Perception method, device and system

Abstract

The embodiments of the present application provide a perception method, device and equipment, which relate to the field of communication technology. The method comprises: receiving beam-related information, the beam-related information is associated with perception-related information, the beam-related information indicates a beam used for signal transmission; and performing perception according to the perception-related information. The embodiments of the present application can improve the accuracy and timeliness of the network's perception of the environment.

Description

Technical Field

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

[0002] Synaesthesia integration is considered to be a technology with broad application prospects in the field of communications, especially in the 6G era. Its business service scope will break through the traditional communication dimension and can use the same equipment to provide perception and communication services at the same time. Specifically, based on the relationship between communication and perception, synaesthesia integration services can be divided into communication-assisted perception services and perception-assisted communication services. In perception-assisted communication services, the network detects and perceives the wireless communication environment and communication nodes through wireless perception technology, obtains prior information such as environmental maps, and assists the communication of the communication system.

[0003] In the integrated communication and perception system, how to quickly trigger the network and terminals to update the environmental map through wireless perception technology to ensure the accuracy and timeliness of environmental perception is a problem that needs to be solved. Summary of the invention

[0004] The present application provides a perception method, device and system, which can improve the accuracy and timeliness of environmental perception of a communication perception integrated system.

[0005] In a first aspect, an embodiment of the present application provides a perception method, the method comprising:

[0006] receiving beam-related information, the beam-related information being associated with sensing-related information, the beam-related information indicating a beam used for signal transmission;

[0007] Perception is performed according to the perception-related information.

[0008] In the method, beam-related information is associated with perception-related information, thereby associating beam update behavior with perception behavior. By utilizing the association relationship, perception behavior can be initiated when beam update behavior occurs, without the need to additionally transmit the signaling required for perception behavior. Communication-assisted perception is realized in the synaesthesia integrated system, the perception process is accelerated, the signaling overhead and delay of the perception process are reduced, the terminal surrounding environment information is obtained in a timely and accurate manner, the environmental map on the network side is updated, and the communication performance is improved.

[0009] Optionally, the perception-related information indicates at least one of the following:

[0010] Perception association status, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

[0011] Optionally, it also includes:

[0012] Receive a perception trigger indication.

[0013] Optionally, the perception-related information indicates at least one of the following:

[0014] Perception association status, perception trigger indication, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

[0015] Optionally, the beam-related information is associated with perception-related information, including:

[0016] The beam-related information indicates a transmission configuration indication TCI state, and the TCI state is associated with the perception-related information.

[0017] Optionally, the TCI state is associated with the perception-related information, including:

[0018] The TCI state includes the perception related information; or,

[0019] The TCI state includes a quasi co-located source reference signal, and the quasi co-located source reference signal is associated with the perception-related information.

[0020] Optionally, the beam-related information is associated with perception-related information, including:

[0021] The beam-related information includes a beam failure recovery response, and the beam failure recovery response is associated with the perception-related information.

[0022] Optionally, it also includes:

[0023] A beam failure recovery request is sent, wherein the beam failure recovery request is associated with perception request information, and the perception request information is used to request perception.

[0024] Optionally, the receive beam related information includes:

[0025] receiving beam configuration information, where the beam configuration information includes the beam-related information; or,

[0026] receiving a beam activation command, where the beam activation command includes the beam-related information; or,

[0027] Downlink control information is received, where the downlink control information includes the beam-related information.

[0028] Optionally, it also includes:

[0029] Receive perception configuration information; the perception configuration information includes at least one of the following:

[0030] Candidate perception mode configuration information, candidate perception signal configuration information, candidate perception report configuration information;

[0031] The performing perception according to the perception-related information includes:

[0032] According to the perception-related information, corresponding configuration is obtained from the perception configuration information, and perception is performed.

[0033] Optionally, the performing perception according to the perception-related information includes:

[0034] After receiving the beam related information, after a time interval, perception is performed according to the perception related information.

[0035] Optionally, it also includes:

[0036] Time interval configuration information is received, where the time interval configuration information indicates a length of the time interval.

[0037] Optionally, the starting time of the time interval is one of the following times: the effective time of the beam-related information, the receiving time of the beam-related information, and the sending time of a confirmation message of the beam-related information.

[0038] Optionally, the start time of the time interval is the sending time of the beam failure recovery request, wherein the beam-related information is the beam failure recovery response.

[0039] Optionally, the performing perception according to the perception-related information includes:

[0040] Within the time window, perception is performed according to the perception-related information.

[0041] Optionally, it also includes:

[0042] Time window configuration information is received, where the time window configuration information indicates the time window.

[0043] Optionally, the time window configuration information includes at least one of the following:

[0044] The start position of the time window, the length of the time window, and the end position of the time window.

[0045] Optionally, it also includes:

[0046] Determine the start time of sensing according to the effective time of the beam related information; or,

[0047] Determine the start time of sensing according to the reception time of the beam related information; or,

[0048] The starting time of perception is determined according to the sending time of the confirmation message of the beam related information.

[0049] In a second aspect, an embodiment of the present application provides a perception method, the method comprising:

[0050] Sending a beam update request, wherein the beam update request is associated with sensing related information;

[0051] Perception is performed according to the perception-related information.

[0052] In this method, the beam update request is associated with the perception-related information, thereby associating the beam update behavior with the perception behavior. By utilizing the association relationship, the perception behavior can be initiated when the beam update behavior occurs, without the need to additionally transmit the signaling required for the perception behavior. Communication-assisted perception is realized in the synaesthesia integrated system, the perception process is accelerated, the signaling overhead and delay of the perception process are reduced, the terminal surrounding environment information is obtained in a timely and accurate manner, the environmental map on the network side is updated, and the communication performance is improved.

[0053] Optionally, the beam update request is associated with the sensing related information, including:

[0054] The beam update request is a beam failure recovery request, and the beam failure recovery request is associated with the perception-related information.

[0055] Optionally, the performing perception according to the perception-related information includes:

[0056] After sending the beam update request, after a first time interval, perception is performed according to the perception-related information.

[0057] Optionally, it also includes:

[0058] First time interval configuration information is received, where the first time interval configuration information indicates a length of the first time interval.

[0059] Optionally, the starting time of the first time interval is the sending time of the beam update request, or the receiving time of the confirmation message of the beam update request.

[0060] Optionally, the performing perception according to the perception-related information includes:

[0061] Within the time window, perception is performed according to the perception-related information.

[0062] Optionally, it also includes:

[0063] Time window configuration information is received, where the time window configuration information indicates the time window.

[0064] Optionally, the time window configuration information includes at least one of the following:

[0065] The start position of the time window, the length of the time window, and the end position of the time window.

[0066] Optionally, the performing perception according to the perception-related information includes:

[0067] After sending the beam update request, after a second time interval, perception is performed according to the perception-related information.

[0068] Optionally, it also includes:

[0069] Second time interval configuration information is received, where the second time interval configuration information indicates a length of the second time interval.

[0070] Optionally, the start time of the second time interval is one of the following times: the effective time of the beam update response, the reception time of the beam update response, and the sending time of the confirmation message of the beam update response;

[0071] The beam update response is a response to the beam update request.

[0072] Optionally, it also includes:

[0073] Determine the sensing start time according to the sending time of the beam update request; or,

[0074] The sensing start time is determined according to the reception time of the confirmation message of the beam update request.

[0075] Optionally, the perception-related information indicates at least one of the following:

[0076] Perception request, perception association status, perception mode, perception signal set, perception signal resource, perception signal configuration, perception report configuration.

[0077] Optionally, it also includes:

[0078] Receive a perception trigger indication.

[0079] Optionally, it also includes:

[0080] A beam update response is received, where the beam update response is associated with perception-related information, and the beam update response is a response to the beam update request.

[0081] Optionally, the beam update request is a beam failure recovery request, and the beam update response is a beam failure recovery response.

[0082] In a third aspect, an embodiment of the present application provides a perception method, the method comprising:

[0083] After receiving beam-related information, perception is performed.

[0084] In this method, after receiving beam-related information, perception is performed to associate the beam update behavior with the perception behavior. By utilizing the association relationship, the perception behavior can be initiated when the beam update behavior occurs, without the need to additionally transmit the signaling required for the perception behavior. Communication-assisted perception is implemented in the interawareness integrated system, the perception process is accelerated, the signaling overhead and delay of the perception process are reduced, the terminal surrounding environment information is obtained in a timely and accurate manner, the environmental map on the network side is updated, and the communication performance is improved.

[0085] Optionally, after receiving the beam-related information, sensing includes:

[0086] After receiving the beam-related information, sensing is performed after a time interval.

[0087] Optionally, it also includes:

[0088] Time interval configuration information is received, where the time interval configuration information indicates a length of the time interval.

[0089] Optionally, the starting time of the time interval is: the effective time of the beam-related information, the receiving time of the beam-related information, or the sending time of a confirmation message of the beam-related information.

[0090] Optionally, the start time of the time interval is the sending time of the beam failure recovery request, wherein the beam-related information is the beam failure recovery response.

[0091] Optionally, after receiving the beam-related information, sensing includes:

[0092] After receiving the beam-related information, perception is performed within the time window.

[0093] Optionally, it also includes:

[0094] Time window configuration information is received, where the time window configuration information indicates the time window.

[0095] Optionally, the time window configuration information includes at least one of the following:

[0096] The start position of the time window, the length of the time window, and the end position of the time window.

[0097] Optionally, it also includes:

[0098] Determine the start time of sensing according to the effective time of the beam related information; or,

[0099] Determine the start time of sensing according to the reception time of the beam related information; or,

[0100] The starting time of perception is determined according to the sending time of the confirmation message of the beam related information.

[0101] Optionally, it also includes:

[0102] Receive perception enabling indication information, where the perception enabling indication information indicates that the beam-related information is used to trigger perception.

[0103] Optionally, the received beam-related information includes:

[0104] receiving beam configuration information, where the beam configuration information includes the beam-related information; or,

[0105] receiving a beam activation command, where the beam activation command includes the beam-related information; or,

[0106] Downlink control information is received, where the downlink control information includes the beam-related information.

[0107] Optionally, the beam-related information includes: transmission configuration indication TCI status, or beam failure recovery response.

[0108] Optionally, the sensing includes:

[0109] Perception is performed according to the perception-related information, wherein the perception-related information indicates at least one of the following: a perception association state, a perception mode, a perception signal set, a perception signal resource, a perception signal configuration, and a perception report configuration.

[0110] In a fourth aspect, an embodiment of the present application provides a perception method, the method comprising:

[0111] After sending the beam update request, sensing is performed.

[0112] In this method, after sending a beam update request, perception is performed to associate the beam update behavior with the perception behavior. By utilizing the association relationship, the perception behavior can be started when the beam update behavior occurs, without the need to additionally transmit the signaling required for the perception behavior. Communication-assisted perception is realized in the synaesthesia integrated system, the perception process is accelerated, the signaling overhead and delay of the perception process are reduced, the terminal surrounding environment information is obtained in a timely and accurate manner, the environmental map on the network side is updated, and the communication performance is improved.

[0113] Optionally, after sending the beam update request, sensing is performed, including:

[0114] After sending the beam update request, sensing is performed after a first time interval.

[0115] Optionally, it also includes:

[0116] First time interval configuration information is received, where the first time interval configuration information indicates a length of the first time interval.

[0117] Optionally, the start time of the first time interval is the sending time of the beam update request, or the receiving time of the confirmation message of the beam update request.

[0118] Optionally, after sending the beam update request, sensing is performed, including:

[0119] After sending the beam update request, sensing is performed within the time window.

[0120] Optionally, it also includes:

[0121] Time window configuration information is received, where the time window configuration information indicates the time window.

[0122] Optionally, the time window configuration information includes at least one of the following:

[0123] The start position of the time window, the length of the time window, and the end position of the time window.

[0124] Optionally, after sending the beam update request, sensing is performed, including:

[0125] After sending the beam update request, sensing is performed after a second time interval.

[0126] Optionally, it also includes:

[0127] Second time interval configuration information is received, where the second time interval configuration information indicates a length of the second time interval.

[0128] Optionally, the starting time of the second time interval is: the effective time of the beam update response, the receiving time of the beam update response, or the sending time of the confirmation message of the beam update response, and the beam update response is a response to the beam update request.

[0129] Optionally, it also includes:

[0130] A sensing enable indication information is received, where the sensing enable indication information indicates that the beam update request is used to trigger sensing.

[0131] Optionally, the beam update request is a beam failure recovery request, and the beam update response is a beam failure recovery response.

[0132] Optionally, the sensing includes:

[0133] Perception is performed according to the perception-related information, wherein the perception-related information indicates at least one of the following: a perception association state, a perception mode, a perception signal set, a perception signal resource, a perception signal configuration, and a perception report configuration.

[0134] Optionally, it also includes:

[0135] Determine the sensing start time according to the sending time of the beam update request; or,

[0136] The sensing start time is determined according to the reception time of the confirmation message of the beam update request.

[0137] In a fifth aspect, an embodiment of the present application provides a perception method, the method comprising:

[0138] Determine beam-related information, the beam-related information is associated with perception-related information, and the beam-related information indicates a beam used for signal transmission;

[0139] The beam related information is sent.

[0140] In the method, beam-related information is associated with perception-related information, thereby associating beam update behavior with perception behavior. By utilizing the association relationship, perception behavior can be initiated when beam update behavior occurs, without the need to additionally transmit the signaling required for perception behavior. Communication-assisted perception is realized in the synaesthesia integrated system, the perception process is accelerated, the signaling overhead and delay of the perception process are reduced, the terminal surrounding environment information is obtained in a timely and accurate manner, the environmental map on the network side is updated, and the communication performance is improved.

[0141] Optionally, the perception-related information indicates at least one of the following:

[0142] Perception association status, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

[0143] Optionally, it also includes:

[0144] Send a sense trigger indication.

[0145] Optionally, the perception-related information indicates at least one of the following:

[0146] Perception association status, perception trigger indication, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

[0147] Optionally, the beam-related information is associated with perception-related information, including:

[0148] The beam-related information is a transmission configuration indication TCI state, and the TCI state is associated with the perception-related information.

[0149] Optionally, the TCI state is associated with the perception-related information, including:

[0150] The TCI state includes the perception related information; or,

[0151] The TCI state includes a quasi co-located source reference signal QCL source RS, and the QCL source RS is associated with the perception-related information.

[0152] Optionally, the beam-related information is associated with perception-related information, including:

[0153] The beam-related information is a beam failure recovery response, and the beam failure recovery response is associated with the perception-related information.

