Communication method, device and system

Abstract

The invention relates to a communication method, device and system. The first core network equipment determines first sensing equipment and second sensing equipment to sense the target object according to the first position of the target object, the first sensing equipment is a sensing signal sending end, and the second sensing equipment is a sensing signal receiving end. When the target object moves from the first position to the second position, the first core network equipment determines target sensing equipment according to the second position, the target sensing equipment comprises third sensing equipment and / or fourth sensing equipment, the third sensing equipment is a new sensing signal sending end, and the fourth sensing equipment is a new sensing signal receiving end. And the first core network device triggers the target sensing device to sense the target object. According to the embodiment of the invention, even if the target object moves, the target object can be sensed continuously, the probability of sensing interruption is reduced, the information of the target object can be obtained in time, and the continuity and success rate of sensing the target object are improved.

Description

Technical Field

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

[0002] With the development of the 5th generation (5G) network, the demand for new network capabilities based on perception is gradually emerging. For example, in scenarios such as smart cities and smart transportation, the need to obtain the relative position and angle between objects, as well as to perceive the position, speed, shape and other information of the target object is gradually emerging. In order to meet these business needs, 5G networks should be further enhanced to have the ability to assist wireless networks in perception. In the future, 5G networks can deploy integrated perception and communication base stations to enhance the base station's perception of the physical world. In addition, 5G terminals can also have perception capabilities to achieve perception of the surrounding environment or objects.

[0003] The range of a sensing device is limited. For example, a sensing device senses a target and the sensing device does not move. However, if the target leaves the sensing area of ​​the sensing device, the sensing device can no longer sense the target. It can be seen that the movement of the target may cause the target to leave the sensing area of ​​the current sensing device and thus cannot be sensed by the sensing device. Summary of the invention

[0004] The embodiments of the present application provide a communication method, device and system for improving the success rate of target perception.

[0005] In a first aspect, a first communication method is provided, which can be executed by a first core network, or by a chip system, and the chip system can realize the function of a first core network device. The first core network device is, for example, SF, etc. The method includes: determining a first sensing device and a second sensing device to sense the target object according to a first position where the target object is located, wherein the first sensing device is a sensing signal transmitter and the second sensing device is a sensing signal receiver; when the target object moves from the first position to the second position, determining a target sensing device according to the second position, the target sensing device includes a third sensing device and / or a fourth sensing device, the third sensing device is a new sensing signal transmitter, and the fourth sensing device is a new sensing signal receiver; triggering the target sensing device to sense the target object.

[0006] In an embodiment of the present application, when the target object changes from the first position to the second position, the target object may have left or is about to leave the perception area of ​​the original perception device (the first perception device and / or the second perception device), then the first core network device can determine a new perception device, i.e., the target perception device, according to the new position (second position) of the target object, so that the target perception device can continue to perceive the target object. Therefore, even if the target object moves, the embodiment of the present application can continue to perceive the target object, reducing the probability of perception interruption, being able to obtain information about the target object in a timely manner, and improving the continuity and success rate of perceiving the target object.

[0007] In an optional embodiment, the first position is within the sensing range of the first sensing device and / or the sensing range of the second sensing device. The first position is within the sensing range of the first sensing device and / or the sensing range of the second sensing device, so the target object can be sensed by the first sensing device and the second sensing device initially.

[0008] In an optional implementation, the second position is located within the sensing range of the target sensing device. The first position is located within the sensing range of the target sensing device, so the target sensing device can sense the target object.

[0009] In an optional implementation, the method further includes: receiving perception information of the target object from the second perception device; and determining the second position according to the perception information. For example, after the second perception device obtains the perception information, it can send it to the first core network device, and the first core network device can determine the position of the target object after it moves. The SF tracks the target object without the need for the perception device to determine the parameters of the target object, which can simplify the implementation of the perception device.

[0010] In an optional embodiment, triggering the target sensing device to sense the target object includes: when the target sensing device includes the third sensing device, sending first indication information to the third sensing device, the first indication information is used to trigger the target sensing device to sense the target object, the first indication information is used to indicate one or more of the following: the third sensing device is a sensing signal sending end, the identifier of the fourth sensing device, the fourth sensing device is a sensing signal receiving end, or the second position; or, when the target sensing device includes the third sensing device, sending first indication information to the third sensing device, the first indication information is used to trigger the target sensing device to sense the target object. The target sensing device senses the target object, and the first indication information is used to indicate one or more of the following: the third sensing device is a sensing signal transmitter, the identifier of the second sensing device, the second sensing device is a sensing signal receiver, or the second position; or, when the target sensing device includes the third sensing device, the first indication information is sent to the third sensing device, and the first indication information is used to trigger the target sensing device to sense the target object, and the first indication information is used to indicate one or more of the following: the third sensing device is a sensing signal transmitter, the identifier of the first sensing device, the first sensing device is a sensing signal receiver, or the second position. The first core network device may redefine the sensing signal transmitter (e.g., the third sensing device) and the sensing signal receiver (e.g., the fourth sensing device), then the third sensing device may replace the first sensing device, and the fourth sensing device may replace the second sensing device. Alternatively, the first core network device may also re-determine the perception signal sending end (for example, the third perception device), and the target object is still within the perception area of ​​the second perception device, so the second perception device can continue to perceive the target object as the perception signal receiving end, which reduces the number of new perception devices determined by the first core network device, and the original perception device can continue to perceive, which helps to improve the continuity of the perception process. Alternatively, the target object is still within the perception area of ​​the first perception device, and the first core network device may change the role of the first perception device and convert it into a perception signal receiving end. In this case, the first core network device can re-determine the perception signal sending end. For example, if the first perception device is a device with stronger capabilities, using it as the perception signal receiving end is conducive to improving the continuity and accuracy of the perception process.

[0011] In an optional embodiment, triggering the target sensing device to sense the target object includes: when the target sensing device includes the fourth sensing device, sending second indication information to the fourth sensing device, the second indication information is used to trigger the target sensing device to sense the target object, the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identifier of the third sensing device, the third sensing device is a sensing signal sending end, or the second position; or, when the target sensing device includes the fourth sensing device, sending second indication information to the fourth sensing device, the second indication information is used to trigger the target sensing device to sense the target object. The target sensing device senses the target object, and the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identifier of the first sensing device, the first sensing device is a sensing signal sending end, or the second position; or, when the target sensing device includes the fourth sensing device, the second indication information is sent to the fourth sensing device, and the second indication information is used to trigger the target sensing device to sense the target object, and the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identifier of the second sensing device, the second sensing device is a sensing signal sending end, or the second position. The first core network device may redefine the sensing signal sending end (for example, the third sensing device) and the sensing signal receiving end (for example, the fourth sensing device), then the third sensing device may replace the first sensing device, and the fourth sensing device may replace the second sensing device. Alternatively, the first core network device may also re-determine the perception signal receiving end (for example, the fourth perception device), and the target object is still within the perception area of ​​the first perception device, so the first perception device can continue to perceive the target object as the perception signal sending end, which reduces the number of new perception devices determined by the first core network device, and the original perception device can continue to perceive, which helps to improve the continuity of the perception process. Alternatively, the target object is still within the perception area of ​​the second perception device, and the first core network device may change the role of the second perception device and convert it into a perception signal sending end. In this case, the first core network device can re-determine the perception signal receiving end. For example, if the first perception device is a device with weaker capabilities, it is used as the perception signal receiving end, and the fourth perception device with stronger capabilities is re-selected as the perception signal receiving end, which is conducive to improving the continuity and accuracy of the perception process.

[0012] In an optional implementation, determining the target sensing device according to the second location includes: sending a first request to the second core network device, the first request is used to request information about the sensing device, and the first request includes information about the second location; receiving a first response from the second core network device, the first response includes information about the target sensing device; or, determining the target sensing device according to the second location and capability information of at least one sensing device stored by the first core network device, the at least one sensing device includes the target sensing device. The first core network device can request the second core network device to determine the target sensing device, or the first core network device can also determine the target sensing device by itself, which is a more flexible method.

[0013] In an optional embodiment, the method further includes: receiving capability information of at least one sensing device, wherein the capability information of one of the at least one sensing device indicates one or more of the following: the location of the one sensing device, the sensing area of ​​the one sensing device, the parameters that the one sensing device can sense, or information indicating that the one sensing device can serve as a sensing signal transmitter and / or a sensing signal receiver; wherein the at least one sensing device includes the third sensing device and the fourth sensing device. For example, at least one sensing device can send its respective capability information to the first core network device, so that the first core network device can determine the target sensing device according to the capability information of the at least one sensing device.

[0014] In an optional embodiment, determining the target sensing device according to the second position includes: determining the target sensing device according to the moving trajectory of the target object, wherein the target object in the moving trajectory is currently located at the second position. The first core network device can determine the moving trajectory of the target object, for example, the first core network device receives sensing information from the second sensing device, and can determine the moving trajectory of the target object based on the sensing information, thereby determining the target sensing device based on the moving trajectory.

[0015] In an optional implementation, the method further includes: receiving a second request from an application server, wherein the second request is used to request sensing of the target object, and the second request includes information of the first position.

[0016] In an optional implementation, when the target sensing device includes the fourth sensing device, the method further includes: triggering the second sensing device to sense the target object, wherein the second sensing device is updated from a sensing signal receiving end to a sensing signal sending end; or, when the target sensing device includes the third sensing device, the method further includes: triggering the first sensing device to sense the target object, wherein the first sensing device is updated from a sensing signal sending end to a sensing signal receiving end. For example, if the first core network device only reselects one of the sensing devices, while the other sensing device continues to use the original sensing device, the first core network device can trigger the original sensing device that continues to be used, so that the sensing device can continue to sense the target object, and the original sensing device can also change its role.

[0017] In an optional embodiment, when the target sensing device includes the fourth sensing device, the method further includes: sending a tenth indication message to the first sensing device, the tenth indication message is used to indicate one or more of the following: the second position, the identifier of the fourth sensing device, the first sensing device is a sensing signal transmitter, or the fourth sensing device is a sensing signal receiver. For example, if the first core network device only reselects one of the sensing devices, while the other sensing device continues to use the original sensing device, the first core network device can send information about the new sensing device to the original sensing device that continues to be used, so that the sensing device can cooperate with the new sensing device.

[0018] In an optional embodiment, when the target sensing device includes the third sensing device, the method further includes: sending eighth indication information to the second sensing device, the eighth indication information being used to indicate one or more of the following: the second position, the identifier of the third sensing device, the third sensing device being a sensing signal sending end, or the second sensing device being a sensing signal receiving end.

[0019] For example, the first core network device only reselects one of the perception devices, while the other perception device continues to use the original perception device. The first core network device can send information about the new perception device to the original perception device that continues to be used, so that the perception device can cooperate with the new perception device.

[0020] In an optional implementation, the method further includes: sending a third indication message to the first sensing device and / or the second sensing device, wherein the third indication message is used to indicate to stop sensing the target object. If a sensing device is no longer needed to sense the target object, the first core network device may send the third indication message to the sensing device so that the sensing device may stop the sensing process to save power consumption.

[0021] In a second aspect, a second communication method is provided, which can be executed by a first sensing device or by a chip system, and the chip system can realize the function of the first sensing device. The method includes: sending a first sensing signal to a target object located at a first position, the first sensing signal is used for the first sensing device and the second sensing device to sense the target object, the first sensing device is a sensing signal sending end, and the second sensing device is a sensing signal receiving end; receiving a third request, the third request is used to trigger the first sensing device to select a target sensing device, and the third request includes information about the second position of the target object after moving; determining a target sensing device according to the second position, the target sensing device includes a third sensing device and / or a fourth sensing device, the third sensing device is a new sensing signal sending end, and the fourth sensing device is a new sensing signal receiving end; triggering the target sensing device to sense the target object, or sending a response to the third request to the second sensing device, the response is used to indicate the target sensing device. Optionally, the third request comes from the second sensing device.

[0022] In an embodiment of the present application, when the target object changes from a first position to a second position, the target object may have left or is about to leave the perception area of ​​the original perception device (the first perception device and / or the second perception device), then the first perception device can determine a new perception device, namely the target perception device, according to the new position (second position) of the target object, so that the target perception device can continue to perceive the target object. Therefore, even if the target object moves, the embodiment of the present application can continue to perceive the target object, reducing the probability of perception interruption, being able to obtain information about the target object in a timely manner, and improving the continuity and success rate of perception of the target object. In addition, for example, if the third request comes from the second perception device, the first perception device can send a first response corresponding to the third request to the second perception device, and the information of the target perception device can be informed to the second perception device through the first response.

[0023] In an optional embodiment, determining the target sensing device according to the second position includes: determining the target sensing device according to the second position and capability information of at least one sensing device stored by the first sensing device, wherein the at least one sensing device includes the target sensing device. The first sensing device may determine the target sensing device according to the current position of the target object and the capability information of at least one sensing device, so that the target sensing device can complete the sensing process.

[0024] In an optional embodiment, triggering the target sensing device to sense the target object includes: when the target sensing device includes the third sensing device, sending first indication information to the third sensing device, the first indication information is used to trigger the target sensing device to sense the target object, the first indication information is used to indicate one or more of the following: the third sensing device is a sensing signal sending end, the identifier of the fourth sensing device, the fourth sensing device is a sensing signal receiving end, or the second position; or, when the target sensing device includes the third sensing device, sending first indication information to the third sensing device, the first indication information is used to trigger the The target sensing device senses the target object, and the first indication information is used to indicate one or more of the following: the third sensing device is a sensing signal sending end, the identifier of the second sensing device, the second sensing device is a sensing signal receiving end, or the second position; or, when the target sensing device includes the third sensing device, the first indication information is sent to the third sensing device, and the first indication information is used to trigger the target sensing device to sense the target object, and the first indication information is used to indicate one or more of the following: the third sensing device is a sensing signal sending end, the identifier of the first sensing device, the first sensing device is a sensing signal receiving end, or the second position.

[0025] In an optional embodiment, triggering the target sensing device to sense the target object includes: when the target sensing device includes the fourth sensing device, sending second indication information to the fourth sensing device, the second indication information is used to trigger the target sensing device to sense the target object, the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identifier of the third sensing device, the third sensing device is a sensing signal sending end, or the second position; or, when the target sensing device includes the fourth sensing device, sending second indication information to the fourth sensing device, the second indication information is used to trigger the The target sensing device senses the target object, and the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identifier of the first sensing device, the first sensing device is a sensing signal sending end, or the second position; or, when the target sensing device includes the fourth sensing device, the second indication information is sent to the fourth sensing device, and the second indication information is used to trigger the target sensing device to sense the target object, and the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identifier of the second sensing device, the second sensing device is a sensing signal sending end, or the second position.

[0026] In an optional implementation, before sending a first perception signal to a target object at a first position, the method further includes: receiving fourth indication information from a first core network device or a second perception device, the fourth indication information being used to indicate one or more of the following: the first perception device is a perception signal transmitter, an identifier of the second perception device, the second perception device is a perception signal receiver, or the first position. For example, the first core network device may initially select the first perception device so that the first perception device can perceive the target object.

[0027] In an optional embodiment, the method also includes: sending capability information of the first perception device to the first core network device or the second core network device; and / or sending capability information of the first perception device to one or more perception devices; wherein the capability information of the first perception device includes one or more of the following: location information of the first perception device, perception area information of the first perception device, parameter information that the first perception device can perceive, or information used to indicate that the first perception device can serve as a perception signal sender and / or a perception signal receiver.

[0028] In an optional embodiment, the method also includes: receiving capability information of at least one perception device, the at least one perception device including the second perception device, wherein the capability information of the second perception device includes one or more of the following: location information of the second perception device, perception area information of the second perception device, parameter information that the second perception device can perceive, or information indicating that the second perception device can serve as a perception signal sender and / or a perception signal receiver.

[0029] The first perception device can send the capability information of the first perception device to the core network device, and / or the first perception device can also exchange respective capability information with other perception devices, which makes the network elements that can select perception devices in the embodiments of the present application more diverse.

[0030] In an optional implementation, the first core network device is SF.

[0031] In an optional implementation, the second core network device is an NRF.

[0032] Regarding the technical effects brought about by some optional implementations of the second aspect, reference may be made to the introduction to the technical effects of the first aspect or corresponding implementations.

[0033] In a third aspect, a third communication method is provided, which can be executed by a second sensing device, or by a chip system, and the chip system can realize the function of the second sensing device. The method includes: receiving a second sensing signal reflected by the target object, the second sensing signal is used for the second sensing device and the first sensing device to sense the target object, the first sensing device is a sensing signal sending end, and the second sensing device is a sensing signal receiving end; according to the second sensing signal, determining that the target object moves from a first position to a second position; determining a target sensing device according to the second position, the target sensing device includes a third sensing device and / or a fourth sensing device, the third sensing device is a new sensing signal sending end, and the fourth sensing device is a new sensing signal receiving end; triggering the target sensing device to sense the target object.

[0034] In the embodiment of the present application, when the target object changes from the first position to the second position, the target object may have left or is about to leave the sensing area of ​​the original sensing device (the first sensing device and / or the second sensing device), then the second sensing device can determine a new sensing device, i.e., the target sensing device, according to the new position (the second position) of the target object, so that the target sensing device can continue to sense the target object. Therefore, even if the target object moves, the embodiment of the present application can continue to sense the target object, reducing the probability of perception interruption, being able to obtain information about the target object in a timely manner, and improving the continuity and success rate of sensing the target object.

[0035] In an optional embodiment, triggering the target sensing device to sense the target object includes: when the target sensing device includes the third sensing device, sending first indication information to the third sensing device, the first indication information is used to trigger the target sensing device to sense the target object, the first indication information is used to indicate one or more of the following: the third sensing device is a sensing signal sending end, the identifier of the fourth sensing device, the fourth sensing device is a sensing signal receiving end, or the second position; or, when the target sensing device includes the third sensing device, sending first indication information to the third sensing device, the first indication information is used to trigger the The target sensing device senses the target object, and the first indication information is used to indicate one or more of the following: the third sensing device is a sensing signal sending end, the identifier of the second sensing device, the second sensing device is a sensing signal receiving end, or the second position; or, when the target sensing device includes the third sensing device, the first indication information is sent to the third sensing device, and the first indication information is used to trigger the target sensing device to sense the target object, and the first indication information is used to indicate one or more of the following: the third sensing device is a sensing signal sending end, the identifier of the first sensing device, the first sensing device is a sensing signal receiving end, or the second position.

