Communication method and device

Abstract

The embodiment of the invention provides a communication method and device, relates to the field of communication, and can determine security threats existing in terminal equipment. The method comprises: a first network element receiving a first request message, obtaining a measurement result of a first sensing signal, and determining a sensing result within a signal coverage range of the first sensing signal according to the measurement result of the first sensing signal, thereby sending the sensing result within the signal coverage range of the first sensing signal. Wherein the first request message is used for requesting a sensing result of the terminal device at the target point location, the first request message comprises position information of the target point location, and the target point location is located in a signal coverage range of the first sensing signal.

Description

Technical Field

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

[0002] The 3rd Generation Partnership Project (3GPP) standard introduced the uncrewed aerial system (UAS) to meet the communication needs of unmanned aerial vehicles (UAVs). The 3GPP standard supports proximity communication (PC5) between different UAVs. Among them, PC5 technology includes two implementation forms: sidelink (SL) broadcast and SL unicast. Therefore, multiple UAVs operating in the air can notify each other of their flight information through PC5 to avoid collisions between multiple UAVs.

[0003] However, PC5 technology can only avoid collisions between multiple UAVs, but cannot detect other security threats besides UAVs; therefore, how to detect security threats existing in the process of UAV aerial operations is an urgent problem to be solved. Summary of the invention

[0004] The embodiments of the present application provide a communication method and apparatus that can determine security threats existing in terminal devices.

[0005] In a first aspect, a communication method is provided, which can be executed by a first network element, or by a component of the first network element, such as a processor, chip, or chip system of a receiving device, or by a logic module or software that can implement all or part of the functions of the receiving device. The method includes: receiving a first request message, the first request message is used to request a perception result of a terminal device at a target point, the first request message includes location information of the target point; obtaining a measurement result of a first perception signal, wherein the target point is located within a signal coverage range of the first perception signal; determining a perception result within a signal coverage range of the first perception signal based on the measurement result of the first perception signal; and sending a perception result within a signal coverage range of the first perception signal.

[0006] Based on this solution, the first network element can obtain the measurement result (i.e., the measurement result of the first perception signal) obtained by measuring the area where the target point is located (i.e., the signal coverage range of the first perception signal) based on the location information of the target point, and determine the perception result of the area based on the measurement result, that is, the objects existing in the area. In other words, the first network element can obtain all objects existing in the area (for example, objects with communication functions and objects without communication functions), and can obtain more objects compared to the solution of determining objects with PC5 communication functions using PC5 communication technology, thereby improving the accuracy of determining the high-altitude environment of the area where the target point is located.

[0007] In addition, it can be understood that the perception results can be used to determine the security threat of the target point (for example, determining whether there is a collision risk when the terminal device is at the target point). Therefore, compared with using PC5 communication technology to determine the security threat of the target point, the security threat of the target point can be determined based on more objects, thereby improving the accuracy of the determined security threat of the target point (such as the accuracy of the collision risk).

[0008] In one possible design, the first network element may be any one of a network element with perception function in the core network, a service wireless access network device of the terminal device, and a centralized unit CU network element with part of the functions of the service wireless access network device (hereinafter referred to as the first CU network element for the convenience of description).

[0009] In one possible design, receiving a first request message includes: receiving a first request message from a serving wireless access network device of a terminal device; or, receiving a first request message from an access and mobility management AMF network element; or, receiving a first request message from an unmanned aerial vehicle system traffic management UTM network element.

[0010] In one possible design, receiving a first request message includes: receiving a first request message from a terminal device; or receiving a first request message from an AMF network element.

[0011] In the second aspect, a communication method is provided, which can be executed by a fourth network element, or by a component of the fourth network element, such as a processor, chip, or chip system of a receiving device, or can be implemented by a logic module or software that can implement all or part of the functions of the receiving device. The method includes: receiving a fifth request message, the fifth request message is used to request whether the terminal device has a collision risk at the target point, and the fifth request message includes the location information of the target point; obtaining a perception result within the signal coverage range of a first perception signal, wherein the target point is within the signal coverage range of the first perception signal; determining first indication information based on the perception result within the signal coverage range of the first perception signal, the first indication information indicating whether the terminal device has a collision risk at the target point; and sending the first indication information.

[0012] Based on this solution, the fourth network element can obtain the perception result of the area where the target point is located (i.e., the signal coverage range of the first perception signal), i.e., the objects existing in the area, based on the location information of the target point, and then determine the security threat of the target point according to the perception result (for example, determine whether there is a collision risk when the terminal device is at the target point). It can be understood that the perception result of the area where the target point is located includes the results of perceiving all objects existing in the area, and more objects can be known compared to the solution of objects with PC5 communication function determined by PC5 communication technology. Therefore, the security threat of the target point can be determined based on more objects, thereby improving the accuracy of the security threat determined to the target point (such as the accuracy of the collision risk).

[0013] In one possible design, the fifth request message also includes a first threshold, which is used to determine the first indication information.

[0014] In a possible design, the fourth network element may be any one of the service wireless access network device of the terminal device and the first CU network element.

[0015] In one possible design, obtaining the perception result within the signal coverage range of the first perception signal includes: sending a first request message to a fifth network element, the first request message is used to request the perception result of the terminal device at a target point, the first request message includes the location information of the target point, and the fifth network element is a network element with perception function in the core network; receiving the measurement result of the first perception signal from the fifth network element; and determining the perception result within the signal coverage range of the first perception signal based on the measurement result of the first perception signal.

[0016] Based on this possible design, the fourth network element can send a first request message to the fifth network element based on the location information of the target point, so that the fifth network element can measure the area where the target point is located (i.e., the signal coverage range of the first perception signal) and perceive the perception result within the signal coverage range of the first perception signal, thereby reducing the computing power of the fourth network element. In addition, since the fifth network element is a network element with perception function in the core network, the perception result within the signal coverage range of the first perception signal determined by the fifth network element is more accurate than the perception result within the signal coverage range of the first perception signal measured and perceived by the fourth network element, thereby improving the accuracy of the security threat of the determined target point (such as the accuracy of the collision risk).

[0017] In a possible design, obtaining a perception result within a signal coverage range of the first perception signal includes: obtaining a measurement result of the first perception signal; and determining a perception result within a signal coverage range of the first perception signal according to the measurement result of the first perception signal.

[0018] In combination with the first aspect and the second aspect, in a possible design, obtaining a measurement result of a first perception signal includes: sending a first perception signal; receiving a first echo signal of the first perception signal; and determining a first measurement result of the first perception signal based on the first echo signal of the first perception signal, wherein the measurement result of the first perception signal includes the first measurement result of the first perception signal.

[0019] Based on this possible design, the fourth network element / first network element can measure and perceive the area where the target point is located (i.e., the signal coverage range of the first perception signal) based on the location information of the target point, and obtain the perception result within the signal coverage range of the first perception signal. This can avoid the interaction of the perception results within the signal coverage range of the first perception signal between multiple devices, shorten the delay in determining the perception results within the signal coverage range of the first perception signal, and thus improve the efficiency of determining the perception results within the signal coverage range of the first perception signal.

[0020] In combination with the first aspect and the second aspect, in a possible design, obtaining the measurement result of the first perception signal includes: sending a second request message, the second request message is used to request measurement of the first perception signal, the second request message includes location information of the target point; receiving the measurement result of the first perception signal.

[0021] Based on this possible design, the fourth network element / first network element can send a second request message to the device used to measure the first perception signal based on the location information of the target point, so as to obtain the first measurement result of the first perception signal from the device used to measure the first perception signal, providing a basis for the fourth network element / first network element to determine the perception result within the signal coverage range of the first perception signal based on the first measurement result of the first perception signal.

[0022] In combination with the first aspect and the second aspect, in a possible design, the measurement result of the first perception signal includes a first measurement result, where the first measurement result is a measurement result obtained by a device for measuring the first perception signal measuring a signal coverage range of the first perception signal.

[0023] In combination with the first aspect and the second aspect, in a possible design, the communication method also includes: sending a third request message, the third request message is used to request collaborative measurement of the first perception signal, the third request message includes configuration parameters of the first perception signal, the configuration parameters include a message identifier ID, resource configuration, frequency domain bandwidth, time domain period, transmit power, or at least one of a signal waveform of the first perception signal; receiving a second measurement result of the first perception signal, the measurement result of the first perception signal including the second measurement result.

[0024] Based on this possible design, the fourth network element / first network element can obtain the second measurement result of the first perception signal from the device used to perform collaborative measurement of the first perception signal, so that the fourth network element / first network element determines the perception result within the signal coverage range of the first perception signal based on the first measurement result and the second measurement result of the first perception signal, thereby improving the accuracy of determining the perception result within the signal coverage range of the first perception signal.

[0025] In combination with the first aspect and the second aspect, in a possible design, before sending the third request message, the communication method also includes: receiving at least one item of location information or time information of a device used to measure the first perception signal, and at least one item of the location information or time information of the device used to measure the first perception signal is used to determine the second measurement result; the third request message indicates at least one item of the location information or time information of the device used to measure the first perception signal.

[0026] Based on this possible design, the third request message indicates at least one of the location information or time information of the device used to measure the first perception signal, so that the device used to collaboratively measure the first perception signal knows any one of the sending time of the first perception signal and the sending position of the first perception signal. The device used to collaboratively measure the first perception signal can determine the second measurement result according to any one of the sending time of the first perception signal and the sending position of the first perception signal. Compared with the scheme of determining the second measurement result according to the configuration parameters of the first perception signal, the accuracy of the second measurement result can be improved.

[0027] In combination with the first aspect and the second aspect, in a possible design, the measurement result of the first perception signal includes characteristic information corresponding to at least one point, and the characteristic information includes at least one item of position information, moving direction, and moving speed; accordingly, the perception result includes characteristic information corresponding to at least one perception object.

[0028] In combination with the first aspect and the second aspect, in one possible design, the communication method also includes: receiving at least one item of location information or time information of a device used to measure the first perception signal, and at least one item of the location information or time information of the device used to measure the first perception signal is used to determine the perception result within the signal coverage range of the first perception signal; and sending at least one item of the location information or time information of the device used to measure the first perception signal.

[0029] In combination with the first aspect and the second aspect, in a possible design, the first request message includes a movement path of the terminal device, and the movement path includes location information of the target point.

[0030] In combination with the first aspect and the second aspect, in a possible design, the first request message also includes a second perceptual service quality QoS, and the second perceptual QoS is related to the number of devices used to measure the first perceptual signal, or at least one of the configuration parameters of the first perceptual signal, and the configuration parameters include at least one of the message identification ID for sending the first perceptual signal, resource configuration, frequency domain bandwidth, time domain period, transmission power, or signal waveform.

[0031] Based on this possible design, the fourth network element / first network element can determine the number of devices used to measure the first perception signal according to the second perception QoS, thereby meeting the accuracy requirement of the first request message for the perception result within the signal coverage range of the first perception signal. And / or, the fourth network element / first network element can determine the configuration parameters of the first perception signal according to the second perception QoS, thereby obtaining the perception result within the signal coverage range of the first perception signal, meeting the requirement of the first request message for the perception result of the target point.

[0032] In a third aspect, a communication method is provided, which can be executed by a device for measuring a first perception signal, or by a component of the device for measuring the first perception signal, such as a processor, chip, or chip system of a receiving device, or by a logic module or software that can implement all or part of the functions of the receiving device. The method includes: receiving a second request message, the second request message is used to request measurement of the first perception signal, the second request message includes location information of the terminal device at a target point, and the target point is within the signal coverage range of the first perception signal; sending a first perception signal; receiving a first echo signal of the first perception signal; determining a first measurement result of the first perception signal according to the first echo signal of the first perception signal; sending the first measurement result of the first perception signal, the first measurement result is used to determine the perception result of the terminal device at the target point.

[0033] Based on this scheme, the device for measuring the first perception signal can determine the first measurement result of the first perception signal based on the second request message, and respond to the second request message (i.e., send the first measurement result of the first perception signal), so that the first network element or the fourth network element can determine the perception result of the area where the target point is located (i.e., the signal coverage range of the first perception signal) according to the measurement result. It can be understood that the first measurement result of the first perception signal determined by the device for measuring the first perception signal is the measurement result of all objects existing in the area (for example, objects with communication functions and objects without communication functions). Compared with the scheme of objects with PC5 communication functions determined by using PC5 communication technology, more objects can be known, thereby improving the accuracy of determining the high-altitude environment of the area where the target point is located.

[0034] In addition, it is understood that the perception results can be used to determine the security threat of the target point (for example, to determine whether there is a collision risk when the terminal device is at the target point). Therefore, compared with the use of PC5 communication technology to determine the security threat of the target point, the security threat of the target point can be determined based on more objects, thereby improving the accuracy of the determined security threat of the target point (such as the accuracy of the collision risk).

[0035] In one possible design, the device for measuring the first perception signal includes any one of a first wireless access network device or a first distributed unit DU network element, wherein the first DU network element is a DU network element having another part of the function of serving the wireless access network device.

[0036] In combination with the first aspect, the second aspect and the third aspect, in one possible design, the communication method also includes: receiving at least one item of location information or time information of a device used for collaborative measurement of the first perception signal, and at least one item of location information or time information of the device used for collaborative measurement of the first perception signal is used to determine the perception result within the signal coverage range of the first perception signal.

[0037] In a fourth aspect, a communication method is provided, which can be executed by a second DU network element, or by a component of the second DU network element, such as a processor, chip, or chip system of a receiving device, or can be implemented by a logic module or software that can implement all or part of the functions of the receiving device. The method includes: receiving a fourth request message, the fourth request message is used to request measurement of a first perception signal, the fourth request message includes location information of the terminal device at a target point, and the target point is within the signal coverage range of the first perception signal; sending a first perception signal; receiving a first echo signal of the first perception signal; determining a first measurement result of the first perception signal according to the first echo signal of the first perception signal; sending a first measurement result of the first perception signal, the first measurement result is used to determine the perception result of the terminal device at the target point.

[0038] Based on this scheme, the second DU network element can determine the first measurement result of the first perception signal based on the fourth request message, and respond to the fourth request message (i.e., send the first measurement result of the first perception signal), so that the first network element or the fourth network element can determine the perception result of the area where the target point is located (i.e., the signal coverage range of the first perception signal) based on the measurement result. It can be understood that the first measurement result of the first perception signal determined by the second DU network element is the measurement result of all objects existing in the area (for example, objects with communication functions and objects without communication functions). Compared with the scheme of objects with PC5 communication functions determined by using PC5 communication technology, more objects can be known, thereby improving the accuracy of determining the high-altitude environment of the area where the target point is located.

[0039] In addition, it is understood that the perception results can be used to determine the security threat of the target point (for example, to determine whether there is a collision risk when the terminal device is at the target point). Therefore, compared with the use of PC5 communication technology to determine the security threat of the target point, the security threat of the target point can be determined based on more objects, thereby improving the accuracy of the determined security threat of the target point (such as the accuracy of the collision risk).

[0040] In one possible design, the second DU network element is a DU network element having another part of the functions of the first wireless access network device.

[0041] In one possible design, the communication method also includes: receiving at least one item of location information or time information of a second DU network element, and at least one item of the location information or time information of the second DU network element is used to determine the perception result within the signal coverage range of the first perception signal.

[0042] In one possible design, the third request message indicates the use of at least one item of location information or time information of the second DU network element, and at least one item of location information or time information of the second DU network element is used to determine the second measurement result.

[0043] In combination with the third aspect and the fourth aspect, in a possible design, sending a first measurement result of a first perception signal includes: sending a measurement result of the first perception signal, where the measurement result of the first perception signal includes a first measurement result and a second measurement result.

[0044] In combination with the third aspect and the fourth aspect, in a possible design, before sending the first perception signal, the communication method also includes: sending configuration parameters of the first perception signal.

[0045] In combination with the third aspect and the fourth aspect, in a possible design, the first measurement result includes characteristic information corresponding to at least one point, and the characteristic information includes at least one of position information, moving direction, and moving speed.

[0046] In a fifth aspect, a communication method is provided, which can be executed by a device for collaboratively measuring a first perception signal, or by a component of a device for collaboratively measuring a first perception signal, such as a processor, a chip, or a chip system of a receiving device, or can be implemented by a logic module or software that can implement all or part of the functions of the receiving device. The method includes: receiving a third request message, the third request message is used to request collaborative measurement of the first perception signal, the third request message includes configuration parameters of the first perception signal, the configuration parameters include at least one of the message identification ID, resource configuration, frequency domain bandwidth, time domain period, transmission power, or signal waveform of the first perception signal; receiving a second echo signal of the first perception signal; determining a second measurement result of the first perception signal according to the second echo signal of the first perception signal; sending a second measurement result, the second measurement result is used to determine the perception result of the terminal device at the target point, and the target point is located within the signal coverage range of the first perception signal.

[0047] Based on this scheme, the device used for collaborative measurement of the first perception signal can determine the second measurement result of the first perception signal based on the third request message, so that the fourth network element / first network element can determine the perception result within the signal coverage range of the first perception signal according to the second measurement result, and respond to the third request message (i.e., send the second measurement result of the first perception signal), so that the first network element or the fourth network element can determine the perception result of the area where the target point is located (i.e., the signal coverage range of the first perception signal) according to the measurement result. It can be understood that the second measurement result of the first perception signal determined by the device for measuring the first perception signal is the measurement result of all objects existing in the area (for example, objects with communication functions and objects without communication functions), and more objects can be known compared to the scheme of objects with PC5 communication functions determined by using PC5 communication technology. Thereby, the accuracy of determining the high-altitude environment of the area where the target point is located can be improved.

[0048] In combination with the third aspect, the fourth aspect and the fifth aspect, in a possible design, the second measurement result includes characteristic information corresponding to at least one point, and the characteristic information includes at least one item of position information, moving direction, and moving speed. The second measurement result is the measurement result of the first perception signal measured by the device that performs collaborative measurement of the first perception signal.

[0049] In a sixth aspect, a communication method is provided, which can be executed by a device for a first CU network element, or by a component of the first CU network element, such as a processor, chip, or chip system of a receiving device, or can be implemented by a logic module or software that can implement all or part of the functions of the receiving device. The method includes: receiving a second request message, the second request message is used to request measurement of a first perception signal, the second request message includes location information of the terminal device at a target point, and the target point is within the signal coverage range of the first perception signal; sending a fourth request message, the fourth request message is used to request measurement of the first perception signal, and the second request message includes location information of the target point; receiving a first measurement result of the first perception signal; sending a first measurement result, the first measurement result is used to determine the perception result of the terminal device at the target point.

[0050] Based on this scheme, the first CU network element requests the first measurement result of the first perception signal from the device used to measure the first perception signal based on the second request message (i.e., sends a fourth request message), thereby obtaining the first measurement result of the first perception signal and responding to the second request message.

[0051] In combination with the fourth aspect and the sixth aspect, in a possible design, the fourth request message also includes at least one of the configuration parameters of the first perception signal, the second perception duration, and the third perception QoS, wherein the configuration parameters include at least one of the message identification ID, resource configuration, frequency domain bandwidth, time domain period, transmit power, or signal waveform of the first perception signal; the second perception duration is the duration from the moment the fourth request message is received to the moment the measurement result of the first perception signal is sent; the third perception QoS is related to the number of devices used to measure the first perception signal, or at least one of the configuration parameters of the first perception signal.

[0052] In a possible design, the measurement result of the first perception signal includes characteristic information corresponding to at least one point, and the characteristic information includes at least one of position information, moving direction, and moving speed.

[0053] In one possible design, the communication method also includes: receiving at least one item of time information or position information of a device for collaborative measurement of a first perception signal, and at least one item of the time information or position information of the device for collaborative measurement of the first perception signal is used to determine the perception result within the signal coverage range of the first perception signal; and sending at least one item of the time information or position information of the device for collaborative measurement of the first perception signal.

[0054] In combination with the above six aspects, in a possible design, the communication method also includes: sending at least one item of time information or location information of a device used to measure the first perception signal, and at least one item of the time information or location information of the device used to measure the first perception signal is used to determine the perception result within the signal coverage range of the first perception signal.

