Communication method and device

Abstract

The invention provides a communication method and device, belongs to the technical field of communication, and is used for improving the accuracy and precision of target detection. In the method, a first access network device can perform data fusion on second sensing measurement data obtained by performing sensing operation with other access network devices, such as first sensing measurement data obtained by performing sensing operation by a second access network device according to sensing parameters; according to the embodiment of the invention, the first access network device fuses the sensing measurement data of a plurality of access network devices so as to avoid low accuracy of the sensing measurement data caused by incapability of detecting a target when some access network devices execute sensing operation, so that the sparsity of the sensing measurement data can be improved, and the accuracy and precision of target detection can be improved.

Description

Technical Field

[0001] The present application relates to the field of communications, and in particular to a communication method and device. Background Art

[0002] The access network device can perform perception measurements through a self-transmitting and self-receiving perception mode. For example, access network device A can send a perception signal and receive an echo signal of the perception signal for target detection. The echo signal is a signal after the perception signal is reflected by a target in the environment. Target detection is to compare the signal strength of the echo signal with a threshold to determine whether the target exists.

[0003] However, this process may result in severe path loss, which may cause the signal strength of the echo signal to be less than the background noise strength, thereby making it impossible to detect the target through threshold comparison, resulting in low accuracy and precision of target detection. Summary of the invention

[0004] The embodiments of the present application provide a communication method and device for improving the accuracy and precision of target detection.

[0005] In order to achieve the above objectives, this application adopts the following technical solutions:

[0006] In a first aspect, a communication method is provided, which is applied to a first access network device. The execution subject of the method may be the first access network device, or a device (such as a chip) in the first access network device, or may be a module that completes all or part of the functions of the first access network device. The method includes: sending a first message to a second access network device, receiving first perception measurement data from the second access network device, and determining third perception measurement data. Among them, the first message includes a perception parameter; the first perception measurement data is obtained by the second access network device performing a perception operation according to the perception parameter; the third perception measurement data is the perception measurement data obtained by the first access network device after data fusion of the first perception measurement data and the second perception measurement data; the second perception measurement data is obtained by the first access network device performing a perception operation.

[0007] Based on the methods described in the first aspect to the third aspect, it can be known that the first access network device can perform data fusion on the second perception measurement data obtained by performing the perception operation with other access network devices, such as the first perception measurement data obtained by the second access network device performing the perception operation according to the perception parameters, so as to realize the first access network device fusing the perception measurement data of multiple access network devices, so as to avoid the situation where some access network devices fail to detect the target when performing the perception operation, resulting in low accuracy of the perception measurement data, thereby improving the sparsity of the perception measurement data and improving the accuracy and precision of target detection.

[0008] In one possible design scheme, the second perception measurement data is obtained by the first access network device performing a perception operation based on the perception parameters. In this way, it can be ensured that the first perception measurement data and the second perception measurement data are obtained by performing a perception operation based on the same perception parameters, thereby improving the accuracy of the third perception measurement data.

[0009] In one possible design scheme, the first message also includes a perception session identifier; the first perception measurement data and the second perception measurement data are measurement data belonging to the perception session, that is, the first perception measurement data and the perception session correspond one-to-one, and the second perception measurement data and the perception session correspond one-to-one. In this way, the core network device can accurately determine which perception session the first perception measurement data and the second perception measurement data belong to, so as to avoid incorrect or misidentification.

[0010] In a possible design, the perception parameter includes at least one of the following: a perception area, or a perception feature of a perceived target. The first access network device and the second access network device may determine the perception feature to be reported based on the perception area and the perception feature of the perceived target, that is, the type of perception data included in the first perception measurement data and the second perception measurement data. The perception feature may include: location information, angle information, speed information, or height information of the perceived target, etc., without limitation.

[0011] In one possible design scheme, the perception parameters also include a perception time period, that is, when there is a perception task, the first access network device and the second access network device can directly perform perception operations based on the perception parameters. In this case, the core network device configures the perception parameters simultaneously with the second access network device executing the perception operation. In this way, signaling interaction can be reduced and the delay is shorter.

[0012] In a possible design scheme, after sending the first message to the second access network device, the method described in the first aspect may further include: sending a second message to the second access network device. The second message includes: a perception time period, or a perception time period and a perception session identifier. Optionally, the second message is used to trigger the second access network device to perform a perception operation.

[0013] That is, after the first access network device sends the perception area and the perception characteristics of the perceived target to the second access network device, the first access network device sends the perception time period to the second access network device. In this way, the second access network device can use the pre-configured perception area and the perception characteristics of the perceived target to trigger the perception operation through the second message in any required time period. In other words, the configuration of the perception parameters by the core network device and the perception operation process performed by the second access network device are separated from each other, thereby making the control more flexible.

[0014] In a possible design scheme, the first perception measurement data is obtained by the second access network device performing a perception operation according to the perception area, the perception feature, and the perception time period; the second perception measurement data is obtained by the first access network device performing a perception operation according to the perception area, the perception feature, and the perception time period. It can be understood that the first access network device and the second access network device perform the perception operation according to the same perception area, the perception feature, and the perception time period, thereby improving the accuracy of the third perception measurement data.

[0015] In a possible design scheme, before sending the second message to the second access network device, the method described in the first aspect may also include: receiving a third message from the core network device. The third message includes a perception time period, or a perception time period and a perception session identifier. Optionally, the third message is used to trigger the first access network device to perform a perception operation.

[0016] That is, after the first access network device sends the perception area and the perception characteristics of the perceived target to the second access network device, the first access network device receives the perception time period from the core network device. In this way, the first access network device can use the pre-configured perception area and the perception characteristics of the perceived target to trigger the perception operation through the second message in any required time period. In other words, the configuration of the perception parameters by the core network device is separated from the perception operation process performed by the first access network device, thereby making the control more flexible.

[0017] In a possible design scheme, before sending the first message to the second access network device, the method described in the first aspect may also include: receiving a fourth message from the core network device. The fourth message includes a perception parameter, or a perception parameter and a perception session identifier; the fourth message also includes an identifier of at least one access network device, and the at least one access network device includes a second access network device. That is, the first access network device performs a perception operation according to the perception parameter, which is triggered by the core network device. At the same time, the first access network device sends the perception parameter to the second access network device according to the identifier of the second access network device, so that the first access network device and the second access network device perform the perception operation according to the perception parameter.

[0018] In a possible design scheme, after determining the third perception measurement data, the method described in the first aspect may also include: sending the third perception measurement data to the core network functional device, so that the core network device can perform subsequent processing on the perception measurement data after data fusion, which can improve the accuracy and precision of the data in the subsequent processing process of the core network device, thereby improving the efficiency of communication.

[0019] In a second aspect, a communication method is provided, which is applied to a second access network device. The execution subject of the method may be the second access network device, or a device (such as a chip) in the second access network device, or may be a module that completes all or part of the functions of the second access network device. The method includes: receiving a first message from a first access network device, performing a perception operation according to a perception parameter, obtaining first perception measurement data, and sending the first perception measurement data to the first access network device. The first message includes the perception parameter.

[0020] In a possible design scheme, the first message also includes a perception session identifier; and the first perception measurement data is measurement data belonging to the perception session.

[0021] In a possible design, the perception parameter includes at least one of the following: a perception area, or a perception feature of a perceived target.

[0022] In a possible design, the perception parameter also includes a perception time period.

[0023] In a possible design, after receiving the first message from the first access network device, the method of the second aspect may further include: receiving a second message from the first access network device, wherein the second message includes: a perception time period, or a perception time period and a perception session identifier.

[0024] Optionally, the second message is used to trigger the second access network device to perform a perception operation.

[0025] In a possible design scheme, the first perception measurement data is obtained by the first access network device performing a perception operation according to a perception area, a perception feature, and a perception time period.

[0026] In addition, other technical effects of the method described in the second aspect can refer to the technical effects of the method described in the first aspect, and will not be repeated here.

[0027] In a third aspect, a communication method is provided, which is applied to a core network device. The execution subject of the method may be a core network device, or a device (such as a chip) in the core network device, or may be a module that completes all or part of the functions of the core network device. The method includes: sending a fourth message to a first access network device, and receiving third perception measurement data from the first access network device. Among them, the fourth message includes a perception parameter; the fourth message also includes an identifier of at least one access network device, and the at least one access network device includes a second access network device; the third perception measurement data is the perception measurement data obtained by the first access network device after data fusion of the first perception measurement data and the second perception measurement data; the first perception measurement data is obtained by the second access network device performing a perception operation according to the perception parameter; the second perception measurement data is obtained by the first access network device performing a perception operation according to the perception parameter.

[0028] In a possible design scheme, the fourth message also includes a perception session identifier; and the first perception measurement data and the second perception measurement data are measurement data belonging to the perception session.

[0029] In a possible design, the perception parameter includes at least one of the following: a perception area, or a perception feature of a perceived target.

[0030] In a possible design, the perception parameter also includes a perception time period.

[0031] In a possible design, after sending the fourth message to the first access network device, the method described in the third aspect may further include: sending a third message to the first access network device, wherein the third message includes a perception time period, or a perception time period and a perception session identifier.

[0032] Optionally, the third message is used to trigger the first access network device to perform a perception operation.

[0033] In one possible design scheme, the first perception measurement data is obtained by the second access network device performing a perception operation based on the perception area, perception characteristics and perception time period; the second perception measurement data is obtained by the first access network device performing a perception operation based on the perception area, perception characteristics and perception time period.

[0034] In addition, other technical effects of the method described in the third aspect can refer to the technical effects of the method described in the first aspect, and will not be repeated here.

[0035] In a fourth aspect, a communication method is provided, which is applied to a first access network device. The execution subject of the method may be the first access network device, or a device (such as a chip) in the first access network device, or a module that completes all or part of the functions of the first access network device. The method includes: determining first beam parameter information, and performing a perception operation based on the first beam parameter information. The first beam parameter information is determined based on the beam parameter information of other access network devices, and the first access network device overlaps with the perception area where the other access network devices need to perform the perception operation.

[0036] Based on the methods described in aspects 4 to 6, it can be known that the first beam parameter information used by the first access network device is determined based on the beam parameter information of other access network devices whose perception areas overlap. In other words, the determination of the first beam parameter information can take into account the mutual interference with the beam parameter information of other access network devices, thereby reducing the mutual interference between access network devices, thereby reducing the background noise in target detection and improving the accuracy and precision of target detection.

[0037] In one possible design scheme, within the same time period, the interference between the beam indicated by the first beam parameter information and the beam indicated by the beam parameter information of other access network devices is less than a preset value. In this way, it can be ensured that within the same time period, the interference of other access network devices to the first access network device is reduced.

[0038] In a possible design scheme, the other access network devices include a second access network device, and the method described in the fourth aspect may also include: receiving second beam parameter information from the second access network device. The second beam parameter information is used to determine the first beam parameter information. Optionally, determining the first beam parameter information includes: determining the first beam parameter information according to the second beam parameter information. That is, the first access network device replaces or modifies its own beam parameter information to the first beam parameter information according to the received second beam parameter information, thereby ensuring that the interference of the second access network device to the first access network device is reduced within the same time period.

[0039] Optionally, the first beam parameter information includes at least one first beam parameter; the first beam parameter includes at least one of the following: a first beam direction, a first beam period, or a time-frequency resource position of a first perception signal carried on the first beam. The first perception signal is a perception signal used by the first access network device when performing a perception operation, and the first beam parameter may also include any other possible parameters without limitation. Optionally, the second beam parameter information includes at least one second beam parameter; the second beam parameter includes at least one of the following: a second beam direction, a second beam period, or a time-frequency resource position of a second perception signal carried on the second beam. The second perception signal is a perception signal used by the second access network device when performing a perception operation, and the second beam parameter may also include any other possible parameters without limitation.

[0040] It can be understood that the first access network device can modify its own beam direction, beam period, or time-frequency resource position of the first perception signal according to the second beam direction, the second beam period, or the time-frequency resource position of the second perception signal. The implementation process is simple and flexible. For example, in the same time period, the first beam direction is the same as the second beam direction; the first beam period is the same as the second beam period; or the first access network device sends the first perception signal, and the second access network device does not send the second perception signal, etc., without limitation.

[0041] Further, in the same time period, the interference between the first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and the second perception signal sent by the second access network device using the beam indicated by the second beam parameter information is less than a preset value. That is, in the same time period, the interference between the first perception signal and the second perception signal is less than a preset value, thereby reducing the background noise in target detection and improving the accuracy and precision of target detection.

[0042] In a possible design scheme, determining the first beam parameter information includes: receiving the first beam parameter information from the core network device. Optionally, before receiving the first beam parameter information from the core network device, the method described in the fourth aspect may also include: sending third beam parameter information to the core network device. The first beam parameter information is determined by the core network device based on the third beam parameter information and beam parameter information of other access network devices.

[0043] That is, the first beam parameter information is determined by the core network device based on the third beam parameter information and the beam parameter information of other access network devices. The first access network device uses the received first beam parameter information to perform perception operations, which can reduce mutual interference between access network devices, thereby reducing the background noise in target detection and improving the accuracy and precision of target detection.

[0044] In a possible design scheme, performing a sensing operation according to the first beam parameter information includes: using a first sensing signal sent by a beam indicated by the first beam parameter information; receiving a first echo signal; and performing a sensing operation according to the first sensing signal and the first echo signal. The first echo signal is a reflection signal of the first sensing signal, that is, the first access network device performs a sensing operation using the first beam parameter information, which can reduce the background noise in target detection and improve the accuracy and precision of target detection.

[0045] In a fifth aspect, a communication method is provided, which is applied to a second access network device. The execution subject of the method may be the second access network device, or a device (such as a chip) in the second access network device, or a module that completes all or part of the functions of the second access network device. The method includes: obtaining second beam parameter information, and sending the second beam parameter information. The second beam parameter information is used by the second access network device to perform a sensing operation.

[0046] In one possible design scheme, sending the second beam parameter information includes: sending the second beam parameter information to the first access network device.

[0047] Optionally, the method described in the fifth aspect may further include: performing a perception operation according to the second beam parameter information. Optionally, the second beam parameter information includes at least one second beam parameter; the second beam parameter includes at least one of the following: a second beam direction, a second beam period, or a time-frequency resource position of a second perception signal carried on the second beam. The second perception signal is a perception signal used when the second access network device performs a perception operation.

[0048] In a possible design, performing a sensing operation according to the second beam parameter information includes: using a second sensing signal sent by a beam indicated by the second beam parameter information; receiving a second echo signal; and performing a sensing operation according to the second sensing signal and the second echo signal, wherein the second echo signal is a reflection signal of the second sensing signal.

[0049] In a possible design scheme, sending the second beam parameter information includes: sending the second beam parameter information to a core network device.

[0050] Optionally, the method described in the fifth aspect may also include: receiving fourth beam parameter information from a core network device, and performing a perception operation based on the fourth beam parameter information. The fourth beam parameter information is determined by the core network device based on the second beam parameter information and the beam parameter information of other access network devices, and the second access network device and the other access network devices overlap in the perception area where the perception operation needs to be performed. That is, the determination of the fourth beam parameter information takes into account the mutual interference between the beam parameter information of other access network devices, which can reduce the mutual interference between access network devices, thereby reducing the background noise in target detection and improving the accuracy and precision of target detection.

[0051] Optionally, within the same time period, the interference between the beam indicated by the fourth beam parameter information and the beam indicated by the beam parameter information of other access network devices is less than a preset value. In this way, it can be ensured that within the same time period, the interference of other access network devices to the second access network device is reduced.

[0052] Further, the fourth beam parameter information includes at least one fourth beam parameter; the fourth beam parameter includes at least one of the following: a fourth beam direction, a fourth beam period, or a time-frequency resource position of a second perception signal carried on the fourth beam. The second perception signal is a perception signal used when the second access network device performs a perception operation, and the fourth beam parameter may also include any other possible parameters without limitation.

[0053] In a possible design scheme, performing a sensing operation according to the fourth beam parameter information includes: using a second sensing signal sent by a beam indicated by the fourth beam parameter information; receiving a second echo signal; and performing a sensing operation according to the second sensing signal and the second echo signal. The second echo signal is a reflection signal of the second sensing signal. In addition, other technical effects of the method described in the fifth aspect can refer to the technical effects of the method described in the fourth aspect, and will not be repeated here.

[0054] In a sixth aspect, a communication method is provided, which is applied to a core network device. The execution subject of the method may be a core network device, or a device (such as a chip) in the core network device, or may be a module that completes all or part of the functions of the core network device. The method includes: receiving beam parameter information from other access network devices, acquiring first beam parameter information and fourth beam parameter information according to second beam parameter information and third beam parameter information, and sending the first beam parameter information to the first access network device, and sending the fourth beam parameter information to the second access network device. Among them, the beam parameter information of other access network devices includes second beam parameter information and third beam parameter information; the second beam parameter information is the beam parameter information of the second access network device, and the third beam parameter information is the beam parameter information of the first access network device.

[0055] Based on the methods described in aspects 4 to 6, it can be known that the core network device can determine / modify the beam parameter information of the first core network device and the second access network device based on the beam parameter information of other access network devices, such as the second beam parameter information and the third beam parameter information, so that the mutual interference between the access network devices is reduced, thereby reducing the background noise in target detection and improving the accuracy and precision of target detection.

[0056] In a possible design scheme, within the same time period, interference between the beam indicated by the first beam parameter information and the beam indicated by the fourth beam parameter information is less than a preset value.