[0036] In an optional embodiment, triggering the target sensing device to sense the target object includes: when the target sensing device includes the fourth sensing device, sending second indication information to the fourth sensing device, the second indication information is used to trigger the target sensing device to sense the target object, the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identifier of the third sensing device, the third sensing device is a sensing signal sending end, or the second position; or, when the target sensing device includes the fourth sensing device, sending second indication information to the fourth sensing device, the second indication information is used to trigger the The target sensing device senses the target object, and the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identifier of the first sensing device, the first sensing device is a sensing signal sending end, or the second position; or, when the target sensing device includes the fourth sensing device, the second indication information is sent to the fourth sensing device, and the second indication information is used to trigger the target sensing device to sense the target object, and the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identifier of the second sensing device, the second sensing device is a sensing signal sending end, or the second position.

[0037] In an optional embodiment, before receiving the second perception signal reflected by the target object, the method also includes: receiving sixth indication information from the first core network device or the first perception device, the sixth indication information being used to indicate one or more of the following: the first perception device is a perception signal transmitter, the identifier of the first perception device, the second perception device is a perception signal receiver, or the first position.

[0038] In an optional implementation, the sixth indication information comes from the first core network device, and the method further includes: determining the first perception device according to the first location and capability information of at least one perception device; sending fourth indication information to the first perception device, the fourth indication information is used to indicate one or more of the following: the first location, the identifier of the second perception device, the first perception device is a perception signal transmitter, or the second perception device is a perception signal receiver. For example, both the first perception device and the second perception device can be selected by the first core network device; or, the second perception device is selected by the first core network device, and the first perception device is selected by the second perception device; or, the first perception device is selected by the first core network device, and the second perception device is selected by the first perception device.

[0039] In an optional embodiment, the method also includes: sending capability information of the second perception device to the first core network device or the second core network device; and / or sending capability information of the second perception device to one or more perception devices; wherein the capability information of the second perception device includes one or more of the following: location information of the second perception device, perception area information of the second perception device, parameter information that the second perception device can perceive, or information used to indicate that the second perception device can serve as a perception signal sender and / or a perception signal receiver.

[0040] In an optional embodiment, the method also includes: receiving capability information of at least one perception device, the at least one perception device including the first perception device, the capability information of the first perception device including one or more of the following: location information of the first perception device, perception area information of the first perception device, parameter information that the first perception device can perceive, or information indicating that the first perception device can serve as a perception signal sender and / or a perception signal receiver.

[0041] In an optional embodiment, determining that the target object moves from a first position to a second position based on the second perception signal includes: determining a moving trajectory of the target object based on the second perception signal; determining that the target object moves from the first position to the second position based on the moving trajectory, wherein the target object in the moving trajectory is currently located at the second position.

[0042] In an optional implementation, determining a target sensing device includes: sending sensing information of the target object to a first core network device, the sensing information is determined based on the second sensing signal, and the sensing information is used to determine the moving trajectory of the target object; receiving eighth indication information from the first core network device, and determining the target sensing device based on the eighth indication information, wherein the eighth indication information is used to indicate one or more of the following: the second position, the identifier of the third sensing device, the third sensing device is a sensing signal transmitter, or the second sensing device is a sensing signal receiver. The second sensing device may send the sensing information to the first core network device, and the first core network device determines the parameters of the target object. For example, when the first core network device determines that the target object has moved out of or is expected to move out of the sensing area of ​​the first sensing device and / or the second sensing device, it may re-determine the sensing device. The process of selecting the sensing device is performed by the first core network device, which is conducive to simplifying the implementation of the sensing device.

[0043] In an optional implementation, the method further includes: changing the second sensing device from a sensing signal receiving end to a sensing signal sending end, wherein the target sensing device includes the fourth sensing device and the third sensing device, and the second sensing device is the third sensing device. The second sensing device can decide the role change of the second sensing device, making the sensing process more flexible.

[0044] In an optional embodiment, determining the target sensing device according to the second position includes: sending a third request to the first sensing device, the third request is used to request the first sensing device to select a new sensing signal receiving end and / or a new sensing signal sending end, and the third request includes information of the second position; receiving a first response from the first sensing device, the first response includes an identifier of the target sensing device. The second sensing device can select the target sensing device by itself. For example, the second sensing device can determine the parameters of the target object, so that when it is determined that the target object has moved out of or is expected to move out of the sensing area of ​​the first sensing device and / or the second sensing device, the sensing device can be re-determined. Alternatively, the second sensing device can also request the first sensing device to select a target sensing device, which is more flexible.

[0045] In an optional implementation, the first core network device is SF.

[0046] In an optional implementation, the second core network device is an NRF.

[0047] Regarding the technical effects brought about by some optional implementations of the third aspect, reference may be made to the introduction to the technical effects of the first aspect or the corresponding implementations, and / or reference may be made to the introduction to the technical effects of the second aspect or the corresponding implementations.

[0048] In a fourth aspect, a communication device is provided. The communication device has the function of implementing the behavior in the method embodiment described in any one of the first to third aspects above. The beneficial effects can be found in the above description and will not be repeated here.

[0049] The communication device can implement the function of the first core network device described in any one of the first to third aspects above, for example, the communication device is the first core network device described in any one of the first to third aspects above, or is an electronic device (for example, a chip system) configured in the first core network device, or is a larger device including the first core network device. The first core network device includes corresponding means (means) or modules for executing the above method. Alternatively, the communication device can implement the function of the first perception device described in any one of the first to third aspects above, for example, the communication device can be the first perception device described in any one of the first to third aspects above, or is an electronic device (for example, a chip system) configured in the first perception device, or is a larger device including the first perception device. The first perception device includes corresponding means or modules for executing the above method. Alternatively, the communication device can implement the function of the second perception device described in any one of the first to third aspects above, for example, the communication device can be the second perception device described in any one of the first to third aspects above, or is an electronic device (for example, a chip system) configured in the second perception device, or is a larger device including the second perception device. The second sensing device includes corresponding means or modules for executing the above method. For example, the communication device includes a processing unit (sometimes also called a processing module) and a transceiver unit (sometimes also called a transceiver module).

[0050] When the communication device is capable of implementing the function of the first core network device described in any one of the first to third aspects above, in an example, the processing unit is used to determine the first perception device and the second perception device to perceive the target object according to the first position where the target object is located, wherein the first perception device is a perception signal sending end and the second perception device is a perception signal receiving end; the processing unit is also used to determine the target perception device according to the second position when the target object moves from the first position to the second position, the target perception device includes a third perception device and / or a fourth perception device, the third perception device is a new perception signal sending end, and the fourth perception device is a new perception signal receiving end; the transceiver unit is used to trigger the target perception device to perceive the target object.

[0051] When the communication device is capable of realizing the function of the first sensing device described in any one of the first to third aspects above, in another example, the transceiver unit is used to send a first sensing signal to a target object located at a first position, the first sensing signal is used for the first sensing device and the second sensing device to perceive the target object, the first sensing device is a sensing signal sending end, and the second sensing device is a sensing signal receiving end; the transceiver unit is also used to receive a third request, the third request is used to trigger the first sensing device to select a target sensing device, and the third request includes information about a second position of the target object after movement; the processing unit is used to determine a target sensing device according to the second position, the target sensing device includes a third sensing device and / or a fourth sensing device, the third sensing device is a new sensing signal sending end, and the fourth sensing device is a new sensing signal receiving end.

[0052] When the communication device is capable of realizing the function of the second perception device described in any one of the first to third aspects above, in an example, the transceiver unit is used to receive a second perception signal reflected by a target object located at a first position, the second perception signal is used for the second perception device and the first perception device to perceive the target object, the first perception device is a perception signal sending end, and the second perception device is a perception signal receiving end; the processing unit is used to determine a target perception device according to the second position when the target object moves to a second position, the target perception device includes a third perception device and / or a fourth perception device, the third perception device is a new perception signal sending end, and the fourth perception device is a new perception signal receiving end.

[0053] In an optional implementation, the communication device includes a storage unit, and the processing unit can be coupled to the storage unit and execute the program or instructions in the storage unit, so as to enable the communication device to perform the functions of the above-mentioned first core network device, the first perception device, or the second perception device.

[0054] In an optional implementation, the communication device includes: a processor coupled to a memory, configured to execute instructions in the memory to implement the method performed by the first core network device, the first perception device, or the second perception device described in any one of the first to third aspects above. Optionally, the communication device also includes other components, such as an antenna, an input / output module, an interface, etc. These components may be hardware, software, or a combination of software and hardware.

[0055] In a fifth aspect, a communication device is provided, which may be a first core network device, or a chip or chip system used in the first core network device. Alternatively, the communication device may be a first perception device, or a chip or chip system used in the first perception device. Alternatively, the communication device may be a second perception device, or a chip or chip system used in the second perception device. The communication device includes a communication interface and a processor, and optionally, also includes a memory. The memory is used to store a computer program, and the processor is coupled to the memory and the communication interface. When the processor reads the computer program or instruction, the communication device executes the method performed by the first core network device, the first perception device, or the second perception device in any one of the first to third aspects.

[0056] In a sixth aspect, a communication system is provided, which may include a first core network device and a target perception device. The first core network device may, for example, implement the method performed by the first core network device in any of the first to third aspects above, and the target perception device may, for example, implement the method performed by the target perception device in any of the first to third aspects above. Optionally, the first core network device may be implemented by the communication device described in the fourth or fifth aspect; the target perception device may be implemented by the communication device described in the fourth or fifth aspect.

[0057] Optionally, the first core network device is used to determine a first perception device and a second perception device to perceive the target object according to a first position of the target object, wherein the first perception device is a perception signal transmitter and the second perception device is a perception signal receiver; when the target object moves from the first position to a second position, a target perception device is determined according to the second position, the target perception device includes a third perception device and / or a fourth perception device, the third perception device is a new perception signal transmitter, and the fourth perception device is a new perception signal receiver; the target perception device is triggered to perceive the target object. The target perception device is used to perform perception of the target object.

[0058] In a seventh aspect, another communication system is provided, which may include a first perception device and a second perception device. The first perception device may, for example, implement the method performed by the first perception device in any of the first to third aspects, and the second perception device may, for example, implement the method performed by the second perception device in any of the first to third aspects. Optionally, the first perception device may be implemented by the communication device described in the fourth or fifth aspect; the second perception device may be implemented by the communication device described in the fourth or fifth aspect.

[0059] Optionally, the first sensing device is used to send a first sensing signal to a target object located at a first position, the first sensing signal is used for the first sensing device and the second sensing device to sense the target object, the first sensing device is a sensing signal sending end, and the second sensing device is a sensing signal receiving end. The second sensing device is used to receive a second sensing signal reflected by the target object, and determine that the target object moves from the first position to the second position based on the second sensing signal. Option 1: The second sensing device is also used to determine a target sensing device based on the second position, the target sensing device includes a third sensing device and / or a fourth sensing device, the third sensing device is a new sensing signal sending end, and the fourth sensing device is a new sensing signal receiving end; triggering the target sensing device to sense the target object. Option 2: The second sensing device is also used to send a third request to the first sensing device, and the third request is used to trigger the first sensing device to select a target sensing device, and the third request includes information of the second position of the target object after movement; the first sensing device is also used to receive the third request from the second sensing device; determine the target sensing device according to the second position, the target sensing device; trigger the target sensing device to sense the target object; or, send a response to the third request to the second sensing device, and the response is used to indicate the target sensing device.

[0060] In an eighth aspect, a computer-readable storage medium is provided, wherein the computer-readable storage medium is used to store a computer program, and when the computer program is run on a computer, the computer executes the method described in any one of the first to third aspects.

[0061] In a ninth aspect, a computer program product is provided, the computer program product comprising a computer program, and when the computer program is run on a computer, the computer is caused to execute the method as described in any one of the first to third aspects.

[0062] In a tenth aspect, a chip system is provided, comprising a processor and an interface, wherein the processor is used to call and run instructions from the interface, and when the processor executes the instructions, the method described in any one of the first to third aspects is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1A A schematic diagram of the working mode of the sensing device acting as both a sensing signal sending end and a sensing signal receiving end;

[0064] Figure 1B It is a schematic diagram of the working mode of the sensing device 1 as the sensing signal sending end and the sensing device 2 as the sensing signal receiving end;

[0065] Figure 2A and Figure 2B Schematic diagram of two network architectures used in embodiments of the present application;

[0066] Figure 3 This is a schematic diagram of a scene after the target object moves in an embodiment of the present application;

[0067] Figures 4 to 10 Flowcharts of several communication methods provided in embodiments of the present application;

[0068] Fig.11 A schematic diagram of a device provided in an embodiment of the present application;

[0069] Fig.12 A schematic diagram of another device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0070] In order to make the purpose, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the accompanying drawings.

[0071] In the embodiments of the present application, the number of nouns, unless otherwise specified, means "singular noun or plural noun", that is, "one or more". "At least one" means one or more, and "plural" means two or more. "And / or" describes the association relationship of associated objects, indicating that there may be three relationships. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone, where A or B can be singular or plural. The character " / " generally indicates that the associated objects before and after are in an "or" relationship. For example, A / B means: A or B. "At least one of the following" or "one or more of them" and other similar expressions refer to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c, or one or more of a, b, or c, means: a, b, c, a and b, a and c, b and c, or a and b and c. Each of a, b, and c can be single or multiple.

[0072] The ordinal numbers such as "first" and "second" mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the size, content, order, timing, priority or importance of multiple objects. In addition, the numbering of the steps in each embodiment introduced in the embodiments of the present application is only to distinguish different steps, and is not used to limit the order between the steps. For example, S401 may occur before S402, or may occur after S402, or may occur at the same time as S402.

[0073] Below, some terms or concepts in the embodiments of the present application are explained to facilitate understanding by those skilled in the art.

[0074] (1) In the embodiments of the present application, the terminal device is a device with wireless transceiver function, which can be a fixed device, a mobile device, a handheld device (such as a mobile phone), a wearable device, a vehicle-mounted device, or a wireless device built into the above device (such as a communication module, a modem, or a chip system, etc.). The terminal device is used to connect people, objects, machines, etc., and can be widely used in various scenarios, such as but not limited to the following scenarios: cellular communication, device-to-device communication (device-to-device, D2D), V2X, machine-to-machine / machine-type communication (machine-to-machine / machine-typecommunications, M2M / MTC), Internet of Things (Internet of Things, IoT), virtual reality (virtual reality, VR), augmented reality (augmented reality, AR), industrial control (industrial control), self-driving, remote medical, smart grid (smart grid), smart furniture, smart office, smart wearable, smart transportation, smart city (smart city), drones, robots and other scenarios of terminal devices. The terminal device may sometimes be referred to as UE, terminal, access station, UE station, remote station, wireless communication device, or user equipment, etc.

[0075] In the embodiment of the present application, the communication device for implementing the function of the terminal device may be a terminal device, or may be a device capable of supporting the terminal device to implement the function, such as a chip system, which may be installed in the terminal device. In the technical solution provided in the embodiment of the present application, the technical solution provided in the embodiment of the present application is described by taking the device for implementing the function of the terminal device as an example, which is a terminal device. In addition, for the convenience of description, the terminal device is described in the embodiment of the present application by taking UE as an example.

[0076] (2) The network equipment in the embodiments of the present application, for example, includes access network equipment and / or core network equipment. The access network equipment is a device with wireless transceiver function, which is used to communicate with the terminal device. The access network equipment includes but is not limited to base stations (base transceiver station (BTS), Node B, eNodeB / eNB, or gNodeB / gNB), transmission reception points (TRP), base stations subsequently evolved from the third generation partnership project (3GPP), access nodes in wireless fidelity (Wi-Fi) systems, wireless relay nodes, wireless backhaul nodes, etc. The base station can be: a macro base station, a micro base station, a pico base station, a small station, a relay station, etc. Multiple base stations can support networks with the same access technology, or they can support networks with different access technologies. A base station can include one or more co-sited or non-co-sited transmission receiving points. The access network device may also be a wireless controller, a centralized unit (CU), and / or a distributed unit (DU) in a cloud radio access network (CRAN) scenario. The access network device may also be a server, etc. For example, the network device in the vehicle to everything (V2X) technology may be a road side unit (RSU). The following describes the access network device using a base station as an example. The base station can communicate with a terminal device, or it can communicate with the terminal device through a relay station. The terminal device can communicate with multiple base stations in different access technologies. The core network device is used to implement functions such as mobility management, data processing, session management, policy and billing. The names of the devices that implement core network functions in systems with different access technologies may be different, and the embodiments of the present application do not limit this. Taking the 5th generation (5G) mobile communication system as an example, the core network equipment includes: access and mobility management function (AMF), session management function (SMF), policy control function (PCF) or user plane function (UPF), etc.

[0077] In the embodiment of the present application, the communication device for realizing the function of the network device may be a network device, or may be a device capable of supporting the network device to realize the function, such as a chip system, which may be installed in the network device. In the technical solution provided in the embodiment of the present application, the technical solution provided in the embodiment of the present application is described by taking the device for realizing the function of the network device as an example that the network device is used as the device.

[0078] Please refer to Figure 2A , is a schematic diagram of a 5G network architecture based on a service-oriented architecture, which is also a network architecture applied in the embodiments of the present application. Figure 2A The 5G network architecture shown may include three parts, namely the UE part, the DN and the operator network part.

[0079] Among them, the operator network may include one or more of the following network elements: authentication server function (AUSF) network element, network exposure function (NEF) network element, policy control function (PCF) network element, unified data management (UDM) network element, unified data repository (UDR), network storage function (NRF) network element, application function (AF) network element, network slice selection function (NSSF) network element, access and mobility management function (AMF) network element, SMF network element, (radio) access network ((R)AN) or user plane function (UPF) network element, etc.

[0080] The above-mentioned operator network includes a radio access network and a core network. The UE accesses the core network through the (R)AN, and the core network includes user plane network elements and control plane network elements. Among them, the user plane network elements of the core network include UPF; the control plane network elements of the core network include at least one of AUSF, AMF, SMF, NSSF, NEF, NRF, UDM, PCF, or AF.

