Wireless sensing processing method and apparatus, communication device, and storage medium

Abstract

The method can comprise: sending, by a communication module of a terminal, a first request message to a first network device according to module information of a sensing module of the terminal; receiving a first response message returned by the first network device based on the first request message; the first response message comprising a first communication configuration provided by the sensing module; the sensing module having a transmitting capability of transmitting a sensing signal and a receiving capability of receiving a reflected signal returned by a sensing target based on the sensing signal; sending, by the communication module of the terminal, a second request message generated based on the first communication configuration to a second network device; receiving a second response message returned by the second network device based on the second request message; the second response message comprising a sensing configuration; the sensing configuration being used for the sensing module to generate a sensing result based on wireless sensing and provide the sensing result to an auxiliary driving system of the terminal.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of wireless communication, and more particularly, to a wireless sensing processing method and device, a communication device, and a storage medium. BACKGROUND

[0002] Wireless sensing technology aims to obtain information of a remote object by transmitting a sensing signal without physical contact. After the sensing data (or sensing data) of the target or the sensing data around the target is analyzed, the characteristics of the target and / or the environment where the target is located can be obtained.

[0003] Radar is widely used in wireless sensing technology, and wireless sensing technology uses radar signals to determine the distance, angle, and instantaneous speed of the target.

[0004] Other sensing technologies include non-radio frequency (RF) sensors, which can include time-of-flight (ToF) cameras, acceleration sensors, gyroscopes, and laser radars.

[0005] The integrated sensing and communication system means that the fifth generation mobile communication (5G) new radio (NR) is given the sensing capability, so that the 5G NR communication system and infrastructure are used for sensing services while communicating. SUMMARY

[0006] The embodiments of the present disclosure provide a wireless sensing processing method and device, a communication device, and a storage medium.

[0007] The first aspect of the embodiments of the present disclosure provides a wireless sensing processing method, which is executed by a communication module of a terminal, and the method comprises:

[0008] According to the module information of the sensing module of the terminal, a first request message is sent to a first network device;

[0009] A first response message returned by the first network device based on the first request message is received; wherein the first response message comprises a first communication configuration provided by the sensing module; wherein the sensing module has a transmitting capability of transmitting a sensing signal and / or a receiving capability of receiving a reflected signal returned based on the sensing signal acting on a sensing target;

[0010] A second request message generated based on the first communication configuration is sent to a second network device;

[0011] A second response message returned by the second network device based on the second request message is received; wherein the second response message comprises a sensing configuration;

[0012] The perception configuration is configured to be used for the perception module to generate a perception result based on wireless perception, and provide the perception result to an auxiliary driving system of the terminal.

[0013] The second aspect of the embodiments of the present disclosure provides a wireless perception processing method, wherein the method is executed by a perception module of a terminal, wherein the perception module has the ability to transmit a perception signal and receive a reflection signal returned by the perception signal acting on a perception target; the method comprises:

[0014] Based on the first communication configuration, a second request message is provided to the communication module for sending;

[0015] A second response message returned by the perception configuration based on the second request message is received by the communication module;

[0016] Wireless perception is performed according to the perception configuration, and a perception result is obtained;

[0017] The perception result is provided to a driving assistance system.

[0018] The third aspect of the embodiments of the present disclosure provides a wireless perception processing method, which is executed by a first network device, and the method comprises:

[0019] A first request message sent by a terminal is received;

[0020] A first response message is returned to the terminal based on the first request message, wherein the first response message comprises a first communication configuration, wherein the first communication configuration corresponding to different perception modules in the terminal is different;

[0021] The first communication configuration is used for a communication module of the terminal to obtain perception configurations of different perception modules from a second network device.

[0022] The fourth aspect of the embodiments of the present disclosure provides a wireless perception processing device, wherein the device comprises:

[0023] A first sending module is configured to send a first request message to a first network device according to module information of a perception module of the terminal;

[0024] A first receiving module is configured to receive a first response message returned by the first network device based on the first request message; wherein the first response message comprises a first communication configuration provided by the perception module; wherein the perception module has the ability to transmit a perception signal and / or the ability to receive a reflection signal returned by the perception signal acting on a perception target;

[0025] The first sending module is further configured to send a second request message generated based on the first communication configuration to a second network device.

[0026] The first receiving module is further configured to receive a second response message returned by the second network device based on the second request message; wherein the second response message comprises a sensing configuration.

[0027] The sensing configuration is used for the sensing module to generate a sensing result based on wireless sensing and provide the sensing result to an auxiliary driving system of the terminal.

[0028] The fifth aspect of the embodiments of the present disclosure provides a wireless sensing processing apparatus, wherein the apparatus comprises:

[0029] The first sending module is configured to send a first request message to a first network device according to module information of a sensing module of the terminal.

[0030] The first receiving module is configured to receive a first response message returned by the first network device based on the first request message; wherein the first response message comprises a first communication configuration provided by the sensing module; wherein the sensing module has a transmitting capability of transmitting a sensing signal and / or a receiving capability of receiving a reflected signal returned by a sensing target based on the sensing signal.

[0031] The first sending module is further configured to send a second request message generated based on the first communication configuration to a second network device.

[0032] The first receiving module is further configured to receive a second response message returned by the second network device based on the second request message; wherein the second response message comprises a sensing configuration.

[0033] The sensing configuration is used for the sensing module to generate a sensing result based on wireless sensing and provide the sensing result to an auxiliary driving system of the terminal.

[0034] The sixth aspect of the embodiments of the present disclosure provides a wireless sensing processing apparatus, wherein the apparatus comprises a second receiving module, a second sending module, an executing module and a providing module.

[0035] The second receiving module is configured to receive a first communication configuration provided by a communication module of a terminal.

[0036] The second sending module is configured to provide a second request message to the communication module based on the first communication configuration.

[0037] The second receiving module is further configured to receive a sensing configuration returned by the communication module based on a second response message of the second request message.

[0038] The execution module is configured to perform wireless sensing according to the sensing configuration, and obtain a sensing result.

[0039] The providing module is further configured to provide the sensing result to a driving assistance system.

[0040] A seventh aspect of the embodiments of the present disclosure provides a wireless sensing processing device, and the device comprises:

[0041] The third receiving module is configured to receive a first request message sent by a terminal.

[0042] The third sending module is configured to return a first response message to the terminal based on the first request message, wherein the first response message comprises a first communication configuration, and the first communication configuration corresponding to different sensing modules in the terminal is different.

[0043] The first communication configuration is used for a communication module of the terminal to obtain sensing configurations of different sensing modules from a second network device.

[0044] An eighth aspect of the embodiments of the present disclosure provides a wireless sensing processing device, and the device comprises:

[0045] The fourth receiving module is configured to receive a first request message sent by a terminal.

[0046] The fourth sending module is configured to return a first response message to the terminal based on the first request message, wherein the first response message comprises a first communication configuration, and the first communication configuration corresponding to different sensing modules in the terminal is different.

[0047] The first communication configuration is used for a communication module of the terminal to obtain sensing configurations of different sensing modules from a second network device.

[0048] A ninth aspect of the embodiments of the present disclosure provides a communication device, comprising a processor, a transceiver, a memory, and an executable program stored on the memory and capable of being executed by the processor, wherein the processor executes the executable program to perform the wireless sensing processing method provided in any one of the first aspect to the fourth aspect.

[0049] A tenth aspect of the embodiments of the present disclosure provides a computer storage medium, which stores an executable program; the executable program is executed by a processor to implement the wireless sensing processing method provided in any one of the first aspect to the fourth aspect.

[0050] The technical solution provided by the embodiments of the present disclosure is that the first network device specially allocates the first communication configuration for the sensing module, and the subsequent sensing module can perform interaction related to the sensing service with the network device based on the communication configuration of the sensing module itself, thereby reducing the delay and other problems caused by interaction using the communication configuration of the communication module, and improving the communication efficiency.

[0051] It should be understood that the foregoing general description and the following detailed description are only exemplary and explanatory, and cannot limit the embodiments of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0052] The accompanying drawings, which are incorporated into the specification and constitute part of the specification, illustrate the embodiments consistent with the present disclosure and, together with the specification, serve to explain the principles of the embodiments of the present disclosure.

[0053] Figure 1 is a structural schematic diagram of a wireless communication system according to an exemplary embodiment;

[0054] Figure 2 is a flowchart of a wireless sensing processing method according to an exemplary embodiment;

[0055] Figure 3 is a connection schematic diagram of a vehicle and a network device according to an exemplary embodiment;

[0056] Figure 4 is a flowchart of a wireless sensing processing method according to an exemplary embodiment;

[0057] Figure 5 is a flowchart of a wireless sensing processing method according to an exemplary embodiment;

[0058] Figure 6 is a flowchart of a wireless sensing processing method according to an exemplary embodiment;

[0059] Figure 7 is a flowchart of a wireless sensing processing method according to an exemplary embodiment;

[0060] Figure 8 is a flowchart of a wireless sensing processing method according to an exemplary embodiment;

[0061] Figure 9 is a flowchart of a wireless sensing processing method according to an exemplary embodiment;

[0062] Figure 10 is a structural schematic diagram of a wireless sensing processing device according to an exemplary embodiment;

[0063] Figure 11 is a structural schematic diagram of a wireless sensing processing device according to an example embodiment;

[0064] Figure 12 is a structural schematic diagram of a wireless sensing processing device according to an example embodiment;

[0065] Figure 13 is a structural schematic diagram of a wireless sensing processing device according to an example embodiment;

[0066] Figure 14 is a structural schematic diagram of a terminal according to an example embodiment;

[0067] Figure 15 is a structural schematic diagram of a communication device according to an example embodiment. DETAILED DESCRIPTION

[0068] The example embodiments will be described in detail herein with reference to the attached drawings. In the following description, unless otherwise indicated, like numbers refer to like elements throughout the description and drawings. The following description is not meant to limit the embodiments of the present disclosure to any particular embodiments described. Rather, the following description is meant to provide an example of some aspects of the present disclosure.

[0069] The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the present disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0070] It should be understood that although the terms first, second, third, etc. can be used herein to describe various information, these terms are not intended to denote a particular order of the information. These terms are used merely to distinguish one type of information from another. For example, a first information can be termed a second information, and similarly, a second information can be termed a first information, without departing from the scope of the present disclosure. Depending on the context, the word "if' as used herein can be interpreted as "when" or "upon" or "in response to determining."

