Perception method and apparatus, and storage medium

Abstract

The application provides a sensing method and device and a storage medium, relates to the technical field of communication, and can reduce the limitation of a sensing service and the communication overhead related to a sensing function in a communication system. The method comprises the following steps: receiving a terminal device assistance sensing response message from an access and mobility management function (AMF), wherein the terminal device assistance sensing response message is used for indicating at least one terminal device for assisting an access network device in sensing; sending a sensing requirement to each terminal device in the at least one terminal device, wherein the sensing requirement is used for indicating a requirement of a sensing service; and receiving sensing data meeting the sensing requirement from each terminal device.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a sensing method, device and storage medium. Background Technology

[0002] In a communication system, access network equipment can transmit sensing signals and receive sensing signals (i.e., echo signals) scattered by the environment and the sensing target. The access network equipment can analyze these echo signals to obtain sensing data and transmit this data to the sensing network elements, enabling the sensing network elements to acquire relevant information about the environment and the sensing target. However, the sensing capabilities of the access network equipment are limited, which significantly restricts sensing services and affects their quality. Furthermore, since the raw data volume of these sensing data is generally large, transmitting this sensing data in a communication system places a significant communication burden on the system, thus affecting its stability. Summary of the Invention

[0003] This application provides a sensing method, apparatus, and storage medium that can simultaneously reduce the limitations of sensing services and the communication overhead related to sensing functions in a communication system.

[0004] To achieve the above objectives, this application adopts the following technical solution:

[0005] In a first aspect, this application provides a sensing method applied to an access network device. The method includes: receiving a terminal device assisting sensing response message from an Access and Mobility Management Function (AMF), the terminal device assisting sensing response message indicating at least one terminal device for assisting the access network device in sensing; sending a sensing request to each of the at least one terminal device, the sensing request indicating the requirements of a sensing service; and receiving sensing data from each terminal device that meets the sensing requirements.

[0006] In one possible implementation, the perception requirements include the business type of the perception service, as well as at least one of the perception range requirements and perception accuracy requirements.

[0007] In one possible implementation, the method further includes sending a terminal device assisting in perception request message to the AMF, the terminal device assisting in perception request message being used to request terminal device assistance in perception.

[0008] In one possible implementation, sending a terminal device assisting perception request message to the AMF includes: receiving a perception request from a sensing network element; responding to the perception request, performing perception measurements to obtain initial perception data; processing the initial perception data to obtain the perception results required for the service type; and sending a terminal device assisting perception request message to the AMF if the perception results do not meet the perception range requirements and / or perception accuracy requirements.

[0009] In one possible implementation, the method further includes: sending the sensing results to the sensing network element when the sensing results meet the sensing range requirements and / or sensing accuracy requirements.

[0010] In one possible implementation, in response to a sensing requirement, sensing measurements are performed to obtain initial sensing data, including: in response to a sensing requirement, based on preset resources, sending multiple sensing signals and receiving multiple echo signals, wherein the echo signals are signals scattered by sensing objects in the environment; the amount of preset resources is positively correlated with the sensing range requirement and / or sensing accuracy requirement; and analyzing the multiple echo signals to obtain the initial sensing data.

[0011] In one possible implementation, the method further includes: integrating the sensing results with the sensing data of each terminal device that meets the sensing requirements to obtain target integrated sensing data; and sending the target integrated sensing data to the sensing network element.

[0012] In one possible implementation, sensing accuracy requires the configuration information of the demodulated reference signal DMRS to be reused.

[0013] Secondly, this application provides a sensing device applied to an access network device. The device includes: a communication unit and a processing unit; the processing unit is configured to instruct the communication unit to receive a terminal device assisting sensing response message from the Access and Mobility Management Function (AMF), the terminal device assisting sensing response message being used to instruct at least one terminal device to assist the access network device in performing sensing; the processing unit is further configured to instruct the communication unit to send a sensing request to each of the at least one terminal device, the sensing request being used to instruct the sensing service requirements; the processing unit is further configured to instruct the communication unit to receive sensing data from each terminal device that meets the sensing requirements.

[0014] In one possible implementation, the perception requirements include the business type of the perception service, as well as at least one of the perception range requirements and perception accuracy requirements.

[0015] In one possible implementation, the processing unit is further configured to instruct the communication unit to send a terminal device assisting in perception request message to the AMF, the terminal device assisting in perception request message being used to request the terminal device to assist in perception.

[0016] In one possible implementation, the processing unit is further configured to instruct the communication unit to receive a sensing request from the sensing network element; the processing unit is further configured to perform sensing measurements in response to the sensing request to obtain initial sensing data; the processing unit is further configured to process the initial sensing data to obtain the sensing result required for the service type; the processing unit is further configured to instruct the communication unit to send a terminal device assisting sensing request message to the AMF if the sensing result does not meet the sensing range requirement and / or sensing accuracy requirement.

[0017] In one possible implementation, the processing unit is further configured to instruct the communication unit to send the sensing results to the sensing network element if the sensing results meet the sensing range requirements and / or sensing accuracy requirements.

[0018] In one possible implementation, the processing unit is further configured to instruct the communication unit to respond to the sensing requirement by sending multiple sensing signals and receiving multiple echo signals based on preset resources, wherein the echo signals are signals scattered by sensing objects in the environment after the sensing signals are received; the amount of preset resources is positively correlated with the sensing range requirement and / or sensing accuracy requirement; the processing unit is further configured to analyze the multiple echo signals to obtain initial sensing data.

[0019] In one possible implementation, the processing unit is further configured to integrate the sensing results with the sensing data of each terminal device that meets the sensing requirements to obtain target integrated sensing data; the processing unit is further configured to instruct the communication unit to send the target integrated sensing data to the sensing network element.

[0020] In one possible implementation, sensing accuracy requires the configuration information of the demodulated reference signal DMRS to be reused.

[0021] Thirdly, this application provides a sensing device comprising: a processor and a communication interface; the communication interface and the processor are coupled, the processor being configured to run computer programs or instructions to implement the sensing method as described in the first aspect and any possible implementation thereof.

[0022] Fourthly, this application provides a computer-readable storage medium storing instructions that, when executed on a terminal device, cause the terminal device to perform the sensing method as described in the first aspect and any possible implementation thereof.