[0055] In combination with the third aspect, the fourth aspect and the sixth aspect, in a possible design, the communication method also includes: sending a third request message, the third request message is used to request collaborative measurement of the first perception signal, the third request message includes configuration parameters of the first perception signal, the configuration parameters include at least one of the message identification ID, resource configuration, frequency domain bandwidth, time domain period, transmit power, or signal waveform of the first perception signal; receiving a second measurement result of the first perception signal, the second measurement result is used to determine the perception result of the terminal device at the target point.

[0056] In combination with the first aspect, the second aspect and the sixth aspect, in a possible design, the communication method also includes: before sending the third request message, the communication method also includes: receiving configuration parameters of the first perception signal.

[0057] Based on this possible design, after the fourth network element / first network element receives the configuration parameters of the first perception signal, it can send a third request message to the device used for collaborative measurement of the first perception signal, so that the device used for collaborative measurement of the first perception signal can measure the first perception signal. Compared with the fourth network element / first network element itself determining the configuration parameters of the first perception signal, the computing power of the fourth network element / first network element can be reduced.

[0058] In combination with the above six aspects, in a possible design, the third request message indicates at least one of the location information or time information of the device used to measure the first perception signal, and at least one of the location information or time information of the device used to measure the first perception signal is used to determine the second measurement result. In combination with the first aspect, the second aspect, the third aspect, the fourth aspect and the sixth aspect, in a possible design, the second request message also includes at least one of the configuration parameters of the first perception signal, the first perception duration, and the first perception QoS, wherein the configuration parameters include at least one of the message ID, resource configuration, frequency domain bandwidth, time domain period, power, or signal waveform of the first perception signal; the first perception duration is the duration from the moment the second request message is received to the moment the measurement result of the first perception signal is sent; the first perception QoS is related to the number of devices used to perform collaborative measurement of the first perception signal, or at least one of the configuration parameters of the first perception signal.

[0059] In combination with the first aspect, the second aspect, the third aspect, the fourth aspect and the sixth aspect, in a possible design, sending a first measurement result includes: sending a measurement result of a first perception signal, where the measurement result of the first perception signal includes a first measurement result and a second measurement result.

[0060] In combination with the first aspect, the second aspect, the third aspect, the fourth aspect and the sixth aspect, in a possible design, the measurement result of the first perception signal is a measurement result obtained by fitting the first measurement result with the second measurement result.

[0061] In the seventh aspect, a communication device is provided for implementing various methods. The communication device may be the first network element in the first aspect, or a device included in the first network element, such as a chip or a chip system; or, the communication device may be the fourth network element in the second aspect, or a device included in the fourth network element, such as a chip or a chip system; or, the communication device may be the device for measuring the first perceptual signal in the third aspect, or a device included in the device for measuring the first perceptual signal, such as a chip or a chip system; or, the communication device may be the second DU network element in the fourth aspect, or a device included in the second DU network element, such as a chip or a chip system; or, the communication device may be the device for collaboratively measuring the first perceptual signal in the fifth aspect, or a device included in the device for collaboratively measuring the first perceptual signal, such as a chip or a chip system; or, the communication device may be the first CU network element in the sixth aspect, or a device included in the first CU network element, such as a chip or a chip system. The communication device includes a module, unit, or means corresponding to the implementation method, and the module, unit, or means may be implemented by hardware, software, or by executing the corresponding software implementation by hardware. The hardware or software includes one or more modules or units corresponding to the functions.

[0062] In some possible designs, the communication device may include a processing module and a transceiver module. The processing module may be used to implement the processing function in any of the above aspects and any possible implementations thereof. The transceiver module may include a receiving module and a sending module, respectively used to implement the receiving function and the sending function in any of the above aspects and any possible implementations thereof.

[0063] In some possible designs, the transceiver module may be composed of a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0064] In an eighth aspect, a communication device is provided, comprising: a processor and a memory; the memory is used to store computer instructions, and when the processor executes the instructions, the communication device executes the method described in any aspect. The communication device may be the first network element in the first aspect, or a device included in the first network element, such as a chip or a chip system; or, the communication device may be the fourth network element in the second aspect, or a device included in the fourth network element, such as a chip or a chip system; or, the communication device may be the device for measuring the first perceptual signal in the third aspect, or a device included in the device for measuring the first perceptual signal, such as a chip or a chip system; or, the communication device may be the second DU network element in the fourth aspect, or a device included in the second DU network element, such as a chip or a chip system; or, the communication device may be the device for collaboratively measuring the first perceptual signal in the fifth aspect, or a device included in the device for collaboratively measuring the first perceptual signal, such as a chip or a chip system; or, the communication device may be the first CU network element in the sixth aspect, or a device included in the first CU network element, such as a chip or a chip system.

[0065] In a ninth aspect, a communication device is provided, comprising: a processor and a communication interface; the communication interface is used to communicate with a module outside the communication device; the processor is used to execute a computer program or instruction so that the communication device executes the method described in any aspect. The communication device can be the first network element in the first aspect, or a device included in the first network element, such as a chip or a chip system; or, the communication device can be the fourth network element in the second aspect, or a device included in the fourth network element, such as a chip or a chip system; or, the communication device can be the device for measuring the first perceptual signal in the third aspect, or a device included in the device for measuring the first perceptual signal, such as a chip or a chip system; or, the communication device can be the second DU network element in the fourth aspect, or a device included in the second DU network element, such as a chip or a chip system; or, the communication device can be the device for collaboratively measuring the first perceptual signal in the fifth aspect, or a device included in the device for collaboratively measuring the first perceptual signal, such as a chip or a chip system; or, the communication device can be the first CU network element in the sixth aspect, or a device included in the first CU network element, such as a chip or a chip system.

[0066] In a tenth aspect, a communication device is provided, comprising: at least one processor; the processor is used to execute a computer program or instruction stored in a memory, so that the communication device performs the method described in any aspect. The memory can be coupled to the processor, or can be independent of the processor. The communication device may be the first network element in the first aspect, or a device included in the first network element, such as a chip or a chip system; or, the communication device may be the fourth network element in the second aspect, or a device included in the fourth network element, such as a chip or a chip system; or, the communication device may be the device for measuring the first perception signal in the third aspect, or a device included in the device for measuring the first perception signal, such as a chip or a chip system; or, the communication device may be the second DU network element in the fourth aspect, or a device included in the second DU network element, such as a chip or a chip system; or, the communication device may be the device for collaboratively measuring the first perception signal in the fifth aspect, or a device included in the device for collaboratively measuring the first perception signal, such as a chip or a chip system; or, the communication device may be the first CU network element in the sixth aspect, or a device included in the first CU network element, such as a chip or a chip system. In some possible designs, the communication device includes a memory, which is used to store necessary program instructions and data.

[0067] In some possible designs, when the device is a chip system, it can be composed of a chip or include a chip and other discrete devices.

[0068] It can be understood that when the communication device provided in any one of the seventh to tenth aspects is a chip, the sending action / function of the communication device can be understood as output information, and the receiving action / function of the communication device can be understood as input information.

[0069] In the eleventh aspect, a computer-readable storage medium is provided, in which a computer program or instruction is stored, and when the computer-readable storage medium is run on a communication device, the communication device can execute the method described in any one of the aspects.

[0070] In a twelfth aspect, a computer program product comprising instructions is provided, which, when executed on a communication device, enables the communication device to execute the method described in any one of the aspects.

[0071] Among them, the technical effects brought about by any design method in the seventh to twelfth aspects can refer to the technical effects brought about by different design methods in the above six aspects, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0072] Figure 1 This is a schematic diagram of the architecture of a communication system based on the CU-DU architecture applied in this embodiment;

[0073] Figure 2 A schematic diagram of the system logic framework of the UAV device used in the embodiment of the present application;

[0074] Figure 3 A schematic diagram of communication between multiple UAV devices provided in an embodiment of the present application;

[0075] Figure 4 A schematic diagram of the architecture of a communication system applied in an embodiment of the present application;

[0076] Figure 5 A schematic diagram of the architecture of another communication system applied in the embodiments of the present application;

[0077] Figure 6 A flow chart of a communication method applied in an embodiment of the present application;

[0078] Figure 7 A schematic diagram of a measurement result applied in an embodiment of the present application;

[0079] Figure 8 A flowchart of another communication method applied in an embodiment of the present application;

[0080] Fig. 9 A flowchart of another communication method applied in an embodiment of the present application;

[0081] Fig.10 A flowchart of another communication method applied in an embodiment of the present application;

[0082] Fig.11 A flowchart of another communication method applied in an embodiment of the present application;

[0083] Fig.12 A flowchart of another communication method applied in an embodiment of the present application;

[0084] Fig.13 A flowchart of another communication method applied in an embodiment of the present application;

[0085] Fig.14 A flowchart of another communication method applied in an embodiment of the present application;

[0086] Fig.15 A flowchart of another communication method applied in an embodiment of the present application;

[0087] Fig.16 A flowchart of another communication method applied in an embodiment of the present application;

[0088] Fig.17A flowchart of another communication method applied in an embodiment of the present application;

[0089] Fig.18 A flowchart of another communication method applied in an embodiment of the present application;

[0090] Fig.19 A flowchart of another communication method applied in an embodiment of the present application;

[0091] Fig. 20 A flowchart of another communication method applied in an embodiment of the present application;

[0092] Fig.21 A flowchart of another communication method applied in an embodiment of the present application;

[0093] Fig. 22 A flowchart of another communication method applied in an embodiment of the present application;

[0094] Fig.23 A flowchart of another communication method applied in an embodiment of the present application;

[0095] Fig.24 A flowchart of another communication method applied in an embodiment of the present application;

[0096] Fig.25 A flowchart of another communication method applied in an embodiment of the present application;

[0097] Fig.26 A flowchart of another communication method applied in an embodiment of the present application;

[0098] Fig. 27 A flowchart of another communication method applied in an embodiment of the present application;

[0099] Fig.28 A schematic diagram of the structure of a communication device provided by the present application;

[0100] Fig.29 A schematic diagram of the structure of another communication device provided by the present application;

[0101] Fig.30 A schematic diagram of the structure of another communication device provided in the present application. DETAILED DESCRIPTION

[0102] In the description of this application, unless otherwise specified, " / " indicates that the objects associated with each other are in an "or" relationship, for example, A / B can represent A or B; "and / or" in this application is merely a description of the association relationship between associated objects, indicating that three relationships may exist, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural.

[0103] In the description of this application, unless otherwise specified, "plurality" means two or more than two. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0104] In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference.

[0105] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way for easy understanding.

[0106] It is understood that the "embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the various embodiments in the entire specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It is understood that in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0107] It can be understood that in the present application, "when" and "if" both mean that corresponding processing will be carried out under certain objective circumstances, and do not limit the time, nor do they require any judgment action when implementing, nor do they mean the existence of other limitations.

[0108] It can be understood that some optional features in the embodiments of the present application may be implemented independently in certain scenarios without relying on other features, such as the solution on which they are currently based, to solve corresponding technical problems and achieve corresponding effects, or may be combined with other features according to needs in certain scenarios. Accordingly, the devices provided in the embodiments of the present application may also realize these features or functions accordingly, which will not be elaborated here.

[0109] In this application, unless otherwise specified, the same or similar parts between the various embodiments can refer to each other. In the various embodiments in this application, and the various implementation methods / implementation methods / implementation methods in each embodiment, if there is no special explanation and logical conflict, the terms and / or descriptions between different embodiments and the various implementation methods / implementation methods / implementation methods in each embodiment are consistent and can be referenced to each other. The technical features in different embodiments and the various implementation methods / implementation methods / implementation methods in each embodiment can be combined to form new embodiments, implementation methods, implementation methods, or implementation methods according to their inherent logical relationships. The implementation methods of this application described below do not constitute a limitation on the scope of protection of this application.

[0110] In order to facilitate understanding of the technical solutions of the embodiments of the present application, a brief introduction to the related technologies of the present application is first given as follows.

[0111] 1. Central unit (CU) and distributed unit (DU) architecture:

[0112] In the fifth generation (5G) system, the base station can include two implementation forms: (1) centralized: all protocol stacks are concentrated on one device; (2) distributed: all functions of the base station are implemented by at least one CU and at least one DU.

[0113] CU and DU can be set up separately, or they can be included in the same network element (such as baseband unit (BBU)). The CU node and DU node split the protocol layer of the base station, and the functions of some protocol layers are deployed in the CU, and the remaining part or all of the protocol layer functions are distributed in the DU. The CU is used to manage the DU.

[0114] In some embodiments, the CU and DU may be divided according to the protocol layers of the wireless network. For example, the functions of the packet data convergence protocol (PDCP) layer and the protocol layers above (such as the radio resource control (RRC) layer and the service data adaptation protocol (SDAP) layer, etc.) are deployed in the CU, and the functions of the protocol layers below the PDCP layer (such as the radio link control (RLC) layer, the media access control (MAC) layer, or the physical (PHY) layer, etc.) are deployed in the DU; for another example, the functions of the protocol layers above the PDCP layer are deployed in the CU, and the functions of the protocol layers below the PDCP layer are deployed in the DU, without limitation.

[0115] For example, Figure 1 As shown, the base station can be composed of a CU and two DUs. Among them, base station #1 is composed of CU #1, DU #1, and DU #2, and base station #2 is composed of CU #2, DU #3, and DU #4. The CU and DU are connected through the F1 interface, the CU and the fifth generation (5th generation, 5G) core network (referred to as 5GC) are connected through the NG interface, and the CUs are connected through the Xn interface.

[0116] 2. Wireless sensing technology:

[0117] Wireless sensing technology refers to the use of radio signals to obtain information such as the existence and positioning of a target. Wireless sensing technology can include sensing technology that relies on terminal devices (device-based sensing) and sensing technology that does not rely on terminal devices (device-free sensing).

[0118] Among them, the perception technology that relies on terminal devices can be applied to cellular networks, and in this case, the technology can be called cellular positioning technology. That is, through the interaction between the base station and the terminal device, the base station side obtains the round-trip time information or angle information of the uplink and downlink signals, so that the measurement signal can be calculated on the core network or edge side to obtain the location of the terminal device.

[0119] The perception technology that does not rely on terminal equipment originated from radar technology. With the development of radar and communication technology, they are converging in signal processing and hardware design. Based on this, a synaesthesia (also known as communication perception fusion) technology is proposed. Through signal joint design and / or hardware sharing, the unified design of communication and perception functions is realized, thereby obtaining spectrum sharing, cost reduction, simplified deployment and other gains. Based on the synaesthesia technology, wireless signals can be transmitted to objects through a transmitter to perceive objects. Specifically, since the area of ​​the object can reflect the signal, the receiver can receive the reflected wireless signal and analyze the signal to obtain the perception measurement results of the object, such as angle, delay, etc. In cellular networks, the communication technology of wireless base stations has evolved towards multi-antenna, multi-input multi-output (MIMO) and large-scale arrays, which is similar to radar technology, and has the characteristics of wide deployment and rich spectrum. It can realize the location perception of objects. Applicable scenarios include UAV supervision, high-speed rail perimeter intrusion detection and other fields.

[0120] 3. UAV communication technology:

[0121] The 3GPP standard introduces a system logic framework for UAV devices to provide communication services for UAV devices. Exemplarily, the system logic framework includes: Figure 2 As shown in the Figure 2 As shown, UAV can access the core network (such as 5GC) through the radio access network (RAN) equipment; uncrewed aerial system service supplier (USS) (or unified threat management (UTM) network element) can access 5GC through the network exposure function (NEF) entity, or the uncrewed aerial system network function (UAS-NF) network element deployed in the NEF entity; therefore, in the process of serving UAV, USS can obtain the services required by UAV through 5GC, thereby supporting the relevant services of UAV. Among them, the services that USS can obtain through 5GC include but are not limited to: positioning, authentication, and online status monitoring.

[0122] For example, the UAV can access the access and mobility management function (AMF) network element in the core network through the RAN device; further, the AMF network element can be used to communicate with other network elements in the core network. Among them, the AMF network element is mainly responsible for mobility management in the mobile network, such as user location update, user registration network, user switching, etc.

[0123] 4. PC5 communication technology:

[0124] PC5 communication technology is a technology for direct communication between devices, which realizes short-distance communication based on wireless local area networks (WLAN) or Bluetooth, etc. In the 3GPP standard protocol, UAVs can perform PC5 communication.

[0125] PC5 communication performed by UAV mainly includes two communication modes: SL broadcast and SL unicast. Among them, SL broadcast refers to a UAV broadcasting information to other nearby UAVs; SL unicast refers to a UAV sending information to another specific nearby UAV.

[0126] Optionally, the UAV may communicate with other UAVs nearby via PC5 to thereby obtain information about other UAVs in its vicinity.

[0127] For example, Figure 3 As shown, UAV#1 to UAV#3 can communicate with each other, for example, UAV#1 can receive information from UAV#2 and UAV#3 respectively. The information may include information such as the UAV's identity (ID), flight plan, flight speed, position, flight direction, etc. Therefore, UAV#1 can realize collision monitoring during its own flight based on this information and its own information, that is, determine whether there is a risk of collision with other UAVs during the flight. Furthermore, UAV#1 can also re-plan the flight route based on the collision risk to avoid UAV#2 and UAV#3, thereby avoiding collision with UAV#2 and / or UAV#3.

[0128] Exemplarily, the flight plan may include a flight point list, which is used to indicate the flight path. The flight point list includes multiple location information and multiple time information, wherein the time information corresponds to the location information one by one. For example, time information #1 corresponds to location information #1, and the information of UAV #3 includes time information #1 and location information #1, indicating that UAV #3 plans to fly to the location indicated by location information #1 at the time indicated by time information #1.

[0129] When UAVs are working at high altitudes, they are threatened not only by other UAVs, but also by other objects (such as airplanes, kites, birds, and any other objects and buildings that can move in the sky). These objects may not necessarily support PC5 communication technology, and some objects may not even have communication capabilities. Therefore, based on the above Figure 3 The solution shown can only avoid collisions between multiple UAVs, but cannot detect other security threats other than UAVs (such as security threats from airplanes, kites, birds, and other objects that can move in the sky); therefore, how to detect security threats that exist during UAV operations in the air is an urgent problem to be solved.

[0130] Based on this, an embodiment of the present application provides a communication method, in which the first network element can obtain the measurement result (i.e., the measurement result of the first perception signal) obtained by measuring the area where the target point is located (i.e., the signal coverage range of the first perception signal) based on the location information of the target point, and determine the perception result of the area based on the measurement result, that is, the objects existing in the area. In other words, the first network element can obtain all objects existing in the area, and compared with the solution of using PC5 communication technology to determine the objects existing in the area, more objects can be obtained, thereby improving the accuracy of determining the high-altitude environment of the area where the target point is located.

[0131] In addition, it can be understood that the perception results can be used to determine the security threat of the target point (for example, determining whether there is a collision risk when the terminal device is at the target point). Therefore, compared with using PC5 communication technology to determine the security threat of the target point, the security threat of the target point can be determined based on more objects, thereby improving the accuracy of the determined security threat of the target point (such as the accuracy of the collision risk).

[0132] The technical solution provided in this application can be used in various communication systems, which may be 3GPP communication systems, such as 4th generation (4G) long term evolution (LTE) systems, 5G new radio (NR) systems, future wireless communication systems (such as 6th generation mobile networks (6G)), vehicle to everything (V2X) systems, LTE and NR hybrid networking systems, or device to device (D2D) systems, machine to machine (M2M) communication systems, Internet of Things (IoT), and other next generation communication systems. Alternatively, the communication system may also be a non-3GPP communication system without limitation.

[0133] Among them, the above-mentioned communication system applicable to the present application is only an example, and the communication system applicable to the present application is not limited to this. It is uniformly explained here and will not be repeated below.

[0134] Below Figure 4 As an example, the communication system provided in the embodiment of the present application is described. Figure 4 As shown, the communication system may include at least one first network element and at least one second network element.

[0135] In some embodiments, the first network element involved in the present application is a network element with a sensing function in a core network. Correspondingly, the second network element is a service wireless access network device of a terminal device.

