Sensing node determination method, device, equipment, system and medium

Abstract

The invention discloses a method, a device, equipment and a system for determining a positioning sensing node of a relative position, and a medium, and relates to the technical field of sensing. The method comprises: a first device receiving a perception request message sent by a second device, the perception request message comprising information of a region of interest (AOI), and the AOI being a region expected to be measured by perception measurement; sending a feedback message to the second device based on the position information of the first device and the AOI information; wherein the feedback message is used for determining the sensing node participating in the sensing measurement. Through the information of the region of interest and the position information of the first device, the second device is assisted to determine the sensing node participating in sensing measurement, a solution for determining the sensing node is provided under the condition that the device distribution is unknown, and the accuracy of determining the sensing node is improved.

Description

Method, device, equipment, system and medium for determining perception nodes Technical Field

[0001] The present application relates to the field of perception technology, and in particular to a method, apparatus, device, system, and medium for determining a perception node. Background Art

[0002] When environmental perception is achieved through radio electromagnetic waves used by cellular networks, perception measurements can be divided into active and passive perception based on the different perception targets. Active perception targets the user equipment (UE), i.e., per-UE level perception; passive perception targets the target area, i.e., per-area level perception.

[0003] In the passive perception scenario, when performing perception measurements on the target area, it is necessary to determine suitable devices in or around the target area as perception nodes, and trigger the ability to perform perception-related wireless measurements through the perception nodes, thereby starting the measurement of perception information and generating perception results.

[0004] In the related art, there is currently no feasible solution for determining the sensing nodes in the target area.

[0005] Summary of the Invention

[0006] The embodiments of the present application provide a method, apparatus, device, system, and medium for determining a sensing node, which can be used in the process of determining a sensing node during sensing measurement, thereby improving the accuracy of sensing node determination. The technical solution is as follows:

[0007] According to one aspect of the present application, a method for determining a sensing node is provided, the method being performed by a first device and comprising:

[0008] Receiving a perception request message sent by a second device, where the perception request message includes information about an area of ​​interest (AOI), where the AOI is an area that the perception measurement expects to measure;

[0009] Sending a feedback message to the second device based on the location information of the first device and the information of the AOI;

[0010] The feedback message is used to determine the sensing node participating in the sensing measurement.

[0011] According to one aspect of the present application, a method for determining a sensing node is provided, the method being performed by a second device, the method including:

[0012] Sending a perception request message to the first device, where the perception request message includes information about the AOI, where the AOI is an area that the perception measurement desires to measure;

[0013] receiving a feedback message sent by the first device;

[0014] The sensing nodes participating in the sensing measurement are determined based on the feedback message.

[0015] According to one aspect of the present application, a device for determining a sensing node is provided, the device comprising:

[0016] A first receiving module is configured to receive a sensing request message sent by a second device, where the sensing request message includes information about an AOI, where the AOI is an area that the sensing measurement desires to measure;

[0017] A first sending module, configured to send a feedback message to the second device based on the location information of the first device and the information of the AOI;

[0018] The feedback message is used to determine the sensing node participating in the sensing measurement.

[0019] According to one aspect of the present application, a device for determining a sensing node is provided, the device comprising:

[0020] A second sending module is configured to send a perception request message to the first device, where the perception request message includes information about the AOI, where the AOI is an area that the perception measurement desires to measure;

[0021] A second receiving module, configured to receive a feedback message sent by the first device;

[0022] The sensing nodes participating in the sensing measurement are determined based on the feedback message.

[0023] According to one aspect of the present application, a terminal device is provided, comprising: a processor; a transceiver connected to the processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to load and execute the executable instructions to implement the method for determining the perception node as described in the above aspects.

[0024] According to one aspect of the present application, a network device is provided, wherein the terminal device includes: a processor; a transceiver connected to the processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to load and execute the executable instructions to implement the method for determining the perception node as described in the above aspect.

[0025] According to one aspect of the present application, a computer-readable storage medium is provided, wherein the computer program product stores executable instructions, and the executable instructions are loaded and executed by the processor to implement the method for determining the perception node as described in the above aspect.

[0026] According to one aspect of the present application, a computer program product is provided, wherein executable instructions are stored in the computer program product, and the executable instructions are loaded and executed by the processor to implement the method for determining the perception node as described in the above aspect.

[0027] According to one aspect of the present application, a chip is provided, which includes a programmable logic circuit and / or program instructions, and when the chip is running, it is used to implement the method for determining the perception node as described in the above aspect.

[0028] According to one aspect of the present application, a communication system is provided, wherein the sideline communication system includes at least two terminal devices, or a terminal device and a network device, and the terminal device and the network device are used to implement the method for determining the perception node as described in the above aspects.

[0029] The beneficial effects of the technical solutions provided in the embodiments of the present application include at least:

[0030] By using the information of the area of ​​interest and the location information of the first device itself, the second device is assisted in determining the perception nodes participating in the perception measurement, providing a solution for determining the perception nodes when the device distribution is unknown, and improving the accuracy of determining the perception nodes. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0032] FIG1 shows a 5G network architecture diagram provided by an exemplary embodiment of the present application;

[0033] FIG2 shows a flowchart of UE-level perception provided by an exemplary embodiment of the present application;

[0034] FIG3 shows a flow chart of area-level awareness provided by an exemplary embodiment of the present application;

[0035] FIG4 shows a flowchart of a method for determining a sensing node provided by an exemplary embodiment of the present application;

[0036] FIG5 shows a flowchart of a method for determining a sensing node provided by an exemplary embodiment of the present application;

[0037] FIG6 shows a flowchart of a method for determining a sensing node provided by an exemplary embodiment of the present application;

[0038] FIG7 shows a flowchart of a method for determining a sensing node provided by an exemplary embodiment of the present application;

[0039] FIG8 shows a flowchart of a method for determining a sensing node provided by an exemplary embodiment of the present application;

[0040] FIG9 shows a flowchart of a method for determining a sensing node provided by an exemplary embodiment of the present application;

[0041] FIG10 shows a flowchart of a method for determining a sensing node provided by an exemplary embodiment of the present application;

[0042] FIG11 shows a flowchart of a method for determining a sensing node provided by an exemplary embodiment of the present application;

[0043] FIG12 shows a structural block diagram of a device for determining a sensing node provided by an exemplary embodiment of the present application;

[0044] FIG13 shows a structural block diagram of a device for determining a sensing node provided by an exemplary embodiment of the present application;

[0045] FIG14 shows a schematic structural diagram of a communication device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0046] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to the accompanying drawings.

[0047] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, unless otherwise indicated, like numbers in different figures represent like or similar elements. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0048] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms "a," "an," "the," and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0049] It should be understood that although the terms first, second, third, etc. may be used in this application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, for example, the term "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining."

[0050] First, the relevant technical background involved in the embodiments of this application is introduced:

[0051] Please refer to Figure 1, which shows a 5G network architecture diagram provided by an exemplary embodiment of the present application. The network structure includes a terminal UE 110, an access network (AN) 120 and a core network 130.

[0052] The terminal 110 may include various handheld devices, vehicle-mounted devices, wearable devices, computing devices, Internet of Things (IoT) devices, Industrial Internet of Things (IIoT) devices, or other processing devices connected to a wireless modem, as well as various forms of user equipment (UE), mobile stations (MS), and terminal devices. For ease of description, the above-mentioned devices are collectively referred to as terminal devices.

[0053] The access network 120 may include several access network devices, and the access network devices may be base stations. A base station is a device deployed in the access network to provide wireless communication functions for terminals. Base stations may include various forms of macro base stations, micro base stations, relay stations, access points, transmission reception points (TRPs), etc. In systems using different wireless access technologies, the names of devices with base station functions may be different. For example, in the Long Term Evolution (LTE) system, it is called eNodeB or eNB; in the 5G New Radio (NR) system, it is called gNode B or gNB. As communication technology evolves, the name "base station" may change. For the convenience of the embodiments of the present disclosure, the above-mentioned devices that provide wireless communication functions for terminals are collectively referred to as access network devices. Among them, the terminal 110 establishes an access layer connection with the access network 120 through the Uu interface, exchanges access layer messages and transmits wireless data.

[0054] The core network 130 includes several core network devices. The core network includes Access and Mobility Management Function (AMF) 131, Session Management Function (SMF) 132, Policy Control Function (PCF) 133, User Plane Function (UPF) 134, Authentication Server Function (AUSF) 135, Unified Data Management Function (UDM) 136, Network Slice Selection Function (NSSF) 137, and Application Function (AF) 138.

[0055] The terminal 110 establishes a Non-Access Stratum (NAS) connection with the AMF 131 in the core network 130 via the N1 interface, exchanging NAS messages. In addition to managing the mobility of the UE 110, the AMF 131 is also responsible for forwarding session management-related messages between the SMF 132 and the terminal 110. The above-mentioned PCF133 is responsible for formulating policies related to the mobility management, session management, billing, etc. of the terminal 110; UPF134 transmits data with the external data network (DN) 140 through the N6 interface, and transmits data with AN120 through the N3 interface; AUSF135 is used to implement 3GPP and non-3GPP access authentication; UDM136 provides 3GPP third-generation mobile communication network authentication and key agreement protocol (AKA) authentication, user identification, access authorization, registration, mobility, subscription, SMS management and other functions; NSSF137 determines the network slice instance allowed to be accessed by the terminal 110 based on the slice selection auxiliary information, contract information, etc. of the terminal 110; AF138 is used to provide access network opening function, interact with the policy framework for policy management, etc.

[0056] It should be understood that in some embodiments of the present application, the above-mentioned 5GNR system may also be referred to as a 5G system or NR. The technical solutions described in some embodiments of the present application may be applicable to the 5G NR system, to subsequent evolution systems of the 5G NR system, and to 6G and subsequent evolution systems.

[0057] Since the radio electromagnetic wave signals used by cellular networks can be used not only for wireless data transmission and communication but also for environmental perception, such as user motion or gesture recognition, breathing monitoring, terminal movement speed measurement, environmental imaging, and weather monitoring, future cellular networks can be considered not only for communication and data transmission but also for acquiring sensory information.

[0058] Currently, discussions are underway to support sensing capabilities in B5G networks. This will be achieved by adding a sensing control element (SF) and corresponding processes to 3GPP networks. In implementing sensing functions, sensing measurements can be divided into active sensing and passive sensing, depending on the sensing target. Active sensing targets the UE, meaning it is UE-level sensing. Passive sensing targets the target area or object, meaning it is area-level sensing without a specific UE and is not part of 3GPP.

[0059] In one example, as shown in FIG2 , a flowchart of UE-level perception provided by an exemplary embodiment of the present application is shown. The flowchart includes: S21, the AF sends a perception request to the perception control network element, the perception request including UE information and a perception type; S22, the perception control network element sends a first perception instruction to the mobility management network element, the first perception instruction including UE information and a perception type; S23, the mobility management network element determines a UE perception mode or a base station perception mode; S241, the mobility management network element sends a second perception instruction to the access network device, the second perception instruction including a perception type; S242, the access network device and the target UE perform perception measurements via access layer signals; S243, the access network device generates perception data; S251, the mobility management network element sends a second perception instruction to the target UE, the second perception instruction including a perception type; S252, the target UE and the access network device perform perception measurements via access layer signals; S253, the target UE generates perception data. S241 to S243 are steps corresponding to the base station perception mode, and S251 to S253 are steps corresponding to the UE perception mode.