[0071] Reference is made to Figure 1 which shows a structural schematic diagram of a wireless communication system provided by the embodiments of the present disclosure. As shown in Figure 1 , the wireless communication system is a communication system based on cellular mobile communication technology, and the wireless communication system can include a plurality of UEs 11 and a plurality of access devices 12.

[0072] The UE 11 can be a device that provides voice and / or data connectivity to a user. The UE 11 can be a machine-to-machine UE, such as a sensor device, a mobile telephone (also known as a "cellular" telephone), and a computer with a UE, for example, that can be fixed, portable, pocketable, hand-held, computer-embedded, or car-mounted. The UE 11 can be, for example, a Station (STA), a subscriber unit, a subscriber station, a mobile station, a mobile, a remote station, an access point, a remote UE, an access UE, a user terminal, a user agent, a user device, or a user equipment (UE). Alternatively, the UE 11 can also be a device of an unmanned aerial vehicle. Alternatively, the UE 11 can also be a vehicle-mounted device, which can be, for example, a vehicle-mounted computer with wireless communication function or a wireless communication device externally connected to the vehicle-mounted computer. Alternatively, the UE 11 can also be a roadside device, which can be, for example, a street lamp, a signal lamp, or other roadside devices with wireless communication function.

[0073] The access device 12 can be a network-side device in a wireless communication system. The wireless communication system can be a 4th generation mobile communication (4G) system, also known as a Long Term Evolution (LTE) system, or the wireless communication system can also be a 5G system, also known as a new radio (NR) system or a 5G NR system. Alternatively, the wireless communication system can also be a next generation system of the 5G system. In the 5G system, the access network can be referred to as a NG-RAN (New Generation-Radio Access Network). Alternatively, the MTC system.

[0074] The access device 12 can be an evolved access device (eNB) used in a 4G system. Alternatively, the access device 12 can also be an access device (gNB) using a centralized and distributed architecture in a 5G system. When the access device 12 uses a centralized and distributed architecture, it usually includes a central unit (CU) and at least two distributed units (DUs). The central unit is provided with a protocol stack of a packet data convergence protocol (PDCP) layer, a radio link control (RLC) layer, and a media access control (MAC) layer; the distributed unit is provided with a physical (PHY) layer protocol stack, and the specific implementation of the access device 12 is not limited in the embodiments of the present disclosure.

[0075] The access device 12 and the UE 11 can establish a wireless connection through a wireless air interface. In different embodiments, the wireless air interface is a wireless air interface based on a fourth generation mobile communication network technology (4G) standard; or the wireless air interface is a wireless air interface based on a fifth generation mobile communication network technology (5G) standard, such as a new radio interface; or the wireless air interface can also be a wireless air interface based on a more next generation mobile communication network technology standard of 5G.

[0076] As shown in FIG. 1, the embodiments of the present disclosure provide a wireless sensing processing method, wherein the method is executed by a communication module of a terminal, and the method comprises the following steps: Figure 2

[0077] S110: sending a first request message to a first network device according to module information of a sensing module of the terminal;

[0078] S120: receiving a first response message returned by the first network device based on the first request message; wherein the first response message comprises a first communication configuration provided by the sensing module; wherein the sensing module has a transmitting capability of transmitting a sensing signal, and / or a receiving capability of acting on a reflected signal returned by a sensing target based on the sensing signal;

[0079] S130: sending a second request message generated based on the first communication configuration to a second network device;

[0080] S140: receiving a second response message returned by the second network device based on the second request message; wherein the second response message comprises a sensing configuration;

[0081] ​The perception configuration is configured to enable the perception module to generate a perception result based on wireless perception and provide the perception result to an advanced driver assistance system of the terminal.

[0082] The terminal can be a vehicle or a movable device in the embodiments of the present disclosure.

[0083] As shown in the figure, the terminal can include a non-3Gpp sensor, a 3Gpp perception module, and a 3Gpp communication module. Figure 3

[0084] The terminal has a communication module, which can be a 3Gpp communication module or a cellular communication module, and can communicate with a terrestrial network (TN) or a non-terrestrial network (NTN).

[0085] The perception module can emit a perception signal and receive a reflection signal returned by the perception signal acting on a perception target, and the distance between the perception target and the perception module can be calculated based on the time of flight of the perception signal, and the angle between the perception target and the perception module can be known in combination with the emission angle of the perception signal and the reception angle of the reflection signal.

[0086] In the embodiments of the present disclosure, the terminal can include a communication module and a perception module, and the terminal is connected with an advanced driver assistance system (ADAS), or the terminal itself is provided with an ADAS.

[0087] Exemplarily, in the embodiments of the present disclosure, the perception module and the ADAS have an interface for transmitting data between each other. Exemplarily, the perception module and the ADAS have an application programming interface (API) for facilitating information interaction between the perception module and the ADAS.

[0088] The communication module can include a communication chip and / or a network card.

[0089] The perception module can include various radars and / or various sensors capable of emitting and / or receiving perception signals. The terminal can include multiple perception modules, and these perception modules can perceive the relative positions of the perception targets in the same direction and / or different directions.

[0090] ​The communication module of the terminal can send a first request message to the first network device according to the module information of the sensing module of the terminal. The first request message can include the module information of the sensing module, so that the network device can be informed of the module information of the sensing module in the terminal. Exemplarily, the first network device includes but is not limited to a session management function (SMF). In other embodiments, the first network device can also include but is not limited to an access management function (AMF) or a user plane function (UPF).

[0091] The module information includes but is not limited to at least one of the following:

[0092] The on-off state of the sensing module;

[0093] Whether the function of the sensing module is normal;

[0094] The type information of the sensing module;

[0095] The capability information of the sensing module;

[0096] The working state information of the sensing module;

[0097] The number information of the sensing module in the terminal;

[0098] The number information of the sensing module in the terminal in a working state;

[0099] The number information of the sensing module capable of being in a working state in the terminal.

[0100] Exemplarily, the first request message includes but is not limited to a session establishment message and / or a network registration message sent by the terminal to the first network device.

[0101] If the first request message is a session establishment message, the communication module of the terminal completes registration on the network device side through a registration request message before the communication module of the terminal sends the session establishment message.

[0102] In some embodiments, the second request message includes but is not limited to a sensing request message. The sensing request message can be used to request a sensing configuration from the second network device.

[0103] The second network device can be a sensing function (SF) or a sensing application function (SAF).

[0104] The perception configuration includes, but is not limited to, at least one of the following:

[0105] The perception module transmits the transmission parameter of the perception signal;

[0106] The perception module receives the reception configuration of the reflection signal;

[0107] The perception module processes the perception data based on the reflection signal to obtain the processing configuration of the perception result;

[0108] The perception power configuration;

[0109] The perception frequency configuration, etc.

[0110] The perception configuration can be a short form of the perception configuration information. The perception configuration can also be referred to as a perception parameter.

[0111] Of course, the above is only an example of the perception configuration, and the specific implementation is not limited to the above example.

[0112] In the embodiments of the present disclosure, the communication module of the terminal is responsible for interacting with the network device to obtain the first communication configuration used for subsequent data interaction between the perception module and the second network device.

[0113] The first communication configuration can be any communication configuration provided by the first network device for the information interaction between the corresponding perception module in the terminal and the second network device.

[0114] The first communication configuration can include at least one of the following:

[0115] The identifier of the perception module, which includes but is not limited to the IP address of the perception module or other identifiers recognizable by the second network device;

[0116] The message format, etc. One message format can define one or more fields, which can carry various module information of the perception module and / or the perception configuration provided by the second device.

[0117] In one embodiment, all perception modules in the terminal share a set of first communication configurations, and the first communication configuration is different from the second communication configuration of the communication module. In this implementation, the communication module and the perception module in the terminal are isolated from the communication with the network device, and the non-perception other service data of the communication module does not occupy too much bandwidth for the interaction between the perception module and the network device.

[0118] In another embodiment, different perception modules in the terminal use different first communication configurations. In this way, the terminal will distinguish the communication between the perception module and the second network device, and in this way, the second network device can generate a perception configuration suitable for each perception module.

[0119] Of course, the above is only an example of the first communication configuration, and the first communication configuration can also include, for example, a communication bandwidth configuration, etc.

[0120] The first communication configurations of different sensing modules are different, and the second network device can respectively issue a sensing configuration adapted to the sensing module for the sensing module, so that the sensing module can perform wireless sensing according to the sensing configuration adapted to itself. On the other hand, the network device respectively provides different first communication configurations and sensing configurations for different sensing modules, that is, even if the sensing modules in the same terminal come from different suppliers or have different specifications and sensing capabilities, the sensing module types, suppliers and / or capability requirements of the sensing modules in the same terminal can be allowed to be different.

[0121] In some embodiments, the first communication configuration includes an Internet Protocol (IP) address, wherein the IP addresses corresponding to different sensing modules are different.

[0122] In the embodiments of the present disclosure, the IP addresses of different sensing modules are different, so that the IP addresses used by the same communication module of the terminal to send messages to the network side for different sensing modules are different. Therefore, when the network device such as the second network device receives the message sent by the terminal, it can determine which sensing module of the terminal the message comes from at the network interface layer or other non-application layer, thereby reducing the information interaction delay between the sensing module and the network device and meeting the ultra-low delay requirement in the automatic driving scenario.

[0123] In some embodiments, the first response message further includes a second communication configuration, wherein the second communication configuration is used for communication of the communication module.

[0124] If the first request message is a session establishment message, the first response message can include a session establishment response message.

[0125] The second communication configuration is carried in the session establishment response message.

[0126] In the embodiments of the present disclosure, the second communication configuration can also include an IP address allocated to the communication module. If the communication module performs communication with the network device regardless of the sensing module, the communication module uses its own IP address to perform the communication. For example, when the communication module of the vehicle-mounted device obtains video or audio data from the network device, the communication module can use its own IP address to communicate with the network device. Or, when the terminal uses the communication module to call other devices, the terminal can also communicate based on its own IP address.

[0127] In this way, the communication module and the perception module in the terminal are isolated from the communication with the network device, and the non-perception other service data of the communication module does not occupy too much bandwidth for the interaction between the perception module and the network device.