[0136] Optionally, in this embodiment, Figure 5 As shown in (a), the communication system may also include an AMF network element. The service radio access network device can communicate with the AMF network element, and the AMF network element can communicate with the first network element, that is, the service radio access network device can communicate with the first network element through the AMF network element.

[0137] Exemplarily, the wireless access network device involved in the embodiments of the present application has a synaesthesia (also known as communication perception fusion) function.

[0138] Exemplarily, the terminal device involved in the embodiments of the present application may be a UAV.

[0139] In some other embodiments, the first network element involved in the present application is a network element with a sensing function in a core network. Correspondingly, the second network element is any one of a USS network element and a UTM network element.

[0140] Optionally, in this embodiment, Figure 5 As shown in (b), the USS network element / UTM network element can communicate directly with the first network element; or, the communication system may further include a UAS-NF network element. The USS network element / UTM network element can communicate with the UAS-NF network element, and the UAS-NF network element can communicate with the first network element, that is, the USS network element / UTM network element can communicate with the first network element through the UAS-NF network element.

[0141] In some other embodiments, Figure 5 As shown in (c), the first network element involved in the present application is a service wireless access network device. Correspondingly, the second network element is any one of a terminal device and an AMF network element.

[0142] In some other embodiments, Figure 5 As shown in (d), the first network element involved in the present application is a first CU network element, wherein the first CU network element is a CU network element having some functions of serving a wireless access network device. Correspondingly, the second network element is any one of a terminal device and an AMF network element. Further, under this embodiment, the communication system may also include a first DU network element. Among them, the first DU network element is a DU network element having another part of the functions of serving a wireless access network device.

[0143] Optionally, in an embodiment of the present application, the wireless access network device is a device that accesses a terminal device to a wireless network, and may be an evolutionary Node B (eNB or eNodeB) in an LTE or evolved LTE system (LTE-Advanced, LTE-A), such as a traditional macro base station eNB and a micro base station eNB in ​​a heterogeneous network scenario; or may be a next generation node B (gNodeB or gNB) in a 5G system; or may be a next generation base station in a sixth generation (6G) system; or may be a transmission reception point (TRP); or may be a base station in a future evolved public land mobile network (PLMN); or may be a broadband network service gateway (BNG), an aggregation switch or a non-3GPP access device; or may be a wireless controller in a cloud radio access network (CRAN); or may be an access node (access point, AP); or it may be a wireless relay node or a wireless backhaul node; or it may be a device that implements a base station function in IoT, a device that implements a base station function in V2X, a device that implements a base station function in D2D, or a device that implements a base station function in M2M, and the embodiments of the present application do not make specific limitations on this.

[0144] In some possible scenarios, the radio access network device may also be a module or unit that can implement some functions of the base station, for example, the radio access network device may be a CU, DU, CU-control plane (CP), CU-user plane (UP), or radio unit (RU). As described above, the CU and DU may be separately configured, or may be included in the same network element, such as a BBU. The RU may be included in a radio frequency device or radio frequency unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0145] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, the radio access network device may be a network device or a module of a network device in an open radio access network (open RAN, ORAN) system. In the ORAN system, CU may also be referred to as open (open, O)-CU, DU may also be referred to as O-DU, CU-CP may also be referred to as O-CU-CP, CU-UP may also be referred to as O-CU-UP, and RU may also be referred to as O-RU. Any of the CU (or CU-CP, CU-UP), DU and RU in this application may be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0146] Exemplarily, the base stations in the embodiments of the present application may include various forms of base stations, such as: macro base stations, micro base stations (also called small stations), indoor stations, relay stations, access points, donor nodes, etc., and the embodiments of the present application do not specifically limit this.

[0147] Optionally, in an embodiment of the present application, the terminal device may refer to a user-side device with wireless transceiver functions, which can send signals to a wireless access network device or receive signals from a wireless access network device. The terminal device may also be referred to as user equipment (UE), terminal, access terminal, user unit, user station, mobile station (MS), remote station, remote terminal, mobile terminal (MT), user terminal, wireless communication device, user agent or user device, etc. The terminal can be widely used in various scenarios, for example, it can be a wireless terminal in IoT, V2X, D2D, M2M, MTC, 5G network, or future evolved PLMN. The terminal device can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; it can also be deployed on the water (such as ships, etc.); it can also be deployed in the air (such as airplanes, balloons and satellites, etc.).

[0148] Exemplarily, the terminal device can be a drone, a helicopter, a robotic arm, an IoT device (e.g., a sensor, an electric meter, a water meter, etc.), a V2X device, a station (ST) in a wireless local area network (WLAN), a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA) device, a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, an in-vehicle device, a wearable device (also referred to as a wearable smart device), a tablet computer or a computer with wireless transceiver function, an XR terminal, a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, a smart home, or a wireless terminal in a smart city. The present invention relates to wireless devices in the control system (SCS), wireless devices in smart office (OA), vehicle-mounted terminals, vehicles with vehicle-to-vehicle (V222) communication capabilities, smart connected vehicles, drones with UAV to UAV (U221) communication capabilities, etc. The terminal can be mobile or fixed, and this application does not make specific restrictions on this.

[0149] In the embodiments of the present application, the functions of the wireless access network device may also be performed by a module (such as a chip) in the wireless access network device, or may also be performed by a control subsystem including the functions of the wireless access network device. Among them, the control subsystem including the functions of the wireless access network device may be a control center in the above-mentioned application scenarios such as smart grid, industrial control, smart transportation, and smart city. The functions of the terminal device may also be performed by a module (such as a chip or a modem) in the wireless access network device, or may also be performed by a device including the functions of the wireless access network device.

[0150] The following will be combined with the accompanying drawings to Figure 4 and Figure 5The communication system shown in the figure is taken as an example to explain the communication method provided by the embodiment of the present application. It can be understood that in the embodiment of the present application, the wireless access network device can perform some or all of the steps in the embodiment of the present application, and these steps or operations are only examples. The embodiment of the present application can also perform other operations or variations of various operations. In addition, the various steps can be performed in different orders presented in the embodiment of the present application, and it is possible that not all operations in the embodiment of the present application need to be performed.

[0151] It should be noted that the message names between the devices or the names of the parameters in the messages in the following embodiments of the present application are only examples, and other names may be used in the specific implementation, and the embodiments of the present application do not specifically limit this.

[0152] See also Figure 6 , is a flow chart of a communication method provided in an embodiment of the present application. Figure 6 As shown, the communication method may include the following steps:

[0153] S601, the second network element sends a first request message to the first network element. Correspondingly, the first network element receives the first request message from the second network element. The first request message is used to request the perception result of the terminal device at the target point, and the first request message includes the location information of the target point.

[0154] Optionally, the moment when the terminal device is located at the target point is after the moment when the terminal device is located at the current position. That is, the first network element can predict the perception result of the terminal device at the target point according to the first request message.

[0155] Optionally, the first request message includes a movement path of the terminal device, wherein the movement path includes location information of the target point. Exemplarily, the movement path of the terminal device can be represented by a flight point list. For example, the first request message can include some or all of the point information in the flight point list (i.e., the location information and time information of the point).

[0156] S602: The first network element obtains a measurement result of a first perception signal, wherein the target point is located within a signal coverage range of the first perception signal.

[0157] As an example, the measurement result of the first sensing signal includes characteristic information corresponding to at least one point, wherein the characteristic information of the point includes at least one of position information, moving direction, and moving speed.

[0158] Optionally, in this example, each of the at least one point is located within the signal coverage range of the first perception signal.

[0159] As another example, the measurement result of the first sensing signal includes feature information corresponding to at least one target object, wherein the feature information of the target object is determined based on feature information corresponding to at least one point.

[0160] Optionally, each of the at least one target object is located within a signal coverage range of the first perception signal.

[0161] For example, take 16 points as an example. Figure 7 As shown, Figure 7 The 16 black dots in the figure represent a point respectively; according to the position information of the points, it can be known that the 16 points correspond to two target objects (ie, target object #1 and target object #2).

[0162] Optionally, the characteristic information of the target object includes at least one of position information, movement information, speed information, size of the target object, and shape of the target object. The movement information of the target object is the movement information of at least one point corresponding to the target object, and the speed information of the target object is the speed information of at least one point corresponding to the target object. The movement information corresponding to at least one point corresponding to the target object is the same, and the speed information corresponding to at least one point corresponding to the target object is the same.

[0163] As another example, the measurement result of the first perception signal includes characteristic information of an echo signal of the first perception signal, wherein the characteristic signal of the echo signal includes at least one of signal strength, phase, arrival angle, and power of the echo signal.

[0164] S603: The first network element determines a perception result within a signal coverage range of the first perception signal according to a measurement result of the first perception signal.

[0165] Optionally, in an embodiment of the present application, the perception result includes feature information corresponding to at least one perception object. Exemplarily, the feature information of the perception object includes feature information of the target object and the type of the target object.

[0166] As an example, in the case where the measurement result of the first perception signal includes characteristic information corresponding to at least one point, determining the perception result within the signal coverage range of the first perception signal according to the measurement result of the first perception signal includes: determining characteristic information corresponding to at least one target object according to the characteristic information corresponding to at least one point; determining the type of each target object in at least one target object according to the characteristic information corresponding to at least one target object, and obtaining at least one perception object; the perception object corresponds to the target object one-to-one; and determining the characteristic information of the target object as the characteristic information of the perception object. In other words, the perception object is a target object with an identifier.

[0167] As another example, in a case where the measurement result of the first perception signal includes characteristic information corresponding to at least one target object, the perception result within the signal coverage range of the first perception signal is determined according to the measurement result of the first perception signal, including: determining the type of each target object in the at least one target object according to the characteristic information of the at least one target object to obtain at least one perception object; the perception objects correspond one-to-one to the target objects; and determining the characteristic information of the target objects as the characteristic information of the perception objects.

[0168] As another example, when the measurement result of the first perception signal includes characteristic information of the echo signal of the first perception signal, the first network element may determine characteristic information corresponding to at least one point corresponding to the echo signal based on at least one of the location information or time information of the device receiving the echo signal and the characteristic information of the echo signal. Further, according to the characteristic information corresponding to at least one point, characteristic information corresponding to at least one target object may be determined.

[0169] In combination with the above three examples, illustratively, after determining at least one target object, the first network element determines the actual object (i.e., the type of the target object) of each target object according to the characteristic information of the target object. For example, if target object #1 is determined to be a bird, the identifier of target object #1 indicates a bird. If target object #2 is determined to be a kite, the identifier of target object #2 indicates a kite.

[0170] S604: The first network element sends a sensing result within a signal coverage range of the first sensing signal to the second network element. Correspondingly, the second network element receives the sensing result within the signal coverage range of the first sensing signal from the first network element.

[0171] In the communication method provided in the embodiment of the present application, the first network element can obtain the measurement result (i.e., the measurement result of the first perception signal) obtained by measuring the area where the target point is located (i.e., the signal coverage range of the first perception signal) based on the location information of the target point, and determine the perception result of the area, i.e., the objects existing in the area according to the measurement result. In other words, the first network element can obtain all objects existing in the area (e.g., objects with communication functions and objects without communication functions), and can obtain more objects compared to the solution of determining objects with PC5 communication functions using PC5 communication technology, thereby improving the accuracy of determining the high-altitude environment of the area where the target point is located.

[0172] In addition, it can be understood that the perception results can be used to determine the security threat of the target point (for example, determining whether there is a collision risk when the terminal device is at the target point). Therefore, compared with using PC5 communication technology to determine the security threat of the target point, the security threat of the target point can be determined based on more objects, thereby improving the accuracy of the determined security threat of the target point (such as the accuracy of the collision risk).

[0173] The above is an overall description of the communication method provided in the embodiment of the present application. The first network element involved in the above embodiment is described in detail below. Exemplarily, the first network element can be implemented based on the following three scenarios:

[0174] Scenario 1: The first network element is a network element with perception function in the core network.

[0175] Optionally, in the following scenario, the second network element may include three possible implementation modes:

[0176] In a possible implementation of scenario 1, the second network element is a service wireless access network device of the terminal device. In this implementation, the service wireless access network device can communicate directly with the first network element; or the service wireless access network device can communicate with the first network element through the AMF network element, that is, the communication system can include the following: Figure 5 The network element shown in (a) is not specifically limited in this embodiment of the present application.

[0177] Exemplarily, when the serving radio access network device realizes communication with the first network element through the AMF network element, step S601 can be replaced by: Figure 8 Steps S6011 to S6012 shown:

[0178] S6011. The serving wireless access network device sends a first request message to the AMF network element. Correspondingly, the AMF network element receives the first request message from the serving wireless access network device.

[0179] S6012, the AMF network element sends a first request message to the first network element. Correspondingly, the first network element receives the first request message from the AMF network element.

[0180] As an example, the AMF network element sending the first request message to the first network element can be understood as: the AMF network element transparently transmits the first request message to the first network element. That is, after the AMF network element receives the first request message from the serving wireless access network device, it does not process the first request message, but directly sends the first request message to the first network element.

[0181] As another example, the AMF network element sending a first request message to the first network element can be understood as: the AMF network element sending a first request message in a first message format to the first network element. The first message format is a message format used for transmission between the AMF network element and the first network element.

[0182] Exemplarily, in this example, after the AMF network element receives the first request message from the second network element, it adjusts the message format of the first request message to the first message format, and then sends the adjusted first request message to the first network element.

[0183] Similarly, the communication system includes Figure 5 In the case of the network element shown in (a) in FIG. 1 , step S604 can be replaced by Figure 8 Steps S6041 to S6042 shown:

[0184] S6041. The first network element sends a perception result within a signal coverage range of a first perception signal to the AMF network element. Correspondingly, the AMF network element receives a perception result within a signal coverage range of the first perception signal from the first network element.

[0185] S6042, the AMF network element sends the perception result within the signal coverage range of the first perception signal to the serving wireless access network device. Correspondingly, the serving wireless access network device receives the perception result within the signal coverage range of the first perception signal from the AMF network element.

[0186] Exemplarily, the perception result within the signal coverage range of the first perception signal sent by the AMF network element to the service wireless access network device can be understood as: the AMF network element transparently transmits the perception result within the signal coverage range of the first perception signal to the service wireless access network device. Alternatively, the AMF network element sending a first request message to the first network element can be understood as: the AMF network element sends the perception result within the signal coverage range of the first perception signal in the second message format to the first network element. The second message format is a message format used for transmission between the AMF network element and the service wireless access network device.

[0187] In another possible implementation of scenario one, the second network element is an AMF network element.

[0188] As an example, the AMF network element may send the first request message to the serving radio access network device, thereby sending the first request message to the first network element through the serving radio access network device.

[0189] Exemplarily, in this example, step S601 can be replaced by Fig. 9 Steps S6013 to S6015 shown:

[0190] S6013. The AMF network element sends a first request message #1 to the serving wireless access network device. Correspondingly, the serving wireless access network device receives the first request message #1 from the AMF network element.

[0191] Exemplarily, the first request message #1 may be the same as or different from the first request message. For example, the first request message #1 has a different message format from the first request message.

[0192] S6014. The serving radio access network device sends a first request message #2 to the AMF network element. Correspondingly, the AMF network element receives the first request message #2 from the serving radio access network device.

[0193] Exemplarily, the first request message #2 may be the same as or different from the first request message #1. For example, the message formats of the first request message #2 and the first request message #1 are different.

[0194] S6015. The AMF network element sends a first request message #3 to the first network element. Correspondingly, the first network element receives the first request message #3 from the AMF network element.

[0195] Exemplarily, the first request message #3 may be the same as or different from the first request message #2. For example, the message formats of the first request message #3 and the first request message #2 are different.

[0196] Similarly, step S604 can be replaced by Fig. 9 Steps S6043 to S6045 shown:

[0197] S6043. The first network element sends the perception result #1 within the signal coverage range of the first perception signal to the AMF network element. Correspondingly, the AMF network element receives the perception result #1 within the signal coverage range of the first perception signal from the first network element.

[0198] Exemplarily, the perception result #1 within the signal coverage of the first perception signal may be the same as or different from the perception result within the signal coverage of the first perception signal. For example, the message format of the perception result #1 within the signal coverage of the first perception signal is different from that of the perception result within the signal coverage of the first perception signal.

[0199] S6044. The AMF network element sends the perception result #2 within the signal coverage range of the first perception signal to the serving radio access network device. Correspondingly, the serving radio access network device receives the perception result #2 within the signal coverage range of the first perception signal.

[0200] Exemplarily, the perception result #2 within the signal coverage of the first perception signal may be the same as or different from the perception result #1 within the signal coverage of the first perception signal. For example, the message format of the perception result #2 within the signal coverage of the first perception signal is different from that of the perception result #1 within the signal coverage of the first perception signal.

[0201] S6045. The serving wireless access network device sends the perception result #3 within the signal coverage range of the first perception signal to the AMF network element. Correspondingly, the AMF network element receives the perception result #3 within the signal coverage range of the first perception signal from the serving wireless access network device.

[0202] Exemplarily, the perception result #3 within the signal coverage of the first perception signal may be the same as or different from the perception result #2 within the signal coverage of the first perception signal. For example, the message format of the perception result #3 within the signal coverage of the first perception signal is different from that of the perception result #2 within the signal coverage of the first perception signal.

[0203] As another example, the AMF network element may send the first request message directly to the first network element.

[0204] In another possible implementation of scenario 1, the second network element is a USS network element / UTM network element.

[0205] Optionally, in the possible implementation mode, the USS network element / UTM network element can communicate directly with the first network element; or the USS network element / UTM network element can communicate with the first network element through the UAS-NF network element, that is, the communication system includes the following: Figure 5 The network element shown in (b) is not specifically limited in this embodiment of the present application.

[0206] Exemplarily, when the USS network element / UTM network element communicates with the first network element through the UAS-NF network element, step S601 may be replaced by: Fig.10 Steps S6016 to S6017 shown:

[0207] S6016. The USS network element / UTM network element sends a first request message to the UAS-NF network element. Correspondingly, the UAS-NF network element receives the first request message from the USS network element / UTM network element.

[0208] S6017. The UAS-NF network element sends a first request message to the first network element. Correspondingly, the first network element receives the first request message from the UAS-NF network element.

[0209] Exemplarily, the UAS-NF network element processes the first request message in the same manner as described above. Figure 8The AMF network element described in the above process the first request message in the same way. For details, please refer to the above Figure 8 The relevant description in will not be repeated here.

[0210] Similarly, the communication system includes Figure 5 In the case of the network element shown in (b) in FIG. 1 , step S604 can be replaced by Fig.10 Steps S6046 to S6047 shown:

[0211] S6046: The first network element sends the perception result within the signal coverage range of the first perception signal to the UAS-NF network element. Correspondingly, the UAS-NF network element receives the perception result within the signal coverage range of the first perception signal from the first network element.

[0212] S6047, the UAS-NF network element sends the perception result within the signal coverage range of the first perception signal to the USS network element / UTM network element. Correspondingly, the USS network element / UTM network element receives the perception result within the signal coverage range of the first perception signal from the UAS-NF network element.

[0213] Exemplarily, the UAS-NF network element processes the perception result within the signal coverage range of the first perception signal in the same manner as described above. Figure 8 The processing of the perception result of the first perception signal within the signal coverage range by the AMF network element described in the above is the same, and the details can be referred to above Figure 8 The relevant description in will not be repeated here.

[0214] Optionally, in the following scenario, the communication system may also include the following two possible implementation forms:

[0215] As a possible implementation form, the communication system may further include a first radio access network device. In this case, the communication system includes a second network element, a first network element, and a first radio access network device. In this possible implementation form, the first radio access network device is a device for measuring the first perception signal, that is, the first radio access network device may be replaced by a device for measuring the first perception signal. For the convenience of description, the device for measuring the first perception signal is referred to as a measurement device below.

[0216] Optionally, in this possible implementation form, the process in which the first network element obtains the measurement result of the first perception signal includes the following steps: Fig.11 Steps S60201 to S60202 are shown, that is, step S602 can be replaced by steps S60201 to S60202:

[0217] S60201. A first network element sends a second request message to a first wireless access network device, and correspondingly, the first wireless access network device receives the second request message from the first network element. The second request message is used to request measurement of a first perception signal, and the second request message includes location information of a target point.