[0154] Optionally, it also includes:

[0155] A beam failure recovery request is received, where the beam failure recovery request is associated with perception request information, where the perception request information is used to request perception.

[0156] Optionally, the transmit beam related information includes:

[0157] sending beam configuration information, where the beam configuration information includes the beam related information; or,

[0158] sending a beam activation command, where the beam activation command includes the beam related information; or,

[0159] Send downlink control information, where the downlink control information includes the beam-related information.

[0160] Optionally, it also includes:

[0161] Sending awareness configuration information; the awareness configuration information includes at least one of the following:

[0162] Candidate perception mode configuration information, candidate perception signal configuration information, candidate perception report configuration information.

[0163] Optionally, it also includes:

[0164] Perception is performed according to the perception-related information.

[0165] Optionally, the performing perception according to the perception-related information includes:

[0166] After sending the beam related information, after a time interval, perception is performed according to the perception related information.

[0167] Optionally, it also includes:

[0168] Sending time interval configuration information, where the time interval configuration information indicates the length of the time interval.

[0169] Optionally, the starting time of the time interval is: the sending time of the beam-related information, the effective time of the beam-related information, or the receiving time of the confirmation message of the beam-related information.

[0170] Optionally, the start time of the time interval is the reception time of a beam failure recovery request, wherein the beam-related information is a beam failure recovery response.

[0171] Optionally, the performing perception according to the perception-related information includes:

[0172] Within the time window, perception is performed according to the perception-related information.

[0173] Optionally, it also includes:

[0174] Time window configuration information is sent, where the time window configuration information indicates the time window.

[0175] Optionally, the time window configuration information includes at least one of the following:

[0176] The start position of the time window, the length of the time window, and the end position of the time window.

[0177] Optionally, it also includes:

[0178] Determine the sensing start time according to the sending time of the beam related information; or,

[0179] Determine the start time of sensing according to the effective time of the beam related information; or,

[0180] The starting time of perception is determined according to the reception time of the confirmation message of the beam related information.

[0181] In a sixth aspect, an embodiment of the present application provides a perception method, the method comprising:

[0182] receiving a beam update request, the beam update request being associated with sensing related information;

[0183] Perception is performed according to the perception-related information.

[0184] In this method, the beam update request is associated with the perception-related information, thereby associating the beam update behavior with the perception behavior. By utilizing the association relationship, the perception behavior can be initiated when the beam update behavior occurs, without the need to additionally transmit the signaling required for the perception behavior. Communication-assisted perception is realized in the synaesthesia integrated system, the perception process is accelerated, the signaling overhead and delay of the perception process are reduced, the terminal surrounding environment information is obtained in a timely and accurate manner, the environmental map on the network side is updated, and the communication performance is improved.

[0185] Optionally, the perception-related information indicates at least one of the following:

[0186] Perception association status, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

[0187] Optionally, it also includes:

[0188] Send a sense trigger indication.

[0189] Optionally, the beam update request is associated with the sensing related information, including:

[0190] The beam update request is a beam failure recovery request, and the beam failure recovery request is associated with the perception-related information.

[0191] Optionally, the performing perception according to the perception-related information includes:

[0192] After receiving the beam update request, after a first time interval, perception is performed according to the perception-related information.

[0193] Optionally, it also includes:

[0194] First time interval configuration information is sent, where the first time interval configuration information indicates a length of the first time interval.

[0195] Optionally, the start time of the first time interval is the reception time of the beam update request, or the sending time of the confirmation message of the beam update request.

[0196] Optionally, the performing perception according to the perception-related information includes:

[0197] Within the time window, perception is performed according to the perception-related information.

[0198] Optionally, it also includes:

[0199] Time window configuration information is sent, where the time window configuration information indicates the time window.

[0200] Optionally, the time window configuration information includes at least one of the following:

[0201] The start position of the time window, the length of the time window, and the end position of the time window.

[0202] Optionally, the performing perception according to the perception-related information includes:

[0203] After receiving the beam update request, after a second time interval, perception is performed according to the perception-related information.

[0204] Optionally, it also includes:

[0205] Second time interval configuration information is sent, where the second time interval configuration information indicates a length of the second time interval.

[0206] Optionally, the starting time of the second time interval is: the effective time of the beam update response, the sending time of the beam update response, or the receiving time of the confirmation message of the beam update response, and the beam update response is a response to the beam update request.

[0207] Optionally, it also includes:

[0208] Determining the sensing start time according to the reception time of the beam update request; or,

[0209] The sensing start time is determined according to the sending time of the confirmation message of the beam update request.

[0210] Optionally, it also includes:

[0211] A beam update response is sent, where the beam update response is associated with perception-related information, and the beam update response is a response to the beam update request.

[0212] Optionally, the beam update request is a beam failure recovery request, and the beam update response is a beam failure recovery response.

[0213] In a seventh aspect, an embodiment of the present application provides a perception method, the method comprising:

[0214] After sending the beam related information, sensing is performed.

[0215] In this method, after sending beam-related information, perception is performed to associate the beam update behavior with the perception behavior. By utilizing the association relationship, the perception behavior can be started when the beam update behavior occurs, without the need to additionally transmit the signaling required for the perception behavior. Communication-assisted perception is realized in the synaesthesia integrated system, the perception process is accelerated, the signaling overhead and delay of the perception process are reduced, the terminal surrounding environment information is obtained in a timely and accurate manner, the environmental map on the network side is updated, and the communication performance is improved.

[0216] Optionally, the sensing after sending the beam related information includes:

[0217] After the beam-related information is sent, sensing is performed after a time interval.

[0218] Optionally, it also includes:

[0219] Sending time interval configuration information, where the time interval configuration information indicates the length of the time interval.

[0220] Optionally, the starting time of the time interval is: the effective time of the beam-related information, the sending time of the beam-related information, or the receiving time of a confirmation message of the beam-related information.

[0221] Optionally, the start time of the time interval is the reception time of a beam failure recovery request, wherein the beam-related information is a beam failure recovery response.

[0222] Optionally, the sensing after sending the beam related information includes:

[0223] After sending the beam-related information, sensing is performed within the time window.

[0224] Optionally, it also includes:

[0225] Time window configuration information is sent, where the time window configuration information indicates the time window.

[0226] Optionally, the time window configuration information includes at least one of the following:

[0227] The start position of the time window, the length of the time window, and the end position of the time window.

[0228] Optionally, it also includes:

[0229] Determine the start time of sensing according to the effective time of the beam related information; or,

[0230] Determine the start time of sensing according to the sending time of the beam related information; or,

[0231] The starting time of perception is determined according to the reception time of the confirmation message of the beam related information.

[0232] Optionally, it also includes:

[0233] Sending perception enabling indication information, where the perception enabling indication information indicates that the beam-related information is used to trigger perception.

[0234] Optionally, the transmit beam related information includes:

[0235] sending beam configuration information, where the beam configuration information includes the beam related information; or,

[0236] sending a beam activation command, where the beam activation command includes the beam related information; or,

[0237] Send downlink control information, where the downlink control information includes the beam-related information.

[0238] Optionally, the beam-related information includes: transmission configuration indication TCI status, or beam failure recovery response.

[0239] Optionally, the sensing includes:

[0240] Perception is performed according to the perception-related information, wherein the perception-related information indicates at least one of the following: a perception association state, a perception mode, a perception signal set, a perception signal resource, a perception signal configuration, and a perception report configuration.

[0241] In an eighth aspect, an embodiment of the present application provides a perception method, the method comprising:

[0242] After receiving the beam update request, sensing is performed.

[0243] In this method, after receiving the beam update request, perception is performed to associate the beam update behavior with the perception behavior. By utilizing the association relationship, the perception behavior can be started when the beam update behavior occurs, without the need to additionally transmit the signaling required for the perception behavior. Communication-assisted perception is realized in the synaesthesia integrated system, the perception process is accelerated, the signaling overhead and delay of the perception process are reduced, the terminal surrounding environment information is obtained in a timely and accurate manner, the environmental map on the network side is updated, and the communication performance is improved.

[0244] Optionally, after receiving the beam update request, sensing includes:

[0245] After receiving the beam update request, sensing is performed after a first time interval.

[0246] Optionally, it also includes:

[0247] First time interval configuration information is sent, where the first time interval configuration information indicates a length of the first time interval.

[0248] Optionally, the start time of the first time interval is the reception time of the beam update request, or the sending time of the confirmation message of the beam update request.

[0249] Optionally, after receiving the beam update request, sensing includes:

[0250] After receiving the beam update request, sensing is performed within the time window.

[0251] Optionally, it also includes:

[0252] Time window configuration information is sent, where the time window configuration information indicates the time window.

[0253] Optionally, the time window configuration information includes at least one of the following:

[0254] The start position of the time window, the length of the time window, and the end position of the time window.

[0255] Optionally, after receiving the beam update request, sensing includes:

[0256] After receiving the beam update request, sensing is performed after a second time interval.

[0257] Optionally, it also includes:

[0258] Second time interval configuration information is sent, where the second time interval configuration information indicates a length of the second time interval.

[0259] Optionally, the starting time of the second time interval is: the effective time of the beam update response, the sending time of the beam update response, or the receiving time of the confirmation message of the beam update response, and the beam update response is a response to the beam update request.

[0260] Optionally, it also includes:

[0261] Determining the sensing start time according to the reception time of the beam update request; or,

[0262] The sensing start time is determined according to the sending time of the confirmation message of the beam update request.

[0263] Optionally, it also includes:

[0264] Sending sensing enable indication information, wherein the sensing enable indication information indicates that the beam update request is used to trigger sensing.

[0265] Optionally, the beam update request is a beam failure recovery request, and the beam update response is a beam failure recovery response.

[0266] Optionally, the sensing includes:

[0267] Perception is performed according to the perception-related information, wherein the perception-related information indicates at least one of the following: a perception association state, a perception mode, a perception signal set, a perception signal resource, a perception signal configuration, and a perception report configuration.

[0268] In a ninth aspect, an embodiment of the present application provides a device, the device comprising:

[0269] a communication unit, configured to receive beam-related information, the beam-related information being associated with sensing-related information, the beam-related information indicating a beam used for signal transmission;

[0270] A processing unit is used to perform perception according to the perception-related information.

[0271] In a tenth aspect, an embodiment of the present application provides a device, comprising:

[0272] A communication unit, configured to send a beam update request, wherein the beam update request is associated with sensing related information;

[0273] A processing unit is used to perform perception according to the perception-related information.

[0274] In an eleventh aspect, an embodiment of the present application provides a device, the device comprising: a communication unit and a processing unit; wherein:

[0275] The processing unit is used to sense after the communication unit receives beam-related information.

[0276] In a twelfth aspect, an embodiment of the present application provides a device, the device comprising: a communication unit and a processing unit; wherein:

[0277] The processing unit is used to sense after the communication unit sends a beam update request.

[0278] In a thirteenth aspect, an embodiment of the present application provides a device, the device comprising:

[0279] a processing unit, configured to determine beam-related information, the beam-related information being associated with sensing-related information, the beam-related information indicating a beam for signal transmission;

[0280] A communication unit is used to send the beam related information.

[0281] In a fourteenth aspect, an embodiment of the present application provides a device, the device comprising:

[0282] A communication unit, configured to receive a beam update request, wherein the beam update request is associated with sensing related information;

[0283] A processing unit is used to perform perception according to the perception-related information.

[0284] In a fifteenth aspect, an embodiment of the present application provides a device, comprising: a communication unit and a processing unit; wherein:

[0285] The processing unit is used to sense after the communication unit sends the beam-related information.

[0286] In a sixteenth aspect, an embodiment of the present application provides a device, the device comprising: a communication unit and a processing unit; wherein:

[0287] The processing unit is used to sense after the communication unit receives the beam update request.

[0288] In a seventeenth aspect, an embodiment of the present application provides a communication device, including:

[0289] One or more processors; a memory; wherein one or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the processor, enable the communication device to execute the method described in any one of the first aspect to the fourth aspect.

[0290] In an eighteenth aspect, an embodiment of the present application provides a communication device, including:

[0291] One or more processors; a memory; wherein one or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the processor, enable the network side device to execute any one of the methods described in aspects 5 to 8.

[0292] In the nineteenth aspect, an embodiment of the present application provides a communication system, comprising the communication device described in the seventeenth aspect and the communication device described in the eighteenth aspect.

[0293] In the twentieth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, which, when executed on a computer, enables the computer to execute the method described in any one of the first to eighth aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0294] Figure 1A to Figure 1E An example diagram of a synaesthesia integration business scenario provided in an embodiment of the present application;

[0295] Figure 2 A schematic diagram of a reference model of a perception service provided by the synaesthesia integration system provided in an embodiment of the present application;

[0296] Figure 3A to Figure 3F A schematic diagram of a perception mode provided in an embodiment of the present application;

[0297] Figure 4A A schematic diagram of a scenario to which the perception method provided in the embodiment of the present application is applicable;

[0298] Figure 4BA schematic diagram of a system architecture applicable to the sensing method of an embodiment of the present application;

[0299] Figure 5A A schematic diagram of a flow chart of a sensing method provided in an embodiment of the present application;

[0300] Figure 5B A schematic diagram of a method for determining perceived time provided in an embodiment of the present application;

[0301] Figure 6 Another schematic diagram of a flow chart of a sensing method provided in an embodiment of the present application;

[0302] Fig. 7A A third flow chart of the sensing method provided in the embodiment of the present application;

[0303] Figure 7B A fourth flow chart of the sensing method provided in the embodiment of the present application;

[0304] Figure 7C A fifth flow chart of the sensing method provided in the embodiment of the present application;

[0305] Figure 8 A sixth flow chart of the sensing method provided in the embodiment of the present application;

[0306] Fig. 9 A seventh flow chart of the sensing method provided in the embodiment of the present application;

[0307] Fig.10 An eighth flow chart of the sensing method provided in the embodiment of the present application;

[0308] Fig.11 A ninth flow chart of the sensing method provided in the embodiment of the present application;

[0309] Fig. 12A A tenth flow chart of the sensing method provided in the embodiment of the present application;

[0310] Fig. 12B This is a schematic diagram of the eleventh flow chart of the sensing method provided in the embodiment of the present application;

[0311] Fig. 12C A twelfth flow chart of the sensing method provided in the embodiment of the present application;

[0312] Fig.13 This is a thirteenth flow chart of the sensing method provided in the embodiment of the present application;

[0313] Fig.14 This is a fourteenth flow chart of the sensing method provided in the embodiment of the present application;

[0314] Fig.15 A fifteenth flow chart of the sensing method provided in the embodiment of the present application;

[0315] Fig.16A A sixteenth flow chart of the sensing method provided in the embodiment of the present application;

[0316] Fig. 16B A seventeenth flow chart of the sensing method provided in the embodiment of the present application;

[0317] Fig. 16C This is a schematic diagram of the eighteenth flow chart of the sensing method provided in the embodiment of the present application;

[0318] Fig.17A A nineteenth flow chart of the sensing method provided in the embodiment of the present application;

[0319] Fig. 17B A schematic diagram of the twentieth flow chart of the sensing method provided in the embodiment of the present application;

[0320] Fig. 17C A twenty-first flow chart of the sensing method provided in the embodiment of the present application;

[0321] Fig.18 A schematic diagram of the structure of a sensing device provided in an embodiment of the present application;

[0322] Fig.19 Another schematic diagram of the structure of the sensing device provided in the embodiment of the present application;

[0323] Fig. 20 A third structural schematic diagram of the sensing device provided in the embodiment of the present application;

[0324] Fig.21 A fourth structural schematic diagram of the sensing device provided in an embodiment of the present application;

[0325] Fig. 22 A fifth structural schematic diagram of the sensing device provided in the embodiment of the present application;

[0326] Fig.23 A sixth structural schematic diagram of a sensing device provided in an embodiment of the present application;

[0327] Fig.24 A seventh structural schematic diagram of a sensing device provided in an embodiment of the present application;

[0328] Fig.25 An eighth structural schematic diagram of the sensing device provided in the embodiment of the present application;

[0329] Fig.26 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0330] The terms used in the implementation section of this application are only used to explain the specific embodiments of this application and are not intended to limit this application.