[0081] User plane network elements (such as UPF) are mainly responsible for packet forwarding, quality of service (QoS) control, billing information statistics, etc. Control plane network elements are mainly responsible for business process interaction, sending packet forwarding strategies and QoS control strategies to the user plane, etc. In the embodiment of the present application, it is considered that devices such as sensors can access the core network through devices such as UE and (R)AN, so that the controller connected to devices such as sensors in the industrial Ethernet can perform industrial data communication on the user plane through UPF.

[0082] The core network control plane can adopt a service-oriented architecture, that is, the interaction between control plane network elements adopts the service call method to replace the point-to-point communication method in the traditional architecture. In the service-oriented architecture, a control plane network element will open services to other control plane network elements for other control plane network elements to call; in point-to-point communication, there will be a set of specific messages on the communication interface between control plane network elements, which can only be used by the control plane network elements at both ends of the interface when communicating.

[0083] The functions of network elements in the core network are described as follows:

[0084] UPF supports all or part of the following functions: interconnecting protocol data unit (PDU) sessions with data networks, packet routing and forwarding (for example, supporting uplink classifier for forwarding traffic to the data network, supporting branching points to support multi-homed PDU sessions), or packet inspection.

[0085] AMF, UE access management and mobility management. Responsible for UE status maintenance, UE reachability management, non-mobility management (MM) non-access-stratum (NAS) message forwarding, session management (SM) N2 message forwarding.

[0086] SMF, UE session management, allocates resources for UE sessions and releases resources. The resources include session quality of service (QoS), session path, forwarding rules, etc. SMF is responsible for selecting or reselecting UPF, allocating Internet protocol (IP) addresses, and establishing, modifying, and releasing bearers.

[0087] NEF opens network functions to third parties in the form of northbound application programming interface (API).

[0088] NRF provides storage and selection functions for network function entity information for other network elements.

[0089] UDM, User Subscription Context Management, is responsible for managing the UE's subscription data and notifying the corresponding network element when the subscription data is modified.

[0090] UDR, a unified data repository function, is responsible for storing and retrieving contract data, policy data, and public architecture data, etc., which can be used by network elements such as UDM, PCF, or NEF to obtain relevant data. UDR can have different data access authentication mechanisms for different types of data (such as contract data, policy data, etc.) to ensure the security of data access. UDR should be able to return a failure response with an appropriate reason value for illegal service operations or data access requests.

[0091] PCF, user policy management, is used to generate and manage user, session, and QoS flow processing policies.

[0092] AF, application management, provides some application layer services to UE. When providing services to UE, AF has requirements for QoS (policy) and charging strategy, and needs to notify the network. In addition, AF also needs the core network to feedback application-related information.

[0093] The relevant interfaces between network element functions involved in the embodiments of the present application include:

[0094] N1: Interface between UE and core network control plane.

[0095] N2: Communication interface between (R)AN and core network control plane.

[0096] N3: Communication interface between (R)AN and UPF, used to transmit user plane data.

[0097] N4: Communication interface between SMF and UPF, used by SMF to configure policies for UPF, etc.

[0098] N6: Communication port between UPF and DN.

[0099] Please refer to Figure 2B , is a schematic diagram of a 5G network architecture based on a point-to-point interface, which is another network architecture used in the embodiments of the present application. Figure 2B For network elements within, please refer to Figure 2A Introduction to relevant network elements in. Figure 2B and Figure 2A The main difference is that Figure 2B The interfaces between network elements are point-to-point interfaces, not service-oriented interfaces.

[0100] The method provided by the embodiments of the present application is described below in conjunction with the accompanying drawings. In each embodiment of this document, a sensing device can be used to implement a sensing function, and the sensing device may include a network device (which may be referred to as a sensing network device) or a terminal device (which may be referred to as a sensing terminal device), etc. For example, the sensing terminal device may be a mobile phone, and the sensing network device may be a base station, etc. Among them, the sensing device can sense the target in a self-transmitting and self-receiving manner. The so-called "spontaneous transmission and self-receiving" means that a sensing device acts as both a sensing signal transmitter and a sensing signal receiver. For example, refer to Figure 1A , the sensing device can send a sensing signal and receive a signal reflected after the sensing signal reaches the target. The sensing device can sense the position, speed and other information of the target by comparing the sent sensing signal with the received signal. Alternatively, the sensing device can sense the target by self-transmitting and other-receiving (or A-transmitting and B-receiving). The so-called "self-transmitting and other-receiving" refers to a working mode in which one sensing device acts as the sensing signal transmitter and the other sensing device acts as the sensing signal receiver. For example, refer to Figure 1B , the sensing device 1 can send a sensing signal, and other sensing devices (such as Figure 1B The sensing device 2 in the figure can receive the signal reflected after the sensing signal reaches the target. Among them, the sensing device for sending the sensing signal (such as sensing device 1) can be called a sensing signal transmitter, or a sensing transmitter; the sensing device for receiving the sensing signal (such as sensing device 2) can be called a sensing signal receiver, or a sensing receiver. The sensing device 2 can measure the position, speed and other information of the target through the received signal. It can be understood that different sensing modes have different requirements on the capabilities of the sensing devices. In different application scenarios, different sensing modes can be used to sense and measure the surrounding environment. Figure 1A and Figure 1B In the examples, the target is a vehicle, but it is not limited to this.

[0101] In various embodiments of this document, a sensing function (SF) is, for example, a network element newly added in the core network ( Figure 2A and Figure 2BThe SF may be a SMF, an AMF or a location management function (LMF) with the perception function added. Alternatively, the SF may be a module in the SMF, AMF or LMF. Alternatively, the SF may have the functions of one or more network elements in the SMF, AMF or LMF, which means that the SF may be used to replace one or more network elements in the SMF, AMF or LMF.

[0102] The various embodiments of this document can be applied to Figure 2A or Figure 2B For example, the second core network device described in each embodiment of this document may be Figure 2A or Figure 2B The first core network device described in each embodiment of this document may be a SF, and the SF may be Figure 2A or Figure 2B AMF or SMF in it, or a module in AMF or SMF, or Figure 2A or Figure 2B The LMF or a module in the LMF not shown, or it may also be Figure 2A or Figure 2B In the various embodiments of this document, it is taken that the first core network device is SF and the second core network device is NRF as an example. In the accompanying drawings corresponding to the various embodiments of this document, all steps indicated by dotted lines are optional steps.

[0103] It is understandable that the embodiments of the present application can be applied to future communication systems, such as 6G systems. When the embodiments of the present application are applied to future communication systems, the names of terminal devices, access network devices, core network devices with perception functions, and other functions may change, and the embodiments of the present application do not limit this. For ease of understanding, the following text takes the application of the embodiments of the present application in the 5G system as an example to introduce the specific solution.

[0104] In each embodiment of this article, the sensing signal transmitter and the sensing signal receiver are different sensing devices, that is, the working mode of self-transmitting and other-receiving is taken as an example. Then the network architecture before the target object moves can refer to Figure 1B Several situations may occur after the target device is moved:

[0105] In case 1, the target object has left or is expected to leave the sensing area of ​​the sensing signal transmitter, but has not left or is not expected to leave the sensing area of ​​the sensing signal receiver;

[0106] In case 2, the target object has left or is expected to leave the sensing area of ​​the sensing signal receiving end, but has not left or is not expected to leave the sensing area of ​​the sensing signal sending end;

[0107] In case 3, the target object has left or is expected to leave the perception area of ​​the perception signal transmitter, and has left or is expected to leave the perception area of ​​the perception signal receiver.

[0108] For reference Figure 3 , are examples of these situations. Figure 3 Relative to Figure 1B For example, sensing device 3 and sensing device 4 are added, wherein sensing device 3 is a new sensing signal sending end, and sensing device 4 is a new sensing signal receiving end. For example, for case 1, it is considered that sensing device 3 replaces sensing device 1 to send sensing signals, and sensing device 2 continues to work, and sensing device 4 is not included at this time; for case 2, it is considered that sensing device 4 replaces sensing device 2 to receive sensing signals, and sensing device 1 continues to work, and sensing device 3 is not included at this time; for case 3, it is considered that sensing device 3 replaces sensing device 1 to send sensing signals, and sensing device 4 replaces sensing device 2 to receive sensing signals. Figure 3 Taking the target as a vehicle as an example, it is not limited to this. That is to say, the new perception signal transmitter means that the device is different from the perception signal transmitter applicable before the target object moves, rather than that the device is newly established or newly deployed; the new perception signal receiver means that the device is different from the perception signal receiver applicable before the target object moves, rather than that the device is newly established or newly deployed.

[0109] The various embodiments of this document can be applied to Figure 2A or Figure 2B The architecture shown can also be applied to Figure 1B as well as Figure 3 The scene shown, for example, the target object can be applied to Figure 1B In the scene shown, the target object can be applied after moving Figure 3 For example, the first sensing device described in each embodiment of this document is Figure 1B or Figure 3 The sensing device 1 in the example is Figure 1B or Figure 3 The sensing device 2 in the example is Figure 3 The sensing device 3 in the fourth sensing device is Figure 3 The sensing device in 4.

[0110] The present application embodiment provides a first communication method, please refer to Figure 4 , which is a flow chart of the method.

[0111] S401, AF sends a second request to SF. Correspondingly, SF receives the second request from AF. The second request is also called a perception service request, etc., and the name is not limited.

[0112] The second request may request perception of the target object, and the second request may also indicate the initial position of the target object, such as the first position. For example, before determining the target object, AF may first request SF to perform perception measurement on a certain area, or request SF to perform perception measurement on objects in a certain area. At this time, the measurement process may not be targeted at one or some specific objects, but rather an overall measurement of the area. SF may select a suitable perception device to perform perception measurement on the area, such as selecting a perception device whose perception area can cover the area for perception measurement. After obtaining the perception measurement result, SF may send the perception measurement result to AF, and AF may determine the environmental information or objects in the area based on it, so as to determine which object is the target object, or the object to be tracked. After AF determines the target object, it may send a second request to SF.

[0113] Optionally, the second request may also indicate a first parameter, and / or indicate a first duration. The first parameter is a parameter of the target object to be determined by sensing the target object. The first parameter (or the reference of the target object) may include one or more parameters, for example, the first parameter (or the reference of the target object) includes one or more of the following: a position parameter of the target object, a size parameter of the target object, a shape parameter of the target object, or a moving trajectory parameter of the target object. For example, if the second request indicates the moving trajectory parameter of the target object, SF can clearly determine the moving trajectory of the target object by sensing the target object. Among them, although the second request can indicate the initial position of the target object, the target object may be in a moving state, so the first parameter can still include the position parameter of the target object, so that the position of the target object after moving can be determined. In addition, the first parameters (or the reference of the target object) involved in the various embodiments below are all the first parameters (or the reference of the target object) introduced here, and will not be repeated in the various embodiments below.

[0114] The first duration is the duration for perceiving the target object. Optionally, the second request may only indicate the first duration, but not the time domain position of the first duration (for example, not indicating the start time or end time of the first duration, etc.), then when the perception process starts can be determined by the perception signal sending end, the perception signal receiving end or SF and other devices, as long as the perception process lasts for the first duration; or, the second request may indicate the start time of the first duration and the first duration, or indicate the end time of the first duration and the first duration, or indicate the start time and end time of the first duration, thereby indicating both the first duration and the time domain position of the first duration. Alternatively, the second request may not indicate the first duration, then the duration of the perception process may be determined by the perception signal sending end, the perception signal receiving end or SF and other devices.

[0115] Optionally, the second request may also indicate a perception mode, for example, indicating that the perception mode is an A-send and B-receive mode (ie, device A sends a perception signal and device B receives a perception signal).

[0116] The AF may not send the second request to the SF. For example, the SF may determine to sense a certain target object by itself. Therefore, S401 is an optional step.

[0117] S402, SF determines an initial sensing device according to the first position, or SF determines an initial sensing device according to the first position to sense the target object. Because this is the first time that SF selects a sensing device to sense the target object, the sensing device selected by SF this time is called an initial sensing device. The initial sensing device may include a first sensing device and a second sensing device, wherein the first sensing device is a sensing signal transmitter and the second sensing device is a sensing signal receiver. In other words, SF can select two sensing devices to participate in the sensing process.

[0118] Optionally, SF may determine the initial perception device by itself, or SF may determine the initial perception device with the help of other devices.

[0119] For example, if SF obtains the capability information of the perception device, SF can determine the initial perception device by itself. Optionally, the method may also include S403, at least one perception device sends capability information to SF, and accordingly, SF receives capability information from at least one perception device. Exemplarily, S403 may occur before S402. Among them, a perception device may directly send capability information to SF, or may forward capability information to SF through other devices, for example, forward capability information to SF through AMF or other devices. Among them, the capability information sent by a perception device may indicate the perception capability of the perception device, and the capability information of a perception device may indicate (or include) one or more of the following: location information of the perception device, perception area information of the perception device, role information supported by the perception device, or parameters supported by the perception device. The role information supported by the perception device, for example, is information used to indicate that the perception device can act as a perception signal transmitter and / or a perception signal receiver, which is equivalent to what role the perception device can play in the perception process. Optionally, the position of the perception device in the embodiment of the present application may be fixed, for example, a perception device may be a device fixed on the roadside or in a building, so the perception capability of the perception device may indicate the location information of the perception device. The perception area information of the perception device may indicate the geographical area that the perception device can cover, for example, indicating a geographical area centered on the location of the perception device. The role information supported by the perception device, for example, indicates whether the perception device can serve as a perception signal transmitter and / or whether it can serve as a perception signal receiver. The parameter information supported by the perception device, for example, indicates what parameters of the target object the perception device supports. In addition, the perception capability of the perception device may also indicate other capabilities of the perception device, which is not limited. If SF obtains the capability information of at least one perception device, then in S402, SF may determine the initial perception device by itself. For example, in S402, SF may determine the initial perception device based on the capability information of at least one perception device and the first location, wherein the perception area of ​​the initial perception device determined by SF can cover the first location. Optionally, if the second request also indicates the first parameter described in S401, SF may also consider the first parameter when selecting an initial perception device, for example, the initial perception device selected by SF may support obtaining the first parameter of the target object.

[0120] Alternatively, SF may also determine the initial sensing device with the help of other devices. For example, if SF does not obtain the capability information of the sensing device, SF may request other devices to determine the initial sensing device. Optionally, S403 may be replaced by at least one sensing device sending capability information to NRF, and accordingly, NRF receives capability information from at least one sensing device. Among them, a sensing device may directly send capability information to NRF, or may forward capability information to NRF through other devices, for example, forward capability information to NRF through AMF or other devices. If NRF obtains capability information of at least one sensing device, then in S402, SF may request NRF to determine the initial sensing device. For example, SF may send a first request to NRF, and the first request may request to determine the device that senses the target object, or request to determine the information of the device that senses the target object, and the first request may also indicate the first position. After receiving the first request, NRF may determine the initial sensing device based on the capability information of at least one sensing device and the first position, wherein the sensing area of ​​the initial sensing device determined by NRF can cover the first position. Optionally, if the second request also indicates the first parameter described in S401, the NRF may also consider the first parameter when selecting the initial perception device, for example, the initial perception device selected by the NRF may support obtaining the first parameter of the target object. Optionally, the first request may also indicate a perception mode, for example, indicating that the perception mode is A sends and B receives (i.e., device A sends a perception signal and device B receives a perception signal). After the NRF determines the initial perception device, it may send information about the initial perception device to the SF so that the SF can determine the initial perception device. The information of a perception device sent by the NRF may include an identifier of the perception device, or include an identifier of the perception device and capability information of the perception device. Optionally, the information of the perception device may also indicate the role of the perception device, for example, indicating that the perception device is acting as a perception signal transmitter or a perception signal receiver. Among them, the identifier of a perception device, for example, includes an identifier (ID) of the perception device and / or address information of the perception device.

[0121] The at least one sensing device as described above, for example, includes a target sensing device, and the target sensing device will be introduced in other embodiments below. Optionally, the at least one sensing device may also include a first sensing device and / or a second sensing device. Figure 4 In S403, the first sensing device and the second sensing device both send capability information to the SF as an example. In addition, the at least one sensing device may also include other sensing devices, which is not limited.

[0122] Optionally, the method further includes S404, the SF sends fourth indication information to the first perception device. Correspondingly, the first perception device receives the fourth indication information from the SF. If the initial perception device selected by the SF includes the first perception device, S404 may be executed.

[0123] The fourth indication information may indicate one or more of the following: the first sensing device is a sensing signal transmitter, an identifier of the second sensing device, the second sensing device is a sensing signal receiver, a first position, a first parameter, or a first duration. The first parameter may come from the second request, or the first parameter may be determined by the SF itself. The first duration may come from the second request, or the first duration may be determined by the SF itself.

[0124] After receiving the fourth indication information, the first sensing device can sense the target object. For example, the first sensing device can start the sensing process after receiving the fourth indication information, or the first sensing device can wait for a certain period of time after receiving the fourth indication information and then perform the sensing process.

[0125] Among them, if the fourth indication information indicates that the first perception device is a perception signal transmitter, and / or indicates that the second perception device is a perception signal receiver, the first perception device can clarify the role of the first perception device in the perception process, that is, the first perception device can clarify that the first perception device is a perception signal transmitter. Alternatively, if the fourth indication information does not indicate that the first perception device is a perception signal transmitter, nor does it indicate that the second perception device is a perception signal receiver, it is equivalent to that SF does not indicate the role of the first perception device. Then the first perception device can determine the role of the first perception device by itself, for example, the first perception device can determine that the first perception device is a perception signal transmitter or a perception signal receiver. In the embodiment of the present application, the first perception device is a perception signal transmitter as an example. In the perception process, the first perception device can send a perception signal to a target object located at a first position. After the perception signal reaches the target object, it is reflected or refracted by the target object. The reflected or refracted signal (also called a perception signal) reaches the second perception device. The second perception device can obtain perception information based on the perception signal, and the parameters of the target object can be determined based on the perception information.