[0218] Optionally, the second request message also includes at least one of the configuration parameters of the first perception signal, the first perception duration, and the first perception service quality (QoS), wherein the configuration parameters of the first perception signal include at least one of the message ID, resource configuration, frequency domain bandwidth, time domain period, transmission power, or signal waveform of the first perception signal; the first perception duration is the duration from the moment the second request message is received to the moment the measurement result of the first perception signal is sent; the first perception QoS is related to the number of devices used for collaborative measurement of the first perception signal (for the convenience of description, the devices used for collaborative measurement of the first perception signal will be referred to as collaborative devices below), or at least one of the configuration parameters of the first perception signal. The target point is located within the signal coverage range of the collaborative device.

[0219] Optionally, the first perceived QoS is related to at least one of the number of collaborative devices or configuration parameters of the first perception signal. In the case where the second request message includes the configuration parameters of the first perception signal, the first perceived QoS is related to the number of collaborative devices.

[0220] Exemplarily, the first perceived QoS includes at least one of a first precision and a first confidence. For example, the larger the value of the first confidence, the larger the corresponding transmission power of the first perception signal, the larger the frequency domain bandwidth of the first perception signal, the smaller the time domain period of the first perception signal, and / or the greater the number of collaborative devices. The smaller the value of the first precision, the larger the corresponding transmission power of the first perception signal, the larger the frequency domain bandwidth of the first perception signal, the smaller the time domain period of the first perception signal, and / or the greater the number of collaborative devices.

[0221] Optionally, the first accuracy includes a first position accuracy and / or a first speed accuracy. That is to say, the smaller the value of the first position accuracy, the greater the corresponding transmission power of the first perception signal, the larger the frequency domain bandwidth of the first perception signal, the smaller the time domain period of the first perception signal, and / or the greater the number of collaborative devices. Alternatively, the smaller the value of the first speed accuracy, the greater the corresponding transmission power of the first perception signal, the larger the frequency domain bandwidth of the first perception signal, the smaller the time domain period of the first perception signal, and / or the greater the number of collaborative devices.

[0222] Optionally, after receiving the first request message, the first network element may determine, based on the location information of the target point, at least one wireless access network device whose signal coverage range can cover the location information of the target point, thereby determining one or more wireless access network devices in the at least one wireless access network device as the first wireless access network device.

[0223] Exemplarily, the at least one first radio access network device may include a serving radio access network device; or, the at least one first radio access network device may include other radio access network devices except the serving radio access network device.

[0224] Optionally, before step S60201, the first network element may determine the second request message according to the first request message. Exemplarily, the configuration parameters of the first perception signal included in the second request message may include the following two possible implementations:

[0225] As an example, the first network element may determine the configuration parameters of the first perception signal according to the location information of the target point, such as the transmission power of the first perception signal, so that the coverage range of the perception signal transmitted with the transmission power can cover the target point.

[0226] As another example, the first network element may determine the configuration parameters of the first perception signal according to the second perception QoS, wherein the second perception QoS is carried in the first request message, that is, the second perception QoS is related to at least one of the configuration parameters of the first perception signal.

[0227] Exemplarily, the second perceived QoS includes at least one of a second precision and a second confidence. For example, the larger the value of the second confidence, the larger the corresponding transmit power of the first perception signal, the larger the frequency domain bandwidth of the first perception signal, and / or the smaller the time domain period of the first perception signal. The smaller the value of the second precision, the larger the corresponding transmit power of the first perception signal, the larger the frequency domain bandwidth of the first perception signal, and / or the smaller the time domain period of the first perception signal.

[0228] Optionally, the second perceived QoS is also related to the number of measuring devices. Exemplarily, the larger the value of the second confidence, the larger the number of corresponding measuring devices (such as the first radio access network device), or the smaller the value of the second precision, the larger the number of corresponding measuring devices. Therefore, the first network element can determine one or more of the at least one radio access network device as the first radio access network device based on the second perceived QoS.

[0229] Optionally, the second accuracy includes a second position accuracy and / or a second speed accuracy. That is, the smaller the value of the second position accuracy, the greater the corresponding transmission power of the first perception signal, the larger the frequency domain bandwidth of the first perception signal, the smaller the time domain period of the first perception signal, and / or the greater the number of measuring devices. Alternatively, the smaller the value of the second speed accuracy, the greater the corresponding transmission power of the first perception signal, the larger the frequency domain bandwidth of the first perception signal, the smaller the time domain period of the first perception signal, and / or the greater the number of measuring devices.

[0230] In combination with the above two optional solutions, it can be known that the first request message may further include a second perceived QoS, wherein the second perceived QoS is related to at least one of the number of measuring devices or the configuration parameters of the first perception signal.

[0231] Based on this optional solution, the first network element can determine the number of measurement devices according to the second perception QoS, thereby meeting the accuracy requirement of the first request message for the perception result within the signal coverage range of the first perception signal. And / or, the first network element can determine the configuration parameters of the first perception signal according to the second perception QoS, thereby obtaining the perception result within the signal coverage range of the first perception signal, meeting the requirement of the first request message for the perception result of the target point.

[0232] Optionally, the first network element may also determine the first perceived QoS according to the second perceived QoS. Exemplarily, the value of the second perceived QoS may be the same as or different from the value of the first perceived QoS. For example, the first network element uses the value of the second perceived QoS as the value of the first perceived QoS.

[0233] S60202. The first radio access network device sends a measurement result of a first perception signal to a first network element. Correspondingly, the first network element receives the measurement result of the first perception signal from the first radio access network device.

[0234] Optionally, the measuring device may also send at least one of its location information or time information to the first network element. Accordingly, the first network element receives at least one of its location information or time information from the measuring device. Among them, at least one of the location information or time information of the measuring device is used to determine the perception result within the signal coverage range of the first perception signal. For example, when the measurement result of the first perception signal includes characteristic information of the echo signal of the first perception signal, the first network element may determine the characteristic information corresponding to at least one point according to at least one of its location information or time information of the measuring device and the measurement result of the first perception signal, thereby further determining the perception result within the signal coverage range of the first perception signal. At this time, the device receiving the echo signal is the first wireless access network device.

[0235] Exemplarily, at least one of the location information or the time information of the measuring device may be understood as: the location information of the measuring device, or the time information of the measuring device, or the location information and the time information of the measuring device.

[0236] Exemplarily, the measuring device includes a first radio access network device. That is, the first radio access network device sends at least one of its location information or time information to the first network element. Correspondingly, the first network element receives at least one of its location information or time information from the first radio access network device.

[0237] It should be noted that Fig.11 Taking a first wireless access network device as an example, the interaction between the first network element and the first wireless access network device is described exemplarily. The first network element may also interact with multiple first wireless access network devices, which is implemented in the same manner as above. Fig.11 The implementation of the interaction between the first network element and a first wireless access network device is the same, and the specific implementation can refer to the above Fig.11 The relevant description will not be repeated here.

[0238] Optionally, before step S60202, as Fig.12 As shown, the communication method may further include the following steps S60203-S60205:

[0239] S60203. The first wireless access network device sends a first perception signal.

[0240] Exemplarily, the second request message includes configuration parameters of the first perception signal, and the first radio access network device may send the first perception signal according to the configuration parameters of the first perception signal.

[0241] Alternatively, illustratively, the second request message includes the location information of the target device, and the first wireless access network device determines the configuration parameters of the first perception signal. For example, the first wireless access network device may determine the configuration parameters of the first perception signal according to the location information of the target device, and then send the first perception signal according to the configuration parameters of the first perception signal.

[0242] Exemplarily, the first perception signal may be a reference signal, such as a channel state information-reference signal (CSI-RS), a cell-specific reference signal (CRS), a positioning reference signal (PRS), or a perception reference signal introduced for perception.

[0243] S60204. The first wireless access network device receives a first echo signal of a first perception signal.

[0244] Exemplarily, the first echo signal of the first perception signal may be understood as: the first perception signal received by the first wireless access network device after being reflected or refracted by an object in a signal coverage area of ​​the first perception signal.

[0245] S60205: The first radio access network device determines a first measurement result of the first perception signal according to a first echo signal of the first perception signal. The first measurement result is used to determine a perception result of the terminal device at the target point.

[0246] As an example, the first radio access network device may determine the characteristic information of the first echo signal according to the first echo signal corresponding to the first perception signal. In this case, the first measurement result includes the characteristic information of the first echo signal.

[0247] Optionally, in this example, the first radio access network device may also send at least one of the location information or time information of the first radio access network device to the first network element. At least one of the location information or time information of the first radio access network device is used to determine the perception result within the signal coverage range of the first perception signal.

[0248] Exemplarily, the location information of the first wireless access network device can be understood as: the location information of the antenna panel used to send the first perception signal among the multiple antenna panels of the first wireless access network device. The time information of the first wireless access network device can be understood as: the absolute time used by the first wireless access network device, such as coordinated universal time (UTC). As another example, the first wireless access network device can determine the location information of at least one point in each period according to the first echo signal corresponding to the first perception signal of each period. For example, the first wireless access network device can determine the location information of at least one point according to the time of sending the first perception signal and the time of receiving the first echo signal. The first wireless access network device determines at least one of the moving speed and moving direction of the at least one point based on the location information of the at least one point in multiple periods. At this time, the first measurement result includes characteristic information corresponding to at least one point.

[0249] As another example, based on the above another example, after determining the feature information corresponding to at least one point, the first wireless access network device may also determine the feature information corresponding to at least one target object according to the feature information corresponding to the at least one point. In this case, the first measurement result includes the feature information corresponding to the at least one target object.

[0250] At this time, the measurement result of the first perception signal in step S60202 includes the first measurement result. That is, at this time, step S60202 can be replaced by: the first radio access network device sends the first measurement result of the first perception signal to the first network element. Correspondingly, the first network element receives the first measurement result from the first perception signal.

[0251] Based on this optional scheme, the first network element can send a second request message to the first wireless access network device based on the location information of the target point, so as to obtain the first measurement result of the first perception signal from the first wireless access network device, and provide a basis for the fourth network element / first network element to determine the perception result within the signal coverage range of the first perception signal based on the first measurement result of the first perception signal.

[0252] Optional, based on Fig.12 In the embodiment described, the communication system may further include a second radio access network device. In this case, the communication system includes a serving radio access network device, a first network element, a first radio access network device, and a second radio access network device, wherein the second radio access network device is a device for collaboratively measuring the first perception signal, that is, the second radio access network device may be replaced by a device for collaboratively measuring the first perception signal.

[0253] Exemplarily, before step S60203, Fig.13 As shown, the communication method may further include the following steps S60206-S60209:

[0254] S60206. The first radio access network device sends a third request message to the second radio access network device. Correspondingly, the second radio access network device receives the third request message from the first radio access network device. The third request message is used to request collaborative measurement of the first perception signal, and the third request message includes configuration parameters of the first perception signal.

[0255] Optionally, the second wireless access network device is one or more wireless access network devices other than the first wireless access network device, among at least one wireless access network device whose signal coverage range can cover the location information of the target point.

[0256] Optionally, before step S60206, the first radio access network device may determine the number of devices (i.e., second radio access network devices) used to perform collaborative measurement of the first perception signal according to the second request message (e.g., the first perception QoS). Alternatively, the first radio access network device may determine the number of second radio access network devices according to its own accuracy requirements for the measurement results.

[0257] Optionally, the third request message may further include an ID of the third request message. The ID of the third request message is used by the second wireless access device to identify the third request message and respond to the third request message.

[0258] Optionally, the second radio access network device may also receive at least one of location information or time information of a measuring device from the first radio access network device, wherein at least one of the location information or time information of the measuring device is used to determine the second measurement result.

[0259] As an example, at least one of the location information or time information of the measuring device may be carried in the third request message. At this time, the third request message may indicate at least one of the location information or time information of the measuring device.

[0260] Exemplarily, the third request message may include at least one of the location information or time information of the measuring device. Alternatively, the third request message includes any one of the TRP ID, the cell ID, and the beam ID; in this case, any one of the TRP ID, the cell ID, and the beam ID is associated with multiple antenna panels of the measuring device. The third request message can indicate the location information of the antenna panel used to send the first perception signal through any one of the TRP ID, the cell ID, and the beam ID.

[0261] Exemplarily, when the measuring device is the first radio access network device, the third request message indicates at least one of the location information or the time information of the first radio access network device.

[0262] Based on this optional scheme, the third request message indicates at least one of the location information or time information of the measuring device, so that the collaborative device can know any one of the sending time of the first perception signal and the sending position of the first perception signal, so that the collaborative device can determine the second measurement result according to any one of the sending time of the first perception signal and the sending position of the first perception signal. Compared with the scheme of determining the second measurement result according to the configuration parameters of the first perception signal, the accuracy of the second measurement result can be improved.

[0263] As another example, at least one of the location information or the time information of the measuring device may be carried in other information except the third request message.

[0264] Exemplarily, the information used to carry at least one of the location information or time information of the measuring device may be sent by the first wireless access network device to the second wireless access network device at the same time as sending the third request message. Alternatively, the information (i.e., the information used to carry at least one of the location information or time information of the measuring device) is sent by the first wireless access network device to the second wireless access network device before sending the third request message, or the information may also be sent by the first wireless access network device to the second wireless access network device after sending the third request message. The embodiment of the present application is not limited to this, and it is only necessary to ensure that the second wireless access network device receives the information before determining the second measurement result.

[0265] Exemplarily, the information used to carry at least one of the location information or time information of the measuring device can indicate at least one of the location information or time information of the measuring device through any one of the TRP ID, the cell ID, and the beam ID. At this time, any one of the TRP ID, the cell ID, and the beam ID is associated with multiple antenna panels of the measuring device. This allows the information used to carry at least one of the location information or time information of the measuring device to indicate the location information of the antenna panel used to send the first perception signal through any one of the TRP ID, the cell ID, and the beam ID.

[0266] S60207. The second wireless access network device receives a second echo signal of the first perception signal.

[0267] Exemplarily, the second radio access network device may receive the second echo signal of the first perception signal on the resource configuration indicated by the configuration parameter of the first perception signal.

[0268] Exemplarily, the second echo signal of the first perception signal may be understood as: the first perception signal received by the second wireless access network device after being reflected or refracted by an object within the signal coverage area of ​​the first perception signal.

[0269] As an example, when the second radio access network device receives the second echo signal on the resource configuration indicated by the configuration parameter of the first perception signal, the second radio access network device may perform the following steps:

[0270] S60208. The second wireless access network device determines a second measurement result of the first perception signal according to the second echo signal of the first perception signal. The second measurement result is used to determine the perception result of the terminal device at the target point.

[0271] Exemplarily, the second measurement result includes a characteristic signal of the second echo signal, or the second measurement result includes characteristic information corresponding to at least one point, or the second measurement result includes characteristic information corresponding to at least one target object. The implementation of the second measurement result is similar to the implementation of the first measurement result in step S60205, and the specific description of step S60205 can be referred to, which will not be repeated here.

[0272] S60209: The second radio access network device sends a second measurement result of the first perception signal to the first radio access network device. Correspondingly, the first radio access network device receives the second measurement result of the first perception signal from the second radio access network device.

[0273] Optionally, the second measurement result is carried in the first response message. The first response message may include an ID of the third request message, which is used for the first radio access network device to identify that the first response message is a response message corresponding to the third request message.

[0274] Optionally, the collaborative device may also send at least one of its location information or time information to the measuring device, wherein at least one of the location information or time information of the collaborative device is used to determine the perception result within the signal coverage range of the first perception signal.

[0275] Exemplarily, since in this possible implementation, the measuring device is the first wireless access network device and the collaborative device is the second wireless access network device, the collaborative device may also send at least one of its location information or time information to the measuring device, including the second wireless access network device sending at least one of the location information or time information of the second wireless access network device to the first wireless access network device. Correspondingly, the first wireless access network device receives at least one of the location information or time information of the second wireless access network device from the second wireless access network device.

[0276] As a possible implementation, when the second measurement result includes a characteristic signal of the second echo signal, the first wireless access network device may process the characteristic signal of the second echo signal according to at least one item of the location information or time information of the collaborative device to obtain characteristic information corresponding to at least one point position and / or target object.

[0277] Optionally, in this possible implementation, the first wireless access network device can send characteristic information corresponding to at least one point and / or target object to the first network element, so that the first network element can determine the perception result within the signal coverage range of the first perception signal based on the characteristic information corresponding to at least one point and / or target object.

[0278] In this possible implementation, the measurement result of the first perception signal received by the first network element includes the first measurement result and feature information corresponding to at least one point position and / or target object determined according to the second measurement result.

[0279] As another possible implementation, when the second measurement result includes a characteristic signal of the second echo signal, the first network element may process the characteristic signal of the second echo signal according to at least one item of the location information or time information of the collaborative device to obtain characteristic information corresponding to at least one point and / or target object, thereby further determining the perception result within the signal coverage range of the first perception signal.

[0280] Optionally, in this possible implementation, the first wireless access network device may send at least one item of the location information or time information of the second wireless access network device, and the second measurement result to the first network element, so that the first network element can determine the perception result within the signal coverage range of the first perception signal based on at least one item of the location information or time information of the second wireless access network device, and the second measurement result.

[0281] The following is a detailed introduction to "at least one of the location information or time information of the collaborative device".

[0282] As an example, at least one of the location information or time information of the collaborative device may be carried in the first response message. That is, at this time, the first response message includes at least one of the location information or time information of the collaborative device and the second measurement result.

[0283] Exemplarily, the first response message includes the implementation of at least one item of the location information or time information of the collaborative device, which is similar to the implementation of at least one item of the location information or time information of the measuring device indicated in the above-mentioned third request message. For details, please refer to the relevant description of the above-mentioned third request message, which will not be repeated here.

[0284] Optionally, when the collaborative device is a second radio access network device, the first response message includes at least one of location information or time information of the second radio access network device.

[0285] As another example, at least one of the location information or time information of the collaborative device may be carried in other messages other than the first response message.

[0286] Exemplarily, when the measuring device is a first wireless access network device and the collaborative device is a second wireless access network device, the message used to carry at least one of the location information or time information of the collaborative device may be sent by the second wireless access network device to the first wireless access network device at the same time as the first response message is sent. Alternatively, the message (i.e., the message used to carry at least one of the location information or time information of the second wireless access network device) is sent by the second wireless access network device to the first wireless access network device before sending the first response message, or the message may also be sent by the second wireless access network device to the first wireless access network device after sending the first response message. The embodiment of the present application is not limited, and it is only necessary to ensure that the first wireless access device sends at least one of the location information or time information of the second wireless access network device to the first network element before step S603, or to ensure that the second wireless access device sends at least one of the location information or time information of the second wireless access network device to the first wireless access device before step S60202.

[0287] Optionally, after step S60209, the first wireless access network device may fit the first measurement result and the second measurement result to obtain the measurement result of the first perception signal. For example, the first wireless access network device may aggregate or deduplicate the first measurement result and the second measurement result to obtain the measurement result of the first perception signal. In other words, the measurement result of the first perception signal is the measurement result obtained by fitting the first measurement result and the second measurement result. That is, the first wireless access network device sends the first measurement result of the first perception signal to the first network element, including: the first wireless access network device sends the measurement result of the first perception signal to the first network element.

[0288] Based on this optional scheme, the first network element can obtain the second measurement result of the first perception signal from the second wireless access network device, so that the first network element determines the perception result within the signal coverage range of the first perception signal based on the first measurement result and the second measurement result of the first perception signal, thereby improving the accuracy of determining the perception result within the signal coverage range of the first perception signal.

[0289] It should be noted that Fig.13 Taking a second wireless access network device as an example, the interaction between a first wireless access network device and a second wireless access network device is described exemplarily. A first wireless access network device may also interact with multiple second wireless access network devices, which is implemented in the same way as above. Fig.13 The implementation of the interaction between a first wireless access network device and a second wireless access network device is the same, and the specific implementation can refer to the above Fig.13 The relevant description will not be repeated here.