[0128] In some embodiments, the first request message comprises at least one of the following:

[0129] First information indicating whether the terminal comprises the perception module;

[0130] Second information indicating the number of the perception modules comprised by the terminal;

[0131] Third information indicating the number of the perception modules in the on state in the terminal.

[0132] In some embodiments, the first request message comprises the first information, and the first network device will allocate at least two sets of communication configurations, one set of which is the first communication configuration and the other set is the second communication configuration. In some other scenarios, if the first network device receives the first request message comprising the first information, and the first request message does not indicate the number of the perception modules comprised by the terminal, the terminal will be instructed to report the number of the perception modules, and the corresponding number of sets of the first communication configuration will be allocated according to the number of the perception modules. In some other scenarios, if the first request message does not comprise the second information or the third information alone comprises the first information, the first network device will allocate one set of the first communication configuration by default. The terminal will receive the corresponding number of sets of the first communication configuration in the first response message.

[0133] In some embodiments, the first request message can comprise the second information and the third information alone or simultaneously.

[0134] For example, the second information can indicate the total number of the perception modules comprised by the terminal. The third information indicates the number of the perception modules in the on state.

[0135] For example, taking a vehicle as an example, the vehicle can have multiple perception modules; the multiple perception modules can be divided into multiple groups, and one group of perception modules can comprise at least one perception module. In some cases, one group of perception modules can comprise multiple perception modules. One group of perception modules can be used for wireless perception in one direction of the vehicle.

[0136] Suppose that the vehicle has one group of perception modules in each of the front, back, left and right directions, and each group of perception modules performs wireless perception in the front, back, left and right directions of the vehicle.

[0137] If one group of perception modules has two or more perception modules, these perception modules can perform mutual backup for wireless perception in the direction or be used for wireless perception of the angle in the perception direction.

[0138] In some embodiments, the second request message comprises at least one of:

[0139] type information of the perception module;

[0140] perception field of view of the perception module;

[0141] perception direction of the perception module;

[0142] perception capability information of the perception module;

[0143] perception requirement information;

[0144] location information of the terminal;

[0145] motion speed of the terminal;

[0146] motion trajectory of the terminal.

[0147] If the types of the perception modules are different, the perception capabilities are different. If the type information of the perception module is given to the second network device, the second network device can know the perception capability information of the perception module according to the correspondence between the type of the perception module and the perception capability information, so that the perception capability information does not need to be reported, and the signaling overhead of the second request message is reduced.

[0148] The second request message comprises the perception field of view of each perception module. For example, the perception capabilities of different perception modules are different, and the corresponding perception field sizes are also different. The perception angle of some perception modules is 60 degrees, and the perception angle of some perception modules is 45 degrees.

[0149] For example, the front perception module of the vehicle is used for wireless perception in the forward direction of the vehicle. The rear perception module of the vehicle is used for perception in the opposite direction of the forward direction of the vehicle. The left perception module of the vehicle is used for wireless perception on the left side of the vehicle. The right perception module of the vehicle is used for wireless perception on the right side of the vehicle.

[0150] The perception capability information can be used to describe the perception capability of the perception module. For example, the perception capability information can comprise, but is not limited to, at least one of the following:

[0151] wireless frequency supported by the perception module;

[0152] maximum transmission power supported by the perception module;

[0153] maximum perception view angle supported by the perception module;

[0154] highest perception frequency supported by the perception module.

[0155] The perception requirement information can be used to indicate the use and / or urgency of the current wireless perception result, such as reversing, parking, assisted driving in different road scenes, etc.

[0156] The perception requirement information can be used by the second network device to generate a perception configuration that can meet the current perception scenario.

[0157] The position information of the terminal includes, but is not limited to, the latitude and longitude information of the terminal, the cell where the terminal is located, and / or the Tracking Area Identifier (TAI).

[0158] If the terminal is a vehicle, the motion speed of the terminal is the driving speed of the vehicle.

[0159] The motion trajectory of the vehicle can include the instantaneous motion trajectory of the vehicle and / or the planned path of the vehicle. The instantaneous motion trajectory of the vehicle is the speed, acceleration and / or direction that the vehicle can continue to allow. The planned path of the vehicle can facilitate the second network device to determine the driving environment of the vehicle, and the driving environment is different, the perception requirement is different. Therefore, the instantaneous motion trajectory of the vehicle and the planned path of the vehicle can both be used for the generation of the perception configuration.

[0160] In some embodiments, the perception capability information includes at least one of the following:

[0161] The perception model supported by the perception module;

[0162] The wireless frequency supported by the perception module;

[0163] The perception range supported by the perception module;

[0164] The maximum perception power supported by the perception module.

[0165] The perception module can be distinguished according to different subjects of transmitting the perception signal and / or receiving the reflected signal.

[0166] Exemplarily, the perception model can include:

[0167] The first model, the terminal transmits the perception signal and the terminal receives the reflected signal;

[0168] The second model, the terminal transmits the perception signal and the base station receives the reflected signal;

[0169] The third model, the base station transmits the perception signal and the terminal receives the reflected signal.

[0170] There are multiple carrier frequencies for wireless perception, and some perception modules support more wireless frequencies, and some support fewer wireless frequencies.

[0171] In some embodiments, the perception range supported by the perception module can include: a minimum perception distance and / or a maximum perception distance that the perception module is able to perceive.

[0172] For example, some laser radars have a perception blind spot of the perception module at a particularly close distance. Of course, the maximum perception power supported by the perception module is limited when the perception module transmits the perception signal as a transmitter, so the maximum perception distance corresponding to the perception module is also limited.

[0173] In some cases, the maximum perception power supported by the perception module also affects the perception accuracy of the perception module. If the transmission power supported by the perception module is low, it will be affected by the interference signal in the interference case, resulting in inaccurate ranging distance.

[0174] After the above perception capability information is reported to the second network device, the second network device can configure the corresponding perception configuration for the corresponding perception module according to the perception capability information.

[0175] In some embodiments, the perception requirement information indicates at least one of:

[0176] a wireless frequency expected to be used;

[0177] a perception signal transmission frequency expected to be used;

[0178] an accuracy required by the perception result.

[0179] For example, the perception module has the ability to both transmit a perception signal and receive a reflected signal at the same time, so when the perception module does not transmit a perception signal, it can receive a perception signal sent by other devices, thereby knowing the wireless frequency used by the interference signal in the current perception environment, so that the perception module can indicate the wireless frequency expected to be used through the perception requirement information.

[0180] The perception signal can be a wireless signal pulse. Exemplarily, the wireless signal pulse can include but is not limited to: a laser pulse and / or a radar signal pulse. Thus, the wireless signal pulse is transmitted in a certain period, rather than continuously. Since the generation of the wireless signal pulse requires a certain device time, which has a certain requirement for the device, the device can give the perception signal transmission frequency expected to be used according to its own ability.

[0181] In addition, the accuracy required by the perception result is different in different perception scenarios, so the second network device can be informed of the accuracy required by the perception result, which can assist the second network device to generate a perception configuration that can make the perception result reach the accuracy.

[0182] In some embodiments, the sending, to the second network device, of the second request message generated based on the first communication configuration comprises:

[0183] if the ADAS has the requirement of obtaining the perception result, sending a second request message generated based on the first communication configuration to the second network device.

[0184] if the ADAS has the requirement of obtaining the perception result, the communication module of the terminal sends the second request message to the second network device, otherwise the second request message will not be sent.

[0185] In some embodiments, the source IP address of the second request message is the IP address defined by the first communication configuration, so the source address used by the data packet corresponding to the second request message can be the IP address defined by the first communication configuration.

[0186] In some embodiments, the ADAS has the requirement of obtaining the perception result, including at least one of the following:

[0187] the ADAS enters a working state;

[0188] the motion speed of the terminal reaches a preset speed;

[0189] the perception module and / or the communication module receives the requirement information of obtaining the perception result from the ADAS.

[0190] For example, after the ADAS is started and enters a working state, it indicates that the ADAS currently has the requirement of consuming the perception result.

[0191] The safety problem of the motion speed of the terminal reaching a certain speed will be highlighted, so when the motion speed of the terminal reaches a preset speed, it indicates that the ADAS will enter a working state or has entered a working state.

[0192] The preset speed can be 0 or other values.

[0193] For example, if the ADAS has the requirement of obtaining the perception result, it will send the perception requirement information to the perception module.

[0194] In some embodiments, as shown in Figure 4 the method further includes:

[0195] S121: before sending the second request message to the second network device, sending a third request message to the second network device; wherein the third request message at least includes the first communication configuration;

[0196] S122: receiving a third response message returned by the second network device based on the third request message.

[0197] In the embodiments of the present disclosure, the communication module sends a third request message to the second network device before sending the second request message to the second network device. The third request message can be a registration request message of the sensing module, and the registration request message can send the module information of the sensing module and the first communication configuration to the second network device.

[0198] For example, the third request message can send at least the first communication configuration to the second network device. In this way, the second network device receives the third request message before receiving the second request message. According to the first communication configuration received by the third request message, the second network device can determine which sensing module the second request message relates to according to the source IP address and the like when receiving the second request message.

[0199] In some embodiments, the third request message further includes at least one of the following:

[0200] The type information of the sensing module;

[0201] The sensing field of view of the sensing module;

[0202] The sensing direction of the sensing module;

[0203] The sensing capability information of the sensing module.

[0204] The type information of the sensing module herein can refer to the foregoing embodiments, which will not be repeated here.

[0205] For example, the second network device can configure the specific sensing field of view of each sensing module according to the number of sensing modules currently possessed by the terminal and the sensing field of view supported by each sensing module.

[0206] Therefore, the sensing field of view of the sensing module, for example, can be embodied by a sensing field of view angle.

[0207] The sensing capability information and the type information can be reported individually or simultaneously.

[0208] If the terminal sends the third request message to the second network device before sending the second request message, and the information reported in the third request message, the second request message does not need to be additionally reported.

[0209] If the terminal does not send the third request message to the second network device before sending the second request message, that is, the communication module of the terminal directly sends the second request message to the second network device, the second request message can be sent using the first communication configuration, and can also carry the type information, the sensing field of view, the sensing direction and / or the sensing capability information of the sensing module.

[0210] In some embodiments, the perception configuration comprises at least one of:

[0211] a perception parameter;

[0212] a validity period of the perception parameter;

[0213] information of a trigger event.

[0214] The perception parameter can be any one of the aforementioned transmission configuration, reception configuration and / or processing configuration.

