On-demand sensing of dynamic sensing regions

Abstract

Example embodiments of the present disclosure relate to sensing a dynamic region on request. In an example method, a core network device receives a sensing request from a terminal device. The sensing request indicates an initial sensing area and a trend of variation of the initial sensing area. The core network device sends a sensing instruction to the access network device. The sensing instruction instructs the access network device to sense a target sensing area determined based on the initial sensing area and the variation trend. The core network device receives a sensing result of the target sensing area from the access network device. The core network device sends a sensing response to the terminal device. A sensing response is determined based on the sensing result. In this manner, the sensed resource utilization efficiency of the network device is improved and the impact on the communication performance of the network device is reduced.

Description

Technical Field

[0001] Example embodiments of the present disclosure relate generally to the field of telecommunications, and in particular, to a core network device, a terminal device, an access network device, a method, an apparatus, and a computer-readable storage medium for sensing a dynamic area through an access network device configured by a core network device according to a request by a terminal device. Background Art

[0002] Joint Communications and Sensing (JCAS) is one of the main themes of 6G. Proposals on JCAS have been submitted to the 3rd Generation Partnership Project (3GPP). For example, several companies have proposed new research projects on architectural enhancements for coordinated communication and sensing services in the 3GPP Services and System Aspects Working Group 2 (SA2). In the European 6G flagship project Hexa-X, demonstrations aim to show the potential of JCAS to allow rich and cost-effective sensing by reusing existing hardware and infrastructure.

[0003] Currently, most JCAS solutions integrate radar sensing into the communication system. For example, the sensing radar of the access network equipment (e.g., base station) can scan its coverage area to measure the distance and speed of moving objects (such as people, vehicles, robots, etc.). In the Nokia white paper "Joint Design of Communications and Sensing for 5G and 6G Systems", the relationship between system resources and sensing performance is discussed. For example, system resources may include spatial resources, time resources, frequency resources, power resources, equivalent isotropic radiated power (EIRP) resources, etc., and sensing performance may include volume coverage, coverage, maximum speed, detection range, speed resolution, distance resolution, etc. However, how to reasonably utilize the sensing capabilities of the communication system requires further study. Summary of the invention

[0004] In general, example embodiments of the present disclosure provide a solution for sensing a dynamic area upon request.

[0005] In a first aspect, a core network device is provided. The core network device includes a processor and a transceiver communicatively coupled to the processor. The processor is configured to enable the core network device to: receive a sensing request indicating an initial sensing area and a change trend of the initial sensing area from a terminal device; send a sensing instruction for sensing a target sensing area determined based on the initial sensing area and the change trend to an access network device; receive a sensing result of the target sensing area from the access network device; and send a sensing response determined based on the sensing result to the terminal device.

[0006] In a second aspect, a terminal device is provided. The terminal device includes a processor and a transceiver communicatively coupled to the processor. The processor is configured to enable the terminal device to: determine an initial sensing area and a change trend of the initial sensing area; send a sensing request indicating the initial sensing area and the change trend to a core network device; and receive a sensing response associated with a target sensing area determined based on the initial sensing area and the change trend from the core network device.

[0007] In a third aspect, an access network device is provided. The access network device includes a processor and a transceiver communicatively coupled to the processor. The processor is configured to enable the access network device to: receive a sensing instruction for sensing a target sensing area determined based on an initial sensing area associated with a terminal device and a change trend of the initial sensing area from a core network device; obtain a sensing result by sensing the target sensing area using a sensor of the access network device; and send the sensing result to the core network device.

[0008] In a fourth aspect, a method performed by a core network device is provided. The method includes: receiving a sensing request indicating an initial sensing area and a change trend of the initial sensing area from a terminal device; sending a sensing instruction for sensing a target sensing area determined based on the initial sensing area and the change trend to an access network device; receiving a sensing result of the target sensing area from the access network device; and sending a sensing response determined based on the sensing result to the terminal device.

[0009] In a fifth aspect, a method performed by a terminal device is provided. The method includes: determining an initial sensing area and a change trend of the initial sensing area; sending a sensing request indicating the initial sensing area and the change trend to a core network device; and receiving a sensing response associated with a target sensing area determined based on the initial sensing area and the change trend from the core network device.

[0010] In a sixth aspect, a method performed by an access network device is provided. The method includes: receiving a sensing instruction for sensing a target sensing area determined based on an initial sensing area associated with a terminal device and a change trend of the initial sensing area from a core network device; obtaining a sensing result by sensing the target sensing area using a sensor of the access network device; and sending the sensing result to the core network device.

[0011] In a seventh aspect, an apparatus is provided. The apparatus includes: a component for receiving, at a core network device and from a terminal device, a sensing request indicating an initial sensing area and a change trend of the initial sensing area; a component for sending, to an access network device, a sensing instruction for sensing a target sensing area determined based on the initial sensing area and the change trend; a component for receiving a sensing result of the target sensing area from the access network device; and a component for sending, to the terminal device, a sensing response determined based on the sensing result.

[0012] In an eighth aspect, an apparatus is provided. The apparatus includes: a component for determining an initial sensing area and a change trend of the initial sensing area at a terminal device; a component for sending a sensing request indicating the initial sensing area and the change trend to a core network device; and a component for receiving a sensing response associated with a target sensing area determined based on the initial sensing area and the change trend from the core network device.

[0013] In a ninth aspect, an apparatus is provided. The apparatus includes: a component for receiving, at an access network device and from a core network device, a sensing instruction for sensing a target sensing area determined based on an initial sensing area associated with a terminal device and a change trend of the initial sensing area; a component for obtaining a sensing result by sensing the target sensing area using a sensor of the access network device; and a component for sending the sensing result to the core network device.

[0014] In a tenth aspect, a core network device is provided. The core network device includes at least one processor and at least one memory, the at least one memory storing computer program code. The at least one memory and the computer program code are configured to, together with the at least one processor, enable the core network device to perform the method in the fourth aspect.

[0015] In an eleventh aspect, a terminal device is provided. The terminal device includes at least one processor and at least one memory, and the at least one memory stores computer program code. The at least one memory and the computer program code are configured to, together with the at least one processor, enable the terminal device to perform the method in the fifth aspect.

[0016] In a twelfth aspect, an access network device is provided. The access network device includes at least one processor and at least one memory, and the at least one memory stores computer program code. The at least one memory and the computer program code are configured to, together with the at least one processor, enable the access network device to perform the method in the sixth aspect.

[0017] In a thirteenth aspect, a non-transitory computer-readable medium is provided, comprising program instructions for causing an apparatus to execute the method of at least the fourth aspect, the fifth aspect, and the sixth aspect.

[0018] It should be understood that the present invention summary is not intended to identify the key or essential features of the embodiments of the present disclosure, nor is it intended to be used to limit the scope of the present disclosure. Other features of the present disclosure will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Some example embodiments will now be described with reference to the accompanying drawings, in which:

[0020] Figure 1 shows an example of a network environment in which some example embodiments of the present disclosure may be implemented;

[0021] Figure 2A An example environment showing on-demand sensing areas in some example embodiments of the present disclosure;

[0022] Figure 2B An example environment of on-demand dynamic sensing areas in the presence of static occluders in some example embodiments of the present disclosure is shown;

[0023] Figure 2C An example environment of on-demand dynamic sensing areas in the presence of moving occluders in some example embodiments of the present disclosure is shown;

[0024] Figure 2D An example environment with an on-demand dynamic sensing area of ​​constant size in some example embodiments of the present disclosure is shown;

[0025] Figure 2E An example environment of an on-demand dynamic sensing scenario is shown in which some example embodiments of the present disclosure may be implemented;

[0026] Figure 3 An example of a process flow for sensing a dynamic sensing area through an access network device indicated by a core network device based on a request by a terminal device according to some example embodiments of the present disclosure is shown;

[0027] Figure 4 An example of a process flow for releasing sensing of a dynamic sensing region according to some example embodiments of the present disclosure is shown;

[0028] Figure 5 An example of a process flow for sensing a new dynamic sensing region according to some example embodiments of the present disclosure is shown;

[0029] Figure 6 shows an example of a process flow for sensing an updated target sensing area according to some example embodiments of the present disclosure;

[0030] Figure 7shows an example of a process flow for sensing another dynamic sensing area requested by another terminal device according to some example embodiments of the present disclosure;

[0031] Figure 8 A flowchart showing determination of an initial sensing area by a terminal device according to some example embodiments of the present disclosure is shown;

[0032] Fig. 9 A flowchart of determining an obstruction by a terminal device according to some example embodiments of the present disclosure is shown;

[0033] Fig.10 A flowchart showing a method of determining a risk in a hidden area by a terminal device according to some example embodiments of the present disclosure is shown;

[0034] Fig.11 A flow chart illustrating generation of a sensing response by a core network device according to some example embodiments of the present disclosure;

[0035] Fig.12 A flowchart illustrating determination by a core network device whether a risk level of a mobile object is high or low according to some example embodiments of the present disclosure;

[0036] Fig.13 An example of UE functionality for supporting on-demand dynamic sensing according to some example embodiments of the present disclosure is shown;

[0037] Fig.14 An example of SFN functionality for supporting on-demand dynamic sensing according to some example embodiments of the present disclosure is shown;

[0038] Fig.15 An example of an on-demand dynamic sensing operation flow according to some example embodiments of the present disclosure is shown;

[0039] Fig.16 A flowchart of a method implemented at a core network device according to some example embodiments of the present disclosure is shown;

[0040] Fig.17 A flowchart of a method implemented at a terminal device according to some other embodiments of the present disclosure is shown;

[0041] Fig.18 A flowchart of a method implemented at an access network device according to some other embodiments of the present disclosure is shown;

[0042] Fig.19 shows a simplified block diagram of a device suitable for implementing some example embodiments of the present disclosure; and

[0043] Fig. 20A block diagram illustrating an example of a computer readable medium according to some example embodiments of the present disclosure is shown.

[0044] Throughout the drawings, the same or similar reference numerals refer to the same or similar elements. DETAILED DESCRIPTION

[0045] The principle of the present disclosure will now be described with reference to some example embodiments. It should be understood that these embodiments are described only for illustrative purposes, and help those skilled in the art to understand and implement the present disclosure, without implying any limitation on the scope of the present disclosure. The present disclosure described herein can be implemented in various ways except for the way described below.

[0046] In the following description and claims, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

[0047] References in this disclosure to "one embodiment," "an embodiment," "an example embodiment," etc. indicate that the described embodiment may include a particular feature, structure, or characteristic, but every embodiment need not include the particular feature, structure, or characteristic. Furthermore, such phrases do not necessarily refer to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in conjunction with an embodiment, it should be recognized that it is within the knowledge of those skilled in the art to affect such feature, structure, or characteristic in conjunction with other embodiments, whether or not explicitly described.

[0048] It should be understood that although the terms "first" and "second" etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another element. For example, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element without departing from the scope of the example embodiments. As used herein, the term "and / or" includes any and all combinations of one or more of the listed terms.

[0049] The terms used herein are for the purpose of describing specific embodiments only and are not intended to limit the exemplary embodiments. As used herein, the singular forms "a", "an", and "the" are also intended to include the plural forms unless the context clearly indicates otherwise. It should be further understood that the terms "include", "comprise", "have", "have", "contain", and / or "cover" when used herein specify the presence of stated features, elements, and / or components, etc., but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof.

[0050] As used in this application, the term "circuitry" may refer to one or more or all of the following:

[0051] (a) hardware circuit implementation only (e.g., implementation in analog and / or digital circuitry only) and

[0052] (b) a combination of hardware circuitry and software such as (where applicable):

[0053] (i) a combination of analog and / or digital hardware circuits and software / firmware and

[0054] (ii) any portion of hardware processor(s) (including digital signal processor(s)) with software, software and memory(s) that work together to enable a device, such as a mobile phone or server, to perform various functions) and

[0055] (c) Hardware circuit(s) and / or processor(s), such as microprocessor(s) or portion(s) of microprocessor(s), that require software (e.g., firmware) for operation, but the software may not be present when the software is not required for operation.

[0056] This definition of circuitry applies to all uses of the term in this application, including in any claims. As another example, as used in this application, the term circuitry also covers an implementation of only a hardware circuit or processor (or multiple processors) or a portion of a hardware circuit or processor and its (their) accompanying software and / or firmware. For example, and if applicable to a particular claim element, the term "circuitry" also covers a baseband integrated circuit or processor integrated circuit for a mobile device or a similar integrated circuit in a server, cellular network device, or other computing or network device.

[0057] As used herein, the term "communication network" refers to a network that complies with any suitable communication standard, such as Long Term Evolution (LTE), Advanced LTE (LTE-A), Wideband Code Division Multiple Access (WCDMA), High Speed ​​Packet Access (HSPA), Narrowband Internet of Things (NB-IoT), etc. In addition, the communication between the terminal equipment and the network equipment in the communication network can be performed according to any suitable generation of communication protocols, including but not limited to the fourth generation (4G), 4.5G, future fifth generation (5G) communication protocols, and / or any other currently known or future protocols to be developed. The embodiments of the present disclosure can be applied to various communication systems. In view of the rapid development of communication, there will certainly be future types of communication technologies and systems that can embody the present disclosure. It should not be considered that the scope of the present disclosure is limited to the above-mentioned system.

[0058] As used herein, the term "network device" refers to a node in a communication network via which a terminal device accesses the network and receives services therefrom. A network device may refer to a base station (BS) or an access point (AP), for example, a NodeB (NodeB or NB), an evolved NodeB (eNodeB or eNB), a NR NB (also known as a gNB), a remote radio unit (RRU), a radio head (RH), a remote radio head (RRH), a relay, a low power node such as a femto node, a pico node, etc., depending on the terminology and technology applied.