[0290] It should be noted that in the above Fig.13 In the process of the communication method shown, there is no limit to the order between steps S60207 to S60209 and steps S60204 to S60205. For example, steps S60207 to S60209 and steps S60204 to S60205 can be executed simultaneously, or steps S60207 to S60209 can be executed before steps S60204 to S60205, or steps S60207 to S60209 can be executed after steps S60204 to S60205. It is sufficient that steps S60207 to S60209 are executed before step S60202.

[0291] Optionally, in this possible implementation form, the interaction between the second radio access network device and the first network element is the same as the above Fig.11 The interaction between the serving wireless access network device and the first network element is similar to that described in the specification, that is, the second wireless access network device can interact with the second network element through the AMF network element, and the specific details can be referred to above. Fig.11 The relevant description in will not be repeated here.

[0292] As another possible implementation form, the communication system may also include a second CU network element and a second DU network element. The second CU is a CU network element having some functions of the first wireless access network device. The second DU network element is a DU network element having another part of the functions of the first wireless access network device. In this possible implementation form, the second DU network element is a measuring device, that is, the second DU network element can be replaced by a measuring device. The second CU network element is responsible for communicating with the first network element and the second DU network element. That is, the first network element communicates with the second DU network element through the second CU network element.

[0293] Optionally, in this possible implementation form, the process in which the first network element obtains the measurement result of the first perception signal includes the following steps: Fig.14 Steps S60210 to S60216 are shown, that is, step S602 can be replaced by steps S60210 to S60216:

[0294] S60210. The first network element sends a second request message to the second CU network element. Correspondingly, the second CU network element receives the second request message from the first network element. The second request message is used to request measurement of the first perception signal, and the second request message includes location information of the target point.

[0295] Exemplarily, the implementation of the second request message may refer to the relevant description of the above step S60201, which will not be repeated here.

[0296] Optionally, after receiving the first request message, the first network element can determine, based on the location information of the target point, at least one CU network element whose signal coverage range can cover the location information of the target point. Furthermore, the first network element determines one or more CU network elements in the at least one CU network element as the second CU network element. Exemplarily, the first network element can determine one or more CU network elements in the at least one CU network element as the second CU network element based on the second perceived QoS.

[0297] Exemplarily, at least one second CU network element may include the first CU network element; or at least one second CU network element may include other CU network elements except the first CU network element, wherein the first CU network element is a CU network element having partial functions of serving the wireless access network device.

[0298] S60211. The second CU network element sends a fourth request message to the second DU network element. Correspondingly, the second DU network element receives the fourth request message from the second CU network element. The fourth request message includes the location information of the target point, and the fourth request message is used to request measurement of the first perception signal.

[0299] Optionally, after receiving the second request message, the second CU network element can determine, based on the location information of the target point, at least one DU network element whose signal coverage range can cover the location information of the target point. Furthermore, the second CU network element determines one or more DU network elements in the at least one DU network element as the second DU network element, so that step S60211 can be executed.

[0300] Optionally, the fourth request message also includes at least one of the configuration parameters of the first perception signal, the second perception duration, and the third perception QoS, wherein the configuration parameters of the first perception signal include at least one of the message ID, resource configuration, frequency domain bandwidth, time domain period, transmission power, or signal waveform of the first perception signal. The second perception duration is the duration from the moment the fourth request message is received to the moment the measurement result of the first perception signal is sent; the third perception QoS is related to the number of measuring devices or at least one of the configuration parameters of the first perception signal.

[0301] Exemplarily, the third perceived QoS includes at least one of a third precision and a third confidence. For example, the larger the value of the third confidence, the larger the corresponding transmit power of the first perceived signal, the larger the frequency domain bandwidth of the first perceived signal, the smaller the time domain period of the first perceived signal, and / or the more the number of measuring devices. The smaller the value of the third precision, the larger the corresponding transmit power of the first perceived signal, the larger the frequency domain bandwidth of the first perceived signal, the smaller the time domain period of the first perceived signal, and / or the more the number of measuring devices.

[0302] Optionally, the third accuracy includes a third position accuracy and / or a third speed accuracy. That is, the smaller the value of the third position accuracy, the greater the corresponding transmission power of the first perception signal, the larger the frequency domain bandwidth of the first perception signal, the smaller the time domain period of the first perception signal, and / or the greater the number of measuring devices. Alternatively, the smaller the value of the third speed accuracy, the greater the corresponding transmission power of the first perception signal, the larger the frequency domain bandwidth of the first perception signal, the smaller the time domain period of the first perception signal, and / or the greater the number of measuring devices.

[0303] Optionally, before step S60211, the second CU network element may determine a fourth request message according to the second request message. Exemplarily, the configuration parameters of the first perception signal included in the fourth request message may include the following two possible implementations:

[0304] As an example, the second CU network element may determine the configuration parameters of the first perception signal according to the location information of the target point, such as the transmission power of the first perception signal, so that the coverage range of the perception signal transmitted with the transmission power can cover the target point.

[0305] As another example, the second CU network element may determine the configuration parameters of the first perception signal based on the first perception QoS. That is, the first perception QoS is related to at least one of the configuration parameters of the first perception signal. Exemplarily, the first perception QoS includes at least one of the first precision and the first confidence. For example, the larger the value of the first confidence, the larger the corresponding transmission power of the first perception signal, the larger the frequency domain bandwidth of the first perception signal, and / or the smaller the time domain period of the first perception signal. Alternatively, the smaller the value of the first precision, the larger the corresponding transmission power of the first perception signal, the larger the frequency domain bandwidth of the first perception signal, and / or the smaller the time domain period of the first perception signal.

[0306] Optionally, the first perceived QoS is also related to the number of second DU network elements. Exemplarily, the larger the value of the first confidence, the larger the number of corresponding measurement devices (such as second DU network elements), or the smaller the value of the first precision, the larger the number of corresponding measurement devices. Therefore, the second CU network element can determine one or more DU network elements in the at least one DU network element as the second DU network element based on the first perceived QoS.

[0307] Optionally, the second CU network element may also determine the third perceived QoS based on the first perceived QoS. Exemplarily, the value of the first perceived QoS may be the same as or different from the value of the third perceived QoS. For example, the second CU network element uses the value of the first perceived QoS as the value of the third perceived QoS.

[0308] S60212. The second DU network element sends a first perception signal.

[0309] Exemplarily, the fourth request message includes the configuration parameters of the first perception signal, so that the second DU network element can send the first perception signal according to the configuration parameters of the first perception signal. Alternatively, the fourth request message includes the location information of the target device, so that the second DU network element can send the first perception signal according to the location information of the target device. For example, the second DU network element determines the configuration parameters of the first perception signal according to the location information of the target device, and then sends the first perception signal according to the configuration parameters of the first perception signal.

[0310] S60213. The second DU network element receives the first echo signal of the first perception signal.

[0311] Exemplarily, the first echo signal of the first perception signal may be understood as: the first perception signal received by the second DU network element after being reflected or refracted by an object within the signal coverage area of ​​the first perception signal.

[0312] S60214. The second DU network element determines a first measurement result of the first perception signal according to the first echo signal of the first perception signal. The first measurement result is used to determine the perception result of the terminal device at the target point.

[0313] Exemplarily, the implementation of the first measurement result is similar to the implementation of the first measurement result in the above step S60205. For details, please refer to the relevant description of the first measurement result in the above step S60205, which will not be repeated here.

[0314] S60215. The second DU network element sends a first measurement result of the first perception signal to the second CU network element. Correspondingly, the second CU network element receives the first measurement result of the first perception signal from the second DU network element.

[0315] S60216: The second CU network element may send a first measurement result of the first perception signal to the first network element. Correspondingly, the first network element receives the first measurement result of the first perception signal from the second CU network element.

[0316] Optionally, in this possible implementation, since the measuring device is the second DU network element, the measuring device may also send at least one of its location information or time information to the first network element. The following two possible implementations are included:

[0317] As an example, the second DU network element sends at least one of its location information or time information to the first network element. At this time, at least one of the location information or time information of the second DU network element is used to determine the perception result within the signal coverage range of the first perception signal.

[0318] Exemplarily, the second DU network element sends at least one of its location information or time information to the first network element, including: the second DU network element sends at least one of its location information or time information to the second CU network element, and after the second CU network element receives the at least one of the location information or time information of the second DU network element, it sends it to the first network element. For example, when the first measurement result includes characteristic information of the first echo signal, the first network element can determine the perception result within the signal coverage range of the first perception signal based on at least one of the location information or time information of the second DU network element and the first measurement result.

[0319] It should be noted that Fig.14 Taking a second CU network element as an example, the interaction between the first network element and the second CU network element is described exemplarily. The first network element may also interact with multiple second CU network elements, which is implemented in the same way as above. Fig.14 The implementation of the interaction between the first network element and a second CU network element is the same, and the specific implementation can refer to the above Fig.14 The relevant description will not be repeated here.

[0320] It should be noted that Fig.14 Taking a second DU network element as an example, the interaction between the second CU network element and a second DU network element is described exemplarily. The first CU may also interact with multiple second DU network elements, which is implemented in the same way as above. Fig.14 The implementation of the interaction between the second CU and a second DU network element is the same, and the specific implementation can refer to the above Fig.14 The relevant description is not repeated here. Fig.14 In the embodiment described above, the communication system may further include a collaborative device. In this case, the communication system includes a serving wireless access network device, a first network element, a second CU network element, a second DU network element, and a collaborative device. The target point is located within the signal coverage of the collaborative device.

[0321] Exemplarily, before step S60212, Fig.15 As shown, the method may further include the following steps S60217-S60222:

[0322] S60217: The second CU network element sends a third request message to the collaborative device. Correspondingly, the collaborative device receives the third request message from the second CU network element.

[0323] Optionally, before step S60217, the second CU network element may determine the number of collaborative devices according to the second request message (eg, the first perceived QoS). Alternatively, the second CU network element may determine the number of collaborative devices according to its own accuracy requirements for the measurement results.

[0324] Optionally, the third request message may further include an ID of the third request message. The ID of the third request message is used by the collaborative device to identify the third request message and respond to the third request message.

[0325] Optionally, the collaborative device may also receive at least one of the location information or time information of the measuring device (ie, the second DU network element) from the second CU network element, wherein at least one of the location information or time information of the measuring device is used to determine the second measurement result.

[0326] Optionally, at least one item of the location information or time information of the second DU network element may be carried in the third request message, or at least one item of the location information or time information of the second DU network element may be carried in other information except the third request message.

[0327] Exemplarily, the process in which the collaborative device receives at least one item of location information or time information of the second DU network element from the second CU network element is similar to the process in which the second wireless access network device receives at least one item of location information or time information of the measuring device from the first wireless access network device in the above-mentioned possible implementation method. For details, please refer to the relevant description of the second wireless access network device receiving at least one item of location information or time information of the measuring device from the first wireless access network device, which will not be repeated here.

[0328] Optionally, the second CU network element may also determine the number of collaborative devices according to the second request message. If the number of collaborative devices is greater than or equal to 1, the second CU network element executes step S60217. Alternatively, the second DU network element determines the number of collaborative devices according to the fourth request message. If the number of collaborative devices is greater than or equal to 1, the second DU network element informs the second CU network element, so that the second CU network element executes step S60217.

[0329] Optionally, the second CU network element needs to obtain configuration parameters of the first perception signal, so as to perform step S60217. Exemplarily, the second CU network element can obtain the configuration parameters of the first perception signal based on the following two methods:

[0330] As an example, the second CU network element may determine the configuration parameters of the first perception signal based on the second request message.

[0331] Exemplarily, the implementation of the configuration parameters of the first perception signal determined by the second CU network element is the same as the implementation of the configuration parameters of the first perception signal described in the above step S60211. For details, please refer to the relevant description of the above step S60211, which will not be repeated here.

[0332] As another example, the second CU network element may receive configuration parameters of the first perception signal from the second DU network element. Fig.15 As shown, before step S60217, the communication method may further include step S60218: the second DU network element sends the configuration parameters of the first perception signal to the second CU network element. Correspondingly, the second CU network element receives the configuration parameters of the first perception signal from the second DU network element.

[0333] Exemplarily, the configuration parameters of the first perception signal from the second DU network element are determined by the second DU network element according to the fourth request message. The implementation of the second DU network element determining the configuration parameters of the first perception signal is the same as the implementation of the configuration parameters of the first perception signal described in the above step S60212. For details, please refer to the relevant description of the above step S60212, which will not be repeated here.

[0334] Based on this example, after the second CU network element receives the configuration parameters of the first perception signal, it can send a third request message to the collaborative device, so that the collaborative device can measure the first perception signal. Compared with the first network element itself determining the configuration parameters of the first perception signal, the computing power of the first network element can be reduced.

[0335] S60219. The collaborative device receives the second echo signal of the first perception signal.

[0336] Exemplarily, the collaborative device may receive the second echo signal of the first perception signal on the resource configuration indicated by the configuration parameter of the first perception signal.

[0337] Exemplarily, the second echo signal of the first perception signal may be understood as: the first perception signal received by the collaborative device after being reflected or refracted by an object within the signal coverage area of ​​the first perception signal.

[0338] As an example, when the collaborative device receives the second echo signal on the resource configuration indicated by the configuration parameter of the first perception signal, the collaborative device may perform the following steps:

[0339] S60220: The collaborative device determines a second measurement result of the first perception signal according to a second echo signal of the first perception signal. The second measurement result is used to determine a perception result of the terminal device at the target point.

[0340] Exemplarily, the implementation of the second measurement result is similar to the implementation of the second measurement result in the above step S60208. For details, please refer to the relevant description of the above step S60208, which will not be repeated here.

[0341] S60221. The collaborative device sends a second measurement result of the first perception signal to the second CU network element. Correspondingly, the second CU network element receives the second measurement result of the first perception signal from the collaborative device.

[0342] Optionally, the collaborative device may also send at least one of the location information or time information of the collaborative device to the second CU network element. Correspondingly, the second CU network element receives at least one of the location information or time information of the collaborative device from the collaborative device. Among them, at least one of the location information or time information of the collaborative device is used to determine the perception result within the signal coverage range of the first perception signal.

[0343] S60222: The second CU network element sends a second measurement result of the first perception signal to the first network element. Correspondingly, the first network element receives the second measurement result of the first perception signal from the second CU network element.

[0344] Exemplarily, step S60216 and step S60222 can be performed simultaneously. Alternatively, the second CU network element can carry the first measurement result and the second measurement result in the same message and send it, that is, step S60216 and step S60222 can be replaced by: the second CU network element sends the first measurement result and the second measurement result of the first perception signal to the first network element. Correspondingly, the first network element receives the first measurement result and the second measurement result of the first perception signal from the second CU network element.

[0345] Exemplarily, after step S60221, the second CU network element may fit the first measurement result and the second measurement result to obtain the measurement result of the first perception signal. For example, the second CU network element may aggregate or deduplicate the first measurement result and the second measurement result to obtain the measurement result of the first perception signal. In other words, the measurement result of the first perception signal is the measurement result obtained by fitting the first measurement result with the second measurement result. That is, the second CU network element sends the first measurement result and the second measurement result of the first perception signal to the first network element, including: the second CU network element sends the measurement result of the first perception signal to the first network element.

[0346] Optionally, when the collaborative device can also send at least one of the location information or time information of the collaborative device to the second CU network element, the second CU network element can also send at least one of the location information or time information of the second DU network element and the location information or time information of the collaborative device to the first network element.

[0347] As a possible implementation, after receiving the second measurement result from the collaborative device, the second CU network element forwards the second measurement result to the first network element. In this possible implementation, the measurement result of the first perception signal includes the first measurement result and the second measurement result.

[0348] As a possible implementation, after receiving the second measurement result from the collaborative device, the second CU network element processes the second measurement result, and sends the processed second measurement result to the second network element.

[0349] Exemplarily, when the second measurement result includes a characteristic signal of the second echo signal, the second CU network element can determine the characteristic information corresponding to at least one point and / or target object based on at least one of the location information or time information of the collaborative device and the second measurement result, and send the characteristic information corresponding to the at least one point and / or target object to the first network element. At this time, the measurement result of the first perception signal includes the first measurement result and the characteristic information corresponding to at least one point and / or target object determined according to the second measurement result.

[0350] Optionally, at least one of the location information or time information of the collaborative device may be carried in the same information as the second measurement result; or at least one of the location information or time information of the collaborative device may be carried in different information from the second measurement result. For details, please refer to the relevant description of the above step S60208, which will not be repeated here.

[0351] It should be noted that in the above Fig.15 In the process of the communication method shown, there is no limit on the order between steps S60219 to S60221 and steps S60213 to S60215. For example, S60219 to S60221 and steps S60213 to S60215 can be executed simultaneously, or steps S60219 to S60221 can be executed before steps S60213 to S60215, and steps S60219 to S60221 can be executed after steps S60213 to S60215.

[0352] As another example, when the collaborative device does not receive the second echo signal on the resource configuration indicated by the configuration parameters of the first perception signal, the collaborative device may not execute step S60221; or, the second measurement result is empty, or the second measurement result indicates that the collaborative device does not receive the second echo signal.

[0353] Exemplarily, if the second CU network element does not receive the second measurement result from the collaborative device within the first perception duration, it is determined that the collaborative device has not received the second echo signal, or that the collaborative device has not obtained the second measurement result. At this time, the second CU network element does not need to perform step S60222. That is, the second CU network element sends the first measurement result of the first perception signal to the first network element.

[0354] It should be noted that Fig.15Taking a collaborative device as an example, the interaction between a second CU network element and a collaborative device is described exemplarily. A second CU network element can also interact with multiple collaborative devices, and its implementation is similar to the above Fig.15 The implementation of the interaction between a second CU network element and a collaborative device is the same, and the specific implementation can refer to the above Fig.15 The relevant description will not be repeated here.

[0355] The following is a detailed description of the collaborative device mentioned in the above embodiment. Fig.15 The collaborative device may include the following three possible implementations:

[0356] In a possible implementation, the collaborative device may be another DU network element other than the second DU network element in the DU network element having another part of the functions of the first wireless access network device. Fig.14 or Fig.15 The device for measuring the first perception signal (i.e. Fig.14 or Fig.15 The second DU network element in the example is called the second DU network element #1, and the collaborative device is called the second DU network element #2. Fig.15 In the example, the second DU network element can be replaced by the second DU network element #1, and the collaborative device can be replaced by the second DU network element #2.

[0357] In another possible implementation, the cooperative device may be a second wireless access network device. Fig.13 The implementation of the second wireless access network device described in is the same as that described in Fig.13 The relevant description of is not repeated here. That is to say, the above Fig.15 In the embodiment, the collaborative device can be replaced by a second wireless access network device.

[0358] In another possible implementation, the collaborative device may be a third DU network element. The third DU network element is a DU network element having some functions of the second wireless access network device. Fig.15 In the example, the collaborative device can be replaced by a third DU network element.

[0359] Optionally, in this possible implementation, the interaction between the third DU network element and the second CU network element can be implemented through the third CU network element. That is, the third DU network element can interact with the third CU network element, and the second CU network element can interact with the third CU network element, thereby realizing the interaction between the third DU network element and the second CU network element. The third CU network element is a CU network element having another part of the functions of the second radio access network device.

[0360] For example, in this possible implementation form, Fig.16 As shown, step S60217 can be replaced by:

[0361] S60217#1. The second CU network element sends a third request message to the third CU network element. Correspondingly, the third CU network element receives the third request message from the second CU network element.

[0362] S60217#2, the third CU network element sends a third request message to the third DU network element. Correspondingly, the third DU network element receives the third request message from the third CU network element.

[0363] Optionally, after receiving the third request message, the third CU network element may determine the third DU network element according to the third request message, and send the third request message to the third DU network element.

[0364] Similar, such as Fig.16 As shown, step S60221 can also be replaced by:

[0365] S60221#1, the third DU network element sends the second measurement result of the first perception signal to the third CU. Correspondingly, the third CU network element receives the second measurement result of the first perception signal from the third DU network element.

[0366] S60221#2, the third CU network element sends the second measurement result of the first perception signal to the second CU network element. Correspondingly, the second CU network element receives the second measurement result of the first perception signal from the third CU network element.