[0126] Optionally, the method further includes S405, the SF sends sixth indication information to the second perception device. Correspondingly, the second perception device receives the sixth indication information from the SF. If the initial perception device selected by the SF includes the second perception device, S405 may be executed.

[0127] The sixth indication information may indicate one or more of the following: the second sensing device is a sensing signal receiving end, the identifier of the first sensing device, the first sensing device is a sensing sending and receiving end, the first position, the first parameter, or the first duration. The first parameter may come from the second request, or the first parameter may be determined by the SF itself. The first duration may come from the second request, or the first duration may be determined by the SF itself.

[0128] The second sensing device can sense the target object after receiving the sixth indication information. For example, the second sensing device can start the sensing process after receiving the sixth indication information, or the first sensing device can wait for a certain period of time after receiving the sixth indication information and then perform the sensing process.

[0129] Among them, if the sixth indication information indicates that the second perception device is a perception signal receiving end, and / or indicates that the first perception device is a perception signal sending end, the second perception device can clarify the role of the second perception device in the perception process, that is, the second perception device can clarify that the second perception device is a perception signal receiving end. Alternatively, if the sixth indication information does not indicate that the second perception device is a perception signal receiving end, nor does it indicate that the first perception device is a perception signal sending end, it is equivalent to SF not indicating the role of the second perception device. Then the second perception device can determine the role of the second perception device by itself, for example, the second perception device can determine that the second perception device is a perception signal sending end or a perception signal receiving end. In the embodiment of the present application, the second perception device is a perception signal receiving end as an example. In the perception process, the first perception device can send a perception signal to the target object at the first position. After the perception signal reaches the target object, it is reflected or refracted by the target object. The reflected or refracted signal (also called a perception signal) reaches the second perception device. The second perception device can obtain perception information based on the perception signal, and the parameters of the target object can be determined based on the perception information. In one possible implementation, the perception information can be understood as point cloud data obtained based on the perception signal, and determining the parameters of the target object can be understood as processing or calculating the point cloud data to obtain the position and other parameters of the target object. The data form of the perception information is not limited in the embodiment of the present application. The action of determining the parameters of the target object described below can be specifically understood as the process of processing or calculating the received perception signal to obtain the parameters of the target object, which will not be repeated below.

[0130] Optionally, the method further includes S406, where the first sensing device and the second sensing device sense the target object.

[0131] In the embodiment of the present application, the first sensing device is a sensing signal transmitter and the second sensing device is a sensing signal receiver. In S406, the first sensing device can send a first sensing signal to a target object located at a first position. After the first sensing signal reaches the target object, it is reflected or refracted by the target object. The signal after the reflection or refraction is called a second sensing signal. The second sensing signal reaches the second sensing device, and the second sensing device can obtain sensing information according to the second sensing signal. Optionally, the second sensing device can determine the parameters of the target object according to the sensing information. For example, according to the introduction above, the content indicated by the sixth indication information may include the first parameter. If the sixth indication information indicates the first parameter, the second sensing device can determine part or all of the first parameters of the target object according to the sensing information; or, if the sixth indication information does not indicate the first parameter, the second sensing device can determine the parameters of the target object according to the sensing information. The specific parameters determined may be related to the capabilities of the second sensing device and / or the sensing information.

[0132] Alternatively, the second perception device may send the perception information to the SF, and after receiving the perception information, the SF may determine the parameters of the target object. For example, the second request from the AF indicates the first parameter, and the parameters of the target object determined by the SF based on the perception information may include some or all of the first parameters; or, if the second request does not indicate the first parameter, the SF may determine the parameters of the target object based on the perception information, and the specific determined parameters may be related to the capabilities of the SF and / or the perception information.

[0133] Optionally, the target object parameters determined by the SF or the second sensing device may include the moving track of the target object, so that the SF or the second sensing device can determine whether the target object is located in the sensing area of ​​the initial sensing device, or determine whether the target object has moved out of the sensing area of ​​the initial sensing device. If the target object has moved out of or is about to move out of the sensing area of ​​the first sensing device and / or the second sensing device, the device used to sense the target object can be reselected.

[0134] In the embodiment of the present application, the SF can select a device for sensing the target object according to the location of the target object, so that the target object is within the coverage of the sensing device and can be sensed. The selection by the SF is conducive to the network side to manage and schedule the terminal side.

[0135] exist Figure 4 In the embodiment shown, the SF selects the sensing device. The following embodiment of the present application provides a second communication method, in which, in addition to the SF selecting a sensing device, the sensing device can also select another sensing device. Please refer to Figure 5 , which is a flow chart of the method.

[0136] S501: AF sends a second request to SF. Correspondingly, SF receives the second request from AF.

[0137] For more information about S501, please refer to Figure 4 S401 in the illustrated embodiment.

[0138] S502, SF determines the initial perception device according to the first position, or SF determines the initial perception device according to the first position to perceive the target object. Because this is the first time that SF selects a perception device to perceive the target object, the perception device selected by SF this time is called the initial perception device. In the embodiment of the present application, the initial perception device may include a first perception device or a second perception device, wherein the first perception device is a perception signal transmitter and the second perception device is a perception signal receiver. Equivalently, SF can select one of the perception devices to participate in the perception process.

[0139] Optionally, SF can determine the initial sensing device by itself. For example, if SF obtains the capability information of the sensing device, SF can determine the initial sensing device by itself. Optionally, the method may also include S503, at least one sensing device sends capability information to SF, and accordingly, SF receives capability information from at least one sensing device. In the embodiment of the present application, the first sensing device and the second sensing device both send capability information to SF as an example. Exemplarily, S503 may occur before S502. For more information about this part, please refer to Figure 4 Related introduction of S402 and S403 of the embodiment shown.

[0140] Alternatively, SF may also determine the initial sensing device with the help of other devices. For example, if SF does not obtain the capability information of the sensing device, SF may request other devices to determine the initial sensing device, such as NRF. Optionally, S403 may be replaced by at least one sensing device sending capability information to NRF, and correspondingly, NRF receives capability information from at least one sensing device. For more information about this part, please refer to Figure 4 Related introduction of S402 and S403 of the embodiment shown.

[0141] Optionally, the method further includes S504, SF sends fourth indication information to the first perception device, and correspondingly, the first perception device receives the fourth indication information from SF; or, the method further includes S505, SF sends sixth indication information to the second perception device, and correspondingly, the second perception device receives the sixth indication information from SF. If the initial perception device selected by SF is the first perception device, S504 can be executed; and if the initial perception device selected by SF is the second perception device, S505 can be executed. For more information about S504, please refer to Figure 4 For more information about S404 in the embodiment shown in FIG. 1 , please refer to S505. Figure 4 Related introduction of S405 of the embodiment shown.

[0142] If S504 is executed but S505 is not executed, then optionally, the method may further include S506, the first perception device sends sixth indication information to the second perception device, and accordingly, the second perception device receives the sixth indication information from the first perception device. It can be understood that SF selects the perception signal sending end (first perception device) but does not select the perception signal receiving end, then the first perception device may select the perception signal receiving end. For example, the fourth indication information may indicate that the first perception device selects the perception signal receiving end; or, the fourth indication information does not include information for indicating that the first perception device selects the perception signal receiving end, but the fourth indication information does not indicate the second perception device (for example, the identifier of the second perception device is not indicated, and the second perception device is not indicated as the perception signal receiving end). After receiving the fourth indication information, the first perception device determines that SF has not selected the perception signal receiving end, and the first perception device may select the perception signal receiving end by itself. For example, the first perception device may select the perception device according to the first position and the capability information of one or more perception devices, for example, the first perception device selects the second perception device. Optionally, the method may further include S507, the perception devices interact with each other. Capability information. For example, S507 occurs before S505. In addition, there is no restriction on the order in which S507 and other steps except S505 occur, for example, they may occur after or before the other steps, or simultaneously with the other steps. For example, in S507, the first perception device sends capability information of the first perception device to one or more perception devices, and the first perception device also receives capability information from the one or more perception devices. Then, through S507, the first perception device can obtain the capability information of one or more perception devices, and thus can determine the second perception device based on the capability information of the one or more perception devices. For example, the one or more perception devices include the second perception device. Figure 5 In S507, the interaction capability information between the first sensing device and the second sensing device is taken as an example.

[0143] After the first sensing device selects the second sensing device, it can send the sixth indication information to the second sensing device. After the second sensing device receives the sixth indication information, it can sense the target object. For example, the second sensing device can start the sensing process after receiving the sixth indication information, or the second sensing device can wait for a certain period of time after receiving the sixth indication information and then perform the sensing process. For more information about the sixth indication information, please refer to Figure 4 Related introduction of the illustrated embodiment.

[0144] Alternatively, if S505 is executed but S504 is not executed, then optionally, the method may further include S508, where the second perception device sends fourth indication information to the first perception device, and accordingly, the first perception device receives the fourth indication information from the second perception device. It can be understood that if SF selects the perception signal receiving end (the second perception device) but does not select the perception signal sending end, then the second perception device may select the perception signal sending end. For example, the sixth indication information may indicate that the second perception device selects the perception signal sending end; or, the sixth indication information does not include information for indicating that the second perception device selects the perception signal sending end, but the sixth indication information does not indicate the first perception device (for example, the identifier of the first perception device is not indicated, and the first perception device is not indicated as the perception signal sending end), and the second perception device receives the sixth indication information and determines that SF does not select the perception signal sending end, then the second perception device may select the perception signal sending end by itself. For example, the second perception device may select a perception device based on the first position and the capability information of one or more perception devices, for example, the second perception device selects the first perception device. In this case, optionally, the method may also include S507, which will not be described in detail.

[0145] After the second sensing device selects the first sensing device, it can send the fourth indication information to the first sensing device. After the first sensing device receives the fourth indication information, it can sense the target object. For example, the first sensing device can start the sensing process after receiving the fourth indication information, or the first sensing device can wait for a certain period of time after receiving the fourth indication information and then perform the sensing process. For more information about the fourth indication information, please refer to Figure 4 Related introduction of the illustrated embodiment.

[0146] Optionally, the method further includes S509, where the first sensing device and the second sensing device sense the target object. For more information about S509, please refer to Figure 4 S406 of the embodiment shown.

[0147] In the embodiment of the present application, SF can select a device for sensing the target object according to the location of the target object, so that the target object is within the coverage of the sensing device and can be sensed. And one sensing device can select another sensing device, which reduces the participation of the network side, can improve the flexibility of selection, and can also reduce the delay of the selection process, which is conducive to continuous perception of the target.

[0148] As above Figure 4 or Figure 5 The embodiments shown in the figure all introduce the process of initially selecting a device for sensing a target object. When the target object moves, it may move out of the coverage of the initial sensing device. Therefore, the embodiments of the present application propose that if the target object moves, the sensing device can be reselected, so that the target object can continue to be sensed. The process of reselecting the sensing device will be introduced through some embodiments below. Figures 6 to 10 Any embodiment shown in any of the accompanying drawings can be used together with Figure 4 The embodiment shown in the figure is combined with the method provided by any of the embodiments shown in the figure. Figure 4 After S406 of the embodiment shown; or, Figures 6 to 10 Any embodiment shown in any of the accompanying drawings can be used together with Figure 5 The embodiment shown in the figure is combined with the method provided by any of the embodiments shown in the figure. Figure 5 After S509 of the embodiment shown in the figure. In the process of introducing each embodiment below, for Figure 4 or Figure 5 The steps in the illustrated embodiment are not described in detail, and other steps involved in the following embodiments are mainly introduced.

[0149] Please refer to Figure 6 , which is a flow chart of a third communication method provided in an embodiment of the present application, and the method introduces a process of reselecting a sensing device.

[0150] S601. When the target object moves from a first position to a second position, SF determines a target sensing device.

[0151] The target perception device in the embodiment of the present application includes a third perception device and / or a fourth perception device, wherein the fourth perception device is a new perception signal transmitter, and the fourth perception device is a new perception signal receiver. Equivalently, the two perception devices participating in the perception process can be reselected by SF. The second position is located within the perception area of ​​the target perception device. For example, the third perception device can be used to replace the original perception signal transmitter (e.g., the first perception device), and the fourth perception device can be used to replace the original perception signal receiver (e.g., the second perception device).

[0152] Optionally, the SF determines the parameters of the target object, and determines that the target object moves from the first position to the second position based on the parameters of the target object; or, the second sensing device determines the parameters of the target object, and the second sensing device sends the determined parameters of the target object to the SF, and the SF determines that the target object moves from the first position to the second position based on the parameters of the target object. For example, the SF can determine the moving trajectory of the target object based on the second position, and the SF determines that the target object moves from the first position to the second position based on the moving trajectory. Among them, the SF can determine the target sensing device by itself, for example, the SF can determine the target sensing device based on the moving trajectory (or, based on the second position) and based on the capability information of at least one sensing device stored by the SF. Alternatively, the SF can also request other devices (such as NRF and other devices) to determine the target sensing device. For example, the SF can send a first request to the NRF, and the first request can request information about the device that senses the target object, and the first request includes information about the second position, or includes information about the moving trajectory. After receiving the first request, the NRF can determine the target sensing device based on the capability information of at least one sensing device and the second position, wherein the sensing area of ​​the target sensing device determined by the NRF can cover the second position. The NRF may send a first response to the SF, the first response including information of the target sensing device, so that the SF determines the target sensing device. The at least one sensing device may include the target sensing device. For more information about the process of the SF determining the target sensing device, please refer to the process of the SF determining the initial sensing device in S402.

[0153] S602, SF triggers the target sensing device to sense the target object. The target sensing device includes a third sensing device and / or a fourth sensing device.

[0154] 1. If the target sensing device includes a third sensing device, optionally, in S602, the SF may send first indication information to the third sensing device. Correspondingly, the third sensing device receives the first indication information from the SF. The first indication information may trigger the third sensing device to sense the target object.

[0155] If SF determines that the target object is about to move out of or has moved out of the perception area of ​​the second perception device, but has not moved out of the perception area of ​​the first perception device or the probability of moving out of the perception area of ​​the first perception device is small, SF can determine a new perception signal receiving end, for example, determine a fourth perception device. At this time, it can be considered that the target perception device includes the fourth perception device but not the third perception device, or it can also be considered that the target perception device includes the third perception device and the fourth perception device, and the third perception device at this time is the first perception device. In this case, SF may not send the first indication information to the third perception device.

[0156] Alternatively, if SF determines that the target object is about to move out of or has moved out of the perception area of ​​the second perception device, but has not moved out of the perception area of ​​the first perception device or the probability of moving out of the perception area of ​​the first perception device is small, then SF can originally determine a new perception signal receiving end, but SF can instruct the first perception device to change its role, for example, instructing the first perception device to be a perception signal receiving end, or instructing the first perception device to change to a perception signal receiving end. Then SF can determine a new perception signal sending end, for example, determine a third perception device. At this time, it can be considered that the target perception device includes the third perception device, or includes the first perception device (for example, the fourth perception device is the first perception device) and the third perception device, and the third perception device at this time is not the first perception device. In this case, SF can send a first indication message to the third perception device. At this time, the first indication message may indicate one or more of the following: the third perception device is a perception signal sending end, the identifier of the first perception device, the first perception device is a perception signal receiving end, the second position, the first parameter, or the first duration. Optionally, in this case, SF may also send tenth indication information to the first perception device, and the tenth indication information may indicate one or more of the following: an identifier of a third perception device, the third perception device being a perception signal transmitter, the first perception device being a perception signal receiver, or the second location. It can be understood that by sending the tenth indication information to the first perception device, the first perception device is made aware that another perception device participating in the perception process has changed, and that the role of the first perception device has also changed.

[0157] Alternatively, if SF determines that the target object is about to move out of or has moved out of the perception area of ​​the first perception device, SF can determine a new perception signal sending end, such as determining a third perception device. At this time, it can be considered that the target perception device includes the third perception device, and the third perception device at this time is not the first perception device. In this case, SF can send the first indication information to the third perception device. In this case, if SF determines that the target object is also about to move out of or has moved out of the perception area of ​​the second perception device, SF can also determine a new perception signal receiving end, such as determining a fourth perception device. At this time, it can be considered that the target perception device includes the third perception device and the fourth perception device, and the third perception device is not the first perception device, and the fourth perception device is not the second perception device. The first indication information may indicate one or more of the following: the third perception device is a perception signal sending end, the identifier of the fourth perception device, the fourth perception device is a perception signal receiving end, the second position, the first parameter, or the first duration.

[0158] Or in this case, if SF determines that the target object has not moved out of the perception area of ​​the second perception device or the probability of moving out of the perception area of ​​the second perception device is small, the second perception device continues to perform perception, and at this time it is considered that the target perception device includes the third perception device but not the fourth perception device, or it can be considered that the target perception device includes the third perception device and the fourth perception device, and the third perception device is not the first perception device, and the fourth perception device is the second perception device. At this time, the first indication information may indicate one or more of the following: the third perception device is a perception signal transmitter, the identifier of the second perception device, the second perception device is a perception signal receiver, the second position, the first parameter, or the first duration. Optionally, SF may also send the eighth indication information to the second perception device, and the eighth indication information may indicate one or more of the following: the identifier of the third perception device, the third perception device is a perception signal transmitter, the second perception device is a perception signal receiver, or the second position. It can be understood that by sending the eighth indication information to the second perception device, the second perception device clearly indicates that another perception device participating in the perception process has changed.

[0159] It was mentioned in the previous article that the perception device can change its role, for example, from a perception signal transmitter to a perception signal receiver, or from a perception signal receiver to a perception signal transmitter. Optionally, SF can determine whether to change the role of the perception device based on factors such as the performance of the perception device and / or the movement trajectory of the target object. For example, since the perception signal receiver needs to obtain perception information and may also need to determine the parameters of the target object based on the perception information, the role of the perception signal receiver is more important, so the perception signal receiver may be required to have better performance. Then, for example, if the performance of the second perception device is not good enough, SF can decide to convert the second perception device into a perception signal transmitter, and then reselect a perception signal receiver with better performance. Or, because the perception signal receiver is more important, it is hoped that the perception signal receiver will use the original device as much as possible to improve tracking continuity. Then, for example, if SF determines that the target object is currently moving away from the perception signal receiving end based on the moving trajectory of the target object, then SF can reselect the perception signal receiving end without reselecting the perception signal sending end. However, if SF also determines that the target object is likely to gradually move away from the perception signal sending end, then the next step may be to reselect the perception signal sending end. In order to reduce the equipment to be replaced, SF can convert the current perception signal sending end into the perception signal receiving end, and then reselect a perception signal sending end.