[0023] Fifthly, this application provides a computer program product containing instructions that, when run on a sensing device, cause the sensing device to perform the sensing method as described in the first aspect and any possible implementation thereof.

[0024] In a sixth aspect, this application provides a chip including a processor and a communication interface coupled to the processor. The processor is used to run computer programs or instructions to implement the sensing method as described in the first aspect and any possible implementation thereof.

[0025] Specifically, the chip provided in this application also includes a memory for storing computer programs or instructions.

[0026] The sensing method provided in this application involves an access network device sending an assistance sensing request message to an AMF (Access Flow Provider) to request assistance from terminal devices in sensing, thereby identifying at least one terminal device that can be used for assisted sensing. The access network device sends a sensing request to each of the at least one terminal device and receives sensing data from each terminal device that meets the sensing request. This allows the terminal devices to assist the access network device in completing communication sensing, alleviating the limitations of the access network device in performing sensing services to some extent, and thus improving the quality of sensing services.

[0027] Furthermore, the terminal device can send sensing data that meets the sensing requirements to the access network device, rather than the raw sensing data obtained after sensing measurements. Since the raw sensing data has a larger data volume, while the sensing data that meets the sensing requirements has a smaller data volume, transmitting sensing data that meets the sensing requirements between the terminal device and the access network device can reduce the communication burden in the communication system, thereby improving the stability of the communication system. Attached Figure Description

[0028] Figure 1 This application provides an illustration of an integrated communication and sensing application scenario.

[0029] Figure 2 A structural diagram of a communication system provided in an embodiment of this application;

[0030] Figure 3 This is a schematic diagram of the structure of an access network device provided in an embodiment of this application;

[0031] Figure 4 A schematic diagram of an AMF structure provided in an embodiment of this application;

[0032] Figure 5 This is a schematic diagram of the structure of a terminal device provided in an embodiment of this application;

[0033] Figure 6 This is a schematic diagram of the structure of a sensing network element provided in an embodiment of this application;

[0034] Figure 7 This is a schematic diagram of the structure of a sensing device provided in an embodiment of this application;

[0035] Figure 8 A flowchart of a sensing method provided in an embodiment of this application;

[0036] Figure 9 A schematic diagram of resource usage for a low-precision DMRS provided in an embodiment of this application;

[0037] Figure 10 This application provides a schematic diagram of resource usage for a medium-precision DMRS.

[0038] Figure 11 A schematic diagram of resource usage for a high-precision DMRS provided in an embodiment of this application;

[0039] Figure 12 A flowchart illustrating another sensing method provided in this application embodiment;

[0040] Figure 13 A flowchart illustrating another sensing method provided in this application embodiment;

[0041] Figure 14 This is a schematic diagram of another sensing device provided in an embodiment of this application. Detailed Implementation

[0042] The sensing method, apparatus, and storage medium provided in the embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0043] In this article, the term "and / or" is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0044] The terms "first" and "second," etc., used in the specification and drawings of this application are used to distinguish different objects or to distinguish different treatments of the same object, rather than to describe a specific order of objects.

[0045] Furthermore, the terms "comprising" and "having," and any variations thereof, used in the description of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the steps or units listed, but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus.

[0046] It should be noted that in the embodiments of this application, the words "exemplary" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design scheme described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the words "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0047] In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0048] As an important technology in communication networks, the integrated communication and sensing technology enables the coexistence of two independent functions, communication and sensing, within the same system through signal joint design and / or hardware sharing. This allows for significant reuse of resources (e.g., frequency and site resources) for both communication and sensing functions within the communication system, improving resource utilization. Furthermore, it eliminates the need to construct two separate communication systems, reducing construction costs. In scenarios where continuous sensing is not required, the integrated communication and sensing technology enhances the availability of communication and sensing functions.

[0049] Figure 1 This diagram illustrates an integrated communication and sensing application scenario. In this scenario, the access network device can perform normal data transmission with the terminal device. For example, the access network device and terminal device #1 can transmit data via communication link #1, and the access network device and terminal device #2 can transmit data via communication link #2. The access network device can also send multiple sensing signals, which are scattered by the environment or a sensing target, and then receive the scattered sensing signals (i.e., echo signals). For example, the access network device can send sensing signal #1, which is scattered by the environment or a sensing target, and then receive the echo signal #1 corresponding to sensing signal #1. Similarly, the access network device can send sensing signal #2, which is scattered by the environment or a sensing target, and then receive the echo signal #2 corresponding to sensing signal #2. The terminal device can also send multiple sensing signals, which are scattered by the environment or a sensing target, and then receive the scattered sensing signals (i.e., echo signals). For example, the terminal device can send sensing signal #3, which is scattered by the environment or a sensing target, and then receive the echo signal #3 corresponding to sensing signal #3.

[0050] In a communication system, access network equipment can transmit sensing signals and receive sensing signals (i.e., echo signals) scattered by the environment and the sensing target. The access network equipment can analyze these echo signals to obtain sensing data and send this data to the sensing network elements, enabling the sensing network elements to acquire relevant information about the environment and the sensing target. However, because access network equipment needs to support a wide variety of services and handle a large volume of traffic, it can easily lead to insufficient resources being allocated to sensing services. This limits the sensing capabilities of the access network equipment, increasing the limitations of the sensing services and consequently affecting their quality.

[0051] In addition, since the raw data volume of the aforementioned sensing data is generally large, transmitting such sensing data will place a significant communication burden on the communication system, thereby affecting the stability of the communication system.

[0052] In view of this, embodiments of this application provide a sensing method in which an access network device receives an assisted sensing response message from an AMF (Advanced Assisted Sensing Message Message) to identify at least one terminal device that can be used for assisted sensing. The access network device sends a sensing request to each of the at least one terminal device and receives sensing data from each terminal device that meets the sensing request. In this way, the terminal devices assist the access network device in completing communication sensing, reducing the limitations of the access network device in performing sensing services and thereby improving the quality of sensing services.

[0053] Furthermore, the terminal device can send sensing data that meets the sensing requirements to the access network device, rather than the raw sensing data obtained after sensing measurements. Since the raw sensing data has a larger data volume, while the sensing data that meets the sensing requirements has a smaller data volume, transmitting sensing data that meets the sensing requirements between the terminal device and the access network device can reduce the communication burden in the communication system, thereby improving the stability of the communication system.