[0060] In another example, as shown in Figure 3, it shows a flowchart of area-level perception provided by an exemplary embodiment of the present application, which process includes: S31, AF sends a perception request to the perception control network element, and the perception request includes a first target area and a perception type; S32, the perception control network element sends a first perception instruction to the mobility management network element, and the first perception instruction includes a second target area and a perception type; S33, the mobility management network element determines the perception base station; S34, the mobility management network element sends a second perception instruction to the access network device, and the second perception instruction includes a third target area and a perception type; S35, the access network device determines the auxiliary UE or auxiliary base station; S36, the access network device and the auxiliary UE or base station perform perception measurements through access layer signals; S37, the access network device generates perception data.

[0061] The two examples above are perception measurement processes achieved through cooperative perception between the terminal and the base station. In addition, other wireless perception scenarios with integrated synaesthesia are also included. Schematically, the main wireless perception scenarios with integrated synaesthesia include:

[0062] 1) Base station echo sensing link (single gNB sensing): The base station sends a sensing signal and receives an echo signal.

[0063] 2) Inter-base station sensing link (gNB-gNB sensing): Base station B receives the sensing signal sent by base station A;

[0064] 3) Air interface uplink perception link (UE-gNB uplink perception): The base station receives the perception signal sent by the terminal;

[0065] 4) Air interface downlink perception link (UE-gNB downlink perception): The terminal receives the perception signal sent by the base station;

[0066] 5) Terminal echo perception link (single UE perception): The terminal sends a perception signal and receives an echo signal;

[0067] 6) Inter-terminal perception link (UE-UE perception): Terminal B receives the perception signal sent by terminal A.

[0068] It is worth noting that in the early stages of B5G communication perception integration, consideration should be given to reusing existing air interface signals as much as possible to perform perception behaviors without introducing too much air interface enhancement; and considering the complexity of full-duplex implementation, collaborative perception between terminals and / or base stations is a priority.

[0069] Selection of perception nodes:

[0070] If the sensing target is per-UE (active sensing), it means that there is a clear target UE. Therefore, the sensing node selection process can be simplified. It is only necessary to find other UEs or gNBs around the target UE as sensing assistant nodes to jointly complete the sensing task. That is, the target UE serves as the sensing node and other UEs or gNBs serve as sensing assistant nodes. Among them, the sensing node and the sensing assistant node are both sensing participating nodes in the sensing measurement. For UE-UE perception, i.e., finding other UEs around the target UE as perception assisting nodes, available candidate perception nodes (UEs) near the UE can be determined through sidelink discovery or R18 sidelink positioning. For UE-gNB perception, i.e., finding gNBs around the target UE as perception assisting nodes, the SF or AMF can know the exact locations of the target UE's serving gNB and neighboring gNBs, and can utilize existing neighboring cell measurement reporting mechanisms, such as Reference Signal Received Power (RSRP) or Reference Signal Received Quality (RSRQ) measurement results, to select a suitable perception node (gNB) from the target UE's serving gNB and neighboring gNBs.

[0071] If the sensing target is per-area (passive sensing), it is necessary to search for a suitable gNB or UE as a sensing node or assisting sensing node for the target area. For sensing scenarios involving only gNBs, such as base station echo sensing and inter-base station sensing, the sensing node selection process involves searching for gNBs in the vicinity of the target area as sensing nodes. Since the SF or AMF knows the locations of all gNBs, no additional assistance information is required. The SF or AMF can directly select a suitable gNB in ​​or near the target area as a sensing node or assisting sensing node. However, for sensing scenarios involving UEs, such as air interface uplink sensing, air interface downlink sensing, terminal echo sensing, and inter-terminal sensing, the sensing node selection process requires searching for UEs in or near the target area as sensing nodes or assisting sensing nodes. However, the gNB, SF, and AMF do not have exact knowledge of the UE distribution in or near the target area, so UE reporting of assistance information or other mechanisms must be considered. For the target area, the core network's SF or AMF is responsible for selecting a suitable gNB. Assisting UE selection may also be handled by the gNB in ​​addition to the SF or AMF.

[0072] For area-level sensing scenarios involving UEs, the core network's SF / AMF / gNB is responsible for selecting appropriate assisting UEs around the target area as sensing nodes for sensing measurements. However, since the SF, AMF, and gNB do not have precise knowledge of the UE distribution in or near the target area, there is a problem in configuring appropriate assisting UEs as sensing nodes for the target area during sensing measurements.

[0073] To address the above issues, embodiments of the present application provide a method for determining sensing nodes and a solution for determining sensing nodes. Please refer to Figure 4, which shows a flowchart of a method for determining sensing nodes provided by an exemplary embodiment of the present application. This embodiment illustrates the method as being executed by a first device, where the first device can be either a terminal device or an access network device. The method includes the following steps:

[0074] Step 410: Receive a perception request message sent by the second device, where the perception request message includes information about the area of ​​interest (AOI).

[0075] The area of ​​interest (AOI) is an area where perception measurement is desired, i.e., the AOI information describes a geographical area where perception measurement is desired, and the second device wishes to search for potential perception nodes for the AOI. The perception measurement is a perception measurement in a cellular network.

[0076] Optionally, the geographical area indicated by the AOI can be an area of ​​cell granularity, an area of ​​gNB granularity, or an area of ​​Tracking Areas (TA) granularity. The geographical area indicated by the AOI can also be an area of ​​any granularity smaller than the cell granularity, gNB granularity, or TA granularity.

[0077] In some embodiments, when the granularity is smaller than the cell, the second device cannot grasp the location information of the first device. Therefore, it is necessary to indicate the AOI to the first device through a perception request message when performing perception measurement, so that the first device can provide feedback based on its own location and AOI to assist the second device in determining the perception node.

[0078] Optionally, the AOI information includes at least one of the following information: the reference point coordinates of the AOI and the radius of the AOI; or, the reference point coordinates of the AOI, the area length of the AOI, and the area width of the AOI; or, at least one zone identifier (Zone Identifier, zone ID), the above zone identifier is used to indicate a geographical area. Optionally, the above zone identifier can be pre-configured by the second device, or it can be determined according to the formula in Section 5.10.13.2 of the 3GPP standard 36.331 protocol.

[0079] Optionally, the above-mentioned perception request message can be carried in at least one of the following signalings: broadcast message, paging message, radio resource control (RRC) signaling, medium access control control element (MAC CE) signaling, and non-access stratum (NAS) message.

[0080] Illustratively, the second device is a device for configuring a sensing node participating in sensing measurement. Optionally, the second device may be at least one of a terminal device, an access network device, and a core network device.

[0081] Step 420: Send a feedback message to the second device based on the location information of the first device and the AOI information.

[0082] The feedback message is used to determine the sensing nodes participating in the sensing measurement. Optionally, the sensing nodes include at least one of a primary sensing node and an auxiliary sensing node participating in the sensing measurement.

[0083] In some embodiments, when the first device receives the above-mentioned perception request message, the first device obtains the location information of its own geographical location.

[0084] Optionally, the location information of the first device is obtained by a global navigation satellite system (GNSS) or mobile communication positioning technology. Optionally, when the location information of the first device is obtained by a mobile communication positioning technology, the mobile communication positioning technology may be an NR positioning technology implemented by triggering signaling interaction between a base station and a terminal, or a positioning technology such as sidelink positioning implemented by sidelink (SL) communication between terminals, which is not limited here.

[0085] Optionally, the first device's measurement of its own location information may be triggered by receiving a perception request message. That is, in response to receiving the perception request message, the first device's location is measured using a GNSS function or mobile communication positioning technology to obtain the location information. Alternatively, the first device's measurement of its own location information may be automatically performed by the first device according to a specified period. After receiving the perception request message, the most recently measured location information or the most recently valid location information is used.

[0086] In some embodiments, the first device performs a validity check on the acquired location information. If the location information of the first device is valid, a feedback message is sent to the second device based on the location information of the first device and the AOI information. In one example, if the non-immediately measured location information acquired by the first device is valid, the location information can be directly used in the process of sending the feedback message based on the location information and the AOI, i.e., there is no need to immediately trigger the measurement of the location information.

[0087] Optionally, the feedback message sent by the first device to the second device is used to indicate the matching result between the location information of the first device and the AOI, that is, the first device feeds back the matching result between the location information and the AOI to the second device, and the second device determines whether the first device is in the area of ​​interest based on the feedback message, and selects a device as a perception node from the first device in the area of ​​interest; or, the feedback message sent by the first device to the second device is used to indicate whether the first device can participate in the perception measurement, that is, when the first device is located in the area of ​​interest, a feedback message indicating that it can participate in the perception measurement is sent to the second device; when the first device is not in the area of ​​interest, a feedback message indicating that it cannot participate in the perception measurement is sent to the second device, and the second device selects a device as a perception node from the first device based on whether the first device can participate in the perception measurement.

[0088] Schematically, the first device sends a feedback message to the second device based on the matching situation between the location information and the AOI. Optionally, the first device sends different feedback messages to the second device based on different matching situations between the location information and the AOI. When the location information of the first device belongs to the AOI, a first feedback message is sent to the second device, and the first feedback message is used to indicate that the first device participates in the perception measurement; when the location information of the first device does not belong to the AOI, a second feedback message is sent to the second device, and the second feedback message is used to indicate that the first device does not participate in the perception measurement. That is, when the second device receives the feedback message sent by the first device, if the feedback message is the first feedback message, it is determined that the first device participates in the perception measurement; if the feedback message is the second feedback message, it is determined that the first device does not participate in the perception measurement.

[0089] Optionally, the first device sends a first feedback message to the second device only if its location information matches the AOI. If the first device's location information falls within the AOI, the first device sends a feedback message to the second device; if the first device's location information does not fall within the AOI, the process ends. When the second device receives the feedback message from the first device, it indicates that the first device intends to participate in the perception measurement. If the second device does not receive the feedback message from the first device, it indicates that the first device does not participate in the perception measurement.

[0090] In some embodiments, in addition to sending a feedback message based on the matching between the location information of the first device and the AOI, the first device may also be set based on whether the device itself is willing to participate in the perception measurement.

[0091] In one example, if the first device's location information is within the AOI, but the first device's settings indicate that the first device does not participate in sensing measurements, a second feedback message is sent to the second device. That is, if the first device's location is within the AOI but the first device does not wish to become a sensing node, the second feedback message is sent to the second device.

[0092] In another example, when the first device receives a perception request message, it first determines whether the first device wants to participate in the perception measurement based on the setting information of the first device. When it is determined that the setting information of the first device indicates that the first device does not participate in the perception measurement, the first device directly feeds back a second feedback message to the second device, or the first device does not send a feedback message to indicate that the first device does not participate in the perception measurement; when the setting information of the first device indicates that the first device wants to participate in the perception measurement, the feedback message is sent based on the location information of the first device and the AOI information in the perception request message.

[0093] Optionally, the feedback message is carried in at least one of RRC signaling, MAC CE signaling, and NAS message.

[0094] In some embodiments, when reporting the feedback message, the first device will also report other measurement results to the second device, that is, the first device reports the measurement results to the second device, and the measurement results include at least one of RSRP measurement results, direct path probability, and indirect path probability.

[0095] To sum up, the method provided in this embodiment assists the second device in determining the perception nodes participating in the perception measurement through the information of the area of ​​interest and the location information of the first device itself, provides a solution for determining the perception nodes when the device distribution is unknown, and improves the accuracy of determining the perception nodes.

[0096] In some embodiments, the AOI information is the first configuration condition indicated by the perception request message, and the perception request message also includes the second configuration condition. That is, the first device sends a feedback message to the second device based on the first configuration condition and the second configuration condition. Please refer to Figure 5, which shows a flowchart of a method for determining a perception node provided by an exemplary embodiment of the present application. This embodiment is described using the method performed by the first device as an example, where the first device can be a terminal device or an access network device. The method includes the following steps:

[0097] Step 510: Receive a perception request message sent by a second device, where the perception request message includes a first configuration condition and a second configuration condition.

