Communication method, communication device and communication system

Abstract

The invention relates to the technical field of wireless communication, in particular to a communication method, a communication device and a communication system. The method comprises the following steps: sending a first request message; wherein the first request message comprises first motion state information of the terminal equipment. And receiving a first response message. Wherein the first response message comprises first information or second information, the first information is used for indicating that the terminal equipment is associated with at least one sensing target, and the second indication information is used for indicating that the terminal equipment has no associated sensing target. By adopting the method, the sensing precision of the sensing technology can be improved.

Description

Technical Field

[0001] This application relates to the field of wireless communication technologies, and in particular, to a communication method, a communication device, and a communication system. Background Art

[0002] With the evolution of communication technologies, communication frequency bands have derived sensing capabilities, especially in the millimeter-wave band. When a network device (such as a base station, etc.) or a terminal device has sensing capabilities, the communication system can sense and identify specific objects, etc., so as to obtain their current states, such as position, speed, etc. The communication system can solve service requirements in many scenarios through this sensing capability.

[0003] In existing sensing technologies, a sensing function (SF) network element is arranged in the core network part of the communication system. It can use network devices and terminal devices to send sensing measurement signals and receive sensing measurement signals reflected by the sensed object, and then determine information such as the position, speed, and shape of the sensed object according to the signal parameters of the sent sensing measurement signals and the received sensing measurement signals reflected by the sensed object. For example, the SF network element can send sensing measurement signals through a base station, and then receive sensing measurement signals reflected by a car driving on the road through the base station, and then obtain information such as the position and moving speed of the car based on the sent and reflected sensing measurement signals. Since it is necessary to rely on sensing measurement signals to obtain sensing results, this method is extremely vulnerable to interference from environmental clutter, resulting in low sensing accuracy. Therefore, how to improve the sensing accuracy of sensing technologies has become one of the technical problems to be urgently solved. Summary of the Invention

[0004] To solve the above problems, this application provides a communication method, a communication device, and a communication system, which can reduce the influence of environmental clutter and improve the sensing accuracy of sensing technologies.

[0005] The following introduces this application from multiple aspects. It is easy to understand that the implementation manners of the following multiple aspects can refer to each other.

[0006] In a first aspect, an embodiment of this application provides a communication method. This method is applicable to a first device, and the method includes: sending a first request message to a third device. The first request message includes first motion state information of a terminal device. Receiving a first response message from the third device. The first response message includes first information or second information. The first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target.

[0007] In the above implementation, the first device sends a first request message containing the first motion state information of the terminal device to the third device. The third device can feedback a first response message based on the first request message, and inform the terminal device whether there is an associated sensing target through the first information or the second information in the first response message. When the first device determines at least one sensing target associated with the terminal device through the first response message, when it senses this at least one sensing target based on the passive sensing technology, it can combine the positioning result of the terminal device to reduce the interference caused by environmental clutter, so as to obtain a more accurate sensing result. Therefore, by adopting the above method, the influence of environmental clutter on the sensing result can be effectively reduced, and the sensing accuracy of the passive sensing technology can be improved.

[0008] In a second aspect, an embodiment of the present application provides a communication method, which is applicable to a third device. The method includes: receiving a first request message from a first device, where the first request message includes the first motion state information of the terminal device; sending a first response message to the first device, where the first response message includes the first information or the second information, the first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target.

[0009] In a third aspect, an embodiment of the present application provides a communication method, which is applicable to a second device. The method includes: sending a second request message to the first device, where the second request message at least includes the device identifier of the terminal device; receiving a first response message from the first device, where the first response message includes the first information or the second information, the first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target.

[0010] In a fourth aspect, an embodiment of the present application provides a communication method, which is applicable to a third device. The method includes: receiving a first request message from a second device, where the first request message includes the first motion state information of the terminal device; sending a first response message to the second device, where the first response message includes the first information or the second information, the first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target.

[0011] In the above implementation, the second device sends a first request message including the first motion state information of the terminal device to the third device. The third device may feedback a first response message based on the first request message, and inform the terminal device whether there is an associated sensing target through the first information or the second information in the first response message. When the second device determines at least one sensing target associated with the terminal device through the first response message, when it senses this at least one sensing target based on the passive sensing technology, it can combine the positioning result of the terminal device to reduce the interference caused by environmental clutter, so as to obtain a more accurate sensing result. Therefore, by using the above method, the influence of environmental clutter on the sensing result can be effectively reduced, and the sensing accuracy of the passive sensing technology can be improved.

[0012] In a fifth aspect, an embodiment of the present application provides a communication method, which is applicable to a second device. The method includes: sending a first request message to a third device, where the first request message includes the first motion state information of the terminal device. Receiving a first response message from the third device, where the first response message includes the first information or the second information, the first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target.

[0013] In a sixth aspect, an embodiment of the present application provides a communication method, which is applicable to a fourth device. The method includes: receiving a second request message from the second device, where the second request message includes at least the device identifier of the terminal device. Sending a first response message to the second device. The first response message includes the first information or the second information, the first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target.

[0014] In the above implementation, the second device sends a second request message including the device identifier of the terminal device to the fourth device. The fourth device may feedback a first response message based on the second request message, and inform the terminal device whether there is an associated sensing target through the first information or the second information in the first response message. When the fourth device determines at least one sensing target associated with the terminal device through the first response message, when it senses this at least one sensing target based on the passive sensing technology, it can combine the positioning result of the terminal device to reduce the interference caused by environmental clutter, so as to obtain a more accurate sensing result. Therefore, by using the above method, the influence of environmental clutter on the sensing result can be effectively reduced, and the sensing accuracy of the passive sensing technology can be improved.

[0015] In a seventh aspect, an embodiment of the present application provides a communication method, which is applicable to a second device. The method includes: sending a second request message to a fourth device. The second request message includes at least the device identifier of the terminal device. Receiving a first response message from the fourth device. The first response message includes first information or second information. The first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target.

[0016] In combination with at least one of the first aspect to the seventh aspect, in a possible implementation, the first information includes the identification information of the first target, and the first target includes the terminal device and at least one sensing target.

[0017] In combination with at least one of the first aspect to the seventh aspect, in a possible implementation, the first response message includes the first information, and the first response message further includes second motion state information, and the second motion state information corresponds to the terminal device and at least one sensing target.

[0018] In combination with at least one of the first aspect to the seventh aspect, in a possible implementation, whether the terminal device is associated with the sensing target is determined by the motion state information of the terminal device and the sensing target.

[0019] In combination with at least one of the first aspect to the seventh aspect, in a possible implementation, whether the terminal device is associated with the sensing target is determined by the location information of the terminal device and the sensing target.

[0020] In combination with at least one of the first aspect to the seventh aspect, in a possible implementation, the sensing target is a passive object, and the passive object does not have the ability to receive and send electromagnetic waves.

[0021] In combination with at least one of the first aspect to the seventh aspect, in a possible implementation, the motion state information includes at least one of location information and speed information, or the motion state information is used to indicate at least one of location information and speed information. It should be understood that the first motion state information, the second motion state information, etc. involved in the embodiments of the present application all belong to one of the motion state information described here, and all satisfy the description of the motion state information here.

[0022] In combination with at least one of the first aspect to the seventh aspect, in a possible implementation, whether the terminal device is associated with the sensing target is determined by the motion state information of the terminal device and the sensing target.

[0023] In combination with at least one of the first aspect to the seventh aspect, in a possible implementation, whether the terminal device is associated with the sensing target is determined by the location information of the terminal device and the sensing target.

[0024] Combined with at least one of the first aspect to the seventh aspect, in a possible implementation, the first distance between the terminal device and the sensing target within the first time period is less than or equal to the first length, and the terminal device is associated with the sensing target. Wherein, the first distance is determined by the position information of the terminal device and the sensing target within the first time period.

[0025] In this implementation, the association between the terminal device and the sensing target is judged by the magnitude of the first distance between the terminal device and the sensing target within the first time period. The solution is simple and easy to implement. It can not only improve the success rate of the association between the terminal device and the sensing target, but also ensure the accuracy and reliability of the association relationship between the terminal device and the sensing target, so as to ensure that the sensing result obtained based on this association relationship is more accurate and reliable.

[0026] Alternatively, the first displacement of the terminal device within the second time period is equal to or greater than the second length, and the second displacement of the sensing target within the third time period is equal to or greater than the third length, and the terminal device is associated with the sensing target. Wherein, the first displacement is determined by the position information of the terminal device within the second time period, and the second displacement is determined by the position information of the sensing target within the third time period.

[0027] In this implementation, the association between the terminal device and the sensing target is judged by the magnitude of the displacement of the terminal device within the second time period and the magnitude of the displacement of the sensing target within the third time period. The solution is simple and reliable, which can ensure the accuracy and reliability of the association relationship between the terminal device and the sensing target, and can ensure that the accuracy of the sensing result obtained based on this association relationship is higher.

[0028] Combined with at least one of the first aspect, the second aspect, the fourth aspect, and the fifth aspect, in a possible implementation, the first request message includes at least one of time period indication information and length indication information. Wherein, the time period indication information is used to indicate at least one of the first time period, the second time period, and the third time period, and the length indication information is used to indicate at least one of the first length, the second length, and the third length.

[0029] Combined with at least one of the third aspect, the sixth aspect, and the seventh aspect, in a possible implementation, the second request message includes at least one of time period indication information and length indication information. Wherein, the time period indication information is used to indicate at least one of the first time period, the second time period, and the third time period, and the length indication information is used to indicate at least one of the first length, the second length, and the third length.

[0030] Combined with at least one of the first aspect to the seventh aspect, in a possible implementation, whether the terminal device is associated with the sensing target is determined by the position information of the terminal device, the position information of the sensing target, and the position information of the first reference position.

[0031] Combined with at least one of the first aspect to the seventh aspect, in a possible implementation, the direction deviation of the terminal device and the sensing target relative to the first reference position within the fourth time period is less than or equal to the angle threshold, and the terminal device is associated with the sensing target, where the direction deviation is determined by the position information of the terminal device, the position information of the sensing target, and the position information of the first reference position.

[0032] In the above implementation, judging whether the terminal device is associated with the sensing target according to the direction deviation of the terminal device and the sensing target relative to the first reference position can not only improve the success rate of the association between the terminal device and the sensing target, but also ensure the accuracy and reliability of the association relationship between the terminal device and the sensing target, so as to ensure that the sensing result obtained based on this association relationship is more accurate and reliable.

[0033] Alternatively, the distance difference between the terminal device and the sensing target relative to the second reference position within the fifth time period is less than or equal to the fourth length, and the terminal device is associated with the sensing target, where the distance difference is determined by the position information of the terminal device, the position information of the sensing target, and the position information of the second reference position.

[0034] In the above implementation, judging whether the terminal device is associated with the sensing target by the distance difference between the terminal device and the sensing target relative to the second reference position, the scheme is simple and easy to implement, can improve the success rate of the association between the terminal device and the sensing target, and thus improve the sensing efficiency.

[0035] Combined with at least one of the first aspect, the second aspect, the fourth aspect, and the fifth aspect, in a possible implementation, the first request message includes at least one of time period indication information, angle threshold indication information, length indication information, and reference position indication information. Among them, the time period indication information is used to indicate at least one of the fourth time period and the fifth time period, the angle threshold indication information is used to indicate the angle threshold, the length indication information is used to indicate the fourth length, and the reference position indication information is used to indicate at least one of the position information of the first reference position and the position information of the second reference position.

[0036] Combined with at least one of the third aspect, the sixth aspect, and the seventh aspect, in a possible implementation, the second request message includes at least one of time period indication information, angle threshold indication information, length indication information, and reference position indication information. Among them, the time period indication information is used to indicate at least one of the fourth time period and the fifth time period, the angle threshold indication information is used to indicate the angle threshold, the length indication information is used to indicate the fourth length, and the reference position indication information is used to indicate at least one of the position information of the first reference position and the position information of the second reference position.

[0037] In combination with at least one of the first aspect to the seventh aspect, in a possible implementation, whether the terminal device is associated with the sensing target is determined by the speed information of the terminal device and the speed information of the sensing target.