[0057] In a possible design scheme, the first beam parameter information includes at least one first beam parameter; the first beam parameter includes at least one of the following: a first beam direction, a first beam period, or a time-frequency resource position of a first perception signal carried on the first beam. The first perception signal is a perception signal used when the first access network device performs a perception operation.

[0058] In a possible design scheme, the fourth beam parameter information includes at least one fourth beam parameter; the fourth beam parameter includes at least one of the following: a fourth beam direction, a fourth beam period, or a time-frequency resource position of a second perception signal carried on the fourth beam. The second perception signal is a perception signal used when the second access network device performs a perception operation.

[0059] Optionally, within the same time period, the interference between a first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and a second perception signal sent by the second access network device using the beam indicated by the fourth beam parameter information is less than a preset value.

[0060] In addition, other technical effects of the method described in the sixth aspect can refer to the technical effects of the methods described in the fourth and fifth aspects, and will not be repeated here.

[0061] In a seventh aspect, a communication device is provided, which includes: a module for executing the method described in the first aspect, for example, a transceiver module and a processing module.

[0062] The transceiver module is used to send a first message to the second access network device. The transceiver module is also used to receive first perception measurement data from the second access network device. The processing module is used to determine third perception measurement data. The first message includes a perception parameter; the first perception measurement data is obtained by the second access network device performing a perception operation according to the perception parameter; the third perception measurement data is the perception measurement data obtained by the first access network device after data fusion of the first perception measurement data and the second perception measurement data; the second perception measurement data is obtained by the first access network device performing a perception operation.

[0063] In a possible design scheme, the second perception measurement data is obtained by the first access network device performing a perception operation according to the perception parameters.

[0064] In a possible design scheme, the first message also includes a perception session identifier; and the first perception measurement data and the second perception measurement data are measurement data belonging to the perception session.

[0065] In a possible design, the perception parameter includes at least one of the following: a perception area, or a perception feature of a perceived target.

[0066] In a possible design, the perception parameter also includes a perception time period.

[0067] In a possible design scheme, after sending the first message to the second access network device, the transceiver module is further used to send a second message to the second access network device. The second message includes: a perception time period, or a perception time period and a perception session identifier. Optionally, the second message is used to trigger the second access network device to perform a perception operation.

[0068] Optionally, the second message is used to trigger the second access network device to perform a perception operation.

[0069] In one possible design scheme, the first perception measurement data is obtained by the second access network device performing a perception operation based on the perception area, perception characteristics and perception time period; the second perception measurement data is obtained by the first access network device performing a perception operation based on the perception area, perception characteristics and perception time period.

[0070] In a possible design, before sending the second message to the second access network device, the transceiver module is further configured to receive a third message from the core network device, wherein the third message includes a perception time period, or a perception time period and a perception session identifier.

[0071] Optionally, the third message is used to trigger the first access network device to perform a perception operation.

[0072] In a possible design, before sending the first message to the second access network device, the transceiver module is further used to receive a fourth message from the core network device. The fourth message includes a perception parameter, or a perception parameter and a perception session identifier; the fourth message also includes an identifier of at least one access network device, and the at least one access network device includes the second access network device.

[0073] In a possible design scheme, after determining the third perception measurement data, the transceiver module is also used to send the third perception measurement data to the core network functional device.

[0074] Optionally, the transceiver module may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device described in the seventh aspect, and the receiving module is used to implement the receiving function of the communication device described in the seventh aspect.

[0075] Optionally, the communication device described in the seventh aspect may further include a storage module, wherein the storage module stores a program or an instruction. When the processing module executes the program or the instruction, the communication device may execute the communication method described in the first aspect.

[0076] It should be noted that the communication device described in the seventh aspect can be an access network device, or a chip (system) or other parts or components that can be set in the access network device, or a device that includes an access network device. This application does not limit this.

[0077] In addition, the technical effects of the communication device described in the seventh aspect can refer to the technical effects of the communication method described in the first aspect, and will not be repeated here.

[0078] In an eighth aspect, a communication device is provided, which includes: a module for executing the method described in the second aspect, for example, a transceiver module and a processing module.

[0079] The transceiver module is used to receive a first message from a first access network device. The processing module is used to perform a sensing operation according to the sensing parameter to obtain first sensing measurement data. The transceiver module is also used to send the first sensing measurement data to the first access network device.

[0080] In a possible design scheme, the first message also includes a perception session identifier; and the first perception measurement data is measurement data belonging to the perception session.

[0081] In a possible design, the perception parameter includes at least one of the following: a perception area, or a perception feature of a perceived target.

[0082] In a possible design, the perception parameter also includes a perception time period.

[0083] In a possible design, after receiving the first message from the first access network device, the transceiver module is further configured to receive a second message from the first access network device, wherein the second message includes: a perception time period, or a perception time period and a perception session identifier.

[0084] Optionally, the second message is used to trigger the second access network device to perform a perception operation.

[0085] In a possible design scheme, the first perception measurement data is obtained by the first access network device performing a perception operation according to a perception area, a perception feature, and a perception time period.

[0086] Optionally, the transceiver module may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device described in the eighth aspect, and the receiving module is used to implement the receiving function of the communication device described in the eighth aspect.

[0087] Optionally, the communication device described in the eighth aspect may further include a storage module, wherein the storage module stores a program or an instruction. When the processing module executes the program or the instruction, the communication device may execute the communication method described in the second aspect.

[0088] It should be noted that the communication device described in the eighth aspect can be an access network device, or a chip (system) or other parts or components that can be set in the access network device, or a device that includes an access network device, and this application does not limit this.

[0089] In addition, the technical effects of the communication device described in the eighth aspect can refer to the technical effects of the communication method described in the second aspect, and will not be repeated here.

[0090] In a ninth aspect, a communication device is provided, which includes: a module for executing the method described in the third aspect, for example, a transceiver module and a processing module.

[0091] The processing module is used to control the transceiver module to send a fourth message to the first access network device. The transceiver module is used to receive third perception measurement data from the first access network device. The fourth message includes a perception parameter; the fourth message also includes an identifier of at least one access network device, and the at least one access network device includes a second access network device; the third perception measurement data is the perception measurement data obtained by the first access network device after data fusion of the first perception measurement data and the second perception measurement data; the first perception measurement data is obtained by the second access network device performing a perception operation according to the perception parameter; the second perception measurement data is obtained by the first access network device performing a perception operation according to the perception parameter.

[0092] In a possible design scheme, the fourth message also includes a perception session identifier; and the first perception measurement data and the second perception measurement data are measurement data belonging to the perception session.

[0093] In a possible design, the perception parameter includes at least one of the following: a perception area, or a perception feature of a perceived target.

[0094] In a possible design, the perception parameter also includes a perception time period.

[0095] In a possible design, after sending the fourth message to the first access network device, the processing module is further used to control the transceiver module to send a third message to the first access network device, wherein the third message includes a perception time period, or a perception time period and a perception session identifier.

[0096] Optionally, the third message is used to trigger the first access network device to perform a perception operation.

[0097] In one possible design scheme, the first perception measurement data is obtained by the second access network device performing a perception operation based on the perception area, perception characteristics and perception time period; the second perception measurement data is obtained by the first access network device performing a perception operation based on the perception area, perception characteristics and perception time period.

[0098] Optionally, the transceiver module may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device described in the ninth aspect, and the receiving module is used to implement the receiving function of the communication device described in the ninth aspect.

[0099] Optionally, the communication device described in the ninth aspect may further include a storage module, wherein the storage module stores a program or an instruction. When the processing module executes the program or the instruction, the communication device may execute the communication method described in the third aspect.

[0100] It should be noted that the communication device described in the ninth aspect can be a core network device, or a chip (system) or other parts or components that can be set in the core network device, or a device that includes a core network device, and this application does not limit this.

[0101] In addition, the technical effects of the communication device described in the ninth aspect can refer to the technical effects of the communication method described in the third aspect, and will not be repeated here.

[0102] In a tenth aspect, a communication device is provided. The device includes: a module for executing the method described in the fourth aspect, for example, a transceiver module and a processing module.

[0103] The processing module is used to determine the first beam parameter information. The processing module is also used to perform a sensing operation according to the first beam parameter information. The first beam parameter information is determined according to beam parameter information of other access network devices, and the first access network device and the sensing area where the sensing operation needs to be performed by the other access network devices overlap.

[0104] In a possible design scheme, within the same time period, interference between the beam indicated by the first beam parameter information and the beam indicated by beam parameter information of other access network devices is less than a preset value.

[0105] In a possible design, the other access network device includes a second access network device, and a transceiver module, which is used to receive second beam parameter information from the second access network device, wherein the second beam parameter information is used to determine the first beam parameter information.

[0106] Optionally, the processing module is used to determine the first beam parameter information according to the second beam parameter information.

[0107] Optionally, the first beam parameter information includes at least one first beam parameter; the first beam parameter includes at least one of the following: a first beam direction, a first beam period, or a time-frequency resource position of a first perception signal carried on the first beam. The first perception signal is a perception signal used when the first access network device performs a perception operation.

[0108] Optionally, the second beam parameter information includes at least one second beam parameter; the second beam parameter includes at least one of the following: a second beam direction, a second beam period, or a time-frequency resource position of a second perception signal carried on the second beam. The second perception signal is a perception signal used when the second access network device performs a perception operation.

[0109] Furthermore, within the same time period, the interference between a first perception signal sent by a first access network device using a beam indicated by the first beam parameter information and a second perception signal sent by a second access network device using a beam indicated by the second beam parameter information is less than a preset value.

[0110] In one possible design scheme, the transceiver module is also used to receive the first beam parameter information from the core network device.

[0111] Optionally, before receiving the first beam parameter information from the core network device, the transceiver module is further used to send third beam parameter information to the core network device, wherein the first beam parameter information is determined by the core network device according to the third beam parameter information and beam parameter information of other access network devices.

[0112] Optionally, the transceiver module may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device described in the tenth aspect, and the receiving module is used to implement the receiving function of the communication device described in the tenth aspect.

[0113] Optionally, the communication device described in the tenth aspect may further include a storage module, wherein the storage module stores a program or an instruction. When the processing module executes the program or the instruction, the communication device may execute the communication method described in the fourth aspect.

[0114] It should be noted that the communication device described in the tenth aspect can be an access network device, or a chip (system) or other parts or components that can be set in the access network device, or a device that includes an access network device. This application does not limit this.

[0115] In addition, the technical effects of the communication device described in the tenth aspect can refer to the technical effects of the communication method described in the fourth aspect, and will not be repeated here.

[0116] In an eleventh aspect, a communication device is provided, which includes: a module for executing the method described in the fifth aspect, for example, a transceiver module and a processing module.

[0117] The processing module is used to obtain the second beam parameter information. The transceiver module is used to send the second beam parameter information. The second beam parameter information is used by the second access network device to perform a sensing operation.

[0118] In one possible design scheme, the transceiver module is also used to send second beam parameter information to the first access network device.

[0119] Optionally, the processing module is further used to perform a sensing operation according to the second beam parameter information.

[0120] Optionally, the second beam parameter information includes at least one second beam parameter; the second beam parameter includes at least one of the following: a second beam direction, a second beam period, or a time-frequency resource position of a second perception signal carried on the second beam. The second perception signal is a perception signal used when the second access network device performs a perception operation.

[0121] In one possible design scheme, the transceiver module is also used to send second beam parameter information to the core network device.

[0122] Optionally, the transceiver module is further used to receive fourth beam parameter information from the core network device. The processing module is further used to perform a sensing operation according to the fourth beam parameter information. The fourth beam parameter information is determined by the core network device according to the second beam parameter information and beam parameter information of other access network devices, and the second access network device overlaps with the sensing area where the sensing operation needs to be performed by the other access network devices.

[0123] Optionally, within the same time period, interference between the beam indicated by the fourth beam parameter information and the beam indicated by beam parameter information of other access network devices is less than a preset value.

[0124] Further, the fourth beam parameter information includes at least one fourth beam parameter; the fourth beam parameter includes at least one of the following: a fourth beam direction, a fourth beam period, or a time-frequency resource position of a second perception signal carried on the fourth beam. The second perception signal is a perception signal used when the second access network device performs a perception operation.

[0125] Optionally, the transceiver module may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device described in the eleventh aspect, and the receiving module is used to implement the receiving function of the communication device described in the eleventh aspect.

[0126] Optionally, the communication device described in the eleventh aspect may further include a storage module, wherein the storage module stores a program or an instruction. When the processing module executes the program or the instruction, the communication device may execute the communication method described in the fifth aspect.

[0127] It should be noted that the communication device described in the eleventh aspect can be an access network device, or a chip (system) or other parts or components that can be set in the access network device, or a device that includes an access network device, and this application does not limit this.

[0128] In addition, the technical effects of the communication device described in the eleventh aspect can refer to the technical effects of the communication method described in the fifth aspect, and will not be repeated here.

[0129] In a twelfth aspect, a communication device is provided. The device includes: a module for executing the method described in the sixth aspect, for example, a transceiver module and a processing module.

[0130] The transceiver module is used to receive beam parameter information from other access network devices. The processing module is used to obtain the first beam parameter information and the fourth beam parameter information according to the second beam parameter information and the third beam parameter information. The transceiver module is also used to send the first beam parameter information to the first access network device. The transceiver module is also used to send the fourth beam parameter information to the second access network device. The beam parameter information of other access network devices includes the second beam parameter information and the third beam parameter information; the second beam parameter information is the beam parameter information of the second access network device, and the third beam parameter information is the beam parameter information of the first access network device.

[0131] In a possible design scheme, within the same time period, interference between the beam indicated by the first beam parameter information and the beam indicated by the fourth beam parameter information is less than a preset value.

[0132] In a possible design scheme, the first beam parameter information includes at least one first beam parameter; the first beam parameter includes at least one of the following: a first beam direction, a first beam period, or a time-frequency resource position of a first perception signal carried on the first beam. The first perception signal is a perception signal used when the first access network device performs a perception operation.

[0133] In a possible design scheme, the fourth beam parameter information includes at least one fourth beam parameter; the fourth beam parameter includes at least one of the following: a fourth beam direction, a fourth beam period, or a time-frequency resource position of a second perception signal carried on the fourth beam. The second perception signal is a perception signal used when the second access network device performs a perception operation.

[0134] Optionally, within the same time period, the interference between a first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and a second perception signal sent by the second access network device using the beam indicated by the fourth beam parameter information is less than a preset value.

[0135] Optionally, the transceiver module may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device described in aspect 12, and the receiving module is used to implement the receiving function of the communication device described in aspect 12.

[0136] Optionally, the communication device described in the twelfth aspect may further include a storage module, wherein the storage module stores a program or an instruction. When the processing module executes the program or the instruction, the communication device may execute the communication method described in the sixth aspect.

[0137] It should be noted that the communication device described in the twelfth aspect can be a core network device, or a chip (system) or other parts or components that can be set in the core network device, or a device that includes a core network device, and this application does not limit this.

[0138] In addition, the technical effects of the communication device described in the twelfth aspect can refer to the technical effects of the communication method described in the sixth aspect, and will not be repeated here.

[0139] In a thirteenth aspect, a communication device is provided, wherein the communication device includes: a processor, wherein the processor is configured to execute the method described in any one of the implementation modes of the first to sixth aspects.

[0140] In a possible design scheme, the communication device described in the thirteenth aspect may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver may be used for the communication device described in the thirteenth aspect to communicate with other communication devices.

[0141] In a possible design scheme, the communication device described in the thirteenth aspect may further include a memory. The memory may be integrated with the processor or may be separately provided. The memory may be used to store the computer program and / or data involved in the method described in any one of the implementation modes of the first aspect to the sixth aspect.

[0142] In the present application, the communication device described in the thirteenth aspect may be the access network device in the above-mentioned first to sixth aspects or any implementation manner thereof, or a device including the above-mentioned access network device, or a device included in the above-mentioned access network device, such as a chip; or, the communication device may be the core network device in the above-mentioned first to sixth aspects or any implementation manner thereof, or a device including the above-mentioned core network device, or a device included in the above-mentioned core network device, such as a chip.

[0143] In addition, the technical effects of the communication device described in the thirteenth aspect can refer to the technical effects of the method described in any one of the implementation methods of the first to sixth aspects, and will not be repeated here.

[0144] In a fourteenth aspect, a communication device is provided, comprising: a processor, the processor being coupled to a memory, the processor being configured to execute a computer program stored in the memory, so that the communication device executes the method described in any one of the implementation modes of the first to sixth aspects.

[0145] In a possible design solution, the communication device described in aspect 14 may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver may be used for the communication device described in aspect 14 to communicate with other communication devices.

[0146] In the present application, the communication device described in the fourteenth aspect may be the access network device in the above-mentioned first to sixth aspects or any implementation manner thereof, or a device including the above-mentioned access network device, or a device included in the above-mentioned access network device, such as a chip; or, the communication device may be the core network device in the above-mentioned first to sixth aspects or any implementation manner thereof, or a device including the above-mentioned core network device, or a device included in the above-mentioned core network device, such as a chip.

[0147] In addition, the technical effects of the communication device described in the fourteenth aspect can refer to the technical effects of the method described in any one of the implementation methods of the first to sixth aspects, and will not be repeated here.

[0148] In a fifteenth aspect, a communication device is provided, comprising: a processor; when the processor executes computer instructions, the communication device executes the method described in any one of the implementation methods of the first to sixth aspects.