[0054] The technical solutions provided in this application can be applied to various communication systems, such as New Radio (NR) communication systems using 5G, future evolution systems, or multiple communication convergence systems.

[0055] For example, Figure 2 The diagram shows a schematic representation of a communication system according to an embodiment of this application. The communication system may include at least one access network device 201, an access and mobility management function (AMF) 202, and at least one terminal device 203. Figure 2 Only two access network devices 201, one AMF 202, and four terminal devices 203 are shown.

[0056] Access network device 201 is configured to receive an Assisted Sensing Response message from AMF 202, send a sensing request to each of at least one terminal device 203, and receive sensing data from each terminal device 203 that meets the sensing request.

[0057] The Assist Sensing Response Message is used to instruct at least one terminal device 203 to assist the access network device 201 in sensing. The Sensing Request is used to instruct the requirements of the sensing service.

[0058] It should be noted that, Figure 2 This is just an example framework diagram. Figure 2 The number of nodes included and the names of the devices are unlimited, except for... Figure 2 In addition to the functional nodes shown, the communication system may also include other nodes, such as the sensing network element 204, and this application does not impose any restrictions on this.

[0059] In some examples, access network device 201 may be a device with wireless transceiver capabilities or a chip or chip system that can be configured in the device. Access network device 102 includes, but is not limited to, any of the following: small base stations, wireless access points, transceiver points (TRPs), transmission points (TPs), macro base stations, relay base stations, and some other type of access node.

[0060] One possible implementation is, such as Figure 3 As shown, the access network device 201 may include: an added sensing terminal device sensing unit and a receiving terminal device sensing data unit. The added sensing terminal device sensing unit is used to receive an assist sensing response message from the AMF 202. The receiving terminal device sensing data unit is used to send a sensing request to each of the at least one terminal device 203, and to receive sensing data from each terminal device 203 that meets the sensing request.

[0061] Optionally, a sensing unit for the sensing terminal device is added, which is also used to send an assistance sensing request message to the AMF202. The assistance sensing request message is used to request assistance from the terminal device in sensing.

[0062] The aforementioned access network device 201 may further include: a receiving and sensing activation unit, an access network device sensing activation unit, a receiving and sensing accuracy analysis unit, and a sensing data merging unit. The receiving and sensing activation unit receives sensing requests from the sensing network element 204. The access network device sensing activation unit performs sensing measurements in response to the sensing requests to obtain initial sensing data. The receiving and sensing accuracy analysis unit processes the initial sensing data to obtain the sensing results required for the service type, and, if the sensing results do not meet the sensing range requirements and / or sensing accuracy requirements, triggers a process whereby an additional sensing terminal device sensing unit sends an assistance sensing request message to the AMF 202. The sensing data merging unit integrates the sensing results with the sensing data from each terminal device that meets the sensing requirements to obtain target integrated sensing data, and sends the target integrated sensing data to the sensing network element 204.

[0063] It should be noted that AMF202 is a very important network function in 5G. It is used to perform functions such as request management, registration management, connection management, and mobility management for 5G radio access. It is also used to acquire and store information such as the location of terminal device 203, the access network device 201 to which terminal device 203 belongs, the coverage area of ​​access network device 201, and the network element to which access network device 201 belongs.

[0064] One possible implementation is, such as Figure 4 As shown, the aforementioned AMF202 may include: an activation terminal device sensing function unit. This activation terminal device sensing function unit is used to send an assistance sensing response message to the access network device 201.

[0065] Optionally, the AMF202 may further include a unit for receiving sensing requests from sensing terminal devices and a unit for determining sensing terminal devices. The unit for receiving sensing requests from sensing terminal devices is used to receive an assistance sensing request message from the access network device 201. The unit for determining sensing terminal devices is used to select, from all terminal devices 203, terminal devices 203 that meet the sensing accuracy requirements and / or sensing range requirements, and to determine the selected terminal devices 203 as terminal devices 203 used to assist the access network device 201 in sensing.

[0066] In some examples, terminal device 203 can be a high-capacity device with wireless communication capabilities (e.g., a server integrating a large number of boards), which can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted. It can also be deployed on water (such as ships) or in the air (e.g., on airplanes, balloons, and satellites).

[0067] One possible implementation is, such as Figure 5 As shown, the aforementioned terminal device 203 may include: a sensing activation signaling unit and a sensing data reporting unit. The sensing activation signaling unit is used for each of at least one terminal device to send a sensing request. The sensing data reporting unit is used to send sensing data that meets the sensing requirements to the access network device 201.

[0068] Optionally, the terminal device 203 may further include a sensing function activation unit and a sensing data processing unit. The sensing function activation unit is used to perform sensing measurements in response to sensing requirements and obtain sensing data. The sensing data processing unit is used to determine sensing data that meets the sensing requirements based on the sensing data and the sensing requirements.

[0069] As an example, the aforementioned sensing network element 204 can be a sensing function (SF) network element. The sensing function network element is used to manage the sensing operations of the access network device 201, such as receiving sensing capability information from the access network device 201, participating in the negotiation process for collaborative sensing among access network devices 201, and issuing sensing-related configuration information to the access network device 201. The naming of the sensing function network element in this embodiment is merely exemplary; the sensing function network element can have other names, and this is not limited.

[0070] One possible implementation is, such as Figure 6 As shown, the aforementioned sensing network element 204 may include: a sensing requirement extraction unit, a sensing activation unit, a sensing data receiving unit, and a multi-access network device sensing data integration unit. The sensing requirement extraction unit is used to receive a sensing requirement message from the task dispatch platform and determine the sensing requirement from the sensing requirement message. The sensing activation unit is used to send a sensing requirement to each of the at least one access network device 201. The sensing data receiving unit is used to receive first integrated sensing data from each access network device 201. The first integrated sensing data is used to indicate sensing data that meets the sensing requirement for each of the at least one terminal device 203. The multi-access network device sensing data integration unit is used to send second integrated sensing data to the application server. The second integrated sensing data is used to indicate the first integrated sensing data for each of the at least one access network device 201.