[0367] In the above scenario Figures 8 to 16 The above embodiments are all described by taking the first network element as a network element with a sensing function in the core network as an example. Next, another implementation scenario of the first network element is introduced, as described in the following scenario 2.

[0368] Scenario 2: The first network element is a service wireless access network device of the terminal device. Exemplarily, in scenario 2, the second network element may be a terminal device, or the second network element may be an AMF network element. That is, the first request message received by the service wireless access network device may come from the terminal device, or the AMF network element. In this case, the communication system includes the following: Figure 5 In this case, the measuring device is the serving radio access network device, that is, the measuring device can be replaced by the radio access network device.

[0369] Optionally, in scenario two, the serving wireless access network device may determine whether the collaborative device needs to participate in the collaborative measurement of the first perception signal based on the first request message (such as the second perception QoS, location information of the target point, etc.).

[0370] As an example, the serving radio access network device determines that the coordinated device does not need to participate in the coordinated measurement of the first perception signal.

[0371] Optionally, in this example, the process in which the serving radio access network device obtains the measurement result of the first perception signal includes: Fig.17 Steps S60223 to S60225 are shown, that is, step S602 can be replaced by steps S60223 to S60225:

[0372] S60223. The serving wireless access network device sends a first perception signal.

[0373] Exemplarily, the serving radio access network device may send the first perception signal according to the location information of the target device. For example, the first radio access network device determines the configuration parameters of the first perception signal according to the location information of the target device, and then sends the first perception signal according to the configuration parameters of the first perception signal.

[0374] Exemplarily, the implementation of the first perception signal is the same as the implementation of the first perception signal described in the above step S60203. For details, please refer to the relevant description of the above step S60203, which will not be repeated here.

[0375] S60224. The service wireless access network device receives the first echo signal of the first perception signal.

[0376] Exemplarily, the first echo signal of the service perception signal may be understood as: the first perception signal received by the service wireless access network device after being reflected or refracted by an object within the signal coverage area of ​​the first perception signal.

[0377] S60225. The serving wireless access network device determines a first measurement result of the first perception signal based on a first echo signal of the first perception signal.

[0378] Exemplarily, the process of the serving wireless access network device determining the first measurement result of the first perception signal is similar to the process of the first wireless access network device determining the first measurement result of the first perception signal in the above step S60205. For details, please refer to the relevant description of the above step S60205, which will not be repeated here.

[0379] At this time, the measurement result of the first perception signal in step S603 includes the first measurement result. That is, at this time, step S603 can be replaced by: the serving radio access network device determines the perception result within the signal coverage range of the first perception signal according to the first measurement result of the first perception signal.

[0380] Based on this example, the service wireless access network device can measure and perceive the area where the target point is located (i.e., the signal coverage range of the first perception signal) based on the location information of the target point, and obtain the perception result within the signal coverage range of the first perception signal. This can avoid the interaction of the perception results within the signal coverage range of the first perception signal between multiple devices, shorten the delay in determining the perception results within the signal coverage range of the first perception signal, and thus improve the efficiency of determining the perception results within the signal coverage range of the first perception signal.

[0381] As another example, the serving radio access network device determines that the cooperative device needs to participate in the cooperative measurement of the first perception signal.

[0382] Optionally, in this exemplary case, the serving wireless access network device may also determine the number of collaborative devices. Exemplarily, the implementation of the serving wireless access network device determining the number of collaborative devices is similar to the implementation of the first wireless access network device determining the second wireless access network device in the above step S60206. For details, please refer to the relevant description of the above step S60206, which will not be repeated here. For the convenience of description, the following takes the number of collaborative devices as 1 as an example for introduction.

[0383] Optionally, the communication method may also include: the serving wireless access network device obtains at least one item of location information or time information of the serving wireless access network device, and at least one item of the location information or time information of the serving wireless access network device is used to determine the perception result within the signal coverage range of the first perception signal.

[0384] Optionally, in this example, before step S60223, Fig.18 As shown, the communication method may further include the following steps S60226 to S60229:

[0385] S60226: The serving wireless access network device sends a third request message to the collaborative device. Correspondingly, the collaborative device receives the third request message from the serving wireless access network device. Exemplarily, the target point is located within the signal coverage of the collaborative device.

[0386] Optionally, before step S60226, the serving radio access network device may determine the number of collaborative devices according to the second request message (eg, the second perceived QoS). Alternatively, the serving radio access network device may determine the number of collaborative devices according to its own accuracy requirements for measurement results.

[0387] Optionally, the third request message may further include an ID of the third request message. The ID of the third request message is used by the collaborative device to identify the third request message and respond to the third request message.

[0388] Optionally, the collaborative device may also receive at least one of location information or time information of a measuring device (ie, the serving radio access network device) from the serving radio access network device, wherein at least one of the location information or time information of the measuring device is used to determine the second measurement result.

[0389] Optionally, at least one item of the location information or time information of the service wireless access network device may be carried in a third request message, or at least one item of the location information or time information of the service wireless access network device may be carried in other information except the third request message.

[0390] Exemplarily, the process in which the collaborative device receives at least one item of its location information or time information from the serving wireless access network device is similar to the process in which the second wireless access network device receives at least one item of the location information or time information of the measuring device from the first wireless access network device in the above step S60206. For details, please refer to the relevant description in the above step S60206 in which the second wireless access network device receives at least one item of the location information or time information of the measuring device from the first wireless access network device, which will not be repeated here.

[0391] S60227. The collaborative device receives the second echo signal of the first perception signal.

[0392] Exemplarily, the collaborative device may receive the second echo signal of the first perception signal on the resource configuration indicated by the configuration parameter of the first perception signal.

[0393] Exemplarily, the second echo signal of the first perception signal may be understood as: the first perception signal received by the collaborative device after being reflected or refracted by an object within the signal coverage area of ​​the first perception signal.

[0394] In a possible implementation, when the collaborative device receives the second echo signal on the resource configuration indicated by the configuration parameter of the first perception signal, the collaborative device may perform the following steps:

[0395] S60228. The collaborative device determines a second measurement result of the first perception signal according to the second echo signal of the first perception signal. The second measurement result is used to determine the perception result of the terminal device at the target point.

[0396] Exemplarily, the second measurement result includes a characteristic signal of the second echo signal, or the second measurement result includes characteristic information corresponding to at least one point determined according to the second echo signal, or the second measurement result includes characteristic information corresponding to at least one target object determined according to the second echo signal.

[0397] S60229: The collaborative device sends a second measurement result of the first perception signal to the serving radio access network device. Correspondingly, the serving radio access network device receives the second measurement result of the first perception signal from the collaborative device.

[0398] Optionally, in scenario 2, the measuring device is a serving wireless access device, so the collaborative device may also send at least one of its location information or time information to the measuring device, including: the collaborative device may also send at least one of the location information or time information of the collaborative device to the serving wireless access network device. Among them, at least one of the location information or time information of the collaborative device is used to determine the perception result within the signal coverage range of the first perception signal.

[0399] As a possible implementation, when the second measurement result includes a characteristic signal of the second echo signal, the service wireless access network device may process the characteristic signal of the second echo signal according to at least one of the location information or time information of the collaborative device to obtain characteristic information corresponding to at least one point position and / or target object. Further, the service wireless access network device may determine the perception result within the signal coverage range of the first perception signal according to the characteristic information corresponding to the at least one point position and / or target object.

[0400] Optionally, after step S60229, the service radio access network device may fit the first measurement result and the second measurement result to obtain the measurement result of the first perception signal. For example, the service radio access network device may aggregate or deduplicate the first measurement result and the second measurement result to obtain the measurement result of the first perception signal. In other words, the measurement result of the first perception signal is the measurement result obtained by fitting the first measurement result with the second measurement result. That is, the service radio access network device sends the first measurement result and the second measurement result of the first perception signal to the first network element, including: the service radio access network device sends the measurement result of the first perception signal to the first network element.

[0401] It should be noted that Fig.18 Taking a collaborative device as an example, the interaction between the serving wireless access network device and the collaborative device is described in an exemplary manner. The serving wireless access network device can also interact with multiple collaborative devices, and its implementation is similar to the above Fig.18 The implementation of the interaction between the serving wireless access network device and a collaborative device is the same, and the specific implementation can refer to the above Fig.18 The relevant description will not be repeated here.

[0402] It should be noted that in the above Fig.18In the process of the communication method shown, there is no limit to the order between steps S60227 to S60229 and steps S60224 to S60225. For example, steps S60227 to S60229 and steps S60224 to S60225 can be executed simultaneously, or steps S60227 to S60229 can be executed before steps S60224 to S60225, and steps S60227 to S60229 can be executed after steps S60224 to S60225. It is sufficient that steps S60227 to S60229 are executed before step S603.

[0403] In another possible implementation, when the collaborative device does not receive the second echo signal on the resource configuration indicated by the configuration parameters of the first perception signal, the collaborative device does not need to continue to perform any operation; or, the second measurement result is empty, or the second measurement result indicates that the collaborative device does not receive the second echo signal.

[0404] Exemplarily, if the serving radio access network device does not receive the second measurement result from the collaborative device within the first perception duration, it is determined that the collaborative device has not received the second echo signal, or that the collaborative device has not obtained the second measurement result.

[0405] Optionally, the following is a detailed introduction to the collaborative device involved in scenario 2. Exemplarily, in scenario 2, the collaborative device may include the following two possible implementations:

[0406] In a possible implementation, the collaborative device may be a third wireless access network device. The third wireless access network device is one or more wireless access network devices other than the serving wireless access network device, among at least one wireless access network device whose signal coverage range can cover the location information of the target point. Exemplarily, the implementation of the third wireless access network device is the same as the above Fig.13 The implementation of the second wireless access network device described in is similar, and the specific implementation can refer to the above Fig.13 The relevant description of is not repeated here. That is to say, the above Fig.18 In the embodiment, the collaborative device can be replaced by a third wireless access network device.

[0407] In another possible implementation, the collaborative device may be a fourth DU network element. The fourth DU network element is a DU network element having some functions of the third wireless access network device. Fig.18 In the example, the collaborative device can be replaced by the fourth DU network element.

[0408] Optionally, in this possible implementation, the interaction between the fourth DU network element and the serving wireless access network device can be implemented through the fourth CU network element. That is, the fourth DU network element can interact with the fourth CU network element, and the serving wireless access network device can interact with the fourth CU network element, thereby realizing the interaction between the fourth DU network element and the serving wireless access network device. The fourth CU network element is a CU network element having another part of the functions of the third wireless access network device.

[0409] Exemplarily, the implementation of the fourth CU network element is similar to the above Fig.16 The implementation of the third CU network element in is similar to that of the fourth DU network element. Fig.16 The implementation of the third DU network element in is similar, please refer to the above Fig.16 The relevant description in will not be repeated here.

[0410] In the above scenario 2 Figure 17 to Figure 18 The above embodiments are all described by taking the first network element as a serving radio access network device of the terminal device as an example. Next, another implementation scenario of the first network element is introduced, as described in the following scenario three.

[0411] Scenario 3: The first network element is a first CU network element, wherein the first CU network element is a CU network element having some functions of serving a wireless access network device. Exemplarily, in scenario 3, the second network element may be a terminal device, or the second network element may be an AMF network element. That is, the first request message received by the first CU network element may come from the terminal device, or the AMF network element. At this time, the communication system includes the following: Figure 5 The network element shown in (d).

[0412] Optionally, in scenario three, the communication system may further include the following two possible implementation forms:

[0413] As a possible implementation form, the communication system may further include a first DU network element. In this case, the communication system includes a terminal device / AMF network element, a first CU network element, and a first DU network element. In this possible implementation, the measuring device is the first DU network element, that is, the measuring device can be replaced by the first DU network element.

[0414] Optionally, in this possible implementation form, the process in which the first CU network element obtains the measurement result of the first perception signal includes the following steps: Fig.19 Steps S60230 to S60234 are shown, that is, step S602 can be replaced by steps S60230 to S60234:

[0415] S60230. The first CU network element sends a second request message to the first DU network element. Correspondingly, the first DU network element receives the second request message from the first CU network element.

[0416] Exemplarily, the implementation of the second request message is the same as the implementation of the second request message described in the above step S60201. For details, please refer to the relevant description of the above step S60201, which will not be repeated here.

[0417] Optionally, the first CU network element may determine the number of first DU network elements according to the second perceived QoS. Exemplarily, the larger the value of the second confidence in the second perceived QoS, the larger the number of corresponding first DU network elements, or the smaller the value of the second precision in the second perceived QoS, the larger the number of corresponding first DU network elements.

[0418] S60231. The first DU network element sends a first perception signal.

[0419] Exemplarily, the manner in which the first DU network element sends the first perception signal can refer to the manner in which the first wireless access network device sends the first perception signal described in the above step S60203, which will not be repeated here.

[0420] S60232. The first DU network element receives a first echo signal of a first perception signal.

[0421] Exemplarily, the first echo signal of the first perception signal may be understood as: the first perception signal received by the second DU network element after being reflected or refracted by an object within the signal coverage area of ​​the first perception signal.

[0422] S60233. The first DU network element determines a first measurement result of the first perception signal according to a first echo signal of the first perception signal.

[0423] Exemplarily, the first measurement result includes characteristic information of the first echo signal, or the first measurement result includes characteristic information corresponding to at least one point / target object. The implementation of the first measurement result can refer to the relevant description in the above step S60205, which will not be repeated here.

[0424] S60234. The first DU network element sends a first measurement result of a first perception signal to the first CU network element. Correspondingly, the first CU network element receives the first measurement result of the first perception signal from the first DU network element.

[0425] Optionally, the first DU network element may also send at least one of location information or time information of the first DU network element to the first CU network element. At least one of the location information or time information of the first DU network element is used to determine the perception result within the signal coverage range of the first perception signal.

[0426] Exemplarily, when the first measurement result includes characteristic information of the first echo signal, the first CU network element may determine characteristic information corresponding to at least one point / target object according to at least one of the location information or time information of the first DU network element and the first measurement result. Thus, the perception result within the signal coverage range of the first perception signal is determined according to the characteristic information corresponding to at least one point / target object.

[0427] It should be noted that Fig.19 Taking a second DU network element as an example, the interaction between the first CU network element and the second DU network element is described exemplarily. The first CU network element may also interact with multiple first DU network elements, which is implemented in the same way as above. Fig.19 The implementation of the interaction between the first CU network element and the first DU network element is the same, and the specific implementation can refer to the above Fig.19 The relevant description will not be repeated here.

[0428] Optional, based on Fig.19 In the embodiment described above, the communication system may further include a collaborative device. In this case, the communication system includes a terminal device / AMF network element, a first CU network element, a first DU network element, and a collaborative device.

[0429] Exemplarily, the collaborative device may be a third wireless access network device, or may be a fourth DU network element, or may be one or more DU network elements having another part of the function of serving the wireless access network device, other DU network elements except the DU network element used to measure the first perception signal. The implementation of the third wireless access network device and the fourth DU network element may refer to the relevant description in the above scenario 2, and will not be repeated here.

[0430] For example, in the case where the collaborative device may be one or more DU network elements having another part of the function of the serving wireless access network device, other DU network elements other than the DU network element used to measure the first perception signal may be used to Fig.19 is used to perform DU network element (i.e. Fig.19 The first DU network element in the network is called the first DU network element #1, and the collaborative device is called the first DU network element #2.

[0431] Optionally, before step S60231, Fig. 20 As shown, the communication method may further include the following steps:

[0432] S60235. The first CU network element sends a third request message to the first DU network element #2. Correspondingly, the first DU network element #2 receives the third request message from the first CU network element.

[0433] Exemplarily, the implementation of the third request message is similar to the implementation of the third request message described in the above step S60217, and specific details may refer to the relevant description of the above step S60217. The manner in which the first CU network element determines the number of collaborative devices may refer to the manner in which the first CU network element determines the number of collaborative devices in the above step S60217, and will not be repeated here. For example, in the case where the configuration parameters of the first perception signal in the third request message come from the first DU network element #1, before step S60235, the communication method may further include step S60236: the first DU network element #1 sends the configuration parameters of the first perception signal to the first CU network element. Correspondingly, the first CU network element receives the configuration parameters of the first perception signal from the first DU network element #1. Among them, the process of the first DU network element #1 determining the configuration parameters of the first perception signal may refer to the above Fig.15 The process of the second DU network element determining the configuration parameters of the first perception signal will not be repeated here.

[0434] As an example, at least one of the location information or time information of the first DU network element #1 is carried in the third request message. For example, the third request message indicates / includes at least one of the location information or time information of the first DU network element #1; wherein at least one of the location information or time information of the first DU network element #1 is used to determine the second measurement result.

[0435] As another example, at least one of the location information or time information of the first DU network element #1 may be carried in other information except the third request message.

[0436] Exemplarily, in this example, the implementation of the information used to carry at least one item of the location information or time information of the first DU network element #1 is the same as the implementation of the information used to carry at least one item of the location information or time information of the measuring device in the above scenario one. For details, please refer to the relevant instructions in the above scenario one, which will not be repeated here.

[0437] S60237. The first DU network element #2 receives the second echo signal of the first perception signal.

[0438] Exemplarily, the first DU network element #2 may receive the second echo signal of the first perception signal on the resource configuration indicated by the configuration parameter of the first perception signal.

[0439] Exemplarily, the second echo signal of the first perception signal may be understood as: the first perception signal received by the first DU network element #2 after being reflected or refracted by an object within the signal coverage area of ​​the first perception signal.

[0440] As an example, when the first DU network element #2 receives the second echo signal on the resource configuration indicated by the configuration parameter of the first perception signal, the first DU network element #2 may perform the following steps:

[0441] S60238. The first DU network element #2 determines a second measurement result of the first perception signal according to the second echo signal of the first perception signal. The second measurement result is used to determine the perception result of the terminal device at the target point.

[0442] Exemplarily, the second measurement result includes a characteristic signal of the second echo signal, or the second measurement result includes characteristic information corresponding to at least one point determined according to the second echo signal, or the second measurement result includes characteristic information corresponding to at least one target object determined according to the second echo signal.

[0443] S60239: The first DU network element #2 sends a second measurement result of the first perception signal to the first CU network element. Correspondingly, the first CU network element receives the second measurement result of the first perception signal from the first DU network element #2.

[0444] Optionally, the first DU network element #2 may also send at least one of the location information or time information of the first DU network element #2 to the first CU network element. At least one of the location information or time information of the first DU network element #2 is used to determine the perception result within the signal coverage range of the first perception signal.

[0445] Exemplarily, when the second measurement result includes a characteristic signal of the second echo signal, the first CU network element may process the characteristic signal of the second echo signal according to at least one of the location information or time information of the first DU network element #2 to obtain characteristic information corresponding to at least one point position and / or target object. Further, the first CU network element may determine the perception result within the signal coverage range of the first perception signal according to the characteristic information corresponding to the at least one point position and / or target object.

[0446] It should be noted that in the above Fig. 20 In the process of the communication method shown, there is no limit on the order between steps S60237~S60239 and steps S60232~S60234. For example, S60237~S60239 and steps S60232~S60234 can be executed simultaneously, or steps S60237~S60239 can be executed before steps S60232~S60234, and steps S60237~S60239 can be executed after steps S60232~S60234.

[0447] It should be noted that Fig. 20Taking a first DU network element #2 as an example, the interaction between the first CU network element and the first DU network element #2 is described in an exemplary manner. The first CU network element may also interact with multiple first DU network elements #2, and the implementation is similar to the above. Fig. 20 The implementation of the interaction between the first CU network element and the first DU network element #2 is the same, and the specific implementation can refer to the above Fig. 20 The relevant description will not be repeated here.

[0448] As another example, when the first DU network element #2 does not receive the second echo signal on the resource configuration indicated by the configuration parameters of the first perception signal, the first DU network element #2 may not execute step S60239; or, the second measurement result is empty, or the second measurement result indicates that the first DU network element #2 does not receive the second echo signal.

[0449] Exemplarily, if the first CU network element does not receive the second measurement result from the first DU network element #2 within the first perception duration, it is determined that the first DU network element #2 has not received the second echo signal, or that the first DU network element #2 has not obtained the second measurement result.

