present disclosure, performing a sensing operation on a sensing target according to a first multipath component and a second multipath component includes:

The sensing target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the direction angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target;

The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

Determine the parameters of the perception target based on the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

For example, in one embodiment of the present disclosure, performing a sensing operation on a sensing target according to a first multipath component and a second multipath component includes:

The sensing target blocks the wireless signals of the first environmental target and the second environmental target, and determines that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target according to the difference in the direction angle between the first multipath component and the second multipath component of the first environmental target being greater than the angle difference threshold;

The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target;

Determine the parameters of the perception target based on the first multipath component, the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target.

For example, in one embodiment of the present disclosure, performing a sensing operation on a sensing target according to a first multipath component and a second multipath component includes:

The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, the second multipath component of the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target;

The parameters of the perception target are determined according to the second multipath component corresponding to the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and the information that the perception target is located on the line connecting the first transmitting terminal and the first environmental target.

For example, in one embodiment of the present disclosure, performing a sensing operation on a sensing target according to a first multipath component and a second multipath component includes:

The parameters of the perceived target are determined according to the multipath components of the changes in the perceived target and the multipath components reflected by the second transmitting terminal through the perceived target.

In some embodiments, steps S3201 to S3205 are optional, and one or more of these steps may be omitted or replaced in different embodiments. The specific optional implementation of steps S3201 to S3205 can refer to steps S3101 to S3103 in FIG. 3A .

The communication method involved in the embodiment of the present disclosure may include at least one of steps S3201 to S3205. For example, step S3201 may be implemented as an independent embodiment, step S3202 may be implemented as an independent embodiment, step S3205 may be implemented as an independent embodiment, and steps S3204 to S3205 may be implemented as independent embodiments, but are not limited thereto.

In some embodiments, steps S3202 to S3205 are optional, and one or more of these steps may be omitted or replaced in different embodiments.

In some embodiments, steps S3203 to S3205 are optional, and one or more of these steps may be omitted or replaced in different embodiments.

FIG5A is a flow chart of a method for determining a perception target parameter according to an embodiment of the present disclosure. As shown in FIG5A , the method for determining a perception target parameter according to an embodiment of the present disclosure is performed by a first receiving terminal, and the method includes:

Step S5101, determining the change information of the multipath components based on the current wireless channel and the reference wireless channel; wherein the multipath components include the first multipath components corresponding to the perceived target reflection of the current wireless channel and other changed second multipath components;

Step S5102: determining parameters of the perceived target according to the change information of the multipath components.

The optional implementation of step S5101 and step S5102 can refer to the optional implementation of step S3102 to step S3103 in Figure 3A, and other related parts in the embodiment involved in Figure 3A, which will not be repeated here.

FIG6A is a schematic diagram of a process of determining and receiving a perception target parameter according to an embodiment of the present disclosure. As shown in FIG6A , the present disclosure embodiment relates to a method for determining a perception target parameter executed by a perception processing device, and the method includes:

Step S6101, receiving measurement information sent by a first receiving terminal, wherein the measurement information includes at least one of a first multipath component of a current wireless channel corresponding to a perceived target reflection, other changed second multipath components, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to a reference wireless channel;

Step S6102: Use the measurement information to perform a perception operation on the perception target.

The optional implementation of step S6101 and step S6102 can refer to the optional implementation of step S3204 to step S3205 in Figure 3B, and other related parts in the embodiments involved in Figures 3A and 3B, which will not be repeated here.

For example, in a certain area, such as an indoor or outdoor scene, the receiver can sense the area where it is located based on the received wireless signal. The receiver can detect the multipath components in the wireless signal it receives. Different multipath components are different from other multipath components in at least one of the following aspects: delay, angle, Doppler frequency. In addition, the strength of each multipath component is also an important parameter. The above multipath parameters, namely delay, angle, Doppler frequency and strength, reflect the characteristics of the environmental targets and perception targets of the area.

Among them, in one embodiment of the present disclosure, the appearance and movement of the perception target will have a mutual influence on the wireless signal propagation of the environmental target. The above Figure 2 is a schematic diagram of the mutual influence between the perception target and the environment. In Figure 2, TX1 represents a transmitter, RX represents a receiver, E, E1, E2, E3 and E4 represent environmental targets, and T1, T2, T3 and T4 represent perception targets. The following describes the situation where the perception target and the environmental target influence each other. The mutual influence between the perception target and the environmental target may include one or more of the following situations:

1) The presence and movement of a sensing target may block or weaken the wireless signal from a transmitter to an environmental target, causing the environmental target to be invisible at the receiver or the signal to become weak. For example, the wireless signal from transmitter TX to environmental target E1 in Figure 2 is blocked by sensing target T1.

2) Because of the appearance and movement of the sensing target, the wireless signal reflected from an environmental target to the receiver may be blocked or weakened, causing the environmental target to be invisible at the receiver or the signal to become weak. For example, the wireless signal from the environmental target E2 to the receiver RX in Figure 2 is blocked by the sensing target T1.

3) Due to the appearance and movement of the sensing target, an environmental target may block or weaken the wireless signal from the transmitter to the sensing target, causing the sensing target to be invisible at the receiver or the signal to become weak. For example, the wireless signal from the transmitter TX to the sensing target T2 in Figure 2 is blocked by the environmental target E3.