[0071] The application scenarios of the embodiments in this application are not limited. The system architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0072] In practical implementation, Figure 2 All the equipment in the middle can be adopted Figure 7 The shown composition structure, or including Figure 7 The components shown. Figure 7 This is a schematic diagram illustrating the composition of a sensing device 70 provided in an embodiment of this application. The sensing device 70 can be an access network device 201 or a chip or system-on-a-chip (SoC) within the access network device 201. Alternatively, the sensing device 70 can be an AMF 202 or a chip or SoC within the AMF 202. Alternatively, the sensing device 70 can be a terminal device 203 or a chip or SoC within the terminal device 203. Alternatively, the sensing device 70 can be a sensing network element 204 or a chip or SoC within the sensing network element 204. For example... Figure 7 As shown, the sensing device 70 may include a processor 701, a communication line 702, a communication interface 703, and a memory 704. The processor 701, the communication interface 703, and the memory 704 can be connected to each other via the communication line 702.

[0073] The processor 701 can be a CPU, a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 701 can also be other devices with processing capabilities, such as circuits, devices, or software modules, without limitation.

[0074] Communication line 702 is used to transmit information between the components included in sensing device 70.

[0075] Communication interface 703 is used for communicating with other devices or other communication networks. These other communication networks can be Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc. Communication interface 703 can be a module, circuit, communication interface, or any device capable of enabling communication.

[0076] Memory 704 is used to store instructions. These instructions can be computer programs.

[0077] The memory 704 can be a read-only memory (ROM) or other type of static storage device that can store static information and / or instructions; it can also be a random access memory (RAM) or other type of dynamic storage device that can store information and / or instructions; it can also be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, etc., without limitation.

[0078] It should be noted that the memory 704 can exist independently of the processor 701 or can be integrated with the processor 701. The memory 704 can be used to store instructions, program code, or some data, etc. The memory 704 can be located inside or outside the sensing device 70, without limitation. The processor 701 is used to execute the instructions stored in the memory 704 to implement the sensing method provided in the following embodiments of this application.

[0079] In one example, processor 701 may include one or more CPUs, such as CPU0 and CPU1.

[0080] As an optional implementation, the sensing device 70 includes multiple processors.

[0081] As an optional implementation, the sensing device 70 also includes an output device and an input device. For example, the input device is a keyboard, mouse, microphone, or joystick, and the output device is a display screen, speaker, or similar device.

[0082] It should be noted that the sensing device 70 can be a desktop computer, laptop computer, network server, mobile phone, tablet computer, wireless terminal device, embedded device, chip system, or something else. Figure 7 Equipment with a similar structure. Furthermore... Figure 7 The composition shown does not constitute a basis for this. Figure 2 as well as Figure 7 The limitations of each device in the process, except Figure 7 In addition to the components shown, the sensing device 70 may include more or fewer components than illustrated, or combine certain components, or have different component arrangements.

[0083] In this embodiment of the application, the chip system may be composed of chips or may include chips and other discrete devices.

[0084] Furthermore, the actions, terms, etc., involved in the various embodiments of this application can be referenced interchangeably without limitation. The message names or parameter names in the messages exchanged between the various devices in the embodiments of this application are merely examples, and other names may be used in specific implementations without limitation.

[0085] The following is combined with Figure 2 The communication system shown describes the sensing method provided in the embodiments of this application. The actions, terminology, etc., involved in the various embodiments of this application can be referenced interchangeably without limitation. The message names or parameter names in the messages exchanged between devices in the embodiments of this application are merely examples; other names may be used in specific implementations without limitation. The actions involved in the various embodiments of this application are merely examples; other names may be used in specific implementations. For example, "included in" in the embodiments of this application can be replaced with "carried on" or "carried in," etc.

[0086] To address the problems existing in the prior art, embodiments of this application propose a sensing method that can balance reducing the limitations of sensing services with the communication overhead related to sensing functions in the communication system. For example... Figure 8 As shown, the method includes:

[0087] S801, the AMF sends an AMF Assistance Response message to the access network device. Correspondingly, the access network device receives the Assistance Response message from the AMF.

[0088] The Assist Sensing Response Message is used to instruct at least one terminal device to assist the access network device in sensing.

[0089] As an optional implementation, prior to S801, if the user equipment perception requirement signaling sent by the access network device to the AMF includes perception requirements, the AMF can identify the terminal devices that meet the above perception requirements among all terminal devices as terminal devices used to assist the access network device in perception.

[0090] For example, when the perception requirements include the service type and perception range requirements of the perception service, the AMF can identify terminal devices that support the above service types from all terminal devices as candidate terminal devices, and identify candidate terminal devices whose location meets the perception range requirements from at least one candidate terminal device as the terminal device used to assist the access network device in perception.

[0091] For example, when the perception requirements include the service type of the perception service and the perception accuracy requirements, the AMF can identify terminal devices that support the above service types from all terminal devices as candidate terminal devices, and identify the candidate terminal device that can support the highest perception accuracy and meets the perception accuracy requirements from at least one candidate terminal device as the terminal device used to assist the access network device in perception.

[0092] For example, when the sensing requirements include the service type, sensing range requirements, and sensing accuracy requirements, the AMF can identify terminal devices supporting the aforementioned service types from all terminal devices as candidate terminal devices, and from at least one candidate terminal device, identify the one whose location meets the sensing range requirements as the final terminal device. The AMF can also identify the terminal device from at least one terminal device whose highest supported sensing accuracy meets the sensing accuracy requirements as the terminal device used to assist the access network equipment in sensing.

[0093] S802. The access network device sends a sensing request to each of at least one terminal device. Correspondingly, the terminal devices receive the sensing requests from the access network device.

[0094] Among them, perception requirements are used to indicate the requirements of perception services.

[0095] In one possible implementation, the above-mentioned S802 process can be as follows: the access network device sends a terminal device awareness activation message to each of the at least one terminal device. Correspondingly, each terminal device receives the terminal device awareness activation message from the access network device and determines the awareness requirement from the information carried in the terminal device awareness activation message.

[0096] For example, Table 1 provides an example of the aforementioned UE sense active message. As shown in Table 1, the UE sense active message may include: message type, business identity (business ID), parameter, access network device identity (NodeB ID), and UE ID. Here, type represents the name of the signaling. business ID identifies the sense service. parameter characterizes the sense requirement. The sense requirement may include at least one of the following: sense service type (Ctype) and sense requirement (Csense). The sense requirement (Csense) may include at least one of the following: sense range requirement (Crange) and sense accuracy requirement (Caccuracy). NodeB ID identifies the access network device. n is a positive integer. UE ID identifies the UE device. m is a positive integer greater than 3.