[0450] In addition to the communication method described above, the present application embodiment also provides a communication method, see Fig.21 , is a flow chart of a communication method provided in an embodiment of the present application. Fig.21 As shown, the communication method may include the following steps:

[0451] S2101, the third network element sends a fifth request message to the fourth network element. Correspondingly, the fourth network element receives the fifth request message from the third network element. The fifth request message is used to request whether there is a collision risk of the terminal device at the target point, and the fifth request message includes the location information of the target point.

[0452] Exemplarily, the third network element may be a terminal device, or the third network element may also be an AMF network element. The fourth network element may be a service wireless access network device of the terminal device, or the fourth network element may also be a first CU network element, wherein the first CU network element is a CU network element having some functions of the service wireless access network device.

[0453] As an example, the fifth request message may include a motion path of the terminal device, wherein the motion path includes location information of the target point. Exemplarily, the motion path of the terminal device may be represented by a flight point list. For example, the first request message may include some or all of the point information (i.e., the location information and time information of the point) in the flight point list.

[0454] As another example, the moving path of the terminal device is carried in messages other than the fifth request message.

[0455] Optionally, the movement path of the terminal device may indicate at least one of the moving direction and the moving speed of the point.

[0456] Optionally, the fifth request message may further include a first threshold, where the first threshold is used to determine the first indication information.

[0457] S2102. The fourth network element obtains a perception result within a signal coverage range of the first perception signal, wherein the target point is located within the signal coverage range of the first perception signal.

[0458] Optionally, the perception result includes feature information corresponding to at least one perception object. Exemplarily, the feature information of the perception object includes at least one of position information, movement information, speed information, size of the perception object, and shape of the perception object.

[0459] S2103. The fourth network element determines first indication information based on the perception result, where the first indication information indicates whether there is a collision risk of the terminal device at the target point.

[0460] Exemplarily, the fourth network element may determine the range of collision risk monitoring according to the first threshold. For example, the range of collision risk monitoring may be an area with the target point as the center and the first threshold as the radius.

[0461] Optionally, the fourth network element can determine the position information of each of the at least one perception object when the terminal device is located at the target point based on the perception results, and further, can also determine at least one of the moving direction and moving speed of each perception object when the terminal device is located at the target point.

[0462] As an example, the fourth network element determines the first indication information based on the position information of the perceived object when the terminal device is located at the target point.

[0463] Exemplarily, when the terminal device is located at the target point and the sensed object is within the range of collision risk monitoring, the first indication information indicates that the terminal device has a collision risk at the target point. When the terminal device is located at the target point and the sensed object is outside the range of collision risk monitoring, the first indication information indicates that the terminal device has no collision risk at the target point.

[0464] As an example, the fourth network element determines the first indication information based on the position information, moving direction, and moving speed of the perceived object when the terminal device is located at the target point.

[0465] Exemplarily, when the terminal device is located at the target point and the sensed object is outside the range of collision risk monitoring, the first indication information indicates that the terminal device does not have a collision risk at the target point. When the terminal device is located at the target point and the sensed object is within the range of collision risk monitoring, the fourth network element determines whether the sensed object is gradually approaching the target point based on the moving direction and moving speed of the sensed object, for example, the sensed object is moving toward the target point, or the sensed object is moving away from the target point. If the sensed object is gradually approaching the target point, the first indication information indicates that the terminal device has a collision risk at the target point. If the sensed object is gradually moving away from the target point, the first indication information indicates that the terminal device does not have a collision risk at the target point.

[0466] S2104. The fourth network element sends first indication information to the third network element. Correspondingly, the third network element receives the first indication information from the fourth network element.

[0467] Exemplarily, when the first indication information indicates that the terminal device has a risk of collision at the target location, the first indication information may also indicate feature information of a perception object that has a risk of collision with the terminal device at the target location.

[0468] In the communication method provided in the embodiment of the present application, the fourth network element can obtain the perception result of the area where the target point is located (i.e., the signal coverage range of the first perception signal), i.e., the objects existing in the area, based on the location information of the target point, and then determine the security threat of the target point according to the perception result (for example, determine whether there is a collision risk when the terminal device is at the target point). It can be understood that the perception result of the area where the target point is located includes the results of sensing all objects existing in the area, and more objects can be known compared to the solution of objects with PC5 communication function determined by PC5 communication technology. In addition, the security threat of the target point can be determined based on more objects, thereby improving the accuracy of the determined security threat of the target point (such as the accuracy of the collision risk).

[0469] The above is an overall description of the communication method provided in the embodiment of the present application. The following is a detailed introduction to the perception result within the signal coverage range of the first perception signal involved in the above embodiment. Exemplarily, obtaining the perception result within the signal coverage range of the first perception signal can be achieved based on the following two situations:

[0470] Case 1: The fourth network element determines the measurement result of the first perception signal, and then determines the perception result within the signal coverage range of the first perception signal. Fig. 22 As shown, step S2102 can be replaced by steps S2102A to S2102B:

[0471] S2102A. The fourth network element obtains the measurement result of the first perception signal.

[0472] As an example, the first radio access network device may determine the characteristic information of the echo signal according to the echo signal corresponding to the first perception signal. In this case, the first measurement result includes the characteristic information of the echo signal.

[0473] As another example, the measurement result of the first sensing signal includes feature information corresponding to at least one point, wherein the feature information of the point includes at least one of position information, moving direction, and moving speed.

[0474] Optionally, in this example, each of the at least one point is located within the signal coverage range of the first perception signal.

[0475] As another example, the measurement result of the first sensing signal includes feature information corresponding to at least one target object, wherein the feature information corresponding to the target object is determined based on feature information corresponding to at least one point.

[0476] Optionally, each of the at least one target object is located within a signal coverage range of the first perception signal.

[0477] Optionally, the characteristic information corresponding to the target object includes at least one of position information, movement information, speed information, size of the target object, and shape of the target object. The movement information of the target object is the movement information of at least one point corresponding to the target object, and the speed information of the target object is the speed information of at least one point corresponding to the target object. The movement information corresponding to at least one point corresponding to the target object is the same, and the speed information corresponding to at least one point corresponding to the target object is the same.

[0478] S2102B. The fourth network element determines the perception result within the signal coverage range of the first perception signal according to the measurement result of the first perception signal.

[0479] As an example, when the measurement result of the first perception signal includes characteristic information corresponding to at least one point, the perception result within the signal coverage range of the first perception signal is determined according to the measurement result of the first perception signal, including: determining characteristic information corresponding to at least one target object according to the characteristic information corresponding to at least one point; determining the type of each target object in at least one target object according to the characteristic information corresponding to at least one target object, and obtaining at least one perception object; the perception object corresponds to the target object one-to-one; and determining the characteristic information of the target object as the characteristic information of the perception object. In other words, the perception object is a target object with an identifier.

[0480] As another example, in a case where the measurement result of the first perception signal includes characteristic information corresponding to at least one target object, the perception result within the signal coverage range of the first perception signal is determined according to the measurement result of the first perception signal, including: determining the type of each target object in the at least one target object according to the characteristic information corresponding to the at least one target object, to obtain at least one perception object; the perception objects correspond one-to-one to the target objects; and determining the characteristic information of the target objects as the characteristic information of the perception objects.

[0481] In combination with the above two examples, illustratively, after determining at least one target object, the fourth network element determines the actual object (i.e., the type of the target object) of each target object according to the characteristic information of the target object. For example, if target object #1 is determined to be a bird, the identifier of target object #1 indicates a bird. If target object #2 is determined to be a kite, the identifier of target object #2 indicates a kite.

[0482] Optionally, the perception result includes feature information corresponding to at least one perception object. Exemplarily, the feature information of the perception object includes feature information of the target object and the type of the target object.

[0483] As another example, when the first measurement result includes characteristic information of the echo signal, the fourth network element can determine the characteristic information corresponding to at least one point based on at least one item of the time information or location information of the measuring device / collaborative device and the characteristic information of the echo signal, and further determine the perception result within the signal coverage range of the first perception signal based on the characteristic information corresponding to at least one point.

[0484] Exemplarily, the process of the fourth network element obtaining the measurement result of the first perception signal is described in detail below.

[0485] As a possible implementation form, the fourth network element may autonomously determine the measurement result of the first perception signal. In this possible implementation form, the fourth network element is a serving radio access network device.

[0486] For example, in this possible implementation form, Fig.23 As shown, step S2102A can be implemented based on the following steps S2105 to S2107, that is, step S2102A can be replaced by steps S2105 to S2107:

[0487] S2105-S2107, wherein steps S2105-S2107 are the same as the above steps S60223-A60225, and the details can refer to the relevant description of the above steps S60223-A60225, which will not be repeated here. At this time, the measurement result of the first perception signal includes the first measurement result.

[0488] Optionally, in this possible implementation form, such as Fig.24 As shown, the communication method may further include the following steps:

[0489] S2108-S2111, wherein steps S2108-S2111 are the same as the above steps S60226-S60229, and the details can refer to the relevant description of the above steps S60226-S60229 and will not be repeated here. At this time, the measurement result of the first perception signal includes a first measurement result and a second measurement result.

[0490] As another possible implementation form, the fourth network element may receive a measurement result of the first perception signal from the fifth network element. In this possible implementation form, the fourth network element is a first CU network element.

[0491] For example, in this possible implementation form, Fig.25 As shown, step S2102A can be implemented based on the following steps S2112 to S2116, that is, step S2102A can be replaced by steps S2112 to S2116:

[0492] S2112 to S2116, wherein steps S2112 to S2116 are the same as the above steps S60230 to A60234, and the details can refer to the relevant description of the above steps S60230 to A60234, which will not be repeated here. At this time, the measurement result of the first perception signal includes the first measurement result.

[0493] Optionally, in this possible implementation form, such as Fig.26 As shown, the communication method may further include the following steps:

[0494] S2117-S2121, wherein steps S2117-S2121 are the same as the above steps S60235-S60239, and the details can refer to the relevant description of the above steps S60235-S60239 and will not be repeated here. At this time, the measurement result of the first perception signal includes a first measurement result and a second measurement result.

[0495] Case 2: The fourth network element determines the perception result within the signal coverage range of the first perception signal. In case 2, the fourth network element is a service wireless access network device. At this time, the service wireless access network device can receive the perception result within the signal coverage range of the first perception signal from the fifth network element. Among them, the fifth network element is a network element with perception function in the core network. The fifth network element can also be understood as the first network element described in the above scenario one.

[0496] For example, Fig. 27 As shown, step S2102 can be replaced by steps S2122 to S2125:

[0497] S2122: The serving wireless access network device sends a first request message to the fifth network element, and accordingly, the fifth network element receives the first request message from the serving wireless access network device. The first request message is used to request the perception result of the terminal device at the target point, and the first request message includes the location information of the target point.

[0498] Exemplarily, the implementation of the first request message is the same as the implementation of the first request message in the above step S601. For details, please refer to the relevant description of the above step S601, which will not be repeated here.

[0499] S2123. The fifth network element obtains a measurement result of the first perception signal.

[0500] Exemplarily, the process by which the fifth network element obtains the measurement result of the first perception signal is the same as the process by which the first network element described in the above scenario one obtains the measurement result of the first perception signal. For details, please refer to the relevant description of the first network element described in the above scenario one, which will not be repeated here.

[0501] S2124. The fifth network element determines a perception result within a signal coverage range of the first perception signal according to a measurement result of the first perception signal.

[0502] Exemplarily, the implementation of the fifth network element determining the perception result within the signal coverage range of the first perception signal is similar to the implementation of the serving wireless access network device determining the perception result within the signal coverage range of the first perception signal in the above step S2102B. For details, please refer to the relevant description of the above step S2108, which will not be repeated here.

[0503] S2125: The fifth network element sends a sensing result within a signal coverage range of the first sensing signal to the serving wireless access network device. Correspondingly, the serving wireless access network device receives the sensing result from the fifth network element.

[0504] Optionally, in the above steps S2122 and S2125, the service radio access network device may communicate directly with the fifth network element. Alternatively, the service radio access network device may communicate with the fifth network element through an AMF network element. The process of the service radio access network device communicating with the fifth network element through an AMF network element may refer to the above Figure 8 The process of the wireless access network device communicating with the first network element through the AMF network element is the same, that is, the fifth network element can be replaced by the above-mentioned Figure 8 The first network element in will not be described in detail here.

[0505] Based on the second situation, the fourth network element can send a first request message to the fifth network element based on the location information of the target point, so that the fifth network element can measure the area where the target point is located (i.e., the signal coverage range of the first perception signal) and perceive the perception result within the signal coverage range of the first perception signal, thereby reducing the computing power of the fourth network element. In addition, since the fifth network element is a network element with perception function in the core network, the perception result within the signal coverage range of the first perception signal determined by the fifth network element is more accurate than the perception result within the signal coverage range of the first perception signal measured and perceived by the fourth network element, thereby improving the accuracy of the security threat of the determined target point (such as the accuracy of the collision risk).

[0506] It can be understood that in the above embodiments, the method and / or steps implemented by any one of the first network element, the device for measuring the first perception signal, the device for collaboratively measuring the first perception signal, the fourth network element, and the first CU network element may also be used for the first network element, the device for measuring the first perception signal, the device for collaboratively measuring the first perception signal, the fourth network element, and the first CU network element. Components (for example, a processor, a chip, a chip system, a circuit, a logic module, or software such as a chip or a circuit) may also be used for any one of the first network element, the device for measuring the first perception signal, the device for collaboratively measuring the first perception signal, the fourth network element, and the first CU network element.

[0507] The above mainly introduces the solutions provided by the present application. Correspondingly, the present application also provides a communication device, which is used to implement the above various methods.

[0508] The communication device may be any one of the above-mentioned first network element, the device for measuring the first perception signal, the device for collaboratively measuring the first perception signal, the fourth network element, and the first CU network element in the above-mentioned method embodiment, or a device including any one of the above-mentioned first network element, the device for measuring the first perception signal, the device for collaboratively measuring the first perception signal, the fourth network element, and the first CU network element, or a component that can be used for any one of the above-mentioned first network element, the device for measuring the first perception signal, the device for collaboratively measuring the first perception signal, the fourth network element, and the first CU network element, such as a chip or a chip system.

[0509] It is understandable that, in order to realize the above functions, the communication device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware 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.

[0510] The embodiment of the present application can divide the functional modules of the communication device according to the above method embodiment. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0511] Fig.28 A schematic diagram of the structure of a communication device 280 is shown. The communication device 280 includes a processing module 2801 and a transceiver module 2802. The communication device 280 can be used to implement the functions of any one of the above-mentioned first network element, the device for measuring the first perception signal, the device for collaboratively measuring the first perception signal, the fourth network element, and the first CU network element.

[0512] In some embodiments, the communication device 280 may also include a storage module ( Fig.28 ), for storing program instructions and data.

[0513] In some embodiments, the transceiver module 2802 may also be referred to as a transceiver unit for implementing a sending and / or receiving function. The transceiver module 2802 may be composed of a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0514] In some embodiments, the transceiver module 2802 may include a receiving module and a sending module, which are respectively used to execute the receiving and sending steps performed by any one of the above-mentioned first network element, the device for measuring the first perception signal, the device for collaboratively measuring the first perception signal, the fourth network element, and the first CU network element in the above-mentioned method embodiment, and / or other processes for supporting the technology described herein; the processing module 2801 may be used to execute the processing steps (for example, determination, generation, etc.) performed by any one of the above-mentioned first network element, the device for measuring the first perception signal, the device for collaboratively measuring the first perception signal, the fourth network element, and the first CU network element in the above-mentioned method embodiment, and / or other processes for supporting the technology described herein.

[0515] When the communication device 280 is used to implement the function of the first network element:

[0516] In some embodiments, the transceiver module 2802 is used to receive a first request message, where the first request message is used to request the perception result of the terminal device at the target point, and the first request message includes the location information of the target point; the processing module 2801 is used to obtain the measurement result of the first perception signal, where the target point is located within the signal coverage range of the first perception signal; the processing module 2801 is also used to determine the perception result within the signal coverage range of the first perception signal based on the measurement result of the first perception signal; the transceiver module 2802 is also used to send the perception result within the signal coverage range of the first perception signal.

[0517] Optionally, the transceiver module 2802 is also used to receive a first request message from a service wireless access network device of a terminal device; or, to receive a first request message from an AMF network element; or, to receive a first request message from a UTM network element.

[0518] Optionally, the transceiver module 2802 is also used to receive a first request message from a terminal device; or, to receive a first request message from an AMF network element.

[0519] When the communication device 280 is used to implement the function of the fourth network element:

[0520] In some embodiments, the transceiver module 2802 is used to receive a fifth request message, where the fifth request message is used to request whether the terminal device has a collision risk at the target point, and the fifth request message includes the location information of the target point; the processing module 2801 is used to obtain the perception result within the signal coverage range of the first perception signal, wherein the target point is located within the signal coverage range of the first perception signal; the processing module 2801 is also used to determine the first indication information based on the perception result within the signal coverage range of the first perception signal, and the first indication information indicates whether the terminal device has a collision risk at the target point; the transceiver module 2802 is also used to send the first indication information.

[0521] Optionally, the transceiver module 2802 is also used to send a first request message, where the first request message is used to request the perception result of the terminal device at the target point, and the first request message includes the location information of the target point. The fifth network element is a network element with perception function in the core network; the measurement result of the first perception signal is received from the fifth network element; the processing module 2801 is also used to determine the perception result within the signal coverage range of the first perception signal based on the measurement result of the first perception signal.

[0522] Optionally, the processing module 2801 is further used to obtain a measurement result of the first perception signal; and determine a perception result within a signal coverage range of the first perception signal according to the measurement result of the first perception signal.

[0523] In combination with the above two embodiments, optionally, the transceiver module 2802 is also used to send a first perception signal; receive a first echo signal of the first perception signal; the processing module 2801 is also used to determine a first measurement result of the first perception signal based on the first echo signal of the first perception signal, and the measurement result of the first perception signal includes the first measurement result of the first perception signal.

[0524] In combination with the above two embodiments, optionally, the transceiver module 2802 is also used to send a second request message, where the second request message is used to request measurement of the first perception signal, and the second request message includes location information of the target point; and receive the measurement result of the first perception signal.

[0525] In combination with the above two embodiments, optionally, the transceiver module 2802 is also used to send a third request message, where the third request message is used to request collaborative measurement of the first perception signal, and the third request message includes configuration parameters of the first perception signal, and the configuration parameters include at least one of a message identifier ID, resource configuration, frequency domain bandwidth, time domain period, transmit power, or signal waveform of the first perception signal; and receive a second measurement result of the first perception signal, where the measurement result of the first perception signal includes the second measurement result.

[0526] In combination with the above two embodiments, optionally, the transceiver module 2802 is also used to receive at least one item of location information or time information of a device used to measure the first perception signal, and at least one item of location information or time information of the device used to measure the first perception signal is used to determine the second measurement result; the third request message indicates at least one item of location information or time information of the device used to measure the first perception signal.

[0527] In combination with the above two embodiments, optionally, the transceiver module 2802 is also used to receive a first measurement result; receive at least one item of location information or time information of a device used to measure the first perception signal, and at least one item of location information or time information of the device used to measure the first perception signal is used to determine the perception result within the signal coverage range of the first perception signal.

[0528] When the communication device 280 is used to implement the function of the device for measuring the first perception signal:

[0529] In some embodiments, the transceiver module 2802 is used to receive a second request message, where the second request message is used to request measurement of the first perception signal, and the second request message includes location information of the terminal device at the target point, where the target point is located within the signal coverage range of the first perception signal; the transceiver module 2802 is also used to send the first perception signal; the transceiver module 2802 is also used to receive a first echo signal of the first perception signal; the processing module 2801 is used to determine a first measurement result of the first perception signal based on the first echo signal of the first perception signal; the transceiver module 2802 is also used to send the first measurement result of the first perception signal, and the first measurement result is used to determine the perception result of the terminal device at the target point.

[0530] Optionally, the transceiver module 2802 is further used to send a measurement result of the first perception signal, where the measurement result of the first perception signal includes a first measurement result and a second measurement result.

[0531] Optionally, the transceiver module 2802 is also used to send configuration parameters of the first perception signal.