[0331] Synaesthesia integration is considered to be a technology with broad application prospects. Its business service scope will break through the traditional communication dimension and can provide perception services and communication services at the same time using the same equipment. Simply put, perception services are the wireless perception capabilities of the physical world that use radio waves to achieve high-resolution perception, positioning, imaging, environmental reconstruction, posture and gesture recognition, health monitoring, material monitoring, etc. of physical objects.

[0332] The following examples illustrate the applicable scenarios of synaesthesia integration technology.

[0333] Figure 1A The figure shows a smart traffic scenario, in which vehicles and road equipment units can not only communicate but also transmit perception signals to monitor traffic conditions in real time, thereby realizing the perception of road condition information and optimizing traffic.

[0334] Figure 1B The figure shows a drone monitoring scenario, in which the synaesthesia integration technology can be used to achieve flight path planning for authorized drones and intrusion detection for unauthorized drones.

[0335] Figure 1C The figure shows a smart factory scenario, in which smart base stations, smart terminals and robots can use synesthesia integration technology to complete functions such as product detection, counting, location perception, unmanned area monitoring, gesture recognition, and environmental recognition.

[0336] Figure 1D The figure shows a respiratory monitoring scenario, in which the respiratory monitoring device can monitor the heartbeat and respiration of the human body through the synaesthesia integration technology.

[0337] Figure 1E The figure shows a gesture recognition scenario, in which the smart terminal can use the synaesthesia integration technology to realize the recognition of user gestures.

[0338] It can be seen that synaesthesia integration technology is Figure 1A Smart transportation, Figure 1B Drone monitoring, Figure 1C Smart factory shown, Figure 1D Respiratory monitoring, Figure 1E Scenarios represented by the gesture recognition shown will bring great changes to people's production and life.

[0339] In the integrated synaesthesia service, the communication capability and perception capability are not isolated, and the two empower each other to achieve a better user experience. Specifically, the integrated synaesthesia service can be divided into communication-assisted perception services and perception-assisted communication services according to the relationship between communication capability and perception capability. In the communication-assisted perception service, the reference signal in the wireless communication can be used as the perception signal to realize services such as target positioning, speed measurement, gesture recognition, etc.; the high-speed and reliable communication capability also provides guarantee for the convergence of perception data, which can further improve the perception accuracy and perception resolution. In the perception-assisted communication service, the wireless communication environment and communication nodes are detected and perceived through wireless perception technology, and various prior information such as environmental maps, communication node locations, and moving speeds can be obtained. Using the perception information and perception results, the auxiliary communication system selects algorithms, sets algorithm parameters, and optimizes algorithms for modules such as channel estimation, equalization, and beam management.

[0340] The integrated interawareness service is a service that integrates communication and perception. From the perspective of system architecture, the integration of communication and perception can be divided into the following three levels of integration: business layer integration, service layer integration, and air interface integration.

[0341] For service layer convergence, the wireless mobile communication system only serves as a data transmission channel for third-party perception services and does not provide perception services itself. Third-party perception services refer to perception services provided by systems other than the wireless mobile communication system, including services based on radar, cameras, etc.

[0342] For service layer integration, the wireless mobile communication system will form application-oriented endogenous perception services based on the perception data and communication data obtained by third-party perception units, communication units, and future inter-awareness integrated units. Third-party perception units include radars, cameras, etc. The integration of the service layer involves changes to the service layer and function layer in the wireless mobile communication system, such as the 6G system architecture.

[0343] For air interface convergence, the wireless mobile communication system will form an endogenous perception service based on the perception data obtained by the communication perception integration unit at the air interface level. The communication perception integration unit obtains perception data based on the sending and receiving of perception signals and synaesthesia integration signals. Synaesthesia integration signals are wireless signals used for both perception and communication. Air interface convergence involves changes in the functional layer and resource layer in the wireless mobile communication system, such as the 6G system architecture.

[0344] Reference model of perception services provided by synaesthesia integrated system, such as Figure 2 The perception service client can request the perception information of the perception object from the perception server, and the perception server responds to the perception request, performs the perception function, obtains the perception information of the perception object, and provides it to the perception service client.

[0345] The perception service client may be an entity outside the synaesthesia integration system, or an entity inside the synaesthesia integration system (eg, a terminal, a network function in a core network).

[0346] The perceived object and perceived information depend on different synaesthesia integration services. For example, the perceived object may be the environment, an object, a person, etc., and the perceived information may be an environment map, an image of an object, a person's speed and position, etc.

[0347] The perception server is implemented by the synaesthesia integration system, which is based on the architecture of the wireless mobile communication system and includes a core network, a wireless access network and a terminal. The perception server can determine the perception information of the perception object based on the perception data obtained by the synaesthesia integration unit and the third-party perception unit. The synaesthesia integration unit obtains the perception data by measuring the perception signals configured inside the system. The perception signals include signals dedicated to perception and signals used for both perception and communication. The technology used by the third-party perception unit to obtain the perception data is not within the scope of the synaesthesia integration system.

[0348] The process of sensing services can include:

[0349] S1: The perception service client sends a perception request to the perception server.

[0350] S2: The security and privacy protection functional entity in the perception server performs security and privacy checks.

[0351] S3: When the security and privacy check passes, the perception task management functional entity in the perception server determines the perception method, perception node, etc. If the perception data is obtained through the synaesthesia integration unit, perception resource scheduling is required, and the synaesthesia integration unit sends, receives and measures the perception signal.

[0352] S4: The perception data processing functional entity in the perception server determines the final perception information based on the perception data obtained by the synaesthesia integration unit and the third-party perception unit.

[0353] S5: The perception response returned by the perception server to the perception service client contains the final perception information.

[0354] Based on the wireless mobile communication system architecture, there are currently several considerations for the allocation of various functions to network elements.

[0355] First, the allocation of resource layer functions considers sharing equipment and devices with network elements of the resource layer of the wireless mobile communication system, thereby saving costs. The resource layer's perception signal transmission, perception signal reception and measurement, and third-party perception technology can be allocated to the wireless access network nodes and terminals that traditionally transmit and receive wireless signals.

[0356] Second, the allocation of functional layer functions is considered to be distributed in multiple network elements of the interawareness integrated system. For example, the centralized allocation of perception data processing functions requires network elements to have higher computing power support and transmission bandwidth support, while the hierarchical allocation of perception data processing functions to the core network, access network and terminal can effectively alleviate the requirements for computing power and transmission bandwidth of each network element. For another example, the perception task management function can be allocated to the core network to support perception services with a larger perception range, and can also be allocated to the access network to more efficiently support perception services that assist access network communications.

[0357] Third, whether to independently allocate each function to different network elements or to the same network element requires a comprehensive consideration of factors such as interface interaction delay and flexible organization. For example, control functions such as perception task management and perception data processing functions are allocated to different network elements to achieve control and data separation, which can support more flexible deployment. For example, the perception task management entity is deployed in the core layer, and the perception data processing entity is deployed in the edge layer, which is suitable for perception services with large bandwidth and high privacy and security requirements. Control functions such as perception task management functions and perception data processing functions are allocated in the same network element, which can avoid interface interaction between the two functions, reduce interfaces with other functions, and reduce the overall process complexity.

[0358] In the interawareness integration system, different perception modes will be formed according to the different nodes for transmitting and receiving the perception signals, and the perception modes will also affect the design of the key technologies for the interawareness integration air interface. Specific perception modes may include: base station self-transmitting and self-receiving, base station A transmitting and base station B receiving, base station transmitting and terminal receiving, terminal transmitting and base station receiving, terminal self-transmitting and self-receiving, terminal A transmitting and terminal B receiving, etc.

[0359] For example, the base station's self-transmitting and self-receiving sensing mode is as follows Figure 3A As shown, a base station sends a sensing signal, and the base station receives the sensing signal sent by itself to perform sensing.

[0360] For example, the sensing pattern of base station A sending and base station B receiving is as follows: Figure 3B As shown, base station A sends a perception signal, and base station B receives the perception signal sent by base station A to perform perception.

[0361] For example, the sensing mode of the base station sending and the terminal receiving is as follows: Figure 3C As shown, the base station sends a perception signal, and the terminal receives the perception signal sent by the base station to perform perception.

[0362] For example, the perception mode of the terminal sending and the base station receiving is as follows Figure 3D As shown, the terminal sends a perception signal, and the base station receives the perception signal sent by the terminal to perform perception.

[0363] For example, the terminal's self-transmitting and self-receiving sensing mode is as follows Figure 3E As shown, the terminal sends a perception signal, and the terminal receives the perception signal sent by itself to perform perception.

[0364] For example, the perception mode sent by terminal A and received by terminal B is as follows Figure 3F As shown, terminal A sends a perception signal, and terminal B receives the perception signal from terminal A for perception.

[0365] Below Figures 3A-3F The characteristics of the perception mode shown are described in detail.

[0366] Specifically, Figure 3A The base station shown is self-transmitting and self-receiving Figure 3E The terminal self-transmission and self-reception shown is a single-base sensing method, and the sensing is performed by one node, which is similar to the traditional single-base radar. Since the transmitter and the receiver are in the same location, the sensing signal of the single-base sensing method does not have to be a dedicated pilot signal, and the communication signal carrying data can also be used for single-base sensing. In addition, since the transmitter and the receiver share the same hardware platform, the transmitter and the receiver can easily achieve clock synchronization. Moreover, the sensing results can be directly parsed by the node without the need for additional data transmission and the assistance of external equipment. However, the single-base mode requires the base station or the terminal to have full-duplex capability. Figure 3B The situation shown in Figure 1 where base station A sends and base station B receives corresponds to one base station sending a sensing signal and the other base station receiving the sensing signal for sensing. This method is similar to the working mode of a traditional bistatic radar. Due to the spatial separation of the transmitter and the receiver, this mode does not require the transceiver to have full-duplex capability, and the clock synchronization of the transmitter and the receiver is also easier to achieve. However, this mode requires a dedicated sensing signal, and the position error and synchronization error of the transmitter and the receiver will also affect the sensing result. Figure 3C The base station sends and receives Figure 3D The terminal transmitting and base receiving shown is another form of dual-base working mode, where one of the transmitter and the receiver is the base station and the other is the terminal. Figure 3C The base station sends and receives Figure 3D The terminal transmitter and base station receiver shown in the figure can also use the communication signal carrying data for perception, but the communication data needs to be decoded before perception processing. If the communication data is decoded incorrectly (for example, in a working environment with a very low signal-to-noise ratio), the perception performance will deteriorate. In addition, Figure 3C The base station sends and receives Figure 3D The clock synchronization of the transceivers sent by the terminal and received by the base station is also a challenge. Figure 3F The terminal A sends and the terminal B receives also have Figure 3C The base station sends and receives Figure 3D The characteristics of the terminal sending and base station receiving are shown. Figure 3E The terminal shown is self-transmitting and self-receiving Figure 3F The sensing function of the terminal A sending and the terminal B receiving is relatively independent of the wireless communication network, and can even sense outside the coverage of the wireless communication network. Figure 3E The terminal shown is self-transmitting and self-receiving Figure 3F In the example shown, terminal A sends and terminal B receives. Due to the limitation of terminal transmission power, the sensing range is smaller than other methods. In addition, the position error caused by the mobility of the terminal will affect the sensing result.

[0367] Furthermore, control functions such as perception task management and perception data processing functions can be flexibly allocated to core network devices, access network devices, and / or terminals. For example, for typical scenarios such as environmental map maintenance and navigation obstacle avoidance, the core network device can control the access network device (such as a base station) and the terminal to perform perception services and report perception results, or the access network device can control the execution of the perception service.

[0368] When network-side devices, such as core network devices and access network devices, perform perception, the environmental information obtained by the network-side devices from the perception of the surrounding environment is limited by the geographical location of the network-side devices and their perception detection range, and the environmental information obtained may not be complete. For example, due to the existence of some obstacles, the network-side devices cannot reconstruct complete environmental information.

[0369] When combined with terminal-assisted perception, the network-side device can determine the approximate location of the terminal based on its own perception and combine the terminal's reporting capabilities to determine whether it is necessary to trigger the terminal's perception reporting, and instruct the terminal to report parameters (perception azimuth interval, number of obstacles, reflective surface size, reflection coefficient, etc.). The terminal perceives based on the instructions of the network-side device and reports the perception results to the network-side device. The network-side device reconstructs the surrounding environment (such as building a 3D map) and determines the optimal transmit and receive beams based on the perception results of the network-side device and the perception results of the terminal.

[0370] However, if Figure 4A As shown, when the terminal is moving or rotating, the beam link between the network side device and the terminal changes. At this time, if the network side device needs to obtain or update the new beam link surrounding environment information, the network side device can instruct the terminal to perform perception services, but the signaling process of the network side device triggering the perception behavior has a large delay (such as the network side device sending the configuration of the perception parameters, the network side device triggering perception, the terminal detecting the perception signal sent by the network side device, or the terminal sending the perception signal to the network side device), and cannot timely monitor the spatial environment around the new beam link, and cannot timely implement tracking and early warning (such as intrusion tracking, navigation obstacle avoidance, etc.), and the network side device cannot timely update the environmental map of the new location of the terminal.