[0149] In a possible design scheme, the communication device described in aspect 15 may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver may be used for the communication device described in aspect 15 to communicate with other communication devices.

[0150] In the present application, the communication device described in the fifteenth aspect may be the access network device in the above-mentioned first to sixth aspects or any implementation manner thereof, or a device including the above-mentioned access network device, or a device included in the above-mentioned access network device, such as a chip; or, the communication device may be the core network device in the above-mentioned first to sixth aspects or any implementation manner thereof, or a device including the above-mentioned core network device, or a device included in the above-mentioned core network device, such as a chip.

[0151] In addition, the technical effects of the communication device described in the fifteenth aspect can refer to the technical effects of the method described in any one of the implementation methods of the first to sixth aspects, and will not be repeated here.

[0152] In the sixteenth aspect, a communication device is provided, comprising: a processor; the processor is used to couple with a memory, and after reading a computer program in the memory, execute a method as described in any one of the implementation methods of the first to sixth aspects according to the computer program.

[0153] In a possible design scheme, the communication device described in aspect 16 may further include a transceiver. The transceiver may be a transceiver circuit or an interface circuit. The transceiver may be used for the communication device described in aspect 16 to communicate with other communication devices.

[0154] In the present application, the communication device described in aspect 16 may be an access network device in the above-mentioned first to sixth aspects or any implementation manner thereof, or a device including the above-mentioned access network device, or a device included in the above-mentioned access network device, such as a chip; or, the communication device may be a core network device in the above-mentioned first to sixth aspects or any implementation manner thereof, or a device including the above-mentioned core network device, or a device included in the above-mentioned core network device, such as a chip.

[0155] In addition, the technical effects of the communication device described in the sixteenth aspect can refer to the technical effects of the method described in any one of the implementation methods of the first aspect to the sixth aspect, and will not be repeated here.

[0156] In a seventeenth aspect, a communication system is provided, which includes the access network device described in the above aspect and the core network device described in the above aspect.

[0157] In an eighteenth aspect, a computer-readable storage medium is provided, comprising: a computer program or instructions; when the computer program or instructions are executed on a computer, the computer executes the method described in any one of the implementation methods of the first to sixth aspects.

[0158] In the nineteenth aspect, a computer program product is provided, comprising a computer program or instructions, which, when executed on a computer, causes the computer to execute the method described in any one of the implementations of the first to sixth aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0159] Figure 1 This is a schematic diagram of the 5G communication system architecture;

[0160] Figure 2 Schematic diagram of the range-velocity spectrum for target detection;

[0161] Figure 3 Schematic diagram of performing sensing operations for gNB1 and gNB2;

[0162] Figure 4 A schematic diagram of the architecture of a communication system provided in an embodiment of the present application;

[0163] Figure 5 This is a schematic diagram of a communication method provided in an embodiment of the present application. Figure 1 ;

[0164] Figure 6 This is a schematic diagram of a communication method provided in an embodiment of the present application. Figure 2 ;

[0165] Figure 7 This is a schematic diagram of a communication method provided in an embodiment of the present application. Figure 3;

[0166] Figure 8 This is a schematic diagram of a communication method provided in an embodiment of the present application. Figure 4 ;

[0167] Fig. 9 This is a schematic diagram of a communication method provided in an embodiment of the present application. Figure 5 ;

[0168] Fig.10 This is a schematic diagram of a communication method provided in an embodiment of the present application. Figure 6 ;

[0169] Fig.11 This is a schematic diagram of a communication method provided in an embodiment of the present application. Figure 7 ;

[0170] Fig.12 This is a schematic diagram of a communication method provided in an embodiment of the present application. Figure 8 ;

[0171] Fig.13 A schematic diagram of the structure of the communication device provided in the embodiment of the present application Figure 1 ;

[0172] Fig.14 A schematic diagram of the structure of the communication device provided in the embodiment of the present application Figure 2 . DETAILED DESCRIPTION

[0173] For ease of understanding, the technical terms involved in the embodiments of the present application are first introduced below.

[0174] 1. Fifth generation (5G) mobile communication system

[0175] Figure 1 It is a schematic diagram of the 5G communication system architecture. Figure 1 As shown, the 5G network may include terminal equipment, an access network (radio access network, RAN) and a core network (core network, CN).

[0176] The terminal device may be a terminal device with transceiver functions, or may be a chip or chip system provided in the terminal device. The terminal device may also be referred to as user equipment (UE), access terminal device, subscriber unit, user station, mobile station (MS), mobile station, remote station, remote terminal device, mobile device, user terminal device, terminal device, wireless communication device, user agent or user device. The terminal device in the embodiments of the present application can be a mobile phone, a cellular phone, a smart phone, a tablet computer, a wireless data card, a personal digital assistant (PDA), a wireless modem, a handheld device (handset), a laptop computer, a machine type communication (MTC) terminal device, a computer with a wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a smart home device (for example, a refrigerator, a television, an air conditioner, an electric meter, etc.), an intelligent robot, a robotic arm, a workshop equipment, a wireless terminal device in unmanned driving, a wireless terminal device in industrial control, a wireless terminal device in unmanned driving, a wireless terminal device in remote medical, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, a smart home, etc. The terminal device of the present application may also be a vehicle-mounted module, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip or a vehicle-mounted unit built into a vehicle as one or more components or units. The terminal device may also be other devices with terminal device functions, for example, the terminal device may also be a device that functions as a terminal device in D2D communication.

[0177] The embodiments of the present application do not limit the form of the terminal device. The device for realizing the function of the terminal device can be the terminal device; it can also be a device that can support the terminal device to realize the function, such as a chip system. The device can be installed in the terminal device or used in combination with the terminal device. In the embodiments of the present application, the chip system can be composed of chips, or it can include chips and other discrete devices.

[0178] The above AN is used to implement access-related functions, can provide network access functions for authorized users in a specific area, and can determine transmission links of different qualities to transmit user data according to the user level, business requirements, etc. AN forwards control signals and user data between the terminal and CN. AN can include: access network equipment, also known as radio access network equipment (RAN) equipment.

[0179] The RAN device may be a device with wireless transceiver functions, or may be a chip or chip system provided in the device, located in the access network (AN) of the communication system, and used to provide access services for the terminal. For example, the access network device may be referred to as a radio access network device (RAN) device, and may specifically be a next-generation mobile communication system, such as a 6G access network device, such as a 6G base station, or in the next-generation mobile communication system, the network device may also have other naming methods, which are all included in the protection scope of the embodiments of the present application, and the present application does not make any limitation on this. Alternatively, the network device may also include 5G, such as a gNB in ​​a new radio (NR) system, or one or a group of antenna panels (including multiple antenna panels) of a base station in 5G, or a network node constituting a gNB, a transmission point (TRP or transmission point, TP) or a transmission measurement function (TMF), such as a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), an RSU with base station function, or a wired access gateway, or a core network element of 5G. Alternatively, the network device may also include: an access point (AP) in a wireless fidelity (WiFi) system, a wireless relay node, a wireless backhaul node, various forms of macro base stations, micro base stations (also called small stations), relay stations, access points, wearable devices, vehicle-mounted devices, etc.

[0180] CN is mainly responsible for maintaining the subscription data of the mobile network and providing functions such as session management, mobility management, policy management and security authentication for terminals. CN mainly includes the following network functions: user plane function (UPF), authentication server function (AUSF), access and mobility management function (AMF), session management function (SMF), network slice selection function (NSSF), network exposure function (NEF), network function repository function (NRF), policy control function (PCF), unified data management (UDM), application function (AF), as well as network slice-specific and SNPN authentication and authorization function (NSSAAF), location management function (LMF), network data analysis function (NWDAF), short message service function (SMSF), and security anchor functionality (SEAF).

[0181] Among them, UPF is mainly responsible for user data processing (forwarding, receiving, billing, etc.). For example, UPF can receive user data from the data network (DN) and forward the user data to the terminal through the access network equipment. UPF can also receive user data from the terminal through the access network equipment and forward the user data to the DN. DN refers to the operator network that provides data transmission services to users. For example, Internet Protocol (IP) Multimedia Service (IMS), Internet, etc. DN can be an operator's external network or a network controlled by an operator, which is used to provide business services to terminal devices.

[0182] AUSF can be used to perform security authentication for terminal access to the network.

[0183] AMF is mainly responsible for access and mobility management in mobile networks, such as user location update, user network registration, user switching, etc.

[0184] SMF is mainly responsible for session management in mobile networks, such as session establishment, modification, and release. Specific functions include allocating Internet Protocol (IP) addresses to users and selecting UPFs that provide message forwarding functions.

[0185] PCF mainly supports providing a unified policy framework to control network behavior, provides policy rules to the control layer network functions, and is responsible for obtaining user subscription information related to policy decisions. PCF can provide policies to AMF and SMF, such as quality of service (QoS) policy, slice selection policy, etc.

[0186] NSSF can be used to select a network slice for a terminal.

[0187] NEF can be used to support the exposure of capabilities and events.

[0188] UDM can be used to manage user data, such as contract data, authentication / authorization data, etc.

[0189] AF mainly supports interaction with CN to provide services, such as influencing data routing decisions, policy control functions, or providing some third-party services to the network side.

[0190] NSSAAF can be used to support slice authentication and authorization, as well as to support access to independent non-public networks using the credentials of the credential holder. NSSAAF can interact with the authentication, authorization, and accounting server (AAA-S) through the authentication, authorization, and accounting proxy (AAA-P).

[0191] LMF can be used to manage the location information of terminals and provide location services for terminals.

[0192] NWDAF can be used to collect data within the network and conduct analysis and prediction, providing data analysis services for other network functions.

[0193] SMSF can be used to manage the short message subscription data of the terminal, forward short messages to the terminal, and charge for the short message service.

[0194] SEAF can be used to derive non-access stratum (NAS) keys and access stratum (AS) keys based on the keys passed by AUSF, which are used to protect data in the communication process. Initiate the authentication process and call the AUSF authentication service.

[0195] It can be understood that there may be other network elements in the 5G network. For example, the 5G network may also include authentication service function (AUSF) network elements, sensing function (SF) network elements, etc., and there is no specific limitation on this.

[0196] 2. Perception

[0197] Perception may refer to the communication entity in a wireless network determining information about the surrounding environment by sending and receiving signals after being acted upon by an object. The information about the surrounding environment may include information about one or more objects in the environment. The information about an object may include the position, speed, size, or shape of the object. These objects may change the transmission characteristics of the signal, such as changing the transmission direction of the signal, changing the transmission gain of the signal, changing the transmission delay of the signal, or changing the frequency of the signal, so the communication entity may achieve perception by obtaining changes in the signal transmission characteristics. For example, the channel response information obtained through channel estimation may feedback the changes in the signal after passing through different transmission environments (or channels), and then when the signal passes through the above-mentioned object, the channel response information may feedback the changes in the transmission characteristics of the signal caused by the object.

[0198] Exemplarily, the channel response information may include a channel impulse response (CIR), a channel frequency response (CFR), or channel state information (CSI), etc., which is not specifically limited in the embodiments of the present application.

[0199] It should be understood that the "signal after being affected by an object" mentioned above may include: the signal after being reflected by the object; the signal after being refracted by the object; the signal after being scattered by the object; the signal after being diffracted by the object; or the signal after being transmitted through the object, etc., and the embodiments of the present application do not make specific limitations on this.

[0200] It is understood that the above-mentioned objects can be moving or fixed, and can be active or passive. Active can refer to objects with data processing capabilities, such as base stations, mobile phones, routers, vehicles, drones, wireless radio frequency identification (RFID) devices, etc. Passive can refer to objects without data processing capabilities, such as human bodies, animals, plants, vehicles, buildings, etc.

[0201] It should be understood that an "object" may also be referred to as a "scatterer", "reflector", "refractor", "blocker", or "obstacle", etc. In other words, in the embodiments of the present application, "object", "scatterer", "reflector", "refractor", "blocker", and "obstacle" may be interchangeably expressed, and are described uniformly here, and will not be repeated below.

[0202] It should also be understood that the above-mentioned "communication entity" may also be referred to as a "network entity", "communication device", "communication equipment", "communication node", or "site". In other words, in the embodiments of the present application, "communication entity", "network entity", "communication device", "communication equipment", "communication node" and "site" may be used interchangeably, and will not be described in detail below.

[0203] 3. Harmonized communication and sensing (HCS)

[0204] The vision of the fifth generation-advanced (5.5G) is to enhance and expand the 5G scenarios. First, the 5.5G vision continues to enhance the three standard scenarios defined by the International Telecommunication Union (ITU), namely enhanced mobile broadband (eMBB), massive machine type of communication (mMTC), and ultra reliable low latency communication (URLLC). 5.5G also expands three new scenarios, including uplink centric broadband communication (UCBC), real-time broadband communication (RTBC), and HCS, thus turning the "triangle" of 5G scenarios into a richer "hexagon". HCS is a key technology in the next generation of wireless communication systems, which aims to integrate wireless communication and perception functions in the same system, and use various propagation characteristics of wireless signals to achieve perception functions such as positioning, detection, imaging, and recognition of targets, so as to obtain information about the surrounding physical environment, improve communication performance, and enhance user experience. In the communication and perception integration technology, network equipment can sense by sending perception signals and receiving echo signals to obtain information such as the location and speed of targets in the environment.

[0205] Among them, the perception signal may refer to a signal used to perceive a target or detect a target, or the perception signal may refer to a signal used to perceive environmental information or detect environmental information. For example, the perception signal may be an electromagnetic wave sent by a network device for perceiving environmental information. The perception signal may also be called a radar signal, a radar perception signal, a detection signal, a radar detection signal, an environmental perception signal, etc., without limitation.

[0206] The echo signal is a signal generated by the perception signal being reflected by a target in the environment. The time delay of the echo signal relative to the sent perception signal reflects the distance of the target; the Doppler frequency shift of the echo signal relative to the sent perception signal reflects the speed of the target.

[0207] The target (or perceived target) may include various tangible objects on the ground that can be perceived, such as mountains, forests, or buildings, and may also include movable objects such as vehicles, drones, pedestrians, and terminal devices. The target is a target that can be perceived by a network device with a perception function, and the target can feedback electromagnetic waves to the network device. The target may also be called a detected target, a perceived object, a detected object, or a perceived device, etc., without limitation.

[0208] HCS can help the development of autonomous driving. HCS mainly enables two scenarios: Internet of Vehicles and drones. Supporting autonomous driving is a key requirement. By applying the massive multiple input multiple output (MIMIO) beam scanning technology of cellular networks to the field of perception, HCS can provide both communication and perception in scenarios; if extended to indoor scenarios, it can also provide positioning services. Here are some examples of HCS application scenarios:

[0209] (1) Autonomous driving

[0210] Scenario 1 (Smart Transportation and Drones):

[0211] Since the vehicle or drone’s own perception distance is short or the non-line of sight (NLOS) path cannot be perceived, the wireless communication system can generate a large range of dynamic map information based on perception.

[0212] Scenario 2 (Smart Transportation and Drones):

[0213] When a vehicle or drone is driving, if a person or object suddenly appears, the wireless communication system can identify the dangerous event based on perception and notify the UE to perform emergency operations.

[0214] Scenario 3 (Smart Transportation and Drones):

[0215] For vehicle or drone autonomous driving assistance, the wireless communication system can generate customized high-precision dynamic maps based on perception to assist UE in autonomous driving.

[0216] (2) Safety supervision

[0217] Scenario 1 (Smart Transportation and Drones):

[0218] In case of illegal driving, such as vehicles occupying the emergency lane or drones driving off the route, the wireless communication system can identify the vehicle violations based on perception and issue real-time warnings / post-event penalties.

[0219] Scenario 2 (smart transportation, national railway perimeter, drones):

[0220] If foreign objects (people, animals, fallen rocks, etc.) invade highways or railway tracks, or drones invade no-fly zones (e.g., airports), the wireless communication system can identify the foreign objects based on perception, or perform real-time emergency processing.

[0221] (3) Family Health

[0222] Scenario 1: Detection of abnormal postures such as people falling. The wireless communication system can identify abnormal postures based on perception and issue an alarm.

[0223] Scenario 2: For health checks such as human breathing and heartbeat, the wireless communication system can identify abnormal indicators based on perception and issue alarms.

[0224] (4) Meteorological monitoring: Wireless communication systems can sense, detect or predict changes in the environment, climate and weather.

[0225] 4. Perception Mode

[0226] In the current 3rd generation partnership project (3GPP) discussion, it has been determined that the perception modes can be divided into the following six modes:

[0227] (1) Base station sends and receives signals on its own: The sensing signal is sent by the base station, reflected by the target in the environment, and then the echo signal is received by the base station.

[0228] (2) Base station A sends and base station B receives: The sensing signal is sent by base station A, reflected by the target in the environment, and then the echo signal is received by base station B.

[0229] (3) Base station sends and terminal receives: The sensing signal is sent by the base station, reflected by the target in the environment, and then the echo signal is received by the terminal.

[0230] (4) The terminal sends and the base station receives: The sensing signal is sent by the terminal, reflected by the target in the environment, and then the echo signal is received by the base station.

[0231] (5) Terminal self-transmission and self-reception: The sensing signal is sent by the terminal, reflected by the target in the environment, and then the echo signal is received by the terminal.

[0232] (6) Terminal A sends and terminal B receives: The sensing signal is sent by terminal A, reflected by the target in the environment, and then the echo signal is received by terminal B.