[0038] In combination with at least one of the first aspect to the seventh aspect, in a possible implementation, within the sixth time period, the speed difference between the terminal device and the sensing target is less than or equal to the speed difference threshold, and the terminal device and the sensing target are associated. Wherein, the speed difference between the terminal device and the sensing target is determined by the speed information of the terminal device and the sensing target.

[0039] In combination with at least one of the first aspect to the seventh aspect, in a possible implementation, the speed difference between the terminal device and the sensing target includes the modulus of the velocity vector difference between the terminal device and the sensing target. Alternatively, the speed difference between the terminal device and the sensing target includes the modulus of the velocity vector component difference between the terminal device and the sensing target in the same direction.

[0040] In the above implementation, judging whether the terminal device is associated with the sensing target according to the magnitude of the speed deviation between the terminal device and the sensing target, the solution is simple and easy to implement. It can not only improve the success rate of the association between the terminal device and the sensing target, but also ensure the accuracy and reliability of the association relationship between the terminal device and the sensing target, so as to ensure that the sensing result obtained based on this association relationship is more accurate and reliable.

[0041] In combination with at least one of the first aspect, the second aspect, the fourth aspect and the fifth aspect, in a possible implementation, the first request message includes at least one of the time period indication information and the speed difference threshold indication information. Wherein, the time period indication information is used to indicate the sixth time period, and the speed difference threshold indication information is used to indicate the speed difference threshold.

[0042] In combination with at least one of the third aspect, the sixth aspect and the seventh aspect, in a possible implementation, the second request message includes at least one of the time period indication information and the speed difference threshold indication information. Wherein, the time period indication information is used to indicate the sixth time period, and the speed difference threshold indication information is used to indicate the speed difference threshold.

[0043] In combination with the first aspect, in a possible implementation, the method further includes: receiving a second request message from a second device, where the second request message includes at least the device identifier of the terminal device.

[0044] In combination with the first aspect, in a possible implementation, the method further includes: sending a second response message to the second device, where the second response message includes the first information or the second information.

[0045] It should be understood that the communication methods provided in the above second aspect and third aspect are used to cooperate with the communication method provided in the above first aspect, so the same beneficial effects can be achieved. To avoid redundancy, the description will not be repeated here.

[0046] It should be understood that the communication method provided in the above fifth aspect is used to cooperate with the communication method provided in the above fourth aspect, so the same beneficial effects can be achieved. To avoid redundancy, the description will not be repeated here.

[0047] It should be understood that the communication method provided in the above seventh aspect is used to cooperate with the communication method provided in the above sixth aspect, so the same beneficial effects can be achieved. To avoid redundancy, the description will not be repeated here.

[0048] It should be understood that the communication method provided in the above first aspect is also applicable to the functional components in the first device, such as the processor, chip, chip system, circuit, etc. in the first device. This application does not limit this. Similarly, the communication methods provided in the above second aspect to sixth aspect are also applicable to the functional components in the corresponding devices. To avoid redundancy, the description will not be repeated here.

[0049] In an eighth aspect, this application provides a communication device, and the communication device can be the first device mentioned in the above first aspect. The communication device includes a transceiver unit and a processing unit. The processing unit is used to generate a first request message. Among them, the first request message includes the first motion state information of the terminal device. The transceiver unit is used to send the first request message to a third device. The transceiver unit is also used to receive a first response message from the third device. Among them, the first response message includes the first information or the second information. The first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target.

[0050] In a ninth aspect, this application provides a communication device, and the communication device can be the third device mentioned in the above second aspect. The communication device includes a transceiver unit and a processing unit. The transceiver unit is used to receive the first request message from the first device. Among them, the first request message includes the first motion state information of the terminal device. The processing unit is used to generate a first response message. The transceiver unit is used to send the first response message to the first device. Among them, the first response message includes the first information or the second information. The first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target.

[0051] In a tenth aspect, the present application provides a communication device, which may be the second device mentioned in the foregoing third aspect. The communication device includes a transceiver unit and a processing unit. The processing unit is configured to generate a second request message. The transceiver unit is configured to send the second request message to a first device, where the second request message at least includes the device identifier of the terminal device. The transceiver unit is further configured to receive a first response message from the first device, where the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target.

[0052] In an eleventh aspect, the present application provides a communication device, which may be the third device mentioned in the foregoing fourth aspect. The communication device includes a transceiver unit and a processing unit. The transceiver unit is configured to receive a first request message from the second device, where the first request message includes the first motion state information of the terminal device. The processing unit is configured to generate a second response message. The transceiver unit is configured to send the first response message to the second device. Wherein, the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target.

[0053] In a twelfth aspect, the present application provides a communication device, which may be the second device mentioned in the foregoing fifth aspect. The communication device includes a transceiver unit and a processing unit. The processing unit is configured to generate a first request message. The transceiver unit is configured to send the first request message to the third device, where the first request message includes the first motion state information of the terminal device. The transceiver unit is further configured to receive a first response message from the third device. Wherein, the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target.

[0054] In a thirteenth aspect, the present application provides a communication device, which may be the fourth device mentioned in the foregoing sixth aspect. The communication device includes a transceiver unit and a processing unit. The transceiver unit is configured to receive a second request message from the second device, where the second request message at least includes the device identifier of the terminal device. The processing unit is configured to generate a first response message. The transceiver unit is configured to send the first response message to the second device. Wherein, the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target.

[0055] In a fourteenth aspect, the present application provides a communication device, which may be the second device mentioned in the foregoing seventh aspect. The communication device includes a transceiver unit and a processing unit. The processing unit is configured to generate a second request message. The transceiver unit is configured to send the second request message to a fourth device. The second request message includes at least the device identifier of the terminal device. The transceiver unit is further configured to receive a first response message from the fourth device. The first response message includes first information or second information, where the first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target.

[0056] Combined with at least one of the eighth aspect to the fourteenth aspect, in a possible implementation, the first information includes the identification information of the first target, and the first target includes the terminal device and at least one sensing target.

[0057] Combined with at least one of the eighth aspect to the fourteenth aspect, in a possible implementation, the first response message includes the first information, and the first response message further includes second motion state information, where the second motion state information corresponds to the terminal device and at least one sensing target.

[0058] Combined with at least one of the eighth aspect to the fourteenth aspect, in a possible implementation, whether the terminal device is associated with the sensing target is determined by the motion state information of the terminal device and the sensing target.

[0059] Combined with at least one of the eighth aspect to the fourteenth aspect, in a possible implementation, whether the terminal device is associated with the sensing target is determined by the position information of the terminal device and the sensing target.

[0060] Combined with at least one of the eighth aspect to the fourteenth aspect, in a possible implementation, the sensing target is a passive object, and the passive object does not have the ability to receive and send electromagnetic waves.

[0061] Combined with at least one of the eighth aspect to the fourteenth aspect, in a possible implementation, the motion state information includes at least one of position information and speed information, or the motion state information is used to indicate at least one of position information and speed information. It should be understood that the first motion state information, the second motion state information, etc. involved in the embodiments of the present application all belong to one of the motion state information described here, and also all satisfy the description of the motion state information here.

[0062] Combined with at least one of the eighth aspect to the fourteenth aspect, in a possible implementation, whether the terminal device is associated with the sensing target is determined by the motion state information of the terminal device and the sensing target.

[0063] Combined with at least one of the eighth aspect to the fourteenth aspect, in a possible implementation, whether the terminal device is associated with the sensing target is determined by the location information of the terminal device and the sensing target.

[0064] Combined with at least one of the eighth aspect to the fourteenth aspect, in a possible implementation, the first distance between the terminal device and the sensing target within the first time period is less than or equal to the first length, and the terminal device and the sensing target are associated. Wherein, the first distance is determined by the location information of the terminal device and the sensing target within the first time period.

[0065] Alternatively, the first displacement of the terminal device within the second time period is equal to or greater than the second length, and the second displacement of the sensing target within the third time period is equal to or greater than the third length, and the terminal device and the sensing target are associated. Wherein, the first displacement is determined by the location information of the terminal device within the second time period, and the second displacement is determined by the location information of the sensing target within the third time period.

[0066] Combined with at least one of the eighth aspect, the ninth aspect, the eleventh aspect and the twelfth aspect, in a possible implementation, the first request message includes at least one of time period indication information and length indication information. Wherein, the time period indication information is used to indicate at least one of the first time period, the second time period, and the third time period, and the length indication information is used to indicate at least one of the first length, the second length, and the third length.

[0067] Combined with at least one of the tenth aspect, the thirteenth aspect and the fourteenth aspect, in a possible implementation, the second request message includes at least one of time period indication information and length indication information. Wherein, the time period indication information is used to indicate at least one of the first time period, the second time period, and the third time period, and the length indication information is used to indicate at least one of the first length, the second length, and the third length.

[0068] Combined with at least one of the eighth aspect to the fourteenth aspect, in a possible implementation, whether the terminal device is associated with the sensing target is determined by the location information of the terminal device, the location information of the sensing target, and the location information of the first reference location.

[0069] Combined with at least one of the eighth aspect to the fourteenth aspect, in a possible implementation, the direction deviation of the terminal device and the sensing target relative to the first reference location within the fourth time period is less than or equal to the angle threshold, and the terminal device and the sensing target are associated. Wherein, the direction deviation is determined by the location information of the terminal device, the location information of the sensing target, and the location information of the first reference location.

[0070] Alternatively, the distance difference between the terminal device and the sensing target relative to the second reference position within the fifth time period is less than or equal to the fourth length, and the terminal device is associated with the sensing target, where the distance difference is determined by the position information of the terminal device, the position information of the sensing target, and the position information of the second reference position.

[0071] Combined with at least one of the eighth aspect, the ninth aspect, the eleventh aspect, and the twelfth aspect, in a possible implementation, the first request message includes at least one of a time period indication information, an angle threshold indication information, a length indication information, and a reference position indication information. The time period indication information is used to indicate at least one of the fourth time period and the fifth time period, the angle threshold indication information is used to indicate the angle threshold, the length indication information is used to indicate the fourth length, and the reference position indication information is used to indicate at least one of the position information of the first reference position and the position information of the second reference position.

[0072] Combined with at least one of the tenth aspect, the thirteenth aspect, and the fourteenth aspect, in a possible implementation, the second request message includes at least one of a time period indication information, an angle threshold indication information, a length indication information, and a reference position indication information. The time period indication information is used to indicate at least one of the fourth time period and the fifth time period, the angle threshold indication information is used to indicate the angle threshold, the length indication information is used to indicate the fourth length, and the reference position indication information is used to indicate at least one of the position information of the first reference position and the position information of the second reference position.

[0073] Combined with at least one of the eighth aspect to the fourteenth aspect, in a possible implementation, whether the terminal device is associated with the sensing target is determined by the speed information of the terminal device and the speed information of the sensing target.

[0074] Combined with at least one of the eighth aspect to the fourteenth aspect, in a possible implementation, within the sixth time period, the speed difference between the terminal device and the sensing target is less than or equal to the speed difference threshold, and the terminal device is associated with the sensing target. The speed difference between the terminal device and the sensing target is determined by the speed information of the terminal device and the sensing target.

[0075] Combined with at least one of the eighth aspect to the fourteenth aspect, in a possible implementation, the speed difference between the terminal device and the sensing target includes the modulus of the speed vector difference between the terminal device and the sensing target. Alternatively, the speed difference between the terminal device and the sensing target includes the modulus of the difference between the speed vector components of the terminal device and the sensing target in the same direction.

[0076] Combined with at least one of the eighth aspect, the ninth aspect, the eleventh aspect, and the twelfth aspect, in a possible implementation, the first request information includes at least one of time period indication information and speed difference threshold indication information. The time period indication information is used to indicate the sixth time period, and the speed difference threshold indication information is used to indicate the speed difference threshold.

[0077] Combined with at least one of the tenth aspect, the thirteenth aspect, and the fourteenth aspect, in a possible implementation, the second request message includes at least one of time period indication information and speed difference threshold indication information. The time period indication information is used to indicate the sixth time period, and the speed difference threshold indication information is used to indicate the speed difference threshold.

[0078] Combined with the eighth aspect, in a possible implementation, the transceiver unit is further configured to receive a second request message from a second device, where the second request message includes at least the device identifier of the terminal device.