[0097] Table 1

[0098] business ID i parameter Ctype, Csense NodeB ID n UE ID 1，2，……，m

[0099] In one alternative embodiment, the perception requirements include the service type of the perception service, and at least one of the perception range requirements and perception accuracy requirements.

[0100] In one possible embodiment, sensing accuracy requires the configuration information of the demodulation reference signal (DMRS).

[0101] Optionally, the DMRS configuration information may include low-precision, medium-precision, and high-precision DMRS configuration information. Higher precision DMRS configuration information results in higher resource consumption by the DMRS. For example, ... Figure 9 As shown, low-precision DMRS occupies 24 resource blocks. Figure 10 As shown, medium-precision DMRS occupies 48 resource blocks. Figure 11 As shown, medium-precision DMRS occupies 72 resource blocks.

[0102] In some examples, the sensing accuracy requirement may include angular accuracy requirements and / or distance accuracy requirements. The above is merely an exemplary illustration of sensing accuracy requirements, and other requirements (e.g., velocity accuracy requirements) may also be included, which are not limited in this application.

[0103] The business type may include at least one of the following: map type, perceived aircraft type, and perceived vehicle type. The above is merely an exemplary description of the business type, and the business type may also include other requirements (e.g., perceived stationary object type), which is not limited in this application.

[0104] S803. The terminal device sends sensing data that meets the sensing requirements to the access network device. Correspondingly, the access network device receives sensing data that meets the sensing requirements from each terminal device.

[0105] In one possible implementation, the above-mentioned S803 process can be as follows: the terminal device sends a UE sense result transfer message to the access network device. Correspondingly, the access network device receives UE sense result transfer messages from each terminal device and determines the sensing data that meets the sensing requirements from the information carried in the UE sense result transfer messages.

[0106] For example, Table 2 provides an example of the aforementioned user equipment perception result transfer message. As shown in Table 2, the aforementioned user equipment perception result transfer signaling may include: type, businessID, NodeB ID, terminal equipment identifier (UEID), perception type, perception result (sense result1), and other parameters. Among them, UE ID is used to identify the terminal equipment. Sense type indicates the type of perception service. Sense result1 indicates the perception data of the terminal equipment that meets the perception requirements. Other parameters are used to represent Crange and Caccuracy. The descriptions of type, business ID, and NodeB ID can be found in the corresponding sections above and will not be repeated here.

[0107] Table 2

[0108]

[0109] Based on the above example, if Sense Type is map, then Crange is...<x,y> Given the range shown, with Caccuracy as Si, the above UE sense result transfer signaling can be represented as shown in Table 3 below:

[0110] Table 3

[0111]

[0112] Optionally, prior to S803 above, the terminal device can perform sensing measurements to obtain sensing data of the terminal device, and process the sensing data based on the sensing requirements obtained from the access network device to obtain sensing data that meets the sensing requirements.

[0113] Therefore, since terminal devices need to perform sensing measurements to obtain sensing data, and process this sensing data based on sensing requirements obtained from the access network equipment to obtain sensing data that meets those requirements, maintenance personnel need to modify the terminal devices in advance. Maintenance personnel not only need to modify the radio frequency of the terminal devices to enable them to support sensing functions and thus perform sensing measurements to obtain sensing data, but also need to modify the data processing capabilities of the terminal devices to enable them to process the sensing data and obtain sensing data that meets the sensing requirements.

[0114] It should be noted that if the terminal device can allocate the maximum amount of resources for the communication sensing function, but the obtained sensing results still cannot meet the sensing range and / or sensing accuracy requirements, the terminal device can send the sensing data determined under the condition that the maximum amount of resources allocated for the communication sensing function is available to the access network device. Furthermore, the terminal device can statistically analyze the sensing accuracy and / or sensing range of this sensing data and send the statistically obtained sensing accuracy and / or sensing range, along with the sensing data, to the access network device.

[0115] As an optional embodiment, after S803, if the access network device receives sensing data from multiple terminal devices that meet the sensing requirements, the access network device can integrate the sensing data from the multiple terminal devices based on the service identifier corresponding to the sensing data to obtain first integrated sensing data, and send the first integrated sensing data to the sensing network element. If the access network device receives sensing data from a single terminal device that meets the sensing requirements, the access network device can determine the sensing data from that terminal device as the first integrated sensing data, and send the first integrated sensing data to the sensing network element.

[0116] It is understood that the access network device integrates the sensing data that meets the sensing requirements of at least one terminal device to obtain first integrated sensing data, and sends the first integrated sensing data to the sensing network element. This enables the sensing network element to obtain relatively rich sensing data (e.g., the first integrated sensing data) at the sensing granularity of the terminal device, and then realize high-precision or large-scale sensing based on the first integrated sensing data.

[0117] Optionally, the sensing network element can also integrate the first integrated sensing data sent by at least one access network device to obtain second integrated sensing data, and send the second integrated sensing data to the application server. This allows the application server to obtain richer sensing data (e.g., the second integrated sensing data) at the sensing granularity of the access network device, and thus achieve high-precision or large-scale sensing based on the second integrated sensing data.

[0118] In the sensing method provided in this application, the access network device receives an assisted sensing response message from the AMF (Advanced Assisted Sensing Message Message) to identify at least one terminal device that can be used for assisted sensing. The access network device sends a sensing request to each of the at least one terminal device and receives sensing data from each terminal device that meets the sensing request. In this way, the terminal devices assist the access network device in completing communication sensing, reducing the limitations of the access network device in performing sensing services and thereby improving the quality of sensing services.

[0119] Furthermore, the terminal device can send sensing data that meets the sensing requirements to the access network device, rather than the raw sensing data obtained after sensing measurements. Since the raw sensing data has a larger data volume, while the sensing data that meets the sensing requirements has a smaller data volume, transmitting sensing data that meets the sensing requirements between the terminal device and the access network device can reduce the communication burden in the communication system, thereby improving the stability of the communication system.

[0120] Combination Figure 8 ,like Figure 12 As shown in the figure, this application provides a sensing method, which includes the following steps:

[0121] S1201, The access network device sends an Assisted Awareness Request message to the AMF. Correspondingly, the AMF receives the Assisted Awareness Request message from the access network device.