[0098] Among them, the above-mentioned first configuration condition is the AOI information, and AOI is the area that the perception measurement expects to measure, that is, the AOI information describes a geographical area, which is the area where perception measurement needs to be performed, and the second device hopes to search for potential perception nodes for the AOI.

[0099] Optionally, the geographical area indicated by the AOI may be an area of ​​cell granularity, an area of ​​gNB granularity, or an area of ​​TA granularity. The geographical area indicated by the AOI may also be an area of ​​a granularity smaller than the cell granularity, the gNB granularity, or the TA granularity.

[0100] Optionally, the AOI information includes at least one of the following information: the reference point coordinates of the AOI and the radius of the AOI; or, the reference point coordinates of the AOI, the area length of the AOI and the area width of the AOI; or, at least one area identifier, the above-mentioned area identifier is used to indicate a geographical area. Optionally, the above-mentioned area identifier can be pre-configured by the second device, or can be determined according to the formula in Section 5.10.13.2 of the 3GPP standard 36.331 protocol.

[0101] Optionally, the second configuration condition includes at least one of an RSRP threshold, a direct path probability threshold, and a non-direct path probability threshold. The RSRP threshold instructs the first device to measure RSRP and report a feedback message based on the RSRP measurement result; the direct path probability threshold instructs the first device to measure the direct path probability and report a feedback message based on the measured direct path probability; and the non-direct path probability threshold instructs the first device to measure the non-direct path probability and report a feedback message based on the measured non-direct path probability.

[0102] Optionally, the above-mentioned perception request message can be carried in at least one of the following signalings: broadcast message, paging message, RRC signaling, MAC CE signaling, and NAS message.

[0103] Illustratively, the second device is a device for configuring a sensing node participating in sensing measurement. Optionally, the second device may be at least one of a terminal device, an access network device, and a core network device.

[0104] Step 520: Send a feedback message to the second device based on the first configuration condition and the second configuration condition.

[0105] In some embodiments, the feedback message includes the condition matching results corresponding to each configuration condition indicated by the perception request message, that is, the feedback message reports the condition matching results corresponding to the first configuration condition and the second configuration condition respectively to the second device through the feedback message. Optionally, the first device can report the condition matching results of multiple configuration conditions through the same feedback message, for example, the feedback message includes the first condition matching result corresponding to the first configuration condition and the second condition matching result corresponding to the second configuration condition; or, the first device can report the condition matching results of different configuration conditions through multiple feedback messages, that is, the first device sends N feedback messages to the second device, where the i-th feedback message is used to indicate the condition matching result corresponding to the i-th configuration condition, and N and i are both positive integers.

[0106] In other embodiments, the feedback message includes a total condition matching result corresponding to all configuration conditions indicated by the perception request message. The above-mentioned total condition matching result is used to indicate the condition matching results corresponding to all configuration conditions. Schematically, when the first device determines the total condition matching result based on the condition matching results corresponding to the configuration conditions, optionally, when the condition configuration result of at least one configuration condition among the multiple configuration conditions is a successful match, a feedback message indicating that the first device can serve as a perception node is fed back to the second device, or, when the condition matching results corresponding to all configuration conditions among the multiple configuration conditions are a successful match, a feedback message indicating that the first device can serve as a perception node is fed back to the second device.

[0107] Optionally, the first device sends different feedback messages to the second device based on the condition matching results corresponding to the multiple configuration conditions. That is, the first device determines whether it can become a sensing node based on the configuration conditions. If it is determined that it can become a sensing node, it sends a first feedback message to the second device; if it is determined that it cannot become a sensing node, it sends a second feedback message to the second device.

[0108] Optionally, the first device determines whether to send a feedback message to the second device based on a condition matching result corresponding to the multiple configuration conditions. That is, the first device determines whether it can become a sensing node based on the configuration conditions. If it is determined that it can become a sensing node, it sends a first feedback message to the second device. If it is determined that it cannot become a sensing node, the process ends.

[0109] Optionally, when the first device determines that at least one of the multiple configuration conditions is met, it is determined that the first device itself can become a perception node; or when the first terminal determines that each configuration condition is met, it is determined that the first device itself can become a perception node.

[0110] Optionally, the feedback message is carried in at least one of RRC signaling, MAC CE signaling, and NAS message.

[0111] To sum up, the method provided in this embodiment is that the first device determines whether it can become a perception node based on the configuration conditions indicated by the second device through the perception request message, and provides a solution for determining the perception node when the device distribution is unknown. At the same time, it further assists in determining the perception node based on RSRP, direct path probability or indirect path probability, thereby improving the accuracy of determining the perception node.

[0112] In some embodiments, the perception request message also includes at least one of an RSRP indication, a direct path indication, and a non-direct path indication. The above indication information is used to instruct the first device to report the measurement result corresponding to the indication information. Please refer to Figure 6, which shows a flowchart of a method for determining a perception node provided by an exemplary embodiment of the present application. This embodiment is described by taking the method performed by the first device as an example, wherein the first device can be a terminal device or an access network device. The method includes the following steps:

[0113] Step 610: Receive a perception request message sent by the second device, where the perception request message includes information about the area of ​​interest (AOI), and the perception request message also includes at least one indication information of an RSRP indication, a direct path indication, and a non-direct path indication.

[0114] The AOI is an area that the perception measurement expects to measure, that is, the AOI information describes a geographical area, which is the area where the perception measurement needs to be performed, and the second device hopes to search for potential perception nodes for the AOI.

[0115] Optionally, the geographical area indicated by the AOI may be an area of ​​cell granularity, an area of ​​gNB granularity, or an area of ​​TA granularity. The geographical area indicated by the AOI may also be an area of ​​a granularity smaller than the cell granularity, the gNB granularity, or the TA granularity.

[0116] Optionally, the AOI information includes at least one of the following information: the reference point coordinates of the AOI and the radius of the AOI; or, the reference point coordinates of the AOI, the area length of the AOI and the area width of the AOI; or, at least one area identifier, the above-mentioned area identifier is used to indicate a geographical area. Optionally, the above-mentioned area identifier can be pre-configured by the second device, or can be determined according to the formula in Section 5.10.13.2 of the 3GPP standard 36.331 protocol.

[0117] Illustratively, the RSRP indication is used to instruct the first device to report the RSRP measurement result; the direct path indication is used to instruct the first device to report the direct path probability; and the non-direct path indication is used to instruct the first device to report the non-direct path probability.

[0118] Optionally, the above-mentioned RSRP measurement results, direct path probability or non-direct path probability can be obtained through real-time measurement after the first device receives the perception request message; or, the above-mentioned RSRP measurement results, direct path probability or non-direct path probability can be pre-measured and stored by the first device. When the first device determines that the pre-stored RSRP measurement results, direct path probability or non-direct path probability is valid information, subsequent operations are performed according to the pre-stored information.

[0119] Optionally, the above-mentioned perception request message can be carried in at least one of the following signalings: broadcast message, paging message, RRC signaling, MAC CE signaling, and NAS message.

[0120] Illustratively, the second device is a device for configuring a sensing node participating in sensing measurement. Optionally, the second device may be at least one of a terminal device, an access network device, and a core network device.

[0121] Step 620: Send a feedback message to the second device based on the location information and AOI information of the first device and the measurement result of the indication information.

[0122] Illustratively, the above measurement result is carried in the feedback message, that is, the RSRP measurement result, the direct path probability or the non-direct path probability is reported to the second terminal through the feedback message.

[0123] In some embodiments, when the first device determines that the location information of the first device belongs to the AOI, it sends a first feedback message to the second device, wherein the first feedback message indicates that the location information of the first device belongs to the AOI, and the first feedback message carries at least one measurement result of RSRP measurement result, direct path probability, and non-direct path probability; when the first device determines that the location information of the first device does not belong to the AOI, it sends a second feedback message to the second device, wherein the second feedback message indicates that the location information of the first device does not belong to the AOI.

[0124] In other embodiments, when the first device determines that the location information of the first device belongs to the AOI, it sends a first feedback message to the second device, wherein the first feedback message indicates that the location information of the first device belongs to the AOI, and the first feedback message carries at least one measurement result of RSRP measurement result, direct path probability, and non-direct path probability; when the first device determines that the location information of the first device does not belong to the AOI, the process ends.

[0125] Optionally, the feedback message is carried in at least one of RRC signaling, MAC CE signaling, and NAS message.

[0126] To sum up, the method provided in this embodiment assists the second device in determining the perception nodes participating in the perception measurement through the information of the area of ​​interest and the location information of the first device itself. At the same time, in the process of reporting the feedback message, the measurement results of RSRP, direct path or indirect path are reported simultaneously through the feedback message, providing a solution for determining the perception node when the device distribution is unknown, so that when the second device selects the perception node from the first device located in the AOI, it can also refer to information such as RSRP, direct path or indirect path to further improve the accuracy of determining the perception node.

[0127] Please refer to Figure 7, which shows a flowchart of a method for determining a sensing node provided by an exemplary embodiment of the present application. This embodiment illustrates the method as performed by a second device, where the second device can be at least one of a terminal device, an access network device, and a core network device. The method includes the following steps:

[0128] Step 710: Send a perception request message to the first device, where the perception request message includes AOI information.

[0129] The AOI is an area that the perception measurement expects to measure, that is, the AOI information describes a geographical area, which is the area where the perception measurement needs to be performed, and the second device hopes to search for potential perception nodes for the AOI.

[0130] Optionally, the geographical area indicated by the AOI may be an area of ​​cell granularity, an area of ​​gNB granularity, or an area of ​​TA granularity. The geographical area indicated by the AOI may also be an area of ​​a granularity smaller than the cell granularity, the gNB granularity, or the TA granularity.

[0131] In some embodiments, when the granularity is smaller than the cell, the second device cannot grasp the location information of the first device. Therefore, it is necessary to indicate the AOI to the first device through a perception request message when performing perception measurement, so that the first device can provide feedback based on its own location and AOI to assist the second device in determining the perception node.

[0132] Optionally, the AOI information includes at least one of the following information: the reference point coordinates of the AOI and the radius of the AOI; or, the reference point coordinates of the AOI, the area length of the AOI, and the area width of the AOI; or, at least one zone identifier (Zone Identifier, zone ID), the above zone identifier is used to indicate a geographical area. Optionally, the above zone identifier can be pre-configured by the second device, or it can be determined according to the formula in Section 5.10.13.2 of the 3GPP standard 36.331 protocol.

[0133] Optionally, the above-mentioned perception request message can be carried in at least one of the following signalings: broadcast message, paging message, RRC signaling, MAC CE signaling, and NAS message.

[0134] Illustratively, the first device is a candidate device participating in the sensing node determination process. Optionally, the first device may be a terminal device or an access network device.

[0135] In some embodiments, the second device sends a perception request message to at least two first devices, that is, when the second device needs to determine a perception node, it sends a perception request message to multiple first devices. Optionally, the multiple first devices can be first devices of the same type, for example, the multiple first devices can be multiple terminal devices; or the multiple first devices can be first devices of different types, for example, the multiple first devices include at least one terminal device and at least one access network device.

[0136] Step 720: Receive a feedback message sent by the first device.

[0137] Optionally, the feedback message is carried in at least one of RRC signaling, MAC CE signaling, and NAS message.

[0138] Illustratively, the above feedback message is sent by the first device to the second device according to the location information and AOI of the first device.

[0139] Optionally, the location information of the first device is obtained by GNSS or mobile communication positioning technology. Optionally, when the location information of the first device is obtained by mobile communication positioning technology, the mobile communication positioning technology can be NR positioning technology implemented by triggering signaling interaction between a base station and a terminal, or can be side-by-side positioning implemented through SL communication between terminals, and other positioning technologies are not limited here.