[0079] Combined with the eighth aspect, in a possible implementation, the transceiver unit is further configured to send a second response message to the second device, where the second response message includes the first information or the second information.

[0080] The fifteenth aspect provides a computer program product, which includes instructions. When the instructions run on a computer, the computer is caused to execute the method in the first aspect or any possible implementation of the first aspect, or execute the method in the second aspect or any possible implementation of the second aspect, or execute the method in the third aspect or any possible implementation of the third aspect, or execute the method in the fourth aspect or any possible implementation of the fourth aspect, or execute the method in the fifth aspect or any possible implementation of the fifth aspect, or execute the method in the sixth aspect or any possible implementation of the sixth aspect, or execute the method in the seventh aspect or any possible implementation of the seventh aspect.

[0081] The sixteenth aspect provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed, it executes the method described in any one of the first aspect or any possible implementation of the first aspect, the second aspect or any possible implementation of the second aspect, the third aspect or any possible implementation of the third aspect, the fourth aspect or any possible implementation of the fourth aspect, the fifth aspect or any possible implementation of the fifth aspect, the sixth aspect or any possible implementation of the sixth aspect, or the seventh aspect or any possible implementation of the seventh aspect.

[0082] In a seventeenth aspect, the present application provides a communication device, at least one processor, and a memory. The memory is used to store a computer program. The processor is configured to execute the computer program stored in the memory, so that the communication device executes the method according to any one of the first aspect or any possible implementation manner of the first aspect, the second aspect or any possible implementation manner of the second aspect, the third aspect or any possible implementation manner of the third aspect, the fourth aspect or any possible implementation manner of the fourth aspect, the fifth aspect or any possible implementation manner of the fifth aspect, the sixth aspect or any possible implementation manner of the sixth aspect, or the seventh aspect or any possible implementation manner of the seventh aspect.

[0083] In an eighteenth aspect, the present application provides a chip, which at least includes a processor. The processor is configured to execute computer execution instructions, so that a device installed with the chip executes the method according to any one of the first aspect or any possible implementation manner of the first aspect, the second aspect or any possible implementation manner of the second aspect, the third aspect or any possible implementation manner of the third aspect, the fourth aspect or any possible implementation manner of the fourth aspect, the fifth aspect or any possible implementation manner of the fifth aspect, the sixth aspect or any possible implementation manner of the sixth aspect, or the seventh aspect or any possible implementation manner of the seventh aspect.

[0084] In combination with the eighteenth aspect, in a possible implementation manner, the chip may further include an interface circuit. The interface circuit is configured to receive computer execution instructions and transmit them to the processor.

[0085] In a nineteenth aspect, the present application provides a communication system. The communication system at least includes a first device, a second device, and a third device. The first device is configured to execute the communication method provided by the first aspect or any possible implementation manner of the first aspect. The second device is configured to execute the communication method provided by the third aspect or any possible implementation manner of the third aspect. The third device is configured to execute the communication method provided by the second aspect or any possible implementation manner of the second aspect.

[0086] In a twentieth aspect, the present application provides a communication system. The communication system at least includes a second device and a third device. The second device is configured to execute the communication method provided by the fifth aspect or any possible implementation manner of the fifth aspect. The third device executes the communication method provided by the fourth aspect or any possible implementation manner of the fourth aspect.

[0087] In a twenty - first aspect, the present application provides a communication system. The communication system includes at least a second device and a fourth device. The second device is configured to execute the communication method provided in the above - mentioned seventh aspect or any one of the possible implementation manners of the seventh aspect, and the fourth device is configured to execute the communication method provided in the above - mentioned sixth aspect or any one of the possible implementation manners of the sixth aspect.

[0088] In summary, the communication method provided by the present application can effectively reduce the influence of environmental clutter on the sensing result and can effectively improve the sensing accuracy of passive sensing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0089] Figure 1a is a schematic structural diagram of a communication system provided by the present application;

[0090] Figure 1b is a schematic structural diagram of another communication system provided by the present application;

[0091] Figure 1c is a schematic structural diagram of another communication system provided by the present application;

[0092] Figure 2 is a schematic flowchart of a communication method provided by the present application;

[0093] Figure 3 is another schematic flowchart of a communication method provided by the present application;

[0094] Figure 4 is a flowchart of another communication method provided by the present application;

[0095] Figure 5 is a flowchart of another communication method provided by the present application;

[0096] Figure 6 is a schematic structural diagram of a communication device provided by the present application;

[0097] Figure 7 is a schematic structural diagram of another communication device provided by the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0098] Next, the technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings provided in the embodiments of the present application.

[0099] In this application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the relationship between associated objects and indicates that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. In the text description of this application, the character " / " generally represents an "or" relationship between the associated objects before and after; in the formulas of this application, the character " / " represents a "division" relationship between the associated objects before and after. "Including at least one of A, B, and C" can represent: including A; including B; including C; including A and B; including A and C; including B and C; including A, B, and C.

[0100] The technical solutions provided by the embodiments of this application can be applied to various communication systems, such as: Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD), Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication systems, 5th generation (5G) systems, or New Radio (NR). In addition, it can also be applicable to subsequent evolved systems, such as 6G communication systems in the future, and even more advanced 7G communication systems, etc.

[0101] Please refer to Figure 1a , Figure 1a which is a schematic structural diagram of a communication system provided by this application. As Figure 1a shown, the communication system 100 may include a first device, a second device, and a third device. The first device, the second device, and the third device cooperate with each other and can be used to implement the communication method provided by this application. Among them:

[0102] The first device can be used to initiate a positioning process and obtain relevant information such as the location, speed, and acceleration of the terminal device, and return this information to relevant devices or network elements, which can be specific devices, network elements, or functional entities. Or rather, the first device is a device, network element, or functional entity that can provide a positioning function for the terminal device. It should be understood that among them, a network element can also be referred to as an entity, device, apparatus, or module, etc., and the present application does not make specific limitations in this regard. In some possible implementations, the first device can be a location management function (LMF) network element in a 5G network architecture. It should be understood that in future communication systems, the first device can still be an LMF network element, or the first device can also be other network elements, or the first device can also have other names, and the present application does not make limitations in this regard. It should be understood that the present application does not limit the specific type of the first device.

[0103] The second device is the requester of the motion state information of the terminal device and relevant sensing objects, and this second device can communicate directly with the network functions in the mobile communication network where the first device and the third device are located. In some possible implementations, the second device can be an application server loaded with a positioning client (i.e., client), a terminal device, an access network device, a core network device, etc. It should be understood that the present application does not limit the specific type of the second device. It should be understood that an access network device can be a device used to communicate with a terminal device, which can be a base station, or an access point, or a network device, or can refer to a device in the access network that communicates with a wireless terminal through one or more sectors on the air interface.

[0104] The third device can be used to obtain information such as the location and speed of the sensed object through sensing capabilities. Or rather, the third device is a device, network element, or functional entity that provides sensing functions. In some possible implementations, the third device can be a sensing function (SF) network element in a 5G network architecture. It should be understood that in future communication systems, the third device can still be an SF network element, or the third device can also be other network elements with sensing functions, or the third device can also have other names, and the present application does not make limitations in this regard. It should be understood that the present application does not limit the specific type of the third device.

[0105] Optionally, the communication system 100 may further include a terminal device. The terminal device may cooperate with the first device, the second device, and the third device to implement the communication method provided in this application. The terminal device may also be referred to as: user equipment (UE), mobile station (MS), mobile terminal (MT), access terminal, user unit, user station, mobile station, mobile phone, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent, or user device, etc. The terminal device may be a device that provides voice / data connectivity to users. For example, it may be a handheld device or a vehicle-mounted device with wireless connection capabilities. Currently, some examples of terminal devices are: mobile phone, tablet computer, laptop computer, palmtop computer, mobile internet device (MID), wearable device, virtual reality (VR) device, augmented reality (AR) device, wireless terminal in industrial control, wireless terminal in self-driving, wireless terminal in remote medical surgery, wireless terminal in smart grid, wireless terminal in transportation safety, wireless terminal in smart city, wireless terminal in smart home, cellular phone, cordless phone, session initiation protocol (SIP) phone, wireless local loop (WLL) station, personal digital assistant (PDA), handheld device with wireless communication capabilities, computing device, or other processing devices connected to a wireless modem, vehicle-mounted device, wearable device, terminal device in a 5G network, or terminal device in a future evolved public land mobile network (PLMN). The embodiments of this application are not limited thereto.

[0106] Please refer to Figure 1b , Figure 1b which is a schematic structural diagram of another communication system provided in this application. As Figure 1b shown, the communication system 200 may include a second device and a fourth device. Among them:

[0107] The fourth device may be a device, network element, or functional entity that simultaneously has positioning and sensing functions, and it can be deployed on the access network side or the core network side. In some possible implementation manners, the fourth device may be a location and sensing unit (LSU) deployed on the access network side and providing wireless services such as positioning and sensing. It should be understood that in future communication systems, the fourth device may also be other network elements with sensing functions, or the fourth device may have other names, which are not limited in this application.

[0108] Optionally, the communication system 100 may further include a terminal device. The terminal device can cooperate with the second device and the fourth device to implement the communication method provided in this application for the terminal device.

[0109] Please refer to Figure 1c , Figure 1c which is a schematic structural diagram of another communication system provided in this application. As Figure 1c shown, the communication system 100 may include a second device and a third device. The second device and the fourth device cooperate with each other to implement the communication method provided in this application for the terminal device.

[0110] Optionally, the communication system 100 may further include a terminal device and a first device. The terminal device can cooperate with the first device, the second device, and the third device to implement the communication method provided in this application.

[0111] It should be understood that the network architecture or service scenario described in the embodiments of this application is to more clearly illustrate the technical solutions provided in this application, and does not constitute a limitation on the technical solutions provided in this application. Those of ordinary skill in the art know that with the evolution of the network architecture and the emergence of new service scenarios, the technical solutions provided in this application are also applicable to similar technical problems.

[0112] To facilitate the understanding of the solutions of this application, some nouns or terms involved in this application are described below.

[0113] 1. Active positioning technology

[0114] Active positioning technology is a technology that obtains information such as the position and speed of an object to be positioned through the signals received and sent by the object itself.

[0115] It mainly adopts an architecture with core network element control, access network device, and terminal device assistance. Taking the downlink active positioning process as an example, the core network element mainly performs the following operations: (1) Interact with the access network device for cell information, such as obtaining the configuration information of the positioning reference signal (PRS), sounding reference signal (SRS), cell timing information, cell location information, etc. (2) Complete the transfer of terminal device capability information, auxiliary information, measurement information, etc. with the terminal device. (3) Complete the transfer of measurement information with the access network device. Correspondingly, the terminal device and the access network device assist the core network element to complete the above operations. In actual implementation, the core network element can determine information such as the location and speed of the terminal device based on cell information, the measurement reports of the terminal device on the downlink signals of each cell, and the measurement reports of each cell on the uplink signals of the terminal device.

[0116] It should be noted that the active positioning process can be initiated by the terminal device or the core network element, or indirectly initiated by the gateway mobile location center (GMLC). This application does not limit this. The core network element can specifically be the LMF network element.

[0117] Exemplarily, the active positioning process can be as follows:

[0118] S1, The location service client sends a location service request to the AMF. Specifically, when the location service request is initiated by the client, the location service request is sent to the GMLC, and the GMLC sends the location service request to the AMF.

[0119] S2, The AMF initiates a location service request. For example, when the network side needs to initiate an emergency call to the UE. When the AMF initiates the positioning, it directly proceeds to the next step.

[0120] S3, The UE sends a location service request to the AMF. Specifically, the UE can request location service from the AMF through NAS signaling.

[0121] S4, The AMF sends a location service request to the LMF.

[0122] S5, Interact with the gNB where the UE is located for relevant positioning processes. Specifically, if the LMF determines that the gNB needs to participate in this positioning process, it interacts with the serving gNB where the target UE is located for relevant positioning processes to obtain positioning measurement quantities or auxiliary data.