[0160] The first parameter indicated by the first indication information may come from the second request, or the first parameter may be determined by the SF itself. The first duration indicated by the first indication information may come from the second request, or the first duration may be determined by the SF itself.

[0161] The third sensing device can sense the target object after receiving the first indication information. For example, the third sensing device can start the sensing process after receiving the first indication information, or the third sensing device can wait for a certain period of time after receiving the first indication information and then perform the sensing process.

[0162] Among them, if the first indication information indicates that the third perception device is a perception signal transmitter, and / or indicates that the fourth perception device (or the second perception device, or the first perception device) is a perception signal receiver, the third perception device can clarify the role of the third perception device in the perception process, that is, the third perception device can clarify that the third perception device is a perception signal transmitter. Alternatively, if the first indication information does not indicate that the third perception device is a perception signal transmitter, nor does it indicate that other perception devices are perception signal receivers, it is equivalent to that SF does not indicate the role of the third perception device. Then the third perception device can determine the role of the third perception device by itself, for example, the third perception device can determine that the third perception device is a perception signal transmitter or a perception signal receiver. In the embodiment of the present application, the third perception device is a perception signal transmitter as an example. In the perception process, the third perception device can send a perception signal to the target object at the second position. After the perception signal reaches the target object, it is reflected or refracted by the target object. The reflected or refracted signal (also called a perception signal) reaches the fourth perception device (or the second perception device, or the first perception device). The fourth perception device can obtain perception information based on the perception signal, and the parameters of the target object can be determined based on the perception information.

[0163] 2. If the target sensing device includes a fourth sensing device, optionally, in S602, the SF may send second indication information to the fourth sensing device. Correspondingly, the fourth sensing device receives the second indication information from the SF. The second indication information may trigger the fourth sensing device to sense the target object.

[0164] If SF determines that the target object is about to move out of or has moved out of the perception area of ​​the first perception device, but has not moved out of the perception area of ​​the second perception device or the probability of moving out of the perception area of ​​the second perception device is small, SF can determine a new perception signal sending end, for example, determine a third perception device. At this time, it can be considered that the target perception device includes the third perception device but not the fourth perception device, or it can also be considered that the target perception device includes the third perception device and the fourth perception device, and the fourth perception device at this time is the second perception device. In this case, SF may not send the second indication information to the fourth perception device.

[0165] Alternatively, if SF determines that the target object is about to move out of or has moved out of the perception area of ​​the first perception device, but has not moved out of the perception area of ​​the second perception device or the probability of moving out of the perception area of ​​the second perception device is small, then SF can originally determine a new perception signal sender, but SF can instruct the second perception device to change its role, for example, instructing the second perception device to be a perception signal sender, or instructing the second perception device to change to a perception signal sender. Then SF can determine a new perception signal receiver, for example, determine the fourth perception device. At this time, it can be considered that the target perception device includes the fourth perception device, or includes the second perception device (for example, the third perception device is the second perception device) and the fourth perception device, and the fourth perception device at this time is not the second perception device. At this time, the second indication information may indicate one or more of the following: the fourth perception device is a perception signal receiver, the identifier of the second perception device, the second perception device is a perception signal sender, the second position, the first parameter, or the first duration. In this case, SF can send the second indication information to the fourth perception device. Optionally, in this case, SF may also send eighth indication information to the second perception device, and the eighth indication information may indicate one or more of the following: the identifier of the fourth perception device, the fourth perception device being a perception signal receiving end, the second perception device being a perception signal sending end, or the second position. It can be understood that by sending the eighth indication information to the second perception device, the second perception device is made aware that another perception device participating in the perception process has changed, and that the role of the second perception device has also changed.

[0166] Alternatively, if SF determines that the target object is about to move out of or has moved out of the perception area of ​​the second perception device, SF can determine a new perception signal receiving end, such as determining a fourth perception device. At this time, it can be considered that the target perception device includes the fourth perception device, and the fourth perception device at this time is not the second perception device. In this case, SF can send a second indication message to the fourth perception device. In this case, if SF determines that the target object is also about to move out of or has moved out of the perception area of ​​the first perception device, SF can also determine a new perception signal sending end, such as determining a third perception device. At this time, it can be considered that the target perception device includes the third perception device and the fourth perception device, and the third perception device is not the first perception device, and the fourth perception device is not the second perception device. At this time, the second indication information may indicate one or more of the following: the fourth perception device is a perception signal receiving end, the identifier of the third perception device, the third perception device is a perception signal sending end, the second position, the first parameter, or the first duration.

[0167] Or in this case, if SF determines that the target object has not moved out of the perception area of ​​the first perception device or the probability of moving out of the perception area of ​​the first perception device is small, the first perception device continues to perform perception, and at this time it is considered that the target perception device includes the fourth perception device but not the third perception device, or it can be considered that the target perception device includes the third perception device and the fourth perception device, and the fourth perception device is not the second perception device, and the third perception device is the first perception device. At this time, the second indication information may indicate one or more of the following: the fourth perception device is a perception signal receiving end, the identifier of the first perception device, the first perception device is a perception signal sending end, the second position, the first parameter, or the first duration. Optionally, SF may also send the tenth indication information to the first perception device, and the tenth indication information may indicate one or more of the following: the identifier of the fourth perception device, the fourth perception device is a perception signal receiving end, the first perception device is a perception signal sending end, or the second position. It can be understood that by sending the tenth indication information to the first perception device, the first perception device clearly indicates that another perception device participating in the perception process has changed.

[0168] The first parameter indicated by the second indication information may come from the second request, or the first parameter may be determined by the SF itself. The first duration indicated by the second indication information may come from the second request, or the first duration may be determined by the SF itself.

[0169] The fourth sensing device may sense the target object after receiving the second indication information. For example, the fourth sensing device may start the sensing process after receiving the second indication information, or the fourth sensing device may wait for a certain period of time after receiving the second indication information and then perform the sensing process.

[0170] Among them, if the second indication information indicates that the fourth perception device is a perception signal receiving end, and / or indicates that the third perception device (or the second perception device, or the first perception device) is a perception signal sending end, the fourth perception device can clarify the role of the fourth perception device in the perception process, that is, the fourth perception device can clarify that the fourth perception device is a perception signal receiving end. Alternatively, if the second indication information does not indicate that the fourth perception device is a perception signal receiving end, nor does it indicate that the third perception device is a perception signal sending end, it is equivalent to SF not indicating the role of the fourth perception device. Then the fourth perception device can determine the role of the fourth perception device by itself, for example, the fourth perception device can determine that the fourth perception device is a perception signal sending end or a perception signal receiving end. In the embodiment of the present application, the fourth perception device is a perception signal receiving end as an example. In the perception process, the third perception device (or the second perception device, or the first perception device) can send a perception signal to the target object at the second position. After the perception signal reaches the target object, it is reflected or refracted by the target object. The reflected or refracted signal (also called a perception signal) reaches the fourth perception device, and the fourth perception device can obtain perception information based on the perception signal, and the parameters of the target object can be determined based on the perception information. Optionally, if the target perception device selected by SF includes a third perception device, and the third perception device is not the original perception signal sending end, which is equivalent to replacing the original perception signal sending end with the third perception device, SF can send a third indication message to the original perception signal sending end (for example, the first perception device). The third indication message can indicate to stop perceiving the target object. After receiving the third indication message, the first perception device can stop perceiving the target object. For example, if SF selects the third perception device, SF can send the third indication message to the first perception device immediately after selecting the third perception device, or SF can also send the third indication message to the first perception device when the target object moves out of the perception area of ​​the first perception device.

[0171] Similarly, if the target sensing device includes a fourth sensing device, and the third sensing device is not the original sensing signal receiving end, which is equivalent to replacing the original sensing signal receiving end with the fourth sensing device, SF can send a third indication message to the original sensing signal receiving end (e.g., the second sensing device). The third indication message can indicate to stop sensing the target object. After receiving the third indication message, the second sensing device can stop sensing the target object. For example, if SF selects the fourth sensing device, SF can send the third indication message to the second sensing device after selecting the fourth sensing device, or SF can send the third indication message to the second sensing device when the target object moves out of the sensing area of ​​the second sensing device.

[0172] Optionally, the method may further include S603, where the third sensing device and the fourth sensing device sense the target object.

[0173] In the embodiment of the present application, the third sensing device is a sensing signal transmitter and the fourth sensing device is a sensing signal receiver. In S603, the third sensing device can send a third sensing signal to the target object at the second position. After the third sensing signal reaches the target object, it is reflected or refracted by the target object. The signal after the reflection or refraction is called the fourth sensing signal. The fourth sensing signal reaches the fourth sensing device, and the fourth sensing device can obtain sensing information according to the fourth sensing signal. Optionally, the fourth sensing device can determine the parameters of the target object according to the sensing information. For example, if the second indication information indicates the first parameter, the fourth sensing device can determine part or all of the first parameters of the target object according to the sensing information; or, if the second indication information does not indicate the first parameter, the fourth sensing device can determine part or all of the parameters of the target object according to the sensing information. The specific determined parameters may be related to the capabilities of the fourth sensing device and / or the sensing information.

[0174] Alternatively, the fourth perception device may send the perception information to the SF, and after receiving the perception information, the SF may determine the parameters of the target object. For example, if the second request from the AF indicates the first parameter, the SF may determine some or all of the first parameters of the target object according to the perception information; or, if the second request does not indicate the first parameter, the SF may determine some or all of the parameters of the target object according to the perception information, and the specific determined parameters may be related to the capabilities of the SF and / or the perception information.

[0175] Optionally, the target object parameters determined by the SF or the second sensing device may also include the moving trajectory of the target object, so that the SF or the second sensing device can continue to determine whether the target object is located in the sensing area of ​​the initial sensing device, or determine whether the target object has moved out of the sensing area of ​​the target sensing device. If the target object has moved out of or is about to move out of the sensing area of ​​the third sensing device and / or the fourth sensing device, the device used to sense the target object can be reselected. The reselection process can refer to Figure 6 , or as will be introduced later Figures 7 to 10 The process of selecting a target sensing device as described in any of the embodiments shown in the accompanying drawings.

[0176] In an embodiment of the present application, when the target object changes from a first position to a second position, the target object may have left or is about to leave the perception area of ​​the original perception device (the first perception device and / or the second perception device), then SF can determine a new perception device, namely, a target perception device, according to the new position (second position) of the target object, so that the target perception device can continue to perceive the target object. Therefore, even if the target object moves, the embodiment of the present application can continue to perceive the target object, reducing the probability of perception interruption, being able to obtain information about the target object in a timely manner, and improving the continuity and success rate of perception of the target object. Moreover, in an embodiment of the present application, SF can select a perception device, which is beneficial for the network side to manage and schedule the terminal side.

[0177] exist Figure 6 In the embodiment shown, the SF reselects the sensing device. The following embodiment of the present application provides a fourth communication method, in which, in addition to the SF selecting a sensing device, the sensing device can also select another sensing device. Please refer to Figure 7 , which is a flow chart of the method.

[0178] S701. When the target object moves from a first position to a second position, SF determines a target sensing device.

[0179] S701 can be found in detail Figure 6 The content of S601 in the illustrated embodiment will not be repeated here.

[0180] S702, SF triggers the target sensing device to sense the target object. The target sensing device includes a third sensing device or a fourth sensing device.

[0181] If the target sensing device selected by SF is the third sensing device, optionally, in S702, SF may send first indication information to the third sensing device. Correspondingly, the third sensing device receives the first indication information from SF. The first indication information may trigger the third sensing device to sense the target object. For more information about this part, please refer to Figure 6 Point 1 of S602 of the embodiment shown.

[0182] Alternatively, if the target sensing device selected by SF is the fourth sensing device, optionally, in S702, SF may send a second indication message to the fourth sensing device. Accordingly, the fourth sensing device receives the second indication message from SF. The second indication message may trigger the fourth sensing device to sense the target object. For more information about this part, please refer to Figure 6 Point 2 of S602 of the embodiment shown.

[0183] If the target sensing device selected by SF is the third sensing device, then optionally, the method may further include S703, the third sensing device sends the second indication information to the fourth sensing device, and accordingly, the fourth sensing device receives the second indication information from the third sensing device. It can be understood that SF selects the sensing signal sending end (the third sensing device) but does not select the sensing signal receiving end, then the third sensing device may select the sensing signal receiving end. For example, the first indication information may indicate that the third sensing device selects the sensing signal receiving end; or, the first indication information does not include information for indicating that the third sensing device selects the sensing signal receiving end, but the first indication information does not indicate the fourth sensing device (for example, the identifier of the fourth sensing device is not indicated, and the fourth sensing device is not indicated as the sensing signal receiving end). After receiving the first indication information, the third sensing device determines that SF has not selected the sensing signal receiving end, and the third sensing device may select the sensing signal receiving end by itself. For example, the third sensing device may select the sensing device according to the second position and the capability information of one or more sensing devices, for example, the third sensing device selects the fourth sensing device. Optionally, the method may further include S704, sensing devices interacting with capability information. There is no restriction on the order of occurrence of S704 and the aforementioned steps, for example, it may occur after or before any of the aforementioned steps, or simultaneously with any of the aforementioned steps. For example, in S704, the third perception device sends capability information of the third perception device to one or more perception devices, and the third perception device also receives capability information from one or more perception devices. Then, through S704, the third perception device can obtain the capability information of one or more perception devices, and thus can determine the fourth perception device based on the capability information of the one or more perception devices. For example, the one or more perception devices include the fourth perception device. Figure 7 In S704, the third sensing device and the fourth sensing device interact with each other as an example. Figure 5 In combination with the embodiments shown, S704 and S503 may be the same step.

[0184] After the third sensing device selects the fourth sensing device, it can send the second indication information to the fourth sensing device. After receiving the second indication information, the fourth sensing device can sense the target object. For example, the fourth sensing device can start the sensing process after receiving the second indication information, or the fourth sensing device can wait for a certain period of time after receiving the second indication information and then perform the sensing process. For more information about the second indication information, please refer to Figure 6 Related introduction of the illustrated embodiment.

[0185] Alternatively, if the target sensing device selected by SF is the fourth sensing device, then optionally, the method may further include S705, the fourth sensing device sends the first indication information to the third sensing device, and accordingly, the third sensing device receives the first indication information from the fourth sensing device. It can be understood that SF selects the sensing signal receiving end (the fourth sensing device) but does not select the sensing signal transmitting end, then the fourth sensing device may select the sensing signal transmitting end. For example, the second indication information may indicate that the fourth sensing device selects the sensing signal transmitting end; or, the second indication information does not include information for indicating that the fourth sensing device selects the sensing signal transmitting end, but the second indication information does not indicate the third sensing device (for example, the identifier of the third sensing device is not indicated, and the third sensing device is not indicated as the sensing signal receiving end). After the fourth sensing device receives the second indication information, it determines that SF has not selected the sensing signal transmitting end, and the fourth sensing device may select the sensing signal transmitting end by itself. For example, the fourth sensing device may select the sensing device according to the second position and the capability information of one or more sensing devices, for example, the fourth sensing device selects the third sensing device. Optionally, the method may further include S704, which will not be described in detail.

[0186] After the fourth sensing device selects the third sensing device, it can send the first indication information to the third sensing device. After the third sensing device receives the first indication information, it can sense the target object. For example, the third sensing device can start the sensing process after receiving the first indication information, or the third sensing device can wait for a certain period of time after receiving the first indication information and then perform the sensing process. For more information about the first indication information, please refer to Figure 6 Related introduction of the illustrated embodiment.

[0187] Optionally, if the target sensing device selected by SF is the third sensing device, and the third sensing device selects the fourth sensing device, the third sensing device may send a third indication message to the original sensing signal receiving end (e.g., the second sensing device). The third indication message may indicate to stop sensing the target object. After receiving the third indication message, the second sensing device may stop sensing the target object. For example, the third sensing device may send the third indication message to the second sensing device after selecting the fourth sensing device, or the third sensing device may send the third indication message to the second sensing device when the target object moves out of the sensing area of ​​the second sensing device.

[0188] Alternatively, if the target sensing device selected by SF is the fourth sensing device, and the third sensing device is selected by the fourth sensing device, the fourth sensing device may send a third indication message to the original sensing signal sending end (e.g., the first sensing device). The third indication message may indicate to stop sensing the target object. After receiving the third indication message, the first sensing device may stop sensing the target object. For example, the fourth sensing device may send the third indication message to the first sensing device immediately after selecting the third sensing device, or the fourth sensing device may send the third indication message to the first sensing device when the target object moves out of the sensing area of ​​the first sensing device.

[0189] Optionally, the method may further include S706, where the third sensing device and the fourth sensing device sense the target object. For more information about S706, please refer to Figure 6 S603 of the embodiment shown.

[0190] In an embodiment of the present application, when the target object changes from the first position to the second position, the target object may have left or is about to leave the perception area of ​​the original perception device (the first perception device and / or the second perception device), then a new perception device, i.e., a target perception device, can be determined according to the new position (second position) of the target object, so that the target perception device can continue to perceive the target object. Therefore, even if the target object moves, the embodiment of the present application can continue to perceive the target object, reducing the probability of perception interruption, being able to obtain information about the target object in a timely manner, and improving the continuity and success rate of perception of the target object. Moreover, in an embodiment of the present application, one perception device can select another perception device, reducing the participation of the network side, improving the flexibility of selection, and also reducing the delay of the selection process, which is conducive to continuous perception of the target.

[0191] exist Figure 6 or Figure 7 In the embodiment shown, when the position of the target object changes, the SF participates in reselecting the sensing device. In addition, the embodiment of the present application provides a fifth communication method, in which the original sensing device can reselect the sensing device when the position of the target object changes. Figure 8 , which is a flow chart of the method.

[0192] S801: When the target object moves to a second position, the second sensing device determines the target sensing device.