[0371] In view of this, the embodiments of the present application also provide another perception method, device and equipment, which can improve the accuracy and timeliness of the communication and perception integrated system's environmental perception.

[0372] The system architecture applicable to the perception method of the embodiment of the present application is as follows: Figure 4B As shown, it includes: a core network, an access network and a terminal. The core network may include: a core network server, and the access network may include: an access network device, wherein the access network device may include: a base station, a transmission and reception point (TRP), etc. The core network server and the access network device may be collectively referred to as a network side device.

[0373] The terminal in the embodiments of the present application can be, for example, user equipment (UE), access terminal, user unit, user station, mobile station, mobile station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication equipment, user agent or user device, etc.

[0374] In a perception method provided in an embodiment of the present application, by associating perception-related information with beam-related information, the terminal can obtain the perception-related information when receiving the beam-related information and perceive it in a timely manner. Figure 5A to Figure 11 An exemplary description is given.

[0375] Figure 5A In the embodiment of the present application shown, the perception-related information is associated with the beam-related information, and the perception-related information is indicated to the terminal.

[0376] Figure 5A 1 is a schematic diagram of a first flow chart of a sensing method provided in an embodiment of the present application, and the method can be executed by a terminal. Figure 5A As shown, the method may include:

[0377] Step 501: Receive beam-related information, where the beam-related information is associated with perception-related information, and the beam-related information indicates a beam used for signal transmission.

[0378] Optionally, beam-related information may be transmitted via explicit signaling.

[0379] Optionally, the perception-related information is used to indicate information associated with perception, or parameter information, configuration information, etc. required for perception. In some embodiments, the perception-related information may also be referred to as perception information.

[0380] Optionally, the signal in the beam used for signal transmission may include an uplink signal, a downlink signal, a side link signal, or the like.

[0381] In one example, the association of beam-related information with perception-related information is achieved in the following manner:

[0382] The beam-related information may be a transmission configuration indication state (TCI state), and the TCI state is associated with the above-mentioned perception-related information.

[0383] In another example, the association of the TCI state with the above-mentioned perception-related information is achieved in the following manner: the TCI state includes a quasi-co-located source reference signal (QCL source RS), and the quasi-co-located source reference signal is associated with the above-mentioned perception-related information.

[0384] Optionally, the beam-related information is received in this step by:

[0385] receiving beam configuration information, where the beam configuration information includes beam related information; or,

[0386] receiving a beam activation command, where the beam activation command includes beam related information; or,

[0387] Receive downlink control information, where the downlink control information includes beam-related information.

[0388] For example, in the beam update behavior, the network side device such as the base station can configure the TCI state pool (pool) through the radio resource control (RRC) signaling, and then activate one or more TCI states through the media access control (MAC) control element (CE) signaling. When multiple TCI states are activated, downlink control information (DCI) can be used to indicate at least one activated TCI state. The above-mentioned beam configuration information can be, for example, the RRC signaling for configuring the TCI state pool, and the beam-related information can be at least one TCI state in the TCI state pool configured by the RRC signaling, or the beam-related information can be a quasi-co-located source reference signal included in at least one TCI state in the TCI state pool configured by the RRC signaling. The above-mentioned beam activation command can be, for example, the MACCE signaling for activating the TCI state, and the beam-related information can be at least one TCI state in the TCI state activated by the MAC CE signaling, or the beam-related information can be a quasi-co-located source reference signal included in at least one TCI state in the TCI state activated by the MAC CE signaling. The above-mentioned downlink control information may be, for example, the above-mentioned DCI indicating the TCI state, and the beam-related information may be at least one TCI state among the TCI states indicated by the DCI, or the beam-related information may be a quasi-co-site source reference signal included in at least one TCI state among the TCI states indicated by the DCI.

[0389] In another embodiment, the beam related information may include a beam failure recovery response (BFRR). In other words, the beam related information may be implemented through BFRR, or may also include information other than BFRR. A beam failure recovery response (BFRR) is response information sent by an access network device or a core network server to a terminal after receiving a beam failure recovery request (BFRQ) from the terminal. BFRR is usually carried by a physical downlink control channel (PDCCH). The new beam information takes effect after a preset time after the BFRR.

[0390] Optionally, when the beam-related information includes BFRR, the step 501 may further include: sending BFRQ.

[0391] Optionally, the BFRQ may be associated with perception request information, where the perception request information is used to request perception.

[0392] BFRQ is information sent by the terminal to the network side device when the terminal finds a beam failure event through measurement. BFRQ is usually carried on MAC CE or physical random access channel (PRACH).

[0393] Optionally, the above-mentioned beam-related information associated with the perception-related information may specifically include: the beam-related information includes the perception-related information, or there is a corresponding relationship between the beam-related information and the perception-related information.

[0394] The above beam related information includes perception related information. For example, a field is added to the existing beam related information to indicate the perception related information, or a field in the existing beam related information can be used to indicate the perception related information.

[0395] For example, the correspondence between beam-related information and perception-related information can be pre-configured to the terminal by the network side device. Accordingly, the terminal can determine the perception-related information corresponding to the received beam-related information based on the correspondence, thereby determining the perception-related information associated with the received beam-related information.

[0396] Taking the implementation of beam-related information through TCI state or QCL source RS as an example, the correspondence between the above beam-related information and perception-related information is shown in Table 1 below.

[0397]

[0398] Table 1

[0399] It should be noted that the network side device can set some TCI states or some QCL source RSs to have an association relationship with the perception related information, or can set all TCI states or all QCL source RSs to have an association relationship with the perception related information. Referring to Table 1, multiple TCI states or multiple QCL source RSs can be associated with the same perception signal, and multiple TCI states or multiple QCL source RSs can be associated with the same perception report.

[0400] In one example, the perception-related information indicates at least one of the following:

[0401] Perception association status, perception trigger indication, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

[0402] The perception association status indicates the situation where the beam-related information is associated with the perception-related information. For example, there may be 1 bit of information in the beam-related information to indicate the perception association status. When the 1 bit of information is 0, it indicates that the beam-related information is not associated with the perception-related information, and when the 1 bit of information is 1, it indicates that the beam-related information is associated with the perception-related information. Alternatively, when the 1 bit of information is a specific value (such as 1), it indicates that the beam-related information is associated with the perception-related information; when the 1 bit of information is empty, or there is no 1 bit of information in the beam-related information, it indicates that the beam-related information is not associated with the perception-related information.

[0403] The perception trigger indication is used to trigger the terminal to perform perception.

[0404] The perception mode may include: the network side device sends a perception signal, and the terminal measures and sends the perception result; the terminal sends a perception signal, and the network side device measures and obtains the perception result; the network side device 1 sends a perception signal, and the network side device 2 measures and sends the perception result; the terminal 1 sends a perception signal, and the terminal 2 measures and sends the perception result.

[0405] The perception signal is a signal used to detect and obtain environmental information. The perception signal is received, detected and analyzed at the receiving end. The perception signal can be a signal dedicated to the perception service, which can be multiplexed with the communication signal in multiple dimensions (for example, time domain, frequency domain, spatial domain, code domain, etc.) and have a corresponding resource configuration method. The perception signal can also be a reference signal in the communication signal, such as: SSB, CSI-RS, SRS, and a reference signal for positioning.

[0406] Optionally, the perception-related information may carry information indicating the perception mode, such as a perception mode identifier, to indicate a specific perception mode.

[0407] Optionally, the perception-related information may carry perception signal indication information to indicate a perception signal set, a perception signal resource, and / or a configuration of a perception signal. For example, the perception signal indication information may specifically include a perception signal identifier, a perception signal set identifier, a perception signal configuration identifier, and / or a perception signal resource identifier, etc.

[0408] Optionally, the perception-related information may carry configuration information of the perception report, or may carry an identifier of the perception report, and the identifier of the perception report is associated with the configuration information of the perception report.

[0409] For example:

[0410] The perception association status can be used to indicate to the terminal that the beam-related information subsequently sent by the network side device is associated with the perception-related information. At this time, the perception-related information associated with the beam-related information in this step can only indicate the perception association status, so that the terminal can know based on the perception association status that the subsequent beam-related information is associated with the perception-related information. At this time, the perception information associated with the beam-related information subsequently sent by the network side device to the terminal can indicate at least one of the perception trigger indication, the perception mode, the perception signal set, the perception signal resource, the configuration of the perception signal, and the configuration of the perception report.

[0411] Alternatively, the perception association status is used to indicate whether the beam-related information is associated with the perception-related information. When the perception association status indicates that the beam-related information is associated with the perception-related information, the terminal can further learn the perception-related information associated with the beam-related information. The associated perception information can be pre-configured by the network-side device, or indicated by the network-side device in the beam-related information. At this time, the perception-related information can also indicate at least one of a perception mode, a perception signal set, a perception signal resource, a perception signal configuration, a perception report configuration, and a perception trigger indication.

[0412] Alternatively, if the terminal has already learned in advance through network-side device configuration or protocol regulations that there is only one set of perception configurations (including: one perception mode, one perception signal set, and one perception report configuration), the perception-related information may only indicate the perception association state, without indicating at least one of the perception mode, perception signal set, perception signal resource, perception signal configuration, perception report configuration, and perception trigger indication.

[0413] When the perception-related information associated with the beam-related information indicates at least one of the perception mode, the perception signal set, the perception signal resource, the configuration of the perception signal, and the configuration of the perception report, if the beam-related information also includes a perception trigger indication, the terminal can perform perception according to the perception trigger indication using information such as the perception mode, the perception signal, or the perception report, or the network side device sends a perception trigger indication to the terminal before or after indicating the beam-related information, and the terminal can perform perception according to the perception trigger indication using the perception mode, the perception signal, or the perception report indicated by the perception-related information associated with the beam-related information.

[0414] If the terminal has already known the perception mode, perception signal set, perception signal resource, perception signal configuration, perception report configuration and other information in advance through network side device configuration or protocol provisions, and the network side device hopes that the terminal will perceive after receiving beam related information, the perception related information may only indicate the perception trigger indication. If the terminal has already known the perception mode in advance through network side device configuration or protocol provisions, and the network side device hopes that the terminal will perceive after receiving beam related information, the perception related information may indicate at least one of the perception trigger indication, perception signal set, perception signal resource, perception signal configuration and perception report configuration. Similarly, if the terminal has already known the perception mode and perception signal set in advance through network side device configuration or protocol provisions, and the network side device hopes that the terminal will perceive after receiving beam related information, the perception related information may indicate at least one of the perception trigger indication and perception report configuration. Other similar implementations are not listed one by one.

[0415] If, through network-side device configuration or protocol provisions, the terminal receives beam-related information associated with perception-related information and performs perception based on the perception-related information, then the perception-related information associated with the beam-related information may not indicate a perception trigger indication, but only indicate at least one of the perception association state, perception mode, perception signal set, perception signal resources, perception signal configuration, and perception report configuration.

[0416] It should be noted that, in some instances, beam-related information may also be referred to as beam information, and the beam-related information may include: beam identification information, spatial relation information, spatial domain transmission filter information, spatial domain reception filter information, spatial domain filter information, transmission configuration indication state (TCI state) information, quasi-co-location (QCL) information, QCL parameters, etc. One or more of the following. Among them, the relevant information of the downlink beam can usually be represented by TCI state information or QCL information. The relevant information of the uplink beam can usually be represented by TCI state information or spatial relation information.

[0417] Step 502: Perform perception based on the perception-related information.

[0418] In one example, after receiving the beam-related information, after a time interval t1 has passed, sensing is performed according to the sensing-related information.

[0419] Optionally, the time interval t1 may be configured for the terminal by the network side device, or may be pre-agreed upon by a protocol, or may be determined in real time by the terminal based on a preset algorithm or policy.

[0420] Optionally, when the time interval t1 is configured for the terminal by the network side device, the following steps may be included before step 502: receiving configuration information of the time interval t1, where the configuration information of the time interval t1 is used to indicate the length of the time interval t1.

[0421] Optionally, the starting time of the above time interval t1 may be: the effective time of the beam-related information, the receiving time of the beam-related information, or the sending time of the confirmation message of the beam-related information.

[0422] See also Figure 5B The process of beam updating and sensing may include, for example, receiving beam-related information sent by a network-side device to indicate a new beam, the terminal feeding back an acknowledgment (ACK) message to the network-side device after receiving the beam-related information, the new beam indicated by the beam-related information takes effect, and the terminal senses, for example, by measuring a sensing signal or sending a sensing signal. The effective time of the above beam-related information may be, for example, Figure 5B The start time when the new beam takes effect. The receiving time of the above beam related information can be, for example, Figure 5BThe start time or end time when the terminal receives the beam-related information, and the sending time of the confirmation message of the above beam-related information can be, for example, Figure 5B The start time or end time when the terminal sends the ACK message.

[0423] For example, see Figure 5B , assuming that the start time of the time interval t1 is the effective time of the beam-related information, that is, Figure 5B The starting time when the new beam takes effect is T1 away from the end time of the ACK message, and the length of the time interval t1 is T2. Therefore, based on the end time and duration T1 of the ACK message, the starting time when the new beam takes effect can be calculated, and based on the starting time when the new beam takes effect and the length T2 of the time interval t1, the starting time of perception can be calculated.

[0424] For example 2, see Figure 5B , assuming that the start time of the time interval is the sending time of the confirmation message of the beam-related information, such as the end time of the ACK message, and the length of the time interval t1 is T3, the start time of the perception can be calculated based on the end time of the ACK message and the length T3 of the time interval t1.

[0425] Optionally, if the beam-related information is BFRR, the start time of the above time interval may be the sending time of the BFRQ corresponding to the BFRR, such as the start time or end time when the terminal sends the BFRQ.

[0426] In another example, this step can be specifically implemented by the following steps:

[0427] Within the time window a1, perception is performed based on the perception-related information.

[0428] Optionally, the time window a1 may be configured for the terminal by a network-side device, or may be pre-agreed upon by a protocol, or may be determined in real time by the terminal based on a preset algorithm or strategy.

[0429] Optionally, the time window a1 can be determined by at least two of the starting position of the time window a1, the length of the time window a1, and the ending position of the time window a1. At this time, the at least two pieces of information used to determine the time window a1 can be partially configured by the network side device for the terminal, and partially determined by the terminal based on a protocol agreement, a preset algorithm, or a preset strategy.