[0123] S6 interacts with the UE in the relevant positioning process. Specifically, if the LMF determines that the UE needs to participate in this positioning process, it interacts with the UE in the relevant positioning process through non-access stratum (NAS) messages, such as obtaining location information, acquiring positioning measurements or assisting data, etc.

[0124] S7, the LMF returns a location service response to the AMF. Among them, the location service response includes the positioning result.

[0125] S8, the AMF sends the location service response to the location service client. Specifically, if the location service request is initiated by the location service client, the AMF passes the positioning result to the GMLC, and the GMLC then sends the location information to the service client that initiated the location request.

[0126] S9, the AMF obtains the location service response. Specifically, if the location request is initiated by the AMF, the AMF provides positioning data to the service that requests positioning in the AMF.

[0127] S10, the AMF sends the location service response to the UE. Specifically, if the location request is initiated by the UE, the AMF returns the positioning result to the UE.

[0128] In this application, the active positioning technology mainly refers to the positioning technologies provided by LTE and the 3rd Generation Partnership Project (3GPP). Among them, the 3GPP protocol defines multiple positioning technologies, including cell ID positioning supported by LTE, enhanced cell ID (E-CID) positioning, assisted GPS (A-GPS) positioning, observed time difference of arrival (OTDOA) positioning technology. 5G has introduced some new positioning technologies, such as NR ECID positioning, uplink time difference of arrival (UL-TDOA) positioning, DL-TDOA positioning, signal strength-based positioning, uplink angle of arrival (UL-AoA), DL-AoA, multi-round trip time (Multi-RTT), etc.

[0129] For example, the TDOA positioning principle determines the position of the terminal device based on the intersection of two hyperbolas. Based on the propagation speed of electromagnetic waves and the time difference of arrival between each pair of transmission and receive nodes (TRPs) and the terminal device, the distance difference between each pair of TRPs can be obtained. Then, the terminal device must be located on a hyperbola with two TRPs as foci and a fixed value of the distance difference from the two foci. The distance differences between two sets of TRPs and the terminal device can yield two sets of hyperbolas, and the position, speed, and other information of the UE can be determined according to the intersection of these two sets of hyperbolas. Specifically, in UL-TDOA positioning, the terminal device sends an uplink SRS, multiple TRPs receive the uplink SRS sent by the terminal device, and send the propagation delay (time of arrival, TOA) of the SRS to the LMF. The LMF calculates the position, speed, and other information of the terminal device through geometric calculation based on the TDOA between each pair of TRPs and the known positions of the TRPs. In DL-TDOA positioning, the TRP sends a PRS to the terminal device, the terminal device performs downlink reference signal time difference (RSTD) measurement on the PRS sent by each TRP, and then reports the measurement result of the DL RSTD to the LMF. The LMF uses the known positions of the TRPs and the RSTD measurement result to calculate the specific position, speed, and other information of the terminal device.

[0130] It should be understood that the active positioning technology involved in this application includes, but is not limited to, the positioning technologies described above. Those of ordinary skill in the art know that with the evolution of the network architecture and communication technology, newly emerging similar positioning technologies can also be regarded as a kind of the active positioning technology provided by this application.

[0131] 2. Passive sensing technology

[0132] The passive sensing technology is a technology that obtains the position, speed, and other information of the object to be sensed by the signal reflected by the object to be sensed. A sensing function (SF) network element is arranged in the core network part of the communication system. It can use network devices and terminal devices to send sensing measurement signals and receive the sensing measurement signals reflected by the object to be sensed, and then determine the position, speed, shape, and other information of the object to be sensed according to the signal parameters of the sent sensing measurement signals and the received sensing measurement signals reflected by the object to be sensed. For example, the SF network element can send sensing measurement signals through the base station, and then receive the sensing measurement signals reflected by the cars driving on the road through the base station, and obtain the position, moving speed, and other information of the cars based on the sent and reflected sensing measurement signals. It should be understood that this application does not limit the specific implementation process of the passive sensing technology, and existing sensing technologies and future evolved sensing technologies can all be regarded as a kind of the passive sensing technology provided by this application.

[0133] 3. Passive Object

[0134] In the embodiments of the present application, a passive object mainly refers to an object that does not have the ability to transmit and receive radio electromagnetic waves, but has the ability to reflect radio waves (including visible light, infrared, ultraviolet light, etc.), such as pedestrians, animals, traditional cars, buildings, bridges, etc. For passive objects, passive sensing technology can be used to obtain parameters such as their positions and speeds. For the description of passive objects, the form of point cloud (i.e., cloudpoint) objects can be adopted, and each point cloud object contains one or more point coordinates, and each point coordinate corresponds to the position of the reflection point of the radio wave on the surface of the passive object.

[0135] Existing sensing technologies need to rely on sensing measurement signals to obtain sensing results, so this method is extremely vulnerable to environmental clutter interference, resulting in low sensing accuracy. Therefore, the technical problem to be solved by the present application is: how to improve the sensing accuracy of sensing technology.

[0136] Please refer to Figure 2 , Figure 2 which is a schematic flowchart of a communication method provided by the present application. This method is applicable to Figure 1c the communication system shown in Figure 2 As shown in

[0137] S210, the second device sends a first request message to the third device. Correspondingly, the third device receives this first request message.

[0138] In some feasible implementation manners, the second device may generate and send a first request message to the third device.

[0139] Among them, the first request message at least includes the first motion state information of the terminal device. It should be noted that the first motion state information may be the motion state information of the terminal device at the first moment obtained through active positioning technology. Optionally, the motion state information provided by the present application refers to relevant information that can indicate the motion state of the terminal device. The motion state information may include at least one of position information and speed information. Or, the motion state information can be used to indicate at least one of position information and speed information. Optionally, the above position information may specifically include or indicate position coordinate data. The above speed information may specifically include or indicate a speed vector or a speed vector component in a certain direction. The first motion state information described here and the second motion state information described later are both one of the motion state information provided by the present application, and therefore both meet the specific description of the motion state information here.

[0140] In an alternative implementation, the second device may obtain the first motion state information of the terminal device when it determines that a preset trigger condition is satisfied. Then, the second device may generate a first request message including the above first motion state information and send the first request message to the third device. Optionally, the above preset trigger condition includes, but is not limited to, one or more of the following: receiving a positioning service message, the arrival of a preset request period, receiving a preset user instruction, etc. It should be understood that the preset trigger condition here is only exemplary. In actual implementation, the preset trigger condition may also include other possible conditions, and the present application does not make specific limitations thereto.

[0141] Correspondingly, the third device may receive the first request message and obtain the content included in the first request message.

[0142] In an alternative implementation, the first request message may further include the device identifier of the terminal device.

[0143] S220, the third device sends a first response message to the second device. Correspondingly, the second device may receive the first response message.

[0144] In some feasible implementations, after receiving the first request message, the third device may generate a first response message according to the content of the first request message. Wherein, the first response message includes first information or second information. The first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target. Here, the so-called sensing target is the object sensed by the third device through passive sensing technology. In other words, when the third device determines that the terminal device is associated with at least one sensing target, it may generate a first response message including the first information. When the third device determines that the terminal device has no associated sensing target, or no sensing target is detected around the terminal device, a first response message including the second information may be generated. It should be noted that in the embodiments of the present application, if the terminal device is associated with a certain sensing target, it means that the terminal device and the sensing target have the characteristics of co-location and co-speed, that is, the terminal device and the sensing target move synchronously, so the motion state information of the two may be the same or similar.

[0145] In some possible implementation manners, whether the terminal device is associated with the sensed target is determined by the motion state information of the terminal device and the sensed target. It should be understood that after obtaining the first motion information, the third device can extract the position information of the terminal device and obtain the motion state information of the sensed targets around the terminal device through passive sensing technology. For example, the third device can determine a sensing area associated with the terminal device with the position information of the terminal device as the center of the circle, and obtain the motion state information of the sensed targets that can be sensed within this area. It should be understood that the motion state information of the terminal device and the sensed target should at least include position information and velocity information. Then, the third device can determine whether the terminal device is associated with the sensed target according to the motion state information of the terminal device and the sensed target. If the third device determines that the terminal device is associated with at least one sensed target, it can generate a first response message containing the first information. If the third device determines that there is no associated sensed target for the terminal device, it can generate a first response message containing the second information.

[0146] It should be understood that in the case where there are multiple sensed targets around the terminal device, the manner in which the third device determines whether each sensed target is associated with the terminal device is the same. Therefore, hereinafter, taking a certain sensed target i among all the sensed targets that can be sensed around the terminal device as an example, the specific implementation process of the third device determining whether the terminal device is associated with the sensed target will be described.

[0147] In actual implementation, the third device can determine whether the terminal device is associated with the sensed target i through the following multiple optional implementation manners.

[0148] In the first optional implementation manner, whether the terminal device is associated with the sensed target i can be determined by the position information of the terminal device and the sensed target i. That is to say, the third device can determine whether the terminal device is associated with the sensed target i through the position information of the terminal device and the position information of the sensed target i.

[0149] Optionally, if the third device determines, based on the location information of the terminal device and the location information of the sensing target i, that the first distance between the terminal device and the sensing target i within the first time period is always less than or equal to the first length, it can be determined that the terminal device and the sensing target i are associated. Correspondingly, if the third device determines, based on the location information of the terminal device and the location information of the sensing target i, that the first distance between the terminal device and the sensing target i at at least one moment within the first time period is greater than the first length, it can be determined that the terminal device and the sensing target i are not associated. Wherein, the first distance between the terminal device and the sensing target i within the first time period is determined by the location information obtained by the terminal device and the sensing target i within this first time period. It should be understood that the location information of the terminal device within the first time period can be obtained by the third device from the historical location information of the terminal device stored in advance by it, or can be temporarily obtained by the third device from the second device, and this application does not make any restrictions on this. The location information of the sensing target i within the first time period can also be obtained by the third device from the historical location information of the sensing target i stored in advance by it.

[0150] Exemplarily, assume that there are detection time 1, detection time 2, and detection time 3 within the first time period. The third device can obtain the respective corresponding location information of the terminal device and the sensing target i at detection time 1, detection time 2, and detection time 3, and then can calculate the corresponding first distances d1, d2, and d3 of the terminal device and the sensing target i at detection time 1, detection time 2, and detection time 3 based on this location information. If the third device determines that the first distances d1, d2, and d3 are all less than or equal to the first length, it can be determined that the terminal device and the sensing target i are associated. If the third device determines that any one or more of the first distances d1, d2, and d3 are greater than the first length, it can be determined that the terminal device and the sensing target i are not associated.

[0151] In the above implementation, judging whether the terminal device and the sensing target are associated according to the magnitude of the first distance between the terminal device and the sensing target within the first time period, the solution is simple and easy to implement. It can not only improve the success rate of the association between the terminal device and the sensing target, but also ensure the accuracy and reliability of the association relationship between the terminal device and the sensing target, so as to ensure that the sensing result obtained based on this association relationship is more accurate and reliable.

[0152] Optionally, if the third device determines, based on the location information of the terminal device and the location information of the sensing target i, that the first displacement of the terminal device in the second time period is equal to or greater than the second length, and the second displacement of the sensing target i in the third time period is equal to or greater than the third length, then it can be determined that the two are associated. Correspondingly, if the third device determines, based on the location information of the terminal device and the location information of the sensing target i, that the first displacement of the terminal device in the second time period is less than the second length, and / or determines that the second displacement of the sensing target i in the third time period is less than the third length, then it can be determined that the two are not associated. Here, the first displacement of the terminal device in the second time period can be determined from the location information of the terminal device in the second time period obtained by the third device. The second displacement of the sensing target i in the third time period can be determined from the location information of the sensing target i in the third time period obtained by the third device. It should be understood that the above-mentioned second time period and third time period can be the same or different. Preferably, when the second time period and the third time period are different, there may also be an overlapping part between the second time period and the third time period.

[0153] Exemplarily, the third device can obtain the location information corresponding to the start time and the end time of the second time period of the terminal device, and determine the first displacement d4 of the terminal device in the second time period based on the location information at these two times. Similarly, the third device can obtain the location information corresponding to the start time and the end time of the third time period of the sensing target i, and determine the second displacement d5 of the sensing target i in the third time period based on the location information at these two times. If the third device determines that the first displacement d4 is equal to or greater than the second length, and determines that the second displacement d5 is equal to or greater than the third length, then it determines that the terminal device and the sensing target i are associated. If the third device determines that the first displacement d4 is less than the second length, and / or determines that the second displacement d5 is less than the third length, then it determines that the terminal device and the sensing target i are not associated.