4) Due to the appearance and movement of the sensing target, an environmental target may block or weaken the wireless signal reflected from the sensing target to the receiver, causing the sensing target to be invisible at the receiver or the signal to become weak. For example, the wireless signal reflected from the sensing target T3 to the receiver RX in Figure 2 is blocked by the environmental target E4.

5) Due to the appearance and movement of the sensing target, the wireless signal from the transmitter to the receiver may be blocked or weakened, that is, the receiver finds that the direct path (LOS) of the transmitter is invisible or the signal is weakened. For example, the direct path of the wireless signal from the transmitter TX to the receiver RX in Figure 2 is blocked by the sensing target T4. In fact, this situation also affects the wireless signal reflected by the sensing target at the receiver. Because the wireless signal of the transmitter is blocked or weakened by the sensing target, the signal reflected from the sensing target to the receiver also disappears or weakens accordingly, that is, the sensing target becomes invisible or the signal becomes weak at the receiver.

6) As the sensing target moves, the wireless signal reflected by the sensing target to the receiver changes. For example, its multipath component at the previous moment disappears or weakens, and a new multipath component is generated. For example, when the sensing target T1 moves to the position of T1', the original reflected multipath component disappears, and a new reflected multipath component is generated.

7) Due to the appearance and movement of the sensing target, some wireless signals reflected by the sensing target may reach a certain environmental target, causing the wireless signal reflected by the environmental target to the receiver to become stronger. Here, because the path from the transmitter to the sensing target to the environmental target is not a direct path, that is, its delay is greater than the direct path from the transmitter to the environmental target, it is possible for the receiver to distinguish the increased wireless signal from the delay characteristics.

8) The wireless signal of the environmental target E at the receiver RX is not affected by the sensing target.

9) The wireless signal of the sensing target T1 at the receiver RX is not affected by the environmental targets.

In some embodiments, when there are multiple transmitters or multiple receivers in the area, the impact of the appearance and movement of the perception target is generally different for different pairs of transmitters and receivers. The above-mentioned impact on the environmental target and/or the received signal of the transmitter at the receiver caused by the appearance and movement of the perception target can be used to assist the perception operation of the perception target. It is not general. The embodiment of the present disclosure describes the perception operation of a pair of transmitters and receivers on the perception target, and the measurement and reporting are applicable to the situation where multiple pairs of transmitters and receivers work together. The judgment of the position and characteristics of the perception target can be obtained based on the measurement results of a pair of transmitters and receivers; or, the joint processing of the measurement results of multiple pairs of transmitters and receivers obtains the position and characteristics of the perception target, thereby improving the perception performance. The processing entity for the position and characteristics of the perception target can be located in one receiver, that is, other receivers can report measurement information to the receiver including the perception entity. Alternatively, the perception processing entity can be a central device located in a different central device from any receiver, and all receivers must report measurement information to the central device.

In some embodiments, for an area, the receiver may perform multiple measurements on the area. The receiver first obtains a reference wireless channel for the area. The reference wireless channel may be one of the following wireless channels:

a wireless channel received by the receiver before a sensing target appears, the wireless channel including wireless signals reflected by environmental targets in the area and/or wireless signals directly received by the receiver from a transmitter;

The wireless channel received by the receiver before the sensing target moves, the wireless channel includes the wireless signal reflected by the environmental target in the area, the wireless signal directly received from the transmitter, and/or the wireless signal reflected by the sensing target before the movement. As shown in FIG2 , the sensing target and the environmental target in the area may affect each other;

When there are multiple sensing targets, when it is necessary to focus on one or more sensing targets, other sensing targets can actually be processed as environmental targets, and thus included in the reference wireless channel.

In some embodiments, based on the current wireless channel and the reference wireless channel, when the target appears or moves, the receiver can detect The multipath component changes of the wireless signal received by it. The specific multipath component changes that may occur may include one or more of the situations in Figure 2. For example, it can be divided into the following two multipath components:

Category 1: Multipath components of the current wireless channel directly received by the receiver that are reflected from the sensing target. For example, in Figure 2, the multipath components are from the transmitter TX1 to the receiver RX via the sensing target T1.

Category 2: Other changing multipath components other than the multipath components reflected from the perceived target of the current wireless channel directly received by the receiver. For example, the changing multipath components of the environmental targets and/or transmitters at the receiver caused by the appearance and movement of the perceived target. For a multipath component received by the receiver, if its absolute strength is weakened to below threshold A, the receiver may consider the multipath component to be an affected multipath component. Alternatively, for a multipath component received by the receiver, if the difference in strength from the strongest multipath received by the receiver exceeds threshold B, the receiver may consider the multipath component to be an affected multipath component. The threshold A or B may be predefined, semi-statically configured, or dynamically indicated.

Each of the above multipath components may include one or more of the above multipath components. In some embodiments, a receiver may report at least part of the following parameters to the device where the sensing processing entity is located:

Timestamp, representing the time when the receiver measures the above two multipath components

Information such as time delay, angle, Doppler frequency and/or strength of each of the above two multipath components.

Therefore, the device where the perception processing entity is located can perform perception operations on the perception target based on the information such as the time delay, angle, Doppler frequency and/or strength of one or more of the above two multipath components.

In some embodiments, in an area, the receiver may perform multiple measurements on the area. Assuming that the real position of the environmental target is known, the sensing and processing entity may determine the correspondence between the multipath component of the reference wireless channel and the environmental target. Alternatively, based on the sensing operation of the reference wireless channel, the sensing and processing entity may determine the environmental target and its position in the area, and establish the correspondence between the multipath component of the reference wireless channel and the environmental target.