[0193] The target sensing device includes a third sensing device and / or a fourth sensing device, wherein the third sensing device is a new sensing signal transmitter, and the fourth sensing device is a new sensing signal receiver. The second position is located within the sensing area of ​​the target sensing device. Equivalently, when the target object moves from the first position to the second position, the second sensing device can determine a new sensing device, wherein the third sensing device can be used to replace the original sensing signal transmitter (e.g., the first sensing device), and the fourth sensing device can be used to replace the original sensing signal receiver (e.g., the second sensing device).

[0194] Before S801, the second sensing device receives the second sensing signal reflected or refracted by the target object, and the second sensing signal is a signal after the first sensing signal is sent by the first sensing device to the target object and is reflected or refracted by the target object after reaching the target object (that is, the second sensing signal is used by the second sensing device and the first sensing device to sense the target object). It is understandable that before sending the first sensing signal, the target object is located at the first position, or the first sensing device and / or the second sensing device believe that the target object is located at the first position.

[0195] The second sensing device determines that the target object moves to the second position according to the second sensing signal, or determines that the target object moves from the first position to the second position. Specifically, the second sensing device can determine the sensing information according to the sensing signal, and determine the parameters of the target object according to the sensing information, and the parameters include the second position, that is, it is determined that the target object moves to the second position; or, the second sensing device can determine the sensing information according to the sensing signal, and send the sensing information to SF or other network devices, so that SF or other network devices determine the parameters of the target object according to the sensing information, and the parameters include the second position, and send the parameters to the second sensing device, so that the second sensing device determines that the target object moves to the second position. The above parameters may include the moving trajectory of the target object, in which the target object is currently located at the second position, and according to the moving trajectory, it can be determined that the target object moves from the first position to the second position.

[0196] For more information about the process of the second sensing device determining the new sensing signal sender, please refer to Figure 5 The process of the second sensing device determining the first sensing device in S508 of the embodiment shown. For more information about the process of the second sensing device determining the new sensing signal receiving end, please refer to Figure 5 In S508 of the illustrated embodiment, the second sensing device determines the first sensing device by replacing the first sensing device with another sensing device receiving end.

[0197] S802: The second sensing device triggers the target sensing device to sense the target object. The target sensing device includes the third sensing device and / or the fourth sensing device.

[0198] 1. If the target sensing device includes a third sensing device, optionally, in S802, the second sensing device may send first indication information to the third sensing device. Correspondingly, the third sensing device receives the first indication information from the second sensing device. The first indication information may trigger the third sensing device to sense the target object. For details of this process, please refer to Figure 6 In the content of branch 1 in S602 of the illustrated embodiment, SF is replaced by the second perception device.

[0199] The first parameter indicated by the first indication information may come from SF, for example Figure 4 or Figure 5 The sixth indication information described in the illustrated embodiment may include the first parameter, or the first parameter may be determined by the second sensing device itself. The first duration indicated by the first indication information may come from the sixth indication information, or the first duration may be determined by the second sensing device itself.

[0200] The third sensing device can sense the target object after receiving the first indication information. For example, the third sensing device can start the sensing process after receiving the first indication information, or the third sensing device can wait for a certain period of time after receiving the first indication information and then perform the sensing process.

[0201] The first indication information may indicate a perception device that serves as a perception signal receiving end, for example, indicating a fourth perception device (or a second perception device, or a first perception device), for example, indicating an identifier of the fourth perception device, and / or indicating that the fourth perception device is a perception signal receiving end. Alternatively, the first indication information may not indicate the fourth perception device. For example, if the target perception device selected by the second perception device includes the third perception device but does not include the fourth perception device, then the first indication information does not indicate the fourth perception device. In this case, the third perception device may optionally select another perception device in this perception process. For example, the third perception device may select a perception device based on capability information of one or more perception devices. For example, the third perception device selects the fourth perception device. For more information on this, please refer to Figure 5 The illustrated embodiment shows a process in which a first sensing device selects another sensing device.

[0202] 2. If the target sensing device includes a fourth sensing device, optionally, in S802, the second sensing device may send a second indication message to the fourth sensing device. Accordingly, the fourth sensing device receives the second indication message from the second sensing device. The second indication message may trigger the fourth sensing device to sense the target object. For details of this process, please refer to Figure 6 In the content of branch 2 in S602 of the embodiment shown, SF is replaced by the second sensing device. Figure 8 In S802, the second perception device sends the first indication information to the third perception device, and sends the second indication information to the fourth perception device as an example.

[0203] The first parameter indicated by the second indication information may come from the second request, or the first parameter may be determined by the SF itself. The first duration indicated by the second indication information may come from the second request, or the first duration may be determined by the SF itself.

[0204] The fourth sensing device may sense the target object after receiving the second indication information. For example, the fourth sensing device may start the sensing process after receiving the second indication information, or the fourth sensing device may wait for a certain period of time after receiving the second indication information and then perform the sensing process.

[0205] The second indication information may indicate a third perception device (or a second perception device, or a first perception device), for example, indicating an identifier of the third perception device, and / or indicating that the third perception device is a perception signal transmitter. Alternatively, the second indication information may not indicate the third perception device. For example, if the initial perception device selected by the second perception device includes a fourth perception device but does not include the third perception device, then the second indication information does not indicate the third perception device. In this case, optionally, the fourth perception device may select another perception device in this perception process. For example, the fourth perception device may select a perception device based on capability information of one or more perception devices. For example, the fourth perception device selects the third perception device. For more information on this, please refer to the process of the second perception device selecting another perception device in the previous text.

[0206] In S801, the second perception device determines the target perception device. If the target perception device includes the third perception device, and the third perception device is not the first perception device, the second perception device can send first indication information to the third perception device, and the first indication information can instruct the third perception device to perceive the target object. If the target perception device determined by the second perception device in S801 does not include the third perception device, and the third perception device is selected by the fourth perception device, then in S802, the step of "the second perception device sends the first indication information to the third perception device" can be replaced by the fourth perception device sending the first indication information to the third perception device, and accordingly, the third perception device receives the first indication information from the fourth perception device.

[0207] In S801, the second perception device determines the target perception device. If the target perception device includes the fourth perception device, the second perception device can send second indication information to the fourth perception device, and the second indication information can instruct the fourth perception device to perceive the target object. If the target perception device determined by the second perception device in S801 does not include the fourth perception device, and the fourth perception device is selected by the third perception device, then in S802, the step of "the second perception device sends the second indication information to the fourth perception device" can be replaced by the third perception device sending the second indication information to the fourth perception device, and accordingly, the fourth perception device receives the second indication information from the third perception device.

[0208] Optionally, the method may further include S803, where the third sensing device and the fourth sensing device sense the target object. Figure 6 In the content of S603 of the illustrated embodiment, SF is replaced by the second perception device.

[0209] Optionally, the target object parameters determined by the SF or the second sensing device may also include the moving trajectory of the target object, so that the SF or the second sensing device can continue to determine whether the target object is located in the sensing area of ​​the initial sensing device, or determine whether the target object has moved out of the sensing area of ​​the target sensing device. If the target object has moved out of or is about to move out of the sensing area of ​​the third sensing device and / or the fourth sensing device, the device used to sense the target object can be reselected. The reselection process can refer to Figure 6 , Figure 7 , Figure 8 , or as will be introduced later Fig. 9 or Fig.10 The process of selecting a target sensing device as described in any of the embodiments shown in the accompanying drawings.

[0210] In an embodiment of the present application, when the target object changes from a first position to a second position, the target object may have left or is about to leave the perception area of ​​the original perception device (the first perception device and / or the second perception device), then SF can determine a new perception device, namely, a target perception device, according to the new position (second position) of the target object, so that the target perception device can continue to perceive the target object. Therefore, even if the target object moves, the embodiment of the present application can continue to perceive the target object, reducing the probability of perception interruption, being able to obtain information about the target object in a timely manner, and improving the continuity and success rate of perception of the target object. Moreover, the embodiment of the present application reduces the participation of core network devices (such as SF), and the perception device selects the perception device, which can improve the selection efficiency.

[0211] exist Figure 8In the embodiment shown, when the position of the target object changes, the original sensing device receiving end can reselect the sensing device. In addition, the embodiment of the present application provides a sixth communication method, in which the original sensing signal sending end can reselect the sensing device. Fig. 9 , which is a flow chart of the method.

[0212] S901: When the target object moves from the first position to the second position, the second sensing device sends a third request to the first sensing device, and correspondingly, the first sensing device receives the third request from the second sensing device. The third request may request (or trigger) the first sensing device to determine the target sensing device, and the third request may include information about the second position where the target object is located.

[0213] The target sensing device includes a third sensing device and / or a fourth sensing device, wherein the fourth sensing device is a new sensing signal transmitter, and the fourth sensing device is a new sensing signal receiver. The second position is located within the sensing area of ​​the target sensing device. Equivalently, when the target object moves from the first position to the second position, the second sensing device can trigger the first sensing device to determine a new sensing device, wherein the third sensing device can be used to replace the original sensing signal transmitter (e.g., the first sensing device), and the fourth sensing device can be used to replace the original sensing signal receiver (e.g., the second sensing device). Optionally, the third request can also indicate the role of the target sensing device determined by the first sensing device, for example, instructing the first sensing device to determine the sensing signal transmitter and / or the sensing signal receiver.

[0214] Before S901, the first sensing device sends a first sensing signal to the target object. After the first sensing signal reaches the target object, the signal reflected or refracted by the target object is the second signal, and the second sensing device receives the second signal (that is, the first sensing signal is used for the second sensing device and the first sensing device to sense the target object). It is understandable that before sending the first sensing signal, the target object is located at the first position, or the first sensing device and / or the second sensing device believe that the target object is located at the first position.

[0215] The second sensing device can determine that the target object moves from the first position to the second position in the manner described in S801, thereby sending a third request to the first sensing device. Optionally, the second sensing device can send the third request directly to the first sensing device, or send the third request to the first sensing device through SF or other network devices. SF or other network devices can extract relevant parameters (including information about the second position) from the request sent by the first sensing device, and then repackage them into the request sent to the first sensing device.

[0216] Before S901, the first sensing device sends a first sensing signal to the target object. After the first sensing signal reaches the target object, a signal reflected or refracted by the target object is a second signal, and the second sensing device receives the second signal.

[0217] S902: The first sensing device determines a target sensing device according to the second position.

[0218] For example, if the third request includes information about the second location, the first sensing device can determine the target sensing device based on the second location and the capability information of one or more sensing devices stored in the first sensing device, for example, the sensing area of ​​the target sensing device determined by the first sensing device can cover the second location. For more information about the process of the first sensing device determining the target sensing device, please refer to Figure 5 In S503 of the illustrated embodiment, one sensing device determines the process of another sensing device.

[0219] Optionally, the method may further include S903, the first sensing device triggers the target sensing device to sense the target object. The target sensing device includes a third sensing device and / or a fourth sensing device.

[0220] 1. If the target sensing device includes a third sensing device, optionally, in S903, the first sensing device may send first indication information to the third sensing device. Correspondingly, the third sensing device receives the first indication information from the first sensing device. The first indication information may trigger the third sensing device to sense the target object. For details of this process, please refer to Figure 8 In the content of branch 1 in S802 of the illustrated embodiment, the second perception device is replaced by the first perception device.

[0221] The first parameter indicated by the first indication information may come from the second perception device, for example, included in the first request, or the first parameter may be determined by the first perception device itself. The first duration indicated by the first indication information may come from the first request, or the first duration may be determined by the first perception device itself.

[0222] The third sensing device can sense the target object after receiving the first indication information. For example, the third sensing device can start the sensing process after receiving the first indication information, or the third sensing device can wait for a certain period of time after receiving the first indication information and then perform the sensing process.

[0223] 2. If the target sensing device includes a fourth sensing device, optionally, in S903, the first sensing device may send the second indication information to the fourth sensing device. Correspondingly, the fourth sensing device receives the second indication information from the first sensing device. The second indication information may trigger the fourth sensing device to sense the target object. For details of this process, please refer to Figure 8 In the content of branch 2 in S802 of the embodiment shown, the second sensing device is replaced by the first sensing device. Fig. 9 In S903, the first perception device sends the first indication information to the third perception device, and sends the second indication information to the fourth perception device as an example.

[0224] The first parameter indicated by the second indication information may come from the first request, or the first parameter may be determined by the first sensing device itself. The first duration indicated by the second indication information may come from the first request, or the first duration may be determined by the first sensing device itself.

[0225] The fourth sensing device may sense the target object after receiving the second indication information. For example, the fourth sensing device may start the sensing process after receiving the second indication information, or the fourth sensing device may wait for a certain period of time after receiving the second indication information and then perform the sensing process.

[0226] In S901, the first perception device determines the target perception device. If the target perception device includes the third perception device, and the third perception device is not the first perception device, the first perception device can send a first indication message to the third perception device, and the first indication message can instruct the third perception device to perceive the target object. If the target perception device determined by the first perception device in S901 does not include the third perception device, and the third perception device is selected by the fourth perception device, then in S902, the step of "the first perception device sends the first indication message to the third perception device" can be replaced by the fourth perception device sending the first indication message to the third perception device, and accordingly, the third perception device receives the first indication message from the fourth perception device.

[0227] In S901, the first perception device determines the target perception device. If the target perception device includes the fourth perception device, the first perception device can send second indication information to the fourth perception device, and the second indication information can instruct the fourth perception device to perceive the target object. If the target perception device determined by the first perception device in S901 does not include the fourth perception device, and the fourth perception device is selected by the third perception device, then in S902, the step of "the first perception device sends the second indication information to the fourth perception device" can be replaced by the third perception device sending the second indication information to the fourth perception device, and accordingly, the fourth perception device receives the second indication information from the third perception device.

[0228] Optionally, the first perception device may also send a first response to the second perception device, and the first response may indicate information of the target perception device determined by the first perception device, such as including the identifier of the target perception device. If the second perception device receives the first response from the first perception device, it can also be considered that the second perception device has determined the target perception device. The first response can be understood as a response to the above-mentioned third request. Optionally, the first perception device may also send the first response to the second perception device via SF or other network devices.

[0229] Optionally, S903 may not be executed. For example, after the second sensing device receives the first response, the target sensing device may be triggered to sense the target object. That is, the first sensing device does not have to trigger the target sensing device. For details about how the second sensing device triggers the target sensing device, please refer to Figure 8 S802 in the illustrated embodiment.

[0230] Optionally, the method may further include S904, where the third sensing device and the fourth sensing device sense the target object. Figure 6 In the content of S603 of the embodiment shown in the figure, SF is replaced by the first sensing device; the process can be specifically referred to Figure 8 In the content of S803 of the illustrated embodiment, the second sensing device is replaced by the first sensing device.

[0231] In an embodiment of the present application, when the target object changes from a first position to a second position, the target object may have left or is about to leave the perception area of ​​the original perception device (the first perception device and / or the second perception device), then SF can determine a new perception device, namely, a target perception device, according to the new position (second position) of the target object, so that the target perception device can continue to perceive the target object. Therefore, even if the target object moves, the embodiment of the present application can continue to perceive the target object, reducing the probability of perception interruption, being able to obtain information about the target object in a timely manner, and improving the continuity and success rate of perception of the target object. Moreover, the embodiment of the present application reduces the participation of core network devices (such as SF), and the perception device selects the perception device, which can improve the selection efficiency.

[0232] exist Figure 8 In the embodiment shown, when the position of the target object changes, the original sensing device receiving end may reselect the sensing device; Fig. 9 In the embodiment shown, when the position of the target object changes, the original sensing device transmitter can reselect the sensing device. In addition, the embodiment of the present application provides a seventh communication method, in which the original sensing signal transmitter and the original sensing signal receiver can reselect the sensing device. Fig.10 , which is a flow chart of the method.

[0233] S1001. When the target object moves from a first position to a second position, the first sensing device and the second sensing device determine a target sensing device.

[0234] For example, in S1001, the second sensing device determines the fifth sensing device, and the second sensing device sends a third request to the first sensing device, and accordingly, the first sensing device receives the third request from the second sensing device. The third request may request the first sensing device to determine the sixth sensing device, and the third request may include information about the second location.

[0235] Among them, the target sensing device includes a fifth sensing device and a sixth sensing device, wherein the fifth sensing device is the third sensing device introduced in any of the aforementioned embodiments (or the fifth sensing device is a sensing signal sending end), and the sixth sensing device is the fourth sensing device introduced in any of the aforementioned embodiments (or the sixth sensing device is a sensing signal receiving end); or, the sixth sensing device is the third sensing device introduced in any of the aforementioned embodiments (or the sixth sensing device is a sensing signal sending end), and the fifth sensing device is the fourth sensing device introduced in any of the aforementioned embodiments (or the fifth sensing device is a sensing signal receiving end). That is, the embodiment of the present application can be considered that the target sensing device includes the third sensing device and the fourth sensing device, and at this time the third sensing device is not the first sensing device, and the fourth sensing device is not the second sensing device.

[0236] Equivalently, when the target object moves from the first position to the second position, the second sensing device can trigger the first sensing device to determine a new sensing device, and the second sensing device can also determine the new sensing device. Optionally, the third request can also indicate the role of the target sensing device determined by the first sensing device, for example, indicating the first sensing device to determine the sensing signal sending end or the sensing signal receiving end.

[0237] Optionally, if the parameters of the target object are determined by the second sensing device, S1001 may be executed. For example, the second sensing device may determine the moving track of the target object according to the second position, and at this time, the moving track (or the second position) is located in the sensing area of ​​the target sensing device, then the second sensing device and the first sensing device determine the target sensing device.

[0238] For example, the second sensing device may determine the target sensing device based on the second location and the capability information of one or more sensing devices stored in the second sensing device. Similarly, the first sensing device may determine the target sensing device based on the second location and the capability information of one or more sensing devices stored in the second sensing device. Figure 5 In S503 of the illustrated embodiment, one sensing device determines the process of another sensing device.

[0239] Since both the first sensing device and the second sensing device in the embodiment of the present application need to determine a new sensing device, the embodiment of the present application takes the case where the target object has moved out of or is about to move out of the sensing area of ​​the first sensing device, and the target object has moved out of or is expected to move out of the sensing area of ​​the second sensing device as an example.