[0154] In the above implementation, by using the magnitude of the displacement of the terminal device in the second time period and the magnitude of the displacement of the sensing target in the third time period to determine whether the terminal device is associated with the sensing target, the solution is simple and reliable, which can ensure the accuracy and reliability of the association relationship between the terminal device and the sensing target, and can ensure that the sensing result obtained based on this association relationship has a higher accuracy.

[0155] Optionally, the above first request message may include at least one of time period indication information and length indication information.

[0156] Among them, the time period indication information can be used to indicate at least one of the above first time period, the above second time period, and the above third time period. For example, the time period indication information may include the end time and duration of the first time period to indicate the first time period through the end time and duration of the first time period. Of course, the time period indication information may also adopt other possible implementation manners, and this application does not limit this.

[0157] The length indication information can be used to indicate at least one of a first length, a second length, and a third length. Optionally, the length indication information may directly include at least one of the first length, the second length, and the third length.

[0158] Optionally, the end time of at least one of the first time period, the second time period, and the third time period is a first time, and this first time is indicated by the first motion state information. Or rather, this first time is the time when the first motion state information is obtained. In this case, the process of the third device determining whether the terminal device and the sensing target i are associated can use the position information included in the above-mentioned first motion state information. Here, using the latest position information of the terminal device to determine whether the terminal device and the sensing target i are associated can further ensure the accuracy and reliability of the association relationship between the terminal device and the sensing target.

[0159] In a second optional implementation manner, whether the terminal device is associated with the sensing target i is determined by the position information of the terminal device, the position information of the sensing target i, and the position information of a first reference position or the position information of a second reference position. Or rather, the third device can determine whether the terminal device is associated with the sensing target i according to the position information of the terminal device, the position information of the sensing target i, and the position information of a first reference position or the position information of a second reference position. Here, the first reference position can also be understood as an anchor point for determining whether the terminal device is associated with the sensing target i.

[0160] Optionally, if the third device determines that the direction deviation of the terminal device and the sensing target i relative to the first reference position is always less than or equal to an angle threshold within a fourth time period, it can be determined that the terminal device and the sensing target i are associated. If the third device determines that at least one moment within the fourth time period, the direction deviation of the terminal device and the sensing target i relative to the first reference position is greater than the angle threshold, it can be determined that the terminal device and the sensing target i are not associated. Among them, the direction deviation of the terminal device and the sensing target i relative to the first reference position within the fourth time period is determined by the third device according to the position information of the terminal device, the position information of the sensing target, and the position information of the first reference position.

[0161] Exemplarily, it is assumed that there are detection time 1, detection time 2, and detection time 3 within the fourth time period. The third device can obtain the respective position information of the terminal device and the sensing target i at detection time 1, detection time 2, and detection time 3. Further, the third device can determine the first direction of the terminal device relative to the first reference position at detection time 1 based on the position information of the terminal device at detection time 1 and the position information of the first reference position. Then, the third device can determine the second direction of the sensing target i relative to the first reference position at detection time 1 based on the position information of the sensing target i at detection time 1 and the position information of the first reference position. Then, the third device can calculate the deviation angle value between the first direction and the second direction, and determine this deviation angle value as the first direction deviation of the terminal device and the sensing target i relative to the first reference position at detection time 1. Similarly, the third device can calculate the second direction deviation and the third direction deviation of the terminal device and the sensing target i relative to the first reference position at detection time 2 and detection time 3 respectively. Then, if the third device determines that the first direction deviation, the second direction deviation, and the third direction deviation are all less than or equal to the angle threshold, it can determine that the terminal device is associated with the sensing target i. If the third device determines that any one or more of the first direction deviation, the second direction deviation, and the third direction deviation are greater than the angle threshold, it can determine that the terminal device is not associated with the sensing target i.

[0162] In the above implementation, judging whether the terminal device is associated with the sensing target according to the direction deviation of the terminal device and the sensing target relative to the first reference position can not only improve the success rate of the association between the terminal device and the sensing target, but also ensure the accuracy and reliability of the association relationship between the terminal device and the sensing target, so that the sensing result obtained based on this association relationship can be more accurate and reliable.

[0163] Optionally, if the third device determines that the distance difference between the terminal device and the sensing target i relative to the second reference position is always less than or equal to the fourth length within the fifth time period, it can determine that the terminal device is associated with the sensing target i. If the third device determines that the distance difference between the terminal device and the sensing target i relative to the first reference position is greater than the fourth length at at least one moment within the fifth time period, it can determine that the terminal device is not associated with the sensing target i. Wherein, the distance difference between the terminal device and the sensing target i relative to the first reference position within the fifth time period is determined by the third device according to the position information of the terminal device and the sensing target within the fifth time period and the position information of the first reference position.

[0164] Exemplarily, it is assumed that there are detection time 1, detection time 2, and detection time 3 within the fifth time period. The third device can obtain the respective position information of the terminal device and the sensing target i at detection time 1, detection time 2, and detection time 3. Further, the third device can determine the fourth distance d6 of the terminal device relative to the second reference position at detection time 1 according to the position information of the terminal device at detection time 1 and the position information of the second reference position. Then, the third device can determine the fifth distance d7 of the sensing target i relative to the second reference position at detection time 1 according to the position information of the sensing target i at detection time 1 and the position information of the second reference position. Then, the third device can calculate the difference between the fourth distance d6 and the fifth distance d7, and determine it as the first distance difference between the terminal device and the sensing target i relative to the second reference position at detection time 1. Similarly, the third device can calculate the second distance difference and the third distance difference between the terminal device and the sensing target i relative to the second reference position at detection time 2 and detection time 3 respectively. Then, if the third device determines that the first distance difference, the second distance difference, and the third distance difference are all less than or equal to the fourth length, it can determine that the terminal device is associated with the sensing target i. If the third device determines that at least one of the first distance difference, the second distance difference, and the third distance difference is greater than the fourth length, it can determine that the terminal device is not associated with the sensing target i.

[0165] In the above implementation, by using the distance difference between the terminal device and the sensing target relative to the second reference position to determine whether the terminal device is associated with the sensing target, the solution is simple and easy to implement, which can improve the success rate of associating the terminal device with the sensing target, and thus improve the sensing efficiency.

[0166] Optionally, the first request message may include at least one of time period indication information, angle threshold indication information, length indication information, and reference position indication information.

[0167] Among them, the time period indication information can be used to indicate at least one of the fourth time period and the fifth time period. For example, the time period indication information may include the end time and duration of the fourth time period to indicate the first time period through the end time and duration of the fourth time period. Of course, the time period indication information may also adopt other possible implementation manners, and this application does not limit this.

[0168] The length indication information can be used to indicate the fourth length. The angle threshold indication information can be used to indicate the angle threshold. The reference position indication information can be used to indicate at least one of the position information of the first reference position and the position information of the second reference position.

[0169] Optionally, the end time of the fourth time period and / or the fifth time period is the first time, and the first time is indicated by the first motion state information. Or rather, the first time is the time when the first motion state information is obtained. In this case, the position information included in the above-mentioned first motion state information can be used in the process of the third device determining whether the terminal device is associated with the sensing target i. Here, using the latest position information of the terminal device to determine whether the terminal device is associated with the sensing target i can further ensure the accuracy and reliability of the association relationship between the terminal device and the sensing target.

[0170] In the third optional implementation manner, whether the terminal device is associated with the sensing target i is determined by the speed information of the terminal device and the speed information of the sensing target. Or rather, the third device can determine whether the terminal device is associated with the sensing target i through the speed information of the terminal device and the speed information of the sensing target.

[0171] Optionally, if within the sixth time period, the third device determines that the speed difference between the terminal device and the sensing target i is less than or equal to the speed difference threshold, it can be determined that the terminal device is associated with the sensing target. Correspondingly, if at at least one moment within the sixth time period, the third device determines that the speed difference between the terminal device and the sensing target i is greater than the speed difference threshold, it can be determined that the terminal device is not associated with the sensing target i. Among them, the speed difference between the terminal device and the sensing target within the sixth time period is determined by the speed information of the terminal device and the sensing target within the sixth time period.

[0172] Exemplarily, assume that there are detection time 1, detection time 2, and detection time 3 within the sixth time period. The third device can obtain the respective corresponding speed information of the terminal device and the sensing target i at detection time 1, detection time 2, and detection time 3. Further, the third device can determine the first speed difference between the terminal device and the sensing target i at detection time 1 according to the speed information of the terminal device at detection time 1 and the speed information of the sensing target i at detection time 1. Similarly, the third device can calculate the second speed difference and the third speed difference between the terminal device and the sensing target i at detection time 2 and detection time 3 respectively. Then, if the third device determines that the first speed difference, the first speed difference, and the first speed difference are all less than or equal to the speed difference threshold, it can be determined that the terminal device is associated with the sensing target i. If the third device determines that at least one of the first speed difference, the first speed difference, and the first speed difference is greater than the speed difference threshold, it can be determined that the terminal device is not associated with the sensing target i.

[0173] Further, optionally, the speed difference between the terminal device and the sensing target i may be the modulus of the velocity vector difference between the terminal device and the sensing target i at the same moment. Alternatively, the speed difference between the terminal device and the sensing target i may be the modulus of the velocity vector component difference between the terminal device and the sensing target i at the same moment and in the same direction.

[0174] In the above implementation, judging whether the terminal device is associated with the sensing target according to the magnitude of the speed deviation between the terminal device and the sensing target, the solution is simple and easy to implement. It can not only improve the success rate of the association between the terminal device and the sensing target, but also ensure the accuracy and reliability of the association relationship between the terminal device and the sensing target, so as to ensure that the sensing result obtained based on this association relationship is more accurate and reliable.

[0175] Optionally, the first request information may include at least one of time period indication information and speed difference threshold indication information.

[0176] Among them, the time period indication information is used to indicate the above-mentioned sixth time period, and the speed difference threshold indication information is used to indicate the above-mentioned speed difference threshold.

[0177] Optionally, the end moment of the sixth time period is the first moment, and this first moment is indicated by the first motion state information. Or rather, this first moment is the moment when the first motion state information is obtained. In this case, the process of the third device determining whether the terminal device and the sensing target i are associated may use the position information included in the above-mentioned first motion state information. This can also further ensure the accuracy and reliability of the association relationship between the terminal device and the sensing target.

[0178] It should be added that multiple optional solutions for judging whether the terminal device is associated with the sensing target i are provided above. In actual implementation, the third device may also use these multiple optional solutions in combination. For example, the third device may jointly judge whether the terminal device is associated with the sensing target i according to the speed difference between the terminal device and the sensing target i within the sixth time period and the direction deviation of the terminal device and the sensing target relative to the first reference position within the fourth time period. Using these multiple optional solutions in combination can further ensure the accuracy and reliability of the association relationship between the terminal device and the sensing target, thereby ensuring the reliability of the sensing result obtained based on this association relationship.

[0179] It should be understood that in actual implementation, the above steps S210 and S220 may be repeatedly executed multiple times until the first response message sent by the third device contains the above-mentioned first information.

[0180] It also needs to be noted that the above-mentioned first time period, second time period, third time period, fourth time period, fifth time period or sixth time period may be preset or configured in real time, and the present application does not make specific restrictions on this.

[0181] In some feasible implementation manners, the third device may also generate the above first response message and feedback the first response message to the second device only when the first information is determined. In this case, the second device may send multiple first request messages to the third device, and each first request message includes the new motion state information of its terminal device. For example, after the second device sends a first request message to the third device, if it determines that it has not received the first response message including the first information within a preset time period, it may obtain the new motion state information of the terminal device, and generate a new first request message according to the new motion state information of the terminal device. Then, the second device may send this new request message to the third device and wait for the third device to respond. Repeat this process until the second device receives the first response message including the first information and then stops.

[0182] In some feasible implementation manners, the above first information may include the identification information of the first target. Here, the first target includes the terminal device and at least one sensing target.