[0059] The term "terminal device" refers to any terminal device capable of wireless communication. As an example and not limitation, the terminal device may also be referred to as a communication device, user equipment (UE), user station (SS), portable user station, mobile station (MS) or access terminal (AT). The terminal device may include, but is not limited to, a mobile phone, a cellular phone, a smart phone, a voice over IP (VoIP) phone, a wireless local loop phone, a tablet computer, a wearable terminal device, a personal digital assistant (PDA), a portable computer, a desktop computer, an image capture terminal device such as a digital camera, a game terminal device, a music storage and playback device, a vehicle-mounted wireless terminal device, a wireless endpoint, a mobile station, a laptop embedded device (LEE), a laptop mounted device (LME), a USB dongle, a smart device, a wireless client device (CPE), an Internet of Things (IoT) device, a watch or other wearable, a head mounted display (HMD), a vehicle, a drone, medical equipment and applications (e.g., remote surgery), industrial equipment and applications (e.g., robots and / or other wireless devices operating in the context of an industrial and / or automated processing chain), consumer electronic devices, equipment operating on a commercial and / or industrial wireless network, etc. In the following description, the terms "terminal device", "communication device", "terminal", "user equipment" and "UE" may be used interchangeably.

[0060] The sensors (such as sensing radar) of the network equipment (e.g., base station) can sense mobile objects within or near its coverage. For example, this sensing capability of the network equipment can be used to assist various functions or applications of the terminal equipment, such as vehicle autonomous driving or assisted driving. In this regard, when and where to use the sensing capability of the network equipment is an important issue because it requires balancing the utilization of radio resources with sensing performance. For example, considering the scenario of vehicle autonomous driving or assisted driving, if no vehicle passes through the intersection, the sensors of the network equipment scanning the intersection may waste radio resources and power. On the other hand, current terminal equipment (such as vehicles) are also equipped with many sensors, such as cameras, LIDAR, SODAR, radar, etc. These sensors can sense those static or moving objects around the terminal equipment to support the functions or applications of the terminal equipment, such as autonomous driving or assisted driving.

[0061] Of course, if more resources are allocated to the sensing capability of the network device (e.g., sensing radar), higher sensing performance can be obtained. But obviously, allocating more resources to the sensing capability of the network device may affect the communication performance of the network device, because the sensing capability occupies more resources and fewer resources can be used for the normal communication of the network device. Therefore, how to reasonably utilize the sensing capability of the network device needs further research. More specifically, it is necessary to solve how to efficiently utilize the sensing capability of the network device without affecting or minimally affecting the performance of the normal communication of the network device.

[0062] The inventors have found that for those areas that can be scanned by the sensors of the terminal device (such as vehicle-mounted sensors), it may be unnecessary and wasteful for the sensors of the network device (e.g., sensing radar) to rescan these areas. In fact, for the sensors of the network device, only those blind spots of the vehicle-mounted sensors of the terminal device may be more important to the functions or applications of the terminal device (e.g., vehicle autonomous driving or assisted driving). If the sensors of the network device are based on those blind spots scanned by the terminal device at the request of the terminal device, that is, on-demand sensing, the resource utilization efficiency can be greatly improved. In this way, more resources can be saved for normal communication, or more sensing resources can be allocated for sensing those blind spots to improve sensing performance.

[0063] The example embodiments of the present disclosure provide a mechanism to solve the above problems, especially when to enable the sensors of the network device and which areas the sensors of the network device are to scan. The embodiments of the present disclosure can improve the resource utilization efficiency of the sensing of the network device and also reduce the impact on the communication performance of the network device. The principles and some example embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0064] Figure 1 An example of a network environment 100 in which some example embodiments of the present disclosure may be implemented is shown. In the description of the example embodiments of the present disclosure, the network environment 100 may also be referred to as a communication system 100 (e.g., a portion of a communication network). For illustrative purposes only, various aspects of the example embodiments will be described in the context of one or more core network devices, access network devices, and terminal devices that communicate with each other. However, it should be understood that the description herein may apply to other types of devices or other similar devices referenced using other terms.

[0065] The communication system 100 includes access network devices 120-1, 120-2 ..., and 120-N (collectively referred to as access network devices 120), terminal devices 130-1, 130-2 ..., and 130-M (collectively referred to as terminal devices 130) and core network devices 110. It should be noted that any one of the numbers M and N can be any suitable natural number. The access network device 120 in the communication system 100 provides one or more services (e.g., network connections) for one or more terminal devices 130, which can be installed in an associated geographic area or can roam throughout an associated geographic area. Therefore, communication between one of the terminal devices 130 and the core network device 110 can be performed via one or more of the access network devices 120.

[0066] Although in Figure 1 Only some of the terminal devices 130 are shown, but it can be appreciated that any number of terminal devices or devices considered as user devices can communicate with the access network device 120. In addition, although Figure 1 Terminal devices 130-1, 130-3, and 130-5 are depicted as vehicles and terminal devices 130-4, 130-5, and 130-M are depicted as mobile phones, but terminal device 130 can be any type of user equipment. It should be noted that in the following description, if a terminal device (e.g., terminal device 130-1) is associated with a vehicle, the term "terminal device 130-1" and the term "vehicle 130-1" can be used interchangeably to refer to terminal device 130-1 when no misunderstanding is caused thereby. In this regard, it is also necessary to note that in some example embodiments of the present disclosure, the vehicle may also be referred to as a terminal device. In addition, the access network device 120 can communicate with the core network device 110 or more core network devices to facilitate wide area network connectivity through a wide area network 105 (e.g., the Internet). Such a core network device 110 can take various forms. For example, the core network device 110 may include a location management function or some other suitable network entity, for example, the core network entities described in various example embodiments of the present disclosure, such as a sensing network function (SFN).

[0067] Wide area network 105 can include any type of electronically connected computer and / or device group, including, for example, the following network: the Internet, an intranet, a local area network (LAN) or a wide area network (WAN). In addition, connectivity to the network can be, for example, a remote modem, Ethernet (IEEE 802.3), a token ring (IEEE 802.5), a fiber distributed data link interface (FDDI) asynchronous transfer mode (ATM), wireless Ethernet (IEEE 802.11) or Bluetooth (IEEE 802.15.1). It should be noted that the computing device (e.g., terminal device 130) can be a desktop, a server, a portable, a handheld, a set-top box or any other desired type of configuration. As used herein, wide area network 105 includes network variants, such as the public Internet, a private network within the Internet, a secure network within the Internet, a private network, a public network, a value-added network, an intranet, etc. In some embodiments, wide area network 105 can also include a virtual private network (VPN).

[0068] In some example embodiments, the terminal devices 130 may also communicate directly with each other via a side link interface. The side link interface may alternatively be referred to as a ProSe interface, a device-to-device (D2D) interface, or a PC5 interface or reference point. In some example embodiments, the network environment 100 may be deployed within a vehicle communication system. In a vehicle communication system, the terminal devices 130 may communicate with each other using cellular vehicle-to-everything (V2X) communications. V2X may involve vehicle-to-vehicle (V2V), vehicle-to-infrastructure (V2I), vehicle-to-network (VTN), or vehicle-to-pedestrian (V2P) communications.

[0069] The communication in the network environment 100 may be implemented according to any appropriate (multiple) communication protocols, including but not limited to cellular communication protocols such as the fourth generation (4G) and the fifth generation (5G), wireless local area network communication protocols (such as the Institute of Electrical and Electronics Engineers (IEEE) 802.11, etc.), and / or any other currently known or future developed protocols. In addition, the communication may utilize any appropriate wireless communication technology, including but not limited to: code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), frequency division duplex (FDD), time division duplex (TDD), multiple input multiple output (MIMO), orthogonal frequency division multiple access (OFDM), discrete Fourier transform spread OFDM (DFT-s-OFDM), and / or any other currently known or future developed technology.

[0070] FIG. 2A to FIG. 2E Further illustrated are some example environments in which some example embodiments of the present disclosure may be implemented. In these example environments, Figure 1One of the terminal devices 130 (eg, terminal device 130-1) in FIG. 1 is depicted as a vehicle, and Figure 1 One of the access network devices 120 (e.g., access network device 120-1) in the figure is depicted as a base station. However, it should be understood that these depictions are for illustration purposes only and do not imply any limitation. It should also be recognized that any graphical elements, numerical values, and descriptive text in these figures are for illustration purposes only and do not imply any limitation.

[0071] Figure 2A An example environment 210 of an on-demand sensing area in some example embodiments of the present disclosure is shown. In the example environment 210, a terminal device or vehicle 130-1 is traveling on a road, and there are obstructions (e.g., houses) on the roadside. The vehicle-mounted LIDAR of the vehicle 130-1 cannot sense the hidden area behind the obstruction. Therefore, at a specific point in time, the vehicle 130-1 can determine the on-demand sensing area as a fan-shaped area defined based on the position P0 of the vehicle 130-1, the edge points E1 and E2 of the outline of the obstruction, and the lower radius and upper radius of the fan-shaped area. The vehicle 130-1 can request the network side to configure the access network device 120-1 to sense the on-demand sensing area, thereby assisting the autonomous driving or driving of the vehicle 130-1.

[0072] Figure 2B An example environment 220 of an on-demand dynamic sensing area in the presence of a static occluder in some example embodiments of the present disclosure is shown. In the example environment 220, the terminal device or vehicle 130-1 is traveling on a road, and there are static occluders (e.g., houses) on the roadside. The vehicle-mounted LIDAR of the vehicle 130-1 cannot sense the hidden area behind the static occluder. Unlike the example environment 210, the example environment 220 shows that the on-demand sensing area changes as the vehicle 130-1 moves. Therefore, at a first point in time, the vehicle 130-1 can determine the on-demand sensing area as a first fan-shaped area (original sensing area) defined based on the first position P0 of the vehicle 130-1, the edge points E1, E2 of the outline of the occluder, and the lower radius and upper radius of the first fan-shaped area. At the second time point, the vehicle 130-1 can determine the on-demand sensing area as a second fan-shaped area (new sensing area) defined based on the second position P1 of the vehicle 130-1, the edge points E1 and E2 of the outline of the obstruction, and the lower radius and upper radius of the second fan-shaped area. The vehicle 130-1 can request the network side to configure the access network device 120-1 to sense the dynamic sensing area, thereby assisting the automatic driving or driving of the vehicle 130-1.

[0073] Figure 2CAn example environment 230 of an on-demand dynamic sensing area in the case of a moving occluder in some example embodiments of the present disclosure is shown. In the example environment 230, a terminal device or vehicle 130-1 (shown as car1) is traveling on a road. Unlike the example environment 220, the example environment 230 shows that the on-demand sensing area changes with a moving occluder (e.g., another vehicle (shown as car2)). The vehicle-mounted LIDAR of the vehicle 130-1 cannot sense the hidden area behind the moving occluder. Therefore, at a first point in time, the vehicle 130-1 can determine the on-demand sensing area as a first area based on the first position P0 of the vehicle 130-1 and the position E2 of the moving occluder. At a second point in time, the vehicle 130-1 can determine the on-demand sensing area as a second area based on the second position P1 of the vehicle 130-1 and the position E4 of the moving occluder. Therefore, the on-demand dynamic sensing area can change with the movement of the two vehicles. The vehicle 130-1 may request the network side to configure the access network device 120-1 to sense the dynamic sensing area, thereby assisting the automatic driving or driving of the vehicle 130-1. For example, the terminal device 130-1 may provide some relative motion parameters for updating the dynamic sensing area, such as the speed of the moving occluder relative to the vehicle 130-1, the acceleration of the moving occluder relative to the vehicle 130-1, the yaw of the moving occluder relative to the vehicle 130-1, etc.

[0074] Figure 2D An example environment 240 with a constant-sized on-demand dynamic sensing area in some example embodiments of the present disclosure is shown. In the example environment 240, the terminal device or vehicle 130-1 is traveling on a road, and there is an obstruction (e.g., a row of trees) on the roadside. The vehicle-mounted LIDAR of the vehicle 130-1 cannot sense the hidden area behind the obstruction. Unlike the previous example environment, in the example environment 240, the on-demand sensing area changes as the vehicle 130-1 moves, but the size of the on-demand sensing area is constant. Therefore, the vehicle 130-1 can determine the on-demand sensing area based on the motion information of the vehicle 130-1 and the position of the obstruction. The vehicle 130-1 can request the network side to configure the access network device 120-1 to sense the on-demand sensing area, thereby assisting the automatic driving or driving of the vehicle 130-1. For example, the vehicle 130-1 can request the network side to sense a constant-sized area in front of its right front.

[0075] Figure 2EAn example environment 250 of on-demand dynamic sensing in which some example embodiments of the present disclosure may be implemented is shown. In the example environment 250, a terminal device or vehicle 130-1 is traveling on a road, and there is an obstruction (e.g., a tree) on the roadside. The vehicle-mounted LIDAR of the vehicle 130-1 cannot sense the hidden area behind the obstruction. Therefore, the vehicle 130-1 may determine an on-demand sensing area defined based on the motion information of the vehicle 130-1 and the position of the obstruction. The vehicle 130-1 may request the network side to configure the access network device 120-1 to sense the on-demand sensing area, thereby assisting the autonomous driving or driving of the vehicle 130-1. For example, the vehicle 130-1 may request the network side to sense the blind spot behind the tree to avoid colliding with a cyclist in the blind spot. It should be noted that the blind spot changes as the vehicle 130-1 moves.

[0076] Figure 3 An example of a process flow 300 for sensing a dynamic sensing area by an access network device 120-1 indicated by a core network device 110 based on a request by a terminal device 130-1 is shown according to some example embodiments of the present disclosure. For discussion purposes, reference will be made to Figure 1 300. It will be appreciated that although reference has been made to Figure 1 The process flow 300 is described with reference to the network environment 100 of FIG. 1 , but the process flow 300 can also be applied to other similar communication scenarios.

[0077] In the process flow 300, the terminal device 130-1 determines (305) an initial sensing area and a change trend of the initial sensing area. Without loss of generality, the initial sensing area determined by the terminal device 130-1 can be any area that the terminal device 130-1 needs to sense. However, in most cases, the initial sensing area may be an area that the terminal device 130-1 cannot detect. In other words, the sensor associated with the terminal device 130-1 (e.g., LIDAR, camera, sonar, etc. of the vehicle) cannot sense the initial sensing area for some reason. For example, the initial sensing area can be a blind spot of the user of the terminal device 130-1, an area outside the line of sight of the user of the terminal device 130-1, an area that cannot be sensed by the sensor associated with the terminal device 130-1, an area behind an obstruction (e.g., a tree on the roadside, a house on the roadside, a vehicle parked on the roadside, or other mobile vehicles around the terminal device 130-1), a roadside area below the road surface, and a blind spot inherent in the vehicle associated with the terminal device 130-1 (e.g., an A-pillar blind spot), or any combination of the above. Therefore, various areas that cannot be sensed by the terminal device 130-1 can be determined as initial sensing areas, thereby improving the performance of the functions or applications of the terminal device 130-1 (such as vehicle autonomous driving or assisted driving). In some example embodiments, the terminal device 130-1 can generate the initial sensing area via its on-board LIDAR.