[0140] In some embodiments, the feedback message is sent by the first device when the location information of the first device is valid information.

[0141] Step 730: Determine the sensing nodes participating in the sensing measurement based on the feedback message.

[0142] Illustratively, the second device selects the first device as a sensing node based on the feedback message. In some embodiments, when the second device receives feedback messages respectively sent by multiple first devices, the second device determines at least one device from the multiple first devices to participate in the sensing measurement as a sensing node.

[0143] In some embodiments, the sensing nodes include a primary sensing node and an auxiliary sensing node. Optionally, the second device selects the first device as the primary sensing node based on the feedback message; or the second device selects the first device as the auxiliary sensing node based on the feedback message.

[0144] Optionally, in different situations regarding whether the first device participates in the perception measurement, the second device receives different feedback messages. Illustratively, the second device receives a first feedback message sent by the first device, the first feedback message indicating that the first device participates in the perception measurement, and the second device determines the first device as a perception node participating in the perception measurement based on the first feedback message; the second device receives a second feedback message sent by the first device, the second feedback message indicating that the first device does not participate in the perception measurement, and the second device determines that the first device does not participate in the perception measurement based on the second feedback message.

[0145] Optionally, the second device receives the feedback message sent by the first device only when the first device expects to participate in the perception measurement. Illustratively, if the second device receives the first feedback message sent by the first device, the second device determines that the first device is participating in the perception measurement; if the second device does not receive the first feedback message sent by the first device, the second device determines that the first device is not participating in the perception measurement. In one example, the second device determines whether it has received the first feedback message sent by the first device within a specified time period.

[0146] Optionally, the above-mentioned feedback message is used to indicate whether the location information of the first device belongs to the AOI, and the second device determines whether to determine the first device as a perception node based on whether the location of the first device belongs to the AOI. In some embodiments, based on different matching situations between the location information of the first device and the AOI, the second device receives different feedback messages. The second device receives a first feedback message sent by the first device, and the first feedback message indicates that the location information of the first device belongs to the AOI; the second device receives a second feedback message sent by the first device, and the second feedback message indicates that the location information of the first device does not belong to the AOI. When the second device receives the first feedback message, it determines that the location information of the first device belongs to the AOI, and then it can choose to determine the first device as a perception node; when the second device receives the second feedback message, it determines that the location information of the first device does not belong to the AOI, and then it can determine that the first device is not a perception node.

[0147] In other embodiments, the second device receives the feedback message only when the location information of the first device belongs to the AOI. That is, if the second device receives the first feedback message sent by the first device, the second device determines that the location information of the first device belongs to the AOI, and the second device determines that the first device is a sensing node; if the second device does not receive the feedback message sent by the first device, the second device determines that the location information of the first device does not belong to the AOI, and the second device determines that the first device is not a sensing node.

[0148] In some embodiments, in addition to sending a feedback message based on the matching between the location information of the first device and the AOI, the first device may also be set based on whether the device itself is willing to participate in the perception measurement.

[0149] In an example, the second device receives a second feedback message sent by the first device, where the second feedback message indicates that the location information of the first device belongs to the AOI, but the setting information of the first device indicates that the first device does not participate in the perception measurement.

[0150] Optionally, the feedback message is carried in at least one of RRC signaling, MAC CE signaling, and NAS message.

[0151] To sum up, the method provided in this embodiment assists the second device in determining the perception nodes participating in the perception measurement through the information of the area of ​​interest and the location information of the first device itself, provides a solution for determining the perception nodes when the device distribution is unknown, and improves the accuracy of determining the perception nodes.

[0152] In some embodiments, the perception request message sent by the second device to the first device includes the first configuration condition and the second configuration condition. That is, the second device instructs the first device to send a feedback message to the second device based on the first configuration condition and the second configuration condition through the perception request message. Please refer to Figure 8, which shows a flowchart of a method for determining a perception node provided by an exemplary embodiment of the present application. This embodiment is described using the method performed by the second device as an example, where the second device can be at least one of a terminal device, an access network device, and a core network device. The method includes the following steps:

[0153] Step 810: Send a perception request message to the first device, where the perception request message includes a first configuration condition and a second configuration condition.

[0154] Among them, the above-mentioned first configuration condition is the AOI information, and AOI is the area that the perception measurement expects to measure, that is, the AOI information describes a geographical area, which is the area where perception measurement needs to be performed, and the second device hopes to search for potential perception nodes for the AOI.

[0155] Optionally, the geographical area indicated by the AOI may be an area of ​​cell granularity, an area of ​​gNB granularity, or an area of ​​TA granularity. The geographical area indicated by the AOI may also be an area of ​​a granularity smaller than the cell granularity, the gNB granularity, or the TA granularity.

[0156] Optionally, the AOI information includes at least one of the following information: the reference point coordinates of the AOI and the radius of the AOI; or, the reference point coordinates of the AOI, the area length of the AOI and the area width of the AOI; or, at least one area identifier, the above-mentioned area identifier is used to indicate a geographical area. Optionally, the above-mentioned area identifier can be pre-configured by the second device, or can be determined according to the formula in Section 5.10.13.2 of the 3GPP standard 36.331 protocol.

[0157] Optionally, the second configuration condition includes at least one of an RSRP threshold, a direct path probability threshold, and a non-direct path probability threshold. The RSRP threshold instructs the first device to measure RSRP and report a feedback message based on the RSRP measurement result; the direct path probability threshold instructs the first device to measure the direct path probability and report a feedback message based on the measured direct path probability; and the non-direct path probability threshold instructs the first device to measure the non-direct path probability and report a feedback message based on the measured non-direct path probability.

[0158] Optionally, the above-mentioned perception request message can be carried in at least one of the following signalings: broadcast message, paging message, RRC signaling, MAC CE signaling, and NAS message.

[0159] Illustratively, the second device is a device for configuring a sensing node participating in sensing measurement. Optionally, the second device may be at least one of a terminal device, an access network device, and a core network device.

[0160] Illustratively, the first device is a candidate device participating in the sensing node determination process. Optionally, the first device may be a terminal device or an access network device.

[0161] In some embodiments, the second device sends a perception request message to at least two first devices, that is, when the second device needs to determine a perception node, it sends a perception request message to multiple first devices. Optionally, the multiple first devices can be first devices of the same type, for example, the multiple first devices can be multiple terminal devices; or the multiple first devices can be first devices of different types, for example, the multiple first devices include at least one terminal device and at least one access network device.

[0162] Step 820: Receive a feedback message sent by the first device.

[0163] Illustratively, the feedback message is a message sent by the first device based on the first configuration condition and the second configuration condition. The feedback message includes the condition matching results corresponding to each configuration condition indicated in the perception request message; or the feedback message includes the total condition matching results corresponding to all configuration conditions indicated in the perception request message.

[0164] Optionally, the same feedback message may correspond to the condition matching results of multiple configuration conditions. For example, the feedback message includes a first condition matching result corresponding to the first configuration condition and a second condition matching result corresponding to the second configuration condition. Alternatively, the second device may receive multiple feedback messages from the same first device, wherein the i-th feedback message is used to indicate the condition matching result corresponding to the i-th configuration condition, and N and i are both positive integers.

[0165] Optionally, the feedback message is carried in at least one of RRC signaling, MAC CE signaling, and NAS message.

[0166] Step 830: Determine the sensing nodes participating in the sensing measurement based on the feedback message.

[0167] Illustratively, the second device selects the first device as a sensing node based on the feedback message. In some embodiments, when the second device receives feedback messages respectively sent by multiple first devices, the second device determines at least one device from the multiple first devices to participate in the sensing measurement as a sensing node.

[0168] Illustratively, when the feedback message indicates that the location information of the first device belongs to the AOI and the first device meets the second configuration condition, the second device determines the first device as a sensing node.

[0169] In some embodiments, when the perception request message indicates multiple second configuration conditions, optionally, when the first device satisfies at least one second configuration condition, the first device is determined as a perception node, or when the first device satisfies each second configuration condition, the first device is determined as a perception node.

[0170] In some embodiments, when there are multiple first devices located within the region of interest, the second device may select at least one device from the multiple first devices to serve as a sensing node based on whether each first device satisfies the second configuration condition in the feedback message. For example, a device whose RSRP measurement result satisfies an RSRP threshold, and / or whose direct path probability satisfies a direct path probability threshold, and / or whose non-direct path probability satisfies a non-direct path probability threshold may be selected from the multiple first devices as a sensing node.

[0171] To sum up, the method provided in this embodiment is that the first device determines whether it can become a perception node based on the configuration conditions indicated by the second device through the perception request message, and provides a solution for determining the perception node when the device distribution is unknown. At the same time, it further assists in determining the perception node based on RSRP, direct path probability or indirect path probability, thereby improving the accuracy of determining the perception node.

[0172] In some embodiments, the perception request message sent by the second device to the first device also includes at least one indication information of an RSRP indication, a direct path indication, and a non-direct path indication, and the above indication information is used to instruct the first device to report the measurement result corresponding to the indication information. Please refer to Figure 9, which shows a flowchart of a method for determining a perception node provided by an exemplary embodiment of the present application. This embodiment is described by taking the method performed by the second device as an example, wherein the second device can be at least one of a terminal device, an access network device, and a core network device. The method includes the following steps:

[0173] Step 910: Send a perception request message to the first device, where the perception request message includes information about the area of ​​interest (AOI), and the perception request message also includes at least one indication information of an RSRP indication, a direct path indication, and a non-direct path indication.

[0174] The AOI is an area that the perception measurement expects to measure, that is, the AOI information describes a geographical area, which is the area where the perception measurement needs to be performed, and the second device hopes to search for potential perception nodes for the AOI.

[0175] Optionally, the geographical area indicated by the AOI may be an area of ​​cell granularity, an area of ​​gNB granularity, or an area of ​​TA granularity. The geographical area indicated by the AOI may also be an area of ​​a granularity smaller than the cell granularity, the gNB granularity, or the TA granularity.

[0176] Optionally, the AOI information includes at least one of the following information: the reference point coordinates of the AOI and the radius of the AOI; or, the reference point coordinates of the AOI, the area length of the AOI and the area width of the AOI; or, at least one area identifier, the above-mentioned area identifier is used to indicate a geographical area. Optionally, the above-mentioned area identifier can be pre-configured by the second device, or can be determined according to the formula in Section 5.10.13.2 of the 3GPP standard 36.331 protocol.

[0177] Illustratively, the RSRP indication is used to instruct the first device to report the RSRP measurement result; the direct path indication is used to instruct the first device to report the direct path probability; and the non-direct path indication is used to instruct the first device to report the non-direct path probability.

[0178] Optionally, the above-mentioned perception request message can be carried in at least one of the following signalings: broadcast message, paging message, RRC signaling, MAC CE signaling, and NAS message.

[0179] Step 920: Receive a feedback message from the first device.

[0180] Illustratively, the feedback message is reported by the first device based on the location information and AOI information of the first device, as well as the measurement result of the indication information. The measurement result is carried in the feedback message, that is, the RSRP measurement result, the direct path probability, or the non-direct path probability is reported to the second terminal via the feedback message.

[0181] In some embodiments, the second device receives a first feedback message from the first device, wherein the first feedback message indicates that the location information of the first device belongs to the AOI, and the first feedback message carries at least one measurement result of the RSRP measurement result, the direct path probability, and the non-direct path probability; or, the second device receives a second feedback message from the first device, wherein the second feedback message indicates that the location information of the first device does not belong to the AOI, or the location information of the first device belongs to the AOI, but the setting information of the first device indicates that the first device does not participate in the perception measurement.