[0183] Optionally, the identification information of the first target may specifically be an identification group, and this identification group includes the device identification of the terminal device and the identification of each sensing target in at least one sensing target.

[0184] It should be understood that the identification information of the first target may also be implemented in other ways, and this application does not limit this.

[0185] It should be noted that the sensing target involved in this application may be an active object or a passive object. Preferably, the sensing target involved in this application may be a passive object. Among them, the passive object does not have the ability to receive and send electromagnetic waves, and the active object has the ability to receive and send electromagnetic waves, such as mobile phones, smart cars, etc.

[0186] In some feasible implementation manners, when the above first response message includes the first information, the first response message may further include second motion state information, and the second motion state information corresponds to the terminal device and at least one sensing target. Or rather, the second motion state information is the common motion state information of the terminal device and at least one sensing target.

[0187] In the above implementation, when it is determined that the terminal device is associated with at least one sensing target, the common motion state information of the terminal device and at least one sensing target may be fed back through the first response message, so that the second device can quickly obtain the motion state information of these sensing targets, and the service response speed of the second device can be improved.

[0188] Optionally, the above second motion state information may be determined by a third device according to the above first motion state information and the third motion state information of one or more of the above at least one sensing target. For example, assume that the motion state information includes position information and velocity information. The third device may calculate the mean value of the position data indicated by the position information included in the first motion state information and the position data indicated by the position information included in the third motion state information of a certain sensing target, and determine the position information included in the second motion state information based on this mean value. The third device may calculate the mean value of the velocity vector indicated by the velocity information included in the first motion state information and the velocity vector indicated by the velocity information included in the third motion state information of a certain sensing target, and determine the velocity information included in the second motion state information based on this mean value. It should be understood that the third device may also use other methods to determine the above second motion state information according to the above first motion state information and the third motion state information of one or more of the above at least one sensing target, and this application does not limit this.

[0189] Correspondingly, the second device may receive the first response message and obtain the content included in the first response message.

[0190] In some feasible implementation manners, please refer to Figure 3 , Figure 3 which is another schematic flowchart of a communication method provided by this application. As Figure 3 shown, this communication method may further include the steps:

[0191] S230, the second device sends a third request message to the first device. Correspondingly, the first device receives the third request message.

[0192] In some feasible implementation manners, when the second device needs to obtain the motion state information of the terminal device, it may send a third request message to the first device. Wherein, at least the device identifier of the terminal device is included in the third request message.

[0193] S240, the first device sends a third response message to the second device. Correspondingly, the second device receives the third response message.

[0194] In some feasible implementation manners, after receiving the third request message, the first device may obtain the first motion state information of the terminal device through an active positioning technology. Then, the first device may generate a third response message including the first motion state information of the terminal device and send the third response message to the second device.

[0195] Correspondingly, the second device may receive the third response message and obtain the first motion state information of the terminal device. It should be understood that this first motion state information may be used by the second device to generate the above first request message.

[0196] Optionally, the third request message may further include indication information of a demand parameter corresponding to the motion state information, and the indication information of the demand parameter indicates the type of motion state information that the second device needs to obtain. For example, the indication information of the demand parameter may be used to indicate position and speed. In this case, the first motion state information included in the third response message includes at least the position information and speed information of the terminal device. It should be understood that the indication information of the demand parameter may also indicate other types of motion state information, such as time delay, etc., and the present application does not limit this.

[0197] It should be noted that in actual implementation, the second device and the first device may repeatedly execute the above steps S230 and S240 until the second device no longer needs to obtain the motion state information of the terminal device and then stops.

[0198] In Figure 2 or Figure 3 In the communication method shown, the first device sends a first request message including the first motion state information of the terminal device to the third device. The third device may feedback a first response message based on the first request message, and inform the terminal device whether there is an associated sensing target through the first information or the second information in the first response message. When the first device determines at least one sensing target associated with the terminal device through the first response message, when it senses this at least one sensing target based on the passive sensing technology, it can combine the positioning result of the terminal device to reduce the interference caused by environmental clutter, thereby obtaining a more accurate sensing result. Therefore, by adopting the above method, the influence of environmental clutter on the sensing result can be effectively reduced, and the sensing accuracy of the passive sensing technology can be improved.

[0199] Please refer to Figure 4 , Figure 4 which is a schematic flowchart of another communication method provided by the present application. This communication method is applicable to the communication system shown in Figure 1a As shown in Figure 4 shown, this communication method includes the following steps:

[0200] S410, the second device sends a second request message to the first device. Correspondingly, the first device receives the second request message.

[0201] In some feasible implementation manners, when the second device needs to know whether there is an associated sensing target for the terminal device, it may send a second request message to the first device. Wherein, the second request message includes at least the device identifier of the terminal device. Correspondingly, the first device may receive the second request message.

[0202] S420, the first device sends a first request message to the third device. Correspondingly, the third device receives the first request message.

[0203] In some feasible implementation manners, after receiving the second request message, the first device may determine, according to the device identifier of the terminal device included therein, that the second device needs to know whether the terminal device has associated sensing targets. Further, the first device initiates an active positioning technology to obtain the first motion state information of the terminal device, and generates a first request message including the first motion state information. Then, the first device may send the first request message to a third device. Correspondingly, the third device may receive the first request message.

[0204] S430. The third device sends a first response message to the first device. Correspondingly, the first device receives the first response message.

[0205] In some feasible implementation manners, after receiving the first request message, the third device may generate a first response message according to the content of the first request message. Wherein, the first response message includes first information or second information. The first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target.

[0206] Here, for the specific process of the third device generating the first response message, reference may be made to the specific process of the third device generating the first response message described in step S220 in Embodiment 1, which will not be elaborated here.

[0207] After generating the first response message, the third device may send the first response message to the first device. Correspondingly, the first device may receive the first response message and obtain the content included in the first response message.

[0208] S440. The first device sends a second response message to the second device. Correspondingly, the second device receives the second response message.

[0209] In some feasible implementation manners, after receiving the first response message and obtaining the content included in the first response message, the first device may generate a second response message based on the content. For example, if the first response message includes first information, the first device may generate a second response message including the first information. If the first response message includes second information, the first device may generate a second response message including the second information. After generating the second response message, the first device may send the second response message to the second device.

[0210] Correspondingly, the second device can receive the second response message and extract the content it contains to determine whether there are associated sensing targets for the terminal device, and if so, what these associated sensing targets are specifically. For example, assuming the second response message contains the first information, the second device can determine the identifier of each sensing target among at least one sensing target associated with the terminal device based on the first information.

[0211] It should be added that in actual implementation, after receiving the second request message sent by the second device, the first device and the third device can repeatedly execute the above steps S420, S430, and S440 multiple times until the second device sends a message to the first device to indicate to stop. Or, after receiving the second request message sent by the second device, the first device and the third device can repeatedly execute the above steps S420, S430, and S440 multiple times until stopping when the above first information is included in the above second response message.

[0212] In Figure 4 In the communication method shown, the second device sends a first request message containing the first motion state information of the terminal device to the third device. The third device can feedback a first response message based on the first request message and inform whether there are associated sensing targets for the terminal device through the first information or the second information in the first response message. When the second device determines at least one sensing target associated with the terminal device through the first response message, when it senses these at least one sensing targets based on the passive sensing technology, it can combine the positioning result of the terminal device to reduce the interference caused by environmental clutter, thereby obtaining a more accurate sensing result. Therefore, by adopting the above method, the influence of environmental clutter on the sensing result can be effectively reduced, and the sensing accuracy of the passive sensing technology can be improved.

[0213] Please refer to Figure 5 , Figure 5 which is a schematic flowchart of another communication method provided by this application. This communication method is applicable to Figure 1b the communication system shown. As Figure 5 shown, this communication method may include the following steps:

[0214] S510, the second device sends a second request message to the fourth device. Correspondingly, the fourth device receives the second request message.

[0215] In some feasible implementation manners, when the second device needs to know whether there are associated sensing targets for the terminal device, it can send a second request message to the fourth device. Among them, at least the device identifier of the terminal device is included in the second request message. Correspondingly, the fourth device can receive the second request message.

[0216] S520, the fourth device sends a first response message to the second device. Correspondingly, the second device receives the first response message.

[0217] In some possible implementation manners, after receiving the second request message, the fourth device may generate a first response message based on the content of the second request message. Here, for the specific content of the first response message, reference may be made to the corresponding description in step S220 above, and details will not be elaborated here. Specifically, after receiving the second request message from the second device, the fourth device may determine, according to the device identifier of the terminal device included therein, that the second device needs to know whether there is an associated sensing target for the terminal device. Further, the fourth device may initiate an active positioning technology to obtain the motion state information of the terminal device. Then, the fourth device may extract the position information of the terminal device from the motion state information of the terminal device, and obtain the motion state information of the sensing targets around the terminal device through a passive sensing technology. For example, the fourth device may determine a sensing area associated with the terminal device with the position information of the terminal device as the center, and obtain the motion state information of the sensing targets that can be sensed within this area. It should be understood that the motion state information of the terminal device and the sensing targets should at least include position information and speed information. Then, the third device may determine whether the terminal device is associated with the sensing targets according to the motion state information of the terminal device and the sensing targets. If the third device determines that the terminal device is associated with at least one sensing target, it may generate a first response message including the first information. If the third device determines that there is no associated sensing target for the terminal device, it may generate a first response message including the second information.

[0218] In actual implementation, the fourth device may determine whether the terminal device is associated with the sensing targets through multiple optional implementation manners. It should be understood that in the case where there are multiple sensing targets around the terminal device, the manner for the fourth device to determine whether each sensing target is associated with the terminal device is the same. Therefore, below, taking a certain sensing target i among all the sensing targets that can be sensed around the terminal device as an example, the specific implementation process for the fourth device to determine whether the terminal device is associated with the sensing target will be described.

[0219] In the first optional implementation manner, whether the terminal device is associated with the sensing target i may be determined by the position information of the terminal device and the sensing target i. That is to say, the fourth device may determine whether the terminal device is associated with the sensing target i through the position information of the terminal device and the position information of the sensing target i. It should be understood that for the specific process by which the fourth device determines whether the terminal device is associated with the sensing target i through the position information of the terminal device and the position information of the sensing target i, reference may be made to the process by which the third device determines whether the terminal device is associated with the sensing target i through the position information of the terminal device and the position information of the sensing target i described in step S220 above, and details will not be elaborated here.

[0220] Optionally, the second request message may include at least one of time period indication information and length indication information.

[0221] Among them, the time period indication information may be used to indicate at least one of the first time period, the second time period, and the third time period. For example, the time period indication information may include the end time of the first time period and the duration, so as to indicate the first time period by the end time of the first time period and the duration. Of course, the time period indication information may also adopt other possible implementation manners, and this application does not limit this.

[0222] The length indication information may be used to indicate at least one of the first length, the second length, and the third length. Optionally, the length indication information may directly include at least one of the first length, the second length, and the third length.

[0223] Optionally, the end time of at least one of the first time period, the second time period, and the third time period is the first time, and this first time is indicated by the first motion state information. Or rather, this first time is the time when the first motion state information is obtained.

[0224] In a second optional implementation manner, whether the terminal device is associated with the sensing target i is determined by the position information of the terminal device, the position information of the sensing target i, and the position information of a preset first reference position or the position information of a second reference position. Or rather, the fourth device may determine whether the terminal device is associated with the sensing target i according to the position information of the terminal device, the position information of the sensing target i, and the position information of a preset first reference position or the position information of a second reference position. Here, for the specific process of the fourth device determining whether the terminal device is associated with the sensing target i according to the position information of the terminal device, the position information of the sensing target i, and the position information of a preset first reference position or the position information of a second reference position, reference may be made to the process of the third device determining whether the terminal device is associated with the sensing target i according to the position information of the terminal device, the position information of the sensing target i, and the position information of a preset first reference position or the position information of a second reference position described in step S220 above, and details are not described here again.

[0225] Optionally, the second request message may include at least one of time period indication information, angle threshold indication information, and length indication information.