[0430] Optionally, the network side device may configure the information of the time window a1 for the terminal so that the terminal can determine the time window a1, and the following steps may be further included before step 502:

[0431] Configuration information of the time window a1 is received, where the configuration information of the time window a1 is used to indicate the time window a1.

[0432] Optionally, the configuration information of the time window a1 includes at least one of the following: the starting position of the time window a1, the length of the time window a1, and the ending position of the time window a1. When the configuration information of the time window a1 includes one of the starting position of the time window a1, the length of the time window a1, and the ending position of the time window a1, other information used to determine the time window a1 may be determined by the terminal based on a protocol agreement, a preset algorithm, or a preset policy. For example, if the configuration information of the time window a1 includes: the starting position of the time window a1, the length and / or ending position of the time window a1 may be determined by the terminal based on a protocol agreement, a preset algorithm, or a preset policy.

[0433] It should be noted that the above time window may not be periodic, but one-time (one shop).

[0434] In another example, the above two examples may be combined. In this case, this step may specifically include:

[0435] After receiving the beam related information, after a time interval t1, perception is performed according to the perception related information within the time window a1.

[0436] The method for determining the time interval t1 and the method for determining the time window a1 in this example can refer to the above examples and will not be described in detail here.

[0437] In another example, the time interval, time window, etc. in the above example may also be carried by the perception trigger indication, and then the above example may determine the time interval, time window, etc. according to the time information included in the perception trigger indication, and then perform perception. The perception trigger indication may be carried by the perception related information associated with the beam related information, or may not be carried in the perception related information, but the network side device may send the perception trigger indication to the terminal before or after sending the beam related information.

[0438] In another example, the perception trigger indication may also carry other time information to indicate the time for perception to the terminal. Accordingly, in this step, perception may also be performed according to the time information carried by the perception trigger indication and the perception related information.

[0439] Figure 5AIn the method shown, beam-related information is associated with perception-related information, thereby associating beam update behavior with perception behavior. By utilizing the association relationship, when beam update behavior occurs, perception behavior can be initiated without the need for additional transmission of signaling required for perception behavior. Communication-assisted perception is realized in the synaesthesia integrated system, accelerating the perception process, reducing the signaling overhead and delay of the perception process, timely obtaining terminal surrounding environment information, updating the environmental map on the network side, and improving communication performance.

[0440] It should be noted that Figure 5A In the method shown, the execution subject is taken as an example of a terminal. In other embodiments provided in the present application, for example, in a scenario where two network-side devices cooperate to perform perception, the above-mentioned execution subject may also be a network-side device.

[0441] Figure 6 In the illustrated embodiment of the present application, perception-related information is associated with beam-related information, and the network-side device indicates the perception-related information.

[0442] Figure 6 is a second flow chart of the perception method provided in the embodiment of the present application, which can be executed by a network side device. Figure 6 As shown, the method may include:

[0443] Step 601: Determine beam-related information, where the beam-related information is associated with perception-related information, and the beam-related information indicates a beam used for signal transmission.

[0444] The implementation of this step can refer to the corresponding description in step 501, which will not be repeated here.

[0445] Step 602: Send beam related information.

[0446] Optionally, beam-related information may be transmitted via explicit signaling.

[0447] Optionally, when the beam-related information is BFRR, the process may further include receiving BFRQ before step 601.

[0448] Optionally, the BFRQ may be associated with perception request information, where the perception request information is used to request perception.

[0449] Optionally, the perception request information indicates at least one of the following: a perception association state, a perception mode, a perception signal set, a perception signal resource, a perception signal configuration, and a perception report configuration.

[0450] It should be noted that the information indicated by the perception request information and the perception related information associated with the beam related information in step 601 may be the same or different, and the embodiment of the present application does not limit this. Taking the case where the terminal sends a BFRQ to the network side device and the BFRQ is associated with the perception request information as an example, the role of the above-mentioned perception request information is to request the network side device to perceive according to the perception request information, but the perception related information actually indicated by the network side device to the terminal is not necessarily the information requested by the terminal, that is, it is not necessarily the information indicated by the perception request information.

[0451] Here are some examples:

[0452] Example 1: The beam-related information and the perception-related information may indicate information of different items in the above-mentioned perception association state, perception mode, perception signal set, perception signal resource, perception signal configuration, and perception report configuration. For example, the perception-related information associated with the beam-related information in step 601 indicates the perception signal set, and the perception request information indicates the perception mode;

[0453] Example 2: Beam-related information and perception-related information may indicate information of the same items in the above-mentioned perception association state, perception mode, perception signal set, perception signal resources, perception signal configuration, and perception report configuration. For example, the perception-related information associated with the beam-related information in step 601 indicates the perception mode, and the perception request information also indicates the perception mode. At this time, the perception mode indicated by the perception-related information may be the same as or different from the perception mode indicated in the perception request information. However, when perception is performed according to the perception-related information in the subsequent step 603, perception is performed based on the perception mode indicated in the perception-related information.

[0454] Optionally, the beam-related information may include:

[0455] Sending beam configuration information, where the beam configuration information includes beam-related information; or,

[0456] Sending a beam activation command, where the beam activation command includes beam related information; or,

[0457] Send downlink control information, which includes beam-related information.

[0458] The implementation of the above beam configuration information, beam activation command, and downlink control information can refer to Figure 5A The corresponding description in the illustrated embodiment will not be repeated here.

[0459] Step 603: Perform perception based on the perception-related information.

[0460] Step 603 is an optional step.

[0461] In one example, this step may include:

[0462] After the beam related information is sent, after a time interval t2, perception is performed based on the perception related information.

[0463] Optionally, the starting time of the above time interval t2 may be: the effective time of the beam-related information, the sending time of the beam-related information, or the receiving time of the confirmation message of the beam-related information.

[0464] See for example Figure 5B As shown, the transmission time of the above beam-related information may be, for example, the time when the network side device sends Figure 5B The start time or end time of the beam-related information, and the reception time of the confirmation information of the above beam-related information may be, for example, the time when the network side device receives the confirmation information. Figure 5B The start time or end time of the ACK message in the message, and the effective time of the above-mentioned beam-related information can be, for example, the start time or end time of the new beam taking effect.

[0465] Optionally, when the beam-related information is BFRR, the starting time of the above time interval t2 may be the receiving time of BFRQ.

[0466] Optionally, the time interval t2 may be pre-agreed by a protocol, or may be configured by a core network server for an access network device and a terminal, or may be configured by an access network device to a terminal. When the time interval t2 is configured by a core network server for an access network device and a terminal, the following steps may be further included before step 603:

[0467] The access network device receives the configuration information at time interval t2 sent by the core network server.

[0468] In another example, this step may include:

[0469] Within time window a2, perception is performed based on perception-related information.

[0470] Optionally, the time window a2 may be pre-agreed by a protocol, or may be configured by a core network server for an access network device and a terminal, or may be configured by an access network device to a terminal. When the time window a2 is configured by a core network server for an access network device and a terminal, the following steps may be further included before step 603:

[0471] Receive configuration information of time window a2.

[0472] Optionally, the configuration information of the time window a2 includes at least one of the following: a starting position of the time window a2, a length of the time window a2, and an ending position of the time window a2.

[0473] In another example, the above two examples may be combined. In this case, this step may include:

[0474] After the beam related information is sent, after a time interval t2, within the time window a2, perception is performed based on the perception related information.

[0475] The implementation of this example can refer to the above two examples, which will not be repeated here.

[0476] In another example, the network side device may carry time information in the perception trigger indication to indicate the time for perception to the terminal. Accordingly, in this step, perception may also be performed according to the perception related information at the time indicated by the time information carried by the perception trigger indication. The perception trigger indication may be carried by the perception related information associated with the beam related information, or may not be carried in the perception related information, but the network side device may send the perception trigger indication to the terminal before or after sending the beam related information.

[0477] Figure 6 In the method shown, the beam-related information sent by the network-side device is associated with the perception-related information, thereby associating the beam update behavior with the perception behavior. By utilizing the association relationship, the perception behavior can be started when the beam update behavior occurs, without the need for additional transmission of perception-related signaling, thereby realizing communication-assisted perception in the synaesthesia integrated system, accelerating the perception process, reducing the signaling overhead and delay of the perception process, timely obtaining the terminal's surrounding environment information, updating the network side's environmental map, and improving communication performance.

[0478] Fig. 7A In the illustrated embodiment of the present application, perception-related information is associated with beam-related information, and the network-side device indicates the perception-related information to the terminal.

[0479] Fig. 7A FIG. 7 is a third flow chart of the perception method provided in the embodiment of the present application, as shown in FIG. 7 , including:

[0480] Step 702: The network side device determines beam-related information, and the beam-related information is associated with perception-related information.

[0481] Optionally, the perception-related information in the embodiment of the present application may be specifically used to indicate at least one of the following:

[0482] Perception association status, perception trigger indication, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

[0483] The specific implementation of beam-related information and perception-related information in this step can refer to Figures 5 and Figure 6 The corresponding descriptions in the illustrated embodiments are not repeated here.

[0484] Step 704: The network side device sends beam-related information, and the terminal receives beam-related information.

[0485] Optionally, beam-related information may be transmitted via explicit signaling.

[0486] Optionally, the beam-related information may specifically be: TCI state, quasi-co-location source reference signal, or BFRR. For specific implementation, please refer to FIG. 5 and FIG. Figure 6 The corresponding descriptions in the illustrated embodiments are not repeated here.

[0487] Step 706: The network-side device and the terminal perform perception based on the perception-related information respectively.

[0488] In this step, after the network side device sends the beam-related information, it can determine the time for perception and perform perception. After the terminal receives the beam-related information, it can determine the time for perception and perform perception. The specific implementation of this step can refer to the corresponding instructions in step 502 and step 603, which will not be repeated here.

[0489] Below, through Figure 7B and Figure 7C An exemplary description is given of the implementation of perception between network-side devices and terminals under different perception modes.

[0490] exist Figure 7B In the process, the network side device sends the perception signal, and the terminal measures the perception signal.

[0491] like Figure 7B As shown, step 706 may include:

[0492] S11: The network side device sends a perception signal.

[0493] In an embodiment of the present application, the time when the network side device perceives in step 603 can be used as the time when the network side device sends the perception signal in this step. The specific determination method can refer to step 603 and will not be repeated here.

[0494] In an example, if the perception-related information associated with the beam-related information indicates a perception signal set, a perception signal resource, and / or a configuration of a perception signal resource, then in this step, the network-side device may send a perception signal based on the perception-related information.

[0495] In another instance, if the perception-related information associated with the beam-related information does not indicate information such as a perception signal set, perception signal resources, and configuration of perception signal resources, but the core network server has pre-configured information such as a perception signal set, perception signal resources, and / or configuration of perception signal resources for the access network device and terminal, or the access network device has pre-configured information such as a perception signal set, perception signal resources, and / or configuration of perception signal resources, then in this step, the network side device can send a perception signal based on the above-mentioned pre-configured information.

[0496] S12: The terminal measures the sensing signal and obtains a sensing result.

[0497] In the embodiment of the present application, the time when the terminal performs perception in step 502 may be used as the time when the terminal measures the perception signal in this step. The specific determination method may refer to step 502 and will not be repeated here.

[0498] In an example, if the perception-related information associated with the beam-related information indicates a perception signal set, a perception signal resource and / or a configuration of a perception signal resource, then in this step, the terminal may measure the perception signal based on the perception-related information.

[0499] In another instance, if the perception-related information associated with the beam-related information does not indicate information such as a perception signal set, perception signal resources, and configuration of perception signal resources, but the core network server pre-configures the access network device and the terminal, or the access network device pre-configures information such as a perception signal set, perception signal resources, and / or configuration of perception signal resources, then in this step the terminal can measure the perception signal based on the above-mentioned pre-configured information.

[0500] S13: The terminal generates a perception report according to the perception result, and sends the perception report to the network side device.

[0501] In an example, if the above-mentioned perception-related information includes perception report indication information, then in this step, the terminal may generate a perception report according to the perception report indication information and the perception result.

[0502] In another instance, if the above-mentioned perception-related information does not include perception report indication information, but the core network server or access network device has pre-configured only one format of perception report or one perception report configuration for this perception mode (the network side device sends perception information, and the terminal perceives, measures and reports), then in this step, the terminal can generate a perception report based on the perception results and the pre-configured perception report information.

[0503] It should be noted that when the terminal generates a perception report based on the perception result, all results or some of the better results in the perception result can be carried in the perception report. In other words, when the terminal measures the perception signal in step S12, it can only measure the parameters required in the perception report to obtain the perception result, or it can measure the parameters required in the perception report and other parameters other than the parameters required in the perception report to obtain the perception result, which is not limited in the embodiment of the present application.

[0504] S14: The network-side device updates the environment map according to the perception report.

[0505] The terminal can send the perception report to the access network device, such as a base station. After receiving the perception report, the access network device can update the environment map maintained by the access network device according to the perception report. Alternatively, the access network device can report the updated environment map to the core network server, or the access network device can also send the perception report to the core network server, and the core network server can update the environment map maintained by itself according to the perception report. Among them, the environment map maintained by the core network server may include the environment map maintained by the access network device. In other words, the environment map maintained by the access network device may be a part of the environment map maintained by the core network server.

[0506] exist Figure 7C In the process, the terminal sends a perception signal, and the network side device measures the perception signal.

[0507] like Figure 7C As shown, step 706 may include:

[0508] S21: The terminal sends a perception signal.

[0509] In the embodiment of the present application, the time when the terminal performs perception in step 502 may be used as the time when the terminal sends the perception signal in this step. The specific determination method may refer to step 502 and will not be repeated here.

[0510] In an example, if the perception-related information associated with the beam-related information indicates a perception signal set, a perception signal resource, and / or a configuration of a perception signal resource, then in this step, the terminal may send a perception signal based on the perception-related information.

[0511] In another instance, if the perception-related information associated with the beam-related information does not indicate information such as a perception signal set, perception signal resources, and configuration of perception signal resources, but the core network server pre-configures the access network device and the terminal, or the access network device pre-configures information such as a perception signal set, perception signal resources, and / or configuration of perception signal resources, then in this step the terminal can send a perception signal based on the above-mentioned pre-configured information.

[0512] S22: The network side device measures the sensing signal to obtain a sensing result.

[0513] In an embodiment of the present application, the time for the network side device to perceive in step 602 can be used as the time for the network side device to measure the perception signal in this step. The specific determination method can refer to step 602 and will not be repeated here.