[0122] Among them, the Assist Perception Request message is used to request the terminal device to assist in perception.

[0123] For example, the Assistance Request message can also be called a UE SenseNeediness message. Table 4 provides an example of the aforementioned UE SenseNeediness message. As shown in Table 4, the aforementioned UE SenseNeediness signaling may include: type, business ID, parameter, and NodeB ID. For an understanding of the aforementioned type, business ID, parameter, and NodeB ID, please refer to the descriptions in the corresponding sections above; they will not be repeated here.

[0124] Table 4

[0125] business ID i parameter Ctype, Csense NodeB ID 1，2，3，.....，n

[0126] In the sensing method provided in this application, the access network device sends an assist sensing request message to the AMF so that the AMF can respond to the aforementioned assist sensing request message and send an assist sensing response message to the access network device.

[0127] Combination Figure 12 ,like Figure 13 As shown in the figure, this application provides a sensing method, which includes the following steps:

[0128] S1301, The sensing network element sends a sensing request to the access network device. Correspondingly, the access network device receives the sensing request from the sensing network element.

[0129] In one possible implementation, the above-mentioned S1301 process can be as follows: the sensing network element sends a sense requirement transfer signaling to the access network device through the S1 interface. Correspondingly, the access network device receives the sense requirement transfer signaling from the sensing network element and determines the sensing requirement from the information carried in the aforementioned sense requirement transfer signaling.

[0130] For example, Table 5 provides an example of the aforementioned sense requirement transfer signaling. As shown in Table 5, the sense requirement transfer signaling may include: type, business ID, parameter, and NodeB ID. The descriptions of type, business ID, parameter, and NodeB ID can be found in the corresponding sections above and will not be repeated here.

[0131] Table 5

[0132] business ID i parameter Ctype, Csense NodeB ID 1,3.....,N

[0133] Optionally, the sensing network element can send a sensing request to at least one access network. The at least one access network device mentioned above, whose sensing function is determined by the sensing network element based on the sensing request, can collectively assist in sensing all or some of the access network devices. In this way, the sensing network element can perform sensing management, sensing identification, and sensing control operations on the access network devices.

[0134] It is understandable that sensing network elements in general technologies only collect or forward sensing data. However, the sensing network element provided in this application embodiment can send sensing requirements to each access network device. In this way, the aforementioned sensing network element can effectively control indicators such as the service type, sensing accuracy requirements, and sensing range requirements of the sensing service by adjusting the sensing requirements.

[0135] S1302. In response to the sensing requirements, the access network equipment performs sensing measurements and obtains initial sensing data.

[0136] It should be noted that the initial perception data mentioned above may include information about the perceived target object (e.g., position, length, width, or height). The target object may include at least one of the following: a car, an airplane, a drone, or a building. The above is merely an exemplary description of the target object; the target object may also be other objects (e.g., a tree), and this application makes no limitation in this regard.

[0137] In an optional embodiment, the implementation process of S1302 described above can be as follows: In response to a sensing requirement, the access network device can send multiple sensing signals and receive multiple echo signals based on preset resources, and analyze the multiple echo signals to obtain initial sensing data. The echo signals are the signals scattered by the sensing objects in the environment after the sensing signals have been detected. The amount of preset resources is positively correlated with the sensing range requirement and / or sensing accuracy requirement.

[0138] Understandably, if the sensing range and / or sensing accuracy requirements are high, the access network equipment needs more resources for communication measurements to ensure that the sensing results obtained from processing the initial sensing data meet the sensing range and / or sensing accuracy requirements. Therefore, the amount of preset resources will increase as the sensing range and / or sensing accuracy requirements increase; in other words, the amount of preset resources is positively correlated with the sensing range and / or sensing accuracy requirements.

[0139] It should be noted that the maximum value of the preset resource amount is the maximum resource amount allocated by the access network device for the sensing service. The maximum resource amount allocated by the access network device for the sensing service can be set by the access network device based on its available resources and a preset ratio. For example, if the available resources of the access network device are 100 and the preset ratio is 80%, then the access network device can set the maximum resource amount allocated for the sensing service to 80. The maximum resource amount allocated for the sensing service can also be other values ​​(e.g., 98), and this application does not impose any restrictions on this.

[0140] S1303. The access network equipment processes the initial sensing data to obtain the sensing results required for the service type.

[0141] In one possible implementation, taking the aforementioned service type as the sensing aircraft type as an example: the access network device can determine the position and velocity of the sensing object corresponding to the echo signal based on the path loss analysis results and / or Doppler analysis results included in the initial sensing data. The access network device can then analyze the positions and velocities of all sensing objects corresponding to the echo signals in the initial sensing data using the aforementioned method, and draw the aircraft's flight path based on these positions and velocities. The access network device then determines the drawn flight path as the sensing result.

[0142] It should be noted that, as shown in S1302 to S1303, the access network equipment needs to perform sensing measurements to obtain initial sensing data, and then process this initial sensing data based on sensing requirements to obtain the sensing results required for the service type. This necessitates prior modifications to the access network equipment by maintenance personnel. Maintenance personnel not only need to modify the access network equipment's radio frequency capabilities to enable it to support sensing functions and thus perform sensing measurements to obtain initial sensing data, but also need to modify its data processing capabilities to enable it to process the initial sensing data and obtain the sensing results required for the service type.

[0143] S1304. The access network equipment determines whether the sensing results meet the sensing range requirements and / or sensing accuracy requirements.

[0144] For example, taking map type as the service type: the access network device can determine whether the map drawing range shown in the above sensing results is greater than or equal to the range recorded in the sensing range requirement. And / or, the access network device can determine whether the map drawing accuracy shown in the above sensing results is greater than or equal to the accuracy recorded in the sensing accuracy requirement.

[0145] If the sensing results meet the requirements for non-sensing range and / or sensing accuracy, the access network device executes S1305.

[0146] S1305. The access network device sends an Assisted Awareness Request message to the AMF. Correspondingly, the AMF receives the Assisted Awareness Request message from the access network device.

[0147] Optionally, the implementation process of S1305 can be understood by referring to S1201 above, and will not be repeated here.