[0226] Among them, the time period indication information may be used to indicate at least one of the fourth time period and the fifth time period. For example, the time period indication information may include the end time of the fourth time period and the duration, so as to indicate the first time period by the end time of the fourth time period and the duration. Of course, the time period indication information may also adopt other possible implementation manners, and this application does not limit this.

[0227] The length indication information can be used to indicate the fourth length. The angle threshold indication information can be used to indicate the above-mentioned angle threshold.

[0228] Optionally, the end time of the fourth time period and / or the fifth time period is the first time, and this first time is indicated by the first motion state information. Or rather, this first time is the time when the first motion state information is obtained. In this case, the process for the fourth device to determine whether the terminal device is associated with the sensing target i can use the position information included in the above-mentioned first motion state information. Here, using the latest position information of the terminal device to determine whether the terminal device is associated with the sensing target i can further ensure the accuracy and reliability of the association relationship between the terminal device and the sensing target.

[0229] In the third optional implementation manner, whether the terminal device is associated with the sensing target i is determined by the speed information of the terminal device and the speed information of the sensing target. Or rather, the fourth device can determine whether the terminal device is associated with the sensing target i through the speed information of the terminal device and the speed information of the sensing target. Here, for the specific process of the fourth device determining whether the terminal device is associated with the sensing target i through the speed information of the terminal device and the speed information of the sensing target, reference can be made to the process in step S220 described above in which the third device determines whether the terminal device is associated with the sensing target i according to the speed information of the terminal device and the speed information of the sensing target, and details will not be elaborated here.

[0230] Optionally, the second request message may include at least one of time period indication information and speed difference threshold indication information.

[0231] Among them, the time period indication information is used to indicate the above-mentioned sixth time period, and the speed difference threshold indication information is used to indicate the above-mentioned speed difference threshold.

[0232] Optionally, the end time of the sixth time period is the first time, and this first time is indicated by the first motion state information. Or rather, this first time is the time when the first motion state information is obtained. In this case, the process for the fourth device to determine whether the terminal device is associated with the sensing target i can use the position information included in the above-mentioned first motion state information. This can also further ensure the accuracy and reliability of the association relationship between the terminal device and the sensing target.

[0233] It should be added that multiple optional solutions for determining whether the terminal device is associated with the sensing target i are provided above. In actual implementation, the fourth device can also combine these multiple optional solutions for use. Combining these multiple optional solutions for use can further ensure the accuracy and reliability of the association relationship between the terminal device and the sensing target, thereby ensuring the reliability of the sensing result obtained based on this association relationship.

[0234] It should be understood that in actual implementation, the above steps S510 and S520 can be repeatedly executed multiple times until the first response message sent by the fourth device contains the above first information.

[0235] In some feasible implementation manners, the fourth device may also generate the above first response message and feedback the first response message to the second device only when it determines that the first information is obtained. In this case, the second device may only send multiple second request messages to the fourth device, and each second request message contains its terminal device identifier. For example, after the second device sends a second request message to the fourth device, if it determines that it has not received the first response message containing the first information within the preset time period, it sends the second request message again until the second device receives the first response message containing the first information and then stops.

[0236] In some feasible implementation manners, the second device may also send the second request message only once, and the fourth device repeatedly executes step S520 until the second device receives the first response message containing the first information and then stops.

[0237] It should be added that for the specific descriptions of the first information and the sensing target, reference can be made to the descriptions of the first information and the sensing target in the above-mentioned step S220, and details will not be elaborated here.

[0238] In some feasible implementation manners, when the above first response message includes the first information, the first response message may further include second motion state information, and the second motion state information corresponds to the terminal device and at least one sensing target. Or rather, the second motion state information is the common motion state information corresponding to the terminal device and at least one sensing target.

[0239] In the above implementation, when it is determined that the terminal device is associated with at least one sensing target, the motion state information corresponding to the terminal device and at least one sensing target can be fed back through the first response message, so that the second device can quickly obtain the motion state information of these sensing targets, and the service response speed of the second device can be improved.

[0240] Optionally, the above second motion state information can be determined by the fourth device according to the motion state information of the terminal device and one or more of the above at least one sensing target.

[0241] Correspondingly, the second device can receive the first response message and extract the content it contains to determine whether there are associated sensing targets for the terminal device, and if there are associated sensing targets, what these associated sensing targets are specifically. For example, assuming the first response message contains the first information, the second device can determine the identifier of each sensing target among at least one sensing target associated with the terminal device based on this first information.

[0242] In Figure 5 the communication method shown, the second device sends a second request message containing the device identifier of the terminal device to the fourth device. The fourth device can feedback a first response message based on this second request message and inform the terminal device whether there are associated sensing targets through the first information or the second information in this first response message. When the fourth device determines at least one sensing target associated with the terminal device through the first response message, when it senses these at least one sensing targets based on the passive sensing technology, it can combine the positioning result of the terminal device to reduce the interference caused by environmental clutter, thereby obtaining a more accurate sensing result. Therefore, by adopting the above method, the influence of environmental clutter on the sensing result can be effectively reduced, and the sensing accuracy of the passive sensing technology can be improved.

[0243] Above, in combination with Figures 2 to 5 the communication method provided by the embodiments of the present application has been described in detail. Next, in combination with Figure 6 and Figure 7 the communication device provided by the embodiments of the present application will be described in detail. It should be understood that the description of the embodiments of the communication device corresponds to the description of the embodiments of the communication method. Therefore, parts not described in detail can refer to the previous method embodiments.

[0244] Please refer to Figure 6 , Figure 6 which is a schematic structural diagram of a communication device provided by the present application. As Figure 6 shown, the communication device 600 may include a transceiver unit 610 and a processing unit 620.

[0245] In some feasible implementation manners, the communication device 600 may correspond to Figure 4 the first device described in the communication method shown, or a component (such as a circuit, a chip, or a chip system) configured in the first device.

[0246] Specifically, the processing unit 620 is used to generate a first request message. The first request message includes first motion state information of the terminal device. The transceiver unit 610 is used to send the first request message to a third device. The transceiver unit 610 is also used to receive a first response message from the third device. The first response message includes first information or second information. The first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target. It should be understood that the other functional implementations of each unit can also correspond to the corresponding descriptions of the method steps implemented by the first device in the Figure 4 corresponding communication method shown, which will not be elaborated here.

[0247] In some feasible implementation manners, the communication device 600 may correspond to Figure 4 the third device described in the corresponding communication method shown, or a component (such as a circuit, a chip, or a chip system) configured in the third device.

[0248] In specific implementation, the transceiver unit 610 is used to receive a first request message from a first device. The first request message includes first motion state information of the terminal device. The processing unit 620 is used to generate a first response message. The transceiver unit 610 is used to send the first response message to the first device. The first response message includes first information or second information. The first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target. It should be understood that the other functional implementations of each unit can also correspond to the corresponding descriptions of the method steps implemented by the third device in the Figure 4 corresponding communication method shown, which will not be elaborated here.

[0249] In some feasible implementation manners, the communication device 600 may correspond to Figure 4 the second device described in the corresponding communication method shown, or a component (such as a circuit, a chip, or a chip system) configured in the second device.

[0250] The processing unit 620 is used to generate a second request message. The transceiver unit 610 is used to send the second request message to the first device. The second request message includes at least the device identifier of the terminal device. The transceiver unit 610 is also used to receive a first response message from the first device. The first response message includes first information or second information. The first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target. It should be understood that the other functional implementations of each unit can also correspond to the corresponding descriptions of the method steps implemented by the second device in the Figure 4 corresponding communication method shown, which will not be elaborated here.

[0251] In some possible implementation manners, the communication device 600 may correspond to the third device described in the communication method shown above, or a component (such as a circuit, a chip, or a chip system) configured in the third device. Figures 2 to 3 The transceiver unit 610 is configured to receive a first request message from a second device, where the first request message includes first motion state information of a terminal device. The processing unit 620 is configured to generate a second response message. The transceiver unit 610 is configured to send the first response message to the second device. The first response message includes first information or second information, where the first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target. It should be understood that other functional implementations of each unit may also correspond to the corresponding descriptions of the method steps implemented by the first device in the communication method shown above, which will not be elaborated here.

[0252] In some possible implementation manners, the communication device 600 may correspond to the second device described in the communication method shown above, or a component (such as a circuit, a chip, or a chip system) configured in the first device. Figures 2 to 3 In specific implementation, the processing unit 620 is configured to generate a first request message. The transceiver unit 610 is configured to send the first request message to a third device, where the first request message includes first motion state information of a terminal device. The transceiver unit 610 is further configured to receive a first response message from the third device. The first response message includes first information or second information, where the first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target. It should be understood that other functional implementations of each unit may also correspond to the corresponding descriptions of the method steps implemented by the second device in the communication method shown above, which will not be elaborated here.

[0253] In some possible implementation manners, the communication device 600 may correspond to the fourth device described in the communication method shown above, or a component (such as a circuit, a chip, or a chip system) configured in the fourth device. Figures 2 to 3 The transceiver unit 610 is configured to receive a first request message from a second device, where the first request message includes first motion state information of a terminal device. The processing unit 620 is configured to generate a second response message. The transceiver unit 610 is configured to send the first response message to the second device. The first response message includes first information or second information, where the first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target. It should be understood that other functional implementations of each unit may also correspond to the corresponding descriptions of the method steps implemented by the first device in the communication method shown above, which will not be elaborated here.

[0254] In specific implementation, the processing unit 620 is configured to generate a first request message. The transceiver unit 610 is configured to send the first request message to a third device, where the first request message includes first motion state information of a terminal device. The transceiver unit 610 is further configured to receive a first response message from the third device. The first response message includes first information or second information, where the first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target. It should be understood that other functional implementations of each unit may also correspond to the corresponding descriptions of the method steps implemented by the second device in the communication method shown above, which will not be elaborated here. Figures 2 to 3 In some possible implementation manners, the communication device 600 may correspond to the fourth device described in the communication method shown above, or a component (such as a circuit, a chip, or a chip system) configured in the fourth device.

[0255] In some possible implementation manners, the communication device 600 may correspond to the fourth device described in the communication method shown above, or a component (such as a circuit, a chip, or a chip system) configured in the fourth device. Figure 5 The transceiver unit 610 is configured to receive a first request message from a second device, where the first request message includes first motion state information of a terminal device. The processing unit 620 is configured to generate a second response message. The transceiver unit 610 is configured to send the first response message to the second device. The first response message includes first information or second information, where the first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target. It should be understood that other functional implementations of each unit may also correspond to the corresponding descriptions of the method steps implemented by the first device in the communication method shown above, which will not be elaborated here.

[0256] The transceiver unit 610 is configured to receive a second request message from a second device, where the second request message includes at least the device identifier of the terminal device. The processing unit 620 is configured to generate a first response message. The transceiver unit 610 is configured to send the first response message to the second device. Wherein, the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target. It should be understood that for the implementation of other functions of each unit, reference may also be made to the corresponding description of the method steps implemented by the fourth device in the Figure 5 corresponding description of the communication method shown, which will not be elaborated here.

[0257] In some possible implementation manners, the communication device 600 may correspond to the second device described in the Figure 5 communication method shown above, or a component (such as a circuit, a chip, or a chip system) configured in the second device.

[0258] In a specific implementation, the processing unit 620 is configured to generate a second request message. The transceiver unit 610 is configured to send the second request message to the fourth device. Wherein, the second request message includes at least the device identifier of the terminal device. The transceiver unit 610 is further configured to receive a first response message from the fourth device. Wherein, the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one sensing target, and the second indication information is used to indicate that the terminal device has no associated sensing target. It should be understood that for the implementation of other functions of each unit, reference may also be made to the corresponding description of the method steps implemented by the second device in the Figure 5 corresponding description of the communication method shown, which will not be elaborated here.

[0259] Please refer to Figure 7 , Figure 7 which is a schematic structural diagram of another communication device provided by the present application. The communication device 700 can be used to implement the operations performed by the first device, the second device, the third device, or the fourth device in the above embodiments, or the communication device 700 can be the first device, the second device, the third device, or the fourth device described above. The communication device 700 includes: a processor 710, a memory 720, and a bus system 730.

[0260] The memory 720 includes, but is not limited to, RAM, ROM, EPROM, or CD-ROM, and the memory 720 is used to store relevant instructions and data.

