Perception measurement method and device

Abstract

The invention discloses a perception measurement method and device and relates to the technical field of communication. A first core network element receives first information from a second core network element, wherein the first information comprises identification information of a first candidate sensing device for sensing a target object and first sensing demand information of the target object; the first core network element selects a first sensing device from the first candidate sensing devices according to the first sensing demand information of the target object; and the first core network element sends a first sensing measurement request message to the first sensing device, the first sensing measurement request message being used for requesting the first sensing device to perform sensing measurement on the target object, so that the sensing device can perform sensing measurement on the target object when the sensing device is a mobile device. And selecting a proper sensing device for the target object so as to perform sensing measurement on the target object.

Description

Technical Field

[0001] This application relates to the field of communication technologies, and in particular, to a sensing measurement method and apparatus. Background Art

[0002] With the development of the 5th generation (5G) network, new network capabilities requirements based on sensing are gradually emerging. For example, in scenarios such as smart cities and intelligent transportation, the need to obtain the relative positions and angles between objects, as well as to sense information such as the position, speed, and shape of target objects, is gradually emerging. For a movable target object, a sensing device with sensing capabilities can be used to perform sensing measurement on the target object to achieve tracking of the target object.

[0003] Network devices with sensing capabilities (such as base stations) and terminal devices can be used as sensing devices. When a terminal device is used as a sensing device, due to the mobility of the terminal device, the position of the terminal device is random. Therefore, in the case where the sensing device is a movable device, how to select a suitable sensing device to perform sensing measurement on a target object is a problem that needs to be solved currently. Summary of the Invention

[0004] Embodiments of this application provide a sensing measurement method and apparatus.

[0005] In a first aspect, a sensing measurement method is provided. The method includes: a first core network element receives first information from a second core network element, where the first information includes identification information of a first candidate sensing device for sensing a target object and first sensing requirement information of the target object; the first core network element selects a first sensing device from the first candidate sensing devices according to the first sensing requirement information of the target object; the first core network element sends a first sensing measurement request message to the first sensing device, where the first sensing measurement request message is used to request the first sensing device to perform sensing measurement on the target object.

[0006] In the above implementation, the first core network element can select a target sensing device from the candidate sensing devices provided by the second core network element for the target object to perform sensing measurement on the target object. Thus, in the case where the sensing device is a movable device, a suitable sensing device can be selected for the target object to perform sensing measurement on the target object.

[0007] In a possible implementation, the first core network element selects a first sensing device from the first candidate sensing devices according to the first sensing requirement information, including: the first core network element selects the first sensing device from the first candidate sensing devices according to the first sensing requirement information, and according to the sensing capability information of the first candidate sensing device and / or the location information of the first candidate sensing device.

[0008] In the above implementation, the first core network element selects a target sensing device according to the sensing capability information of the first candidate sensing device and / or the location information of the first candidate sensing device, which can improve the sensing measurement performance.

[0009] In a possible implementation, it further includes: the first core network element obtains the sensing capability information of the first candidate sensing device from a third core network element serving the first candidate sensing device.

[0010] Optionally, the first core network element obtains the sensing capability information of the first candidate sensing device from a third core network element serving the first candidate sensing device, including: the first core network element sends a request message to the third core network element, and the request message is used to request to obtain the sensing capability information of the first candidate sensing device; the first core network element receives a response message from the third core network element, and the response message includes the sensing capability information of the first candidate sensing device.

[0011] In a possible implementation, it further includes: the first core network element obtains the location information of the first candidate sensing device from a third core network element serving the first candidate sensing device.

[0012] Optionally, the first core network element obtains the location information of the first candidate sensing device from a third core network element serving the first candidate sensing device, including: the first core network element sends a request message to the third core network element, and the request message is used to request to obtain the location information of the first candidate sensing device; the first core network element receives a response message from the third core network element, and the response message includes the location information of the first candidate sensing device.

[0013] In a possible implementation, the first information further includes the location information of the first candidate sensing device.

[0014] In a possible implementation, it further includes: when the target object moves to the first position, the first core network element sends a request message to the second core network element, where the request message includes the location information of the target object; the first core network element receives a response message from the second core network element, where the response message includes second information, and the second information includes the identification information of the second candidate sensing device for sensing the target object; the first core network element selects a second sensing device from the second candidate sensing devices; the first core network element sends a second sensing measurement request message to the second sensing device, and the second sensing measurement request message is used to request the second sensing device to perform sensing measurement on the target object.