Based on the current wireless channel and the reference wireless channel, when the perceived target appears or moves, the receiver will detect the change of the multipath components of the wireless signal it receives. These changed multipath components are associated with the perceived target and/or environmental target. For example, the receiver can measure the multipath components of the current wireless channel and compare them with the multipath components measured based on the reference wireless channel, so as to determine the changed multipath components and their associated environmental targets, and the new multipath components are directly associated with the perceived target.

Based on the changing multipath components, the positional relationship between the perceived target and the transmitter, environmental target and/or receiver can be obtained. Taking Figure 1 as an example,

For situation 1) in FIG. 2 , combined with other information, it can be determined that the sensing target T1 is located on the line from the transmitter TX to the environmental target E1 .

For situation 2) in FIG. 2 , combined with other information, it can be determined that the sensing target T1 is located on the line connecting the environmental target E2 to the receiver RX.

For case 3) in FIG. 2 , it can be determined that the sensing target T2 is located on the extension line from the transmitter TX to the environmental target E3.

For situation 4) in FIG. 2 , it can be determined that the sensing target T3 is located on the extension line from the receiver RX to the environmental target E4.

For case 5) in FIG. 2 , it can be determined that the sensing target T3 is located on the line from the transmitter TX to the receiver RX.

For case 6) in FIG. 2 , as the perceived target moves, the original multipath component and the new multipath component of the perceived target can be used for joint perception.

The above-mentioned location information of the environmental target, the positional relationship between the perception target and the transmitter, the environmental target and/or the receiver can be jointly determined with the multipath component measured by the wireless signal directly reflected from the perception target to determine the location and other parameters of the perception target, and other parameters may include, for example, speed.

In some embodiments, FIG4A is a schematic diagram of assisting the sensing operation based on the influence of the sensing target on the received signal of the environmental target at the receiver. As shown in FIG4A, on the one hand, the sensing target reflects the wireless signal to the receiver, so that the receiver detects the new multipath component, and the multipath component has different delays, azimuths and/or Doppler frequencies; on the other hand, the sensing target T blocks the wireless signal of the environmental target E, and accordingly, the receiver finds that the environmental target E disappears or the signal strength decreases by more than a certain threshold. In FIG4A, because the azimuth angle of the new multipath component introduced by the sensing target T is different from the azimuth angle of the multipath component of the disappeared environmental target E, the sensing target T must be located on the line connecting the transmitter and the environmental target E, and can be used to assist the sensing operation of the sensing target T. For example, based on the measurement of the multipath component reflected by the sensing target T, the location information of the environmental target E, and the information that the sensing target T is located on the line connecting TX to the environmental target E, the parameters such as the location of the sensing target T are obtained.

In some embodiments, FIG4B is another schematic diagram of assisting the sensing operation based on the influence of the sensing target on the received signal of the environmental target at the receiver. As shown in FIG4B, on the one hand, the sensing target T reflects the wireless signal to the receiver, so that the receiver can detect new multipath components, and the multipath components have different time delays, direction angles and/or Doppler frequencies; on the other hand, the sensing target T blocks the wireless signals of the environmental targets E1 and E2, and accordingly, the receiver finds that the environmental targets E1 and E2 disappear or the signal strength decreases by more than a certain threshold. In FIG4B, because the direction angle of the new multipath component introduced by the sensing target T is different from the direction angle of the disappeared environmental target E2, the sensing target T must be located on the line connecting the transmitter and the environmental target E2. In addition, because the direction angle of the new multipath component introduced by the sensing target T is the same or approximately the same as the direction angle of the disappeared environmental target E1, the sensing target is located on the line connecting the environmental target E1 to the receiver. The above two connection information It can be used to assist the sensing operation of the sensing target T. In fact, the sensing operation of the sensing target T can be completed based on the information of the above two lines. In order to improve the accuracy, the sensing processing entity can still obtain parameters such as the position of the sensing target T based on the measurement of the multipath component reflected by the sensing target T, the position information of the environmental target E1 and the environmental target E2, and the information of the two lines.

In some embodiments, FIG4C is another schematic diagram of assisting the perception operation based on the influence of the perception target on the received signal of the environmental target at the receiver. As shown in FIG4C, due to the influence of obstacles, there is no direct path between the receiver RX1 and the perception target T. However, when the perception target T does not exist, the receiver RX1 can receive the reflected signal of the environmental target E. When the perception target T appears, the wireless signal of the environmental target E is blocked, and accordingly, the receiver finds that the environmental target E disappears or the signal strength decreases by more than a certain threshold. Based on the above information, it can be determined that the perception target T is located on the line connecting the transmitter TX and the environmental target E. This connection information can be processed together with the location information of the environmental target E and the measured value of the multipath component reflected by the perception target T received by other receivers RX2, so as to obtain parameters such as the location of the perception target T.

In some embodiments, FIG4D is a schematic diagram of an auxiliary sensing operation based on the obstruction of the sensing target by the environmental target. As shown in FIG4D, through continuous sensing operations, when the sensing target T moves behind the environmental target E, the receiver finds that the sensing target T disappears or the signal strength decreases by more than a certain threshold. Based on the above information, it can be determined that the sensing target T is located on the extension line of the transmitter TX and the environmental target E. This extension line information can be processed jointly with the position information of the environmental target E and the measured value of the multipath component reflected by the sensing target T from other transmitters TX2, so as to obtain parameters such as the position of the sensing target T.