[0514] In an example, if the perception-related information associated with the beam-related information indicates a perception signal set, a perception signal resource, and / or a configuration of a perception signal resource, then in this step, the network-side device may measure the perception signal based on the perception-related information.

[0515] In another instance, if the perception-related information associated with the beam-related information does not indicate information such as a perception signal set, perception signal resources, and configuration of perception signal resources, but the core network server has pre-configured information such as a perception signal set, perception signal resources, and / or configuration of perception signal resources for the access network device and terminal, or the access network device has pre-configured information such as a perception signal set, perception signal resources, and / or configuration of perception signal resources, then in this step, the network side device can measure the perception signal based on the pre-configured information.

[0516] S23: The network-side device updates the environment map according to the perception result.

[0517] Optionally, the access network device can update the environmental map it maintains based on the perception results, or the access network device can report the updated environmental map to the core network server, or the access network device can also send the perception results to the core network server, and the core network server can update the environmental map it maintains based on the perception results.

[0518] The implementation of the above steps can refer to Figures 5 and Figure 6 The corresponding descriptions in the illustrated embodiments are not repeated here.

[0519] In another perception method provided in an embodiment of the present application, the network side device configures the perception configuration information for the terminal. In this case, the following step 700 may be included before step 702 of the above embodiment. Figure 8 , taking the method shown in FIG. 7 including step 700 before step 702 as an example.

[0520] Step 700: The network side device sends perception configuration information, and the terminal receives the perception configuration information.

[0521] Optionally, the above-mentioned perception configuration information can be sent by the core network server to the access network device, and then sent by the access network device to the terminal, that is, before this step, it can also include: the core network server sends the perception configuration information to the access network device.

[0522] Optionally, the perception configuration information may include at least one of the following: candidate perception mode configuration information, candidate perception signal configuration information, and candidate perception report configuration information.

[0523] Optionally, the candidate sensing mode configuration information may be used to configure at least one sensing mode. The candidate sensing mode configuration information may include a sensing mode identifier. Different sensing modes have different sensing mode identifiers.

[0524] Optionally, the candidate perceptual signal configuration information may be used to configure a perceptual signal resource, a perceptual signal resource set, or a perceptual signal resource configuration. Optionally, the candidate perceptual signal configuration information may configure at least one perceptual signal, at least one perceptual signal resource, at least one perceptual signal resource set, or at least one perceptual signal resource configuration. Optionally, the perceptual signal configuration information may include: a perceptual signal resource identifier, a resource set identifier, or a resource configuration identifier. Different perceptual signals have different resource identifiers.

[0525] Optionally, the candidate perception report configuration information may be used to configure a perception report. Optionally, the candidate perception report configuration information may be used to configure at least one format of perception report or at least one type of perception report. Optionally, the candidate perception report configuration information may include: an identifier of a perception report configuration. Perception reports of different formats have different perception report identifiers or identifiers of different perception report configurations. Different perception reports have different perception report identifiers or identifiers of different perception report configurations.

[0526] At this time, the perception related information in the embodiment of the present application may include:

[0527] a sensing mode flag indicating a sensing mode; and / or,

[0528] a resource identifier, a resource set identifier, or a resource configuration identifier of a perception signal, indicating the perception signal; and / or,

[0529] The flag of the perception report configuration, indicating perception reporting.

[0530] Accordingly, in step 706:

[0531] The terminal may obtain the perception configuration information corresponding to the perception related information from the perception configuration information based on the perception related information, and perform perception based on the perception configuration information corresponding to the above perception related information.

[0532] Since the above-mentioned perception-related information is indicated to the terminal by the network-side device, the network-side device may use the same or different method as the terminal to determine the perception configuration information and perform perception, which is not limited in the embodiments of the present application.

[0533] Optionally, the perception configuration information may also include: an association relationship between a perception signal and a perception report. Optionally, multiple perception signal resources or multiple perception signal resource sets or multiple perception signal resource configurations may correspond to a perception report of one format or one configuration identifier, and perception reports of different formats or different configuration identifiers may correspond to one perception signal resource or one perception signal resource set or one perception signal resource configuration. Optionally, the above association relationship may be specifically recorded through a correspondence relationship between a resource identifier or a resource set identifier or a resource configuration identifier of a perception signal and a perception report configuration identifier.

[0534] In an example, if the candidate perception signal configuration information in the perception configuration information configures only one perception signal resource or one perception signal resource set or one perception signal resource configuration, and the candidate perception report configuration information only includes one perception report configuration, or, if the candidate perception signal configuration information in the perception configuration information configures only one perception signal resource or one perception signal resource set or one perception signal resource configuration, and the perception configuration information includes an association relationship between the perception signal and the perception report, or, if the candidate perception signal configuration information in the perception configuration information includes only one perception report configuration and the perception configuration information includes an association relationship between the perception signal and the perception report, then, the indication information of the perception signal and the indication information of the perception report in the perception-related information can be omitted.

[0535] In another example, if the perception-related information includes: an association relationship between a perception signal and a perception report, the perception-related information may include: perception signal indication information or perception report indication information, so that the terminal can determine the perception signal that the terminal needs to measure and the relevant information of the perception report to be reported based on the above-mentioned association relationship.

[0536] In another example, if the perception-related information includes: perception report indication information, the default perception mode may be that the network-side device sends a perception signal and the terminal measures and reports the perception result, and the perception mode indication information in the perception-related information may be omitted.

[0537] When the beam-related information is associated with the perception-related information in the above embodiment, specifically, the beam-related information has a corresponding relationship with the perception-related information, the network side device may send corresponding relationship indication information to the terminal to indicate the corresponding relationship between the beam-related information and the perception-related information. At this time, in another perception method provided in the embodiment of the present application, the following step 701 may also be included between step 702. Fig. 9 ,by Figure 8 The method shown also includes step 701 as an example.

[0538] Step 701: The network side device sends corresponding relationship indication information to the terminal, where the corresponding relationship indication information is used to indicate the corresponding relationship between beam-related information and perception-related information.

[0539] Correspondingly, after receiving the beam-related information in step 704, the terminal can determine the perception-related information corresponding to the beam-related information according to the above correspondence, and then in step 706, the terminal can perform perception according to the perception-related information corresponding to the beam-related information.

[0540] The above embodiment takes the example of triggering the network side device and the terminal to perform perception through the perception related information associated with the beam related information. In another perception method provided in the embodiment of the present application, the network side device and the terminal can be triggered to perform perception through a perception trigger indication sent independently of the above beam related information. At this time, the following step 705 can be added between step 704 and step 706 in the above embodiment. Fig.10 ,by Fig. 7A Take the method shown in the figure as an example in which the following step 705 is added between step 704 and step 706.

[0541] Step 705: The network side device sends a perception trigger indication, and the terminal receives the perception trigger indication.

[0542] At this time, the specific implementation of the network side device perceiving according to the perception-related information in step 706 can refer to step 603, and the main difference is that the specific instance of the network side device perceiving according to the perception-related information in step 603 is replaced by sending perception trigger information and then perceiving according to the perception-related information.

[0543] At this time, the specific implementation of the terminal perceiving according to the perception-related information in step 706 can refer to step 502, and the main difference is that the received beam-related information in the specific instance of the terminal perceiving according to the perception-related information in step 502 is replaced by the received perception trigger information.

[0544] In an embodiment of the present application, the perception-related information required for perception, such as the perception mode, the perception signal set, the perception signal resource, the configuration of the perception signal, and / or the configuration of the perception report, etc., is indicated by the perception-related information associated with the beam-related information, and then the network-side device and the terminal are triggered to perform perception according to the perception-related information respectively through the perception trigger indication sent independently of the above-mentioned beam-related information, thereby making the perception triggering method more diverse and flexible.

[0545] It should be noted that as long as the above-mentioned step 705 is located before step 706, the execution order of step 702 and step 704 is not limited. For example, in other embodiments provided in the present application, the above-mentioned step 705 can also be located before step 702, or between step 702 and step 704.

[0546] In another embodiment provided by the present application, the step of determining the sensing start time by the network side device and the terminal may be further included. In this case, the following steps 1101A and 1101B may be added between step 704 and step 706 of the above embodiment. Fig.11 ,by Fig. 7A Take the method shown as an example where step 1101A and step 1101B are added between step 704 and step 706.

[0547] Step 1101A: The network-side device determines the start time of perception.

[0548] Step 1101B: The terminal determines the start time of perception.

[0549] If step 706 passes Figure 7B In the implementation of S11 to S14 shown in , the starting time of perception determined by the network side device in step 1101A may specifically be the starting time for the network side device to send a perception signal, and the starting time of perception determined by the terminal in step 1101B may specifically be the starting time for measuring the perception signal.

[0550] If step 706 passes Figure 7C In the implementation of S21 to S23 shown in , the starting time of perception determined by the network side device in step 1101A may specifically be the starting time for the network side device to measure the perception signal, and the starting time of perception determined by the terminal in step 1101B may specifically be the starting time for sending the perception signal.

[0551] Optionally, the network side device determining the start time of perception in step 1101A may be implemented in the following manner:

[0552] Determine the start time of sensing based on the effective time of the beam-related information; or,

[0553] Determine the sensing start time according to the sending time of the beam related information; or,

[0554] The sensing start time is determined according to the reception time of the confirmation message of the beam-related information.

[0555] The implementation of the effective time of the above-mentioned beam-related information, the sending time of the beam-related information, and the receiving time of the confirmation message of the beam-related information can refer to the corresponding instructions in step 603, which will not be repeated here.

[0556] Optionally, if the perception trigger indication carries time information, the network side device in this step may also determine the start time of perception according to the time information carried by the perception trigger indication. The perception trigger indication may be included in the perception related information associated with the beam related information, or the network side device may send the perception trigger indication before or after sending the beam related information.

[0557] Optionally, the terminal determining the starting time of perception in step 1101B may be implemented in the following manner:

[0558] Determine the start time of sensing based on the effective time of the beam-related information; or,

[0559] Determine the start time of sensing based on the reception time of beam-related information; or,

[0560] The sensing start time is determined according to the sending time of the confirmation message of the beam related information.

[0561] The implementation of the effectiveness time of the above-mentioned beam-related information, the receiving time of the beam-related information, and the sending time of the confirmation message of the beam-related information can refer to the corresponding instructions in step 502, which will not be repeated here.

[0562] Optionally, if the perception trigger indication carries time information, the terminal in this step may also determine the start time of perception according to the time information carried by the perception trigger indication. The perception trigger indication may be included in the perception related information associated with the beam related information, or the network side device may send the perception trigger indication before or after sending the beam related information.

[0563] In an embodiment of the present application, the network side device and the terminal respectively determine the start time of perception, so that perception can be started simultaneously based on the start time of perception.

[0564] It should be noted that the method by which the network-side device determines the start time of perception and the method by which the terminal determines the start time of perception can be the same or different, as long as the two are synchronized so that the network-side device and the terminal can cooperate to complete the perception.

[0565] In a perception method provided in an embodiment of the present application, by associating a beam update request with beam related information, the terminal can indicate the perception related information to a network side device such as a base station when sending a beam update request, so that the network side device and the terminal can respectively perceive according to the perception related information. Figure 12A to Figure 15 An exemplary description is given.

[0566] Fig. 12AIn the embodiment of the present application shown, the beam update request is associated with perception-related information, and the terminal indicates the perception-related information to the network side device.

[0567] Fig. 12A is another flow chart of the sensing method provided in the embodiment of the present application. Fig. 12A , the method may include:

[0568] Step 1202: The terminal sends a beam update request, and the network side device receives the beam update request; the above beam update request is associated with perception related information.

[0569] Optionally, the beam update request may be transmitted via explicit signaling.

[0570] Optionally, the perception-related information in the embodiment of the present application may be used to indicate at least one of the following:

[0571] Perception request, perception association status, perception mode, perception signal set, perception signal resource, perception signal configuration, perception report configuration.

[0572] The above perception request can be used to request perception from the network side device.

[0573] Optionally, the above-mentioned beam update request associated with the perception-related information may specifically include: the beam update request includes the perception-related information, or there is a corresponding relationship between the beam update request and the perception-related information.

[0574] Optionally, the above-mentioned beam update request can be a BFRQ, or it can be other information or signaling used when the terminal requests the network side device to update the beam.

[0575] Step 1204: The network-side device and the terminal perform perception based on the perception-related information respectively.

[0576] The specific implementation of the terminal performing perception according to the perception-related information in this step is exemplarily described as follows.

[0577] In an example, the terminal performs perception according to the perception-related information, which may include:

[0578] After the terminal sends the beam update request, it performs perception based on the perception-related information after a time interval t3.

[0579] The starting time of the above time interval t3 may be: the sending time of the beam update request, or the receiving time of the confirmation message of the beam update request.

[0580] Optionally, the time interval t3 may be pre-agreed by a protocol, or may be configured by a network side device for the terminal. When the time interval t3 is pre-configured by a network side device for the terminal, the following may be included before step 1204:

[0581] The terminal receives the configuration information at time interval t3 sent by the network side device.

[0582] The configuration information of the time interval t3 is used to indicate the length of the time interval t3.

[0583] In another example, the terminal performs perception according to the perception-related information, which may include:

[0584] In time window a3, perception is performed based on the perception-related information.

[0585] Optionally, the time window a3 may be configured for the terminal by the network side device, or may be pre-agreed upon by a protocol, or may be determined in real time by the terminal based on a preset algorithm or strategy.

[0586] Optionally, the time window a3 may be determined by at least two of the starting position of the time window a3, the length of the time window a3, and the ending position of the time window a3. At this time, the at least two pieces of information used to determine the time window a3 may be partially configured by the network side device for the terminal, and partially determined by the terminal based on a protocol agreement, a preset algorithm, or a preset strategy.

[0587] Optionally, the network side device may configure the information of the time window a3 for the terminal so that the terminal determines the time window a3. Before step 1204, the following may be included:

[0588] The terminal receives the configuration information of the time window a3 sent by the network side device, where the configuration information of the time window a3 is used to indicate the time window a3.

[0589] Optionally, the configuration information of the time window a3 includes at least one of the following: the starting position of the time window a3, the length of the time window a3, and the ending position of the time window a3. When the configuration information of the time window a3 includes one of the starting position of the time window a3, the length of the time window a3, and the ending position of the time window a3, other information used to determine the time window a3 may be determined by the terminal based on a protocol agreement, a preset algorithm, or a preset policy. For example, if the configuration information of the time window a3 includes: the starting position of the time window a3, the length and / or ending position of the time window a3 may be determined by the terminal based on a protocol agreement, a preset algorithm, or a preset policy.