[0078] In practice, in order to determine the initial sensing area, the terminal device 130-1 may determine geometric information of the initial sensing area. Figure 2A and Figure 2B In the example environment shown in FIG. 1 , the terminal device 130-1 can determine the current position of the terminal device 130-1, the edge point of the outline of the occluder, the lower sensing radius of the initial sensing area, and the upper sensing radius of the initial sensing area. Therefore, the geometric shape of the initial sensing area can be described in an efficient and effective manner. For example, the initial sensing area is often a fan-shaped area determined based on these geometric parameters. Figure 2A and Figure 2B As shown in , the fan-shaped area is surrounded by two half lines (lower radius and upper radius). As an example, the lower radius can be determined by the distance between the terminal device 130-1 and the obstruction. As another example, the upper radius can be determined by the field of view that the terminal device 130-1 needs to sense.

[0079] As referenced above FIG. 2A to FIG. 2EAs described, when the terminal device 130-1 moves, the on-demand sensing area may be a dynamic area, which may change continuously with the movement of the terminal device 130-1 or the movement of the obstruction. Therefore, in addition to the initial sensing area, the terminal device 130-1 may also need to determine the change trend of the initial sensing area, so that the on-demand sensing area can be determined based on the initial sensing area and the change trend. Therefore, the terminal device 130-1 can use the initial sensing area and the change trend to indicate the on-demand dynamic sensing area to the network side.

[0080] Typically, the change trend of the initial sensing area can be represented by any suitable method. For example, the terminal device 130-1 can use a mathematical function that changes over time to represent the change trend of the initial sensing area, and thus determine the change trend by determining the mathematical function. In another example, when determining the change trend, the terminal device 130-1 can determine the current position of the terminal device 130-1 (for example, in the earth coordinate system), the motion information of the terminal device 130-1, the motion information of the mobile occluder associated with the initial sensing area relative to the terminal device 130-1 (for example, in the coordinate system of the terminal device 130-1), or any combination of the above. Therefore, the change trend of the initial sensing area can be described in an efficient and effective manner. In some embodiments, the motion information of the terminal device 130-1 may include the speed, acceleration, yaw, etc. of the terminal device 130-1 in the earth coordinate system. The motion information of the mobile occluder may include the speed, acceleration, yaw, etc. of the mobile occluder in the current coordinate system of the terminal device 130.

[0081] Continue to refer Figure 3 After determining the initial sensing area and the change trend, the terminal device 130-1 sends (310) a sensing request 302 to the core network device 110. The sensing request 302 indicates the initial sensing area and the change trend determined by the terminal device 130-1. Generally, the sensing request 302 may include any suitable information for indicating the initial sensing area. For example, the sensing request 302 may include some geometric parameters to describe the initial sensing area, such as the current position of the terminal device 130-1, the edge point of the outline of the occluder associated with the initial sensing area, the lower sensing radius of the initial sensing area, the upper sensing radius of the initial sensing area, or any combination of the above.

[0082] Similarly, in general, the sensing request 302 may include any suitable information for indicating a trend of change. For example, the sensing request 302 may include some motion parameters to describe the trend of change, such as the current position of the terminal device 130-1, the motion information of the terminal device 130-1, and the motion information of the mobile occluder relative to the terminal device 130-1. In some embodiments, the motion information of the terminal device 130-1 may include the speed, acceleration, yaw, etc. of the terminal device 130-1 in the earth coordinate system. The motion information of the mobile occluder may include the speed, acceleration, yaw, etc. of the mobile occluder in the current coordinate system of the terminal device 130.

[0083] In some example embodiments, the sensing request 302 may also include some other information to facilitate sensing the dynamic area on request. For example, the sensing request 302 may include semantic information of an occluder associated with the initial sensing area, an identifier of the initial sensing area, an identifier of the terminal device 130-1, or any combination thereof. As an example, the identifier of the initial sensing area may be an index number of the initial sensing area and the associated on-demand dynamic sensing area. The identifier of the initial sensing area may be used to identify the initial sensing area and the on-demand dynamic sensing area for later functions of sensing the dynamic area on request, such as release operations, semantic extraction of occluders for risk analysis, and the like.

[0084] The identifier of the terminal device 130-1 can be used by the network side to identify the terminal device 130-1, because there may be multiple terminal devices requesting on-demand sensing of the corresponding dynamic area. The semantic information of the obstruction can help the network side perform the above-mentioned semantic extraction. In addition, with the help of the semantic information of the obstruction, the terminal device 130 can generate an initial sensing area based on the semantic analysis of the obstruction. For example, if the terminal device 130 determines that there is no risk in the area associated with the obstruction, the terminal device 130 may not send a sensing request 302 for the area to the core network device 110. The following will refer to Figure 8 Some more example embodiments in this regard are described in further detail.

[0085] On the other side of the transmission, the core network device 110 receives (315) a sensing request 302 from the terminal device 130-1. Then, based on the request by the terminal device 130-1, the core network device 110 sends (320) a sensing instruction 304 to the access network device 120-1. The sensing instruction 304 instructs the access network device 120-1 to sense a target sensing area determined based on an initial sensing area and a changing trend. As used herein, an initial sensing area may refer to an initial version of a dynamic area indicated by the terminal device 130-1, and a target sensing area may refer to a later version of a dynamic area after a certain time from when the initial sensing area is determined by the free terminal device 130-1. In some example embodiments, the sensing instruction 304 may be sent by a sensing network function (SNF) of the core network device 110.

[0086] For the dynamic area indicated in the sensing request 302, the core network device 110 may select one or more access network devices 120 to sense the dynamic area requested by the terminal device 130-1. For example, the core network device 110 may currently only select the access network device 120-1 to sense the requested dynamic area, and then instruct the access network device 120-1 to sense the target sensing area, which is the current version of the requested dynamic area. The reason may be that the terminal device 130-1 is now served by the access network device 120-1, or the target sensing area is within the coverage of the access network device 120-1 (or its sensor, such as a sensing radar). In some other embodiments, the core network device may select one or more access network devices from a plurality of candidate access network devices, and then instruct one or more selected access network devices to sense the target sensing area. In these example embodiments, the access network device 120-1 is one of the one or more selected access network devices. Therefore, the core network device 110 can determine a better candidate access network device among the candidate access network devices to sense the requested dynamic area, thereby improving the sensing performance of the dynamic area.

[0087] On the receiving side, the access network device 120-1 receives (325) a sensing instruction 304 from the core network device 110. In some embodiments, the sensing instruction 304 may include some information for facilitating the sensing of the target sensing area by the access network device 120-1. For example, the sensing instruction 304 may include either or both of resource allocation information and sensor configuration information. The resource allocation information may be used to allocate sensing resources to the access network device 120-1 for sensing the target sensing area. The sensor configuration information may be used to configure the sensor of the access network device 120-1 to sense the target sensing area. For example, the sensor of the access network device 120-1 may be a BS radar or any other suitable sensor. Therefore, the sensing instruction 304 may configure the access network device 120-1 in an advantageous manner to sense the target sensing area, thereby improving the sensing performance of the target sensing area.

[0088] In the example embodiment in which the SNF of core network device 110 sends the sensing instruction 304, after selecting one or more access network devices for sensing the requested dynamic area, the SNF of core network device 110 may allocate time resources, frequency resources, space resources, power resources, etc. to the selected access network devices according to the request from terminal device 130-1. Then, the SNF of core network device 110 may configure the sensors (such as BS radar or other suitable sensors) of the selected access network devices to perform sensing of the requested dynamic area.

[0089] Accordingly, in some example embodiments, access network device 120-1 may obtain resource allocation information from sensing instruction 304, and then access network device 120-1 may sense the target sensing area using the allocated sensing resources, such as time resources, frequency resources, space resources, power resources, etc. Similarly, in some example embodiments, access network device 120-1 may obtain sensor configuration information from sensing instruction 304. Thereafter, access network device 120-1 may configure the sensor of access network device 120-1 based on the sensor configuration information, so as to sense the target sensing area.

[0090] After receiving (325) the sensing instruction 304, the access network device 120-1 may perform sensing of the target sensing area based on the received sensing instruction 304. In other words, the access network device 120-1 obtains (330) the sensing result 306 by sensing the target sensing area using the sensor of the access network device 120-1. Without loss of generality, the sensing result 306 may include any information obtained by the access network device 120-1 and useful to the terminal device 130-1. For example, the sensing result 306 may indicate all objects hidden in the target sensing area, so that the core network device 110 can obtain more comprehensive information of the hidden objects.

[0091] In an example embodiment in which the terminal device 130-1 is a vehicle or is associated with a vehicle, the mobile object may be more important to the terminal device 130-1 because the mobile object may collide with the vehicle. In such an example embodiment, the sensing result 306 may include an indication of the mobile object in the target sensing area, the position of the mobile object, the motion information of the mobile object, or any combination thereof. In this way, the sensing result 306 can indicate the mobile object to the core network device 110 in an efficient and effective manner. In some other embodiments, the sensing result 306 may also include an identifier of the target sensing area, which may also be an identifier of an on-demand dynamic area. In this way, the interactive operation for on-demand dynamic sensing between the access network device 120-1 and the core network device 110 can be facilitated.

[0092] Therefore, when obtaining the sensing result 306, the access network device 120-1 can determine the identifier of the mobile object detected in the target sensing area. Alternatively or additionally, the access network device 120-1 can determine the position of the mobile object. Alternatively or additionally, the access network device 120-1 can determine the motion information of the mobile object relative to the terminal device 130-1. Alternatively or additionally, the access network device 120-1 can determine the identifier of the target sensing area.

[0093] As mentioned, since the on-demand area requested by the terminal device 130-1 can be dynamic, the target sensing area may have changed when the access network device 120-1 receives (325) the sensing instruction 304, and continue to change over time. Therefore, in some example embodiments, in order to sense the target sensing area, the access network device 120-1 can obtain motion information related to the target sensing area from the sensing instruction 304. For example, the motion information related to the target sensing area may include the motion information of the terminal device 130-1 and the motion information of the mobile obstruction relative to the terminal device 130-1. The access network device 120-1 can then track the target sensing area based on either or both of the motion information of the terminal device 130-1 and the motion information of the mobile obstruction. In this way, the performance of sensing of the target sensing area is improved.

[0094] In a more specific example, the sensing radar of the access network device 120-1 can be triggered and awakened by an on-demand dynamic sensing request from the terminal device 130-1, and then the sensing radar of the access network device 120-1 can sense and track those on-demand dynamic areas according to the relevant motion parameters provided by the terminal device 130-1. Since the sensing radar of the access network device 120-1 only needs to sense the on-demand sensing area instead of its entire coverage, various resources (such as time / frequency / space / power resources) can be saved. As a result, more resources can be allocated to these on-demand areas to obtain high sensing performance.

[0095] After obtaining (330) the sensing result 306, the access network device 120-1 sends (335) the sensing result 306 of the target sensing area to the core network device 110. Accordingly, the core network device 110 receives (340) the sensing result 306 from the access network device 120-1. Thereafter, the core network device 110 sends (345) a sensing response 308 to the terminal device 130-1, thereby reporting part or all of the sensing result 306 to the terminal device 130-1. In addition to the sensing result 306, the sensing response 308 may also include other analysis results obtained by the core network device 110 to assist the functions or applications of the terminal device 130-1, such as vehicle autonomous driving or assisted driving. Therefore, the sensing response 308 is determined by the core network device 110 based on the sensing result 306.

[0096] In general, the core network device 110 may generate a sensing response 308 based on the sensing result 306 in any suitable manner. For example, the core network device 110 may generate a sensing response 308 to include the sensing result 306. In other words, the sensing response 308 may contain all of the sensing result 306. In this way, all information obtained by the access network device 120-1 through sensing may be provided to the terminal device 130-1, so that the terminal device 130-1 may obtain more comprehensive information of the target sensing area. In a more specific example, the sensing response 308 may list all mobile objects and their motion states, including position, velocity, acceleration, yaw, etc. in the earth coordinate system. In some example embodiments, the sensing response 308 may also include some necessary indication information, such as an identifier (such as an index number) of the on-demand sensing area.

[0097] In some other example embodiments, the core network device 110 may generate the sensing response 308 to include a relatively important portion of the information contained in the sensing result 306. For example, in an example embodiment in which the terminal device 130-1 is a vehicle or is associated with a vehicle, the core network device 110 may generate the sensing response 308 to include some objects indicated in the sensing result 306 that are risky to the vehicle. Fig.11 Some example embodiments in this regard are described in further detail.

[0098] As mentioned, the on-demand area requested by the terminal device 130-1 may be dynamic, and therefore the target sensing area may change over time. Therefore, in order to ensure that the access network device 120-1 can effectively and accurately sense the target sensing area, the core network device 110 can periodically determine the sensing period for updating the target sensing area. In this way, the target sensing area can be updated in time and the sensing performance of the on-demand dynamic area can be improved. For example, if the sensing period is set to 1 second (1s), the core network device 110 can determine the updated target sensing area every second. In such an example, when sending (345) a sensing response 308 to the terminal device 130-1, the core network device 110 can periodically send multiple sensing responses based on the sensing period. The sensing response 308 is one of multiple sensing responses. Therefore, the terminal device 130-1 can obtain a more accurate and effective sensing report of the requested dynamic sensing area. In other words, if the sensing period is set to 1 second (1s), the core network device 110 can send an updated sensing response every second. For example, a sensing response may be sent to the terminal device 130 - 1 in each sensing cycle until the on-demand sensing area is released or replaced by a new request from the terminal device 130 - 1 .