In some embodiments, FIG4E is a schematic diagram of assisting the sensing operation based on the influence of the sensing target on the LOS path of the transmitter at the receiver. As shown in FIG4E, when the sensing target T does not exist, the receiver RX1 can receive the LOS path of the transmitter TX. When the sensing target T appears, the wireless signal of the transmitter TX is blocked, and accordingly, the receiver RX1 finds that the transmitter TX disappears or the signal strength decreases by more than a certain threshold. Based on the above information, it can be determined that the sensing target T is located on the line connecting the transmitter TX and the receiver RX1. This connection information can be processed jointly with the measurement value of the multipath component reflected by the sensing target T received by other receivers RX2, so as to obtain parameters such as the position of the sensing target T.

In some embodiments, in an area, the receiver may perform multiple measurements on the area. Assuming that the true position of the environmental target is unknown, the position and other parameters of the environmental target determined based on the sensing operation of the reference wireless channel generally have errors. One possible method is to jointly process the sensing target and the environmental target, thereby improving the performance of the sensing operation of the sensing target. With this method, it is not necessary to determine the position and other parameters of the sensing environmental target in advance.

Based on the current wireless channel and the reference wireless channel, when the sensing target appears or moves, the receiver will detect the changes in the multipath components of the wireless signal it receives. These changed multipath components reflect the interaction between the sensing target and the relevant environmental targets. For example, the receiver can measure the multipath components of the current wireless channel and compare them with the multipath components measured based on the reference wireless channel to determine the changed multipath components.

In some embodiments, based on the changing multipath components, the positional relationship between the sensing target and the transmitter, the environmental target and/or the receiver can be obtained. Taking FIG. 2 as an example,

For situation 1) in FIG. 2 , combined with other information, it can be determined that the sensing target T1 is located on the line from the transmitter TX to the environmental target E1 .

For situation 2) in FIG. 2 , combined with other information, it can be determined that the sensing target T1 is located on the line connecting the environmental target E2 to the receiver RX.

For case 3) in FIG. 2 , it can be determined that the sensing target T2 is located on the extension line from the transmitter TX to the environmental target E3.

For situation 4) in FIG. 2 , it can be determined that the sensing target T3 is located on the extension line from the receiver RX to the environmental target E4.

For case 5) in FIG. 2 , it can be determined that the sensing target T3 is located on the line from the transmitter TX to the receiver RX.

For case 6) in FIG. 2 , as the perceived target moves, the original multipath component and the new multipath component of the perceived target can be used for joint perception.

The above-mentioned changing multipath components and the positional relationship between the sensing target and the transmitter, environmental targets and/or receiver can be used together with the multipath components measured for the wireless signal directly reflected from the sensing target to jointly determine the position and other parameters of the sensing target.

In some embodiments, in FIG. 4A , the multipath component of the environmental target E changes, and the sensing target T is located on the line connecting the transmitter and the environmental target E, which can be used to assist the sensing operation of the sensing target T. For example, based on the measurement of the multipath component reflected by the sensing target T, the changed multipath component, and the information that the sensing target T is located on the line connecting TX to the environmental target E, parameters such as the position of the sensing target T are obtained.

In some embodiments, in FIG. 4B , the multipath components of the environmental target E1 and the environmental target E2 change, and the perception target T is located on the line connecting the transmitter and the environmental target E2, and on the line connecting the environmental target E1 to the receiver. The above two line information can be used to assist the perception operation of the perception target T. In fact, the perception operation of the perception target T can be completed only based on the changed multipath component and the information of the above two lines. In order to improve the accuracy, the perception processing entity can still obtain parameters such as the position of the perception target T based on the measurement of the multipath component reflected by the perception target T, the changed multipath component, and the information of the two lines.

In some embodiments, in FIG4C , the multipath component of the environmental target E changes, and the sensing target T is located on the line connecting the transmitter TX and the environmental target E. This line information can be processed jointly with the changed multipath component and the measured value of the multipath component reflected by the sensing target T received by other receivers RX2, so as to obtain parameters such as the position of the sensing target T.

In some embodiments, in FIG. 4D , the multipath component of the sensing target T changes, and the changed multipath component is consistent with other transmitters. TX2 jointly processes the measured values of the multipath components reflected by the sensing target T, thereby obtaining parameters such as the position of the sensing target T.

In the embodiments of the present disclosure, part or all of the steps and their optional implementations may be arbitrarily combined with part or all of the steps in other embodiments, or may be arbitrarily combined with optional implementations of other embodiments.

The embodiments of the present disclosure also propose a device for implementing any of the above methods, for example, a device is proposed, the above device includes a unit or module for implementing each step performed by the terminal in any of the above methods. For another example, another device is also proposed, including a unit or module for implementing each step performed by a network device (such as an access network device, a core network function node, a core network device, etc.) in any of the above methods.

It should be understood that the division of the units or modules in the above device is only a division of logical functions, which can be fully or partially integrated into one physical entity or physically separated in actual implementation. In addition, the units or modules in the device can be implemented in the form of a processor calling software: for example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory. The processor calls the instructions stored in the memory to implement any of the above methods or implement the functions of the units or modules of the above device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory inside the device or a memory outside the device. Alternatively, the units or modules in the device may be implemented in the form of hardware circuits, and the functions of some or all of the units or modules may be implemented by designing the hardware circuits. The hardware circuits may be understood as one or more processors; for example, in one implementation, the hardware circuits are application-specific integrated circuits (ASICs), and the functions of some or all of the above units or modules may be implemented by designing the logical relationship of the components in the circuits; for another example, in another implementation, the hardware circuits may be implemented by programmable logic devices (PLDs), and Field Programmable Gate Arrays (FPGAs) may be used as an example, which may include a large number of logic gate circuits, and the connection relationship between the logic gate circuits may be configured by configuring the configuration files, thereby implementing the functions of some or all of the above units or modules. All units or modules of the above devices may be implemented in the form of software called by the processor, or in the form of hardware circuits, or in the form of software called by the processor, and the remaining part may be implemented in the form of hardware circuits.