[0215] The validity period can be that the second network device sets a validity period for the perception configuration it issues, and the perception parameter only takes effect within the validity period, and the perception parameter is invalid beyond the validity period.

[0216] In some cases, the perception parameter can not be configured with a validity period but only with information of a trigger event, so that when the trigger event is detected, the perception module re-requests the perception configuration from the second network device, so that the validity period of a set of perception configuration is the time period when the next set of perception configuration is reached.

[0217] In other cases, the perception configuration can include both the validity period and the information of the trigger event, in which case the terminal will re-request the perception configuration from the network device if the validity period is exceeded and / or the trigger event is detected.

[0218] For example, the perception configurations of different perception modules are different, and the validity periods of different perception modules are also different. For example, the validity period of the perception configuration of the perception module that provides a higher demand for the perception result of the auxiliary driving system can be set to be slightly shorter, and the perception configuration can be updated at a higher frequency so that the currently used perception configuration meets the demand of the perception module.

[0219] For example, taking a vehicle as an example, the validity period of the perception configuration that provides the perception result of the forward direction of the vehicle can be shorter than the validity period of the perception configuration that provides the perception result of the backward direction of the vehicle.

[0220] The trigger event can be any event indicating that the perception configuration is no longer applicable. For example, one of the multiple perception modules of the terminal fails and can no longer continue wireless perception, at which time the actual perception field of view of the other perception modules can need to be increased, which requires the second network device to re-issue the perception configuration.

[0221] Of course, the above is only an example of the validity period and the trigger event of the perception configuration, and the specific implementation is not limited thereto.

[0222] In some embodiments, the method further comprises:

[0223] re-send the second request message to the second network device when the validity period of the awareness parameter is expired or the update trigger event occurs.

[0224] For example, the terminal can maintain a timer according to the validity period, and if the timer is expired, the validity period of the awareness parameter is expired, and the corresponding awareness module can re-request the awareness configuration from the second network device.

[0225] For another example, the whole terminal or a specific awareness module detects a trigger event, and it can be considered that the awareness configuration needs to be re-requested. If the terminal or the awareness module receives a new awareness configuration, the old awareness configuration within the validity period is invalid.

[0226] In some embodiments, the update trigger event includes at least one of the following:

[0227] The awareness interference is greater than an interference threshold;

[0228] The accuracy of the awareness result is less than an accuracy threshold;

[0229] The congestion condition of the location where the terminal is located meets a preset congestion condition.

[0230] For example, the vehicle is moving and enters a wireless environment where many devices emit awareness signals for sensing during the moving process, which will inevitably cause the awareness interference to increase. At this time, in order to obtain better awareness results, the transmission power of the awareness module in the terminal or the transmission time of the awareness signal can be increased, etc. to achieve, and these can be closely related to the awareness configuration.

[0231] For example, re-requesting the awareness configuration can include the awareness configuration of the whole set of awareness parameters, or can include only the awareness configuration of the awareness parameters that need to be updated.

[0232] For example, when the awareness interference is greater than the interference threshold, the awareness start time of the awareness module in each awareness period can be adjusted to avoid mutual interference with other devices, and therefore the re-requested or re-received awareness configuration can only include the awareness time offset, and the awareness period can still follow the old awareness configuration or be determined according to the old awareness configuration.

[0233] For example, the accuracy of the awareness result decreases rapidly, which can be due to the failure of the awareness module itself or the great change of the awareness environment, and therefore the current awareness configuration needs to be updated.

[0234] If the terminal is a vehicle, if the current traffic is congested, the distance between vehicles is small at this time, and it is unnecessary to continuously enable perception at this time, and only unnecessary power consumption will be generated, or the perception configuration of wireless perception of the vehicle switching from a non-congestion driving scene to a congested scene also needs to be changed accordingly. Therefore, if it is detected that the congestion condition of the location where the terminal is located meets the preset congestion condition, it can also be considered that a more triggering event is detected.

[0235] In some embodiments, the perception configuration is provided by the second network device when the terminal has a perception right.

[0236] Whether the terminal subscribes to a wireless perception service, if the terminal does not subscribe to a wireless perception service, the second network device can refuse to provide the perception configuration for the perception module. If the terminal subscribes to a wireless perception service, the second network device will provide the perception configuration for one or more perception modules in the terminal based on the second request message.

[0237] If the terminal does not have a perception right, the second response message can be a rejection message, and the rejection message does not contain a perception configuration. If the terminal receives a rejection message,

[0238] In some embodiments, the second response message received by the terminal is an acceptance message, and if it is an acceptance message, the acceptance message contains a perception configuration.

[0239] In some embodiments, the method further comprises:

[0240] providing the corresponding perception module with the first communication configuration;

[0241] receiving the second request message and / or the third request message generated by the perception module based on the first configuration information.

[0242] In some embodiments, the second request message and the third request message can be generated by the perception module itself, and the communication module is only a message transparent transmission.

[0243] In other embodiments, the second request message and the third request message can be generated by the communication module, that is, the perception module can provide the message content of the second request message and / or the third request message generated by the communication module to the communication module.

[0244] Therefore, in some embodiments, the method further comprises:

[0245] obtaining the information content carried by the third request message from the perception module;

[0246] generating the third request message sent by the second network device according to the first communication configuration.

[0247] In some embodiments, the method further comprises:

[0248] obtaining the information content carried by the second request message from the perception module;

[0249] generating the second request message sent by the second network device according to the first communication configuration.

[0250] As shown in Figure 5 Embodiments of the present disclosure provide a wireless perception processing method, wherein the method is performed by a perception module of a terminal, the perception module has the ability to transmit a perception signal and receive a reflected signal returned by the perception signal acting on a perception target; the method comprises:

[0251] S210: receiving a first communication configuration provided by a communication module of the terminal;

[0252] S220: providing a second request message to the communication module based on the first communication configuration;

[0253] S230: receiving a perception configuration returned by a second response message based on the second request message from the communication module;

[0254] S240: performing wireless perception according to the perception configuration and obtaining a perception result;

[0255] S250: providing the perception result to a driving assistance system.

[0256] The terminal comprises a perception module, and the perception module itself generates a first request message and a second request message and decodes a second response message and a third response message. At this time, the communication module provides the first communication configuration to the communication module after receiving the first communication configuration.

[0257] Exemplarily, the first communication configuration can at least comprise an IP address allocated by a first network device to a corresponding perception module.

[0258] Exemplarily, the first communication configuration can further comprise a message format, etc.

[0259] After receiving the first communication configuration, the second request message is sent to the communication module, and the communication module forwards the second request message to a second network device. The second network device receives the second request message and returns a second response message. The perception configuration is carried in the second response message and provided to the terminal. The communication module of the terminal receives the second response message and can transparently transmit the second response message to the perception module or extract the perception configuration from the second response message and submit the perception configuration to the perception module.

[0260] If the perception module performs wireless perception according to the perception configuration, a perception result is obtained. After obtaining the perception result, the perception module submits the driving assistance system for consumption by the driving assistance system.

[0261] In some embodiments, the method further comprises:

[0262] After receiving the first communication configuration, a third request message is sent to the communication module;

[0263] A completion notification provided by a third response message of the communication module based on the third request message is received.

[0264] The perception module has a wireless perception requirement. After receiving the first communication configuration, the perception module sends a third request message to the communication module according to the first communication configuration. The third request message is equivalent to a registration request message sent by the perception module to the second network device. If the communication module receives the third response message returned by the second network device, the third response message can be transparently transmitted to the perception module, or the perception module can be provided with a completion notification after receiving the third response message, as in the embodiments of the present disclosure.

[0265] In some embodiments, the information of the third request message at least includes the first communication configuration, and the third request message further includes at least one of the following:

[0266] The perception field of the perception module;

[0267] The perception direction of the perception module;

[0268] The perception capability information of the perception module.

[0269] If the third request message includes the first communication configuration, the first communication configuration is notified to the second network device in the process of registering the perception module to the second network device, which facilitates subsequent communication between the terminal and the second network device for each perception module.

[0270] If the third request message further includes one or more of the perception field, the perception direction, and the perception capability information, the terminal can reduce the carrying of message content when sending the third request message to the second network device.

[0271] Specifically, the related descriptions of the perception field, the perception direction, and the perception capability information can be referred to the foregoing embodiments.

[0272] In some embodiments, the information required by the second request message includes at least one of the following:

[0273] The perception field of the perception module;

[0274] a sensing direction of the sensing module;

[0275] sensing capability information of the sensing module;

[0276] sensing requirement information;

[0277] location information of the terminal;

[0278] a moving speed of the terminal;

[0279] a moving trajectory of the terminal.

[0280] If the information required by the second request message can include one of the above, the sensing module can encapsulate the second request message by itself or provide the information required by the second request message to the communication module, and the communication module encapsulates the second request message according to the information provided by the sensing module.

[0281] In some embodiments, the sensing configuration includes at least one of the following:

[0282] a sensing parameter;

[0283] a validity period of the sensing parameter;

[0284] information of an update trigger event.

[0285] The sensing parameter can be any one of the aforementioned transmission configuration, reception configuration and / or processing configuration.

[0286] The validity period can be that the second network device sets a validity period for the sensing configuration issued by it, and the sensing parameter only takes effect within the validity period, and the sensing parameter is invalid beyond the validity period.

[0287] In some cases, the sensing parameter can not be configured with a validity period but only with information of a trigger event, so that when the trigger event is detected, the sensing module will re-request the sensing configuration from the second network device, so that the validity period of a set of sensing configuration is the time period when the next set of sensing configuration is reached.

[0288] In other cases, the sensing configuration can include both the validity period and the information of the trigger event, in which case, if the validity period is exceeded and / or the trigger event is detected, the terminal will re-request the sensing configuration from the network device.

[0289] In some embodiments, the method further includes:

[0290] If the validity period of the sensing parameter is exceeded or the update trigger event occurs, the information of the second request message is re-sent to the communication module.

[0291] If the perception module detects that the validity period of the perception parameter is exceeded, it is considered that the perception parameter is invalid, and the perception information needs to be re-requested. Therefore, the perception module re-sends a second request message to the communication module. After the second request message is transmitted to the second network device by the communication module, the perception configuration re-issued by the second network device is received.