[0099] In some example embodiments, at the end point of the sensing cycle, the core network device 110 may update the target sensing area based on the change trend of the target sensing area and the initial sensing area. That is, the updated target sensing area is determined based on the previous target sensing area and the change trend. In this way, the core network device 110 can perform the update of the target sensing area in an efficient and effective manner. It should be noted that the current position of the terminal device 130-1 (e.g., in the earth coordinate system) can be the basic reference point during the entire sensing cycle.

[0100] After updating the target sensing area, the core network device 110 may reselect one or more access network devices from the plurality of candidate access network devices. The one or more reselected access network devices may be instructed by the core network device 110 to sense the updated target sensing area. Therefore, the core network device 110 may determine a better candidate access network device among the candidate access network devices to sense the requested dynamic area, thereby improving the sensing performance of the dynamic area. Figure 6Some example embodiments of this aspect are further described in detail. In a more specific example, the SNF of the core network device 110 can continuously calculate and generate new target sensing areas, for example, based on a configured sensing cycle or a displacement of the terminal device 130-1 every 10m. Then, the SNF of the core network device 110 can reselect an access network device and reconfigure the sensing radar of the reselected access network device.

[0101] Continue to refer Figure 3 , the terminal device 130-1 receives (350) a sensing response 308 from the core network device 110. Using the sensing information about the requested dynamic area contained in the sensing response 308, the function or application of the terminal device 130-1 can be performed more effectively, efficiently or safely. For example, if the terminal device 130-1 is a vehicle or is associated with a vehicle, the autonomous driving or assisted driving performed by the terminal device 130-1 can be safer with the assistance of the sensing response 308. As discussed above, in some example embodiments, the core network device 110 can periodically send multiple sensing responses based on a sensing period. In these example embodiments, the terminal device 130-1 can periodically receive multiple sensing responses. The sensing response 308 is one of multiple sensing responses.

[0102] Through process flow 300, an on-demand dynamic sensing area can be sensed by access network device 120-1 configured by core network device 110 based on a request by terminal device 130-1, thereby improving resource utilization efficiency of sensing performed by the access network device and also reducing the impact on communication performance of the access network device.

[0103] Figure 4 An example of a process flow 400 for releasing sensing of a dynamic sensing region according to some example embodiments of the present disclosure is shown. It should be noted that the process flow 400 can be performed in conjunction with or in addition to the process flow 300. For the purpose of discussion, reference will be made to Figure 1 Describing process flow 400. It will be appreciated that although reference has been made to Figure 1 The process flow 400 is described with reference to the network environment 100 of FIG. 1 , but the process flow 400 can also be applied to other similar communication scenarios.

[0104] refer to Figure 3 and Figure 4, assuming that the terminal device 130-1 has sent a sensing request 302 to the core network device 110 to request the network side to sense the dynamic sensing area. As mentioned, the sensing request 302 may include an initial sensing area and a changing trend of the initial sensing area. In process flow 400, the terminal device 130-1 may determine (405) that an area determined based on the initial sensing area and the changing trend no longer needs to be sensed. For example, the terminal device 130-1 may stop and not move for a period of time. As another example, for some reasons, the blind spot associated with the initial sensing area may disappear. Then, the terminal device 130-1 may send (410) a sensing release indication 402 to the core network device 110. For example, the sensing release indication 402 may be sent to the SNF of the core network device 110.

[0105] Upon receiving (415) a sensing release indication 402 from the terminal device 130-1, the core network device 110 may send (420) a sensing release instruction 404 to release sensing of the target sensing area to the access network device 120-1. Upon receiving (425) a sensing release instruction 404 from the core network device 110, the access network device 120-1 may switch (430) the sensor of the access network device 120-1 to a power saving state. In other words, if there is no on-demand sensing request from the terminal device 130-1, the sensor (e.g., a sensing radar) of the access network device 120-1 may stop sensing the target sensing area and enter a dormant state until it is awakened by a new on-demand sensing request from the terminal device 130-1.

[0106] Through process flow 400, the network side (eg, core network device 110 and access network device 120-1) can be promptly informed of areas that the terminal device 130-1 no longer needs to sense, thereby effectively saving sensing resources that would otherwise be wasted by the network side when sensing the area.

[0107] Figure 5 An example of a process flow 500 for sensing a new dynamic sensing region according to some example embodiments of the present disclosure is shown. It should be noted that the process flow 500 can be combined with the process flow 300 or performed in addition to the process flow 300. For the purpose of discussion, reference will be made to Figure 1 Describe process flow 500. It will be appreciated that although reference has been made to Figure 1 The process flow 500 is described with reference to the network environment 100 of FIG. 1 , but the process flow 500 can also be applied to other similar communication scenarios.

[0108] refer to Figure 3 and Figure 5, assuming that the terminal device 130-1 has sent a sensing request 302 to the core network device 110 to request the network side to sense the dynamic sensing area. In the process flow 500, the terminal device 130-1 can determine (505) that the area that needs to be sensed (e.g., the dynamic sensing area) can no longer be determined based on the initial sensing area and the change trend indicated in the sensing request 302. For example, due to the movement of the terminal device 130-1, the movement of the obstruction relative to the terminal device 130-1, or both of them, the dynamic sensing area that the terminal device 130-1 needs to sense can no longer be determined based on the initial sensing area and the change trend notified to the network side. Then, the terminal device 130-1 can refer to Figure 3 A new initial sensing area and a new change trend of the new initial sensing area are determined in a similar manner as described.

[0109] Afterwards, the terminal device 130-1, the core network device 110, and the access network device 120-1 may interact with each other in a manner similar to the process flow 300. For example, the terminal device 130-1 may send (510) a new sensing request 502 to the core network device 110. The new sensing request 502 may indicate a new initial sensing area and a new change trend of the new initial sensing area. Therefore, the core network device 110 may receive (515) the new sensing request 502 from the terminal device 110.

[0110] Afterwards, core network device 110 may send (520) new sensing instruction 504 to access network device 120-1. New sensing instruction 504 may instruct access network device 120-1 to sense a new target sensing area determined based on the new initial sensing area and the change trend of the new initial sensing area. Therefore, access network device 120-1 may receive (525) new sensing instruction 504 from core network device 110.

[0111] Next, access network device 120-1 may obtain (530) new sensing result 506. Access network device 120-1 may then send (535) new sensing result 506 to core network device 110. On the receiving side, core network device 110 may receive (540) new sensing result 506 from access network device 120-1. Thereafter, core network device 110 may send (545) new sensing response 508 to terminal device 130-1. New sensing response 508 may be determined by core network device 110 based on new sensing result 506. Terminal device 130-1 may receive (550) new sensing response 508 from core network device 110.

[0112] Through the process flow 500 , sensing of a new target sensing area indicated in a new sensing request may be performed in an efficient and effective manner, thereby improving the sensing performance of sensing of the new target sensing area.

[0113] Figure 6 An example of a process flow 600 for sensing an updated target sensing area according to some example embodiments of the present disclosure is shown. It should be noted that the process flow 600 can be combined with the process flow 300 or performed in addition to the process flow 300. For the purpose of discussion, reference will be made to Figure 1 600. It will be appreciated that although reference has been made to Figure 1 The process flow 600 is described with reference to the network environment 100 of FIG. 1 , but the process flow 600 can also be applied to other similar communication scenarios.

[0114] refer to Figure 3 and Figure 6 In both cases, it is assumed that the core network device 110 has sent a sensing instruction 304 to the access network device 120-1. The sensing instruction 304 instructs the access network device 120-1 to sense the target sensing area. Figure 3 As mentioned in the description of , in some example embodiments, the core network device 110 may update the target sensing area and reselect one or more access network devices to sense the updated target sensing area. It is further assumed that the access network device 120-1 is also one of the reselected one or more access network devices.

[0115] In process flow 600, core network device 110 may send updated sensing instructions 602 to each of one or more reselected access network devices. For example, core network device 110 may send (605) updated sensing instructions 602 to access network device 120-1. Updated sensing instructions 602 may instruct one or more reselected access network devices to sense updated target sensing areas. Thus, access network device 120-1 may receive (610) updated sensing instructions 602 from core network device 110.

[0116] Afterwards, terminal device 130-1, core network device 110, and access network device 120-1 may interact with each other in a manner similar to process flow 300. For example, access network device 120-1 may obtain (615) updated sensing result 604 by sensing the updated target sensing area using a sensor of access network device 120-1. Access network device 120-1 may then send (620) updated sensing result 604 to core network device 110. On the receiving side, core network device 110 may receive (625) updated sensing result 604 from access network device 120-1. In fact, core network device 110 may receive updated sensing results of the updated target sensing area from one or more reselected access network devices.

[0117] Next, core network device 110 may send (630) an updated sensing response 606 to terminal device 130-1. Updated sensing response 606 may be determined based on updated sensing results from one or more reselected access network devices. Thus, terminal device 130-1 may receive (635) an updated sensing response 606 from core network device 110. Updated sensing response 606 may be associated with an updated target sensing area determined based on a previous target sensing area and a change trend.

[0118] Through the process flow 600 , sensing of an updated target sensing region may be performed in an efficient and effective manner, thereby improving the sensing performance of sensing of the updated target sensing region.

[0119] Figure 7 An example of a process flow 700 for sensing another dynamic sensing area requested by another terminal device according to some example embodiments of the present disclosure is shown. It should be noted that the process flow 700 can be performed in conjunction with the process flow 300 or in addition to the process flow 300. For the purpose of discussion, reference will be made to Figure 1 Describe process flow 700. It will be appreciated that although reference has been made to Figure 1 The process flow 700 is described with reference to the network environment 100 of FIG. 1 , but the process flow 700 can also be applied to other similar communication scenarios.

[0120] refer to Figure 3 and Figure 7 , assuming that the terminal device 130-1 has sent a sensing request 302 to the core network device 110 to request the network side to sense a dynamic sensing area. Assume that another terminal device (e.g., the terminal device 130-2) also sends another sensing request to the core network device 110 to request the network side to sense another dynamic sensing area. In other words, in process flow 700, the terminal device 130-2 can send (710) another sensing request 702 to the core network device 110. The other sensing request 702 can indicate another initial sensing area and another change trend of the other initial sensing area. Therefore, the core network device 110 can receive (715) another sensing request 702 from the terminal device 130-2.

[0121] The core network device 110 may then determine (720) another target sensing area based on another initial sensing area and another change trend. Afterwards, the core network device 110 may determine (725) that another target sensing area overlaps with the target sensing area. The core network device 110 may then determine that the two target sensing areas may be sensed together by the access network device 120-1 at the same time. For example, the access network device 120-1 may sense the union area of ​​the two target sensing areas. In a more general example, if the on-demand sensing request has an overlapping area, the SNF of the core network device 110 may configure the sensor of the access network device 120-1 (such as a sensing radar) to serve one or more on-demand sensing requests from different terminal devices.

[0122] Therefore, core network device 110 may send 730 another sensing instruction 704 to access network device 120-1. Another sensing instruction 704 may instruct access network device 120-1 to sense another target sensing area. On the receiving side, access network device 120-1 may receive 735 another sensing instruction 704 from core network device 110.

[0123] Thereafter, access network device 120-1 may obtain (740) another sensing result 706 by sensing another target sensing area using the sensor of access network device 120-1. Then, access network device 120-1 may send (745) another sensing result 706 to core network device 110. Therefore, core network device 110 may receive (750) another sensing result 706 from access network device 120-1.

[0124] Next, core network device 110 may send 755 another sensing response 708 to terminal device 130-2. Another sensing response 708 may be determined by core network device 110 based on another sensing result 706. On the other hand, terminal device 130-2 may receive 760 another sensing response 708 from core network device 110.

[0125] Through process flow 700 , different on-demand dynamic sensing areas requested by different terminal devices can be sensed by the same access network device, thereby enhancing resource utilization of sensing resources of the access network device and improving sensing efficiency of on-demand dynamic sensing.

[0126] Figure 8 FIG. 8 is a flowchart 800 for determining an initial sensing area by the terminal device 130-1 according to some example embodiments of the present disclosure. It should be noted that the flowchart 800 can be performed in conjunction with the process flow 300 or in addition to the process flow 300. For the purpose of discussion, reference will be made to FIG. Figure 1 800. It will be appreciated that although reference has been made to Figure 1 The flowchart 800 is described with reference to the network environment 100, but the flowchart 800 can also be applied to other similar communication scenarios.

[0127] At block 802, the terminal device 130-1 may detect an obstruction whose distance from the terminal device 130-1 is less than a predefined threshold distance. At block 804, for a vehicle associated with the terminal device 130-1, the terminal device 130-1 may determine whether there is a risk in a hidden area of ​​the obstruction. If the terminal device 130-1 determines that there is a risk in the hidden area, then at block 806, the terminal device 130-1 may determine the hidden area as an initial sensing area.

[0128] Through flowchart 800 , terminal device 130 - 1 may send a sensing request to core network device 110 based on a high risk associated with an obstruction, thereby saving sensing resources on the network side for sensing an on-demand dynamic sensing area requested by terminal device 130 - 1 .

[0129] Fig. 9 FIG. 9 is a flowchart 900 for determining an obstruction by terminal device 130-1 according to some example embodiments of the present disclosure. It should be noted that flowchart 900 may be performed in conjunction with flowchart 800 or in addition to flowchart 800. For the purpose of discussion, reference will be made to Figure 1 900. It will be appreciated that although reference has been made to Figure 1 The flowchart 900 is described with reference to the network environment 100, but the flowchart 900 can also be applied to other similar communication scenarios.

[0130] At block 902, terminal device 130-1 may use a LIDAR associated with terminal device 130-1 to obtain a LIDAR scan pattern of the occluder. At block 904, terminal device 130-1 may use a camera associated with terminal device 130-1 to obtain an image of the occluder. At block 906, terminal device 130-1 may determine the occluder by matching the LIDAR scan pattern with the image.

[0131] Through the flowchart 900 , the terminal device 130 - 1 can perform occluder recognition in an efficient and effective manner, thereby improving the efficiency and accuracy of occluder recognition.