[0233] 5. Object Detection

[0234] In the base station self-transmitting and self-receiving mode, since the base station knows the transmitted sensing signal (sensing signal) used, it can directly use the transmitted sensing signal to correlate with the reflected sensing signal (echo signal) for target detection. In addition, since the base station self-transmitting and self-receiving sends the sensing signal in one direction, it can receive the strongest echo signal in the current direction, making it easier to detect targets.

[0235] The process of processing the echo signal by the base station is similar to that of radar signal processing. In the process of radar signal processing, in the signal conditioning stage, after the receiving radar receives the echo signal, it will perform range spectrum estimation, velocity spectrum estimation, and angle spectrum estimation. After obtaining the above spectrum estimation results, the range-velocity–spectrum (RV-spectrum) or range-Doppler velocity spectrum can be drawn, based on which the radar will perform target detection.

[0236] Target detection is to compare the strength of the echo signal with the threshold to determine whether the target exists. For example, if the strength of the echo signal is greater than the threshold, the target is displayed; if the strength of the echo signal is less than the threshold, it is regarded as noise. Therefore, the core of target detection is to find an appropriate threshold. In general, the threshold is a function of the detection probability and the false alarm probability. In many phased array systems, due to the cost associated with false alarms, it is hoped to find a detection threshold that not only maximizes the detection probability, but also keeps the false alarm probability below a preset level.

[0237] Figure 2 A schematic diagram of the distance-velocity spectrum for target detection, such as Figure 2 As shown, in order for the base station to detect the sensing target, two conditions need to be met:

[0238] (1) The strength of the echo signal is greater than the basic background noise.

[0239] The background noise may include the average of the echo signal strength in the surrounding adjacent areas and noise interference.

[0240] For example, Figure 3 Schematic diagram of performing sensing operations for gNB1 and gNB2, such as Figure 3 As shown, gNB1 and gNB2 are responsible for the perception tasks of the same area, and the perception signals used by gNB1 and gNB2 are composed of different beams. It can be understood that since the energy on the beam is more concentrated and has better directionality, gNB1 and gNB2 can perform perception tasks more accurately.

[0241] If gNB1 and gNB2 perform self-transmission and self-reception at the same time, the transmit beam of gNB1 and the transmit beam of gNB2 may illuminate the same sensing space, and the transmit beam of gNB2 may be received by gNB1 after being reflected by the target, causing interference to the echo signal reception of gNB1. This interference is the background noise, which will affect the accuracy of target detection of gNB1. Similarly, the transmit beam of gNB1 may be received by gNB2 after being reflected by the target, causing interference to the echo signal reception of gNB2, and this interference will affect the accuracy of target detection of gNB2.

[0242] It can be understood that the echo signal strength of the detected target needs to be greater than the basic background noise. Figure 2 Only then can the basic target outline be shown.

[0243] (2) The target appears as a local peak on the range-velocity spectrum.

[0244] After receiving the echo signal, the radar needs to use the sensing signal to perform correlation operations with the echo signal, so an autocorrelation peak will appear. It can be understood that after the base station performs the above target detection operation, the detected data obtained can be called point cloud data, and the base station can report the point cloud data to the core network device for further processing.

[0245] 6. Beam

[0246] Beam is a communication resource, which refers to the special directional transmission or reception effect formed by the transmitter or receiver of the network equipment or terminal device through the antenna array, similar to the beam formed by the flashlight converging the light in one direction. Sending and receiving signals in the form of beam can effectively increase the transmission distance of the signal.

[0247] Beams can be divided into transmit beams and receive beams. The technology for forming beams can be beamforming technology or other technical means. Beamforming includes transmit beamforming and receive beamforming. The beamforming technology can specifically be digital beamforming technology, analog beamforming technology, or hybrid digital / analog beamforming technology.

[0248] Among them, the transmission beam: the transmitting end device sends a signal with a certain beamforming weight, so that the transmitted signal forms a beam with spatial directivity. In the uplink direction, the transmitting end device can be a terminal device; in the downlink direction, the transmitting end device can be a network device.

[0249] Receive beam: The receiving device receives the signal with a certain beamforming weight, so that the received signal forms a beam with spatial directivity. In the uplink direction, the receiving device can be a network device; in the downlink direction, the receiving device can be a terminal device.

[0250] Transmit beamforming: When a transmitting device with an antenna array transmits a signal, a specific amplitude and phase are set on each antenna element of the antenna array so that the transmitted signal has a certain spatial directivity, that is, the signal power is high in some directions and low in some directions. The direction with the highest signal power is the direction of the transmit beam. The antenna array includes multiple antenna elements, and the specific amplitude and phase attached are the beamforming weights.

[0251] Receive beamforming: When a receiving device with an antenna array receives a signal, a specific amplitude and phase are set on each antenna element of the antenna array so that the power gain of the received signal has directionality, that is, the power gain is high when receiving signals in certain directions, and low when receiving signals in other directions. The direction with the highest power gain when receiving a signal is the direction of the receive beam. The antenna array includes multiple antenna elements, and the specific amplitude and phase added are the beamforming weights.

[0252] Sending a signal using a certain transmit beam: Sending a signal using a certain beamforming weight. Receiving a signal using a receive beam: Receive a signal using a certain beamforming weight.

[0253] The beam can be a wide beam, or a narrow beam, or other types of beams.

[0254] Beams generally correspond to resources. For example, when performing beam measurement, the network device measures different beams through different resources, and the terminal device feeds back the measured resource quality, so that the network device can know the quality of the corresponding beam. During data transmission, the beam can also be indicated by its corresponding resource. For example, the network device indicates a transmission configuration indication-state through the transmission configuration index (TCI) field in the downlink control information (DCI), and the terminal device determines the beam corresponding to the reference resource based on the reference resource contained in the TCI-state. Different beams can be considered as different resources, and the same information or different information can be sent using (or through) different beams.

[0255] A beam pair is based on the concept of a beam. A beam pair usually includes a transmit beam of a transmitting device and a receive beam of a receiving device. It should be noted that, unless otherwise specified, the transmit beam in the following text refers to the transmit beam of a network device, and the receive beam refers to the receive beam of a terminal.

[0256] In a communication system, such as a 5G new radio (NR) system, both network equipment and terminal devices can generate one or more transmit beams and one or more receive beams. Network equipment and terminal devices need to perform beam alignment before transmitting data. In the communication protocol, the beam can be specifically characterized as a digital beam, an analog beam, a spatial domain filter, a spatial filter, a spatial parameter, TCI, TCI-state, etc. The beam used to send a signal can be called a transmission beam (or Tx beam), a spatial domain transmission filter, a spatial transmission filter, a spatial domain transmission parameter, a spatial transmission parameter, etc. The beam used to receive the signal may be referred to as a reception beam (or Rx beam), a spatial domain reception filter, a spatial reception filter, a spatial domain reception parameter, a spatial reception parameter, etc. It can be understood that the embodiments of the present application uniformly use beams for description, but beams can be replaced by other equivalent concepts and are not limited to the concepts mentioned above.

[0257] 7. Resources

[0258] In the communication protocol, reference signals are configured in the form of resources. Network equipment will configure each reference signal to the terminal device in the form of resources. A resource is a configuration information unit, which usually includes parameters related to a reference signal, such as the time-frequency resource location of the reference signal, the number of ports, the time domain type (periodic / semi-static / aperiodic), etc.

[0259] The resources may be uplink signal resources or downlink signal resources. Uplink signals include but are not limited to sounding reference signal (SRS) and demodulation reference signal (DMRS). Downlink signals include but are not limited to channel state information reference signal (CSI-RS), cell specific reference signal (CS-RS), user equipment specific reference signal (US-RS), demodulation reference signal (DMRS), and synchronization system / physical broadcast channel block (SS / PBCH block). Among them, SS / PBCH block can be referred to as synchronization signal block (SSB).

[0260] Resources can be configured through radio resource control (RRC) messages. In terms of configuration structure, a resource is a data structure, including relevant parameters of its corresponding uplink / downlink signal. For example, the type of uplink / downlink signal, the resource element carrying the uplink / downlink signal, the transmission time and period of the uplink / downlink signal, the number of ports used to send the uplink / downlink signal, etc. Each resource of the uplink / downlink signal has a unique identifier to identify the resource of the downlink signal. It can be understood that the identifier of the resource can also be referred to as the identifier of the resource, and the embodiments of the present application do not impose any restrictions on this.

[0261] The access network device can perform perception measurements through a self-transmitting and self-receiving perception mode. For example, access network device A can send a perception signal and receive an echo signal of the perception signal for target detection. The echo signal is a signal after the perception signal is reflected by a target in the environment. Target detection is to compare the signal strength of the echo signal with a threshold to determine whether the target exists.

[0262] However, this process may result in severe path loss, which may cause the signal strength of the echo signal to be less than the background noise strength, thereby making it impossible to detect the target through threshold comparison, resulting in low accuracy and precision of target detection.

[0263] In summary, in response to the above technical problems, the embodiments of the present application propose the following technical solutions to improve the accuracy and precision of target detection.

[0264] The technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings.

[0265] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as wireless fidelity (WiFi) systems, vehicle to everything (V2X) communication systems, device-to-device (D2D) communication systems, 4G, such as long term evolution (LTE) systems, worldwide interoperability for microwave access (WiMAX) communication systems, 5G, such as new radio (NR) systems, and future communication systems.

[0266] The present application will present various aspects, embodiments or features around a system that may include multiple devices, components, modules, etc. It should be understood and appreciated that each system may include additional devices, components, modules, etc., and / or may not include all of the devices, components, modules, etc. discussed in conjunction with the figures. In addition, combinations of these schemes may also be used.

[0267] In addition, in the embodiments of the present application, words such as "exemplary" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "exemplary" in the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "exemplary" is intended to present concepts in a concrete way.

[0268] In the embodiments of the present application, "information", "signal", "message", "channel" and "signaling" can sometimes be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings to be expressed are matched. "of", "corresponding, relevant" and "corresponding" can sometimes be used interchangeably. It should be noted that when the distinction between them is not emphasized, the meanings to be expressed are matched. In addition, the " / " mentioned in the present application can be used to indicate an "or" relationship. It can be understood that in the present application, "indication" can include direct indication, indirect indication, explicit indication and implicit indication. When describing a certain indication information used to indicate A, it can be understood that the indication information carries A, directly indicates A, or indirectly indicates A.

[0269] In this application, the information indicated by the indication information is referred to as the information to be indicated. In the specific implementation process, there are many ways to indicate the information to be indicated, such as but not limited to, the information to be indicated can be directly indicated, such as the information to be indicated itself or the index of the information to be indicated, etc., or the information to be indicated can be indirectly indicated by indicating other information, wherein there is an association relationship between the other information and the information to be indicated. It is also possible to indicate only a part of the information to be indicated, while the other parts of the information to be indicated are known or agreed in advance. For example, the indication of specific information can also be achieved with the help of the arrangement order of each information agreed in advance (such as specified by the protocol), thereby reducing the indication overhead to a certain extent.

[0270] The information to be indicated can be sent as a whole or divided into multiple sub-information and sent separately, and the sending period and / or sending time of these sub-information can be the same or different. The specific sending method is not limited in this application. Among them, the sending period and / or sending time of these sub-information can be pre-defined, for example, pre-defined according to a protocol, or can be configured by the transmitting end device by sending configuration information to the receiving end device.

[0271] The network architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. A person of ordinary skill in the art can appreciate that with the evolution of the network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0272] To facilitate understanding of the embodiments of the present application, first Figure 4 The communication system shown in the example is used to describe in detail the communication system applicable to the embodiment of the present application. Figure 4A schematic diagram of the architecture of a communication system applicable to the communication method provided in an embodiment of the present application.

[0273] like Figure 4 As shown, the communication system mainly includes: access network equipment and core network equipment.

[0274] There may be multiple access network devices, such as a first access network device, a second access network device, etc.

[0275] In the embodiments of the present application, the form of the access network device is not limited. The device for implementing the function of the access network device may be the access network device; or it may be a device that can support the access network device to implement the function, such as a chip system. The device may be installed in the access network device or used in conjunction with the access network device. For a detailed introduction to the access network device, please refer to the above Figure 1 The relevant introduction in will not be repeated here.

[0276] For a detailed introduction to core network equipment, please refer to the above Figure 1 In the embodiment of the present application, the core network device may include SF, which is mainly involved in receiving a perception service request and obtaining corresponding perception requirements, selecting and requesting related perception devices to perform perception operations and receive corresponding perception measurement data, and opening the perception measurement data or the perception results obtained based on the perception measurement data to the perception requester.

[0277] SF may be a control plane separated from a user plane, that is, the SF control plane (SF-C) function and the SF user plane (SF-U) function are separated, wherein SF-C may send control signaling, such as a perception control request, to the perception device through the control plane, and SF-U may receive perception measurement data from the perception device through the data plane, and optionally process the perception measurement data to obtain a perception result. SF-C may control SF-U, for example, SF-C may select a suitable SF-U, and configure one or more identification rules, processing rules, or routing rules for the perception measurement data to the SF-U. SF may be a location management function (LMF), or SF may be a part of LMF; or SF and LMF may be co-located, without limitation.

[0278] The core network device may also include other network elements, which are not limited. For ease of understanding, the present application embodiment is introduced by taking the core network device including SF as an example, and will not be described in detail later.

[0279] In the communication system, the first access network device can perform data fusion on the second perception measurement data obtained by performing the perception operation with other access network devices, such as the first perception measurement data obtained by the second access network device performing the perception operation according to the perception parameters, so as to enable the first access network device to fuse the perception measurement data of multiple access network devices, so as to avoid the situation where the accuracy of the perception measurement data is low due to the failure to detect the target when some access network devices perform the perception operation, thereby improving the sparsity of the perception measurement data and improving the accuracy and precision of target detection.

[0280] Understandably, Figure 4 The simplified schematic diagram is provided for ease of understanding. The communication system may also include other access network devices and / or other core network devices. Figure 4 Not drawn.

[0281] For ease of understanding, the following will combine Figure 5-Figure 12 The communication method provided in the embodiment of the present application is described in detail.

[0282] For example, Figure 5 Schematic diagram of the communication method provided in the embodiment of the present application Figure 1 The method may be applicable to the above communication system, and involves interaction between the first access network device, the second access network device and the core network device.

[0283] Specifically, Figure 5 As shown, the process of the communication method is as follows:

[0284] S501, a core network device sends a fourth message to a first access network device. Correspondingly, the first access network device receives the fourth message from the core network device.

[0285] The fourth message may include a perception parameter, and the perception parameter may include at least one of the following: a perception area, or a perception feature of a perceived target.

[0286] The sensing area may indicate a geographical location or area where the sensing device needs to perform the sensing operation, and may be represented by absolute coordinates or relative coordinates, such as a latitude and longitude range. It is understood that the sensing area may also be referred to as a sensing area feature, without limitation.

[0287] The perception feature may indicate the type of feature that needs to be perceived by the perception device, and the perception feature may include at least one of the following: position information of the perceived target, angle information of the perceived target, speed information of the perceived target, or height information of the perceived target. The perception device may include a first access network device and a second access perception device. That is, the first access network device and the second access network device need to perform perception measurements on the position information, angle information, speed information, height information, etc. of the perceived target. It can be understood that the perception feature may also include parameter information of other perceived targets without limitation. The perceived targets, perception targets, and targets in the embodiments of the present application may be interchangeable without limitation.

[0288] In a possible design, the perception parameter may further include a perception time period, and the perception time period may indicate a certain time period during which the perception device needs to perform perception, that is, the first access network device and the second access network device need to perform a perception operation or a perception measurement within the perception time period. It can be understood that the perception time period may also be referred to as a perception time interval, a perception time, a perception moment, etc., without limitation.

[0289] The fourth message may also include an identifier of at least one access network device, and the at least one access network device may include a second access network device. The at least one access network device may be an access network device predetermined by the core network device to participate in the current perception task, or an access network device predetermined by the core network device to participate in the perception measurement data fusion. The process of the core network device predetermining the access network device to participate in the current perception task can refer to the introduction of the following related steps, which will not be repeated here. It can be understood that the at least one access network device may also include other access network devices, such as a third access network device, a fourth access network device, etc., without limitation.

[0290] Optionally, the fourth message may also include a perception session identifier (identity, ID), the perception session ID corresponds one-to-one to the perception parameters, and the first perception measurement data and the second perception measurement data are determined based on the perception parameters (for specific introduction, please refer to the relevant introduction in the following steps S503 and S505). Therefore, the perception session ID corresponds one-to-one to the first perception measurement data, and the perception session ID corresponds one-to-one to the second perception measurement data, that is, the perception session ID can be used to indicate that the first perception measurement data and the second perception measurement data are measurement data belonging to the perception session, so that the subsequent core network device can identify which perception session the received perception measurement result corresponds to.

[0291] It can be understood that when the core network device receives the perception service request, the core network device can send a fourth message to the first access network device according to the requirements of the perception task in the perception service request. A perception task can include one or more perception sessions without limitation. It can be understood that the perception service received by the core network device is determined by the application layer, that is, when an application needs to obtain perception data or perception measurement results, the application layer notifies the core network device, that is, sends a perception service request to the core network to request the core network device to provide the perception data or perception measurement results of the relevant perception service.

[0292] It should be noted that the naming of the above-mentioned fourth message is only an example, and the fourth message can also be called a request message, a perception information request message, message #4, etc., without limitation.