[0148] As an optional embodiment, if the access network device sends an Assisted Sensing Request message to the AMF when the sensing results meet the non-sensing range requirements and / or sensing accuracy requirements, and receives sensing data from each terminal device that meets the sensing requirements, then the access network device integrates the sensing results with the sensing data from each terminal device that meets the sensing requirements to obtain target integrated sensing data, and sends the target integrated sensing data to the sensing network element.

[0149] It is understandable that the access network device integrates the sensing data and sensing results of at least one terminal device that meet the sensing requirements to obtain target integrated sensing data, and sends the target integrated sensing data to the sensing network element. This allows the sensing network element to acquire sensing data from multiple aspects, and then achieve high-precision or wide-range sensing based on the aforementioned multiple aspects of sensing data (i.e., target integrated sensing data).

[0150] Optionally, if the first sensing result meets the sensing range requirement and / or sensing accuracy requirement, the access network device executes S1306.

[0151] Based on the above example, if the map drawn in the perception result covers an area of ​​1800 square meters, and the area recorded in the perception range requirement is 1500 square meters, then the access network device can determine that the perception result meets the perception range requirement.

[0152] If the map drawn in the perception results has an accuracy of meters, and the accuracy required by the perception accuracy requirement is recorded in kilometers, then the access network device can determine that the perception results meet the perception accuracy requirement.

[0153] S1306. The access network device sends the sensing results to the sensing network element. Correspondingly, the sensing network element receives the sensing results from the access network device.

[0154] In one possible implementation, the above-mentioned S1306 process can be as follows: the access network device sends a sense NR result transfer signaling to the sensing network element through the S1 interface. Correspondingly, the sensing network element receives the sense NR result transfer signaling from the access network device and determines the sensing result from the information carried in the sense NR result transfer signaling.

[0155] It should be noted that the sensing network element can enable the aforementioned S1 interface to transmit data (e.g., sensing requirements, sensing results, etc.) between the sensing network element and the access network device by adding the capability of the S1 interface.

[0156] For example, Table 6 provides an example of the aforementioned sense NR result transfer signaling. As shown in Table 6, the sense NR result transfer signaling may include: business ID, NodeB ID, sense type, sense result2, and other parameters. Sense result2 is used to characterize the sensing result. The descriptions of business ID, NodeB ID, sense type, sense result, and other parameters can be found in the corresponding sections above and will not be repeated here.

[0157] Table 6

[0158]

[0159] Based on the above example, if Sense Type is map, then Crange is...<x,y> Given the range shown, with Caccuracy as Si, the above-mentioned new air interface result transfer signaling can be shown in Table 7 below:

[0160] Table 7

[0161]

[0162] It is understandable that the data transmitted between the access network equipment and the sensing network element is also based on the integration of various sensing data that meet the sensing requirements. Compared with transmitting individual sensing data, this can reduce the amount of data transmitted through the interface, reduce the transmission pressure on the interface, reduce the communication overhead in the communication system, and thus ensure the stability of the communication system.

[0163] The sensing method provided in this application allows an access network device to acquire sensing requirements and, in response to these requirements, perform sensing measurements to obtain initial sensing data. The access network device can then process this initial sensing data to obtain the sensing results required for the service type. If the sensing results do not meet the sensing range and / or sensing accuracy requirements, indicating that the current sensing capability of the access network device cannot meet these requirements, the access network device sends an assistance sensing request message to the AMF (Access Provider Function). This allows subsequent access network devices to identify other access network devices that can assist in communication sensing, enabling terminal devices to assist the access network device in completing communication sensing. This reduces the limitations of the access network device in sensing services and improves the quality of sensing services.

[0164] Since the sensing results meet the sensing range and / or sensing accuracy requirements, it indicates that the current sensing capability of the access network device can meet these requirements. Therefore, in this case, the access network device can directly send the sensing results to the sensing network element. Because the initial sensing data volume is large, while the processed sensing results volume is small, the access network device processes the initial sensing data and sends the sensing results to the sensing network element. This reduces the amount of data transmitted through the interface, lowers the transmission pressure on the interface, reduces communication overhead in the communication system, and thus ensures the stability of the communication system.

[0165] It should be noted that the reasons why the current sensing capability of the access network device cannot meet the sensing range and / or sensing accuracy requirements may include at least one of the following: a large number of communication services resulting in a low amount of resources that the access network device can allocate for sensing services, network failure, or network congestion. The above is only an illustrative description of the reasons why the current sensing capability of the access network device cannot meet the sensing range and / or sensing accuracy requirements. Other reasons may also be included, and this application does not impose any limitations on them.

[0166] It is understood that the above-described sensing method can be implemented by a sensing device. To achieve the above functions, the sensing device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the modules and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein, the embodiments disclosed in this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the embodiments disclosed in this application.

[0167] The embodiments disclosed in this application can divide the sensing device generated by the above method examples into functional modules. For example, each function can be divided into its own functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in the embodiments disclosed in this application is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0168] Figure 14 This is a schematic diagram of a sensing device provided in an embodiment of the present invention. Figure 14 As shown, the sensing device 140 can be used to perform... Figure 8 , Figures 12-13 The sensing method is illustrated. The sensing device 140 includes a communication unit 1401 and a processing unit 1402. The sensing device 140 can be used to illustrate the structure of the access network device in the above embodiments.

[0169] Processing unit 1402 is configured to instruct communication unit 1401 to receive a terminal device assisting perception response message from the Access and Mobility Management Function (AMF), the terminal device assisting perception response message being used to instruct at least one terminal device to assist the access network device in performing perception; processing unit 1402 is further configured to instruct communication unit 1401 to send a perception request to each of the at least one terminal device, the perception request being used to instruct the perception service requirements; processing unit 1402 is further configured to instruct communication unit 1401 to receive perception data from each terminal device that meets the perception requirements.

[0170] In one possible implementation, the perception requirements include the business type of the perception service, as well as at least one of the perception range requirements and perception accuracy requirements.

[0171] In one possible implementation, the processing unit 1402 is further configured to instruct the communication unit 1401 to send a terminal device assisting in perception request message to the AMF, the terminal device assisting in perception request message being used to request the terminal device to assist in perception.