[0132] Fig.10 1 shows a flowchart 1000 for determining the risk in a hidden area by the terminal device 130-1 according to some example embodiments of the present disclosure. It should be noted that the flowchart 1000 can be combined with the flowchart 800 or performed in addition to the flowchart 800. For the purpose of discussion, reference will be made to Figure 1 1000. It will be appreciated that although reference has been made to Figure 1 The flowchart 1000 is described with reference to the network environment 100 of FIG. 1 , but the flowchart 1000 can also be applied to other similar communication scenarios.

[0133] At block 1002, the terminal device 130-1 may determine semantic information and environmental information of the occluder based on the knowledge database. At block 1004, the terminal device 130-1 may evaluate the presence of a mobile object in the hidden area based on the semantic information and environmental information. At block 1006, the terminal device 130-1 may determine the possibility of a collision between the mobile object and the vehicle associated with the terminal device 130-1.

[0134] Through flowchart 1000 , terminal device 130 - 1 can determine the risk associated with an obstruction in an efficient and effective manner, thereby improving the efficiency and accuracy of risk identification and initial sensing area determination.

[0135] Fig.11 1 shows a flowchart 1100 of generating a sensing response by a core network device 110 according to some example embodiments of the present disclosure. It should be noted that the flowchart 1100 can be combined with the process flow 300 or performed in addition to the process flow 300. For the purpose of discussion, reference will be made to Figure 1 and Figure 3 1100. It will be appreciated that although reference has been made to Figure 1 The flowchart 1100 is described with reference to the network environment 100 , but the flowchart 1100 can also be applied to other similar communication scenarios.

[0136] At block 1102, core network device 110 may obtain location and motion information of terminal device 130-1 from sensing request 302. At block 1104, core network device 110 may determine location and motion information of a mobile object from sensing result 306. At block 1106, for a vehicle associated with terminal device 130-1, core network device 110 may determine a risk level of the mobile object based on the location and motion information of terminal device 130-1 and the location and motion information of the mobile object.

[0137] At block 1108, core network device 110 may determine whether the risk level of the mobile object is above a predefined threshold level. If core network device 110 determines that the risk level of the mobile object is above the predefined threshold level, then at block 1110, core network device 110 may generate sensing response 308 to include an indication, location, and motion information of the mobile object. Thus, sensing response 308 received by terminal device 130-1 may indicate one or more mobile objects having a risk level of a vehicle associated with the terminal device that is above the predefined threshold level.

[0138] Through the flowchart 1100, the core network device 110 can generate the sensing response 308 to include information that is relatively important to the terminal device 130-1 (such as risky mobile objects), thereby enhancing the information efficiency of the sensing response and reducing the signaling overhead of the sensing response 308. In addition, the risk level can be determined for each mobile object, thereby providing more different operation possibilities for different mobile objects and enhancing operation flexibility.

[0139] Fig.12 1200 is a flowchart of determining whether the risk level of a mobile object is high or low by the core network device 110 according to some example embodiments of the present disclosure. It should be noted that the flowchart 1200 can be combined with the process flow 300 or performed in addition to the process flow 300. For the purpose of discussion, reference will be made to Figure 1 1200. It will be appreciated that although reference has been made to Figure 1 The flowchart 1200 is described with reference to the network environment 100, but the flowchart 1200 can also be applied to other similar communication scenarios.

[0140] In some example embodiments, core network device 110 may determine the risk level of the mobile object based on the distance between the mobile object and terminal device 130-1 and the speed of the mobile object relative to terminal device 130-1. For example, at block 1202, core network device 110 may determine whether the distance is less than a predefined threshold distance and whether the speed is greater than a predefined threshold speed. If core network device 110 determines that the distance between them is less than the predefined threshold distance and the speed is greater than the predefined threshold speed, then at block 1204, core network device 110 may determine the risk level as a high risk level.

[0141] In addition, if the core network device 110 determines the risk level as a high risk level, at block 1206, the core network device 110 can immediately send an indication of a moving object to the terminal device 130-1. Therefore, upon receiving an indication of a moving object from the core network device 110, the terminal device 130-1 can cause the associated vehicle to be controlled to avoid collision with the moving object. Therefore, the safety of the vehicle and associated passengers can be improved. For example, if the vehicle is in an automatic or assisted driving state, the terminal device 130-1 can directly control the travel of the vehicle to avoid collision. Otherwise, if the vehicle is driven by a user of the terminal device 130-1, the terminal device 130-1 can remind the user of the moving object, thereby controlling the travel of the vehicle to avoid collision.

[0142] On the other hand, at block 1202, if core network device 110 determines that the distance is above a predefined threshold distance or the speed is below a predefined threshold speed, core network device 110 may determine the risk level as a low risk level at block 1208. If core network device 110 determines the risk level as a low risk level, at block 1210, core network device 110 may monitor the mobile object without immediately sending an indication of the mobile object to terminal device 130-1.

[0143] Through the flowchart 1200, the terminal device 130-1 can be immediately informed of high-risk mobile objects, thereby improving the safety of the user of the terminal device 130-1, for example, in connection with a vehicle with an automatic driving or assisted driving function. In addition, the risk of the mobile object can be classified as high risk or low risk, so that different reporting methods are performed for different mobile objects, thereby enhancing operational flexibility.

[0144] Fig.13 An example 1300 of UE functions for supporting on-demand dynamic sensing according to some example embodiments of the present disclosure is shown. It should be noted that these UE functions can be Figure 1 However, it should be understood that these UE functions are described for illustrative purposes only and do not imply any limitation on the scope of the present disclosure. Fig.13 As shown in , UE functions may include an occluder search function 1302 , a LIDAR scan and camera image matching function 1304 , a semantic-based risk assessment function 1306 , a measure on-demand sensing area function 1308 , and an on-demand sensing message generation function 1310 .

[0145] Some example embodiments of the present disclosure introduce a new operation process between the UE and the SNF (Sensing Network Function) of the core network, which can be a new core JCAS function that controls and manages the base station (BS) sensing radar. In an example embodiment, the UE can send an on-demand sensing request message to the SNF for on-demand dynamic sensing. The request message can provide the necessary information to describe the dynamic sensing area and its changing trend. The SNF can then control the BS sensing radar to track and sense the dynamic area requested by the UE.

[0146] The dynamic sensing area can be updated when the UE (such as associated with a vehicle) moves from one location to another. The dynamic characteristics can be defined by some motion parameters, including the speed, acceleration and yaw of the UE, and the speed, acceleration and yaw of the moving occluder relative to the UE. The UE can measure these parameters via on-board LIDAR or other sensors. When the UE motion state changes or the edge point of the occluder contour changes, the UE can request a new on-demand dynamic sensing area to replace the previous dynamic area.

[0147] Therefore, some example embodiments of the present disclosure introduce a new functional entity in the UE, for example, the UE may be a vehicle with autonomous driving or assisted driving functions. The functional entity may analyze the LIDAR scanning results and generate an on-demand dynamic sensing area. The functional entity may monitor the effectiveness of the previous on-demand sensing area based on the current vehicle position relative to the occlusion. The functional entity may also use a camera to extract semantic information of the occlusion and assess the risk level of the blind spot. Based on the above measurements and analysis, the functional entity may send an on-demand sensing request message and a release message to the SNF.

[0148] More specifically, the UE can analyze the on-board LIDAR scanning pattern to find occluders. Behind these occluders, there may be some risky moving objects hidden, which may cause a collision with the current vehicle. Any static or moving occluder whose distance from the vehicle is less than a predefined threshold can be monitored. But not all occluders may hide risky objects. Therefore, the UE can extract the occluder image and match it with the LIDAR scanning pattern of the occluder. The image can be collected via an on-board camera. The match can be based on the position and size of the occluder in both the LIDAR scanning pattern and the camera image. Afterwards, the UE can extract the semantic information of the occluder and its environmental information, such as trees, houses, schools, entrances, intersections, etc. During this period, the UE can utilize some knowledge database information.

[0149] Based on the semantic information, the UE can evaluate whether the hidden area of ​​the occluder has moving objects, such as a moving car, a moving cyclist, an animal, or a human, and whether those moving objects may intrude in front of the current UE, such as animals in a corral that will not intrude on the road and will not cause risk. Only occluders hidden in high-risk areas can be considered for requesting BS sensing. For example, the hidden area of ​​the occluder has an entrance or a passage connecting the path of the mobile UE, or the hidden area of ​​the occluder always has animals or humans that may intrude in front of the mobile UE.

[0150] For those risky areas, the UE can measure the parameters of the sensing area to sense on demand for the BS. The UE can calculate the occluder contour through the LIDAR scanning pattern and obtain the edge point positions (e.g., two edge point positions) related to the current vehicle. The two edge points of the occluder contour and the current position of the vehicle can form two half lines, such as Figure 2A and Figure 2B As shown in . In the area between the two half lines, the inner area of ​​the occluder outline is visible to the vehicle-mounted LIDAR. However, the outer area of ​​the occluder outline is not visible to the vehicle-mounted LIDAR. The UE can request the BS sensing radar to sense the blind area behind the occluder. In some cases, the occluder is a moving object, such as Figure 2CThe cars around the current vehicle shown in . In this case, in addition to the position information of the two edge points, the UE can also measure their movement status through the on-board LIDAR to obtain their speed, acceleration and yaw relative to the current vehicle. In addition to the occluder feature parameters, the UE can also provide the expected maximum BS sensing range with reference to its current speed and its distance to the occluder. Based on the occluder outline, the UE can also provide the expected minimum BS sensing range.

[0151] Finally, the UE can determine a clear on-demand sensing area, which can be a fan-shaped area surrounded by the above two half lines, the inner radius (minimum range) and the outer radius (maximum range). The UE can also determine the changing trend of the sensing area through motion parameters, such as the current vehicle position (in the earth coordinate system), the edge position of the occluder contour (in the vehicle coordinate system), the maximum radius, the minimum radius, the current vehicle speed, acceleration and yaw (in the earth coordinate system), the moving occluder speed, acceleration and yaw (in the vehicle coordinate system), etc. After measuring and calculating the on-demand sensing area characteristics, the UE can generate an on-demand dynamic sensing request message. The request message may include sensing area characteristic parameters and indication information, such as an occluder semantic description (for example, what it is), an on-demand sensing area index, a UE identifier, etc.

[0152] Fig.14 An example 1400 of SFN functions for supporting on-demand dynamic sensing according to some example embodiments of the present disclosure is shown. It should be noted that these SFN functions can be Figure 1 However, it should be understood that these SFN functions are described for illustrative purposes only and do not imply any limitation on the scope of the present disclosure. Fig.14 As shown in , SFN functions may include calculating sensing area function 1402 , selecting BS function 1404 , configuring and enabling BS sensing radar function 1406 , sensing result evaluation function 1408 , on-demand sensing message generation function 1410 , and vehicle position update function 1412 .

[0153] Some example embodiments of the present disclosure introduce a new functional entity in the SNF. The functional entity can select and configure a BS sensing radar according to an on-demand dynamic sensing request of the UE. For example, for each on-demand dynamic sensing request, the functional entity can select one or more base stations. One or more base stations can be selected to sense an on-demand sensing area. The functional entity can calculate and track the dynamic sensing area based on motion parameters. The functional entity can respond to the on-demand sensing request message of the UE to report the sensing result to the UE.

[0154] In an example embodiment, a UE (e.g., associated with a vehicle with autonomous or assisted driving capabilities) may have a new capability to request a BS sensing radar to sense some sensing areas, and also inform them how to adjust those sensing areas as the UE moves. An on-demand sensing request message may be sent to an SNF, which may select and configure one or more BSs to sense the blind area of ​​the UE. Once the sensing radar begins sensing the on-demand area, the SNF may collect the sensing results and send risky mobile objects to the UE as a response to the UE request. Based on the UE request message, the BS sensing radar may perform on-demand sensing. The BS sensing radar may be triggered by the UE and sense special areas at special times. In this way, higher sensing efficiency may be obtained and BS resources, such as time resources, frequency resources, space resources, power resources, etc., may be saved.

[0155] In some example embodiments, the SNF may be responsible for configuring and controlling the BS sensing radar according to the on-demand dynamic sensing request of the UE. Once the SNF receives the on-demand sensing request of a new UE, the SNF may calculate the sensing area and set the sensing period. In each sensing period, the SNF may update the sensing area based on the motion parameters of the on-demand dynamic sensing area. For each on-demand sensing period, the SNF may select a sensing BS and allocate resources such as time resources, frequency resources, space resources, and power resources to the selected BS. The BS sensing radar may sense the corresponding dynamic area and extract the mobile object from the sensing data and send the sensing result to the SNF.

[0156] The SNF can collect sensing results from the BS, analyze all sensed mobile objects, and evaluate the risk level with reference to the position and motion state of the mobile objects relative to the current vehicle. For example, any mobile object close to the vehicle and with a high speed towards the vehicle can be indicated as high risk and immediately notified to the UE. On the other hand, any mobile object far away from the vehicle can be indicated as low risk or no risk. The mobile object can be monitored without being immediately reported to the UE.

[0157] For each on-demand sensing request, the SNF may provide a series of responses to the UE. Response messages may be sent to the UE in a sensing cycle until a new request message or a release message corresponding to the current on-demand sensing area is received. For those high-risk objects, the SNF may insert additional responses to inform the UE. After each sensing cycle, the UE's location may be updated, and the SNF may recalculate the sensing area in the next sensing cycle.

[0158] Fig.15 An example of an on-demand dynamic sensing operation process 1500 according to some example embodiments of the present disclosure is shown. It should be noted that the operation process 1500 can be considered as another example of the process flow 300. Fig.1515, UE 1502 refers to user equipment, RAN 1504 refers to radio access network, AMF 1506 refers to access and mobility management function, SNF 1508 refers to sensing network function, NEF 1510 refers to network exposure function, and AF 1512 refers to application function.

[0159] It should be noted that any one or more of AMF 1506, SNF 1508, NEF 1510 and AF 1512 may be implemented in one or more core network devices, such as in Figure 1 In the example operation process 1500, the core functions AMF 1506, NEF 1510 and AF 1512 may be used to transmit request and response messages between UE 1502 and SNF 1508. However, it should be understood that these core network functions are described for illustration purposes only and do not imply any limitation on the scope of the present disclosure.