In the disclosed embodiments, the processor is a circuit with signal processing capability. In one implementation, the processor may be a circuit with instruction reading and execution capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which may be understood as a microprocessor), or a digital signal processor (DSP); in another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the above hardware circuit may be fixed or reconfigurable, such as a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the hardware circuit configuration may be understood as the process of the processor loading instructions to implement the functions of some or all of the above units or modules. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as ASIC, such as Neural Network Processing Unit (NPU), Tensor Processing Unit (TPU), Deep Learning Processing Unit (DPU), etc.

FIG7A is a schematic diagram of the structure of the first receiving terminal proposed in an embodiment of the present disclosure. As shown in FIG7A , the first receiving terminal 7100 may include: a processing module 7101, a processing module for determining the change information of the multipath component based on the current wireless channel and the reference wireless channel; wherein the multipath component includes the first multipath component reflected by the corresponding perceived target of the current wireless channel and other changed second multipath components; the processing module is also used to determine the parameters of the perceived target according to the change information of the multipath component. Optionally, the above-mentioned transceiver module 7101 is used to execute at least one of the communication steps such as sending and/or receiving (such as step S3102 and step S3104, but not limited to this) performed by the terminal 101 in any of the above methods, which will not be repeated here.

FIG7B is a schematic diagram of the structure of the perception processing device proposed in the embodiment of the present disclosure. As shown in FIG7B, the perception processing device 7200 may include: a transceiver module 7201 and a processing module 7202. In some embodiments, the above-mentioned transceiver module is used to receive measurement information sent by the first receiving terminal, wherein the measurement information includes at least one of the first multipath component reflected by the corresponding perception target of the current wireless channel, the other changed second multipath component, the first measurement timestamp corresponding to the current wireless channel, and the second measurement timestamp corresponding to the reference wireless channel; the processing module is used to use the measurement information to perform a perception operation on the perception target.

In some embodiments, the transceiver module may include a sending module and/or a receiving module, and the sending module and the receiving module may be separate or integrated. Optionally, the transceiver module may be interchangeable with the transceiver.

In some embodiments, the processing module can be a module or include multiple submodules. Optionally, the multiple submodules respectively execute all or part of the steps required to be executed by the processing module. Optionally, the processing module can be replaced with the processor.

FIG8A is a schematic diagram of the structure of a communication device 8100 proposed in an embodiment of the present disclosure. The communication device 8100 may be a network device (e.g., an access network device, a core network device, etc.), or a terminal (e.g., a user device, etc.), or a chip, a chip system, or a processor that supports a network device to implement any of the above methods, or a chip, a chip system, or a processor that supports a terminal to implement any of the above methods. The communication device 8100 may be used to implement the method described in the above method embodiment, and the details may refer to the description in the above method embodiment.

As shown in FIG8A , the communication device 8100 includes one or more processors 8101. The processor 8101 may be a general-purpose processor or a dedicated processor, for example, a baseband processor or a central processing unit. The baseband processor may be used to process the communication protocol and the communication data, and the central processing unit may be used to control the communication device (such as a base station, a baseband chip, a terminal device, a terminal device chip, a DU or a CU, etc.), execute a program, and process the data of the program. The communication device 8100 is used to execute any of the above methods.

In some embodiments, the communication device 8100 further includes one or more memories 8102 for storing instructions. Optionally, all or part of the memory 8102 may also be outside the communication device 8100.

In some embodiments, the communication device 8100 further includes one or more transceivers 8103. When the communication device 8100 includes one or more transceivers 8103, the transceiver 8103 performs at least one of the communication steps such as sending and/or receiving in the above method (for example, step S3101, step S3201, step S3203, step S3204, but not limited thereto), and the processor 8101 performs at least one of the other steps (for example, step S3102, step S3103, step S3202, step S3205, but not limited thereto).

In some embodiments, the transceiver may include a receiver and/or a transmitter, and the receiver and the transmitter may be separate or integrated. Optionally, the terms such as transceiver, transceiver unit, transceiver, transceiver circuit, etc. may be replaced with each other, the terms such as transmitter, transmission unit, transmitter, transmission circuit, etc. may be replaced with each other, and the terms such as receiver, receiving unit, receiver, receiving circuit, etc. may be replaced with each other.

In some embodiments, the communication device 8100 may include one or more interface circuits 8104. Optionally, the interface circuit 8104 is connected to the memory 8102, and the interface circuit 8104 may be used to receive signals from the memory 8102 or other devices, and may be used to send signals to the memory 8102 or other devices. For example, the interface circuit 8104 may read instructions stored in the memory 8102 and send the instructions to the processor 8101.