[0590] The specific implementation of the network side device performing perception according to the perception related information in this step is exemplified as follows.

[0591] In an example, the network side device performs perception according to the perception related information, which may include:

[0592] After the network side device receives the beam update request, it performs perception based on the perception-related information after a time interval t4.

[0593] Optionally, the starting time of the time interval t4 may be: the time of receiving the beam update request, or the time of sending a confirmation message of the beam update request.

[0594] The confirmation message of the beam update request may be, for example, an ACK message or a response message of the beam update request.

[0595] In another example, the network side device performs perception according to the perception related information, which may include:

[0596] In time window a4, perception is performed based on the perception-related information.

[0597] The method for determining the time window a4 is not limited in this embodiment of the application.

[0598] It should be noted that the method for the network side device to determine the perception time and the method for the terminal to determine the perception time in the embodiment of the present application can be decoupled. For example, the network side device can perceive according to the time window, and the terminal can perceive according to the above time interval. As long as the perception time of the two is synchronized, they can cooperate to complete the perception.

[0599] Optionally, the specific implementation of the perception performed by the network-side device and the terminal may refer to the above-mentioned steps S11 to S14 or steps S21 to S23, which will not be described in detail here.

[0600] Fig. 12A In the method shown, the beam update request is associated with perception-related information, so that when the terminal sends a beam update request to the network side device, it can trigger the network side device and the terminal to perform perception.

[0601] Fig. 12B In the embodiment of the present application shown in Fig. 12A Based on the method shown, the network side device pre-configures the perception configuration information to the terminal.

[0602] See also Fig. 12B In another sensing method provided in an embodiment of the present application, Fig. 12A The illustrated method may include step 1200 before step 1202 .

[0603] Step 1200: The network side device sends perception configuration information, and the terminal receives the perception configuration information.

[0604] Correspondingly, when the network side device and the terminal perform perception in step 1204, they can respectively obtain the perception configuration information corresponding to the perception related information from the perception configuration information based on the perception related information, and perform perception based on the perception configuration information corresponding to the above perception related information.

[0605] The implementation of the above-mentioned perception configuration information can refer to the corresponding instructions in step 700, which will not be repeated here.

[0606] When the beam update request associated with the perception-related information in the above embodiment specifically means that the beam update request has a corresponding relationship with the perception-related information, the network side device may send corresponding relationship indication information to the terminal to indicate the corresponding relationship between the beam update request and the perception-related information to the terminal. At this time, in another perception method provided in an embodiment of the present application, the following step 1201 may also be included before step 1202. Fig. 12C ,by Fig. 12B The method shown also includes step 1201 as an example.

[0607] Step 1201: The network side device sends corresponding relationship indication information to the terminal, where the corresponding relationship indication information is used to indicate the corresponding relationship between the beam update request and the perception-related information.

[0608] Correspondingly, when the terminal sends a beam update request in step 1202, the perception-related information associated with the beam update request can be determined according to the above-mentioned correspondence. After the network side device receives the beam update request, in step 1204, it can determine the perception-related information corresponding to the beam update request according to the above-mentioned correspondence, and perform perception based on the perception-related information corresponding to the beam update request.

[0609] In another embodiment provided by the present application, if the beam update request sent by the terminal in step 1202 is a BFRQ, the network side device may send a BFRR to the terminal after receiving the BFRQ. At this time, the following step 1203 may be further included between step 1202 and step 1204. Fig.13 ,by Fig. 12A Take the method shown as an example where step 1203 is included between step 1202 and step 1204.

[0610] Step 1203: The network side device sends a BFRR, and the terminal receives the BFRR.

[0611] Optionally, the BFRR may be associated with perception-related information.

[0612] At this time, in step 1204, the terminal may sense according to the sense-related information in the following manner:

[0613] After receiving the BFRR, after a time interval t5, perception is performed based on the perception-related information.

[0614] Optionally, the start time of the time interval t5 may be: the effective time of the BFRR, the receiving time of the BFRR, or the sending time of the confirmation message of the BFRR.

[0615] Optionally, the information of the time interval t5 may be pre-agreed by a protocol, or may be configured by a network side device for the terminal. When the time interval t5 is configured by a network side device for the terminal, the following steps may be included before step 1204:

[0616] The terminal receives configuration information of the time interval t5 sent by the network side device, where the configuration information of the time interval t5 is used to indicate the length of the time interval t5.

[0617] In step 1204, the network side device may sense according to the sensing related information in the following manner:

[0618] After the network side device sends the BFRR, after a time interval t6, it performs perception based on the perception-related information.

[0619] Optionally, the start time of the time interval t6 may be: the effective time of the BFRR, the sending time of the BFRR, or the receiving time of the confirmation message of the BFRR.

[0620] The above-mentioned confirmation message of BFRR may be, for example, an ACK message or a response message of BFRR.

[0621] In another embodiment provided in the present application, the step of determining the sensing start time by the network side device and the terminal may be further included. In this case, FIG. 12 and FIG. Fig.13 The following steps 1401A and 1401B may also be included between step 1202 and step 1204. Fig.14 ,by Fig. 12A For example, the method shown includes steps 1401A and 1401B between step 1202 and step 1204.

[0622] Step 1401A: The network side device determines the start time for sensing.

[0623] Optionally, the network side device may determine the start time of sensing in the following manner:

[0624] Determining the sensing start time according to the reception time of the beam update request; or,

[0625] The sensing start time is determined according to the sending time of the confirmation message of the beam update request.

[0626] Step 1401B: The terminal determines the starting time for sensing.

[0627] Optionally, the terminal may determine the starting time for sensing in the following manner:

[0628] Determine the sensing start time based on the sending time of the beam update request; or,

[0629] The sensing start time is determined according to the reception time of the confirmation message of the beam update request.

[0630] The above embodiment takes the example of triggering the network side device and the terminal to perform perception by the perception related information associated with the beam update request. In another perception method provided in the embodiment of the present application, the network side device and the terminal can be triggered to perform perception by a perception trigger indication sent independently of the above beam update request. At this time, the following step 1501 can be included between step 1202 and step 1204 in the above embodiment. Fig.15 ,by Fig. 12A Take the method shown as an example where step 1501 is included between step 1202 and step 1204.

[0631] Step 1501: The network side device sends a perception trigger indication, and the terminal receives the perception trigger indication.

[0632] In an embodiment of the present application, the perception-related information associated with the beam update request indicates the perception-related information required for perception, such as the perception mode, the perception signal set, the perception signal resource, the configuration of the perception signal, and / or the configuration of the perception report, etc., and then the network-side device and the terminal are triggered to perform perception according to the perception-related information respectively through a perception trigger indication sent independently of the above-mentioned beam-related information.

[0633] In a perception method provided in an embodiment of the present application, a network side device may send beam related information to a terminal, and the terminal may perceive after receiving the beam related information, so that the network side device may implicitly instruct the terminal to perceive through the beam related information. Figures 16A to 16C An exemplary description is given.

[0634] Fig.16A In the embodiment of the present application shown, the network side device sends beam-related information to the terminal, and implicitly instructs the terminal to perceive through the beam-related information.

[0635] Fig.16A is a flow chart of a sensing method provided in an embodiment of the present application, such as Fig.16A As shown, the method may include:

[0636] Step 1602: The network side device sends beam-related information, and the terminal receives beam-related information.

[0637] Optionally, beam-related information can be used to trigger perception.

[0638] Optionally, the implementation of the terminal receiving beam-related information and the implementation of beam-related information can refer to the corresponding instructions in step 501, and the implementation of the network side device sending beam-related information can refer to the corresponding instructions in step 602. The main difference is that the beam-related information in the embodiment of the present application is not associated with perception-related information.

[0639] Step 1604: The network side device and the terminal perform perception respectively.

[0640] In this step, the perception-related information based on which the network-side devices and terminals perform perception can be pre-agreed by the protocol, or pre-configured by the core network server for the access network devices and terminals, or configured by the access network devices for the terminals, and the embodiments of this application are not limited thereto.

[0641] The specific implementation of the terminal's perception in this step can refer to the corresponding instructions in step 502, and the specific implementation of the network-side device's perception in this step can refer to the corresponding instructions in step 603. The main difference is that the beam-related information in the embodiment of the present application is not associated with the perception-related information.

[0642] In an embodiment of the present application, the network side device can perceive after sending beam-related information, and the terminal can perceive after receiving beam-related information, thereby realizing that when the beam update behavior occurs, the perception behavior can be initiated without the need for additional transmission of perception trigger signaling, thereby realizing communication-assisted perception in the integrated synaesthesia system, accelerating the perception process, reducing the signaling overhead and delay of the perception process, timely obtaining the terminal's surrounding environment information, updating the network side's environmental map, and improving communication performance.

[0643] In another embodiment provided by the present application, the network side device may send sensing enabling indication information to the terminal in advance to indicate beam related information to the terminal for triggering sensing. Fig. 16B As shown in the above Fig.16A The method shown may further include step 1600 before step 1602 .

[0644] Step 1600: The network side device sends perception enable indication information, and the terminal receives the perception enable indication information, where the perception enable indication information indicates beam-related information for triggering perception.

[0645] In an embodiment of the present application, the network side device can determine whether beam-related information is used to trigger perception according to actual needs, and send the above-mentioned perception enable indication information to the terminal when beam-related information is needed to trigger perception, so that the perception triggering method is more flexible.

[0646] In another embodiment provided in the present application, the step of determining the sensing start time by the network side device and the terminal may be further included. In this case, steps 1603A and 1603B may be included between step 1602 and step 1604. Fig. 16C ,by Fig. 16B For example, the method shown includes steps 1603A and 1603B between step 1602 and step 1604.

[0647] Step 1603A: The network side device determines the start time of perception.

[0648] The implementation of this step can refer to the corresponding instructions in step 1101A, which will not be repeated here.

[0649] Step 1603B: The terminal determines the start time of perception.

[0650] The implementation of this step can refer to the corresponding instructions in step 1101B, which will not be repeated here.

[0651] In a perception method provided in an embodiment of the present application, a terminal may send a beam update request to a network side device, and the network side device performs perception after receiving beam related information, so that the terminal may implicitly instruct the network side device to perform perception through the beam update request. Figures 17A to 17C An exemplary description is given.

[0652] Fig.17A In the embodiment of the present application shown, the terminal sends a beam update request to the network side device, and implicitly instructs the network side device to perform perception through the beam update request.

[0653] Fig.17A is a flow chart of a sensing method provided in an embodiment of the present application, such as Fig.17A As shown, the method may include:

[0654] Step 1702: The terminal sends a beam update request, and the network side device receives the beam update request.

[0655] The implementation of this step may refer to step 1202, the main difference being that the beam update request in the embodiment of the present application is not associated with perception-related information.

[0656] Step 1704: The network side device and the terminal perform perception respectively.

[0657] In this step, the perception-related information based on which the network-side devices and terminals perform perception can be pre-agreed by the protocol, or pre-configured by the core network server for the access network devices and terminals, or by the access network devices for the terminals, and the embodiments of this application are not limited thereto.

[0658] The implementation of this step may refer to step 1204, the main difference being that the beam update request in the embodiment of the present application is not associated with perception-related information.

[0659] In an embodiment of the present application, the network side device can perform perception after receiving a beam update request, and the terminal can perform perception after sending a beam update request, thereby realizing that when a beam update behavior occurs, the network side device and the terminal initiate the perception behavior without the need for additional transmission of perception trigger signaling, thereby realizing communication-assisted perception in the integrated synaesthesia system, accelerating the perception process, reducing the signaling overhead and delay of the perception process, timely obtaining the terminal's surrounding environment information, updating the network side's environmental map, and improving communication performance.

[0660] In another embodiment provided by the present application, the network side device may send sensing enabling indication information to the terminal in advance to indicate beam related information to the terminal for triggering sensing. Fig. 17B As shown in the above Fig.17A The method shown may further include step 1700 before step 1702 .

[0661] Step 1700: The network side device sends perception enable indication information, and the terminal receives the perception enable indication information, where the perception enable indication information indicates that a beam update request is used to trigger perception.

[0662] In an embodiment of the present application, the network side device can determine whether the beam update request is used to trigger perception according to actual needs, and send the above-mentioned perception enable indication information to the terminal when the beam update request is required to trigger perception.

[0663] In another embodiment provided in the present application, the step of determining the sensing start time by the network side device and the terminal may be further included. In this case, step 1703A and step 1703B may be included between step 1702 and step 1704. Fig. 17C ,by Fig. 17B For example, the method shown includes step 1703A and step 1703B between step 1702 and step 1704.

[0664] Step 1703A: The network side device determines the start time of perception.

[0665] The implementation of this step can refer to the corresponding instructions in step 1401A, which will not be repeated here.

[0666] Step 1703B: The terminal determines the start time of perception.

[0667] The implementation of this step can refer to the corresponding instructions in step 1401B, which will not be repeated here.

[0668] Fig.18It is a sensing device provided in an embodiment of the present application. The device 1800 may include:

[0669] A communication unit 1801 is configured to receive beam-related information, where the beam-related information is associated with perception-related information, and the beam-related information indicates a beam used for signal transmission;

[0670] The processing unit 1802 is used to perform perception according to the perception-related information.

[0671] Fig.19 It is a sensing device provided in an embodiment of the present application. The device 1900 may include:

[0672] A communication unit 1901 is configured to send a beam update request, where the beam update request is associated with sensing related information;

[0673] The processing unit 1902 is used to perform perception according to the perception-related information.

[0674] Fig. 20 A sensing device provided in an embodiment of the present application, the device 2000 may include: a communication unit 2001 and a processing unit 2002, wherein:

[0675] The processing unit 2002 is used to sense after the communication unit 2001 receives beam-related information.

[0676] Fig.21 It is a sensing device provided in an embodiment of the present application. The device 2100 may include: a communication unit 2101 and a processing unit 2102, wherein:

[0677] The processing unit 2102 is used to sense after the communication unit 2101 sends a beam update request.

[0678] Fig. 22 It is a sensing device provided in an embodiment of the present application. The device 2200 may include:

[0679] A processing unit 2201 is configured to determine beam related information, where the beam related information is associated with the sensing related information, and the beam related information indicates a beam used for signal transmission;

[0680] The communication unit 2202 is used to send the beam related information.

[0681] Fig.23 It is a sensing device provided in an embodiment of the present application. The device 2300 may include:

[0682] The communication unit 2301 is configured to receive a beam update request, where the beam update request is associated with sensing related information;

[0683] The processing unit 2302 is used to perform perception according to the perception-related information.