[0292] Exemplarily, the update trigger event includes at least one of the following:

[0293] The perception interference is greater than an interference threshold value;

[0294] The accuracy of the perception result is less than an accuracy threshold value;

[0295] The congestion condition of the location where the terminal is located meets a preset congestion condition.

[0296] For example, the vehicle is moving and enters a wireless environment in which many devices emit perception signals for perception during the movement. This will inevitably cause an increase in perception interference. At this time, in order to obtain a better perception result, the transmission power of the perception module in the terminal or the transmission time of the perception signal can be increased or adjusted to achieve this, and these are closely related to the perception configuration.

[0297] For example, re-requesting the perception configuration can include a complete set of perception configuration of the perception parameter, or can include only the perception configuration of the required updated perception parameter.

[0298] Exemplarily, the perception interference being greater than the interference threshold value can be avoided by adjusting the perception start time of the perception module in each perception period. Therefore, the re-requested or re-received perception configuration can only include a perception time offset, and the perception period can still follow the old perception configuration or be determined according to the old perception configuration.

[0299] For example, the accuracy of the perception result decreases rapidly, which can be caused by a fault of the perception module itself or a large change in the perception environment. Therefore, the current perception configuration can need to be updated.

[0300] As shown in FIG. 1, Figure 6 The embodiment of the present disclosure provides a wireless perception processing method, which is executed by a first network device, and the method comprises the following steps:

[0301] S310: receiving a first request message sent by a terminal;

[0302] S320: returning a first response message to the terminal based on the first request message, wherein the first response message includes a first communication configuration, and the first communication configurations corresponding to different perception modules in the terminal are different;

[0303] The first communication configuration is used for the communication module of the terminal to obtain the sensing configuration of the different sensing module from the second network device.

[0304] The first network device can be a core network device, and specifically, the core network device includes but is not limited to an SMF.

[0305] In some embodiments, after receiving the first request message sent by the terminal, a first response message is returned to the terminal. The first request message can be any message for requesting a communication configuration.

[0306] For example, the first request message can be a registration request message, a session request message, a session update message, or the like.

[0307] The first request message received by the first network device can be sent by the terminal according to the module information of the sensing module in the terminal. Therefore, the first request message can include any information related to the sensing module in the terminal.

[0308] Therefore, the first response message can be generated according to the first request message for the sensing configuration of the sensing module included in the terminal.

[0309] In some embodiments, the first response message further includes a second communication configuration, and the second communication configuration is used for communication of the communication module.

[0310] In the embodiments of the present disclosure, the first network device further generates a second communication configuration for the communication module of the terminal. The second communication configuration is a communication configuration for the communication module of the terminal.

[0311] Similarly, the second communication configuration at least includes an IP address.

[0312] In some embodiments, the first request message includes at least one of the following:

[0313] First information indicating whether the terminal includes the sensing module;

[0314] Second information indicating the number of the sensing modules included in the terminal;

[0315] Third information indicating the number of the sensing modules in an open state in the terminal.

[0316] In some embodiments, the first request message includes the first information, and the first network device will at least assign two sets of communication configurations, one of which is the first communication configuration and the other of which is the second communication configuration.

[0317] In some scenarios, if the first network device receives a first request message containing the first information, and the first request message does not indicate the number of sensing modules contained in the terminal, the terminal is instructed to report the number of sensing modules, and the corresponding number of sets of first communication configurations is allocated according to the number of sensing modules.

[0318] In some scenarios, if the first request message does not contain the second information or the third information contains the first information alone, the first network device allocates a set of first communication configurations by default. The terminal receives the corresponding number of sets of first communication configurations in the first response message.

[0319] In some embodiments, the first request message can contain the second information and the third information alone, or contain the second information and the third information simultaneously.

[0320] As shown in Figure 7 The embodiments of the present disclosure provide a wireless sensing processing method, executed by a second network device, and the method comprises:

[0321] S410: receiving a second request message sent by a terminal; wherein the second request message is sent based on a second communication configuration; different sensing modules in the terminal correspond to different first communication configurations;

[0322] S420: returning a second response message to the terminal based on the second request message, wherein the second response message comprises a sensing configuration, wherein the sensing configuration is used for the sensing module to obtain a sensing result based on wireless sensing and provide the sensing result to a driving assistance system of the terminal.

[0323] The second network device herein can be an SF or a SAF, and the SF or the SAF returns a second response message to the terminal after receiving a second request message.

[0324] The second response message can be a rejection message and / or an acceptance message.

[0325] If the second network device refuses to provide the sensing configuration to the terminal, the second response message can be a rejection message.

[0326] If the second network device agrees to provide the sensing configuration to the terminal, the second response message can be an acceptance message. If the second response message is an acceptance message, the acceptance message can contain the sensing configuration.

[0327] In some embodiments, the method further comprises:

[0328] receiving a third request message of the terminal, wherein the third request message comprises a second communication configuration of the sensing module;

[0329] returning a third response message to the terminal based on the third request message.

[0330] The third request message can be a registration request message of the sensing module, but is not limited to the registration request message.

[0331] If the third request message packet can contain the second communication configuration of the sensing module, the subsequent second network device can distinguish whether the message sent by the terminal is for the sensing module according to the second communication configuration provided by the third request message.

[0332] In some embodiments, the method further comprises:

[0333] authenticating the terminal;

[0334] The returning of the second response message to the terminal based on the second request message comprises:

[0335] After the authentication of the terminal is passed, returning a second response message to the terminal based on the second request message.

[0336] Exemplarily, the second network device can authenticate the terminal according to the subscription data of the terminal. If the terminal has the permission to obtain the network device to provide the sensing service and / or assist in providing the sensing service, it is considered that the authentication of the terminal is passed, otherwise it is considered that the authentication of the terminal is not passed.

[0337] In the embodiments of the present disclosure, a second response message containing the aforementioned sensing configuration can be returned to the terminal based on the second request message.

[0338] In some embodiments, the information of the third request message comprises at least one of:

[0339] The first communication configuration;

[0340] The sensing field of view of the sensing module;

[0341] The sensing direction of the sensing module;

[0342] The sensing capability information of the sensing module.

[0343] Exemplarily, the first communication configuration can comprise at least one of:

[0344] The identification of the sensing module; the identification of the sensing module comprises but is not limited to the IP address of the sensing module or other identification that can be recognized by the second network device;

[0345] Message format, etc. One or more fields can be defined in one message format, and these fields can carry various module information of the sensing module and / or the sensing configuration provided by the second device.

[0346] The perception capability of different perception modules is different, and the corresponding perception field of view size is also different. The perception angle of some perception modules is 60 degrees, and the perception angle of some perception modules is 45 degrees.

[0347] The perception direction of different perception modules can be different. For example, some perception modules are directed to the forward direction of the vehicle, and the perception direction of the perception module is the forward direction. Some perception modules are directed to the backward direction of the vehicle, and the perception direction of the perception module is the backward direction. Some perception modules are directed to the side of the vehicle, and the perception direction of the vehicle is the side direction.

[0348] In some embodiments, the information required by the second request message includes at least one of the following:

[0349] The perception field of view of the perception module;

[0350] The perception direction of the perception module;

[0351] The perception capability information of the perception module;

[0352] Perception requirement information;

[0353] The position information of the terminal;

[0354] The motion speed of the terminal;

[0355] The motion trajectory of the terminal.

[0356] Exemplarily, the perception configuration includes at least one of the following:

[0357] Perception parameters;

[0358] The validity period of the perception parameters;

[0359] Information of update trigger event.

[0360] The description of the above parameters can refer to the corresponding embodiments described above, which will not be repeated here.

[0361] In the aspect of perception, how does the mobile network assist the user equipment (UE) of the vehicle-mounted 3GPP new radio (NR) perception function as a self-transmitter / receiver to support the advanced driver assistance system (ADAS).

[0362] The 3GPP perception can be applied to the vehicle, and the perception processing method when using the perception module with 3GPP perception capability can be as shown in the figure. Figure 8 The method can include:

[0363] 1. Terminal registers to 5G core network (5GC), specifically, 3GPP’s sensing module uses 3GPP technology (e.g. NR) as transmitter and / or receiver for sensing. The sensing module can provide sensing data as input to ADAS. The sensing module connects to a sensing application function server for sensing control purposes. Exemplarily, UE-3GPP communication module sends a registration request to AMF through gNB (RAN), including registration type, SUCI or 5G-GUTI or PEI, etc. parameters, security parameters, etc. After terminal authentication and authorization, AMF sends “registration accepted” to terminal, completing terminal registration.

[0364] 2. PDU session establishment of terminal. Exemplarily, 3GPP’s communication module is a module that communicates with 3GPP network, at least supports registration, establishment of protocol data unit (PDU) session with 3GPP network and sending / receiving traffic (such as IP data) to the network. For example, UE-3gpp communication module initiates UE requested PDU session establishment procedure by transmitting a NAS message containing a PDU Session establishment request in an N1 SM container. The AMF receives the PDU session establishment request from the terminal and sends it to the SMF. The SMF sends a “N4 session establishment request” to the UPF to establish a new PDU session for the terminal. The SMF allocates and sends a new IP address to the terminal through the AMF and the gNB.

[0365] Non-3gpp sensors include but are not limited to: millimeter wave radar, laser radar, monocular / binocular camera and satellite navigation. Non-3gpp sensors can provide sensing data input for ADAS.

[0366] 3. If the terminal contains a 3Gpp sensing module, the terminal will register to SAF. Sensing application function (SAF): owned or trusted by mobile operator, for example, the sensing application owner has reliable business and technical relationship with the mobile operator. Sensing authentication and authorization can be performed on the terminal. Sensing parameters (such as location, range, time, radio frequency) in UE are also configured by SAF. ADAS: is the initiator and consumer of sensing. ADAS sends sensing request to the sensing module of UE, receives and uses sensing data from the sensing module of UE. For example, UE-3gpp sensing module initiates sensing registration to SAF, and the registration request can include its UE ID (such as SUPI / MSISDN) and sensing capability, such as supported sensing frequency / power, sensing ranging, supported sensing mode.

[0367] 4. After sending the registration response in step 3, the registration response will be received. For example, the SAF authorizes the terminal to perform sensing, accepts the terminal registration, and responds to the terminal successful registration, including the authorized sensing radio frequency / power, sensing ranging or sensing mode.

[0368] 5. The sensing module receives the sensing request sent by the ADAS; when the vehicle needs to sense the surrounding environment, such as driving on the road, the ADAS sends a sensing request to the sensing module of the UE, requesting sensing data input.