[0293] S502: The first access network device sends a first message to the second access network device. Correspondingly, the second access network device receives the first message from the first access network device.

[0294] After receiving the fourth message, the first access network device may send the first message to the second access network device according to the identifier of the access network device carried in the fourth message, such as the identifier of the second access network device.

[0295] Among them, the first message may include a perception parameter. It can be understood that the perception parameter in the first message is the same as the perception parameter in the fourth message. For a specific introduction, please refer to the introduction in the above step S501, which will not be repeated. Optionally, the first message may also include a perception session ID, which is the same as the perception session ID carried in the fourth message, which will not be repeated.

[0296] It can be understood that the first access network device can send the first message to the corresponding access network device according to the identifier of the other access network device carried in the fourth message. Its specific implementation is similar to step S502, which can be understood by reference and will not be repeated. It should be noted that the naming of the above-mentioned first message is only an example, and the first message can also be called a request message, a collaborative perception information request message, message #1, etc. without limitation.

[0297] S503: The second access network device performs a sensing operation according to the sensing parameter to obtain first sensing measurement data.

[0298] That is, the first perception measurement data is obtained by the second access network device performing a perception operation according to the perception parameters.

[0299] Exemplarily, the first perception measurement data may be obtained by the second access network device performing a perception operation according to the perception area, the perception feature and the perception time period, which is specifically introduced in the following two ways.

[0300] Method 1: The second access network device performs a perception operation according to the first message to obtain first perception measurement data.

[0301] The first message may include the sensing area, the sensing characteristics of the sensed target and the sensing time period. That is, the core network device configures the sensing parameters at the same time as the second access network device performs the sensing operation, which can reduce signaling interaction and shorten the delay.

[0302] For example, the first message may include: perception area #1, perception feature #1, and perception time period #1. Among them, perception area #1 may be area A, perception feature #1 may include location information of the perceived target, and perception time period #1 may be [t1, t2]. Then, the second access network device may perform a perception operation or perception measurement on the location information of the perceived target in area A within [t1, t2] to obtain perception measurement data #1a.

[0303] Mode 2: The second access network device performs a sensing operation according to the first message and the second message to obtain first sensing measurement data, which will be described in detail below.

[0304] Exemplarily, after the first access network device sends the first message to the second access network device, the method may further include:

[0305] The first access network device sends a second message to the second access network device. Correspondingly, the second access network device receives the second message from the first access network device.

[0306] The second message may include: a perception time period, or a perception time period and a perception session identifier, and the second message may be used to trigger the second access network device to perform a perception operation.

[0307] That is, the perception area and the perception characteristics of the perceived target in the first message can be pre-configured parameters. After the second access network device receives the second message, the second access network device can perform perception operations or perception measurements based on the perception area, the perception characteristics of the perceived target and the perception time period. In this way, the second access network device can use the pre-configured perception area and the perception characteristics of the perceived target to trigger the perception operation through the second message in any required time period. In other words, the configuration of the perception parameters by the core network device and the execution of the perception operation by the second access network device are separated from each other, thereby making the control more flexible.

[0308] It should be noted that the perception session identifier carried in the second message is the same as the perception session identifier carried in the above-mentioned first message, the perception session identifier carried in the first message is the same as the perception session identifier carried in the fourth message, the perception session identifier carried in the second message corresponds one-to-one to the perception time period carried in the second message, and the perception session identifier carried in the first message corresponds one-to-one to the perception area and the perception characteristics of the perceived target in the first message. Therefore, the second access network device can determine the corresponding perception area and the perception characteristics of the perceived target according to the perception session identifier carried in the second message, so as to use the perception area, the perception characteristics of the perceived target and the perception time period to perform perception operations or perception measurements.

[0309] For example, the first message may include: perception area #1, perception feature #1 and perception session #1, and the second message may include perception time period #1 and perception session #1. After the second access network device receives the second message, the second access network device can determine the corresponding perception area #1 and perception feature #1 based on perception session #1, and perform perception operations based on perception area #1, perception feature #1 and perception time period #1, that is, the second access network device performs perception operations or perception measurements on the location information of the perceived target in area A within [t1, t2] to obtain perception measurement data #1a.

[0310] For another example, the first message may include: perception area #1, perception feature #1 and perception session #1, the second message may include perception time period #2 and perception session #1, the perception time period #2 may be [t3, t4], after the second access network device receives the second message, the second access network device may determine the corresponding perception area #1 and perception feature #1 according to the perception session #1, and perform a perception operation according to the perception area #1, the perception feature #1 and the perception time period #2, that is, the second access network device performs a perception operation or perception measurement on the position information of the perceived target in area A within [t3, t4] to obtain perception measurement data #1b. It should be noted that the first perception measurement data may be a velocity-distance spectrum, a Doppler velocity-distance spectrum, an angle spectrum, or point cloud data, etc., without limitation.

[0311] S504: The second access network device sends the first perception measurement data to the first access network device. Correspondingly, the first access network device receives the first perception measurement data from the second access network device.

[0312] Among them, the first perception measurement data can be carried in the first response message, and the first response message can be understood as a response message of the second access network device to the first message. The naming of the first response message is only an example, and the first response message can also be called a response message, a collaborative perception information response message, etc., without limitation. It should be noted that the second access network device can also send the device information of the second access network device to the first access network device. The device information of the second access network device may include: location information (such as longitude and latitude coordinates), altitude information, pitch angle information, or other parameters related to the second access network device, without limitation.

[0313] S505: The first access network device determines third perception measurement data.

[0314] Among them, the third perception measurement data is the perception measurement data obtained after the first access network device fuses the first perception measurement data and the second perception measurement data; in other words, the first access network device fuses the first perception measurement data and the second perception measurement data to obtain the third perception measurement data.

[0315] The second perception measurement data may be obtained by the first access network device performing a perception operation, or in other words, the second perception measurement data is obtained by the first access network device performing a perception operation according to a perception parameter, which is specifically introduced in the following two ways.

[0316] Mode 3: The first access network device performs a perception operation according to the fourth message to obtain second perception measurement data.

[0317] The fourth message may include the sensing area, the sensing characteristics of the sensed target and the sensing time period. That is, the core network device configures the sensing parameters at the same time as the first access network device performs the sensing operation, which can reduce signaling interaction and shorten the delay.

[0318] For example, the fourth message may include: perception area #1, perception feature #1, and perception time period #1. Among them, perception area #1 may be area A, perception feature #1 may include location information of the perceived target, and perception time period #1 may be [t1, t2]. Then, the first access network device may perform a perception operation or perception measurement on the location information of the perceived target in area A within [t1, t2] to obtain perception measurement data #2a.

[0319] It should be understood that method 3 corresponds to the above-mentioned method 1. In this case, the fourth message and the first message both contain the same perception area, perception characteristics of the perceived target and perception time period, or in other words, the first message is determined by the first access network device based on the fourth message, and the first access network device can directly perform the perception operation according to the fourth message to obtain the second perception measurement data; the second access network device can directly perform the perception operation according to the first message to obtain the first perception measurement data.

[0320] If the first message and the fourth message both contain a perception session identifier, the first message and the fourth message contain the same perception session identifier, and the first message and the fourth message contain the same perception parameters. In this way, it can be ensured that the first access network device and the second access network device perform perception operations based on the same perception area, perception characteristics and perception time period.

[0321] Mode 4: The first access network device performs a sensing operation according to the third message and the fourth message to obtain second sensing measurement data, which will be described in detail below.

[0322] Exemplarily, after the core network device sends the fourth message to the first access network device, the method may further include:

[0323] The core network device sends the third message to the first access network device. Correspondingly, the first access network device receives the third message from the core network device.

[0324] The third message may include a perception time period, or a perception time period and a perception session identifier, and the third message is used to trigger the first access network device to perform a perception operation.

[0325] That is, the sensing area and sensing features of the sensed target in the fourth message can be pre-configured parameters. After the first access network device receives the third message, the first access network device performs sensing operations or sensing measurements according to the sensing area, sensing features of the sensed target and sensing time period. In this way, the first access network device can use the pre-configured sensing area and sensing features of the sensed target to trigger the sensing operation through the third message at any required time period. In other words, the configuration process of the sensing parameters by the core network device is separated from the sensing operation performed by the first access network device, thereby making the control more flexible.

[0326] It should be noted that the second perception measurement data may be a velocity-range spectrum (RV spectrum), a Doppler velocity-range spectrum, or point cloud data, etc., without limitation.

[0327] It should be understood that mode 4 corresponds to the above-mentioned mode 2. In this case, the fourth message and the first message both contain the same perception area and perception characteristics of the perceived target, and the third message and the second message both contain the same perception time period, or in other words, the first access network device first sends the first message to the second access network device according to the fourth message, and then, after the first access network device receives the third message, it sends the second message to the second access network device according to the third message. The first access network device performs a perception operation according to the third message and the fourth message to obtain the second perception measurement data; the second access network device performs a perception operation according to the first message and the second message to obtain the first perception measurement data.

[0328] If the first message, the second message, the third message and the fourth message all contain a perception session identifier, the first message, the second message, the third message and the fourth message contain the same perception session identifier, the first message and the fourth message all contain the same perception area and perception characteristics, and the third message and the second message all contain the same perception time period. In this way, it can be ensured that the first access network device and the second access network device perform perception operations based on the same perception area, perception characteristics and perception time period.

[0329] The first access network device may fuse the first perception measurement data and the second perception measurement data according to the device information of the first access network device and the device information reported by the second access network device. The device information of the first access network device may include the location information, height information, pitch angle information, etc. of the first access network device, without limitation. For example, the first access network device may synthesize the first perception measurement data and the second perception measurement data in the same coordinate system (such as a spherical coordinate system, a three-dimensional coordinate system, a Cartesian coordinate system, etc.) according to the location coordinate information of the first access network device and the second access network device to generate the third perception measurement data. It should be noted that the third perception measurement data may be a velocity-range spectrum (RV spectrum), a Doppler velocity-range spectrum, or point cloud data, etc., without limitation.

[0330] For example, the first perception measurement data is RV spectrum #1, and the second perception measurement data is RV spectrum #2. The first access network device can fuse RV spectrum #1 and RV spectrum #2. The specific steps are as follows: (1) The first access network device needs to convert RV spectrum #1 and RV spectrum #2 to the same absolute coordinate system. (2) The first access network device determines the overlapping parts of RV spectrum #1 and RV spectrum #2. If there are targets at the same positions in RV spectrum #1 and RV spectrum #2, the target in one of the RV spectra can be selected; for the non-overlapping parts of RV spectrum #1 and RV spectrum #2, the first access network device can migrate the non-overlapping parts of RV spectrum #2 to RV spectrum #1 based on RV spectrum #2, so as to fuse RV spectrum #1 and RV spectrum #2, so as to obtain the fused RV spectrum #3 (i.e., the third perception measurement data mentioned above).

[0331] It can be understood that the above data fusion process is only an example and the embodiments of the present application do not limit this.

[0332] S506: The first access network device sends the third perception measurement data to the core network device. Correspondingly, the core network device receives the third perception measurement data from the first access network device.

[0333] Among them, the third perception measurement data can be carried in the fourth response message. The fourth response message can be understood as a response message returned by the first access network device to the fourth message. The naming of the fourth response message is only an example. The fourth response message can also be called a response message, a perception information response message, etc., without limitation.

[0334] The core network device can perform subsequent processing based on the received third-party perception measurement data. For example, if the third-party perception measurement data is a speed-distance spectrum, the core network device needs to use a constant false-alarm rate (CFAR) algorithm for target detection, and then use algorithms such as clustering to characterize features such as the shape or distance of the target. For another example, if the third-party perception measurement data is point cloud data, it indicates that the CFAR detection algorithm has been completed in the access network device, and the core network device only needs to use algorithms such as clustering to characterize features such as the target shape or target distance without limitation.

[0335] In summary, the first access network device can perform data fusion on the second perception measurement data obtained by performing the perception operation with other access network devices, such as the first perception measurement data obtained by the second access network device performing the perception operation according to the perception parameters, so as to enable the first access network device to fuse the perception measurement data of multiple access network devices, thereby avoiding the situation where some access network devices fail to detect the target when performing the perception operation, resulting in low accuracy of the perception measurement data, thereby improving the sparsity of the perception measurement data and improving the accuracy and precision of target detection.

[0336] In combination with the above embodiments, it can be understood that when the core network device receives a perception service request, it needs to determine the access network devices participating in the current perception and select appropriate perception modes and methods. At this time, the core network device needs to obtain the perception capability of at least one access network device (such as the first access network device and the second access network device). The at least one access network device can be an access network device in the same area or an adjacent area, without limitation. The core network device can obtain the perception capability of the access network device in the following two ways, which are described in detail below.

[0337] Mode a: The first access network device reports the first sensing capability to the core network device. Correspondingly, the core network device receives the first sensing capability from the first access network device.

[0338] The second access network device reports the second perception capability to the core network device. Correspondingly, the core network device receives the second perception capability from the second access network device.

[0339] Among them, the first perception capability may include at least one of the following parameters: perception resolution, perception accuracy, perception area, refresh rate, latency, detection rate, missed detection rate, false alarm rate, confidence, or processing capability of the first access network device.

[0340] The perception resolution may include distance resolution, speed resolution, angle resolution, etc., which respectively indicate the ability of the perception result obtained by the perception device when performing perception on the measurement target to distinguish two adjacent targets in terms of distance, speed, and angle, or the requirement for distinguishing two adjacent targets, or the difference required to distinguish two adjacent targets, or respectively indicate the ability of the perception device when performing perception on the measurement target to distinguish two adjacent targets in terms of distance, speed, and angle, or the requirement for distinguishing two adjacent targets, or the difference required to distinguish two adjacent targets.

[0341] Perception accuracy may include perception distance accuracy, speed accuracy, angle accuracy, etc., which are used to indicate the error capability, error requirement, or degree of proximity between the perception measurement results obtained by the perception device and the actual results when perceiving the measurement target. For example, the perception angle measurement accuracy may indicate: the error between the perceived measurement value of the measured target in terms of angle and the true value.

[0342] The perception area can be used to indicate the geographical location or area where the perception device needs to perform a perception operation, and can be represented by absolute coordinates or relative coordinates without limitation.

[0343] The refresh rate can indicate the frequency of updating the perception measurement data or the perception result, or the continuity of the perception measurement data or the perception result. The refresh rate can also be called the frame rate. For example, if the perception measurement data is perception point cloud information or point cloud image, the refresh rate can be the refresh rate of the point cloud information. The higher the refresh rate, the better the continuity of the point cloud information or point cloud image. For example, a refresh rate of 30 times / second can be used to indicate that 1 second contains 30 points of cloud information or 30 frames of point cloud images. For another example, if the perception measurement data is further processed to obtain the perception result, and the perception result is perception image information, the refresh rate of 30 times / second can be used to indicate that 1 second contains 30 frames of image information.

[0344] Latency can be used to indicate the time interval between receiving a perception request from a perception requester and returning the perception result to the requester; or, the time interval between a perception application triggering a perception request and its application perception result; or, the time interval between a perception device performing a perception operation and returning the perception result to the perception requester.

[0345] The detection rate can be used to indicate the probability of judging that there is a target when there is actually a target, or to indicate the ratio of successful detection events to all detection events for the target when the perception results are obtained within a predetermined period. For example, if the probability of judging that there is a target when there is actually a target is P1, then the probability of judging that there is no target when there is actually a target is 1-P1. For example, if the perception device judges that there are 95 vehicles on road a through perception measurement, and there are actually 100 vehicles on road a, then the detection rate is 95%.

[0346] The false alarm rate can be used to indicate the probability of judging that there is a target when there is no target, or the probability of judging that there is no target when there is a target, or the ratio of events that do not represent the target object to all detection events when the perception results are obtained within a predetermined period. For example, if the probability of judging that there is a target when there is no target is Q1, then the probability of judging that there is no target when there is no target is 1-Q1.

[0347] The confidence level can be used to indicate the percentage of true perception results among all the perception results obtained by detection at a given perception accuracy.

[0348] The processing capability of the first access network device may be the capability of the first access network device to process data, for example, the data processing capability of the first access network device may be to support target detection algorithms, etc., without limitation. The processing capability of the first access network device may also be referred to as the granularity of the data reported by the first access network device, without limitation.

[0349] It should be noted that the first perception capability may also include any other possible parameters without limitation.

[0350] The second perception capability may include at least one of the following parameters: perception resolution, perception accuracy, perception area, refresh rate, latency, detection rate, missed detection rate, false alarm rate, confidence level, or processing capability of the second access network device.

[0351] Among them, the specific introduction of perception resolution, perception accuracy, perception area, refresh rate, latency, detection rate, missed detection rate, false alarm rate, and confidence can refer to the relevant introduction in the above-mentioned first perception capability, which will not be repeated here. The processing capability of the second access network device can be the ability of the second access network device to process data. For example, the data processing capability of the second access network device can be to support target detection algorithms, etc., without limitation. The processing capability of the second access network device can also be referred to as the granularity of the data reported by the second access network device, without limitation.

[0352] It should be noted that the second perception capability may also include any other possible parameters without limitation.

[0353] It can be understood that in mode a, the first access network device and the second access network device periodically report their perception capabilities to the core network device.

[0354] Mode b: The core network device sends a fifth message to the first access network device and the second access network device, wherein the fifth message is used to instruct to report the corresponding perception capability.

[0355] The first access network device sends the first perception capability to the core network device based on the fifth message.