[0182] In other embodiments, the second device receives a first feedback message from the first device, wherein the first feedback message indicates that the location information of the first device belongs to the AOI, and the first feedback message carries at least one measurement result of the RSRP measurement result, the direct path probability, and the non-direct path probability; or, if the second device does not receive the feedback message from the first device, the second device determines that the location information of the first device does not belong to the AOI, or, the location information of the first device belongs to the AOI, but the setting information of the first device indicates that the first device does not participate in the perception measurement.

[0183] Optionally, the feedback message is carried in at least one of RRC signaling, MAC CE signaling, and NAS message.

[0184] Step 930: Determine the sensing nodes participating in the sensing measurement based on the feedback message.

[0185] Illustratively, the second device selects the first device as a sensing node based on the feedback message. In some embodiments, when the second device receives feedback messages respectively sent by multiple first devices, the second device determines at least one device from the multiple first devices to participate in the sensing measurement as a sensing node.

[0186] In some embodiments, when the second device determines that the location information of multiple first devices belongs to the AOI, the second device can determine at least one device from the multiple first devices to serve as a sensing node based on the measurement results carried in the feedback message. For example, a device whose RSRP measurement result meets the RSRP threshold, and / or whose direct path probability meets the direct path probability threshold, and / or whose non-direct path probability meets the non-direct path probability threshold is selected as a sensing node from the multiple first devices. The RSRP threshold, direct path probability threshold, and non-direct path probability threshold are the conditions used by the second device to screen the first devices.

[0187] To sum up, the method provided in this embodiment assists the second device in determining the perception nodes participating in the perception measurement through the information of the area of ​​interest and the location information of the first device itself. At the same time, in the process of reporting the feedback message, the measurement results of RSRP, direct path or indirect path are reported simultaneously through the feedback message, providing a solution for determining the perception node when the device distribution is unknown, so that when the second device selects the perception node from the first device located in the AOI, it can also refer to information such as RSRP, direct path or indirect path to further improve the accuracy of determining the perception node.

[0188] Schematically, the method for determining a perception node provided in an embodiment of the present application is applied to a perception scenario in which a UE participates and the perception target is at the regional level. The following two embodiments are provided for specific explanation:

[0189] For passive perception of AOI, the network device selects a perception node.

[0190] Please refer to Figure 10, which shows a flowchart of a method for determining a sensing node provided by an exemplary embodiment of the present application. In this embodiment, the first device is at least one candidate terminal, and the second device is a network device. The method schematically illustrates the configuration of a sensing node for the network device's sensing measurement of an AOI in passive sensing. The method includes the following steps:

[0191] Step 1010: The network device sends a perception request message to the candidate terminal, where the perception request message includes AOI information.

[0192] AOI is an area that perception measurement expects to measure, that is, the AOI information describes a geographical area, which is the area where perception measurement needs to be performed, and the network device hopes to search for potential perception nodes for the AOI.

[0193] Optionally, the geographical area indicated by the AOI may be an area of ​​cell granularity, an area of ​​gNB granularity, or an area of ​​TA granularity. The geographical area indicated by the AOI may also be an area of ​​a granularity smaller than the cell granularity, the gNB granularity, or the TA granularity.

[0194] In some embodiments, when the granularity is smaller than the cell, the network device cannot grasp the location information of the candidate terminal. Therefore, it is necessary to indicate the AOI to the candidate terminal through a perception request message when performing perception measurement, so that the candidate terminal can provide feedback based on its own location and AOI to assist the network device in determining the perception node.

[0195] Optionally, the AOI information includes at least one of the following information: the reference point coordinates of the AOI and the radius of the AOI; or, the reference point coordinates of the AOI, the area length of the AOI, and the area width of the AOI; or, at least one zone identifier (Zone Identifier, zone ID), where the above zone identifier is used to indicate a geographical area. Optionally, the above zone identifier can be pre-configured by the network device or determined according to the formula in Section 5.10.13.2 of the 3GPP standard 36.331 protocol.

[0196] Optionally, the above-mentioned perception request message can be carried in at least one of the following signalings: broadcast message, paging message, radio resource control RRC signaling, MAC CE signaling, and NAS message.

[0197] Optionally, the network device may be an access network device or a core network device. When the network device is a core network device, the AMF may send the perception request message to the candidate terminal, or the perception control network element SF may send the perception request message to the candidate terminal.

[0198] Step 1020: The candidate terminal determines whether it belongs to the AOI based on the location information of the candidate terminal.

[0199] In some embodiments, when the candidate terminal receives the above-mentioned perception request message, the candidate terminal obtains the location information of its own geographical location.

[0200] Optionally, the location information of the candidate terminal is obtained by GNSS or mobile communication positioning technology. Optionally, when the location information of the candidate terminal is obtained by mobile communication positioning technology, the mobile communication positioning technology may be NR positioning technology implemented by triggering signaling interaction between a base station and a terminal, or may be sidelink positioning implemented by sidelink communication between terminals, and other positioning technologies are not limited here.

[0201] Optionally, the candidate terminal's measurement of its own location information may be triggered by receiving a perception request message. That is, in response to receiving the perception request message, the candidate terminal's location is measured using GNSS or mobile communication positioning technology to obtain the location information. Alternatively, the candidate terminal may automatically measure its own location information based on a specified period. Upon receiving the perception request message, the most recently measured location information or the most recently valid location information is used.

[0202] Step 1030: The candidate terminal sends a feedback message to the network device.

[0203] In some embodiments, the candidate terminal performs a validity check on the acquired location information. If the candidate terminal's location information is valid, a feedback message is sent to the network device based on the candidate terminal's location information and the AOI information. In one example, if the non-immediately measured location information acquired by the candidate terminal is valid, the location information can be directly used to send the feedback message based on the location information and the AOI, i.e., there is no need to immediately trigger the measurement of the location information.

[0204] Optionally, the feedback message sent by the candidate terminal to the network device is used to indicate the matching result between the location information of the candidate terminal and the AOI, that is, the candidate terminal feeds back the matching result between the location information and the AOI to the network device, and the network device determines whether the candidate terminal is in the area of ​​interest based on the feedback message, and selects a device as a perception node from the candidate terminals in the area of ​​interest; or, the feedback message sent by the candidate terminal to the network device is used to indicate whether the candidate terminal can participate in the perception measurement, that is, when the candidate terminal is located in the area of ​​interest, a feedback message indicating that it can participate in the perception measurement is sent to the network device; when the candidate terminal is not in the area of ​​interest, a feedback message indicating that it cannot participate in the perception measurement is sent to the network device, and the network device selects a device as a perception node from the candidate terminals based on whether the candidate terminal can participate in the perception measurement.

[0205] Schematically, the candidate terminal sends a feedback message to the network device based on the matching situation between the location information and the AOI. Optionally, the candidate terminal sends different feedback messages to the network device based on different matching situations between the location information and the AOI. When the location information of the candidate terminal belongs to the AOI, a first feedback message is sent to the network device, and the first feedback message is used to instruct the candidate terminal to participate in the perception measurement; when the location information of the candidate terminal does not belong to the AOI, a second feedback message is sent to the network device, and the second feedback message is used to instruct the candidate terminal not to participate in the perception measurement. That is, when the network device receives the feedback message sent by the candidate terminal, if the feedback message is the first feedback message, it is determined that the candidate terminal participates in the perception measurement; if the feedback message is the second feedback message, it is determined that the candidate terminal does not participate in the perception measurement.

[0206] Optionally, the candidate terminal sends a first feedback message to the network device only if its location information matches the AOI. If the candidate terminal's location information falls within the AOI, the feedback message is sent to the network device; if the candidate terminal's location information does not fall within the AOI, the process ends. When the network device receives a feedback message from the candidate terminal, it indicates that the candidate terminal wishes to participate in the perception measurement. If the network device does not receive a feedback message from the candidate terminal, it indicates that the candidate terminal does not participate in the perception measurement.

[0207] In some embodiments, in addition to sending feedback messages based on the matching between the location information of the candidate terminal and the AOI, the candidate terminal may also be set based on whether the device itself is willing to participate in the perception measurement.

[0208] In one example, when the candidate terminal's location information is within the AOI, but the candidate terminal's configuration information indicates that the candidate terminal does not participate in sensing measurements, a second feedback message is sent to the network device. Specifically, when the candidate terminal's location is within the AOI but the candidate terminal does not wish to become a sensing node, the second feedback message is sent to the network device.

[0209] In another example, when the candidate terminal receives the perception request message, it first determines whether the candidate terminal wishes to participate in the perception measurement based on the setting information of the candidate terminal. When it is determined that the setting information of the candidate terminal indicates that the candidate terminal does not participate in the perception measurement, the candidate terminal directly feeds back a second feedback message to the network device, or the candidate terminal does not send a feedback message to indicate that the candidate terminal does not participate in the perception measurement; when the setting information of the candidate terminal indicates that the candidate terminal wishes to participate in the perception measurement, the feedback message is sent based on the location information of the candidate terminal and the AOI information in the perception request message.

[0210] Optionally, the feedback message is carried in at least one of RRC signaling, MAC CE signaling, and NAS message.

[0211] In some embodiments, when reporting a feedback message, the candidate terminal will also report other measurement results to the network device, that is, the candidate terminal reports the measurement results to the network device, and the measurement results include at least one of RSRP measurement results, direct path probability, and indirect path probability.

[0212] In some embodiments, when the candidate terminal is in an idle state or an inactive state, it may initiate random access to the network device via a random access channel (RACH) and then send a feedback message.

[0213] In other embodiments, when the candidate terminal's location information falls within the AOI, the candidate terminal initiates random access to the second device via a pre-configured RACH resource. The pre-configured RACH resource is used to implicitly indicate that the candidate terminal's location information falls within the AOI. That is, for an idle or inactive candidate terminal, when the candidate terminal initiates random access using the pre-configured RACH resource, the network device deems the candidate terminal's location information to fall within the AOI. This allows the candidate terminal to quickly indicate that it is within the AOI and quickly enter a connected state to rapidly respond to perception measurements.

[0214] Optionally, the pre-configured RACH resources may be pre-configured by the network device to the candidate terminal through RRC signaling.

[0215] Step 1040: The network device selects the candidate terminal as a sensing node according to the feedback message.

[0216] Illustratively, after receiving the feedback message, the network device selects at least one candidate terminal from the candidate terminals as a sensing node according to the feedback message.

[0217] In some embodiments, the network device determines as a perception node a candidate terminal whose feedback message indicates that the location information of the candidate terminal belongs to the AOI; in other embodiments, the network device determines as a perception node a candidate terminal whose feedback message indicates that the location information of the candidate terminal belongs to the AOI and whose setting information indicates that the candidate terminal participates in perception measurement.

[0218] In some embodiments, after determining that the location information of the candidate terminal belongs to the AOI, the network device further performs a secondary screening of the candidate terminal based on the RSRP measurement results, direct path probability, and non-direct path probability reported by the candidate terminal to obtain a suitable sensing node.

[0219] To sum up, the method provided in this embodiment provides information about the area of ​​interest to the candidate terminal, and the candidate terminal judges and feedbacks whether the conditions are met, so as to assist the network device in configuring a suitable terminal as a perception node. This solves the problem that for regional-level perception, the network device does not know the area of ​​interest for perception and the distribution of surrounding UEs, and therefore cannot configure a suitable UE for the area of ​​interest to perform perception operations. This method improves the accuracy of determining perception nodes.

[0220] For the area of ​​interest, the target terminal selects a sensing node.

[0221] Please refer to Figure 11, which shows a flowchart of a method for determining a sensing node provided by an exemplary embodiment of the present application. In this embodiment, the first device is at least one candidate terminal, and the second device is a target terminal. The configuration of the sensing node for the target terminal's perception measurement of the AOI in area-level perception is schematically described. The method includes the following steps:

[0222] Step 1110: The target terminal sends a perception request message to the candidate terminal, where the perception request message includes AOI information.