The communication device 8100 described in the above embodiments may be a network device or a terminal, but the scope of the communication device 8100 described in the present disclosure is not limited thereto, and the structure of the communication device 8100 may not be limited by FIG. 8A. The communication device may be an independent device or may be part of a larger device. For example, the communication device may be: 1) an independent integrated circuit IC, or a chip, or a chip system or subsystem; (2) a collection of one or more ICs, optionally, the above IC collection may also include a storage component for storing data and programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal device, an intelligent terminal device, a cellular phone, a wireless device, a handheld device, a mobile unit, a vehicle-mounted device, a network device, a cloud device, an artificial intelligence device, etc.; (6) others, etc.

8B is a schematic diagram of the structure of a chip 8200 provided in an embodiment of the present disclosure. In the case where the communication device 8100 may be a chip or a chip system, reference may be made to the schematic diagram of the structure of the chip 8200 shown in FIG8B , but the present disclosure is not limited thereto.

The chip 8200 includes one or more processors 8201, and the chip 8200 is used to execute any of the above methods.

In some embodiments, the chip 8200 further includes one or more interface circuits 8202. Optionally, the interface circuit 8202 is connected to the memory 8203. The interface circuit 8202 can be used to receive signals from the memory 8203 or other devices, and the interface circuit 8202 can be used to send signals to the memory 8203 or other devices. For example, the interface circuit 8202 can read instructions stored in the memory 8203 and send the instructions to the processor 8201.

In some embodiments, the interface circuit 8202 executes at least one of the communication steps such as sending and/or receiving in the above method (for example, step S3101, step S3201, step S3203, step S3204, but not limited to this), and the processor 8201 executes at least one of the other steps (for example, step S3102, step S3103, step S3202, step S3205, but not limited to this).

In some embodiments, terms such as interface circuit, interface, transceiver pin, and transceiver may be used interchangeably.

In some embodiments, the chip 8200 further includes one or more memories 8203 for storing instructions. Optionally, all or part of the memory 8203 may be outside the chip 8200.

The present disclosure also proposes a storage medium, on which instructions are stored, and when the instructions are executed on the communication device 8100, the communication device 8100 executes any of the above methods. Optionally, the storage medium is an electronic storage medium. Optionally, the storage medium is a computer-readable storage medium, but is not limited to this, and it can also be a storage medium readable by other devices. Optionally, the storage medium can be a non-transitory storage medium, but is not limited to this, and it can also be a temporary storage medium.

The present disclosure also proposes a program product, which, when executed by the communication device 8100, enables the communication device 8100 to execute any of the above methods. Optionally, the program product is a computer program product.

The present disclosure also proposes a computer program, which, when executed on a computer, causes the computer to execute any one of the above methods.

Claims (39)