[0369] 6. Perform wireless sensing based on the sensing configuration carried in the sensing response. The UE-3GPP sensing module performs sensing according to the requirements of the ADAS and the parameters / configurations authorized by the SAF.

[0370] 7. The sensing result of wireless sensing is returned to the ADAS through the sensing response. For example, the UE-3GPP sensing module reports the sensing data to the ADAS.

[0371] Reference Figure 9 As shown in the figure, the embodiment of the present disclosure provides a wireless sensing method, which can include:

[0372] 1. The UE-3GPP communication module sends a registration request to the AMF through the gNB (RAN), including registration type, SUCI or 5G-GUTI or PEI, etc. Parameters, security parameters, etc. After terminal authentication and authorization, the AMF sends the terminal "registration acceptance" to complete the terminal registration.

[0373] 2. The UE-3gpp communication module initiates the UE Requested PDU Session establishment process by transmitting a NAS message containing a PDU Session establishment request in an N1 SM container. The AMF receives the PDU session establishment request sent by the terminal and sends it to the SMF. The SMF sends an "N4 session establishment request" to the UPF to establish a new PDU session for the terminal. The SMF allocates and sends a new IP address to the terminal through the AMF and the gNB.

[0374] 3. The UE-3gpp sensing module initiates registration for sensing to the SAF, and the registration request contains the UE ID (such as SUPI / MSISDN);

[0375] 4. According to the policy pre-configured by the operator in the SAF, the SAF accepts the terminal registration and responds to the terminal successful registration.

[0376] 5. When the vehicle needs to sense its surrounding environment, such as driving on the road, the ADAS sends a sensing request to the sensing module of the UE, requesting sensing data input, which can include a driving trajectory generated according to the original position and target position input by the driver;

[0377] 6. The UE-3GPP sensing module sends a sensing request to the SAF. The sensing request may include: sensing mode, sensing location, driving trajectory, sensing range (e.g., max 50 meters), and the effective time of the sensing configuration (e.g., 30 minutes).

[0378] 7. Based on the pre-configured policy in the SAF, the SAF authorizes the terminal's request and sends the perception configuration to the UE; for example, this perception configuration can be generated based on the configuration suggested by the terminal, or it can be provided by the SAF.

[0379] 8. The UE-3GPP perception module performs perception according to the requirements of ADAS and the parameters / configurations authorized by SAF.

[0380] 9. The UE-3GPP perception module reports the perception data to ADAS.

[0381] 3GPP-based sensing technologies (such as New Radio (NR)) can be used to enhance ADAS. 5G-assisted sensing operations can improve the reliability and quality of ADAS.

[0382] The vehicle includes: a 3GPP sensing module, a 3GPP communication module, and interfaces with ADAS / non-3GPP sensing modules.

[0383] New process: The perception of vehicle ADAS works with the assistance of 3GPP network.

[0384] like Figure 10 As shown, this disclosure provides a wireless sensing processing device, wherein the device includes:

[0385] The first sending module 110 is configured to send a first request message to the first network device based on the module information of the sensing module of the terminal;

[0386] The first receiving module 120 is configured to receive a first response message returned by the first network device based on a first request message; wherein the first response message includes: a first communication configuration provided by the sensing module; wherein the sensing module has the capability to transmit sensing signals and / or the capability to receive reflected signals returned by the sensing signals acting on the sensing target;

[0387] The first sending module 110 is also configured to send a second request message generated based on the first communication configuration to the second network device;

[0388] The first receiving module 120 is further configured to receive a second response message returned by the second network device based on the second request message; wherein the second response message includes: perception configuration;

[0389] The perception configuration is configured for the perception module to generate a perception result based on wireless perception, and provide the perception result to an assisted driving system of the terminal.

[0390] In some embodiments, the wireless perception processing device can be included in a terminal, for example, the terminal is a vehicle.

[0391] In some embodiments, the first sending module 110 and the first receiving module 120 can be program modules; after the program modules are executed by a processor, the operations of the above modules can be implemented.

[0392] In some embodiments, the first sending module 110 and the first receiving module 120 can be software and hardware combined modules; the software and hardware combined modules include but are not limited to programmable arrays; the programmable arrays include but are not limited to field programmable arrays and / or complex programmable arrays.

[0393] In still some embodiments, the first sending module 110 and the first receiving module 120 can also include pure hardware modules, and the pure hardware modules include but are not limited to application specific integrated circuits.

[0394] In some embodiments, the first communication configuration includes an Internet Protocol (IP) address, wherein the IP addresses corresponding to different perception modules are different.

[0395] In some embodiments, the first response message further includes a second communication configuration, wherein the second communication configuration is used for communication of the communication module.

[0396] In some embodiments, the first request message includes at least one of the following:

[0397] First information indicating whether the terminal includes the perception module;

[0398] Second information indicating a number of the perception modules included in the terminal;

[0399] Third information indicating a number of the perception modules in an on state in the terminal.

[0400] In some embodiments, the second request message includes at least one of the following:

[0401] Type information of the perception module;

[0402] A perception field of view of the perception module;

[0403] A perception direction of the perception module;

[0404] Perception capability information of the perception module;

[0405] perception requirement information;

[0406] location information of the terminal;

[0407] motion speed of the terminal;

[0408] motion trajectory of the terminal.

[0409] In some embodiments, the perception capability information comprises at least one of:

[0410] a perception model supported by the perception module;

[0411] a wireless frequency supported by the perception module;

[0412] a perception range supported by the perception module;

[0413] a maximum perception power supported by the perception module.

[0414] In some embodiments, the perception requirement information indicates at least one of:

[0415] a wireless frequency expected to be used;

[0416] a perception signal transmission frequency expected to be used;

[0417] a precision required by the perception result.

[0418] In some embodiments, the first sending module 110 is configured to, if the assisted driving system has an acquisition requirement for the perception result, send, to a second network device, a second request message generated based on the first communication configuration.

[0419] In some embodiments, the assisted driving system has an acquisition requirement for the perception result comprises at least one of:

[0420] the assisted driving system enters a working state;

[0421] the motion speed of the terminal reaches a preset speed;

[0422] the perception module and / or the communication module receives requirement information from the assisted driving system for acquiring the perception result.

[0423] In some embodiments, the first sending module 110 is further configured to, before sending the second request message to the second network device, send a third request message to the second network device; wherein the third request message at least comprises the first communication configuration.

[0424] The first receiving module 120 is further configured to receive a third response message returned by the second network device based on the third request message.

[0425] In some embodiments, the third request message further includes at least one of the following:

[0426] type information of the perception module;

[0427] a perception field of view of the perception module;

[0428] a perception direction of the perception module;

[0429] perception capability information of the perception module.

[0430] In some embodiments, the perception configuration includes at least one of the following:

[0431] a perception parameter;

[0432] a validity period of the perception parameter;

[0433] information of an update trigger event.

[0434] In some embodiments, the first sending module 110 is further configured to re-send the second request message to the second network device when the validity period of the perception parameter is exceeded or the update trigger event occurs.

[0435] In some embodiments, the update trigger event includes at least one of the following:

[0436] a perception interference is greater than an interference threshold;

[0437] an accuracy of a perception result is less than an accuracy threshold;

[0438] a congestion condition of a location where the terminal is located meets a preset congestion condition.

[0439] In some embodiments, the perception configuration is provided by the second network device when the terminal has a perception right.

[0440] In some embodiments, the first sending module 110 is further configured to provide the first communication configuration corresponding to the perception module.

[0441] The first receiving module 120 is further configured to receive the second request message and / or the third request message generated by the perception module based on the first configuration information.

[0442] In some embodiments, the apparatus further includes:

[0443] The acquisition module is configured to acquire information content carried by the third request message from the perception module.

[0444] The generation module is configured to generate the third request message sent by the second network device according to the first communication configuration.

[0445] In some embodiments, the method further comprises:

[0446] acquiring information content carried by the second request message from the perception module;

[0447] generating the second request message sent by the second network device according to the first communication configuration.

[0448] As Figure 11 shown in FIG. 10, the embodiments of the present disclosure provide a wireless perception processing apparatus, wherein the apparatus comprises a second receiving module 210, a second sending module 220, an execution module 230, and a providing module 240.

[0449] The second receiving module 210 is configured to receive a first communication configuration provided by a communication module of a terminal.

[0450] The second sending module 220 is configured to provide a second request message based on the first communication configuration to the communication module.

[0451] The second receiving module 210 is further configured to receive a perception configuration returned by a second response message of the communication module based on the second request message.

[0452] The execution module 230 is configured to perform wireless perception according to the perception configuration and obtain a perception result.

[0453] The providing module 240 is further configured to provide the perception result to a driving assistance system.

[0454] In the embodiments of the present disclosure, the wireless perception processing apparatus can be the aforementioned wireless perception module.

[0455] In some embodiments, the second receiving module 210, the second sending module 220, the execution module 230, and the providing module 240 can be program modules; after the program modules are executed by a processor, the operations of the aforementioned modules can be implemented.

[0456] In some embodiments, the second receiving module 210, the second sending module 220, the execution module 230, and the providing module 240 can be soft and hardware combined modules; the soft and hardware combined modules include but are not limited to programmable arrays; the programmable arrays include but are not limited to field programmable arrays and / or complex programmable arrays.

[0457] In some embodiments, the second receiving module 210, the second sending module 220, the performing module 230 and the providing module 240 can further include a pure hardware module, including but not limited to an application specific integrated circuit.

[0458] In some embodiments, the third sending module is further configured to send a third request message to the communication module after receiving the first communication configuration.

[0459] The third receiving module is further configured to receive a completion notification provided by the third response message of the communication module based on the third request message.

[0460] In some embodiments, the information of the third request message includes at least the first communication configuration, and the third request message further includes at least one of the following:

[0461] The sensing field of view of the sensing module;

[0462] The sensing direction of the sensing module;

[0463] The sensing capability information of the sensing module.

[0464] In some embodiments, the information required by the second request message includes at least one of the following:

[0465] The sensing field of view of the sensing module;

[0466] The sensing direction of the sensing module;

[0467] The sensing capability information of the sensing module;

[0468] Sensing requirement information;

[0469] The location information of the terminal;

[0470] The motion speed of the terminal;

[0471] The motion trajectory of the terminal.