[0160] At 1520, the UE 1502 may generate an on-demand dynamic sensing area. At 1522, the UE 1502 may send an on-demand dynamic sensing request to the AF 1512. At 1524, the AF 1512 may send an on-demand dynamic sensing request to the NEF 1510. At 1526, the NEF 1510 may send an on-demand dynamic sensing request to the AMF 1506. At 1528, the AMF 1506 may send an on-demand dynamic sensing request to the SNF 1508. At 1530, the SNF 1508 may extract the dynamic sensing area and update the dynamic sensing area. At 1532, the SNF 1508 may select a base station (BS) to sense the dynamic sensing area. At 1534, the SNF 1508 may send a BS sensing control to the AMF 1506. At 1536, the AMF 1506 may send a BS sensing control to the RAN 1504.

[0161] At 1538, the RAN 1504 may perform BS sensing measurements. At 1540, the RAN 1504 may perform BS sensing calculations. At 1542, the RAN 1504 may send the BS sensing results to the AMF 1506. At 1544, the AMF 1506 may send the BS sensing results to the SNF 1508. At 1546, the SNF 1508 may collect the sensing results. At 1548, the SNF 1508 may send an on-demand dynamic sensing response to the AMF 1506. At 1550, the AMF 1506 may send an on-demand dynamic sensing response to the NEF 1510. At 1552, the NEF 1510 may send an on-demand dynamic sensing response to the AF 1512. At 1554, the AF 1512 may send an on-demand dynamic sensing response to the UE 1502.

[0162] Fig.16 1600 is a flowchart of a method implemented at a core network device according to some example embodiments of the present disclosure. For discussion purposes, reference will be made to Figure 1 Method 1600 is described from the perspective of core network device 110 .

[0163] At block 1602, the core network device 110 receives a sensing request indicating an initial sensing area and a change trend of the initial sensing area from the terminal device 130-1. At block 1604, the core network device 110 sends a sensing instruction for sensing a target sensing area determined based on the initial sensing area and the change trend to the access network device 120-1. At block 1606, the core network device 110 receives a sensing result of the target sensing area from the access network device 120-1. At block 1608, the core network device 110 sends a sensing response determined based on the sensing result to the terminal device 130-1.

[0164] In some example embodiments, the sensing request includes at least one of the following to indicate the initial sensing area: the current location of the terminal device 130-1, an edge point of the outline of the obstruction associated with the initial sensing area, a lower sensing radius of the initial sensing area, and an upper sensing radius of the initial sensing area.

[0165] In some example embodiments, the sensing request includes at least one of the following to indicate a changing trend: a current location of the terminal device 130-1, motion information of the terminal device 130-1, and motion information of a moving obstruction associated with the initial sensing area relative to the terminal device 130-1.

[0166] In some example embodiments, the sensing request further includes at least one of: semantic information of the occluder associated with the initial sensing region, an identifier of the initial sensing region, and an identifier of the terminal device 130 - 1 .

[0167] In some example embodiments, in response to receiving a sensing release indication from terminal device 130 - 1 , core network device 110 sends a sensing release instruction to access network device 120 - 1 to release sensing of the target sensing area.

[0168] In some example embodiments, the sensing result includes at least one of: an indication of a mobile object in the target sensing area, a position of the mobile object, motion information of the mobile object, and an identifier of the target sensing area.

[0169] In some example embodiments, core network device 110 generates a sensing response to include the sensing result.

[0170] In some example embodiments, the core network device 110 obtains the position and motion information of the terminal device 130-1 from a sensing request; determines the position and motion information of the mobile object from the sensing result; and, for a vehicle associated with the terminal device 130-1, determines the risk level of the mobile object based on the position and motion information of the terminal device 130-1 and the position and motion information of the mobile object.

[0171] In some example embodiments, in response to determining that the risk level of the mobile object is above a predefined threshold level, core network device 110 generates a sensing response to include an indication of the mobile object, location, and motion information.

[0172] In some example embodiments, the core network device 110 determines the risk level in the following manner: in response to determining that the distance between the mobile object and the terminal device 130-1 is lower than a predefined threshold distance and the speed of the mobile object relative to the terminal device 130-1 is higher than a predefined threshold speed, the risk level is determined to be a high risk level; and in response to determining that the distance is higher than a predefined threshold distance or the speed is lower than a predefined threshold speed, the risk level is determined to be a low risk level.

[0173] In some example embodiments, in response to determining the risk level as a high risk level, core network device 110 immediately sends an indication of the mobile object to terminal device 130-1; and in response to determining the risk level as a low risk level, core network device 110 monitors the mobile object without immediately sending an indication of the mobile object to terminal device 130-1.

[0174] In some example embodiments, the core network device 110 selects one or more access network devices from a plurality of candidate access network devices for sensing the target sensing area, and the access network device 120 - 1 is one of the one or more selected access network devices.

[0175] In some example embodiments, the sensing instruction includes at least one of: resource allocation information for allocating sensing resources to the access network device 120-1 for sensing the target sensing area, and sensor configuration information for configuring a sensor of the access network device 120-1 to sense the target sensing area.

[0176] In some example embodiments, the core network device 110 determines a sensing period for periodically updating the target sensing area.

[0177] In some example embodiments, the core network device 110 sends the sensing response by periodically sending a plurality of sensing responses based on a sensing period, the sensing response being one of the plurality of sensing responses.

[0178] In some example embodiments, in response to an end point of the sensing period, the core network device 110 updates the target sensing area based on the change trends of the target sensing area and the initial sensing area.

[0179] In some example embodiments, the core network device 110 reselects one or more access network devices from a plurality of candidate access network devices for sensing the updated target sensing area.

[0180] In some example embodiments, the core network device 110 sends updated sensing instructions for sensing an updated target sensing area to each of the one or more reselected access network devices; receives updated sensing results for the updated target sensing area from the one or more reselected access network devices; and sends an updated sensing response determined based on the updated sensing results to the terminal device 130-1.

[0181] In some example embodiments, core network device 110 receives a new sensing request indicating a new initial sensing area and a new change trend of the new initial sensing area from terminal device 130-1; and sends a new sensing instruction to access network device 120-1 for sensing a new target sensing area determined based on the new initial sensing area and the new change trend of the new initial sensing area.

[0182] In some example embodiments, core network device 110 receives another sensing request indicating another initial sensing area and another change trend of the other initial sensing area from another terminal device 130-2; determines another target sensing area based on the other initial sensing area and the other change trend; determines that the other target sensing area overlaps with the target sensing area; and sends another sensing instruction to access network device 120-1 to sense the other target sensing area.

[0183] Fig.171700 is a flowchart of a method implemented at a terminal device according to some other embodiments of the present disclosure. For the purpose of discussion, reference will be made to Figure 1 Method 1700 is described from the perspective of terminal device 130 - 1 .

[0184] At block 1702, the terminal device 130-1 determines an initial sensing area and a change trend of the initial sensing area. At block 1704, the terminal device 130-1 sends a sensing request indicating the initial sensing area and the change trend to the core network device 110. At block 1706, the terminal device 130-1 receives a sensing response associated with a target sensing area determined based on the initial sensing area and the change trend from the core network device 110.

[0185] In some example embodiments, the initial sensing area includes at least one of: a blind spot of a user of the terminal device 130-1, an area outside the user's line of sight, an area that cannot be sensed by a sensor associated with the terminal device 130-1, an area behind an obstruction, a roadside area below the road surface, and a blind spot inherent in a vehicle associated with the terminal device 130-1.

[0186] In some example embodiments, terminal device 130-1 determines the initial sensing area by determining at least one of: a current position of terminal device 130-1, an edge point of a contour of an obstruction, a lower sensing radius of the initial sensing area, and an upper sensing radius of the initial sensing area.

[0187] In some example embodiments, terminal device 130-1 determines the change trend by determining at least one of: a current location of terminal device 130-1; motion information of terminal device 130-1; and motion information of a mobile obstruction associated with an initial sensing area relative to terminal device 130-1.

[0188] In some example embodiments, the sensing request further includes at least one of: semantic information of the occluder associated with the initial sensing region, an identifier of the initial sensing region, and an identifier of the terminal device 130 - 1 .

[0189] In some example embodiments, in response to determining that the area to be sensed can no longer be determined based on the initial sensing area and the change trend, the terminal device 130 - 1 sends a new sensing request indicating a new initial sensing area and a new change trend of the new initial sensing area to the core network device 110 .

[0190] In some example embodiments, in response to determining that the area determined based on the initial sensing area and the change trend no longer needs to be sensed, the terminal device 130 - 1 sends a sensing release indication to the core network device 110 .

[0191] In some example embodiments, the sensing response indicates one or more mobile objects having a risk level to a vehicle associated with terminal device 130 - 1 above a predefined threshold level.

[0192] In some example embodiments, terminal device 130-1 determines an initial sensing area by: detecting an obstruction whose distance from terminal device 130-1 is less than a predefined threshold distance; determining, for a vehicle associated with terminal device 130-1, whether there is a risk in a hidden area of ​​the obstruction; and in response to determining that there is a risk in the hidden area, determining the hidden area as the initial sensing area.

[0193] In some example embodiments, terminal device 130-1 detects an occluder by: obtaining a LIDAR scan pattern of the occluder using a LIDAR associated with terminal device 130-1; obtaining an image of the occluder using a camera associated with terminal device 130-1; and determining the occluder by matching the LIDAR scan pattern with the image.

[0194] In some example embodiments, terminal device 130-1 determines whether there is a risk by: determining semantic information and environmental information of the obstruction based on a knowledge database; evaluating the presence of a moving object in the hidden area based on the semantic information and environmental information; and determining the possibility of a collision between the moving object and a vehicle associated with terminal device 130-1.

[0195] In some example embodiments, the terminal device 130 - 1 receives the sensing response by periodically receiving a plurality of sensing responses, the sensing response being one of the plurality of sensing responses.

[0196] In some example embodiments, terminal device 130 - 1 receives an indication of a moving object having a high risk level to a vehicle associated with terminal device 130 - 1 from core network device 110 ; and causes the vehicle to be controlled to avoid collision with the moving object.

[0197] In some example embodiments, the terminal device 130 - 1 receives, from the core network device 110 , an updated sensing response associated with an updated target sensing area determined based on the target sensing area and the change trend.

[0198] Fig.18 1800 is a flowchart of a method implemented at an access network device according to some other embodiments of the present disclosure. For discussion purposes, reference will be made to Figure 1 Method 1800 is described from the perspective of access network device 120 - 1 .

[0199] At block 1802, access network device 120-1 receives a sensing instruction for sensing a target sensing area determined based on an initial sensing area associated with terminal device 130-1 and a change trend of the initial sensing area from core network device 110. At block 1804, access network device 120-1 obtains a sensing result by sensing the target sensing area using a sensor of access network device 120-1. At block 1806, access network device 120-1 sends the sensing result to core network device 110.

[0200] In some example embodiments, the access network device 120-1 senses the target sensing area in the following manner: obtaining at least one of first motion information of the terminal device 130-1 and second motion information of the moving obstruction relative to the terminal device 130-1 from a sensing instruction; and tracking the target sensing area based on at least one of the first motion information and the second motion information.

[0201] In some example embodiments, in response to receiving a sensing release instruction from core network device 110 to release sensing of a target sensing area, access network device 120 - 1 switches a sensor of access network device 120 - 1 to a power saving state.

[0202] In some example embodiments, access network device 120-1 obtains sensing results by: determining an identifier of a mobile object detected in a target sensing area; determining a position of the mobile object, determining motion information of the mobile object relative to terminal device 130-1, and determining an identifier of the target sensing area.

[0203] In some example embodiments, the access network device 120 - 1 obtains resource allocation information for allocating sensing resources for the access network device 120 - 1 for sensing the target sensing area from the sensing instruction; and senses the target sensing area using the allocated sensing resources.

[0204] In some example embodiments, the access network device 120 - 1 obtains sensor configuration information for configuring a sensor of the access network device 120 - 1 to sense a target sensing area from a sensing instruction; and configures the sensor of the access network device 120 - 1 based on the sensor configuration information.

[0205] In some example embodiments, access network device 120-1 receives another sensing instruction from core network device 110 to sense another target sensing area that overlaps with the target sensing area; obtains another sensing result by sensing the other target sensing area using a sensor of access network device 120-1; and sends the other sensing result to core network device 110.

[0206] In some example embodiments, access network device 120 - 1 receives an updated sensing instruction to sense an updated target sensing area from core network device 110 ; obtains an updated sensing result by sensing the updated target sensing area using a sensor of access network device 120 - 1 ; and sends the updated sensing result to core network device 110 .

[0207] In some example embodiments, an apparatus capable of performing method 1600 (e.g., core network device 110) may include a component for performing the corresponding steps of method 1600. The component may be implemented in any suitable form. For example, the component may be implemented in a circuit or a software module.

[0208] In some example embodiments, the apparatus includes: a component for receiving, at a core network device and from a terminal device, a sensing request indicating an initial sensing area and a changing trend of the initial sensing area; a component for sending, to an access network device, a sensing instruction for sensing a target sensing area determined based on the initial sensing area and the changing trend; a component for receiving a sensing result of the target sensing area from the access network device; and a component for sending, to the terminal device, a sensing response determined based on the sensing result.

[0209] In some example embodiments, the sensing request includes at least one of the following to indicate the initial sensing area: a current location of the terminal device, an edge point of a contour of an obstruction associated with the initial sensing area, a lower sensing radius of the initial sensing area, and an upper sensing radius of the initial sensing area.

[0210] In some example embodiments, the sensing request includes at least one of the following to indicate a change trend: a current location of the terminal device, motion information of the terminal device, and motion information of a mobile obstruction associated with the initial sensing area relative to the terminal device.

[0211] In some example embodiments, the sensing request further includes at least one of: semantic information of an occluder associated with the initial sensing region, an identifier of the initial sensing region, and an identifier of the terminal device.

[0212] In some example embodiments, the apparatus further comprises means for sending a sensing release instruction to release sensing of the target sensing area to the access network device in response to receiving a sensing release indication from the terminal device.