[0356] The second access network device sends the second perception capability to the core network device based on the fifth message.

[0357] For a detailed introduction to the first perception capability and the second perception capability, please refer to the detailed introduction in method a above, which will not be repeated here.

[0358] It can be understood that in method b, the core network device can request the first access network device and the second access network device to report the corresponding perception capabilities through the fifth message.

[0359] The naming of the fifth message mentioned above is only an example. The fifth message can also be called a perception capability request message, a request message, etc. without limitation.

[0360] Optionally, after the first access network device sends the first perception capability to the core network device, and the second access network device sends the second perception capability to the core network device, the method further includes:

[0361] The core network device determines the access network device to report the perception measurement results (such as the third perception measurement results mentioned above) and the access network device participating in the current perception task (or the access network device participating in the fusion of perception measurement data) based on the received perception capabilities.

[0362] Exemplarily, the core network device can determine the access network device that reports the perception measurement results and the access network device that participates in the current perception task based on whether the capability range of the perception capabilities reported by multiple access network devices can meet the perception requirements corresponding to the current perception task. The perception requirements corresponding to the current perception task may include: perception resolution, perception accuracy, perception area, refresh rate, latency, detection rate, missed detection rate, false alarm rate, confidence, or data processing capability, etc., without limitation.

[0363] For example, the perception requirement corresponding to the current perception task is: perceive the location of the traffic light in Square A, with a refresh rate of 2 times / second. If the perception area of ​​the first perception capability is Area A, with a refresh rate of 1 time / second, and Area A includes Square A, the processing capability of the first access network device can support the target detection algorithm; the perception area of ​​the second perception capability is Square A, with a refresh rate of 2 times / second; the perception area of ​​the third perception capability is Area A, with a refresh rate of 4 times / second, and the third perception capability is the perception capability reported by the third access network device in the area.

[0364] First, the core network device can determine the access network device participating in the current perception task based on the first perception capability, the second perception capability and the third perception capability. It can be understood that the perception area and refresh rate of the first perception capability can meet the perception requirements of the pre-perception task; the perception area and refresh rate of the second perception capability can meet the perception requirements of the pre-perception task; the perception area of ​​the third perception capability can meet the requirements of the pre-perception task, but its refresh rate cannot meet the perception requirements of the pre-perception task. Therefore, the core network device can select the access network device corresponding to the first perception capability and the second perception capability as the access network device participating in the current perception task, that is, the core network device can select the first access network device and the second access network device as the access network device participating in the current perception task.

[0365] Secondly, the core network device determines the access network device to report the perception measurement data according to the first perception capability and the second perception capability. It can be understood that the core network device does not have a target detection algorithm. If the core network device needs the data type after the target detection algorithm, at this time, because the first access network device can support the target detection algorithm, the second access network device does not support the target detection algorithm. Therefore, the core network device can select the first access network device as the access network device to report the perception measurement data.

[0366] In this way, the core network device can determine that: the first access network device is the access network device that reports the perception measurement data, and the second access network device is the access network device that participates in the current perception task, that is, the identifier of at least one access network device included in the fourth message may include the identifier of the second access network device. It can be understood that the core network device can also receive perception capabilities from other access network devices, and the identifier of at least one access network device included in the fourth message can also include the identifiers of other access network devices, without limitation.

[0367] The above is combined with the method embodiment to introduce the process of the communication method provided by the embodiment of the present application as a whole. For ease of understanding, the following two specific scenarios introduce the above method:

[0368] Assume that gNB1 (such as the first access network device mentioned above) is a device that reports perception measurement data to SF (the above-mentioned core network device includes SF), and gNB2 (such as the second access network device mentioned above) is an access network device participating in the current perception task.

[0369] Scenario 1: The first perception measurement result is determined by the above method 1, and the second perception measurement result is determined by the above method 3, such as Figure 6 As shown, the method may include:

[0370] S601, SF sends perception information request message #1 (such as the fourth message mentioned above) to gNB1.

[0371] Among them, the perception information request message #1 may include: perception session ID #1, perception characteristics, ID of gNB2, perception time period and perception area, etc.

[0372] S602, gNB1 sends a perception information coordination request message #1 (such as the first message mentioned above) to gNB2.

[0373] gNB1 can send perception information coordination message #1 to gNB2 based on the ID of gNB2.

[0374] The perception information collaborative request message #1 may include the perception session ID #1, perception characteristics, perception time period, and perception area, etc.

[0375] It can be understood that the perception information coordination message #1 and the perception information request message #1 include the same perception session ID #1, perception characteristics and perception time period.

[0376] S603, gNB1 performs perception operation according to perception information request message #1 and obtains perception measurement data #2 (such as the second perception measurement data mentioned above).

[0377] gNB1 can perform perception operations according to the perception characteristics, perception time period and perception area to obtain perception measurement data #2.

[0378] It should be noted that the embodiment of the present application does not limit the order of step S602 and step S603.

[0379] S604, gNB2 performs perception operations according to the perception information coordination message #1 to obtain perception measurement data #1 (such as the first perception measurement data mentioned above).

[0380] gNB2 can perform sensing operations according to the sensing features, sensing time period, and sensing area to obtain sensing measurement data #1.

[0381] S605, gNB2 sends perception information coordination response message #1 to gNB1.

[0382] Among them, the perception information coordinated response message #1 may be a response message returned by gNB2 to the perception information coordinated response message #1, and the perception information coordinated response message #1 may include perception measurement data #1 and device information of gNB2.

[0383] S606, gNB1 performs data fusion on the perception measurement data #1 and the perception measurement data #2 to obtain the perception measurement data #3 (such as the third perception measurement data mentioned above).

[0384] gNB1 may fuse perception measurement data #1 and perception measurement data #2 into the same coordinate system based on the device information of gNB1 and the device information of gNB2 to generate perception measurement data #3.

[0385] S607, gNB1 sends perception information response message #1 to SF.

[0386] Among them, the perception information response message #1 can be a response message returned by gNB1 to the perception information request message #1, and the perception information response message #1 can include perception measurement data #3. SF can perform subsequent processing based on the received perception measurement data #3.

[0387] Scenario 2: The first perception measurement result is determined by the above method 2, and the second perception measurement result is determined by the above method 4, such as Figure 7 As shown, the method may include:

[0388] S701, SF sends perception information request message #2 (such as the fourth message mentioned above) to gNB1.

[0389] Among them, the perception information request message #2 may include: perception session ID #1, perception characteristics, ID of gNB2, and perception area, etc.

[0390] It can be understood that the difference between the perception information request message #2 and the above-mentioned perception information request message 1 is that the perception information request message #2 does not include the perception time period.

[0391] S702, gNB1 sends a perception information coordination request message #2 (such as the first message mentioned above) to gNB2.

[0392] gNB1 can send perception information coordination request message #2 to gNB2 based on the ID of gNB2.

[0393] The perception information collaborative request message #2 may include the perception session ID #1, perception features, and perception areas, etc.

[0394] It can be understood that the perception information collaborative request message #2 and the perception information request message #2 include the same perception session ID #1, perception characteristics and perception area.

[0395] S703, gNB2 sends perception information coordination response message #2 to gNB1.

[0396] Among them, the perception information coordination response message #2 can be a response message returned by gNB2 to the perception information coordination request message #2, and the perception information coordination response message #2 can be used to indicate that gNB2 has successfully received the perception information coordination request message #2.

[0397] S704, gNB1 sends perception information response message #2 to SF.

[0398] Among them, the perception information response message #2 can be a response message returned by gNB1 to the perception information request message #2, and the perception information response message #2 can be used to indicate that gNB1 has successfully received the perception information request message #2.

[0399] S705, SF sends a perception session activation request message #1 (such as the third message mentioned above) to gNB1.

[0400] The perception session activation request message #1 may include: a perception time period and a perception session ID #1. The perception session activation request message #1 may be used to trigger gNB1 to perform a perception operation.

[0401] S706, gNB1 sends a perception session activation request message #2 (such as the second message mentioned above) to gNB2 based on the perception session activation request message #1.

[0402] The perception session activation request message #2 may include: a perception time period and a perception session ID #1. The perception session activation request message #2 may be used to trigger gNB2 to perform a perception operation.

[0403] S707, gNB1 performs perception operation according to the perception session activation request message #1, and obtains perception measurement data #2 (such as the second perception measurement data mentioned above).

[0404] It can be understood that the perception session ID#1 in the perception session activation request message #1 is the same as the perception session ID#1 in the perception information request message #2. gNB1 can determine the corresponding perception information request message #2 based on the perception session ID#1 in the perception session activation request message #1, and perform perception operations based on the perception characteristics, perception areas in the perception information request message #2 and the perception time period in the perception session activation request message #1.

[0405] It should be noted that the embodiment of the present application does not limit the order of step S706 and step S707.

[0406] S708, gNB2 performs perception operation according to the perception session activation request message #2 and obtains perception measurement data #1 (such as the first perception measurement data mentioned above).

[0407] It can be understood that the perception session ID#1 in the perception session activation request message #2 is the same as the perception session ID#1 in the perception information coordination request message #2. gNB2 can determine the corresponding perception information coordination request message #2 based on the perception session ID#1 in the perception session activation request message #2, and perform perception operations based on the perception characteristics, perception areas in the perception information coordination request message #2 and the perception time period in the perception session activation request message #2.

[0408] S709, gNB2 sends perception information coordination response message #2 to gNB1.

[0409] Among them, the perception information coordinated response message may be a response message returned by gNB2 to the perception information coordinated request message #2, and the perception information coordinated response message #2 may include perception measurement data #1 and device information of gNB2.

[0410] S710, gNB1 fuses the perception measurement data #1 and the perception measurement data #2 to obtain perception measurement data #3 (such as the third perception measurement data mentioned above).

[0411] gNB1 may fuse perception measurement data #1 and perception measurement data #2 in the same coordinate system according to the device information of gNB1 and the device information of gNB2 to generate perception measurement data #3.

[0412] S711, gNB1 sends perception information response message #2 to SF.

[0413] Among them, the perception information response message #2 can be a response message returned by gNB1 to the perception information request message #2, and the perception information response message #2 can include perception measurement data #3. SF can perform subsequent processing based on the received perception measurement data #3.

[0414] It can be understood that in scenario 1, the configuration process of SF for perception parameters is carried out simultaneously with the first access network device and the second access network device performing the perception operation, so that signaling interaction can be reduced and the delay is shorter; in scenario 2, the configuration process of SF for perception parameters is separated from the first access network device and the second access network device performing the perception operation, so that the control is more flexible. Exemplary, Figure 8 A communication method according to an embodiment of the present invention is provided. Figure 4 The method may be applicable to the above communication system, and involves interaction between the first access network device, the second access network device and the core network device.

[0415] Specifically, Figure 8 As shown, the process of the communication method is as follows:

[0416] S801. A second access network device obtains second beam parameter information.

[0417] Among them, the second beam parameter information can be used by the second access network device to perform perception operations, and the second beam parameter information may include at least one second beam parameter; the second beam parameter may include at least one of the following: a second beam direction, a second beam period, or a time-frequency resource position of a second perception signal carried on the second beam.

[0418] The second beam may be a beam used when the second access network device performs a sensing operation, the second beam direction may be used to indicate the direction in which the second beam points, and the second beam direction may be the direction of the second beam in the spatial coordinate system. The spatial coordinate system may be a geodetic coordinate system, which may include a relative geodetic coordinate system and an absolute geodetic coordinate system. The coordinate origin of the relative geodetic coordinate system is on the surface of the earth's ellipsoid, and the coordinate origin of the absolute geodetic coordinate system is at the center of the earth. It can be understood that the spatial coordinate system may also be other forms of coordinate systems without limitation.

[0419] The second beam period can be used to indicate the scanning period of the second beam, or in other words, the period in which the second access network device uses the second beam to perform a sensing operation.

[0420] The second perception signal may be a perception signal used when the second access network device performs a perception operation; the time-frequency resource location of the second perception signal carried on the second beam may be: the time-frequency resource location where the second access network device uses the second beam to send the second perception signal, or in other words, the pattern information configured when the second access network device uses the second beam to send the second perception signal.

[0421] It can be understood that the second beam parameter information may also include other configuration information about the second beam, without limitation. The naming of the second beam parameter information is only an example, and the second beam parameter information may also be called second beam configuration information, beam configuration #2, etc., without limitation.

[0422] S802: The second access network device sends second beam parameter information to the first access network device. Correspondingly, the first access network device receives the second beam parameter information from the second access network device.

[0423] The second access network device sends the second beam parameter information to the first access network device according to the Xn interface.

[0424] S803: The first access network device obtains first beam parameter information.

[0425] The first beam parameter information may include at least one of the following: a first beam direction, a first beam period, or a time-frequency resource position of a first perception signal carried on the first beam.

[0426] The first beam may be a beam used when the first access network device performs a sensing operation, the first beam direction is used to indicate the direction in which the first beam points, and the first beam direction may be the direction of the first beam in the spatial coordinate system. The spatial coordinate system may be a geodetic coordinate system, which may include a relative geodetic coordinate system and an absolute geodetic coordinate system, the coordinate origin of the relative geodetic coordinate system is on the surface of the earth's ellipsoid, and the coordinate origin of the absolute geodetic coordinate system is at the center of the earth, and it can be understood that the spatial coordinate system may also be other forms of coordinate systems without limitation.

[0427] The first beam period can be used to indicate the scanning period of the first beam, or in other words, the period in which the first access network device uses the first beam to perform a sensing operation.

[0428] The first perception signal may be a perception signal used when the first access network device performs a perception operation; the time-frequency resource position of the first perception signal carried on the first beam may be: the time-frequency resource position where the first access network device uses the first beam to send the first perception signal, or in other words, the pattern information configured when the first access network device uses the first beam to send the first perception signal.

[0429] It is understandable that the first beam parameter information may also include other configuration information about the first beam, without limitation. The naming of the first beam parameter information is only an example, and the first beam parameter information may also be called first beam configuration information, beam configuration #1, etc., without limitation.

[0430] It should be understood that one beam parameter information can correspond to one beam, such as, one first beam parameter information corresponds to one first beam, and one second beam parameter information corresponds to one second beam; one beam parameter information can also correspond to multiple beams, such as, one first beam parameter information corresponds to multiple first beams, and one second beam parameter information corresponds to multiple second beams, without limitation.

[0431] The first beam parameter information may be determined based on the beam parameter information of other access network devices. The first access network device and the other access network devices overlap in a perception area where perception operations need to be performed. In other words, the first access network device and the other access network devices completely overlap or partially overlap in a perception area where perception operations need to be performed, without limitation.

[0432] If the other access network devices may include a second access network device, then the first access network device may determine the first beam parameter information based on the second beam parameter information. Exemplarily, the first access network device may determine the first beam parameter information based on the first beam parameter information and the third beam parameter information.

[0433] Among them, the third beam parameter information may be the beam parameter information corresponding to the first access network device before obtaining the first beam parameter information, or in other words, the third beam parameter information may be the beam parameter information used by the first access network device without considering the mutual interference between access network devices.

[0434] The third beam parameter information may include at least one of the following: a third beam direction, a third beam period, or a time-frequency resource position of the first perception signal carried on the third beam.

[0435] The third beam may be a beam used when the first access network device performs a sensing operation, and the third beam direction is used to indicate the direction in which the third beam points, and the third beam direction may be the direction of the third beam in the spatial coordinate system. The spatial coordinate system may be a geodetic coordinate system, and the geodetic coordinate system may include a relative geodetic coordinate system and an absolute geodetic coordinate system. The coordinate origin of the relative geodetic coordinate system is on the surface of the earth's ellipsoid, and the coordinate origin of the absolute geodetic coordinate system is at the center of the earth. It can be understood that the spatial coordinate system may also be other forms of coordinate systems without limitation.

[0436] The third beam period can be used to indicate the scanning period of the third beam, or in other words, the period in which the first access network device uses the third beam to perform a sensing operation.

[0437] The time-frequency resource location of the first perception signal carried on the third beam may be: the time-frequency resource location of the first access network device using the third beam to send the first perception signal, or, in other words, the pattern information configured when the first access network device uses the third beam to send the first perception signal.

[0438] Before the first access network device obtains the first beam parameter information, the first access network device may use the third beam to send the first perception signal according to the third beam direction, the third beam period, and the time-frequency resource position of the first perception signal carried on the third beam.

[0439] It should be noted that the third beam parameter information is different from the first beam parameter information, or in other words, at least one parameter included in the third beam parameter information is different from the parameters included in the second beam parameter information, without limitation.

[0440] In order to reduce the background noise during target detection, the first access network device can coordinate or modify its own beam parameter information according to the second beam parameter information and the third beam parameter information, that is, the first access network device can coordinate or modify the third beam parameter information to the first beam parameter information, the first access network device can use the first beam parameter information to perform the perception operation, and the second access network device can use the second beam parameter information to perform the perception operation. At this time, within the same time period, the interference between the beam indicated by the first beam parameter information and the beam parameter information of other access network devices, such as the beam indicated by the second beam parameter information, is less than a preset value. In other words, the interference between the first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and the second perception signal sent by the second access network device using the beam indicated by the second beam parameter information is less than a preset value, and the preset value can be predefined or preconfigured and is not limited.

[0441] For example, within the same time period, the perception areas illuminated by the perception signals of the first access network device and the second access network device are different, or, when the first access network device performs a perception operation, the second access network device may not perform a perception operation, that is, the time periods in which the first access network device and the second access network device perform perception operations are staggered, thereby reducing mutual interference between access network devices and reducing background noise in target detection.