[0015] In the above implementation, when the relative movement between the target object and the sensing device currently performing sensing measurement causes the sensing device currently performing sensing measurement to be unable to continue performing sensing measurement on the target object and a new sensing device needs to be selected, the first core network element can obtain candidate sensing devices for performing sensing measurement on the target object at the current position from the second core network element, so that a new sensing device can be selected from them to replace the original sensing device in order to continue performing sensing measurement on the target object, thereby realizing the continuity of the sensing service.

[0016] In a possible implementation, when the target object moves to the first position, the first core network element sending a request message to the second core network element includes: when the first core network element receives indication information from the first sensing device, the first core network element sends a request message to the second core network element, and the indication information indicates that the first sensing device meets the sensing measurement termination condition.

[0017] In a possible implementation, the first sensing measurement request message includes the sensing measurement termination condition, and the sensing measurement termination condition is used to trigger the first sensing device to send the indication information when the target object meets the sensing measurement termination condition.

[0018] In a possible implementation, the sensing measurement termination condition includes one or more of the following: detecting that the received power of the sensing signal by the target object is lower than the threshold; or, the target object moves out of or is about to move out of the sensing area of the sensing device.

[0019] In a possible implementation, when the target object moves to the first position, the first core network element sending a request message to the second core network element includes: when the first core network determines, based on the sensing data obtained by the first sensing device for sensing detection of the target object, that the first sensing device meets the sensing measurement termination condition, the first core network element sends a request message to the second core network element.

[0020] In a possible implementation manner, determining that the first sensing device meets the sensing measurement termination condition includes: if the first core network element determines that the target object has moved out of or is about to move out of the sensing area of the first sensing device, determining that the first sensing device meets the sensing measurement termination condition; or, if the first core network element determines that the received power of the sensing signal sent by the first sensing device by the target object is lower than a threshold value, determining that the first sensing device meets the sensing measurement termination condition.

[0021] In a possible implementation manner, the first core network element selects a second sensing device from the second candidate sensing devices, including: the first core network element selects the second sensing device from the second candidate sensing devices according to the sensing capability information of the second candidate sensing devices and / or the location information of the second sensing device.

[0022] In a possible implementation manner, the first core network element receives first information from a second core network element, including: the first core network element receives a sensing service request message from the second core network element, and the first information is included in the sensing service request message.

[0023] In a possible implementation manner, the sensing capability information includes one or more of the following information: information on supported sensing modes, information on sensing areas.

[0024] In a possible implementation manner, the first sensing requirement information includes one or more of the following: information on the target object, sensing measurement accuracy information; wherein, the information on the target object includes one or more of the following: location information of the target object, shape of the target object, size of the target object.

[0025] Second aspect, a perception measurement method is provided, including: a first perception device receives a first perception measurement request message for requesting a perception measurement of a target object; the first perception device performs a perception measurement on the target object according to the first perception measurement request message; when the target object moves to a first position, the first perception device sends a first message including second perception requirement information of the target object, where the second perception requirement information includes position information of the target object; the first perception device receives first response messages from N perception devices for perceiving the target object, where N is an integer greater than or equal to 1; the first perception device selects a second perception device from the N perception devices; and the first perception device sends a second perception measurement request message to the second perception device for requesting the second perception device to perform a perception measurement on the target object.

[0026] In the above implementation, the relative movement between the target object and the perception device currently performing the perception measurement causes the perception device currently performing the perception measurement to be unable to continue the perception measurement of the target object. When a new perception device needs to be selected, the perception device can obtain candidate perception devices based on the discovery mechanism, so that a new perception device can be selected from them to replace the original perception device to continue the perception measurement of the target object, thereby realizing the continuity of the perception service.

[0027] In a possible implementation, the second perception requirement information further includes one or more of the following: perception ability requirement information for indicating a perception ability requirement, or perception measurement accuracy information for indicating a perception measurement accuracy requirement; the N perception devices meet the perception ability requirement indicated by the perception ability requirement information and / or the perception measurement accuracy requirement indicated by the perception measurement accuracy information.

[0028] Optionally, the perception ability requirement information includes: information for indicating a perception ability type requirement and / or information for indicating a perception area size requirement.

[0029] Optionally, the perception measurement accuracy information includes: a distance threshold between the perception device and the target object and / or a signal strength threshold.

[0030] Optionally, the first perception measurement request message includes the perception ability requirement information and / or the perception measurement accuracy information.

[0031] In a possible implementation, the first sensing device selects a second sensing device from the N sensing devices, including: the first sensing device selects the second sensing device from the N sensing devices according to the sensing capability information of the N sensing devices and / or the location information of the N sensing devices.

[0032] In the above implementation, when the sensing device selects a target sensing device from the candidate sensing devices, it can select a suitable sensing device according to the sensing capability information and / or location information of the candidate sensing devices, thereby improving the performance of sensing measurement.