[0684] Fig.24 It is a sensing device provided in an embodiment of the present application. The device 2400 may include: a communication unit 2401 and a processing unit 2402, wherein:

[0685] The processing unit 2402 is used to sense after the communication unit 2401 sends beam-related information.

[0686] Fig.25 It is a sensing device provided in an embodiment of the present application. The device 2500 may include: a communication unit 2501 and a processing unit 2502, wherein:

[0687] The processing unit 2502 is used to sense after the communication unit 2501 receives the beam update request.

[0688] Figures 18 to 25 The device provided in the illustrated embodiment can be used to execute the technical solution of the method embodiment illustrated in the present application, and its implementation principle and technical effects can be further referred to the relevant description in the method embodiment.

[0689] It should be understood that the above Figures 18 to 25 The division of the various modules of the device shown is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated. And these modules can all be implemented in the form of software calling through processing elements; they can also be all implemented in the form of hardware; some modules can also be implemented in the form of software calling through processing elements, and some modules can be implemented in the form of hardware. For example, the sending unit can be a separately established processing element, or it can be integrated in a chip of the terminal device. The implementation of other units is similar. In addition, all or part of these units can be integrated together, or they can be implemented independently. For example, the above-mentioned uplink synchronization device can be a chip or a chip module, or the above-mentioned uplink synchronization device can be a part of a chip or a chip module. In the implementation process, each step of the above method or the above-mentioned units can be completed by the hardware integrated logic circuit in the processor element or the instructions in the form of software.

[0690] like Fig.26 As shown, the present application provides an electronic device, the electronic device includes: a processor 121, a memory 122 and a transceiver 123; the processor and the transceiver cooperate to implement the method provided in the above embodiment of the present application. The above electronic device can be a terminal or a network side device.

[0691] The present application also provides a terminal, the device includes a storage medium and a central processing unit, the storage medium may be a non-volatile storage medium, the storage medium stores a computer executable program, the central processing unit is connected to the non-volatile storage medium, and executes the computer executable program to implement the method provided in the embodiment of the present application.

[0692] The present application also provides a network side device, which includes a storage medium and a central processing unit. The storage medium may be a non-volatile storage medium, in which a computer executable program is stored. The central processing unit is connected to the non-volatile storage medium and executes the computer executable program to implement the method provided in the embodiment of the present application.

[0693] The present application also provides a communication device, which may be, for example, a network side device, a terminal, a chip, or a chip module, etc. The communication device includes: one or more processors; a memory; wherein one or more computer programs are stored in the memory, and the one or more computer programs include instructions, and when the instructions are executed by the processor, the communication device executes the method provided in an embodiment of the present application.

[0694] The present application also provides a perception system, including the above-mentioned terminal and the above-mentioned network side device.

[0695] The embodiment of the present application also provides a computer-readable storage medium, in which a computer program is stored. When the computer-readable storage medium is run on a computer, the computer executes the method provided by the embodiment of the present application.

[0696] The embodiment of the present application also provides a computer program product, which includes a computer program. When the computer program is run on a computer, it enables the computer to execute the method provided by the embodiment of the present application.

[0697] In the embodiments of the present application, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.

[0698] Those of ordinary skill in the art will appreciate that the various units and algorithm steps described in the embodiments disclosed herein can be implemented in a combination of electronic hardware, computer software, and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0699] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0700] In several embodiments provided in the present application, if any function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art 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 aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory; hereinafter referred to as: ROM), random access memory (Random Access Memory; hereinafter referred to as: RAM), disk or optical disk, and other media that can store program codes.

[0701] The above is only a specific implementation of the present application. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. The protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A sensing method, characterized in that: The method comprises: receiving beam-related information, the beam-related information being associated with sensing-related information, the beam-related information indicating a beam used for signal transmission; Perception is performed according to the perception-related information.

2. The method according to claim 1, characterized in that The perception-related information indicates at least one of the following: Perception association status, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

3. The method according to claim 2, characterized in that Also includes: Receive a perception trigger indication.

4. The method according to claim 1, characterized in that: The perception-related information indicates at least one of the following: Perception association status, perception trigger indication, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

5. The method according to any one of claims 1 to 4, characterized in that: The beam-related information is associated with the sensing-related information, including: The beam-related information indicates a transmission configuration indication TCI state, and the TCI state is associated with the perception-related information.

6. The method according to claim 5, characterized in that The TCI state is associated with the perception-related information, including: The TCI state includes the perception related information; or, The TCI state includes a quasi co-located source reference signal, and the quasi co-located source reference signal is associated with the perception-related information.

7. The method according to any one of claims 1 to 4, characterized in that: The beam-related information is associated with the sensing-related information, including: The beam-related information includes a beam failure recovery response, and the beam failure recovery response is associated with the perception-related information.

8. The method according to claim 7, characterized in that Also includes: A beam failure recovery request is sent, wherein the beam failure recovery request is associated with perception request information, and the perception request information is used to request perception.

9. The method according to any one of claims 1 to 4, characterized in that: The receiving beam related information includes: receiving beam configuration information, where the beam configuration information includes the beam-related information; or, receiving a beam activation command, where the beam activation command includes the beam-related information; or, Downlink control information is received, where the downlink control information includes the beam-related information.

10. The method according to any one of claims 1 to 4, characterized in that: Also includes: Receive perception configuration information; the perception configuration information includes at least one of the following: Candidate perception mode configuration information, candidate perception signal configuration information, candidate perception report configuration information; The performing perception according to the perception-related information includes: According to the perception-related information, corresponding configuration is obtained from the perception configuration information, and perception is performed.

11. The method according to any one of claims 1 to 4, characterized in that: The performing perception according to the perception-related information includes: After receiving the beam related information, after a time interval, perception is performed according to the perception related information.

12. The method according to claim 11, characterized in that Also includes: Time interval configuration information is received, where the time interval configuration information indicates a length of the time interval.

13. The method according to claim 11, characterized in that The starting time of the time interval is one of the following times: the effective time of the beam-related information, the receiving time of the beam-related information, and the sending time of the confirmation message of the beam-related information.

14. The method according to claim 11, characterized in that The starting time of the time interval is the sending time of the beam failure recovery request, wherein the beam related information is the beam failure recovery response.

15. The method according to any one of claims 1 to 4, characterized in that: The performing perception according to the perception-related information includes: Within the time window, perception is performed according to the perception-related information.

16. The method according to claim 15, characterized in that Also includes: Time window configuration information is received, where the time window configuration information indicates the time window.

17. The method according to claim 16, characterized in that The time window configuration information includes at least one of the following: The start position of the time window, the length of the time window, and the end position of the time window.

18. The method according to any one of claims 1 to 4, characterized in that: Also includes: Determining a sensing start time according to an effective time of the beam-related information; or, Determining a sensing start time according to a reception time of the beam-related information; or, The starting time of perception is determined according to the sending time of the confirmation message of the beam related information.

19. A sensing method, characterized in that: The method comprises: Sending a beam update request, wherein the beam update request is associated with sensing related information; Perception is performed according to the perception-related information.

20. The method according to claim 19, characterized in that The beam update request is associated with the sensing related information, including: The beam update request is a beam failure recovery request, and the beam failure recovery request is associated with the perception-related information.

21. The method according to claim 19 or 20, characterized in that The performing perception according to the perception-related information includes: After sending the beam update request, after a first time interval, perception is performed according to the perception-related information.

22. A sensing method, characterized in that: The method comprises: After receiving beam-related information, perception is performed.

23. The method according to claim 22, characterized in that After receiving the beam-related information, sensing includes: After receiving the beam-related information, sensing is performed after a time interval.

24. The method according to claim 22 or 23, characterized in that Also includes: Receive perception enabling indication information, where the perception enabling indication information indicates that the beam-related information is used to trigger perception.

25. The method according to claim 22 or 23, characterized in that The received beam-related information includes: receiving beam configuration information, where the beam configuration information includes the beam-related information; or, receiving a beam activation command, where the beam activation command includes the beam-related information; or, Downlink control information is received, where the downlink control information includes the beam-related information.

26. The method according to claim 22 or 23, characterized in that The beam-related information includes: transmission configuration indication TCI status, or beam failure recovery response.

27. The method according to claim 22 or 23, characterized in that The sensing includes: Perception is performed according to the perception-related information, wherein the perception-related information indicates at least one of the following: a perception association state, a perception mode, a perception signal set, a perception signal resource, a perception signal configuration, and a perception report configuration.

28. A sensing method, characterized in that: The method comprises: After sending the beam update request, sensing is performed.

29. The method according to claim 28, characterized in that After sending the beam update request, sensing is performed, including: After sending the beam update request, sensing is performed after a first time interval.

30. The method according to claim 28 or 29, characterized in that Also includes: A sensing enable indication information is received, where the sensing enable indication information indicates that the beam update request is used to trigger sensing.

31. A sensing method, characterized in that: The method comprises: Determine beam-related information, the beam-related information is associated with perception-related information, and the beam-related information indicates a beam used for signal transmission; The beam related information is sent.

32. The method according to claim 31, characterized in that The perception-related information indicates at least one of the following: Perception association status, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

33. The method according to claim 32, characterized in that Also includes: Send a sense trigger indication.

34. The method according to claim 31, characterized in that The perception-related information indicates at least one of the following: Perception association status, perception trigger indication, perception mode, perception signal set, perception signal resources, perception signal configuration, perception report configuration.

35. The method according to any one of claims 31 to 34, characterized in that The beam-related information is associated with the sensing-related information, including: The beam-related information is a transmission configuration indication TCI state, and the TCI state is associated with the perception-related information.

36. The method according to claim 35, characterized in that The TCI state is associated with the perception-related information, including: The TCI state includes the perception related information; or, The TCI state includes a quasi co-located source reference signal QCL source RS, and the QCL source RS is associated with the perception-related information.

37. The method according to any one of claims 31 to 34, characterized in that The beam-related information is associated with the sensing-related information, including: The beam-related information is a beam failure recovery response, and the beam failure recovery response is associated with the perception-related information.

38. The method according to claim 37, characterized in that Also includes: A beam failure recovery request is received, where the beam failure recovery request is associated with perception request information, where the perception request information is used to request perception.

39. The method according to any one of claims 31 to 34, characterized in that The transmit beam related information includes: sending beam configuration information, where the beam configuration information includes the beam related information; or, sending a beam activation command, where the beam activation command includes the beam related information; or, Send downlink control information, where the downlink control information includes the beam-related information.

40. The method according to any one of claims 31 to 34, characterized in that Also includes: Sending awareness configuration information; the awareness configuration information includes at least one of the following: Candidate perception mode configuration information, candidate perception signal configuration information, candidate perception report configuration information.

41. The method according to any one of claims 31 to 34, characterized in that Also includes: Perception is performed according to the perception-related information.

42. The method according to claim 41, characterized in that The performing perception according to the perception-related information includes: After sending the beam related information, after a time interval, perception is performed according to the perception related information.

43. The method according to claim 42, characterized in that Also includes: Sending time interval configuration information, where the time interval configuration information indicates the length of the time interval.

44. The method according to claim 42, characterized in that The starting time of the time interval is one of the following times: the sending time of the beam-related information, the effective time of the beam-related information, and the receiving time of the confirmation message of the beam-related information.

45. The method according to claim 42, characterized in that The starting time of the time interval is the reception time of the beam failure recovery request, wherein the beam related information is the beam failure recovery response.

46. ​​The method according to claim 41, characterized in that The performing perception according to the perception-related information includes: Within the time window, perception is performed according to the perception-related information.

47. The method according to claim 46, characterized in that Also includes: Time window configuration information is sent, where the time window configuration information indicates the time window.

48. The method according to claim 47, characterized in that The time window configuration information includes at least one of the following: The start position of the time window, the length of the time window, and the end position of the time window.

49. The method according to claim 41, characterized in that Also includes: Determining a sensing start time according to a sending time of the beam-related information; or, Determining a sensing start time according to an effective time of the beam-related information; or, The starting time of perception is determined according to the reception time of the confirmation message of the beam related information.

50. A sensing method, characterized in that: The method comprises: receiving a beam update request, the beam update request being associated with sensing related information; Perception is performed according to the perception-related information.

51. The method according to claim 50, characterized in that The beam update request is associated with the sensing related information, including: The beam update request is a beam failure recovery request, and the beam failure recovery request is associated with the perception-related information.

52. The method according to claim 50 or 51, characterized in that The performing perception according to the perception-related information includes: After receiving the beam update request, after a first time interval, perception is performed according to the perception-related information.

53. A sensing method, characterized in that: The method comprises: After sending the beam related information, sensing is performed.

54. The method according to claim 53, characterized in that After sending the beam related information, sensing is performed, including: After the beam-related information is sent, sensing is performed after a time interval.

55. The method according to claim 53 or 54, characterized in that Also includes: Sending perception enabling indication information, where the perception enabling indication information indicates that the beam-related information is used to trigger perception.

56. The method according to claim 53 or 54, characterized in that The transmit beam related information includes: sending beam configuration information, where the beam configuration information includes the beam related information; or, sending a beam activation command, where the beam activation command includes the beam related information; or, Send downlink control information, where the downlink control information includes the beam-related information.

57. The method according to claim 53 or 54, characterized in that The beam-related information includes: transmission configuration indication TCI status, or beam failure recovery response.

58. The method according to claim 53 or 54, characterized in that The sensing includes: Perception is performed according to the perception-related information, wherein the perception-related information indicates at least one of the following: a perception association state, a perception mode, a perception signal set, a perception signal resource, a perception signal configuration, and a perception report configuration.

59. A sensing method, characterized in that: The method comprises: After receiving the beam update request, sensing is performed.

60. The method according to claim 59, characterized in that After receiving the beam update request, sensing includes: After receiving the beam update request, sensing is performed after a first time interval.

61. The method according to claim 59 or 60, characterized in that Also includes: Sending sensing enable indication information, wherein the sensing enable indication information indicates that the beam update request is used to trigger sensing.

62. A communication device, characterized in that: include: one or more processors; Memory; One or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the processor, enable the communication device to perform the method according to any one of claims 1 to 30.

63. A communication device, characterized in that: include: one or more processors; Memory; One or more computer programs are stored in the memory, and the one or more computer programs include instructions, which, when executed by the processor, enable the communication device to perform the method according to any one of claims 31 to 61.

64. A communication system, characterized in that: Includes the communication device described in claim 62 and the communication device described in claim 63.

65. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, which, when executed on a computer, enables the computer to execute the method according to any one of claims 1 to 61.

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