A method for determining a perception target parameter, characterized in that it is applied to a first receiving terminal, and the method comprises: Determine the change information of the multipath components based on the current wireless channel and the reference wireless channel; wherein the multipath components include the first multipath components corresponding to the perceived target reflection of the current wireless channel and other changed second multipath components; The parameters of the perceived target are determined according to the change information of the multipath components. The method according to claim 1, wherein the reference wireless channel comprises at least one of the following: a wireless channel received by the first receiving terminal before a sensing target appears, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located and a wireless signal transmitted by the first transmitting terminal; a wireless channel received by the first receiving terminal before the perceived target moves, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located, a received wireless signal transmitted by the first transmitting terminal, and a wireless signal reflected before the perceived target moves; There are multiple perception targets, and the first receiving terminal receives a wireless channel, wherein the wireless channel includes at least one of a wireless signal reflected by an environmental target in an area where the first receiving terminal is located, a received wireless signal transmitted by the first transmitting terminal, and wireless signals reflected by remaining perception targets, and the remaining perception targets are perception targets other than the focus perception target among the multiple perception targets. The method according to claim 1 or 2, wherein the change information of the multipath component includes at least one of the following: Directly receiving a multipath component of the current wireless channel corresponding to the reflection of the sensing target; Other changing multipath components except the multipath component of the directly received current wireless channel corresponding to the perceived target reflection. The method according to claim 3, characterized in that, wherein the method further comprises at least one of the following: When the absolute strength of a multipath component received by the first receiving terminal is weakened to a first threshold value, it is determined that the multipath component received by the first receiving terminal is a multipath component with a multipath component change; When the difference between the strength of any one of the multiple multipath components received by the first receiving terminal and the strength of the strongest multipath component among the multiple multipath components is greater than a second threshold, it is determined that any one of the multiple multipath components is a multipath component with a multipath component change. The method according to any one of claims 1 to 4, characterized in that after determining the change information of the multipath component based on the current wireless channel and the reference wireless channel, it also includes: Send measurement information to a perception processing device, wherein the measurement information is used to instruct the perception processing device to perform a perception operation on the perception target, and the measurement information includes at least one of the first multipath component, the second multipath component, the first measurement timestamp corresponding to the current wireless channel, and the second measurement timestamp corresponding to the reference wireless channel. The method according to any one of claims 1 to 5, wherein the measurement amount of the first multipath component includes at least one of the following: Delay; angle; Doppler frequency; strength; The measurement amount of the second multipath component includes at least one of the following: Delay; angle; Doppler frequency; strength. The method according to claim 1, wherein determining the parameters of the perceived target according to the change information of the multipath component comprises: The position information of the environmental target in the reference wireless channel is determined, and the parameters of the perceived target are determined according to the change information of the multipath component and the position information of the environmental target. The method according to claim 7, characterized in that, according to the change information of the multipath component and the location information of the environmental target, Determine the parameters of the perceived target, including: The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than an angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target; The parameters of the perception target are determined according to the first multipath component, the first position information of the first environmental target, and the information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target. The method according to claim 7, characterized in that the step of determining the parameters of the perceived target according to the change information of the multipath component and the position information of the environmental target comprises: The perception target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the azimuth angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; the difference between the azimuth angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target; Determine the parameters of the perception target based on the first multipath component, the first position information of the first environmental target, the second position information of the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target. The method according to claim 7, characterized in that the step of determining the parameters of the perceived target according to the change information of the multipath component and the position information of the environmental target comprises: The perception target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the azimuth angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; the difference between the azimuth angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target; The parameters of the perception target are determined according to the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target. The method according to claim 7, characterized in that the step of determining the parameters of the perceived target according to the change information of the multipath component and the position information of the environmental target comprises: The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, the second multipath component of the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target; The parameters of the perception target are determined according to the first position information of the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and the information that the perception target is located on the line connecting the first transmitting terminal and the first environmental target. The method according to claim 7, characterized in that the step of determining the parameters of the perceived target according to the change information of the multipath component and the position information of the environmental target comprises: The first environmental target blocks the wireless signals of the sensing target and the transmitting terminal, and the multipath component of the sensing target changes, and it is determined that the sensing target is located on the extension line of the first transmitting terminal and the first environmental target; The parameters of the perception target are determined according to the first position information of the first environmental target, the changing multipath component of the perception target, the multipath component reflected by the second transmitting terminal through the perception target, and the information that the perception target is located on the extension line of the first transmitting terminal and the first environmental target. The method according to claim 7, characterized in that the step of determining the parameters of the perceived target according to the change information of the multipath component and the position information of the environmental target comprises: The sensing target blocks wireless signals of the first transmitting terminal and the first receiving terminal, and determines, according to the first multipath component and the second multipath component, that the sensing target is located on a line connecting the first transmitting terminal and the first receiving terminal; The parameters of the perceived target are determined according to the multipath component reflected by the perceived target sent by the second receiving terminal and the information that the perceived target is located on a line connecting the first transmitting terminal and the first receiving terminal. The method according to claim 1, wherein determining the parameters of the perceived target according to the change information of the multipath component comprises: A parameter of a perceived target is determined according to the first multipath component and the second multipath component. The method according to claim 14, wherein determining the parameters of the perceived target according to the first multipath component and the second multipath component comprises: The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than an angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target; The parameters of the perception target are determined according to the first multipath component, the second multipath component, and information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target. The method according to claim 14, wherein determining the parameter of the perceived target according to the first multipath component and the second multipath component comprises: The sensing target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the direction angles of the first multipath component and the second multipath component of the first environmental target is greater than an angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target; The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target; Determine the parameters of the perception target based on the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target. The method according to claim 14, wherein determining the parameter of the perceived target according to the first multipath component and the second multipath component comprises: The sensing target blocks wireless signals of the first environmental target and the second environmental target, and determines that the sensing target is located on a line connecting the first transmitting terminal and the second environmental target according to the difference between the direction angles of the first multipath component and the second multipath component of the first environmental target being greater than an angle difference threshold; The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target; Determine the parameters of the perception target based on the first multipath component, the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and information that the perception target is located on the line connecting the first receiving terminal and the first environmental target. The method according to claim 14, wherein determining the parameter of the perceived target according to the first multipath component and the second multipath component comprises: The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, and the second multipath component corresponding to the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target; The parameters of the perception target are determined according to the second multipath component corresponding to the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and the information that the perception target is located on the line connecting the first transmitting terminal and the first environmental target. The method according to claim 14, wherein determining the parameters of the perceived target according to the first multipath component and the second multipath component comprises: The parameters of the perceived target are determined according to the multipath component of the change of the perceived target and the multipath component of the second transmitting terminal reflected by the perceived target. A method for determining a perception target parameter, characterized in that it is applied to a perception processing