[0223] AOI is an area that the perception measurement expects to measure, that is, the AOI information describes a geographical area, which is the area where the perception measurement needs to be performed, and the target terminal hopes to search for potential perception nodes for the AOI.

[0224] Optionally, the geographical area indicated by the AOI may be an area of ​​cell granularity, an area of ​​gNB granularity, or an area of ​​TA granularity. The geographical area indicated by the AOI may also be an area of ​​a granularity smaller than the cell granularity, the gNB granularity, or the TA granularity.

[0225] In some embodiments, when the granularity is smaller than the cell, the target terminal cannot grasp the location information of the candidate terminal. Therefore, it is necessary to indicate the AOI to the candidate terminal through a perception request message when performing perception measurement, so that the candidate terminal can provide feedback based on its own location and AOI to assist the target terminal in determining the perception node.

[0226] Optionally, the AOI information includes at least one of the following information: the reference point coordinates of the AOI and the radius of the AOI; or, the reference point coordinates of the AOI, the area length of the AOI and the area width of the AOI; or, at least one zone identifier (Zone Identifier, zone ID), the above zone identifier is used to indicate a geographical area. Optionally, the above zone identifier can be pre-configured by the target terminal, or determined according to the formula in Section 5.10.13.2 of the 3GPP standard 36.331 protocol.

[0227] Optionally, the above-mentioned perception request message can be carried in at least one of the following signalings: broadcast message, radio resource control RRC signaling, MAC CE signaling, and NAS message.

[0228] Optionally, the above-mentioned perception request message can be transmitted based on the PC5 interface between the candidate terminal (first device) and the target terminal (second device), that is, the transmission of messages between terminals is achieved through sideline communication technology.

[0229] Step 1120: The candidate terminal determines whether it belongs to the AOI based on the location information of the candidate terminal.

[0230] In some embodiments, when the candidate terminal receives the above-mentioned perception request message, the candidate terminal obtains the location information of its own geographical location.

[0231] Optionally, the location information of the candidate terminal is obtained by GNSS or mobile communication positioning technology. Optionally, when the location information of the candidate terminal is obtained by mobile communication positioning technology, the mobile communication positioning technology may be NR positioning technology implemented by triggering signaling interaction between the base station and the terminal, or side-link positioning implemented by side-link communication between the terminal and the terminal, and is not limited here.

[0232] Optionally, the candidate terminal's measurement of its own location information may be triggered by receiving a perception request message. That is, in response to receiving the perception request message, the candidate terminal's location is measured using GNSS or mobile communication positioning technology to obtain the location information. Alternatively, the candidate terminal may automatically measure its own location information based on a specified period. Upon receiving the perception request message, the most recently measured location information or the most recently valid location information is used.

[0233] Step 1130: The candidate terminal sends a feedback message to the target terminal.

[0234] In some embodiments, the candidate terminal performs a validity check on the acquired location information. If the candidate terminal's location information is valid, a feedback message is sent to the target terminal based on the candidate terminal's location information and the AOI information. In one example, if the non-immediately measured location information acquired by the candidate terminal is valid, the location information can be directly used to send a feedback message based on the location information and the AOI, i.e., there is no need to immediately trigger the measurement of the location information.

[0235] Optionally, the feedback message sent by the candidate terminal to the target terminal is used to indicate the matching result between the location information of the candidate terminal and the AOI, that is, the candidate terminal feeds back the matching result between the location information and the AOI to the target terminal, and the target terminal determines whether the candidate terminal is in the area of ​​interest based on the feedback message, and selects a device as a perception node from the candidate terminals in the area of ​​interest; or, the feedback message sent by the candidate terminal to the target terminal is used to indicate whether the candidate terminal can participate in the perception measurement, that is, when the candidate terminal is located in the area of ​​interest, a feedback message indicating that it can participate in the perception measurement is sent to the target terminal; when the candidate terminal is not in the area of ​​interest, a feedback message indicating that it cannot participate in the perception measurement is sent to the target terminal, and the target terminal selects a device as a perception node from the candidate terminals based on whether the candidate terminal can participate in the perception measurement.

[0236] Schematically, the candidate terminal sends a feedback message to the target terminal based on the matching situation between the location information and the AOI. Optionally, the candidate terminal sends different feedback messages to the target terminal based on different matching situations between the location information and the AOI. When the location information of the candidate terminal belongs to the AOI, a first feedback message is sent to the target terminal, and the first feedback message is used to instruct the candidate terminal to participate in the perception measurement; when the location information of the candidate terminal does not belong to the AOI, a second feedback message is sent to the target terminal, and the second feedback message is used to instruct the candidate terminal not to participate in the perception measurement. That is, when the target terminal receives the feedback message sent by the candidate terminal, if the feedback message is the first feedback message, it is determined that the candidate terminal participates in the perception measurement; if the feedback message is the second feedback message, it is determined that the candidate terminal does not participate in the perception measurement.

[0237] Optionally, the candidate terminal sends a first feedback message to the target terminal only if its location information matches the AOI. If the candidate terminal's location information falls within the AOI, the feedback message is sent to the target terminal; if the candidate terminal's location information does not fall within the AOI, the process ends. If the target terminal receives a feedback message from the candidate terminal, it indicates that the candidate terminal intends to participate in the perception measurement. If the target terminal does not receive a feedback message from the candidate terminal, it indicates that the candidate terminal does not participate in the perception measurement.

[0238] In some embodiments, in addition to sending feedback messages based on the matching between the location information of the candidate terminal and the AOI, the candidate terminal may also be set based on whether the device itself is willing to participate in the perception measurement.

[0239] In one example, when the candidate terminal's location information is within the AOI, but the candidate terminal's configuration information indicates that the candidate terminal does not participate in sensing measurements, a second feedback message is sent to the target terminal. That is, when the candidate terminal's location is within the AOI but the candidate terminal does not wish to become a sensing node, the second feedback message is sent to the target terminal.

[0240] In another example, when the candidate terminal receives the perception request message, it first determines whether the candidate terminal wishes to participate in the perception measurement based on the setting information of the candidate terminal. When it is determined that the setting information of the candidate terminal indicates that the candidate terminal does not participate in the perception measurement, the candidate terminal directly feeds back a second feedback message to the target terminal, or the candidate terminal does not send a feedback message to indicate that the candidate terminal does not participate in the perception measurement; when the setting information of the candidate terminal indicates that the candidate terminal wishes to participate in the perception measurement, the feedback message is sent based on the location information of the candidate terminal and the AOI information in the perception request message.

[0241] Optionally, the feedback message is carried in at least one of RRC signaling, MAC CE signaling, and NAS message.

[0242] Optionally, the feedback message may be transmitted based on the PC5 interface between the candidate terminal (first device) and the target terminal (second device), that is, the feedback message may be sent using dedicated signaling for sideline communication.

[0243] Step 1141: The target terminal selects the candidate terminal as the sensing node according to the feedback message.

[0244] In some embodiments, the target terminal selects a perception node based on the feedback message. Schematically, the target terminal determines as a perception node a candidate terminal whose feedback message indicates that the location information of the candidate terminal belongs to the AOI; in other embodiments, the target terminal determines as a perception node a candidate terminal whose feedback message indicates that the location information of the candidate terminal belongs to the AOI and whose setting information of the candidate terminal indicates that the candidate terminal participates in perception measurement.

[0245] Step 1142: The target terminal sends the auxiliary information selected by the sensing node to the network device according to the feedback message.

[0246] In other embodiments, the target terminal selects a suitable sensing node through a network device, that is, after receiving the feedback message, the target terminal generates auxiliary information according to the feedback message and sends the auxiliary information to the network device.

[0247] Optionally, the target terminal determines, based on the feedback message, a candidate terminal whose location information belongs to the AOI, generates auxiliary information of the candidate terminal whose location information belongs to the AOI, and sends the auxiliary information to the network device.

[0248] Step 1150: The network device selects the candidate terminal as a sensing node according to the received auxiliary information.

[0249] When there are multiple candidate terminals whose location information belongs to the AOI, the network device determines at least one terminal as a sensing node from the multiple candidate terminals according to the auxiliary information.

[0250] To sum up, the method provided in this embodiment provides information about the area of ​​interest to the candidate terminal, and the candidate terminal judges and feedbacks whether the conditions are met, so as to assist the target terminal or network device in configuring a suitable terminal as a perception node. This solves the problem that the SF or AMF cannot grasp the distribution of other UEs around the target UE, resulting in the inability to configure a suitable auxiliary UE for the target UE to perform perception operations as a perception node. This method improves the accuracy of determining the perception node.

[0251] FIG12 shows a structural block diagram of a device for determining a sensing node provided by an exemplary embodiment of the present application. The device includes at least some of the following modules:

[0252] The first receiving module 1210 is configured to receive a sensing request message sent by a second device, where the sensing request message includes information about an AOI, where the AOI is an area that the sensing measurement desires to measure;

[0253] A first sending module 1220 is configured to send a feedback message to the second device based on the location information of the first device and the information of the AOI;

[0254] The feedback message is used to determine the sensing node participating in the sensing measurement.

[0255] In some embodiments, the AOI information includes at least one of the following information:

[0256] The reference point coordinates of the AOI and the radius of the AOI;

[0257] or,

[0258] The reference point coordinates of the AOI, the area length of the AOI, and the area width of the AOI;

[0259] or,

[0260] At least one area identifier, where the area identifier is used to indicate a geographical area.

[0261] In some embodiments, the AOI information is a first configuration condition in the perception request message, and the perception request message further includes a second configuration condition;

[0262] The second configuration condition includes at least one of a reference signal received power RSRP threshold, a direct path probability threshold, and a non-direct path probability threshold.

[0263] In some embodiments, the feedback message includes condition matching results corresponding to each configuration condition indicated by the perception request message;

[0264] or,

[0265] The feedback message includes the total condition matching results corresponding to all configuration conditions indicated by the perception request message.

[0266] In some embodiments, the first sending module 1220 is further configured to report a measurement result to the second device, where the measurement result includes at least one of an RSRP measurement result, a direct path probability, and an indirect path probability.

[0267] In some embodiments, the perception request message further includes at least one indication information of an RSRP indication, a direct path indication, and a non-direct path indication;

[0268] The RSRP indication is used to instruct the first device to report the RSRP measurement result; the direct path indication is used to instruct the first device to report the direct path probability; and the non-direct path indication is used to instruct the first device to report the non-direct path probability.

[0269] In some embodiments, the measurement result is carried in the feedback message.

[0270] In some embodiments, the perception request message is carried in at least one of a broadcast message, a paging message, a radio resource control RRC signaling, a media access control element MACCE signaling, and a non-access stratum NAS message.

[0271] In some embodiments, the awareness request message is transmitted via a PC5 interface between the first device and the second device.

[0272] In some embodiments, the first sending module 1220 is further configured to send a first feedback message to the second device when the location information of the first device belongs to the AOI, where the first feedback message is used to instruct the first device to participate in the perception measurement.

[0273] In some embodiments, the first sending module 1220 is further configured to initiate random access to the second device through a pre-configured random access channel RACH resource when the location information of the first device belongs to the AOI;

[0274] The preconfigured RACH resource is used to implicitly indicate that the location information of the first device belongs to the AOI.

[0275] In some embodiments, the first sending module 1220 is further configured to send a second feedback message to the second device when the location information of the first device does not belong to the AOI, where the second feedback message is used to indicate that the first device does not participate in the perception measurement;

[0276] or,

[0277] The first sending module 1220 is further configured to send the second feedback message to the second device when the location information of the first device belongs to the AOI but the setting information of the first device indicates that the first device does not participate in the perception measurement.