[0213] In some example embodiments, the sensing result includes at least one of: an indication of a mobile object in the target sensing area, a position of the mobile object, motion information of the mobile object, and an identifier of the target sensing area.

[0214] In some example embodiments, the apparatus further comprises means for generating a sensing response to comprise the sensing result.

[0215] In some example embodiments, the apparatus further includes: a component for obtaining position and motion information of a terminal device from a sensing request; a component for determining position and motion information of a mobile object from a sensing result; and a component for determining a risk level of a mobile object for a vehicle associated with the terminal device based on the position and motion information of the terminal device and the position and motion information of the mobile object.

[0216] In some example embodiments, the apparatus further comprises means for generating a sensing response to include the indication, position and motion information of the moving object in response to determining that the risk level of the moving object is above a predefined threshold level.

[0217] In some example embodiments, the component for determining the risk level includes: a component for determining the risk level as a high risk level in response to determining that the distance between the mobile object and the terminal device is lower than a predefined threshold distance and the speed of the mobile object relative to the terminal device is higher than a predefined threshold speed; and a component for determining the risk level as a low risk level in response to determining that the distance is higher than the predefined threshold distance or the speed is lower than a predefined threshold speed.

[0218] In some example embodiments, the apparatus further includes: a component for immediately sending an indication of the mobile object to a terminal device in response to determining the risk level to be a high risk level; and a component for monitoring the mobile object without immediately sending an indication of the mobile object to the terminal device in response to determining the risk level to be a low risk level.

[0219] In some example embodiments, the apparatus further comprises means for selecting one or more access network devices from a plurality of candidate access network devices for sensing the target sensing area, the access network device being one of the one or more selected access network devices.

[0220] In some example embodiments, the sensing instruction includes at least one of: resource allocation information for allocating sensing resources to the access network device for sensing the target sensing area, and sensor configuration information for configuring a sensor of the access network device to sense the target sensing area.

[0221] In some example embodiments, the apparatus further comprises means for determining a sensing period for periodically updating the target sensing area.

[0222] In some example embodiments, the means for transmitting the sensing response comprises means for periodically transmitting the plurality of sensing responses based on a sensing period, the sensing response being one of the plurality of sensing responses.

[0223] In some example embodiments, the apparatus further comprises: means for updating the target sensing area based on change trends of the target sensing area and the initial sensing area in response to an end point of the sensing period.

[0224] In some example embodiments, the apparatus further comprises: means for reselecting one or more access network devices from a plurality of candidate access network devices for sensing the updated target sensing area.

[0225] In some example embodiments, the apparatus further includes: a component for sending updated sensing instructions for sensing an updated target sensing area to each of one or more reselected access network devices; a component for receiving updated sensing results for the updated target sensing area from the one or more reselected access network devices; and a component for sending an updated sensing response determined based on the updated sensing results to the terminal device.

[0226] In some example embodiments, the apparatus further includes: a component for receiving a new sensing request indicating a new initial sensing area and a new change trend of the new initial sensing area from a terminal device; and a component for sending a new sensing instruction to an access network device for sensing a new target sensing area determined based on the new initial sensing area and the new change trend of the new initial sensing area.

[0227] In some example embodiments, the apparatus further includes: a component for receiving another sensing request indicating another initial sensing area and another change trend of the other initial sensing area from another terminal device; a component for determining another target sensing area based on the other initial sensing area and the other change trend; a component for determining that another target sensing area overlaps with the target sensing area; and a component for sending another sensing instruction to the access network device to sense the other target sensing area.

[0228] In some example embodiments, the apparatus further comprises means for performing other steps in some example embodiments of method 1600. In some example embodiments, the apparatus comprises at least one processor; and at least one memory, the at least one memory comprising computer program code, the at least one memory and the computer program code being configured to, together with the at least one processor, cause the performance of the apparatus.

[0229] In some example embodiments, an apparatus capable of executing method 1700 (e.g., terminal device 130-1) may include a component for executing the corresponding steps of method 1700. The component may be implemented in any suitable form. For example, the component may be implemented in a circuit or a software module.

[0230] In some example embodiments, the apparatus includes: a component for determining an initial sensing area and a changing trend of the initial sensing area at a terminal device; a component for sending a sensing request indicating the initial sensing area and the changing trend to a core network device; and a component for receiving, from the core network device, a sensing response associated with a target sensing area determined based on the initial sensing area and the changing trend.

[0231] In some example embodiments, the initial sensing area includes at least one of: a blind spot of a user of the terminal device, an area outside the user's line of sight, an area that cannot be sensed by a sensor associated with the terminal device, an area behind an obstruction, a roadside area below the road surface, and a blind spot inherent in a vehicle associated with the terminal device.

[0232] In some example embodiments, the component for determining the initial sensing area includes a component for determining at least one of: a current position of the terminal device, an edge point of a contour of an obstruction, a lower sensing radius of the initial sensing area, and an upper sensing radius of the initial sensing area.

[0233] In some example embodiments, the component for determining the change trend includes a component for determining at least one of: a current location of the terminal device; motion information of the terminal device; and motion information of a mobile obstruction associated with an initial sensing area relative to the terminal device.

[0234] In some example embodiments, the sensing request further includes at least one of: semantic information of an occluder associated with the initial sensing region, an identifier of the initial sensing region, and an identifier of the terminal device.

[0235] In some example embodiments, the apparatus further comprises: means for sending a new sensing request indicating a new initial sensing area and a new change trend of the new initial sensing area to a core network device in response to determining that the area to be sensed can no longer be determined based on the initial sensing area and the change trend.

[0236] In some example embodiments, the apparatus further comprises means for sending a sensing release indication to the core network device in response to determining that the area determined based on the initial sensing area and the change trend no longer needs to be sensed.

[0237] In some example embodiments, the sensing response indicates one or more mobile objects having a risk level with a vehicle associated with the terminal device above a predefined threshold level.

[0238] In some example embodiments, components for determining an initial sensing area include: components for detecting an obstruction whose distance from a terminal device is less than a predefined threshold distance; components for determining whether there is a risk in a hidden area of ​​the obstruction for a vehicle associated with the terminal device; and components for determining the hidden area as an initial sensing area in response to determining that there is a risk in the hidden area.

[0239] In some example embodiments, the components for detecting an occluder include: components for obtaining a LIDAR scan pattern of the occluder using a LIDAR associated with a terminal device; components for obtaining an image of the occluder using a camera associated with the terminal device; and components for determining the occluder by matching the LIDAR scan pattern with the image.

[0240] In some example embodiments, components for determining whether a risk exists include: components for determining semantic information and environmental information of an obstruction based on a knowledge database; components for evaluating the presence of a mobile object in a hidden area based on the semantic information and environmental information; and components for determining the possibility of a collision between a mobile object and a vehicle associated with a terminal device.

[0241] In some example embodiments, the means for receiving a sensed response comprises means for periodically receiving a plurality of sensed responses, the sensed response being one of the plurality of sensed responses.

[0242] In some example embodiments, the apparatus further comprises: means for receiving an indication from a core network device of a mobile object having a high risk level to a vehicle associated with the terminal device; and means for causing the vehicle to be controlled to avoid collision with the mobile object.

[0243] In some example embodiments, the apparatus further comprises means for receiving, from the core network device, an updated sensing response associated with an updated target sensing area determined based on the target sensing area and the changing trend.

[0244] In some example embodiments, the apparatus further comprises means for performing other steps in some example embodiments of method 1700. In some example embodiments, the apparatus comprises at least one processor; and at least one memory, the at least one memory comprising computer program code, the at least one memory and the computer program code being configured to, together with the at least one processor, cause the performance of the apparatus.

[0245] In some example embodiments, an apparatus capable of performing method 1800 (e.g., access network device 120-1) may include a component for performing the corresponding steps of method 1800. The component may be implemented in any suitable form. For example, the component may be implemented in a circuit or a software module.

[0246] In some example embodiments, the apparatus includes: a component for receiving, at an access network device and from a core network device, a sensing instruction for sensing a target sensing area determined based on an initial sensing area associated with a terminal device and a changing trend of the initial sensing area; a component for obtaining a sensing result by sensing the target sensing area using a sensor of the access network device; and a component for sending the sensing result to the core network device.

[0247] In some example embodiments, a component for sensing a target sensing area includes: a component for obtaining at least one of first motion information of a terminal device and second motion information of a moving obstruction relative to the terminal device from a sensing instruction; and a component for tracking the target sensing area based on at least one of the first motion information and the second motion information.

[0248] In some example embodiments, the apparatus further comprises means for switching the sensor of the access network device to a power saving state in response to receiving a sensing release instruction from the core network device to release sensing of the target sensing area.

[0249] In some example embodiments, the components for obtaining a sensing result include: a component for determining an identifier of a mobile object detected in a target sensing area; a component for determining a position of the mobile object, determining motion information of the mobile object relative to a terminal device, and a component for determining an identifier of the target sensing area.

[0250] In some example embodiments, the apparatus further comprises: means for obtaining, from the sensing instruction, resource allocation information for allocating sensing resources to the access network device for sensing the target sensing area; and means for sensing the target sensing area using the allocated sensing resources.

[0251] In some example embodiments, the apparatus further comprises: means for obtaining sensor configuration information for configuring a sensor of the access network device to sense a target sensing area from the sensing instruction; and means for configuring the sensor of the access network device based on the sensor configuration information.

[0252] In some example embodiments, the apparatus further includes: a component for receiving another sensing instruction from a core network device for sensing another target sensing area that overlaps with the target sensing area; a component for obtaining another sensing result by sensing the other target sensing area using a sensor of the access network device; and a component for sending the other sensing result to the core network device.

[0253] In some example embodiments, the apparatus further comprises: a component for receiving an updated sensing instruction for sensing an updated target sensing area from a core network device; a component for obtaining an updated sensing result by sensing the updated target sensing area using a sensor of the access network device; and a component for sending the updated sensing result to the core network device.

[0254] In some example embodiments, the apparatus further comprises means for performing other steps in some example embodiments of method 1800. In some example embodiments, the apparatus comprises at least one processor; and at least one memory, the at least one memory comprising computer program code, the at least one memory and the computer program code being configured to, together with the at least one processor, cause the performance of the apparatus.

[0255] Fig.19 1 shows a simplified block diagram of a device 1900 suitable for implementing some example embodiments of the present disclosure. The device 1900 may be provided to implement a communication device, such as Figure 1 The core network device 110, access network device 120 or terminal device 130 shown in FIG. As shown in the figure, the device 1900 includes one or more processors 1910, one or more memories 1920 coupled to the processor 1910, and one or more communication modules 1940 coupled to the processor 1910.

[0256] The communication module 1940 is used for two-way communication. The communication module 1940 has at least one antenna to facilitate communication. The communication interface may represent any interface necessary to communicate with other network elements.

[0257] Processor 1910 may be of any type suitable for the local technology network, and may include one or more of the following: a general purpose computer, a special purpose computer, a microprocessor, a digital signal processor (DSP), and a processor based on a multi-core processor architecture, as non-limiting examples. Device 1900 may have multiple processors, such as application specific integrated circuit chips, which are time-slaved to a clock synchronized with a main processor.

[0258] The memory 1920 may include one or more non-volatile memories and one or more volatile memories. Examples of non-volatile memories include, but are not limited to, read-only memory (ROM) 1924, electrically programmable read-only memory (EPROM), flash memory, hard disk, compact disk (CD), digital video disk (DVD), and other magnetic storage and / or optical storage. Examples of volatile memories include, but are not limited to, random access memory (RAM) 1922 and other volatile memories that will not persist during a power outage.

[0259] Computer program 1930 includes computer executable instructions executed by associated processor 1910. Program 1930 may be stored in ROM 1924. Processor 1910 may perform any suitable actions and processes by loading program 1930 into RAM 1922.

[0260] The embodiments of the present disclosure can be implemented by means of program 1930, so that device 1900 can execute the following steps: Figures 3 to 18 Any process of the present disclosure discussed. The embodiments of the present disclosure may also be implemented by hardware or by a combination of software and hardware.

[0261] In some example embodiments, the program 1930 may be tangibly embodied in a computer-readable medium, which may be included in the device 1900 (such as in the memory 1920) or in other storage devices accessible to the device 1900. The device 1900 may load the program 1930 from the computer-readable medium to the RAM 1922 for execution. The computer-readable medium may include any type of tangible non-volatile storage, such as ROM, EPROM, flash memory, hard disk, CD, DVD, etc.

[0262] Fig. 20 1 shows a block diagram of an example of a computer readable medium 2000 according to some example embodiments of the present disclosure. The computer readable medium 2000 has a program 1030 stored thereon. Fig. 20 Computer readable medium 2000 is depicted in the form of a CD or DVD, but computer readable medium 2000 may be in any other form suitable for carrying or maintaining program 1030.

[0263] Generally, various embodiments of the present disclosure may be implemented in hardware or dedicated circuits, software, logic, or any combination thereof. Some aspects may be implemented in hardware, while other aspects may be implemented in firmware or software that may be executed by a controller, microprocessor, or other computing device. Although various aspects of the embodiments of the present disclosure are shown and described as block diagrams, flow charts, or using some other graphical representations, it should be understood that the blocks, devices, systems, techniques, or methods described herein may be implemented in hardware, software, firmware, dedicated circuits or logic, general hardware or controllers or other computing devices, or some combination thereof, as non-limiting examples.

[0264] The present disclosure also provides at least one computer program product tangibly stored on a non-transitory computer-readable storage medium. The computer program product includes computer executable instructions, such as instructions included in a program module, which are executed in a device on a target real or virtual processor to perform the above-referenced Fig.16 , Fig.17or Fig.18 The described methods 1600, 1700 or 1800. Typically, program modules include routines, programs, libraries, objects, classes, components, data structures, etc. that perform specific tasks or implement specific abstract data types. The functions of program modules can be combined or split between program modules as needed in various embodiments. The machine executable instructions of program modules can be executed in local or distributed devices. In distributed devices, program modules can be located in both local and remote storage media.

[0265] The program code for executing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that when the program code is executed by the processor or controller, the program code enables the functions / operations specified in the flow chart and / or block diagram to be realized. The program code can be executed entirely on the machine, partially on the machine, as an independent software package, partially on the machine and partially on a remote machine, or completely on a remote machine or server.