[0532] In combination with the above three embodiments, optionally, the transceiver module 2802 is also used to receive at least one item of location information or time information of a device used to collaboratively measure the first perception signal, and at least one item of location information or time information of a device used to collaboratively measure the first perception signal is used to determine the perception result within the signal coverage range of the first perception signal.

[0533] When the communication device 280 is used to implement the function of the above-mentioned device for collaboratively measuring the first perception signal:

[0534] In some embodiments, the transceiver module 2802 is used to receive a third request message, where the third request message is used to request collaborative measurement of the first perception signal, and the third request message includes configuration parameters of the first perception signal, where the configuration parameters include at least one of the message identification ID, resource configuration, frequency domain bandwidth, time domain period, transmission power, or signal waveform of the first perception signal; the transceiver module 2802 is also used to receive a second echo signal of the first perception signal; the processing module 2801 is used to determine a second measurement result of the first perception signal based on the second echo signal of the first perception signal; the transceiver module 2802 is also used to send a second measurement result, where the second measurement result is used to determine the perception result of the terminal device at the target point, and the target point is located within the signal coverage range of the first perception signal.

[0535] When the communication device 280 is used to implement the function of the first CU network element:

[0536] In some embodiments, the transceiver module 2802 is used to receive a second request message, the second request message is used to request measurement of the first perception signal, the second request message includes location information of the terminal device at the target point, and the target point is located within the signal coverage range of the first perception signal; the transceiver module 2802 is also used to send a fourth request message, the fourth request message is used to request measurement of the first perception signal, and the second request message includes location information of the target point; the transceiver module 2802 is also used to receive a first measurement result of the first perception signal; the transceiver module 2802 is also used to send a first measurement result, and the first measurement result is used to determine the perception result of the terminal device at the target point.

[0537] Optionally, the transceiver module 2802 is also used to receive at least one item of time information or position information of a device used to collaboratively measure the first perception signal, and at least one item of the time information or position information of the device used to collaboratively measure the first perception signal is used to determine the perception result within the signal coverage range of the first perception signal; the transceiver module 2802 is also used to send at least one item of time information or position information of the device used to collaboratively measure the first perception signal.

[0538] Optionally, the transceiver module 2802 is further used to send a measurement result of the first perception signal, where the measurement result of the first perception signal includes a first measurement result and a second measurement result.

[0539] In combination with the above five embodiments, optionally, the transceiver module 2802 is also used to send at least one item of time information or location information of a device used to measure the first perception signal, and at least one item of the time information or location information of the device used to measure the first perception signal is used to determine the perception result within the signal coverage range of the first perception signal.

[0540] In combination with the above-mentioned third embodiment and fifth embodiment, optionally, the transceiver module 2802 is also used to send a third request message, the third request message is used to request collaborative measurement of the first perception signal, the third request message includes configuration parameters of the first perception signal, the configuration parameters include the message ID of the first perception signal, resource configuration, frequency domain bandwidth, time domain period, transmission power, or at least one of the signal waveform; the transceiver module 2802 is also used to receive a second measurement result of the first perception signal, and the second measurement result is used to determine the perception result of the terminal device at the target point.

[0541] In combination with the above-mentioned first embodiment, the second embodiment and the fifth embodiment, optionally, the transceiver module 2802 is also used to receive configuration parameters of the first perception signal.

[0542] Among them, all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here.

[0543] In the present application, the communication device 280 may be presented in the form of dividing various functional modules in an integrated manner. The "module" here may refer to a specific application-specific integrated circuit (ASIC), a circuit, a processor and a memory that executes one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions.

[0544] In some embodiments, when Fig.28 When the communication device 280 is a chip or a chip system, the function / implementation process of the transceiver module 2802 can be implemented through the input and output interface (or communication interface) of the chip or the chip system, and the function / implementation process of the processing module 2801 can be implemented through the processor (or processing circuit) of the chip or the chip system.

[0545] Since the communication device 280 provided in this embodiment can execute the above method, the technical effects that can be obtained can refer to the above method embodiments and will not be repeated here.

[0546] As a possible product form, any one of the first network element, the device for measuring the first perception signal, the device for collaboratively measuring the first perception signal, the fourth network element, and the first CU network element described in the embodiments of the present application can also be implemented using the following: one or more field programmable gate arrays (FPGA), programmable logic devices (PLD), controllers, state machines, gate logic, discrete hardware components, any other suitable circuits, or any combination of circuits that can perform the various functions described throughout the present application.

[0547] As another possible product form, any one of the first network element, the device for measuring the first perception signal, the device for collaboratively measuring the first perception signal, the fourth network element, and the first CU network element in the embodiment of the present application can be implemented by a general bus architecture. For ease of explanation, see Fig.29 , Fig.29 2 is a schematic diagram of the structure of a communication device 2900 provided in an embodiment of the present application, and the communication device 2900 includes a processor 2901 and a transceiver 2902. The communication device 2900 can be any one of a first network element, a device for measuring a first perception signal, a device for collaboratively measuring a first perception signal, a fourth network element, and a first CU network element, or a chip or chip system therein. Fig.29 Only the main components of the communication device 2900 are shown. In addition to the processor 2901 and the transceiver 2902, the communication device may further include a memory 2903 and an input and output device (not shown in the figure).

[0548] Optionally, the processor 2901 is mainly used to process the communication protocol and communication data, and to control the entire communication device, execute the software program, and process the data of the software program. The memory 2903 is mainly used to store the software program and data. The transceiver 2902 may include a radio frequency circuit and an antenna. The radio frequency circuit is mainly used for converting baseband signals and radio frequency signals and processing radio frequency signals. The antenna is mainly used to transmit and receive radio frequency signals in the form of electromagnetic waves. Input and output devices, such as touch screens, display screens, keyboards, etc., are mainly used to receive data input by users and output data to users.

[0549] Optionally, the processor 2901, the transceiver 2902, and the memory 2903 may be connected via a communication bus.

[0550] When the communication device is turned on, the processor 2901 can read the software program in the memory 2903, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be sent wirelessly, the processor 2901 performs baseband processing on the data to be sent, and outputs the baseband signal to the RF circuit. The RF circuit performs RF processing on the baseband signal and then sends the RF signal outward in the form of electromagnetic waves through the antenna. When data is sent to the communication device, the RF circuit receives the RF signal through the antenna, converts the RF signal into a baseband signal, and outputs the baseband signal to the processor 2901. The processor 2901 converts the baseband signal into data and processes the data.

[0551] In another implementation, the RF circuit and antenna may be arranged independently of the processor performing baseband processing. For example, in a distributed scenario, the RF circuit and antenna may be arranged remotely from the communication device.

[0552] In some embodiments, in terms of hardware implementation, those skilled in the art may appreciate that the communication device 280 may be implemented as Fig.29 The form of the communication device 2900 is shown.

[0553] As an example, Fig.28 The function / implementation process of the processing module 2801 in can be Fig.29 The processor 2901 in the communication device 2900 shown calls the computer execution instructions stored in the memory 2903 to implement. Fig.28 The function / implementation process of the transceiver module 2802 can be achieved by Fig.29 The communication device 2900 is implemented by the transceiver 2902 shown in the figure.

[0554] As another possible product form, any one of the first network element, the device for measuring the first perception signal, the device for collaboratively measuring the first perception signal, the fourth network element, and the first CU network element in the present application can be adopted. Fig.28 The structure shown, or including Fig.30 Parts shown. Fig.30 A schematic diagram of the composition of a communication device 3000 provided in the present application, wherein the communication device 3000 may be any one of a first network element, a device for measuring a first perception signal, a device for collaboratively measuring a first perception signal, a fourth network element, and a first CU network element, or a chip or system on a chip in any one of the first network element, a device for measuring a first perception signal, a device for collaboratively measuring a first perception signal, a fourth network element, and a first CU network element.

[0555] like Fig.30As shown, the communication device 3000 includes at least one processor 3001 and at least one communication interface ( Fig.30 The communication device 3000 is merely illustrative and is described by taking a communication interface 3004 and a processor 3001 as an example. Optionally, the communication device 3000 may further include a communication bus 3002 and a memory 3003.

[0556] The processor 3001 may be a general-purpose central processing unit (CPU), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 3001 may also be other devices with processing functions, such as circuits, devices, or software modules, without limitation.

[0557] The communication bus 3002 is used to connect different components in the communication device 3000 so that the different components can communicate. The communication bus 3002 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.30 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0558] The communication interface 3004 is used to communicate with other devices or communication networks. Exemplarily, the communication interface 3004 can be a module, a circuit, a transceiver, or any device capable of implementing communication. Optionally, the communication interface 3004 can also be an input / output interface located in the processor 3001 to implement signal input and signal output of the processor.

[0559] The memory 3003 may be a device with a storage function, used to store instructions and / or data, wherein the instructions may be computer programs.

[0560] Exemplarily, the memory 3003 may be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, etc., without limitation.

[0561] It should be noted that the memory 3003 can exist independently of the processor 3001, or can be integrated with the processor 3001. The memory 3003 can be located inside the communication device 3000, or can be located outside the communication device 3000, without limitation. The processor 3001 can be used to execute instructions stored in the memory 3003 to implement the method provided in the following embodiments of the present application.

[0562] As an optional implementation, the communication device 3000 may also include an output device 3005 and an input device 3006. The output device 3005 communicates with the processor 3001 and can display information in a variety of ways. For example, the output device 3005 can be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector. The input device 3006 communicates with the processor 3001 and can receive user input in a variety of ways. For example, the input device 3006 can be a mouse, a keyboard, a touch screen device, or a sensor device.

[0563] In some embodiments, in terms of hardware implementation, those skilled in the art may appreciate that the communication device 280 may be implemented as Fig.30 The form of the communication device 3000 is shown.

[0564] As an example, Fig.28 The function / implementation process of the processing module 2801 in can be Fig.30 The processor 3001 in the communication device 3000 shown calls the computer execution instructions stored in the memory 3003 to implement. Fig.28The function / implementation process of the transceiver module 2802 can be achieved by Fig.30 The communication interface 3004 in the communication device 3000 shown is implemented.

[0565] It should be noted that Fig.30 The structure shown does not constitute a specific limitation on any one of the first network element, the device for measuring the first perception signal, the device for collaboratively measuring the first perception signal, the fourth network element, and the first CU network element. For example, in other embodiments of the present application, any one of the first network element, the device for measuring the first perception signal, the device for collaboratively measuring the first perception signal, the fourth network element, and the first CU network element may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0566] In some embodiments, an embodiment of the present application further provides a communication device, which includes a processor for implementing a method in any of the above method embodiments.

[0567] As a possible implementation, the communication device further includes a memory. The memory is used to store necessary computer programs and data. The computer program may include instructions, and the processor may call the instructions in the computer program stored in the memory to instruct the communication device to execute the method in any of the above method embodiments. Of course, the memory may not be in the communication device.

[0568] As another possible implementation, the communication device also includes an interface circuit, which is a code / data read / write interface circuit, which is used to receive computer execution instructions (computer execution instructions are stored in a memory, may be read directly from the memory, or may pass through other devices) and transmit them to the processor.

[0569] As another possible implementation manner, the communication device further includes a communication interface, and the communication interface is used to communicate with a module outside the communication device.

[0570] It can be understood that the communication device can be a chip or a chip system. When the communication device is a chip system, it can be composed of chips, or it can include chips and other discrete devices. The embodiments of the present application do not specifically limit this.

[0571] The present application also provides a computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed by a computer, the functions of any of the above method embodiments are implemented.

[0572] The present application also provides a computer program product, which implements the functions of any of the above method embodiments when executed by a computer.

[0573] Those skilled in the art will appreciate that, for the sake of convenience and brevity of description, the specific working processes of the systems, devices and units described above may refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0574] It is understood that the systems, devices and methods described in the present application can also be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0575] The units described as separate components may or may not be physically separated, i.e., they may be located in one place, or they may be distributed over multiple network units. The components shown as units may or may not be physical units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0576] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0577] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium may be any available medium that a computer can access or may contain one or more servers, data centers and other data storage devices that can be integrated with the medium. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)), etc. In the embodiment of the present application, the computer may include the aforementioned device.

[0578] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in a claim. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0579] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, a person skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A communication method, characterized in that: The method comprises: Receiving a first request message, where the first request message is used to request a perception result of a terminal device at a target point, and the first request message includes location information of the target point; Acquire a measurement result of a first perception signal, wherein the target point is located within a signal coverage range of the first perception signal; Determining, according to the measurement result of the first perception signal, a perception result within a signal coverage range of the first perception signal; Sending a perception result within a signal coverage range of the first perception signal.

2. The method according to claim 1, characterized in that The obtaining of the measurement result of the first perception signal includes: Sending a second request message, where the second request message is used to request measurement of the first perception signal, and the second request message includes location information of the target point; A measurement result of the first sensing signal is received.

3. The method according to claim 2, characterized in that The method further comprises: receiving at least one of location information or time information of a device used to measure the first perception signal, where the at least one of the location information or time information of the device used to measure the first perception signal is used to determine a perception result within a signal coverage range of the first perception signal; Send at least one of the location information or the time information of the device used to measure the first perception signal.

4. The method according to claim 2 or 3, characterized in that: The second request message further includes at least one of a configuration parameter of the first perception signal, a first perception duration, and a first perception service quality QoS, wherein: The configuration parameter includes at least one of a message identification ID, resource configuration, frequency domain bandwidth, time domain period, transmission power, or signal waveform of the first perception signal; The first perception duration is the duration from the moment when the second request message is received to the moment when the measurement result of the first perception signal is sent; The first perceived QoS is related to at least one of the number of devices used to collaboratively measure the first perceived signal or a configuration parameter of the first perceived signal.

5. The method according to any one of claims 2 to 4, characterized in that: The measurement result of the first perception signal includes a first measurement result, where the first measurement result is a measurement result obtained by a device used to measure the first perception signal measuring a signal coverage range of the first perception signal.

6. The method according to claim 1, characterized in that The obtaining of the measurement result of the first perception signal includes: sending the first perception signal; receiving a first echo signal of the first sensing signal; A first measurement result of the first perception signal is determined according to a first echo signal of the first perception signal, where the measurement result of the first perception signal includes the first measurement result of the first perception signal.

7. The method according to claim 5 or 6, characterized in that: The method further comprises: sending a third request message, where the third request message is used to request collaborative measurement of the first perception signal, where the third request message includes configuration parameters of the first perception signal, where the configuration parameters include at least one of a message identifier ID, resource configuration, frequency domain bandwidth, time domain period, transmit power, or signal waveform of the first perception signal; A second measurement result of the first perception signal is received, where the measurement result of the first perception signal includes the second measurement result.

8. The method according to claim 7, characterized in that The third request message indicates at least one of location information or time information of a device used to measure the first perception signal, and the at least one of the location information or time information of the device used to measure the first perception signal is used to determine the second measurement result.

9. The method according to claim 7, characterized in that: Before sending the third request message, the method further includes: Receive configuration parameters of the first perception signal.

10. The method according to claim 9, characterized in that Before sending the third request message, the method further includes: receiving at least one of location information or time information of a device used to measure the first perception signal, wherein the at least one of the location information or time information of the device used to measure the first perception signal is used to determine the second measurement result; The third request message indicates at least one of location information or time information of a device used to measure the first perception signal.

11. The method according to any one of claims 8 to 10, characterized in that: The method further comprises: Receive at least one item of location information or time information of a device used to collaboratively measure the first perception signal, where the at least one item of location information or time information of the device used to collaboratively measure the first perception signal is used to determine a perception result within a signal coverage range of the first perception signal.

12. The method according to any one of claims 7 to 11, characterized in that: The measurement result of the first perception signal is a measurement result obtained by fitting the first measurement result and the second measurement result.

13. The method according to any one of claims 1 to 12, characterized in that: The measurement result of the first perception signal includes characteristic information corresponding to at least one point, and the characteristic information includes at least one of position information, moving direction, and moving speed; correspondingly, the perception result includes characteristic information corresponding to at least one perception object.

14. The method according to any one of claims 1 to 13, characterized in that: The receiving a first request message comprises: receiving a first request message from the terminal device; or, Receive the first request message from the access and mobility management AMF network element.

15. The method according to any one of claims 1 to 13, characterized in that: The receiving a first request message comprises: receiving the first request message from the serving radio access network device of the terminal device; or, receiving the first request message from the AMF network element; or, Receive the first request message from the UAV system traffic management UTM network element.

16. The method according to claim 15, characterized in that The first request message also includes a second perceptual QoS, which is related to the number of devices used to measure the first perceptual signal, or at least one of the configuration parameters of the first perceptual signal, and the configuration parameters include at least one of the message ID, resource configuration, frequency domain bandwidth, time domain period, transmission power, or signal waveform for sending the first perceptual signal.

17. The method according to any one of claims 1 to 16, characterized in that: The first request message includes the movement path of the terminal device, and the movement path includes the location information of the target point.

18. A communication method, characterized in that: The method comprises: receiving a second request message, where the second request message is used to request measurement of the first perception signal, and the second request message includes location information of the terminal device at the target point, where the target point is located within a signal coverage range of the first perception signal; sending the first perception signal; receiving a first echo signal of the first sensing signal; determining a first measurement result of the first perception signal according to a first echo signal of the first perception signal; A first measurement result of the first perception signal is sent, where the first measurement result is used to determine a perception result of the terminal device at the target point.

19. The method according to claim 18, characterized in that The method further comprises: sending a third request message, where the third request message is used to request collaborative measurement of the first perception signal, where the third request message includes configuration parameters of the first perception signal, where the configuration parameters include at least one of a message identifier ID, resource configuration, frequency domain bandwidth, time domain period, transmit power, or signal waveform of the first perception signal; A second measurement result of the first perception signal is received, where the second measurement result is used to determine a perception result of the terminal device at the target point.

20. The method according to claim 19, characterized in that The sending of the first measurement result of the first perception signal includes: Sending a measurement result of the first perception signal, where the measurement result of the first perception signal includes the first measurement result and the second measurement result.

21. The method according to claim 19 or 20, characterized in that The second measurement result includes characteristic information corresponding to at least one point, and the characteristic information includes at least one of position information, moving direction, and moving speed. The second measurement result is a measurement result of the first perception signal measured by a device that performs collaborative measurement of the first perception signal.

22. The method according to any one of claims 19 to 21, characterized in that: The method further comprises: Receive at least one item of location information or time information of a device used to collaboratively measure the first perception signal, where the at least one item of location information or time information of the device used to collaboratively measure the first perception signal is used to determine a perception result within a signal coverage range of the first perception signal.

23. The method according to claim 18, characterized in that Before sending the first perception signal, the method further includes: Send configuration parameters of the first perception signal.

24. The method according to any one of claims 19 to 23, characterized in that: The first measurement result includes characteristic information corresponding to at least one point, and the characteristic information includes at least one of position information, moving direction, and moving speed.

25. A communication device, characterized in that: The communication device includes a transceiver module and a processing module. The transceiver module is used to perform the receiving behavior or the sending behavior in the method according to any one of claims 1 to 17, or to perform the receiving behavior or the sending behavior in the method according to any one of claims 18 to 24; The processing module is used to execute the processing behavior in the method according to any one of claims 1-17, or to execute the processing behavior in the method according to any one of claims 18-24.

26. A communication device, characterized in that: The communication device comprises a processor; the processor is configured to execute a computer program or instruction so that the communication device executes the method according to any one of claims 1 to 17, or so that the communication device executes the method according to any one of claims 18 to 24.

27. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions or programs. When the computer instructions or programs are executed on a computer, the method according to any one of claims 1 to 17 is executed, or the method according to any one of claims 18 to 24 is executed.

28. A computer program product, characterized in that When the computer program product is executed on a communication device, the communication device is caused to execute the method according to any one of claims 1 to 17, or the communication device is caused to execute the method according to any one of claims 18 to 24.

29. A chip, characterized in that: include: A processor, wherein the processor is coupled to a memory, wherein the memory is used to store programs or instructions, and when the programs or instructions are executed by the processor, the chip executes the method as described in any one of claims 1-17, or the chip executes the method as described in any one of claims 18-24.

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