[0172] In one possible implementation, the processing unit 1402 is further configured to instruct the communication unit 1401 to receive a sensing request from a sensing network element; the processing unit 1402 is further configured to perform sensing measurements in response to the sensing request to obtain initial sensing data; the processing unit 1402 is further configured to process the initial sensing data to obtain the sensing results required for the service type; the processing unit 1402 is further configured to instruct the communication unit 1401 to send a terminal device assisting sensing request message to the AMF if the sensing results do not meet the sensing range requirements and / or sensing accuracy requirements.

[0173] In one possible implementation, the processing unit 1402 is further configured to instruct the communication unit 1401 to send the sensing results to the sensing network element when the sensing results meet the sensing range requirements and / or sensing accuracy requirements.

[0174] In one possible implementation, the processing unit 1402 is further configured to instruct the communication unit 1401 to send multiple sensing signals and receive multiple echo signals in response to a sensing requirement, based on preset resources. The echo signals are signals scattered by sensing objects in the environment after the sensing signals are received. The amount of preset resources is positively correlated with the sensing range requirement and / or sensing accuracy requirement. The processing unit 1402 is further configured to analyze the multiple echo signals to obtain initial sensing data.

[0175] In one possible implementation, the processing unit 1402 is further configured to integrate the sensing results with the sensing data of each terminal device that meets the sensing requirements to obtain target integrated sensing data; the processing unit 1402 is further configured to instruct the communication unit 1401 to send the target integrated sensing data to the sensing network element.

[0176] In one possible implementation, sensing accuracy requires the configuration information of the demodulated reference signal DMRS to be reused.

[0177] Through the above description of the embodiments, those skilled in the art will clearly understand that, for the sake of convenience and brevity, only the division of the above functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0178] This disclosure also provides a computer-readable storage medium storing instructions that, when executed by a processor of an electronic device, enable the electronic device to perform the sensing method provided in the embodiments of this disclosure described above.

[0179] This disclosure also provides a computer program product containing instructions that, when run on an electronic device, cause the electronic device to perform the sensing method provided in the above-described embodiments of this disclosure.

[0180] The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples (a non-exhaustive list) of computer-readable storage media include: electrical connections having one or more wires; portable computer disks; hard disks; random access memory (RAM); read-only memory (ROM); erasable programmable read-only memory (EPROM); registers; hard disks; optical fibers; portable compact disc read-only memory (CD-ROM); optical storage devices; magnetic storage devices; or any suitable combination thereof; or any other form of computer-readable storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium may also be a component of the processor. The processor and the storage medium may reside in an application-specific integrated circuit (ASIC). In the embodiments of this application, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0181] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A sensing method, characterized in that, Applied to access network equipment, the method includes: Perform sensing measurements in response to the sensing requirements of sensing network elements; If the sensing results of the sensing measurement do not meet the sensing requirements, a terminal device assisting sensing request message is sent to the Access and Mobility Management Function (AMF); wherein, the terminal device assisting sensing request message is used to request the terminal device to assist in sensing; the sensing requirements are used to indicate the requirements of the sensing service; the sensing requirements include the service type of the sensing service, and at least one of the sensing range requirements and sensing accuracy requirements; The system receives a terminal device assisting perception response message from the AMF, which indicates at least one terminal device to assist the access network device in perception. The at least one terminal device is selected by the AMF from all terminal devices as candidate terminal devices, from the candidate terminal devices its location meets the perception range requirement, and from the terminal devices whose location meets the perception range requirement its highest supported perception accuracy meets the perception accuracy requirement. Send the sensing request to each of the at least one terminal device; Receive sensing data from each of the terminal devices that meets the sensing requirements.

2. The method according to claim 1, characterized in that, The process of performing sensing measurements in response to the sensing requirements of the sensing network element includes: In response to the sensing requirement, sensing measurements are performed to obtain initial sensing data; The initial perception data is processed to obtain the perception results required for the business type.

3. The method according to claim 1, characterized in that, The method further includes: If the sensing result meets the sensing range requirement and / or the sensing accuracy requirement, the sensing result is sent to the sensing network element.

4. The method according to claim 2, characterized in that, The process of responding to the sensing request by performing sensing measurements to obtain initial sensing data includes: In response to the sensing requirement, based on preset resources, multiple sensing signals are sent and multiple echo signals are received. The echo signals are signals scattered by the sensing objects in the environment after the sensing signals are sent. The amount of preset resources is positively correlated with the sensing range requirement and / or the sensing accuracy requirement. The initial sensing data is obtained by analyzing the multiple echo signals.

5. The method according to claim 2, characterized in that, The method further includes: The perception results are integrated with the perception data of each terminal device that meets the perception requirements to obtain target integrated perception data; The target integrated sensing data is sent to the sensing network element.

6. The method according to any one of claims 2 to 5, characterized in that, The required sensing accuracy requires the configuration information of the demodulation reference signal DMRS.

7. A sensing device, characterized in that, Applied to access network equipment, the device includes: a communication unit and a processing unit; The processing unit is configured to perform sensing measurements in response to the sensing requirements of the sensing network element; if the sensing measurement results do not meet the sensing requirements, it sends a terminal device assisting sensing request message to the Access and Mobility Management Function (AMF); wherein, the terminal device assisting sensing request message is used to request the terminal device to assist in sensing; the sensing requirements are used to indicate the requirements of the sensing service; the sensing requirements include the service type of the sensing service, and at least one of the sensing range requirements and sensing accuracy requirements; And instructing the communication unit to receive a terminal device assisting perception response message from the AMF, the terminal device assisting perception response message being used to instruct at least one terminal device to assist the access network device in perception; wherein, the at least one terminal device is determined by the AMF from all terminal devices as candidate terminal devices for supporting the service type, from the candidate terminal devices as terminal devices whose location meets the perception range requirement, and from the terminal devices whose location meets the perception range requirement as terminal devices whose highest supported perception accuracy meets the perception accuracy requirement; The processing unit is further configured to instruct the communication unit to send the sensing request to each of the at least one terminal device; The processing unit is further configured to instruct the communication unit to receive sensing data from each terminal device that meets the sensing requirements.

8. A sensing device, characterized in that, include: A processor and a communication interface; the communication interface is coupled to the processor, the processor being configured to run computer programs or instructions to implement the sensing method as described in any one of claims 1-6.

9. A computer-readable storage medium storing instructions, characterized in that, When the computer executes the instruction, the computer performs the sensing method described in any one of claims 1-6.

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