[0472] In some embodiments, the sensing configuration includes at least one of the following:

[0473] Sensing parameters;

[0474] The validity period of the sensing parameters;

[0475] Information of an update trigger event.

[0476] In some embodiments, the second sending module 220 is configured to resend the second request message to the communication module beyond the valid period of the awareness parameter or when the update trigger event occurs.

[0477] In some embodiments, the update trigger event comprises at least one of the following:

[0478] the sensed interference is greater than an interference threshold value;

[0479] the accuracy of the sensed result is less than an accuracy threshold value;

[0480] a congestion condition of a location where the terminal is located meets a preset congestion condition.

[0481] As shown in Figure 12 The embodiments of the present disclosure provide a wireless awareness processing apparatus, which comprises:

[0482] The third receiving module 310 is configured to receive a first request message sent by a terminal;

[0483] The third sending module 320 is configured to return a first response message to the terminal based on the first request message, wherein the first response message comprises a first communication configuration, and the first communication configuration corresponding to different awareness modules in the terminal is different.

[0484] The first communication configuration is used for a communication module of the terminal to obtain awareness configurations of different awareness modules from a second network device.

[0485] In the embodiments of the present disclosure, the wireless awareness processing apparatus can be included in a first network device.

[0486] In some embodiments, the third receiving module 310 and the third sending module 320 can be program modules; after the program modules are executed by a processor, the operations of the above modules can be implemented.

[0487] In some embodiments, the third receiving module 310 and the third sending module 320 can be software and hardware combined modules; the software and hardware combined modules include but are not limited to programmable arrays; the programmable arrays include but are not limited to field programmable arrays and / or complex programmable arrays.

[0488] In still some embodiments, the third receiving module 310 and the third sending module 320 can further include pure hardware modules, and the pure hardware modules include but are not limited to application specific integrated circuits.

[0489] In some embodiments, the first response message further comprises a second communication configuration, and the second communication configuration is used for communication of the communication module.

[0490] In some embodiments, the first request message comprises at least one of:

[0491] first information indicating whether the terminal comprises the sensing module;

[0492] second information indicating a number of the sensing modules comprised by the terminal;

[0493] third information indicating a number of the sensing modules in an on state in the terminal.

[0494] As shown in Figure 13 The embodiments of the present disclosure provide a wireless sensing processing apparatus, which comprises:

[0495] A fourth receiving module 410 is configured to receive a second request message sent by a terminal; wherein the second request message is sent based on a second communication configuration; and the first communication configuration corresponding to different sensing modules in the terminal is different;

[0496] A fourth sending module 420 is configured to return a second response message to the terminal based on the second request message, wherein the second response message comprises a sensing configuration; and the sensing configuration is used for the sensing module to obtain a sensing result based on wireless sensing and provide the sensing result to a driving assistance system of the terminal.

[0497] In the embodiments of the present disclosure, the wireless sensing processing apparatus can be comprised in a second network device.

[0498] In some embodiments, the fourth receiving module 410 and the fourth sending module 420 can be program modules; and after the program modules are executed by a processor, the operations of the above modules can be implemented.

[0499] In some embodiments, the fourth receiving module 410 and the fourth sending module 420 can be soft and hardware combined modules; and the soft and hardware combined modules comprise but are not limited to programmable arrays; and the programmable arrays comprise but are not limited to field programmable arrays and / or complex programmable arrays.

[0500] In still some embodiments, the fourth receiving module 410 and the fourth sending module 420 can further comprise pure hardware modules; and the pure hardware modules comprise but are not limited to application specific integrated circuits.

[0501] In some embodiments, the fourth receiving module 410 is configured to receive a third request message of the terminal; wherein the third request message comprises a second communication configuration of the sensing module;

[0502] The fourth sending module 420 is configured to return a third response message to the terminal based on the third request message.

[0503] In some embodiments, the apparatus further comprises:

[0504] An authentication module configured to authenticate the terminal;

[0505] The fourth sending module 420 is configured to return a second response message to the terminal based on the second request message after the authentication of the terminal is passed.

[0506] In some embodiments, the information of the third request message comprises at least one of:

[0507] The first communication configuration;

[0508] The sensing field of view of the sensing module;

[0509] The sensing direction of the sensing module;

[0510] The sensing capability information of the sensing module.

[0511] In some embodiments, the information required by the second request message comprises at least one of:

[0512] The sensing field of view of the sensing module;

[0513] The sensing direction of the sensing module;

[0514] The sensing capability information of the sensing module;

[0515] The sensing requirement information;

[0516] The location information of the terminal;

[0517] The motion speed of the terminal;

[0518] The motion trajectory of the terminal.

[0519] In some embodiments, the sensing configuration comprises at least one of:

[0520] The sensing parameter;

[0521] The validity period of the sensing parameter;

[0522] The information of the update trigger event.

[0523] Embodiments of the present disclosure provide a communication device, comprising:

[0524] A memory for storing processor-executable instructions;

[0525] A processor connected with the memory respectively;

[0526] The processor is configured to perform the wireless sensing processing method provided by any of the preceding technical solutions.

[0527] The processor can include various types of storage media that are non-transitory computer storage media capable of storing information even after the communication device is powered off.

[0528] Here, the communication device includes a terminal, a wireless sensing module, a first network device, and / or a second network device.

[0529] The processor can be connected with the memory through a bus or the like, for reading an executable program stored on the memory, such as at least one of the methods shown in Figure 2 、 Figures 4 to 9 .

[0530] Figure 14 is a block diagram of a terminal 800 according to an exemplary embodiment. The terminal 800 can be, for example, a mobile phone, a computer, a digital broadcast user device, a messaging device, a game console, a tablet device, a medical device, a fitness device, a personal digital assistant, or the like.

[0531] Referring to Figure 14 , the terminal 800 can include one or more of the following components: a processing component 802, a memory 804, a power supply component 806, a multimedia component 808, an audio component 810, an input / output (I / O) interface 812, a sensor component 814, and a communication component 816.

[0532] The processing component 802 usually controls overall operations of the terminal 800, such as operations associated with displaying, making phone calls, data communications, camera operations, and recording operations. The processing component 802 can include one or more processors 820 to execute instructions to generate all or part of the steps of the above-described methods. In addition, the processing component 802 can include one or more modules to facilitate interaction between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0533] The memory 804 is configured to store various types of data to support the operation of the terminal 800. Examples of such data include instructions for any application or method operating on the terminal 800, contact data, phonebook data, messages, pictures, videos, etc. The memory 804 can be implemented by any type of volatile or nonvolatile storage devices or a combination thereof such as static random access memory (SRAM), electrically erasable programmable read only memory (EEPROM), erasable programmable read only memory (EPROM), programmable read only memory (PROM), read only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0534] The power supply component 806 supplies electrical power for the various components of the terminal 800. The power supply component 806 can include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing electrical power for the terminal 800.

[0535] The multimedia component 808 includes a screen providing an output interface between the terminal 800 and a user. In some embodiments, the screen can include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen can be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touch, swiping, and gestures on the touch panel. The touch sensors can not only sense a boundary of a touching or swiping action, but also detect duration and pressure related to the touching or swiping action. In some embodiments, the multimedia component 808 includes a front camera and / or a rear camera. The front and / or rear camera can receive external multimedia data when the terminal 800 is in an operation mode such as a photographing mode or a video mode. Each of the front and rear camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0536] The audio component 810 is configured to output and / or input audio signals. For example, the audio component 810 includes a microphone (MIC) configured to receive external audio signals when the terminal 800 is in an operation mode such as a call mode, a recording mode, and a voice recognition mode. The received audio signals can be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, the audio component 810 also includes a speaker for outputting audio signals.

[0537] The I / O interface 812 provides an interface between the processing component 802 and peripheral interface modules such as a keypad, a click wheel, buttons, and the like. The buttons can include, but are not limited to, a home button, a volume button, a start button, and a lock button.

[0538] Sensor assembly 814 includes one or more sensors for providing state assessments of various aspects of terminal 800. For example, sensor assembly 814 can detect the on / off state of terminal 800, the relative positioning of components such as the display and keypad of terminal 800, changes in position of terminal 800 or one of its components, the presence or absence of user contact with terminal 800, orientation or acceleration / deceleration of terminal 800, and temperature changes of terminal 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 814 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0539] Communication component 816 is configured to facilitate wired or wireless communication between terminal 800 and other devices. Terminal 800 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 816 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 816 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0540] In an exemplary embodiment, terminal 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0541] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions that can be executed by a processor 820 of a terminal 800 to generate the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, or optical data storage device, etc.

[0542] like Figure 15 As shown in the illustration, one embodiment of this disclosure illustrates the structure of a network device. For example, the network device 900 may be provided as a network-side device, such as, but not limited to, a core network device.

[0543] Referring to Figure 15 , the network device 900 includes a processing component 922 that is configured to execute instructions that are stored in memory 932 to perform various processes described herein. The processing component 922 includes one or more processors, such as a central processing unit (CPU), a graphics processing unit (GPU), a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other processing component for executing instructions. The memory 932 includes a random access memory (RAM), a read only memory (ROM), or another type of dynamic or static storage device (e.g., a flash memory or other semiconductor memory) for storing instructions and data that are used by the processing component 922. The memory 932 stores software or programs that are executed by the processing component 922. The software or programs can include an operating system (OS) 924, a source code module 926, and any other software that is needed for the network device 900 to complete its primary functions. The source code module 926 includes instructions for the processing component 922 to perform one or more of the methods described above, such as at least one of the methods shown in FIGS. 1-8. Figure 2 、 Figures 4 to 9

[0544] The network device 900 can also include a power supply component 1926 that is configured to provide power to the network device 900, a wired or wireless network interface 950 for connecting the network device 900 to a network, and an input / output (I / O) interface 958. The network device 900 can operate based on an operating system stored in the memory 932, such as Windows Server™, Mac OS X™, Unix™, Linux™, FreeBSD™, or similar.