[0240] S1002: The original sensing device triggers the target sensing device to sense the target object.

[0241] The original perception device is, for example, the first perception device. For example, the first perception device determines the sixth perception device, and the first perception device can trigger the sixth perception device to perceive the target object. In addition, the second perception device determines the fifth perception device, and the second perception device can send information of the fifth perception device to the first perception device, then the first perception device can also trigger the fifth perception device to perceive the target object.

[0242] Alternatively, the original perception device is, for example, the second perception device. For example, the second perception device determines the fifth perception device, and the second perception device can trigger the fifth perception device to perceive the target object. In addition, the first perception device determines the sixth perception device, and the first perception device can send information of the sixth perception device to the second perception device, then the second perception device can also trigger the sixth perception device to perceive the target object.

[0243] Alternatively, the original sensing device is, for example, a first sensing device and a second sensing device. For example, the first sensing device determines the sixth sensing device, and the first sensing device can trigger the sixth sensing device to perceive the target object; in addition, the second sensing device determines the fifth sensing device, and the second sensing device can trigger the fifth sensing device to perceive the target object.

[0244] For example, if the second sensing device determines that the target object is about to move out of or has moved out of the sensing area of ​​the first sensing device, the second sensing device can determine the fifth sensing device, and can trigger the first sensing device to determine a new sensing device, for example, the first sensing device determines the sixth sensing device.

[0245] The original sensing device needs to trigger the target sensing device to sense the target object. One triggering method is, for example, that the original sensing device sends instruction information to the target sensing device, and the instruction information is used to trigger the target sensing device to sense the target object.

[0246] For example, if the target sensing device includes a fifth sensing device, the original sensing device may send seventh indication information to the fifth sensing device, and the seventh indication information may trigger the fifth sensing device to sense the target object. Optionally, the seventh indication information may indicate one or more of the following: the fifth sensing device is a sensing signal transmitter, the identifier of the sixth sensing device, the sixth sensing device is a sensing signal receiver, the second position, the first parameter, or the first duration. Alternatively, the seventh indication information may indicate one or more of the following: the fifth sensing device is a sensing signal receiver, the identifier of the sixth sensing device, the sixth sensing device is a sensing signal transmitter, the second position, the first parameter, or the first duration. For an introduction to these items, reference may be made to any of the aforementioned embodiments.

[0247] The fifth sensing device can sense the target object after receiving the seventh indication information. For example, the fifth sensing device can start the sensing process after receiving the seventh indication information, or the fifth sensing device can wait for a certain period of time after receiving the seventh indication information and then perform the sensing process.

[0248] Among them, if the seventh indication information received by the fifth perception device indicates that the fifth perception device is a perception signal transmitter, and / or indicates that the sixth perception device is a perception signal receiver, then the fifth perception device can clarify the role of the fifth perception device in the perception process, that is, the fifth perception device can clarify that the fifth perception device is a perception signal transmitter. Alternatively, if the seventh indication information does not indicate that the fifth perception device is a perception signal transmitter, nor does it indicate that the sixth perception device is a perception signal receiver, it is equivalent to the original perception device not indicating the role of the fifth perception device. Then the fifth perception device can determine the role of the fifth perception device by itself, for example, the fifth perception device can determine that the fifth perception device is a perception signal transmitter or a perception signal receiver. In the embodiment of the present application, the fifth perception device is a perception signal transmitter as an example. In the perception process, the fifth perception device can send a perception signal to the target object at the second position. After the perception signal reaches the target object, it is reflected or refracted by the target object. The reflected or refracted signal (also called a perception signal) reaches the sixth perception device. The sixth perception device can obtain perception information based on the perception signal, and the parameters of the target object can be determined based on the perception information.

[0249] Alternatively, if the seventh indication information received by the fifth perception device indicates that the fifth perception device is a perception signal receiving end, and / or indicates that the sixth perception device is a perception signal sending end, then the fifth perception device can clarify the role of the fifth perception device in the perception process, that is, the fifth perception device can clarify that the fifth perception device is a perception signal receiving end. Alternatively, if the seventh indication information does not indicate that the fifth perception device is a perception signal receiving end, nor does it indicate that the sixth perception device is a perception signal sending end, it is equivalent to the original perception device not indicating the role of the fifth perception device. Then the fifth perception device can determine the role of the fifth perception device by itself, for example, the fifth perception device can determine that the fifth perception device is a perception signal sending end or a perception signal receiving end. The embodiment of the present application still takes the fifth perception device as a perception signal sending end as an example.

[0250] The seventh indication information received by the fifth perception device may indicate the sixth perception device, for example, indicate the identifier of the sixth perception device, and / or indicate that the sixth perception device is a perception signal receiving end or a perception signal sending end. Alternatively, the seventh indication information may not indicate the sixth perception device. For example, if the target perception device selected by the original perception device includes the fifth perception device but does not include the sixth perception device, then the seventh indication information does not indicate the sixth perception device. In this case, optionally, the fifth perception device may select another perception device in this perception process. For example, the fifth perception device may select a perception device based on the capability information of one or more perception devices. For example, the fifth perception device selects the sixth perception device. For more information on this, please refer to Figure 5The illustrated embodiment shows a process in which a first sensing device selects another sensing device.

[0251] For example, if the target sensing device includes a sixth sensing device, the original sensing device may send a ninth indication message to the sixth sensing device, and the ninth indication message may trigger the sixth sensing device to sense the target object. Optionally, the ninth indication message may indicate one or more of the following: the sixth sensing device is a sensing signal receiving end, the identifier of the fifth sensing device, the fifth sensing device is a sensing signal sending end, the second position, the first parameter, or the first duration. Alternatively, the ninth indication message may indicate one or more of the following: the sixth sensing device is a sensing signal sending end, the identifier of the fifth sensing device, the fifth sensing device is a sensing signal receiving end, the second position, the first parameter, or the first duration. For an introduction to these items, reference may be made to any of the aforementioned embodiments.

[0252] The sixth sensing device may also sense the target object after receiving the ninth indication information. For example, the sixth sensing device may start the sensing process after receiving the ninth indication information, or the sixth sensing device may wait for a certain period of time after receiving the ninth indication information and then perform the sensing process. Fig.10 In S1002, the second perception device sends the seventh indication information to the fifth perception device, and the first perception device sends the ninth indication information to the sixth perception device as an example.

[0253] Among them, if the ninth indication information received by the sixth perception device indicates that the sixth perception device is a perception signal receiving end, and / or indicates that the fifth perception device is a perception signal sending end, then the sixth perception device can clarify the role of the sixth perception device in the perception process, that is, the sixth perception device can clarify that the sixth perception device is a perception signal receiving end. Alternatively, if the ninth indication information does not indicate that the sixth perception device is a perception signal receiving end, nor does it indicate that the fifth perception device is a perception signal sending end, it is equivalent to the original perception device not indicating the role of the sixth perception device. Then the sixth perception device can determine the role of the sixth perception device by itself, for example, the sixth perception device can determine that the sixth perception device is a perception signal sending end or a perception signal receiving end. In the embodiment of the present application, the sixth perception device is a perception signal receiving end as an example. In the perception process, the fifth perception device can send a perception signal to the target object at the second position. After the perception signal reaches the target object, it is reflected or refracted by the target object. The reflected or refracted signal (also called a perception signal) reaches the sixth perception device. The sixth perception device can obtain perception information based on the perception signal, and the parameters of the target object can be determined based on the perception information.

[0254] Alternatively, if the ninth indication information received by the sixth perception device indicates that the sixth perception device is a perception signal transmitter, and / or indicates that the fifth perception device is a perception signal receiver, then the sixth perception device can clarify the role of the sixth perception device in the perception process, that is, the sixth perception device can clarify that the sixth perception device is a perception signal transmitter. Alternatively, if the ninth indication information does not indicate that the sixth perception device is a perception signal transmitter, nor does it indicate that the fifth perception device is a perception signal receiver, it is equivalent to the original perception device not indicating the role of the sixth perception device. Then the sixth perception device can determine the role of the sixth perception device by itself, for example, the sixth perception device can determine that the sixth perception device is a perception signal transmitter or a perception signal receiver. The embodiment of the present application still takes the sixth perception device as a perception signal receiver as an example.

[0255] The ninth indication information received by the sixth perception device may indicate the fifth perception device, for example, indicate the identifier of the fifth perception device, and / or indicate that the fifth perception device is a perception signal transmitter or a perception signal receiver. Alternatively, the ninth indication information may not indicate the fifth perception device. For example, if the initial perception device selected by the original perception device includes the sixth perception device but does not include the fifth perception device, then the ninth indication information does not indicate the fifth perception device. In this case, optionally, the sixth perception device may select another perception device in this perception process. For example, the sixth perception device may select a perception device based on the capability information of one or more perception devices. For example, the sixth perception device selects the fifth perception device. For more information on this, please refer to the process of the second perception device selecting another perception device in the previous text.

[0256] Optionally, the method further includes S1003, where the fifth sensing device and the sixth sensing device sense the target object. For more information about S1003, please refer to Figures 6 to 9 A related introduction to the embodiments shown in any of the accompanying drawings.

[0257] In an embodiment of the present application, when the target object changes from a first position to a second position, the target object may have left or is about to leave the perception area of ​​the original perception device (the first perception device and / or the second perception device), then SF can determine a new perception device, namely, a target perception device, according to the new position (second position) of the target object, so that the target perception device can continue to perceive the target object. Therefore, even if the target object moves, the embodiment of the present application can continue to perceive the target object, reducing the probability of perception interruption, being able to obtain information about the target object in a timely manner, and improving the continuity and success rate of perception of the target object. Moreover, the embodiment of the present application reduces the participation of core network devices (such as SF), and the perception device selects the perception device, which can improve the selection efficiency.

[0258] It is understandable that in Figure 4or Figure 5 In the process shown in the embodiment, SF determines the initial sensing device, and after the initial sensing device senses the target object, the target object may move. Figures 6 to 10 The target sensing device is determined in the manner shown in any of the embodiments to avoid sensing interruption. Alternatively, Figures 6 to 10 After the target sensing device is determined in the manner shown in any of the embodiments, the target object moves again, and the target object moves again. Figures 6 to 10 The target sensing device is re-determined in the manner shown in any of the embodiments to avoid sensing interruption; for example, when the target object moves to the second position, Figure 6 The embodiment shown in the figure provides a method for determining the target sensing device, and when the target object continues to move to the third position, the target sensing device is used. Figure 8 The method provided in the illustrated embodiment determines the target sensing device, which is not limited in the embodiments of the present application.

[0259] Fig.11 A schematic diagram of the structure of a communication device provided in an embodiment of the present application is given. The communication device 1100 may be Figures 4 to 10 The SF or the circuit system of the SF described in any of the embodiments shown in the accompanying drawings is used to implement the method corresponding to the SF in the above method embodiment. Alternatively, the communication device 1100 may be Figures 4 to 10 The first sensing device or the circuit system of the first sensing device described in any of the embodiments shown in the accompanying drawings is used to implement the method corresponding to the first sensing device in the above method embodiment. Alternatively, the communication device 1100 may be Figures 4 to 10 The second sensing device or the circuit system of the second sensing device described in any of the embodiments shown in the accompanying drawings is used to implement the method corresponding to the second sensing device in the above method embodiment. For example, one circuit system is a chip system.

[0260] The communication device 1100 includes at least one processor 1101. The processor 1101 can be used for internal processing of the device to implement certain control processing functions. Optionally, the processor 1101 includes instructions. Optionally, the processor 1101 can store data. Optionally, different processors can be independent devices, can be located in different physical locations, and can be located on different integrated circuits. Optionally, different processors can be integrated into one or more processors, for example, integrated on one or more integrated circuits.

[0261] Optionally, the communication device 1100 includes one or more memories 1103 for storing instructions. Optionally, data may also be stored in the memory 1103. The processor and memory may be provided separately or integrated together.

[0262] Optionally, the communication device 1100 includes a communication line 1102 and at least one communication interface 1104. Since the memory 1103, the communication line 1102 and the communication interface 1104 are all optional, Fig.11 Indicated by dotted lines.

[0263] Optionally, the communication device 1100 may further include a transceiver and / or an antenna. The transceiver may be used to send information to other devices or receive information from other devices. The transceiver may be referred to as a transceiver, a transceiver circuit, an input / output interface, etc., and is used to implement the transceiver function of the communication device 1100 through an antenna. Optionally, the transceiver includes a transmitter and a receiver. Exemplarily, the transmitter may be used to generate a radio frequency signal from a baseband signal, and the receiver may be used to convert the radio frequency signal into a baseband signal.

[0264] The processor 1101 may include a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application.

[0265] The communication link 1102 may include a pathway to transmit information between the above-mentioned components.

[0266] The communication interface 1104 uses any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), wired access networks, etc.

[0267] The memory 1103 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 1103 may exist independently and be connected to the processor 1101 via the communication line 1102. Alternatively, the memory 1103 may also be integrated with the processor 1101.

[0268] The memory 1103 is used to store computer-executable instructions for executing the solution of the present application, and the execution is controlled by the processor 1101. The processor 1101 is used to execute the computer-executable instructions stored in the memory 1103, thereby realizing Figures 4 to 10 The steps performed by the SF, the first perception device, or the second perception device described in the embodiments shown in any of the accompanying drawings.

[0269] Optionally, the computer-executable instructions in the embodiments of the present application may also be referred to as application code, which is not specifically limited in the embodiments of the present application.

[0270] In a specific implementation, as an embodiment, the processor 1101 may include one or more CPUs, such as Fig.11 CPU0 and CPU1 in.

[0271] In a specific implementation, as an embodiment, the communication device 1100 may include multiple processors, such as Fig.11 1 and 1105. Each of these processors may be a single-CPU processor or a multi-CPU processor. A processor herein may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0272] when Fig.11When the device shown is a chip, such as a chip of SF, a chip of a first sensing device, or a chip of a second sensing device, the chip includes a processor 1101 (may also include a processor 1105), a communication line 1102 and a communication interface 1104, and optionally, may include a memory 1103. Specifically, the communication interface 1104 may be an input interface, a pin or a circuit, etc. The memory 1103 may be a register, a cache, etc. The processor 1101 and the processor 1105 may be a general-purpose CPU, a microprocessor, an ASIC, or one or more integrated circuits for controlling the execution of a program of the communication method of any of the above embodiments.

[0273] The embodiment of the present application can divide the functional modules of the device according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation. For example, in the case of dividing each functional module according to each function, Fig.12 A schematic diagram of a device is shown, the device 1200 may be the SF, the first sensing device, or the second sensing device involved in the above-mentioned various method embodiments, or the device 1200 may be a chip in the SF, the chip in the first sensing device, or the chip in the second sensing device involved in the above-mentioned various method embodiments. The device 1200 includes a sending unit 1201, a processing unit 1202, and a receiving unit 1203.

[0274] It should be understood that the device 1200 can be used to implement the steps performed by the SF, the first sensing device, or the second sensing device in the communication method of the embodiment of the present application, and the relevant features can refer to the above Figures 4 to 10 The embodiments shown in any of the accompanying drawings will not be described in detail here.

[0275] Optional, Fig.12 The functions / implementation processes of the sending unit 1201, the receiving unit 1203 and the processing unit 1202 can be Fig.11 The processor 1101 in the embodiment calls the computer execution instructions stored in the memory 1103 to implement. Or, Fig.12 The function / implementation process of the processing unit 1202 in Fig.11 The processor 1101 in the embodiment calls the computer execution instruction stored in the memory 1103 to implement, Fig.12 The functions / implementation processes of the sending unit 1201 and the receiving unit 1203 can be Fig.11 It is implemented by the communication interface 1104 in.

[0276] Optionally, when the device 1200 is a chip or a circuit, the functions / implementation processes of the sending unit 1201 and the receiving unit 1203 can also be implemented through pins or circuits.

[0277] The present application also provides a computer-readable storage medium, which stores a computer program or instruction. When the computer program or instruction is executed, the method performed by the SF, the first sensing device, or the second sensing device in the aforementioned method embodiment is implemented. In this way, the functions described in the above embodiments can be implemented in the form of software functional units and sold or used as independent products. Based on this understanding, the technical solution of the present application can be essentially or in other words, the part that contributes or the part of the technical solution can be embodied in the form of a software product, which 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 method described in each embodiment of the present application. The storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0278] The present application also provides a computer program product, which includes: a computer program code, when the computer program code is run on a computer, the computer executes the method performed by the SF, the first perception device, or the second perception device in any of the aforementioned method embodiments.

[0279] An embodiment of the present application also provides a processing device, including a processor and an interface; the processor is used to execute the method performed by the SF, the first perception device, or the second perception device involved in any of the above method embodiments.

[0280] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using software, it 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. When the computer program instructions are loaded and 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 may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may 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 may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (SSD)), etc.

[0281] The various illustrative logic units and circuits described in the embodiments of the present application can be implemented or operated by a general-purpose processor, a digital signal processor (DSP), an ASIC, a field-programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, or any combination of the above. The general-purpose processor can be a microprocessor, and optionally, the general-purpose processor can also be any conventional processor, controller, microcontroller or state machine. The processor can also be implemented by a combination of computing devices, such as a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors combined with a digital signal processor core, or any other similar configuration.

[0282] The steps of the method or algorithm described in the embodiments of the present application can be directly embedded in the hardware, the software unit executed by the processor, or the combination of the two. The software unit can be stored in RAM, flash memory, ROM, erasable programmable read-only memory (erasable programmable read-only memory, EPROM), EEPROM, register, hard disk, removable disk, CD-ROM or other storage media of any form in the art. Exemplarily, the storage medium can be connected to the processor so that the processor can read information from the storage medium and can write information to the storage medium. Optionally, the storage medium can also be integrated into the processor. The processor and the storage medium can be arranged in an ASIC, and the ASIC can be arranged in a terminal device. Optionally, the processor and the storage medium can also be arranged in different components in the terminal device.

[0283] These computer program instructions may also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, whereby the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0284] The contents of the various embodiments of the present application may refer to each other. If there is no special explanation and logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments according to their internal logical relationships.