[0266] In the context of the present disclosure, computer program codes or related data may be carried by any suitable carrier to enable a device, apparatus or processor to perform various processes and operations as described above. Examples of carriers include signals, computer readable media, etc.

[0267] The computer readable medium may be a computer readable signal medium or a computer readable storage medium. The computer readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination thereof. More specific examples of computer readable storage media will include an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0268] In addition, although operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in chronological order, or requiring that all operations shown be performed to achieve the desired result. In some cases, multitasking and parallel processing may be advantageous. Similarly, although several specific implementation details are included in the above discussion, these should not be interpreted as limitations on the scope of the present disclosure, but rather as descriptions of features that may be specific to a particular embodiment. Certain features described in the context of a separate embodiment may also be implemented in combination in a single embodiment. On the contrary, the various features described in the context of a single embodiment may also be implemented in multiple embodiments individually or in any suitable sub-combination.

[0269] Although the disclosure has been described in language specific to structural features and / or methodological acts, it should be understood that the disclosure defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

Claims

1. A core network device, comprising: processor; as well as a transceiver communicatively coupled to the processor, The processor is configured to cause the core network device to: receiving, from a terminal device, a sensing request indicating an initial sensing area and a change trend of the initial sensing area; Sending a sensing instruction to the access network device for sensing a target sensing area determined based on the initial sensing area and the change trend; receiving a sensing result of the target sensing area from the access network device; as well as A sensing response determined based on the sensing result is sent to the terminal device.

2. The core network device according to claim 1, wherein the sensing request includes at least one of the following for indicating the initial sensing area: the current location of the terminal device, edge points of the outline of the occluder associated with the initial sensing area, The lower sensing radius of the initial sensing area, The upper sensing radius of the initial sensing area.

3. The core network device according to any one of claims 1 to 2, wherein the sensing request includes at least one of the following to indicate the change trend: the current location of the terminal device, Movement information of the terminal device, and Movement information of a moving obstruction associated with the initial sensing area relative to the terminal device.

4. The core network device according to any one of claims 1 to 3, wherein the sensing request further comprises at least one of the following: semantic information of occluders associated with the initial sensing area, an identifier of the initial sensing area, and The identifier of the terminal device.

5. The core network device according to any one of claims 1 to 4, wherein the core network device is further configured to: In response to receiving a sensing release indication from the terminal device, sending a sensing release instruction for releasing sensing of the target sensing area to the access network device.

6. The core network device according to any one of claims 1 to 5, wherein the sensing result comprises at least one of the following: an indication of a moving object in the target sensing area, The position of the mobile object, motion information of the moving object, and An identifier of the target sensing area.

7. The core network device according to claim 6, wherein the core network device is further configured to: The sensing response is generated to include the sensing result.

8. The core network device according to claim 6, wherein the core network device is further configured to: Obtaining location and motion information of the terminal device from the sensing request; determining the position and the motion information of the mobile object from the sensing result; and For a vehicle associated with the terminal device, a risk level of the mobile object is determined based on the position and the motion information of the terminal device and the position and the motion information of the mobile object.

9. The core network device according to claim 8, wherein the core network device is further configured to: In response to determining that the risk level of the moving object is above a predefined threshold level, the sensing response is generated to include the indication of the moving object, the position, and the motion information.

10. The core network device of claim 8, wherein the core network device is configured to determine the risk level by: In response to determining that the distance between the mobile object and the terminal device is lower than a predefined threshold distance and the speed of the mobile object relative to the terminal device is higher than a predefined threshold speed, determining the risk level as a high risk level; and In response to determining that the distance is above the predefined threshold distance, or the speed is below the predefined threshold speed, the risk level is determined to be a low risk level.

11. The core network device according to claim 10, wherein the core network device is further configured to: In response to determining the risk level as the high risk level, immediately sending an indication of the moving object to the terminal device; and In response to determining the risk level as the low risk level, monitoring the mobile object without immediately sending the indication of the mobile object to the terminal device.

12. The core network device according to any one of claims 1 to 11, wherein the core network device is further configured to: One or more access network devices are selected from a plurality of candidate access network devices for sensing the target sensing area, the access network device being one of the one or more selected access network devices.

13. The core network device according to any one of claims 1 to 12, wherein the sensing instruction comprises at least one of the following: resource allocation information for allocating sensing resources to the access network device for sensing the target sensing area, and Sensor configuration information for configuring the sensor of the access network device to sense the target sensing area.

14. The core network device according to any one of claims 1 to 13, wherein the core network device is further configured to: A sensing period for periodically updating the target sensing area is determined.

15. The core network device according to claim 14, wherein the core network device sends the sensing response in the following manner: A plurality of sensing responses are periodically sent based on the sensing period, the sensing response being one of the plurality of sensing responses.

16. The core network device according to any one of claims 14 to 15, wherein the core network device is further configured to: In response to an end point of the sensing period, the target sensing area is updated based on the change trends of the target sensing area and the initial sensing area.

17. The core network device according to claim 16, wherein the core network device is further configured to: One or more access network devices are reselected from the plurality of candidate access network devices for sensing the updated target sensing area.

18. The core network device according to claim 17, wherein the core network device is further configured to: sending an updated sensing instruction for sensing an updated target sensing area to each of the one or more reselected access network devices; receiving updated sensing results of the updated target sensing area from the one or more reselected access network devices; as well as An updated sensing response determined based on the updated sensing result is sent to the terminal device.

19. The core network device according to any one of claims 1 to 18, wherein the core network device is further configured to: receiving, from the terminal device, a new sensing request indicating a new initial sensing area and a new change trend of the new initial sensing area; and A new sensing instruction for sensing a new target sensing area determined based on the new initial sensing area and a new change trend of the new initial sensing area is sent to the access network device.

20. The core network device according to any one of claims 1 to 19, wherein the core network device is further configured to: receiving, from another terminal device, another sensing request indicating another initial sensing area and another change trend of the another initial sensing area; determining another target sensing area based on the another initial sensing area and the another change trend; determining that the another target sensing area overlaps with the target sensing area; and Another sensing instruction for sensing the another target sensing area is sent to the access network device.

21. A terminal device, comprising: processor; as well as a transceiver communicatively coupled to the processor, The processor is configured to enable the terminal device to: Determining an initial sensing area and a change trend of the initial sensing area; Sending a sensing request indicating the initial sensing area and the change trend to a core network device; as well as A sensing response associated with a target sensing area determined based on the initial sensing area and the change trend is received from the core network device.

22. The terminal device according to claim 21, wherein the initial sensing area comprises at least one of the following: blind area of ​​the user of the terminal device, areas outside the user's line of sight, an area that cannot be sensed by a sensor associated with the terminal device, The area behind the occluder, Roadside areas below the road surface, and Blind spots inherent in a vehicle associated with the terminal device.

23. The terminal device according to claim 22, wherein the terminal device is caused to determine the initial sensing area by determining at least one of the following: the current location of the terminal device, The edge points of the outline of the occluder, the lower sensing radius of the initial sensing area, and An upper sensing radius of the initial sensing area.

24. The terminal device according to any one of claims 21 to 23, wherein the terminal device is configured to determine the change trend by determining at least one of the following: the current location of the terminal device, Movement information of the terminal device, and Movement information of a moving obstruction associated with the initial sensing area relative to the terminal device.

25. The terminal device according to any one of claims 21 to 24, wherein the sensing request further comprises at least one of the following: semantic information of occluders associated with the initial sensing area, an identifier of the initial sensing area, and The identifier of the terminal device.

26. The terminal device according to any one of claims 21 to 25, wherein the terminal device is further caused to: In response to determining that the area to be sensed can no longer be determined based on the initial sensing area and the change trend, a new sensing request indicating a new initial sensing area and a new change trend of the new initial sensing area is sent to the core network device.

27. The terminal device according to any one of claims 21 to 26, wherein the terminal device is further caused to: In response to determining that the area determined based on the initial sensing area and the change trend no longer needs to be sensed, sending a sensing release indication to the core network device.

28. A terminal device according to any one of claims 21 to 27, wherein the sensing response indicates one or more mobile objects having a risk level of a vehicle associated with the terminal device above a predefined threshold level.

29. A terminal device according to any one of claims 21 to 28, wherein the terminal device is caused to determine the initial sensing area by: Detecting an obstruction whose distance from the terminal device is less than a predefined threshold distance; For a vehicle associated with the terminal device, determining whether there is a risk in a hidden area of ​​the shielding object; and In response to determining that there is a risk in the hidden area, the hidden area is determined as the initial sensing area.

30. The terminal device according to claim 29, wherein the terminal device is configured to detect the obstruction by: Obtaining a LIDAR scan pattern of the obstruction using a LIDAR associated with the terminal device; Using a camera associated with the terminal device to obtain an image of the obstruction; and The occluder is determined by matching the LIDAR scan pattern with the image.

31. The terminal device according to claim 30, wherein the terminal device is configured to determine whether there is a risk by: Determine semantic information and environmental information of the occluder based on a knowledge database; assessing the presence of a moving object in the hidden area based on the semantic information and the environmental information; as well as Determine whether there is a possibility of collision between the mobile object and the vehicle associated with the terminal device.

32. A terminal device according to any one of claims 21 to 31, wherein the terminal device is caused to receive the sensing response by: A plurality of sensing responses are periodically received, the sensing response being one of the plurality of sensing responses.

33. The terminal device according to any one of claims 21 to 32, wherein the terminal device is further caused to: receiving, from the core network device, an indication of a mobile object having a high risk level to a vehicle associated with the terminal device; and The vehicle is controlled to avoid collision with the moving object.

34. The terminal device according to any one of claims 21 to 33, wherein the terminal device is further caused to: An updated sensing response associated with an updated target sensing area determined based on the target sensing area and the changing trend is received from the core network device.

35. A network access device, comprising: processor; as well as a transceiver communicatively coupled to the processor, The processor is configured to enable the access network device to: receiving, from a core network device, a sensing instruction for sensing a target sensing area determined based on an initial sensing area associated with a terminal device and a change trend of the initial sensing area; Acquire a sensing result by sensing the target sensing area using a sensor of the access network device; as well as The sensing result is sent to the core network device.

36. The access network device according to claim 35, wherein the access network device is caused to sense the target sensing area by: Obtaining at least one of first motion information of the terminal device and second motion information of the moving obstruction relative to the terminal device from the sensing instruction; and The target sensing area is tracked based on the at least one of the first motion information and the second motion information.

37. The access network device according to any one of claims 35 to 36, wherein the access network device is further caused to: In response to receiving a sensing release instruction for releasing sensing of the target sensing area from the core network device, the sensor of the access network device is switched to a power saving state.

38. The access network device according to any one of claims 35 to 37, wherein the access network device is configured to obtain the sensing result in the following manner: determining an identifier of a mobile object detected in the target sensing area; determining the position of the mobile object, determining motion information of the mobile object relative to the terminal device, and An identifier of the target sensing area is determined.

39. The access network device according to any one of claims 35 to 38, wherein the access network device is further caused to: Obtaining, from the sensing instruction, resource allocation information for allocating sensing resources to the access network device for sensing the target sensing area; and The target sensing area is sensed using the allocated sensing resources.

40. The access network device according to any one of claims 35 to 39, wherein the access network device is further caused to: obtaining, from the sensing instruction, sensor configuration information for configuring the sensor of the access network device to sense the target sensing area; and The sensor of the access network device is configured based on the sensor configuration information.

41. The access network device according to any one of claims 35 to 40, wherein the access network device is further caused to: receiving from the core network device another sensing instruction for sensing another target sensing area overlapping with the target sensing area; obtaining another sensing result by sensing the another target sensing area using the sensor of the access network device; and The other sensing result is sent to the core network device.

42. The access network device according to any one of claims 35 to 41, wherein the access network device is further caused to: receiving, from the core network device, an updated sensing instruction for sensing an updated target sensing area; obtaining an updated sensing result by sensing the updated target sensing area using the sensor of the access network device; and The updated sensing result is sent to the core network device.

43. A method comprising: At a core network device, receiving a sensing request indicating an initial sensing area and a change trend of the initial sensing area from a terminal device; Sending a sensing instruction for sensing a target sensing area determined based on the initial sensing area and the change trend to an access network device; receiving a sensing result of the target sensing area from the access network device; as well as A sensing response determined based on the sensing result is sent to the terminal device.

44. A method comprising: At the terminal device, determining an initial sensing area and a change trend of the initial sensing area; Sending a sensing request indicating the initial sensing area and the change trend to a core network device; as well as A sensing response associated with a target sensing area determined based on the initial sensing area and the change trend is received from the core network device.

45. A method comprising: At the access network device, receiving from the core network device a sensing instruction for sensing a target sensing area determined based on an initial sensing area associated with the terminal device and a change trend of the initial sensing area; Acquire a sensing result by sensing the target sensing area using a sensor of the access network device; as well as The sensing result is sent to the core network device.

46. ​​An apparatus comprising: means for receiving, at a core network device, from a terminal device, a sensing request indicating an initial sensing area and a change trend of the initial sensing area; A component for sending a sensing instruction for sensing a target sensing area determined based on the initial sensing area and the change trend to an access network device; A component for receiving a sensing result of the target sensing area from the access network device; as well as A component is used to send a sensing response determined based on the sensing result to the terminal device.

47. An apparatus comprising: A component for determining an initial sensing area and a change trend of the initial sensing area at a terminal device; A component for sending a sensing request indicating the initial sensing area and the change trend to a core network device; as well as means for receiving, from the core network device, a sensing response associated with a target sensing area determined based on the initial sensing area and the changing trend.

48. An apparatus comprising: A means for receiving, at an access network device, from a core network device, a sensing instruction for sensing a target sensing area determined based on an initial sensing area associated with a terminal device and a change trend of the initial sensing area; A component for obtaining a sensing result by sensing the target sensing area using a sensor of the access network device; as well as A component for sending the sensing result to the core network device.

49. A non-transitory computer readable medium comprising program instructions for causing an apparatus to perform at least the method according to claims 43 to 45.

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