[0442] It can be understood that the interference between the first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and the second perception signal sent by the second access network device using the beam indicated by the second beam parameter information can be understood as: the second perception signal sent by the second access network device using the second beam, and the echo signal of the second perception signal (such as the second echo signal in the following step S805), cause interference to the echo signal of the first perception signal sent by the first access network device using the first beam (such as the first echo signal in the following step S804). In a possible design scheme, the first access network device can directly modify the third beam parameter information to the second beam parameter information, that is, the first beam parameter information is the same as the second beam parameter information. In this case, the beam direction, beam period, and time-frequency resource position of the perception signal on the beam of the first access network device and the second access network device are the same, so that the perception areas illuminated by the perception signals of the first access network device and the second access network device are different.

[0443] S804: The first access network device performs a sensing operation according to the first beam parameter information.

[0444] The first access network device can use the first beam to send the first perception signal according to the first beam direction, the first beam period and the time-frequency resource position of the first perception signal carried on the first beam; the first access network device can receive the first echo signal corresponding to the first perception signal after being reflected by the perceived target in the environment; the first access network device can use the first perception signal and the first echo signal to perform related operations to obtain perception measurement results, such as the third perception measurement result, thereby realizing target detection.

[0445] S805: The second access network device performs a sensing operation according to the second beam parameter information.

[0446] The second access network device can perform a perception operation based on the second beam parameter information, that is, the second access network device can use the second beam to send the first perception signal based on the second beam direction, the second beam period and the time-frequency resource position of the second perception signal carried on the second beam; the second access network device can receive a second echo signal corresponding to the second perception signal after being reflected by a perceived target in the environment; the second access network device can use the second perception signal and the second echo signal to perform related operations to obtain perception measurement results, such as the fourth perception measurement result, thereby realizing target detection.

[0447] In summary, the first beam parameter information used by the first access network device can be determined based on the beam parameter information of other access network devices with overlapping perception areas, such as the second access network device. In other words, the determination of the first beam parameter information takes into account the mutual interference with the beam parameter information of the second access network device, which can reduce the mutual interference between access network devices, thereby reducing the background noise in target detection and improving the accuracy and precision of target detection.

[0448] In combination with the above embodiment, optionally, the above method may further include:

[0449] S806: The first access network device sends the third perception measurement result to the core network device.

[0450] The first access network device can send the third perception measurement result to the core network device, so that the core network device can perform subsequent processing based on the third perception measurement data, without limitation.

[0451] Optionally, the above method may further include:

[0452] S807: The second access network device sends the fourth perception measurement result to the core network device.

[0453] The second access network device can send the fourth perception measurement result to the core network device, so that the core network device can perform subsequent processing based on the fourth perception measurement data, without limitation.

[0454] The above is combined with the method embodiment to introduce the process of the communication method provided by the embodiment of the present application as a whole. For ease of understanding, the above method is introduced in the following two specific scenarios:

[0455] Scenario 3: If Fig. 9 As shown, the method may include:

[0456] S901, gNB1 sends perception signal configuration request message #1 to gNB2.

[0457] Among them, the perception signal configuration request message #1 can be used to instruct gNB2 to send beam parameter information to gNB1.

[0458] S902, gNB2 sends perception signal configuration response message #2 to gNB1.

[0459] Among them, the perception signal configuration response message #2 can be a response message returned by gNB2 to the perception signal configuration request message #1, and the perception signal configuration response message #2 can include beam parameter information #2 (such as the above-mentioned second beam parameter information). The beam parameter information #2 may include: beam #2 (such as the above-mentioned second beam) direction, beam #2 period, or the time-frequency resource position of the perception signal #2 (such as the above-mentioned second perception signal) carried on beam #2.

[0460] S903, gNB1 determines beam parameter information #1 (such as the first beam parameter information mentioned above) based on beam parameter information #2.

[0461] gNB1 may coordinate or modify beam parameter information #3 (such as the third beam parameter information) to beam parameter information #1 (such as the first beam parameter information) based on beam parameter information #2. For example, the parameters of beam parameter information #1 and beam parameter information #2 may be the same. Beam parameter information #3 is the beam parameter information used by gNB1 without considering the mutual interference between access network devices.

[0462] The beam parameter information #1 may include the direction of beam #1 (such as the first beam mentioned above), the period of beam #1, or the time-frequency resource position of the perception signal #1 (such as the first perception signal mentioned above) carried on beam #1.

[0463] S904, gNB1 uses beam parameter information #1 to perform perception operations and obtain perception measurement data #3.

[0464] gNB1 may use beam #1 to send perception signal #1 according to the direction of beam #1, the period of beam #1, and the time-frequency resource position of perception signal #1 carried on beam #1. gNB1 receives echo signal #1 (such as the first echo signal mentioned above), and uses perception signal #1 and echo signal #1 to perform related operations to obtain perception measurement data #3 (such as the third perception measurement data mentioned above) to achieve target detection.

[0465] S905, gNB2 uses beam parameter information #2 to perform perception operations and obtain perception measurement data #4.

[0466] gNB2 may use beam #2 to send perception signal #2 according to the direction of beam #2, the period of beam #2, and the time-frequency resource position of perception signal #2 carried on beam #2. gNB2 receives echo signal #2 (such as the second echo signal mentioned above), and uses perception signal #2 and echo signal #2 to perform correlation operations to obtain perception measurement data #4 (such as the third perception measurement data mentioned above) to achieve target detection.

[0467] It should be noted that the embodiment of the present application does not limit the order of step S904 and step S905.

[0468] S906, gNB1 sends perception measurement data #3 to SF.

[0469] S907, gNB2 sends perception measurement data #4 to SF. It should be noted that the embodiment of the present application does not limit the order of step S906 and step S907.

[0470] Scenario 4: Fig.10 As shown, the method may include:

[0471] S1001, gNB2 sends perception signal configuration modification request message #1 to gNB1.

[0472] Among them, the perception signal configuration request message is used to instruct gNB1 to modify the beam parameter information.

[0473] The modification request message #1 may include beam parameter information #2 of gNB2, and the beam parameter information #2 may include: beam #2 direction, beam #2 period, or time-frequency resource location of the perception signal #2 carried on beam #2.

[0474] S1002, gNB1 determines beam parameter information #1 based on beam parameter information #2.

[0475] gNB1 may coordinate or modify beam parameter information #3 to beam parameter information #1 based on beam parameter information #2. For example, the parameters of beam parameter information #1 and beam parameter information #2 may be the same. Beam parameter information #3 is the beam parameter information used by the first access network device without considering the mutual interference between access network devices.

[0476] S1003, gNB1 sends perception signal configuration modification confirmation message #1 to gNB2.

[0477] Among them, the perception signal configuration modification confirmation message #1 can be used to indicate that gNB1 has modified or updated the beam parameter information #3 to beam parameter information #1.

[0478] S1004, gNB1 uses beam parameter information #1 to perform perception operations and obtain perception measurement data #3.

[0479] gNB1 may use beam #1 to send perception signal #1 according to the direction of beam #1, the period of beam #1, and the time-frequency resource position of perception signal #1 carried on beam #1. gNB1 receives echo signal #1, and uses perception signal #1 and echo signal #1 to perform correlation operations to obtain perception measurement data #3 to achieve target detection.

[0480] S1005, gNB2 uses beam parameter information #2 to perform perception operations and obtain perception measurement data #4.

[0481] gNB2 may use beam #2 to send perception signal #2 according to the direction of beam #2, the period of beam #2, and the time-frequency resource position of perception signal #2 carried on beam #2. gNB2 receives echo signal #2, and uses perception signal #2 and echo signal #2 to perform correlation operations to obtain perception measurement data #4 to achieve target detection.

[0482] It should be noted that the embodiment of the present application does not limit the order of step S1004 and step S1005.

[0483] S1006, gNB1 sends perception measurement data #2 to SF.

[0484] signal, and use the perception signal #2 and the echo signal #2 to perform correlation operations to achieve target detection.

[0485] S1007, gNB2 sends perception measurement data #1 to SF.

[0486] It should be noted that the embodiment of the present application does not limit the order of step S1006 and step S1007.

[0487] For example, Fig.11 A communication method according to an embodiment of the present invention is provided. Figure 5 The method may be applicable to the above communication system, and involves interaction between the first access network device, the second access network device and the core network device.

[0488] Specifically, Fig.11 As shown, the core network device can receive beam parameter information from other access network devices, and the other access network devices can include a first access network device and a second access network device. The process of the communication method is as follows:

[0489] S1101: A first access network device sends third beam parameter information to a core network device. Correspondingly, the core network device receives the third beam parameter information from the first access network device.

[0490] For the specific introduction of the third beam parameter information, reference may be made to the related introduction in the above step S803, which will not be repeated here.

[0491] S1102, the second access network device sends second beam parameter information to the core network device. Correspondingly, the core network device receives the second beam parameter information from the second access network device. The specific introduction of the second beam parameter information can refer to the relevant introduction in the above step S801, which will not be repeated here.

[0492] S1103, the core network device obtains the first beam parameter information and the fourth beam parameter information according to the second beam parameter information and the third beam parameter information.

[0493] Among them, the first beam parameter information is the beam parameter information corresponding to the first access network device. The specific introduction of the first beam parameter information can refer to the relevant introduction in the above step S803, which will not be repeated here.

[0494] The fourth beam parameter information is the beam parameter information corresponding to the second access network device. The fourth beam parameter information may include at least one fourth beam parameter; the fourth beam parameter may include at least one of the following: a fourth beam direction, a fourth beam period, or a time-frequency resource position of a second perception signal carried on the fourth beam.

[0495] The fourth beam may be a beam used when the second access network device performs a sensing operation, the fourth beam direction is used to indicate the direction in which the fourth beam points, and the fourth beam direction may be the direction of the fourth beam in the spatial coordinate system. The spatial coordinate system may be a geodetic coordinate system, which may include a relative geodetic coordinate system and an absolute geodetic coordinate system. The coordinate origin of the relative geodetic coordinate system is on the surface of the earth's ellipsoid, and the coordinate origin of the absolute geodetic coordinate system is at the center of the earth. It can be understood that the spatial coordinate system may also be other forms of coordinate systems without limitation.

[0496] The fourth beam period can be used to indicate the scanning period of the first beam, or in other words, the period in which the first access network device uses the fourth beam to perform a sensing operation.

[0497] The time-frequency resource location of the second perception signal carried on the fourth beam may be: the time-frequency resource location of the second access network device sending the second perception signal using the fourth beam, or, in other words, the pattern information configured when the second access network device sends the first perception signal using the fourth beam.

[0498] It should be noted that the fourth beam parameter information is different from the second beam parameter information, or in other words, at least one parameter included in the fourth beam parameter information is different from that included in the second beam parameter information, without limitation.

[0499] In order to reduce the background noise during target detection, the core network device can coordinate or modify the beam parameter information of the first access network device and the beam parameter information of the second access network device according to the second beam parameter information and the third beam parameter information. That is, the core network device can coordinate or modify the third beam parameter information to the first beam parameter information, and coordinate or modify the second beam parameter information to the fourth beam parameter information. The first access network device can use the first beam parameter information to perform the perception operation, and the second access network device can use the fourth beam parameter information to perform the perception operation. At this time, in the same time period, the interference between the beam indicated by the first beam parameter information and the beam indicated by the fourth beam parameter information is less than a preset value. In other words, the interference between the first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and the second perception signal sent by the second access network device using the beam indicated by the fourth beam parameter information is less than a preset value. The preset value can be predefined or preconfigured and is not limited.

[0500] It can be understood that the interference between the first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and the second perception signal sent by the second access network device using the beam indicated by the fourth beam parameter information can be understood as: the second perception signal sent by the second access network device using the fourth beam, and the echo signal of the second perception signal (such as the second echo signal in the following step S1108), cause interference to the echo signal of the first perception signal sent by the first access network device using the first beam (such as the first echo signal in the following step S1106). It should be noted that the implementation process of the core network device obtaining the first beam parameter information and the four-beam parameter information according to the second beam parameter information and the third beam parameter information is similar to the implementation process of the first access network device determining the first beam parameter information according to the second beam parameter information and the third beam parameter information in the above step S803, which can be referred to for understanding and will not be repeated.

[0501] S1104: The core network device sends first beam parameter information to the first access network device. Correspondingly, the first access network device receives the first beam parameter information from the core network device.

[0502] The core network device may send the first beam parameter information to the first access network device according to the N2 interface.

[0503] S1105. The first access network device obtains first beam parameter information.

[0504] That is, the first beam parameter information is the beam parameter information sent by the core network device to the first access network device.

[0505] S1106: The first access network device performs a sensing operation according to the first beam parameter information.

[0506] The first access network device can use the first beam to send the first perception signal according to the first beam direction, the first beam period and the time-frequency resource position of the first perception signal carried on the first beam; the first access network device can receive the first echo signal corresponding to the first perception signal after being reflected by the perceived target in the environment; the first access network device can use the first perception signal and the first echo signal to perform related operations to obtain perception measurement results, such as the third perception measurement result, thereby realizing target detection.

[0507] S1107: The core network device sends fourth beam parameter information to the second access network device. Correspondingly, the second access network device receives the fourth beam parameter information from the core network device.

[0508] The core network device can send the fourth beam parameter information to the second access network device according to the N2 interface.

[0509] S1108. The second access network device performs a sensing operation according to the fourth beam parameter information.

[0510] The second access network device can use the second beam to send the second perception signal according to the fourth beam direction, the fourth beam period and the time-frequency resource position of the second perception signal carried on the fourth beam; the second access network device can receive the second echo signal corresponding to the second perception signal after being reflected by the perceived target in the environment; the second access network device can use the second perception signal and the second echo signal to perform related operations to obtain perception measurement results, such as the fourth perception measurement result, thereby realizing target detection.

[0511] In summary, the first beam parameter information used by the first access network device can be determined based on the beam parameter information of other access network devices with overlapping perception areas, such as the second access network device. In other words, the determination of the first beam parameter information takes into account the mutual interference with the beam parameter information of the second access network device, which can reduce the mutual interference between access network devices, thereby reducing the background noise in target detection and improving the accuracy and precision of target detection.

[0512] In combination with the above embodiment, optionally, the above method may further include:

[0513] S1109. The first access network device sends the third perception measurement result to the core network device.

[0514] The first access network device can send the third perception measurement result to the core network device, so that the core network device can perform subsequent processing based on the third perception measurement data, without limitation.

[0515] Optionally, the above method may further include:

[0516] S1110. The second access network device sends a fourth perception measurement result to the core network device.

[0517] The second access network device can send the fourth perception measurement result to the core network device, so that the core network device can perform subsequent processing based on the third perception measurement data, without limitation.

[0518] It can be understood that the embodiment of the present application is introduced by taking the example that the first beam parameter information is determined according to the third beam parameter information corresponding to the first access network device and the second beam parameter information corresponding to the second access network device. The first beam parameter information can also be determined by the beam parameter information of multiple access network devices. The implementation principle is similar to the principle of determining the first beam parameter information according to the third beam parameter information and the second beam parameter information. It can be understood by reference and will not be repeated.

[0519] The above is combined with the method embodiment to introduce the process of the communication method provided by the embodiment of the present application as a whole. For ease of understanding, the above method is introduced in the following specific scenario:

[0520] Scenario 5: Fig.12 As shown, the method may include:

[0521] S1201, SF sends perception signal configuration request message #2 to gNB1.

[0522] Among them, the perception signal configuration request message #2 is used to instruct gNB1 to send beam parameter information to SF.

[0523] S1202, gNB1 sends a perception signal configuration response message #a2 to SF.

[0524] Among them, the perception signal configuration response message #a2 may be a response message returned by gNB1 to the perception signal configuration request message #2. The perception signal configuration response message #a2 may include beam parameter information #3. The beam parameter information #3 may include: beam #3 direction, beam #3 period, or the time-frequency resource location of the perception signal #1 carried on beam #3.

[0525] S1203, SF sends perception signal configuration request message #2 to gNB2.

[0526] Among them, the perception signal configuration request message #2 is used to instruct gNB2 to send beam parameter information to SF.

[0527] S1204, gNB2 sends a perception signal configuration response message #b2 to SF.

[0528] Among them, the perception signal configuration response message #b2 can be a response message returned by gNB2 to the perception signal configuration request message #2, and the perception signal configuration response message #b may include beam parameter information #2, and the beam parameter information #2 may include: beam #2 direction, beam #2 period, or the time-frequency resource location of the perception signal #2 carried on beam #2.

[0529] S1205, SF determines beam parameter information #1 and beam parameter information #4 based on beam parameter information #2 and beam parameter information #3.

[0530] Among them, beam parameter information #1 is the beam parameter information corresponding to gNB1, and beam parameter information #4 is the beam parameter information corresponding to gNB2. Beam parameter information #1 may include beam #1 direction, beam #1 period, or the time-frequency resource position of perception signal #1 carried on beam #1.

[0531] Beam parameter information #4 may include the direction of beam #4 (such as the fourth beam mentioned above), the period of beam #4, or the time-frequency resource position of the perception signal #2 carried on beam #4.

[0532] S1206, SF sends beam parameter information #1 to gNB1.

[0533] S1207, gNB1 uses beam parameter information #1 to perform perception operations and obtain perception measurement data #3.