[0285] It is understandable that in the embodiment of the present application, one or more of the SF, the first sensing device, or the second sensing device can perform some or all of the steps in the embodiment of the present application, and these steps or operations are only examples. In the embodiment of the present application, other operations or variations of various operations can also be performed. In addition, the various steps can be performed in different orders presented in the embodiment of the present application, and it is possible that not all operations in the embodiment of the present application need to be performed.

Claims

1. A communication method, characterized in that: Applied to a first core network device, the method includes: Determine, according to a first position of the target object, a first sensing device and a second sensing device to sense the target object, wherein the first sensing device is a sensing signal sending end, and the second sensing device is a sensing signal receiving end; When the target object moves from the first position to a second position, a target sensing device is determined according to the second position, the target sensing device includes a third sensing device and / or a fourth sensing device, the third sensing device is a new sensing signal sending end, and the fourth sensing device is a new sensing signal receiving end; The target sensing device is triggered to sense the target object.

2. The method according to claim 1, characterized in that The first position is located within a sensing range of the first sensing device and / or within a sensing range of the second sensing device.

3. The method according to claim 1 or 2, characterized in that: The second position is located within the sensing range of the target sensing device.

4. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: receiving perception information of the target object from the second perception device; The second position is determined based on the perception information.

5. The method according to any one of claims 1 to 4, characterized in that: Triggering the target sensing device to sense the target object includes: When the target sensing device includes the third sensing device, first indication information is sent to the third sensing device, where the first indication information is used to trigger the target sensing device to sense the target object, and the first indication information is used to indicate one or more of the following: the third sensing device is a sensing signal sending end, an identifier of the fourth sensing device, the fourth sensing device is a sensing signal receiving end, or the second position; or When the target sensing device includes the third sensing device, first indication information is sent to the third sensing device, where the first indication information is used to trigger the target sensing device to sense the target object, and the first indication information is used to indicate one or more of the following: the third sensing device is a sensing signal sending end, an identifier of the second sensing device, the second sensing device is a sensing signal receiving end, or the second position; or When the target sensing device includes the third sensing device, a first indication message is sent to the third sensing device, where the first indication message is used to trigger the target sensing device to sense the target object, and the first indication message is used to indicate one or more of the following: the third sensing device is a sensing signal sending end, the identifier of the first sensing device, the first sensing device is a sensing signal receiving end, or the second position.

6. The method according to any one of claims 1 to 5, characterized in that: Triggering the target sensing device to sense the target object includes: When the target sensing device includes the fourth sensing device, second indication information is sent to the fourth sensing device, where the second indication information is used to trigger the target sensing device to sense the target object, and the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identifier of the third sensing device, the third sensing device is a sensing signal sending end, or the second position; or When the target sensing device includes the fourth sensing device, second indication information is sent to the fourth sensing device, where the second indication information is used to trigger the target sensing device to sense the target object, and the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identifier of the first sensing device, the first sensing device is a sensing signal sending end, or the second position; or When the target sensing device includes the fourth sensing device, second indication information is sent to the fourth sensing device, where the second indication information is used to trigger the target sensing device to sense the target object, and the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identification of the second sensing device, the second sensing device is a sensing signal sending end, or the second position.

7. The method according to any one of claims 1 to 6, characterized in that: Determining a target sensing device according to the second position includes: Sending a first request to a second core network device, the first request is used to request information of a sensing device, and the first request includes information of the second location; receiving a first response from the second core network device, the first response includes information of the target sensing device; or, The target sensing device is determined according to the second location and capability information of at least one sensing device stored in the first core network device, and the at least one sensing device includes the target sensing device.

8. The method according to any one of claims 1 to 7, characterized in that: The method further comprises: receiving capability information of at least one sensing device, wherein the capability information of one sensing device among the at least one sensing device indicates one or more of the following: a location of the one sensing device, a sensing area of ​​the one sensing device, a parameter that the one sensing device can sense, or information indicating that the one sensing device can serve as a sensing signal transmitter and / or a sensing signal receiver; Wherein, the at least one sensing device includes the third sensing device and the fourth sensing device.

9. The method according to any one of claims 1 to 8, characterized in that: Determining a target sensing device according to the second position includes: The target sensing device is determined according to a moving trajectory of the target object, wherein the target object in the moving trajectory is currently located at the second position.

10. The method according to any one of claims 1 to 9, characterized in that: The method further comprises: A second request is received from the application server, where the second request is used to request sensing of the target object, and the second request includes information of the first position.

11. The method according to any one of claims 1 to 10, characterized in that: When the target sensing device includes the fourth sensing device, the method further includes: triggering the second sensing device to sense the target object, wherein the second sensing device is updated from a sensing signal receiving end to a sensing signal sending end; or When the target sensing device includes the third sensing device, the method further includes: triggering the first sensing device to sense the target object, wherein the first sensing device is updated from a sensing signal sending end to a sensing signal receiving end.

12. The method according to any one of claims 1 to 11, characterized in that: When the target sensing device includes the fourth sensing device, the method further includes: Send tenth indication information to the first perception device, where the tenth indication information is used to indicate one or more of the following: the second position, the identifier of the fourth perception device, the first perception device being a perception signal sending end, or the fourth perception device being a perception signal receiving end.

13. The method according to any one of claims 1 to 11, characterized in that: When the target sensing device includes the third sensing device, the method further includes: Send eighth indication information to the second perception device, where the eighth indication information is used to indicate one or more of the following: the second position, the identifier of the third perception device, the third perception device being a perception signal sending end, or the second perception device being a perception signal receiving end.

14. The method according to any one of claims 1 to 10, characterized in that: The method further comprises: Send third indication information to the first sensing device and / or the second sensing device, where the third indication information is used to instruct to stop sensing the target object.

15. A communication method, characterized in that: Applied to a first sensing device, the method comprises: Sending a first sensing signal to a target object located at a first position, wherein the first sensing signal is used by the first sensing device and the second sensing device to sense the target object, wherein the first sensing device is a sensing signal sending end, and the second sensing device is a sensing signal receiving end; receiving a third request from the second sensing device, wherein the third request is used to trigger the first sensing device to select a target sensing device, and the third request includes information about a second position of the target object after the object moves; Determine a target sensing device according to the second position, the target sensing device includes a third sensing device and / or a fourth sensing device, the third sensing device is a new sensing signal sending end, and the fourth sensing device is a new sensing signal receiving end; Trigger the target sensing device to sense the target object; or, send a response to the third request to the second sensing device, wherein the response is used to instruct the target sensing device.

16. The method according to claim 15, characterized in that Determining a target sensing device according to the second position includes: The target sensing device is determined according to the second position and capability information of at least one sensing device stored by the first sensing device, wherein the at least one sensing device includes the target sensing device.

17. The method according to claim 15 or 16, characterized in that The triggering the target sensing device to sense the target object includes: When the target sensing device includes the third sensing device, first indication information is sent to the third sensing device, where the first indication information is used to trigger the target sensing device to sense the target object, and the first indication information is used to indicate one or more of the following: the third sensing device is a sensing signal sending end, an identifier of the fourth sensing device, the fourth sensing device is a sensing signal receiving end, or the second position; or When the target sensing device includes the third sensing device, first indication information is sent to the third sensing device, where the first indication information is used to trigger the target sensing device to sense the target object, and the first indication information is used to indicate one or more of the following: the third sensing device is a sensing signal sending end, an identifier of the second sensing device, the second sensing device is a sensing signal receiving end, or the second position; or When the target sensing device includes the third sensing device, a first indication message is sent to the third sensing device, where the first indication message is used to trigger the target sensing device to sense the target object, and the first indication message is used to indicate one or more of the following: the third sensing device is a sensing signal sending end, the identifier of the first sensing device, the first sensing device is a sensing signal receiving end, or the second position.

18. The method according to any one of claims 15 to 17, characterized in that: The triggering the target sensing device to sense the target object includes: When the target sensing device includes the fourth sensing device, second indication information is sent to the fourth sensing device, where the second indication information is used to trigger the target sensing device to sense the target object, and the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identifier of the third sensing device, the third sensing device is a sensing signal sending end, or the second position; or When the target sensing device includes the fourth sensing device, second indication information is sent to the fourth sensing device, where the second indication information is used to trigger the target sensing device to sense the target object, and the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identifier of the first sensing device, the first sensing device is a sensing signal sending end, or the second position; or When the target sensing device includes the fourth sensing device, second indication information is sent to the fourth sensing device, where the second indication information is used to trigger the target sensing device to sense the target object, and the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identification of the second sensing device, the second sensing device is a sensing signal sending end, or the second position.

19. The method according to any one of claims 15 to 18, characterized in that: Before sending the first perception signal to the target object located at the first position, the method further includes: Receive fourth indication information from the first core network device or the second perception device, where the fourth indication information is used to indicate one or more of the following: the first perception device is a perception signal sender, the identifier of the second perception device, the second perception device is a perception signal receiver, or the first position.

20. The method according to any one of claims 15 to 19, characterized in that: The method further comprises: Sending capability information of the first sensing device to the first core network device or the second core network device; and / or, Sending capability information of the first sensing device to one or more sensing devices; Among them, the capability information of the first perception device includes one or more of the following: location information of the first perception device, perception area information of the first perception device, parameter information that the first perception device can perceive, or information used to indicate that the first perception device can serve as a perception signal sender and / or a perception signal receiver.

21. The method according to any one of claims 15 to 20, characterized in that: The method further comprises: Receive capability information of at least one perception device, where the at least one perception device includes the second perception device, wherein the capability information of the second perception device includes one or more of the following: location information of the second perception device, perception area information of the second perception device, parameter information that the second perception device can perceive, or information indicating that the second perception device can serve as a perception signal sender and / or a perception signal receiver.

22. The method according to claim 19 or 20, characterized in that The first core network device is SF.

23. The method according to claim 20, characterized in that The second core network device is NRF.

24. A communication method, characterized in that: Applied to a second sensing device, the method comprises: receiving a second perception signal reflected by a target object, wherein the second perception signal is used by the second perception device and the first perception device to perceive the target object, wherein the first perception device is a perception signal transmitting end, and the second perception device is a perception signal receiving end; Determining, according to the second sensing signal, that the target object moves from a first position to a second position; Determine a target sensing device according to the second position, the target sensing device includes a third sensing device and / or a fourth sensing device, the third sensing device is a new sensing signal sending end, and the fourth sensing device is a new sensing signal receiving end; The target sensing device is triggered to sense the target object.

25. The method according to claim 24, characterized in that The triggering the target sensing device to sense the target object includes: When the target sensing device includes the third sensing device, first indication information is sent to the third sensing device, where the first indication information is used to trigger the target sensing device to sense the target object, and the first indication information is used to indicate one or more of the following: the third sensing device is a sensing signal sending end, an identifier of the fourth sensing device, the fourth sensing device is a sensing signal receiving end, or the second position; or When the target sensing device includes the third sensing device, first indication information is sent to the third sensing device, where the first indication information is used to trigger the target sensing device to sense the target object, and the first indication information is used to indicate one or more of the following: the third sensing device is a sensing signal sending end, an identifier of the second sensing device, the second sensing device is a sensing signal receiving end, or the second position; or When the target sensing device includes the third sensing device, a first indication message is sent to the third sensing device, where the first indication message is used to trigger the target sensing device to sense the target object, and the first indication message is used to indicate one or more of the following: the third sensing device is a sensing signal sending end, the identifier of the first sensing device, the first sensing device is a sensing signal receiving end, or the second position.

26. The method according to claim 24 or 25, characterized in that The triggering the target sensing device to sense the target object includes: When the target sensing device includes the fourth sensing device, second indication information is sent to the fourth sensing device, where the second indication information is used to trigger the target sensing device to sense the target object, and the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identifier of the third sensing device, the third sensing device is a sensing signal sending end, or the second position; or When the target sensing device includes the fourth sensing device, second indication information is sent to the fourth sensing device, where the second indication information is used to trigger the target sensing device to sense the target object, and the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identifier of the first sensing device, the first sensing device is a sensing signal sending end, or the second position; or When the target sensing device includes the fourth sensing device, second indication information is sent to the fourth sensing device, where the second indication information is used to trigger the target sensing device to sense the target object, and the second indication information is used to indicate one or more of the following: the fourth sensing device is a sensing signal receiving end, the identification of the second sensing device, the second sensing device is a sensing signal sending end, or the second position.

27. The method according to any one of claims 24 to 26, characterized in that: Before receiving the second perception signal reflected by the target object, the method further includes: Receive sixth indication information from the first core network device or the first perception device, where the sixth indication information is used to indicate one or more of the following: the first perception device is a perception signal sender, the identifier of the first perception device, the second perception device is a perception signal receiver, or the first position.

28. The method according to claim 27, characterized in that The sixth indication information comes from the first core network device, and the method further includes: Determine the first sensing device according to the first location and capability information of at least one sensing device; Send fourth indication information to the first perception device, where the fourth indication information is used to indicate one or more of the following: the first position, the identifier of the second perception device, the first perception device being a perception signal sending end, or the second perception device being a perception signal receiving end.

29. The method according to any one of claims 24 to 28, characterized in that: The method further comprises: Sending capability information of the second sensing device to the first core network device or the second core network device; and / or, Sending capability information of the second sensing device to one or more sensing devices; Among them, the capability information of the second perception device includes one or more of the following: location information of the second perception device, perception area information of the second perception device, parameter information that the second perception device can perceive, or information used to indicate that the second perception device can serve as a perception signal sender and / or a perception signal receiver.

30. The method according to any one of claims 24 to 29, characterized in that: The method further comprises: Receive capability information of at least one perception device, where the at least one perception device includes the first perception device, and the capability information of the first perception device includes one or more of the following: location information of the first perception device, perception area information of the first perception device, parameter information that the first perception device can perceive, or information indicating that the first perception device can serve as a perception signal sender and / or a perception signal receiver.

31. The method according to any one of claims 24 to 30, characterized in that: Determining, according to the second sensing signal, that the target object moves from the first position to the second position includes: determining a moving trajectory of the target object according to the second sensing signal; It is determined according to the movement trajectory that the target object moves from the first position to the second position, wherein the target object in the movement trajectory is currently located at the second position.

32. The method according to any one of claims 24 to 31, characterized in that: Identify target sensing devices, including: Sending perception information of the target object to the first core network device, where the perception information is determined according to the second perception signal, and the perception information is used to determine a moving trajectory of the target object; receiving eighth indication information from the first core network device, and determining the target sensing device according to the eighth indication information, wherein: The eighth indication information is used to indicate one or more of the following: the second position, the identifier of the third perception device, the third perception device is a perception signal sending end, or the second perception device is a perception signal receiving end.

33. The method according to any one of claims 24 to 32, characterized in that: The method further comprises: The second perception device is changed from a perception signal receiving end to a perception signal sending end, wherein the target perception device includes the fourth perception device and the third perception device, and the second perception device is the third perception device.

34. The method according to any one of claims 24 to 33, characterized in that Determining a target sensing device according to the second position includes: Sending a third request to the first perception device, where the third request is used to request the first perception device to select a new perception signal receiving end and / or a new perception signal sending end, and the third request includes information about the second position; A first response is received from the first sensing device, the first response including an identification of the target sensing device.

35. The method according to any one of claims 27, 28, 29 or 32, characterized in that The first core network device is SF.

36. The method according to claim 29, characterized in that The second core network device is NRF.

37. A communication device, characterized in that: The communication device comprises a processing unit and a transceiver unit, wherein the processing unit is coupled to the transceiver unit to execute the method according to any one of claims 1 to 14, or the method according to any one of claims 15 to 23, or the method according to any one of claims 24 to 36.

38. A communication device, characterized in that: The communication device includes a processor and a memory, the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so that the communication device performs the method as described in any one of claims 1 to 14, or the communication device performs the method as described in any one of claims 15 to 23, or the communication device performs the method as described in any one of claims 24 to 36.

39. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program. When the computer program is run on a computer, the computer executes the method as claimed in any one of claims 1 to 14, or the computer executes the method as claimed in any one of claims 15 to 23, or the computer executes the method as claimed in any one of claims 24 to 36.

40. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed on a computer, enables the computer to execute the method according to any one of claims 1 to 14, or enables the computer to execute the method according to any one of claims 15 to 23, or enables the computer to execute the method according to any one of claims 24 to 36.

41. A chip system, characterized in that: The chip system comprises: A processor and an interface, wherein the processor is used to call and run instructions from the interface, and when the processor executes the instructions, the method according to any one of claims 1 to 14 is implemented, or the method according to any one of claims 15 to 23 is implemented, or the method according to any one of claims 24 to 36 is implemented.

42. A communication system, characterized in that: The communication system includes a first core network device and a target sensing device, wherein: The first core network device is used to determine a first sensing device and a second sensing device to sense the target object according to a first position of the target object, wherein the first sensing device is a sensing signal sending end and the second sensing device is a sensing signal receiving end; when the target object moves from the first position to the second position, a target sensing device is determined according to the second position, the target sensing device includes a third sensing device and / or a fourth sensing device, the third sensing device is a new sensing signal sending end, and the fourth sensing device is a new sensing signal receiving end; and the target sensing device is triggered to sense the target object; The target sensing device is used to sense the target object.

43. A communication system, characterized in that: The communication system comprises a first sensing device and a second sensing device, wherein: The first sensing device is used to send a first sensing signal to a target object located at a first position, the first sensing signal is used by the first sensing device and the second sensing device to sense the target object, the first sensing device is a sensing signal sending end, and the second sensing device is a sensing signal receiving end; The second sensing device is used to receive a second sensing signal reflected by the target object, and determine, based on the second sensing signal, that the target object moves from the first position to the second position; Option 1: the second sensing device is further used to determine a target sensing device according to the second position, the target sensing device includes a third sensing device and / or a fourth sensing device, the third sensing device is a new sensing signal sending end, and the fourth sensing device is a new sensing signal receiving end; triggering the target sensing device to sense the target object; Option 2: The second sensing device is also used to send a third request to the first sensing device, and the third request is used to trigger the first sensing device to select a target sensing device, and the third request includes information of the second position of the target object after movement; the first sensing device is also used to receive the third request from the second sensing device; determine the target sensing device according to the second position, the target sensing device; trigger the target sensing device to sense the target object; or, send a response to the third request to the second sensing device, and the response is used to indicate the target sensing device.

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