device, and the method comprises: Receiving measurement information sent by a first receiving terminal, wherein the measurement information includes at least one of a first multipath component of a current wireless channel corresponding to a perceived target reflection, other changed second multipath components, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to the reference wireless channel; The measurement information is used to perform a sensing operation on the sensing target. The method of claim 20, wherein using the measurement information to perform a sensing operation on the sensing target comprises: Determine the location information of the environmental target in the reference wireless channel, use the measurement information and the location information of the environmental target to perform Line sensing operation. The method of claim 21, wherein the step of using the measurement information and the location information of the environmental target to perform a sensing operation on the sensing target comprises: The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than an angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target; The parameters of the perception target are determined according to the first multipath component, the first position information of the first environmental target, and the information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target. The method according to claim 21, wherein the step of using the measurement information and the location information of the environmental target to perform a sensing operation on the sensing target comprises: The perception target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the azimuth angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; the difference between the azimuth angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target; Determine the parameters of the perception target based on the first multipath component, the first position information of the first environmental target, the second position information of the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target. The method according to claim 21, wherein the step of using the measurement information and the location information of the environmental target to perform a sensing operation on the sensing target comprises: The perception target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the azimuth angles of the first multipath component and the second multipath component of the first environmental target is greater than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first transmitting terminal and the second environmental target; the difference between the azimuth angles of the first multipath component and the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target; The parameters of the perception target are determined according to the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target. The method of claim 21, wherein the step of using the measurement information and the location information of the environmental target to perform a sensing operation on the sensing target comprises: The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, the second multipath component of the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target; The parameters of the perception target are determined according to the first position information of the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and the information that the perception target is located on the line connecting the first transmitting terminal and the first environmental target. The method of claim 21, wherein the step of using the measurement information and the location information of the environmental target to perform a sensing operation on the sensing target comprises: The first environmental target blocks the wireless signals of the sensing target and the transmitting terminal, and the multipath component of the sensing target changes, and it is determined that the sensing target is located on the extension line of the first transmitting terminal and the first environmental target; The parameters of the perception target are determined according to the first position information of the first environmental target, the changing multipath component of the perception target, the multipath component reflected by the second transmitting terminal through the perception target, and the information that the perception target is located on the extension line of the first transmitting terminal and the first environmental target. The method of claim 21, wherein the step of using the measurement information and the location information of the environmental target to perform a sensing operation on the sensing target comprises: The sensing target blocks wireless signals of the first transmitting terminal and the first receiving terminal, and determines, according to the first multipath component and the second multipath component, that the sensing target is located on a line connecting the first transmitting terminal and the first receiving terminal; The parameters of the perceived target are determined according to the multipath component reflected by the perceived target sent by the second receiving terminal and the information that the perceived target is located on a line connecting the first transmitting terminal and the first receiving terminal. The method according to claim 20, wherein the using the measurement information to perform a sensing operation on the sensing target comprises: A sensing operation is performed on a sensing target according to the first multipath component and the second multipath component. The method according to claim 28, wherein the performing a sensing operation on the sensing target according to the first multipath component and the second multipath component comprises: The sensing target blocks the wireless signal of the first environmental target, and the difference between the direction angles of the first multipath component and the second multipath component is greater than an angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target; The parameters of the perception target are determined according to the first multipath component, the second multipath component, and information that the perception target is located on a line connecting the first transmitting terminal and the first environmental target. The method according to claim 28, wherein the performing a sensing operation on the sensing target according to the first multipath component and the second multipath component comprises: The sensing target blocks the wireless signals of the first environmental target and the second environmental target, and the difference between the direction angles of the first multipath component and the second multipath component of the first environmental target is greater than an angle difference threshold, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the second environmental target; The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target; Determine the parameters of the perception target based on the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, the information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and the information that the perception target is located on the line connecting the first receiving terminal and the first environmental target. The method according to claim 28, wherein the performing a sensing operation on the sensing target according to the first multipath component and the second multipath component comprises: The sensing target blocks wireless signals of the first environmental target and the second environmental target, and determines that the sensing target is located on a line connecting the first transmitting terminal and the second environmental target according to the difference in direction angle between the first multipath component and the second multipath component of the first environmental target being greater than an angle difference threshold; The difference between the direction angle of the first multipath component and the direction angle of the second multipath component of the second environmental target is less than the angle difference threshold, and it is determined that the perception target is located on the line connecting the first receiving terminal and the first environmental target; Determine the parameters of the perception target based on the first multipath component, the second multipath component corresponding to the first environmental target, the second multipath component corresponding to the second environmental target, information that the perception target is located on the line connecting the first transmitting terminal and the second environmental target, and information that the perception target is located on the line connecting the first receiving terminal and the first environmental target. The method according to claim 28, wherein the performing a sensing operation on the sensing target according to the first multipath component and the second multipath component comprises: The sensing target blocks the wireless signal between the first transmitting terminal and the first environmental target, and the second multipath component corresponding to the first environmental target changes, and it is determined that the sensing target is located on the line connecting the first transmitting terminal and the first environmental target; The parameters of the perception target are determined according to the second multipath component corresponding to the first environmental target, the multipath component reflected by the perception target sent by the second receiving terminal, and the information that the perception target is located on the line connecting the first transmitting terminal and the first environmental target. The method according to claim 28, wherein the performing a sensing operation on the sensing target according to the first multipath component and the second multipath component comprises: The parameters of the perceived target are determined according to the multipath component of the change of the perceived target and the multipath component reflected by the second transmitting terminal through the perceived target. A first receiving terminal, characterized in that the first receiving terminal comprises: A processing module, configured to determine change information of a multipath component based on a current wireless channel and a reference wireless channel; wherein the multipath component includes a first multipath component corresponding to a perceived target reflection of the current wireless channel and other changed second multipath components; The processing module is further used to determine the parameters of the perceived target according to the change information of the multipath component. A perception processing device, characterized in that the perception processing device comprises: A transceiver module, configured to receive measurement information sent by a first receiving terminal, wherein the measurement information includes at least one of a first multipath component of a current wireless channel corresponding to a perceived target reflection, other changed second multipath components, a first measurement timestamp corresponding to the current wireless channel, and a second measurement timestamp corresponding to the reference wireless channel; The processing module is used to use the measurement information to perform a perception operation on the perception target. A first receiving terminal, characterized by comprising: one or more processors; The first receiving terminal is used to execute the perception target parameter determination method according to any one of claims 1 to 19. A perception processing device, characterized by comprising: one or more processors; Wherein, the perception processing device is used to execute the perception target parameter determination method described in any one of claims 20 to 32. A communication system, characterized in that it includes a first receiving terminal and a perception processing device, wherein the first receiving terminal is configured to implement the perception target parameter determination method described in any one of claims 1 to 19 and the perception processing device is configured to implement the perception target parameter determination method described in any one of claims 20 to 32. A storage medium storing instructions, characterized in that when the instructions are executed on a communication device, the communication device executes a method for determining a perception target parameter as described in any one of claims 1 to 19 or 20 to 32.