[0534] gNB1 may use beam #1 to send perception signal #1 according to the direction of beam #1, the period of beam #1, and the time-frequency resource position of perception signal #1 carried on beam #1. gNB1 receives echo signal #1, and uses perception signal #1 and echo signal #1 to perform correlation operations to obtain perception measurement data #3 to achieve target detection.

[0535] S1208, SF sends beam parameter information #4 to gNB2.

[0536] It should be noted that the embodiment of the present application does not limit the order of step S1206 and step S1208.

[0537] S1209, gNB2 uses beam parameter information #4 to perform perception operations and obtain perception measurement data #4.

[0538] gNB2 may use beam #4 to send perception signal #2 according to beam direction #4, beam period #4, and the time-frequency resource position of perception signal #2 carried on beam #4. gNB2 receives echo signal #2 and uses perception signal #2 and echo signal #2 to perform correlation operations to obtain perception measurement data #4 to achieve target detection.

[0539] S1210, gNB1 sends perception measurement data #2 to SF.

[0540] S1211, gNB2 sends perception measurement data #1 to SF.

[0541] It should be noted that the embodiment of the present application does not limit the order of step S12010 and step S1211.

[0542] It should be noted that in the embodiments of the present application, "send" can be replaced by "input"; "receive" can be replaced by "output"; "determine" can be replaced by "generate" or "obtain"; "obtain" can be replaced by "receive", "determine" or "input" without limitation.

[0543] Combination of the above Figure 5-Figure 12 The communication method provided by the embodiment of the present application is described in detail. Figure 13-14 A communication device for executing the communication method provided in an embodiment of the present application is described in detail.

[0544] For example, Fig.13 This is a schematic diagram of the structure of the communication device provided in the embodiment of the present application. Figure 1 .like Fig.13 As shown, the communication device 1300 includes: a transceiver module 1301 and a processing module 1302. For ease of description, Fig.13 Only the main components of the communication device are shown.

[0545] In some embodiments, the communication device 1300 may be adapted to Figure 4 In the communication system shown in , the function of the above-mentioned first access network device is performed.

[0546] The transceiver module 1301 may be used to execute the function of sending and receiving messages of the first access network, and the processing module 1302 may execute functions of the first access network other than sending and receiving messages.

[0547] Optionally, the transceiver module 1301 may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device 1300 , and the receiving module is used to implement the receiving function of the communication device 1300 .

[0548] Optionally, the communication device 1300 may further include a storage module, which stores a program or instruction. When the processing module 1302 executes the program or instruction, the communication device 1300 may execute the above communication method.

[0549] It should be noted that the communication device 1300 can be an access network device, or a chip (system) or other parts or components that can be set in the access network device, or a device that includes the access network device, which is not limited in this application.

[0550] In addition, the technical effects of the communication device 1300 can refer to the technical effects of the above-mentioned communication method, which will not be repeated here.

[0551] In some other embodiments, the communication device 1300 may be suitable for Figure 4 In the communication system shown in , the function of the above-mentioned second access network device is performed.

[0552] The transceiver module 1301 may be used to execute the function of the second access network device to send and receive messages, and the processing module 1302 may execute the functions of the second access network device other than sending and receiving messages.

[0553] Optionally, the transceiver module 1301 may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device 1300 , and the receiving module is used to implement the receiving function of the communication device 1300 .

[0554] Optionally, the communication device 1300 may further include a storage module, which stores a program or instruction. When the processing module 1302 executes the program or instruction, the communication device 1300 may execute the above communication method.

[0555] It should be noted that the communication device 1300 can be an access network device, or a chip (system) or other parts or components that can be set in the access network device, or a device that includes the access network device, which is not limited in this application.

[0556] In some other embodiments, the communication device 1300 may be suitable for Figure 4 In the communication system shown in , the functions of the above-mentioned core network device are performed.

[0557] Among them, the transceiver module 1301 can be used to execute the function of sending and receiving messages of the core network device, and the processing module 1302 can execute the functions of the core network device except sending and receiving messages.

[0558] Optionally, the transceiver module 1301 may include a sending module and a receiving module, wherein the sending module is used to implement the sending function of the communication device 1300 , and the receiving module is used to implement the receiving function of the communication device 1300 .

[0559] Optionally, the communication device 1300 may further include a storage module, which stores a program or instruction. When the processing module 1302 executes the program or instruction, the communication device 1300 may execute the above communication method.

[0560] It should be noted that the communication device 1300 may be a core network device, a chip (system) or other components or assemblies that can be set in the core network device, or a device including the core network device, and this application does not limit this. In addition, the technical effects of the communication device 1300 can refer to the technical effects of the above-mentioned communication method, which will not be repeated here.

[0561] For example, Fig.14 A schematic diagram of the structure of the communication device provided in the embodiment of the present application Figure 2 The communication device may be a terminal, or a chip (system) or other components or assemblies that can be arranged in the terminal. Fig.14 As shown, the communication device 1400 may include a processor 1401. Optionally, the communication device 1400 may also include a memory 1402 and / or a transceiver 1403. The processor 1401 is coupled with the memory 1402 and the transceiver 1403, such as being connected via a communication bus.

[0562] Combine the following Fig.14 The components of the communication device 1400 are described in detail:

[0563] The processor 1401 is the control center of the communication device 1400, and may be a processor or a general term for multiple processing elements. For example, the processor 1401 is one or more central processing units (CPUs), or may be application specific integrated circuits (ASICs), or may be configured to implement one or more integrated circuits of the embodiments of the present application, such as one or more microprocessors (digital signal processors, DSPs), or one or more field programmable gate arrays (FPGAs).

[0564] Optionally, the processor 1401 may execute various functions of the communication device 1400 by running or executing a software program stored in the memory 1402 and calling data stored in the memory 1402, such as executing the above Figure 5-Figure 11 The communication method shown.

[0565] In a specific implementation, as an embodiment, the processor 1401 may include one or more CPUs, such as Fig.14 CPU0 and CPU1 are shown in FIG.

[0566] In a specific implementation, as an embodiment, the communication device 1400 may also include multiple processors, such as Fig.14 1401 and 1404 are shown in FIG. Each of these processors may be a single-CPU or a multi-CPU. A processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0567] The memory 1402 is used to store the software program for executing the solution of the present application, and the execution is controlled by the processor 1401. The specific implementation method can refer to the above method embodiment, which will not be repeated here.

[0568] Optionally, the memory 1402 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 1402 may be integrated with the processor 1401, or may exist independently and be communicated to the computer through the interface circuit ( Fig.14 1401) is coupled to the processor 1401, which is not specifically limited in the embodiment of the present application.

[0569] The transceiver 1403 is used for communication with other communication devices. For example, if the communication device 1400 is a terminal, the transceiver 1403 can be used to communicate with a network device, or with another terminal device. For another example, if the communication device 1400 is a network device, the transceiver 1403 can be used to communicate with a terminal, or with another network device.

[0570] Optionally, the transceiver 1403 may include a receiver and a transmitter ( Fig.14 The receiver is used to implement a receiving function, and the transmitter is used to implement a sending function.

[0571] Optionally, the transceiver 1403 may be integrated with the processor 1401, or may exist independently and communicate with the processor 1401 through the interface circuit ( Fig.14 1401) is coupled to the processor 1401, which is not specifically limited in the embodiment of the present application.

[0572] It should be noted that Fig.14 The structure of the communication device 1400 shown in the figure does not constitute a limitation on the communication device. The actual communication device may include more or fewer components than those shown in the figure, or combine certain components, or arrange the components differently.

[0573] In addition, the technical effects of the communication device 1400 can refer to the technical effects of the communication method described in the above method embodiment, and will not be repeated here.

[0574] The present application embodiment provides a communication system. The communication system may include: Figure 4 The first access network device, the second access network device and the core network device are shown.

[0575] It should be understood that the processor in the embodiments of the present application may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0576] It should also be understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0577] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0578] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0579] In this application, "at least one" means one or more, and "more than one" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0580] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0581] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0582] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0583] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0584] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0585] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0586] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage media include: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks or optical disks.

[0587] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A communication method, characterized in that: Applied to a first access network device, the method includes: Sending a first message to a second access network device; wherein the first message includes a perception parameter; Receiving first perception measurement data from the second access network device; wherein the first perception measurement data is obtained by the second access network device performing a perception operation according to the perception parameter; Determine third perception measurement data; wherein the third perception measurement data is the perception measurement data obtained after the first access network device fuses the first perception measurement data and the second perception measurement data; and the second perception measurement data is obtained by the first access network device performing a perception operation.

2. The method according to claim 1, characterized in that The second perception measurement data is obtained by the first access network device performing a perception operation according to the perception parameter.

3. The method according to claim 1 or 2, characterized in that: The first message also includes a perception session identifier; the first perception measurement data and the second perception measurement data are measurement data belonging to the perception session.

4. The method according to any one of claims 1 to 3, characterized in that The perception parameter includes at least one of the following: a perception area, or a perception feature of a perceived target.

5. The method according to any one of claims 1 to 4, characterized in that The perception parameters also include a perception time period.

6. The method according to any one of claims 1 to 4, characterized in that After sending the first message to the second access network device, the method further includes: Send a second message to the second access network device; wherein the second message includes: a perception time period, or a perception time period and a perception session identifier.

7. The method according to claim 6, characterized in that The second message is used to trigger the second access network device to perform a perception operation.

8. The method according to any one of claims 5 to 7, characterized in that: The first perception measurement data is obtained by the second access network device performing a perception operation based on the perception area, the perception feature and the perception time period; the second perception measurement data is obtained by the first access network device performing a perception operation based on the perception area, the perception feature and the perception time period.

9. The method according to claim 6 or 7, characterized in that: Before sending the second message to the second access network device, the method further includes: A third message is received from a core network device; wherein the third message includes the perception time period, or the perception time period and the perception session identifier.

10. The method according to claim 9, characterized in that The third message is used to trigger the first access network device to perform a perception operation.

11. The method according to any one of claims 1 to 10, characterized in that Before sending the first message to the second access network device, the method further includes: Receive a fourth message from the core network device; wherein the fourth message includes the perception parameter, or the perception parameter and the perception session identifier; the fourth message also includes an identifier of at least one access network device, and the at least one access network device includes the second access network device.

12. The method according to any one of claims 1 to 11, characterized in that After determining the third sensory measurement data, the method further includes: Sending the third perception measurement data to the core network device.

13. A communication method, characterized in that: Applied to a second access network device, the method comprises: Receiving a first message from a first access network device; wherein the first message includes a perception parameter; Perform a perception operation according to the perception parameter to obtain first perception measurement data; Send the first perception measurement data to the first access network device.

14. The method according to claim 13, characterized in that The first message also includes a perception session identifier; and the first perception measurement data is measurement data belonging to the perception session.

15. The method according to claim 13 or 14, characterized in that The perception parameter includes at least one of the following: a perception area, or a perception feature of a perceived target.

16. The method according to any one of claims 13 to 15, characterized in that The perception parameters also include a perception time period.

17. The method according to any one of claims 13 to 15, characterized in that After receiving the first message from the first access network device, the method further includes: Receive a second message from the first access network device; wherein the second message includes: a perception time period, or a perception time period and a perception session identifier.

18. The method according to claim 17, characterized in that The second message is used to trigger the second access network device to perform a perception operation.

19. The method according to any one of claims 16 to 18, characterized in that: The first perception measurement data is obtained by the second access network device performing a perception operation according to the perception area, the perception feature and the perception time period.

20. A communication method, characterized in that: Applied to a first access network device, the method includes: Determine first beam parameter information; wherein the first beam parameter information is determined according to beam parameter information of other access network devices, and the first access network device and the other access network devices need to perform a sensing operation in a sensing area that overlaps; A sensing operation is performed according to the first beam parameter information.

21. The method according to claim 20, characterized in that In the same time period, interference between the beam indicated by the first beam parameter information and the beam indicated by the beam parameter information of the other access network device is less than a preset value.

22. The method according to claim 20 or 21, characterized in that The other access network device includes a second access network device, and the method further includes: Receive second beam parameter information from the second access network device; wherein the second beam parameter information is used to determine the first beam parameter information.

23. The method according to claim 22, characterized in that The determining of the first beam parameter information includes: The first beam parameter information is determined according to the second beam parameter information.

24. The method according to any one of claims 20 to 23, characterized in that The first beam parameter information includes at least one first beam parameter; the first beam parameter includes at least one of the following: A first beam direction, a first beam period, or a time-frequency resource position of a first perception signal carried on the first beam; wherein the first perception signal is a perception signal used when the first access network device performs a perception operation.

25. The method according to claim 22 or 23, characterized in that The second beam parameter information includes at least one second beam parameter; the second beam parameter includes at least one of the following: A second beam direction, a second beam period, or a time-frequency resource position of a second perception signal carried on the second beam; wherein the second perception signal is a perception signal used when the second access network device performs a perception operation.

26. The method according to claim 25, characterized in that In the same time period, interference between a first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and a second perception signal sent by the second access network device using the beam indicated by the second beam parameter information is less than a preset value.

27. The method according to claim 20 or 21, characterized in that The determining of the first beam parameter information includes: Receive first beam parameter information from the core network function entity.

28. The method according to claim 27, characterized in that Before receiving the first beam parameter information from the core network device, the method further includes: Send third beam parameter information to the core network device; wherein the first beam parameter information is determined by the core network device according to the third beam parameter information and the beam parameter information of the other access network devices.

29. A communication method, characterized in that: Applied to a second access network device, the method comprises: Acquire second beam parameter information; wherein the second beam parameter information is used by the second access network device to perform a sensing operation; The second beam parameter information is sent.

30. The method according to claim 29, characterized in that The sending the second beam parameter information includes: Send the second beam parameter information to the first access network device.

31. The method according to claim 30, characterized in that The method further comprises: A sensing operation is performed according to the second beam parameter information.

32. The method according to claim 30 or 31, characterized in that The second beam parameter information includes at least one second beam parameter; the second beam parameter includes at least one of the following: A second beam direction, a second beam period, or a time-frequency resource position of a second perception signal carried on the second beam; wherein the second perception signal is a perception signal used when the second access network device performs a perception operation.

33. The method according to claim 29, characterized in that The sending the second beam parameter information includes: The second beam parameter information is sent to the core network device.

34. The method according to claim 33, characterized in that The method further comprises: Receiving fourth beam parameter information from the core network device; wherein the fourth beam parameter information is determined by the core network device according to the second beam parameter information and beam parameter information of other access network devices, and the second access network device and the other access network devices need to perform a sensing operation in a sensing area that overlaps; A sensing operation is performed according to the fourth beam parameter information.

35. The method according to claim 34, characterized in that In the same time period, interference between the beam indicated by the fourth beam parameter information and the beam indicated by the beam parameter information of the other access network device is less than a preset value.

36. The method according to claim 34 or 35, characterized in that The fourth beam parameter information includes at least one fourth beam parameter; the fourth beam parameter includes at least one of the following: A fourth beam direction, a fourth beam period, or a time-frequency resource position of a second perception signal carried on the fourth beam; wherein the second perception signal is a perception signal used when the second access network device performs a perception operation.

37. A communication method, characterized in that: Applied to a core network device, the method comprises: Receiving beam parameter information from other access network devices; wherein the beam parameter information of the other access network devices includes second beam parameter information and third beam parameter information; the second beam parameter information is the beam parameter information of the second access network device, and the third beam parameter information is the beam parameter information of the first access network device; Acquire first beam parameter information and fourth beam parameter information according to the second beam parameter information and the third beam parameter information; Sending the first beam parameter information to the first access network device; Send the fourth beam parameter information to the second access network device.

38. The method according to claim 37, characterized in that In the same time period, interference between the beam indicated by the first beam parameter information and the beam indicated by the fourth beam parameter information is less than a preset value.

39. The method according to claim 37 or 38, characterized in that The first beam parameter information includes at least one first beam parameter; the first beam parameter includes at least one of the following: A first beam direction, a first beam period, or a time-frequency resource position of a first perception signal carried on the first beam; wherein the first perception signal is a perception signal used when the first access network device performs a perception operation.

40. The method according to any one of claims 37 to 39, characterized in that The fourth beam parameter information includes at least one fourth beam parameter; the fourth beam parameter includes at least one of the following: A fourth beam direction, a fourth beam period, or a time-frequency resource position of a second perception signal carried on the fourth beam; wherein the second perception signal is a perception signal used when the second access network device performs a perception operation.

41. The method according to claim 40, characterized in that In the same time period, interference between a first perception signal sent by the first access network device using the beam indicated by the first beam parameter information and a second perception signal sent by the second access network device using the beam indicated by the fourth beam parameter information is less than a preset value.

42. A communication device, characterized in that: The apparatus comprises: a module for performing the method as claimed in any one of claims 1-41.

43. A communication device, characterized in that: The communication device comprises: a processor; when the processor executes computer instructions, the communication device executes the method according to any one of claims 1-41.

44. A communication chip, characterized in that: Instructions are stored therein, and when the chip runs on a communication device, the method according to any one of claims 1 to 41 is implemented.

45. A computer-readable storage medium, characterized in that The computer-readable storage medium comprises a computer program or instructions, and when the computer program or instructions are executed on a computer, the computer is caused to perform the method according to any one of claims 1 to 41.

46. ​​A computer program product, characterized in that The computer program product comprises a computer program or instructions, and when the computer program or instructions are executed by a communication device, the method according to any one of claims 1 to 41 is executed.

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