[0545] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0546] It is to be understood that the application is not limited to the precise details of construction and the arrangement of components described above and illustrated in the drawings. The scope of the application is limited only by the claims that follow.​

Claims

1. A wireless sensing processing method, wherein, The method, executed by the communication module of the terminal, includes: Based on the module information of the terminal's sensing module, a first request message is sent to the first network device; The first network device returns a first response message based on a first request message; wherein the first response message includes: a first communication configuration provided by the sensing module; wherein the sensing module has the capability to transmit sensing signals and / or the capability to receive reflected signals returned by the sensing target based on the sensing signals. Send a second request message generated based on the first communication configuration to the second network device; Receive a second response message returned by the second network device based on the second request message; wherein the second response message includes: perception configuration; The perception configuration is used to enable the perception module to generate perception results based on wireless perception and provide the perception results to the driver assistance system of the terminal.

2. The method according to claim 1, wherein, The first communication configuration includes: a network protocol IP address, wherein different sensing modules correspond to different IP addresses.

3. The method according to claim 2, wherein, The first response message further includes: a second communication configuration, wherein the second communication configuration is used for communication of the communication module.

4. The method according to claim 1, wherein, The first request message includes at least one of the following: The first piece of information indicates whether the terminal includes the sensing module; The second piece of information indicates the number of sensing modules included in the terminal; The third piece of information indicates the number of sensing modules that are in the activated state within the terminal.

5. The method according to claim 1, wherein, The second request message includes at least one of the following: The type information of the sensing module; The sensing field of view of the sensing module; The sensing direction of the sensing module; The sensing capability information of the sensing module; Perceive demand information; The location information of the terminal; The speed of movement of the terminal; The trajectory of the terminal.

6. The method according to claim 5, wherein, The perception capability information includes at least one of the following: The perception module supports the following perception models; The sensing module supports the following wireless frequencies; The sensing module supports the sensing range; The maximum sensing power supported by the sensing module.

7. The method according to claim 5, wherein, The perceived demand information indicates at least one of the following: Desired wireless frequency to be used; Desired frequency of the sensing signal transmission; The required accuracy of the perceived results.

8. The method according to claim 1, wherein, Sending a second request message generated based on the first communication configuration to the second network device includes: If the driver assistance system has a need to acquire the perception results, it sends a second request message generated based on the first communication configuration to the second network device.

9. The method according to claim 8, wherein, The driver assistance system has a requirement to acquire the perception results, including at least one of the following: The driver assistance system is now operational. The terminal's movement speed reaches a preset speed; The perception module and / or the communication module receive the requirement information from the driver assistance system to obtain the perception results.

10. The method according to claim 1, wherein, The method further includes: Before sending the second request message to the second network device, a third request message is sent to the second network device; wherein the third request message includes at least: the first communication configuration; Receive the third response message returned by the second network device based on the third request message.

11. The method according to claim 10, wherein, The third request message also includes at least one of the following: Sensing module type information; The sensing field of view of the sensing module; The sensing direction of the sensing module; The sensing capability information of the sensing module.

12. The method according to any one of claims 1 to 11, wherein, The sensing configuration includes at least one of the following: Sensing parameters; The validity period of the sensing parameters; Update the information that triggered the event.

13. The method according to claim 12, wherein, The method further includes: If the validity period of the sensing parameter expires or the update trigger event occurs, the second request message is resent to the second network device.

14. The method according to claim 12, wherein, The update trigger event includes at least one of the following: The perceived interference is greater than the interference threshold; The accuracy of the perceived result is less than the accuracy threshold; The congestion situation at the location of the terminal meets the preset congestion conditions.

15. The method according to claim 1, wherein, The perception configuration is provided by the second network device when the terminal has perception permissions.

16. The method according to claim 10 or 11, wherein, The method further includes: The first communication configuration is provided to the corresponding sensing module; Receive the second request message and / or the third request message generated by the perception module based on the first configuration information.

17. The method according to claim 10 or 11, wherein, The method further includes: Obtain the information content carried by the third request message from the perception module; The third request message sent by the second network device is generated according to the first communication configuration.

18. The method according to claim 1, wherein, The method further includes: Obtain the information content carried by the second request message from the perception module; Based on the first communication configuration, the second request message sent by the second network device is generated.

19. A wireless sensing processing method, wherein, The method is executed by the sensing module of the terminal, wherein the sensing module has the capability to transmit sensing signals and receive reflected signals returned by the sensing signals acting on the sensing target; the method includes: Receive the first communication configuration provided by the communication module of the terminal; Based on the first communication configuration, a second request message is provided to the communication module. Receive the perception configuration returned by the communication module based on the second response message of the second request message; Perform wireless sensing according to the sensing configuration and obtain the sensing results; The perception results are then provided to the driving assistance system.

20. The method according to claim 19, wherein, The method further includes: After receiving the first communication configuration, a third request message is sent to the communication module; Receive the completion notification provided by the communication module based on the third response message of the third request message.

21. The method according to claim 20, wherein, The information in the third request message includes at least: the first communication configuration; the third request message also includes at least one of the following: The sensing field of view of the sensing module; The sensing direction of the sensing module; The sensing capability information of the sensing module.

22. The method according to claim 19, wherein, The information required by the second request message includes at least one of the following: The sensing field of view of the sensing module; The sensing direction of the sensing module; The sensing capability information of the sensing module; Perceive demand information; The location information of the terminal; The speed of movement of the terminal; The trajectory of the terminal.

23. The method according to any one of claims 19 to 22, wherein, The sensing configuration includes at least one of the following: Sensing parameters; The validity period of the sensing parameters; Update the information that triggered the event.

24. The method according to claim 23, wherein, The method further includes: If the validity period of the sensing parameter expires or the update trigger event occurs, the second request message is resent to the communication module.

25. The method according to claim 23, wherein, The update trigger event includes at least one of the following: The perceived interference is greater than the interference threshold; The accuracy of the perceived result is less than the accuracy threshold; The congestion situation at the location of the terminal meets the preset congestion conditions.

26. A wireless sensing processing method, executed by a first network device, the method comprising: Receive the first request message sent by the terminal; A first response message is returned to the terminal based on the first request message, wherein the first response message includes: a first communication configuration, wherein the first communication configuration is different for different sensing modules within the terminal; The first communication configuration is used by the terminal's communication module to obtain the perception configuration of different perception modules from the second network device.

27. The method of claim 26, wherein, The first response message further includes: a second communication configuration, wherein the second communication configuration is used for communication of the communication module.

28. The method according to claim 26 or 27, wherein, The first request message includes at least one of the following: The first piece of information indicates whether the terminal includes the sensing module; The second piece of information indicates the number of sensing modules included in the terminal; The third piece of information indicates the number of sensing modules that are in the activated state within the terminal.

29. A wireless sensing processing method, executed by a second network device, the method comprising: The terminal receives a second request message; wherein the second request message is sent based on a second communication configuration; and the first communication configurations corresponding to different sensing modules within the terminal are different. Based on the second request message, a second response message is returned to the terminal, wherein the second response message includes: perception configuration, wherein the perception configuration is used by the perception module to obtain perception results based on wireless perception and provide them to the terminal's driving assistance system.

30. The method according to claim 29, wherein, The method further includes: Receive a third request message from the terminal, wherein the third request message includes: the second communication configuration of the sensing module; A third response message is returned to the terminal based on the third request message.

31. The method according to claim 29, wherein, The method further includes: Authenticate the terminal; The step of returning a second response message to the terminal based on the second request message includes: After the terminal is authenticated, a second response message is returned to the terminal based on the second request message.

32. The method according to claim 30, wherein, The information in the third request message includes at least one of the following: The first communication configuration; The sensing field of view of the sensing module; The sensing direction of the sensing module; The sensing capability information of the sensing module.

33. The method according to claim 32, wherein, The information required for the second request message includes at least one of the following: The sensing field of view of the sensing module; The sensing direction of the sensing module; The sensing capability information of the sensing module; Perceive demand information; The location information of the terminal; The speed of movement of the terminal; The trajectory of the terminal.

34. The method according to any one of claims 29 to 33, wherein, The sensing configuration includes at least one of the following: Sensing parameters; The validity period of the sensing parameters; Update the information that triggered the event.

35. A wireless sensing processing device, wherein, The device includes: The first sending module is configured to send a first request message to the first network device based on the module information of the terminal's sensing module; A first receiving module is configured to receive a first response message returned by the first network device based on a first request message; wherein the first response message includes: a first communication configuration provided by the sensing module; wherein the sensing module has the capability to transmit sensing signals and / or the capability to receive reflected signals returned by the sensing signals acting on the sensing target; The first sending module is further configured to send a second request message generated based on the first communication configuration to the second network device; The first receiving module is further configured to receive a second response message returned by the second network device based on the second request message; wherein the second response message includes: a perception configuration; The perception configuration is used to enable the perception module to generate perception results based on wireless perception and provide the perception results to the driver assistance system of the terminal.

36. A wireless sensing processing device, wherein, The device includes: a second receiving module, a second transmitting module, an execution module, and a providing module; The second receiving module is configured to receive the first communication configuration provided by the communication module of the receiving terminal; The second sending module is configured to provide a second request message to the communication module based on the first communication configuration; The second receiving module is further configured to receive a perception configuration returned by the communication module based on a second response message of the second request message; The execution module is configured to perform wireless sensing according to the sensing configuration and obtain sensing results; The providing module is also configured to provide the perception results to the driving assistance system.

37. A wireless sensing processing device, the device comprising: The third receiving module is configured to receive the first request message sent by the terminal. The third sending module is configured to return a first response message to the terminal based on the first request message, wherein the first response message includes: a first communication configuration, wherein the first communication configuration is different for different sensing modules within the terminal; The first communication configuration is used by the terminal's communication module to obtain the perception configuration of different perception modules from the second network device.

38. A wireless sensing processing apparatus, executed by a second network device, the apparatus comprising: The fourth receiving module is configured to receive a second request message sent by the terminal; wherein the second request message is sent based on a second communication configuration; and the first communication configurations corresponding to different sensing modules within the terminal are different. The fourth sending module is configured to return a second response message to the terminal based on the second request message, wherein the second response message includes: perception configuration, wherein the perception configuration is used by the perception module to obtain perception results based on wireless perception and provide them to the terminal's driving assistance system.

39. A communication device comprising a processor, a transceiver, a memory, and an executable program stored in the memory and executable by the processor, wherein, When the processor runs the executable program, it performs the method provided as claimed in any one of claims 1 to 18, 19 to 25, and 26 to 28.

40. A computer storage medium storing an executable program; the executable program, when executed by a processor, is capable of implementing the method provided in any one of claims 1 to 18, 19 to 25, and 26 to 28.

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