[0278] In some embodiments, the location information of the first device is obtained by a global navigation satellite system GNSS or mobile communication positioning technology.

[0279] In some embodiments, the first sending module 1220 is further configured to send the feedback message to the second device based on the location information of the first device and the information of the AOI when the location information of the first device is valid information.

[0280] In some embodiments, the feedback message is carried in at least one of RRC signaling, MACCE signaling, and NAS message.

[0281] In some embodiments, the feedback message is transmitted via a PC5 interface between the first device and the second device.

[0282] In some embodiments, the second device is at least one of a terminal device, an access network device, and a core network device.

[0283] To sum up, the device provided in this embodiment assists the second device in determining the perception nodes participating in the perception measurement through the information of the area of ​​interest and the location information of the first device itself, provides a solution for determining the perception nodes when the device distribution is unknown, and improves the accuracy of determining the perception nodes.

[0284] FIG13 shows a structural block diagram of a device for determining a sensing node provided by an exemplary embodiment of the present application. The device includes at least some of the following modules:

[0285] The second sending module 1310 is configured to send a sensing request message to the first device, where the sensing request message includes information about the AOI, where the AOI is an area that the sensing measurement desires to measure;

[0286] A second receiving module 1320 is configured to receive a feedback message sent by the first device;

[0287] The determination module, 1330, is configured to determine the sensing node participating in the sensing measurement based on the feedback message.

[0288] In some embodiments, the AOI information includes at least one of the following information:

[0289] The reference point coordinates of the AOI and the radius of the AOI;

[0290] Alternatively, the reference point coordinates of the AOI, the area length of the AOI, and the area width of the AOI;

[0291] Alternatively, at least one area identifier, where the area identifier is used to indicate a geographical area.

[0292] In some embodiments, the AOI information is a first configuration condition in the perception request message, and the perception request message further includes a second configuration condition;

[0293] The second configuration condition includes at least one of a reference signal received power RSRP threshold, a direct path probability threshold, and a non-direct path probability threshold.

[0294] In some embodiments, the feedback message includes condition matching results corresponding to each configuration condition indicated by the perception request message;

[0295] or,

[0296] The feedback message includes the total condition matching results corresponding to all configuration conditions indicated by the perception request message.

[0297] In some embodiments, the second receiving module 1320 is further configured to receive a measurement result sent by the first device, where the measurement result includes at least one of an RSRP measurement result, a direct path probability, and an indirect path probability.

[0298] In some embodiments, the perception request message further includes at least one indication information of an RSRP indication, a direct path indication, and a non-direct path indication;

[0299] The RSRP indication is used to instruct the first device to report the RSRP measurement result; the direct path indication is used to instruct the first device to report the direct path probability; and the non-direct path indication is used to instruct the first device to report the non-direct path probability.

[0300] In some embodiments, the measurement result is carried in the feedback message.

[0301] In some embodiments, the perception request message is carried in at least one of a broadcast message, a paging message, an RRC signaling, a MACCE signaling, and a NAS message.

[0302] In some embodiments, the feedback message is transmitted via a PC5 interface between the first device and the second device.

[0303] In some embodiments, the second receiving module 1320 is further configured to receive a first feedback message sent by the first device, where the first feedback message is configured to indicate that the location information of the first device belongs to the AOI;

[0304] The determining module 1330 is further configured to determine, according to the first feedback message, the first device as the sensing node participating in the sensing measurement.

[0305] In some embodiments, the second receiving module 1320 is further configured to receive a random access initiated by the first device through a pre-configured RACH resource, where the pre-configured RACH resource is used to implicitly indicate that the location information of the first device belongs to the AOI;

[0306] The determining module 1330 is further configured to determine, according to the random access, the first device as the sensing node participating in the sensing measurement.

[0307] In some embodiments, the second receiving module 1320 is further configured to receive a second feedback message sent by the first device; the second feedback message is configured to indicate that the location of the first device does not belong to the AOI; or, the location information of the first device belongs to the AOI, but the setting information of the first device indicates that the first device does not participate in the sensing measurement;

[0308] The determining module 1330 is further configured to determine, according to the second feedback message, that the first device does not participate in the perception measurement.

[0309] In some embodiments, the location information of the first device is obtained by a global navigation satellite system GNSS or mobile communication positioning technology.

[0310] In some embodiments, the feedback message is sent by the first device when the location information of the first device is valid information.

[0311] In some embodiments, the perception request message is carried in at least one of a broadcast message, a paging message, an RRC signaling, a MACCE signaling, and a NAS message.

[0312] In some embodiments, the awareness request message is transmitted via a PC5 interface between the first device and the second device.

[0313] In some embodiments, the second device is at least one of a terminal device, an access network device, and a core network device.

[0314] To sum up, the device provided in this embodiment assists the second device in determining the perception nodes participating in the perception measurement through the information of the area of ​​interest and the location information of the first device itself, provides a solution for determining the perception nodes when the device distribution is unknown, and improves the accuracy of determining the perception nodes.

[0315] Figure 14 shows a schematic structural diagram of a communication device (terminal device or network device) provided by an exemplary embodiment of the present application. The communication device 1400 includes: a processor 1401, a receiver 1402, a transmitter 1403, a memory 1404 and a bus 1405.

[0316] The processor 1401 includes one or more processing cores. The processor 1401 executes various functional applications and information processing by running software programs and modules.

[0317] The receiver 1402 and the transmitter 1403 may be implemented as a communication component, which may be a communication chip.

[0318] The memory 1404 is connected to the processor 1401 via a bus 1405. The memory 1404 may be used to store at least one instruction, and the processor 1401 may be used to execute the at least one instruction to implement each step in the above method embodiment.

[0319] In addition, the memory 1404 can be implemented by any type of volatile or non-volatile storage device or a combination thereof. Volatile or non-volatile storage devices include but are not limited to: magnetic disks or optical disks, electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), static random-access memory (SRAM), read-only memory (ROM), magnetic memory, flash memory, and programmable read-only memory (PROM).

[0320] In an exemplary embodiment, a computer-readable storage medium is further provided, in which at least one program is stored. The at least one program is loaded and executed by the processor to implement the method for determining the perception node provided by each of the above method embodiments.

[0321] In an exemplary embodiment, a chip is also provided, which includes a programmable logic circuit and / or program instructions. When the chip runs on a communication device, it is used to implement the method for determining the perception node provided by the above-mentioned various method embodiments.

[0322] In an exemplary embodiment, a computer program product is further provided. When the computer program product is executed on a processor of a computer device, the computer device executes the above-mentioned method for determining a sensing node.

[0323] In an exemplary embodiment, a communication system is also provided. The communication system includes the at least two terminal devices mentioned above, or a terminal device and a network device, and is used to implement the method for determining the perception node provided by each of the above method embodiments.

[0324] Those skilled in the art will appreciate that in one or more of the above examples, the functions described in the embodiments of the present application can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any media that facilitates the transmission of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0325] The above description is merely an optional embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A method for determining a sensing node, characterized in that: The method is performed by a first device, and includes: Receiving a perception request message sent by a second device, where the perception request message includes information about an area of ​​interest (AOI), where the AOI is an area that is desired to be measured by the perception measurement; Sending a feedback message to the second device based on the location information of the first device and the information of the AOI; The feedback message is used to determine the sensing node participating in the sensing measurement.

2. The method according to claim 1, characterized in that The AOI information includes at least one of the following information: The reference point coordinates of the AOI and the radius of the AOI; or, The reference point coordinates of the AOI, the area length of the AOI, and the area width of the AOI; or, At least one area identifier, where the area identifier is used to indicate a geographical area.

3. The method according to claim 1 or 2, characterized in that The AOI information is the first configuration condition in the perception request message, and the perception request message also includes a second configuration condition; The second configuration condition includes at least one of a reference signal received power RSRP threshold, a direct path probability threshold, and a non-direct path probability threshold.

4. The method according to claim 3, characterized in that The feedback message includes condition matching results corresponding to each configuration condition indicated by the perception request message; or, The feedback message includes the total condition matching results corresponding to all configuration conditions indicated by the perception request message.

5. The method according to claim 1 or 2, characterized in that The method further comprises: Reporting a measurement result to the second device, where the measurement result includes at least one of an RSRP measurement result, a direct path probability, and a non-direct path probability.

6. The method according to claim 5, characterized in that The perception request message also includes at least one indication information of RSRP indication, direct path indication, and non-direct path indication; The RSRP indication is used to instruct the first device to report the RSRP measurement result; the direct path indication is used to instruct the first device to report the direct path probability; and the non-direct path indication is used to instruct the first device to report the non-direct path probability.

7. The method according to claim 5 or 6, characterized in that The measurement result is carried in the feedback message.

8. The method according to any one of claims 1 to 7, characterized in that: The perception request message is carried in at least one of a broadcast message, a paging message, a radio resource control RRC signaling, a media access control element MACCE signaling, and a non-access stratum NAS message.

9. The method according to any one of claims 1 to 7, characterized in that: The perception request message is transmitted through the PC5 interface between the first device and the second device.

10. The method according to any one of claims 1 to 9, characterized in that: The sending a feedback message to the second device based on the location information of the first device and the information of the AOI includes: In a case where the location information of the first device belongs to the AOI, a first feedback message is sent to the second device, where the first feedback message is used to instruct the first device to participate in the perception measurement.

11. The method according to any one of claims 1 to 9, characterized in that: The sending a feedback message to the second device based on the location information of the first device and the information of the AOI includes: Initiating random access to the second device through a pre-configured random access channel RACH resource when the location information of the first device belongs to the AOI; The preconfigured RACH resource is used to implicitly indicate that the location information of the first device belongs to the AOI.

12. The method according to any one of claims 1 to 9, characterized in that: The sending a feedback message to the second device based on the location information of the first device and the information of the AOI includes: When the location information of the first device does not belong to the AOI, sending a second feedback message to the second device, where the second feedback message is used to instruct the first device not to participate in the perception measurement; or, When the location information of the first device belongs to the AOI but the setting information of the first device indicates that the first device does not participate in the perception measurement, the second feedback message is sent to the second device.

13. The method according to any one of claims 1 to 12, characterized in that: The location information of the first device is obtained by a global navigation satellite system GNSS or mobile communication positioning technology.

14. The method according to claim 13, characterized in that The sending a feedback message to the second device based on the location information of the first device and the information of the AOI includes: In a case where the location information of the first device is valid information, the feedback message is sent to the second device based on the location information of the first device and the information of the AOI.

15. The method according to any one of claims 1 to 14, characterized in that: The feedback message is carried in at least one of RRC signaling, MACCE signaling, and NAS message.

16. The method according to any one of claims 1 to 14, characterized in that: The feedback message is transmitted through the PC5 interface between the first device and the second device.

17. The method according to any one of claims 1 to 16, characterized in that: The second device is at least one of a terminal device, an access network device, and a core network device.

18. A method for determining a sensing node, characterized in that: The method is performed by a second device, and includes: Sending a perception request message to the first device, where the perception request message includes information about the AOI, where the AOI is an area that the perception measurement desires to measure; receiving a feedback message sent by the first device; The sensing nodes participating in the sensing measurement are determined based on the feedback message.

19. The method according to claim 18, characterized in that The AOI information includes at least one of the following information: The reference point coordinates of the AOI and the radius of the AOI; or, The reference point coordinates of the AOI, the area length of the AOI, and the area width of the AOI; or, At least one area identifier, where the area identifier is used to indicate a geographical area.

20. The method according to claim 18 or 19, characterized in that The AOI information is the first configuration condition in the perception request message, and the perception request message also includes a second configuration condition; The second configuration condition includes at least one of a reference signal received power RSRP threshold, a direct path probability threshold, and a non-direct path probability threshold.