[0261] The memory 720 stores the following elements, executable modules, or data structures, or subsets thereof, or extended sets thereof:

[0262] Operation instructions: including various operation instructions for implementing various operations.

[0263] Operating system: includes various system programs for implementing various basic services and handling hardware-based tasks.

[0264] Figure 7 Only one memory is shown here. Of course, the memory can also be set to multiple according to needs.

[0265] The communication device 700 may further include a transceiver 740. The transceiver 740 can be a communication module or a transceiver circuit. In the embodiments of the present application, the transceiver 740 is used to perform the sending and receiving operations of the messages described in the above embodiments.

[0266] The processor 710 can be a controller, CPU, general-purpose processor, DSP, ASIC, FPGA or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. The processor 710 can also be a combination for implementing computing functions, such as a combination including one or more microprocessors, a combination of DSP and microprocessors, and so on.

[0267] In a specific application, the various components of the communication device 700 are coupled together through a bus system 730. The bus system 730 may include a power bus, a control bus, a status signal bus, etc. in addition to the data bus. However, for the sake of clarity, in Figure 7 all the various buses are labeled as the bus system 730. For ease of representation, Figure 7 it is only schematically drawn in.

[0268] In a specific implementation, the communication device 700 can execute the steps of the method performed by the first device, the second device, the third device, or the fourth device in the above embodiments. Specifically, when the communication device 700 is used to implement the steps performed by the first device, the second device, the third device, or the fourth device in the communication method provided in the embodiments, the processor 710 can be used to implement the functions of the above processing unit 620, and the transceiver 740 is used to implement the functions of the above transceiver unit 610.

[0269] It should be noted that in practical applications, the processor in the embodiments of the present application can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method embodiments can be completed by the integrated logic circuit in the hardware of the processor or instructions in the form of software. The above processor can be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed by the hardware decoding processor, or completed by a combination of the hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method.

[0270] It can be understood that the memory in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and directrambus RAM (DR RAM). It should be noted that the memory described in the embodiments of the present application is intended to include but not limited to these and any other suitable types of memory.

[0271] The present application also provides a computer-readable medium, on which a computer program is stored, and when the computer program is executed by a computer, it implements the method steps performed by the first device, the second device, the third device, or the fourth device in the above-mentioned Figures 2 to 5 communication method provided.

[0272] The present application also provides a computer program product, and when the computer program product is executed by a computer, it implements the method steps performed by the first device, the second device, the third device, or the fourth device in the above-mentioned Figures 2 to 5 communication method provided.

[0273] The present application also provides a chip, which at least includes a processor. The processor is used to execute computer execution instructions so that a device installed with the chip implements the above-mentioned Figures 2 to 5 method steps performed by the first device, the second device, the third device, or the fourth device in the communication method provided.

[0274] Optionally, the chip may further include an interface circuit. The interface circuit is configured to receive computer execution instructions and transmit them to the processor.

[0275] This application also provides a chip system, which includes a processor for supporting the device installed with the chip system to implement the Figures 2 to 5 method steps performed by the first device, the second device, the third device, or the fourth device in the communication method provided above, such as generating or processing the data and / or information involved in the above method. In a possible design, the chip system further includes a memory for storing the necessary program instructions and data of the data sending device. The chip system may be composed of chips or may include chips and other discrete devices.

[0276] This application also provides a communication system. The communication system includes at least the first device, the second device, and the third device described above. The first device, the second device, and the third device cooperate to implement the Figure 4 communication method shown above.

[0277] This application also provides a communication system, which includes at least the second device and the third device described above. The second device and the third device cooperate to implement the Figure 2 or Figure 3 communication method shown above.

[0278] This application also provides a communication system. The communication system includes at least the second device and the fourth device described above. The second device and the fourth device cooperate to implement the Figure 5 communication method shown above.

[0279] In the above method embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a high-definition digital video disc (DVD)), or a semiconductor medium (such as a solid state disk (SSD), etc.).

[0280] In various embodiments of the present application, if there is no special description and logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0281] It can be understood that the various numerical numbers involved in the embodiments of the present application are only for the convenience of description and do not limit the scope of the embodiments of the present application. The magnitudes of the serial numbers of the above processes do not mean the sequence of execution. The execution sequence of each process should be determined according to its function and internal logic.

[0282] The above description is only a preferred embodiment of the technical solution of the present application and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A communication method, characterized in that: The method comprises: Sending a first request message, wherein the first request message includes first motion state information of the terminal device; A first response message is received, wherein the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target.

2. A communication method, characterized in that: The method comprises: Receiving a first request message, wherein the first request message includes first motion state information of the terminal device; Send a first response message, wherein the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target.

3. The method according to claim 1 or 2, characterized in that: The first information includes identification information of a first target, and the first target includes the terminal device and the at least one sensing target.

4. The method according to any one of claims 1 to 3, characterized in that: The first response message includes the first information, and the first response message also includes second motion state information, and the second motion state information corresponds to the terminal device and the at least one perception target.

5. The method according to any one of claims 1 to 4, characterized in that: Whether the terminal device is associated with the perception target is determined by the motion state information of the terminal device and the perception target.

6. The method according to claim 5, characterized in that Whether the terminal device is associated with the sensing target is determined by motion state information of the terminal device and the sensing target, including: Whether the terminal device is associated with the perception target is determined by the location information of the terminal device and the perception target.

7. The method according to claim 6, characterized in that Whether the terminal device is associated with the sensing target is determined by location information of the terminal device and the sensing target, including: A first distance between the terminal device and the perception target in a first time period is less than or equal to a first length, and the terminal device is associated with the perception target, wherein the first distance is determined by position information of the terminal device and the perception target in the first time period; Alternatively, the first displacement of the terminal device in the second time period is equal to or greater than the second length, and the second displacement of the perceived target in the third time period is equal to or greater than the third length, and the terminal device and the perceived target are associated, wherein the first displacement is determined by the position information of the terminal device in the second time period, and the second displacement is determined by the position information of the perceived target in the third time period.

8. The method according to claim 5, characterized in that Whether the terminal device is associated with the sensing target is determined by motion state information of the terminal device and the sensing target, including: Whether the terminal device is associated with the perception target is determined by speed information of the terminal device and speed information of the perception target.

9. The method according to claim 8, characterized in that Whether the terminal device is associated with the perception target is determined by speed information of the terminal device and speed information of the perception target, including: During a sixth time period, a speed difference between the terminal device and the perceived target is less than or equal to a speed difference threshold, and the terminal device is associated with the perceived target, wherein the speed difference between the terminal device and the perceived target is determined by speed information of the terminal device and the perceived target.

10. The method according to claim 1, characterized in that The method is applied to a first device, and the method further includes: A second request message is received from a second device, wherein the second request message includes at least a device identification of the terminal device.

11. The method according to claim 10, characterized in that The method further comprises: A second response message is sent to the second device, wherein the second response message includes the first information or the second information.

12. A communication method, characterized in that: The method comprises: Sending a second request message, wherein the second request message includes at least a device identifier of the terminal device; A first response message is received, wherein the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target.

13. A communication method, characterized in that: The method comprises: Receiving a second request message, wherein the second request message at least includes a device identifier of the terminal device; Send a first response message, wherein the first response message includes first information or second information, the first information is used to indicate that the terminal device is associated with at least one perception target, and the second indication information is used to indicate that the terminal device has no associated perception target.

14. The method according to claim 12 or 13, characterized in that The first information includes identification information of a first target, and the first target includes the terminal device and the at least one sensing target.

15. The method according to any one of claims 12 to 14, characterized in that: The first response message includes the first information, and the first response message also includes second motion state information, and the second motion state information corresponds to the terminal device and the at least one perception target.

16. The method according to any one of claims 12 to 15, characterized in that: Whether the terminal device is associated with the perception target is determined by the motion state information of the terminal device and the perception target.

17. The method according to claim 16, characterized in that Whether the terminal device is associated with the sensing target is determined by motion state information of the terminal device and the sensing target, including: Whether the terminal device is associated with the perception target is determined by the location information of the terminal device and the perception target.

18. The method according to claim 17, characterized in that Whether the terminal device is associated with the sensing target is determined by location information of the terminal device and the sensing target, including: A first distance between the terminal device and the perception target in a first time period is less than or equal to a first length, and the terminal device is associated with the perception target, wherein the first distance is determined by position information of the terminal device and the perception target in the first time period; Alternatively, the first displacement of the terminal device in the second time period is equal to or greater than the second length, and the second displacement of the perceived target in the third time period is equal to or greater than the third length, and the terminal device and the perceived target are associated, wherein the first displacement is determined by the position information of the terminal device in the second time period, and the second displacement is determined by the position information of the perceived target in the third time period.

19. The method according to claim 18, characterized in that The second request message includes at least one of time period indication information and length indication information; The time period indication information is used to indicate at least one of the first time period, the second time period, and the third time period, and the length indication information is used to indicate at least one of the first length, the second length, and the third length.

20. The method according to claim 17, characterized in that Whether the terminal device is associated with the sensing target is determined by motion state information of the terminal device and the sensing target, including: Whether the terminal device is associated with the perception target is determined by the location information of the terminal device, the location information of the perception target, and the location information of the first reference location or the location information of the second reference location.

21. The method according to claim 20, characterized in that Whether the terminal device is associated with the perception target is determined by the location information of the terminal device, the location information of the perception target, and the location information of the first reference location or the location information of the second reference location, including: The direction deviation of the terminal device and the perception target relative to the first reference position in a fourth time period is less than or equal to an angle threshold, and the terminal device is associated with the perception target, wherein the direction deviation is determined by the position information of the terminal device, the position information of the perception target, and the position information of the first reference position; Alternatively, the distance difference between the terminal device and the perceived target relative to the second reference position within a fifth time period is less than or equal to a fourth length, and the terminal device and the perceived target are associated, wherein the distance difference is determined by the position information of the terminal device, the position information of the perceived target, and the position information of the second reference position.

22. The method according to claim 21, characterized in that The second request information includes at least one of time period indication information, angle threshold indication information, and length indication information; The time period indication information is used to indicate at least one of the fourth time period and the fifth time period, the angle threshold indication information is used to indicate the angle threshold, and the length indication information is used to indicate the fourth length.

23. The method according to claim 17, characterized in that Whether the terminal device is associated with the sensing target is determined by motion state information of the terminal device and the sensing target, including: Whether the terminal device is associated with the perception target is determined by speed information of the terminal device and speed information of the perception target.

24. A communication device, characterized in that: The communication device comprises: a unit for implementing the communication method according to any one of claims 1-11 or claims 12-23.

25. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed, the communication method according to any one of claims 1 to 11 or the communication method according to any one of claims 12 to 23 is implemented.

26. A chip, characterized in that: Including processors; The processor is used to execute computer-executable instructions so that the device equipped with the chip executes the communication method according to any one of claims 1 to 11, or the communication method according to any one of claims 12 to 23.

27. The chip according to claim 26, characterized in that: The chip further comprises an interface circuit, wherein the interface circuit is used for receiving the computer execution instruction and transmitting the instruction to the processor.

28. A computer program product, wherein the computer program product is executed by a computer to perform the method for reporting channel state information according to any one of claims 1 to 11, or the method for reporting channel state information according to any one of claims 12 to 23.

29. A communication device, characterized in that: include: at least one processor and memory; The memory is used to store computer programs; The processor is configured to execute the computer program stored in the memory, so that the communication device executes the communication method according to any one of claims 1 to 11, or the communication method according to any one of claims 12 to 23.

30. A communication system, characterized in that: The communication system comprises at least a first device, a second device and a third device, the first device is used to execute the method according to any one of claims 1 and 3 to 11, the second device is used to execute the method according to any one of claims 12 and 14 to 23, and the third device is used to execute the method according to any one of claims 2 to 11; Alternatively, the communication system includes at least a second device and a third device, the second device is used to execute the method according to any one of claims 1 and 3-11, and the second device is used to execute the method according to any one of claims 2-11; Alternatively, the communication system includes at least a second device and a fourth device, the second device is used to execute the method as described in any one of claims 12 and 14-23, and the fourth device is used to execute the method as described in any one of claims 13-23.

Images