21. The method according to claim 20, characterized in that The feedback message includes condition matching results corresponding to each configuration condition indicated by the perception request message; or, The feedback message includes the total condition matching results corresponding to all configuration conditions indicated by the perception request message.

22. The method according to claim 18 or 19, characterized in that The method further comprises: Receive a measurement result sent by the first device, where the measurement result includes at least one of an RSRP measurement result, a direct path probability, and an indirect path probability.

23. The method according to claim 22, characterized in that The perception request message also includes at least one indication information of RSRP indication, direct path indication, and non-direct path indication; The RSRP indication is used to instruct the first device to report the RSRP measurement result; the direct path indication is used to instruct the first device to report the direct path probability; and the non-direct path indication is used to instruct the first device to report the non-direct path probability.

24. The method according to claim 22 or 23, characterized in that The measurement result is carried in the feedback message.

25. The method according to any one of claims 18 to 24, characterized in that The perception request message is carried in at least one of a broadcast message, a paging message, an RRC signaling, a MACCE signaling, and a NAS message.

26. The method according to any one of claims 18 to 24, characterized in that The feedback message is transmitted through the PC5 interface between the first device and the second device.

27. The method according to any one of claims 18 to 26, characterized in that The receiving a feedback message sent by the first device includes: receiving a first feedback message sent by the first device, where the first feedback message is used to indicate that the location information of the first device belongs to the AOI; The determining, based on the feedback message, the sensing node participating in the sensing measurement includes: The first device is determined as the sensing node participating in the sensing measurement according to the first feedback message.

28. The method according to any one of claims 18 to 26, characterized in that The receiving a feedback message sent by the first device includes: receiving a random access initiated by the first device through a pre-configured RACH resource, where the pre-configured RACH resource is used to implicitly indicate that the location information of the first device belongs to the AOI; The determining, based on the feedback message, the sensing node participating in the sensing measurement includes: The first device is determined as the sensing node participating in the sensing measurement according to the random access.

29. The method according to any one of claims 18 to 26, characterized in that The receiving a feedback message sent by the first device includes: receiving a second feedback message sent by the first device, wherein the second feedback message is used to indicate that the location of the first device does not belong to the AOI; or, the location information of the first device belongs to the AOI, but the setting information of the first device indicates that the first device does not participate in the perception measurement; Determine, according to the second feedback message, that the first device does not participate in the perception measurement.

30. The method according to any one of claims 18 to 29, characterized in that The location information of the first device is obtained by a global navigation satellite system GNSS or mobile communication positioning technology.

31. The method according to claim 30, wherein The feedback message is sent by the first device when the location information of the first device is valid information.

32. The method according to any one of claims 18 to 31, characterized in that The perception request message is carried in at least one of a broadcast message, a paging message, an RRC signaling, a MACCE signaling, and a NAS message.

33. The method according to any one of claims 18 to 31, characterized in that The perception request message is transmitted through the PC5 interface between the first device and the second device.

34. The method according to any one of claims 18 to 33, characterized in that The second device is at least one of a terminal device, an access network device, and a core network device.

35. A device for determining a sensing node, characterized in that: The device comprises: A first receiving module is configured to receive a sensing request message sent by a second device, where the sensing request message includes information about an AOI, where the AOI is an area that the sensing measurement desires to measure; A first sending module, configured to send a feedback message to the second device based on the location information of the first device and the information of the AOI; The feedback message is used to determine the sensing node participating in the sensing measurement.

36. The device according to claim 35, characterized in that The AOI information includes at least one of the following information: The reference point coordinates of the AOI and the radius of the AOI; or, The reference point coordinates of the AOI, the area length of the AOI, and the area width of the AOI; or, At least one area identifier, where the area identifier is used to indicate a geographical area.

37. The device according to claim 35 or 36, characterized in that The AOI information is the first configuration condition in the perception request message, and the perception request message also includes a second configuration condition; The second configuration condition includes at least one of a reference signal received power RSRP threshold, a direct path probability threshold, and a non-direct path probability threshold.

38. The device according to claim 37, characterized in that The feedback message includes condition matching results corresponding to each configuration condition indicated by the perception request message; or, The feedback message includes the total condition matching results corresponding to all configuration conditions indicated by the perception request message.

39. The device according to claim 35 or 36, characterized in that The first sending module is further configured to report a measurement result to the second device, where the measurement result includes at least one of an RSRP measurement result, a direct path probability, and a non-direct path probability.

40. The device according to claim 39, characterized in that The perception request message also includes at least one indication information of RSRP indication, direct path indication, and non-direct path indication; The RSRP indication is used to instruct the first device to report the RSRP measurement result; the direct path indication is used to instruct the first device to report the direct path probability; and the non-direct path indication is used to instruct the first device to report the non-direct path probability.

41. The device according to claim 39 or 40, characterized in that The measurement result is carried in the feedback message.

42. The device according to any one of claims 35 to 41, characterized in that The perception request message is carried in at least one of a broadcast message, a paging message, a radio resource control RRC signaling, a media access control element MACCE signaling, and a non-access stratum NAS message.

43. The device according to any one of claims 35 to 41, characterized in that The perception request message is transmitted through the PC5 interface between the first device and the second device.

44. The device according to any one of claims 35 to 43, characterized in that The first sending module is further configured to send a first feedback message to the second device when the location information of the first device belongs to the AOI, where the first feedback message is used to instruct the first device to participate in the perception measurement.

45. The device according to any one of claims 35 to 43, characterized in that The first sending module is further configured to initiate random access to the second device through a pre-configured random access channel RACH resource when the location information of the first device belongs to the AOI; The preconfigured RACH resource is used to implicitly indicate that the location information of the first device belongs to the AOI.

46. ​​The device according to any one of claims 35 to 43, characterized in that The first sending module is further configured to send a second feedback message to the second device when the location information of the first device does not belong to the AOI, where the second feedback message is used to indicate that the first device does not participate in the perception measurement; or, The first sending module is further configured to send the second feedback message to the second device when the location information of the first device belongs to the AOI but the setting information of the first device indicates that the first device does not participate in the perception measurement.

47. The device according to any one of claims 35 to 46, characterized in that The location information of the first device is obtained by a global navigation satellite system GNSS or mobile communication positioning technology.

48. The device according to claim 47, characterized in that The first sending module is further configured to send the feedback message to the second device based on the location information of the first device and the information of the AOI when the location information of the first device is valid information.

49. The device according to any one of claims 35 to 48, characterized in that The feedback message is carried in at least one of RRC signaling, MACCE signaling, and NAS message.

50. The device according to any one of claims 35 to 48, characterized in that The feedback message is transmitted through the PC5 interface between the first device and the second device.

51. The device according to any one of claims 35 to 50, characterized in that The second device is at least one of a terminal device, an access network device, and a core network device.

52. A device for determining a sensing node, characterized in that: The device comprises: A second sending module is configured to send a perception request message to the first device, where the perception request message includes information about the AOI, where the AOI is an area that the perception measurement desires to measure; A second receiving module, configured to receive a feedback message sent by the first device; A determining module is configured to determine the sensing node participating in the sensing measurement based on the feedback message.

53. The device according to claim 52, characterized in that The AOI information includes at least one of the following information: The reference point coordinates of the AOI and the radius of the AOI; or, The reference point coordinates of the AOI, the area length of the AOI, and the area width of the AOI; or, At least one area identifier, where the area identifier is used to indicate a geographical area.

54. The device according to claim 52 or 53, characterized in that The AOI information is the first configuration condition in the perception request message, and the perception request message also includes a second configuration condition; The second configuration condition includes at least one of a reference signal received power RSRP threshold, a direct path probability threshold, and a non-direct path probability threshold.

55. The device according to claim 54, characterized in that The feedback message includes condition matching results corresponding to each configuration condition indicated by the perception request message; or, The feedback message includes the total condition matching results corresponding to all configuration conditions indicated by the perception request message.

56. The device according to claim 52 or 53, characterized in that The second receiving module is further configured to receive a measurement result sent by the first device, where the measurement result includes at least one of an RSRP measurement result, a direct path probability, and a non-direct path probability.

57. The device according to claim 56, characterized in that The perception request message also includes at least one indication information of RSRP indication, direct path indication, and non-direct path indication; The RSRP indication is used to instruct the first device to report the RSRP measurement result; the direct path indication is used to instruct the first device to report the direct path probability; and the non-direct path indication is used to instruct the first device to report the non-direct path probability.

58. The device according to claim 56 or 57, characterized in that The measurement result is carried in the feedback message.

59. The device according to any one of claims 52 to 58, characterized in that The perception request message is carried in at least one of a broadcast message, a paging message, an RRC signaling, a MACCE signaling, and a NAS message.

60. The device according to any one of claims 52 to 58, characterized in that The feedback message is transmitted through the PC5 interface between the first device and the second device.

61. The device according to any one of claims 52 to 60, characterized in that The second receiving module is further configured to receive a first feedback message sent by the first device, where the first feedback message is used to indicate that the location information of the first device belongs to the AOI; The determining module is further configured to determine, according to the first feedback message, the first device as the sensing node participating in the sensing measurement.

62. The device according to any one of claims 52 to 60, characterized in that The second receiving module is further configured to receive a random access initiated by the first device through a pre-configured RACH resource, where the pre-configured RACH resource is used to implicitly indicate that the location information of the first device belongs to the AOI; The determining module is further configured to determine, according to the random access, the first device as the sensing node participating in the sensing measurement.

63. The device according to any one of claims 52 to 60, characterized in that The second receiving module is further configured to receive a second feedback message sent by the first device; the second feedback message is configured to indicate that the location of the first device does not belong to the AOI; or, the location information of the first device belongs to the AOI, but the setting information of the first device indicates that the first device does not participate in the perception measurement; The determining module is further configured to determine, according to the second feedback message, that the first device does not participate in the perception measurement.

64. The device according to any one of claims 52 to 63, characterized in that The location information of the first device is obtained by a global navigation satellite system GNSS or mobile communication positioning technology.

65. The device according to claim 64, characterized in that The feedback message is sent by the first device when the location information of the first device is valid information.

66. The device according to any one of claims 52 to 65, characterized in that The perception request message is carried in at least one of a broadcast message, a paging message, an RRC signaling, a MACCE signaling, and a NAS message.

67. The device according to any one of claims 52 to 65, characterized in that The perception request message is transmitted through the PC5 interface between the first device and the second device.

68. The device according to any one of claims 52 to 67, characterized in that The second device is at least one of a terminal device, an access network device, and a core network device.

69. A terminal device, characterized in that: The terminal device includes: processor; a transceiver connected to the processor; a memory for storing executable instructions for the processor; The processor is configured to load and execute the executable instructions to implement the method for determining a perception node according to any one of claims 1 to 17, or to implement the method for determining a perception node according to any one of claims 18 to 34.

70. A network device, characterized in that The network equipment includes: processor; a transceiver connected to the processor; a memory for storing executable instructions for the processor; The processor is configured to load and execute the executable instructions to implement the method for determining a perception node as described in any one of claims 18 to 34.

71. A computer-readable storage medium, characterized in that The computer-readable storage medium stores executable instructions, which are loaded and executed by a processor to implement the method for determining a perception node according to any one of claims 1 to 34.

72. A chip, characterized in that The chip includes a programmable logic circuit or a program, and a terminal equipped with the chip is used to implement the method for determining a perception node as described in any one of claims 1 to 34.

73. A computer program product, characterized in that The computer program product includes computer instructions, which are stored in a computer-readable storage medium. The processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method for determining a perception node as described in any one of claims 1 to 34.

74. A communication system, characterized in that The communication system includes: at least two terminal devices, or a terminal device and a network device; The terminal device is the device according to claim 69, and the network device is the device according to claim 70.

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