[0033] In a possible implementation, the first response message sent by each sensing device among the N sensing devices includes the sensing capability information of the sensing device and / or the location information of the sensing device.

[0034] In a possible implementation, the sensing capability information includes one or more of the following information: information on supported sensing modes, information on sensing regions.

[0035] In a possible implementation, when the target object moves to the first position, the first sensing device sends a first message, including: when the first sensing device determines, according to the sensing measurement of the target object, that the first sensing device meets the sensing measurement termination condition, the first sensing device sends the first message.

[0036] In a possible implementation, the first sensing measurement request message further includes the sensing measurement termination condition.

[0037] In a possible implementation, the sensing measurement termination condition includes one or more of the following: the received power of the target object for the sensing signal is lower than a threshold; or, the target object moves out of or is about to move out of the sensing region.

[0038] In a possible implementation, after the first sensing device selects a second sensing device from the N sensing devices, it further includes: the first sensing device sends a notification message to a first core network element, and the notification message includes the identifier of the second sensing device, and the first core network element is used to receive the sensing data of the second sensing device.

[0039] In a third aspect, a communication device is provided, including units or modules for performing the method described in any item of the first aspect, or including units or modules for performing the method described in any item of the second aspect.

[0040] In a fourth aspect, a communication device is provided, including: one or more processors configured to perform the method described in any item of the first aspect, or perform the method described in any item of the second aspect.

[0041] In a fifth aspect, a readable storage medium is provided, in which a program is stored. When the program is executed by a communication device, the method described in any one of the first aspects or the method described in any one of the second aspects is implemented.

[0042] In a sixth aspect, a chip system is provided, including: a memory for storing a computer program; a processor; when the processor calls and runs the computer program from the memory, the communication device equipped with the chip system executes the method described in any one of the first aspects or the method described in any one of the second aspects.

[0043] In a seventh aspect, a computer program product is provided. When the computer program product is called by a computer, the computer executes the method described in any one of the first aspects or the method described in any one of the second aspects. Description of the Drawings

[0044] Figure 1 Schematic diagram of the self-transmitting and self-receiving mode in the perception measurement applied in the embodiments of the present application;

[0045] Figure 2 Schematic diagram of the self-transmitting and other-receiving mode in the perception measurement applied in the embodiments of the present application;

[0046] Figure 3 Schematic diagram of the UAV route tracking perception scenario in the related art;

[0047] Figure 4 Schematic diagram of the 5G network architecture based on the peer-to-peer interface applied in the embodiments of the present application;

[0048] Figure 5 Schematic diagram of the 5G network architecture based on the service-based interface applied in the embodiments of the present application;

[0049] Figure 6 Schematic diagram of the process of a perception measurement method provided by the embodiments of the present application;

[0050] Figure 7 Schematic diagram of the process of another perception measurement method provided by the embodiments of the present application;

[0051] Figure 8 Schematic diagram of the process of the perception measurement method in Example 1 in the embodiments of the present application;

[0052] Figure 9 Schematic diagram of the process of the perception measurement method in Example 2 in the embodiments of the present application;

[0053] Figure 10Schematic flowchart of the perception measurement method in Example 3 of this application;

[0054] Figure 11 Schematic flowchart of the perception measurement method in Example 4 of this application;

[0055] Figure 12 Schematic structural diagram of a communication device provided by this application;

[0056] Figure 13 Schematic structural diagram of another communication device provided by the embodiments of this application. Detailed implementation manners

[0057] The embodiments of this application relate to wireless sensing technology. To better understand the embodiments of this application, the wireless sensing technology will be described first.

[0058] Existing wireless signals (such as sound, light, radio frequency signals, etc.) in the environment can be used to sense the environment. Taking radio frequency signals as an example, the radio waves generated by a signal transmitter will undergo physical phenomena such as direct wave, reflection, and scattering during propagation, thus forming multiple propagation paths. In this way, the multipath superposition signal formed at the signal receiver carries information reflecting the signal propagation space. Wireless sensing technology analyzes the changes in wireless signals during propagation to obtain the characteristics of the signal propagation space (channel) to achieve scene perception. During wireless communication, while electromagnetic waves propagate in space to transmit signals, they also carry environmental information. For example: If the wireless fidelity (Wi-Fi) signal received by a mobile phone is weak, it may be because the mobile phone is far from the wireless router; if the strength of the Wi-Fi signal received by the mobile phone drops suddenly, it is very likely that the mobile phone has entered certain specific enclosed spaces (such as an elevator), etc. In this example, the position and the environment of the mobile phone are inferred based on the received signal strength indicator (RSSI).

[0059] Radar sensing is a common wireless sensing technology. By analyzing the characteristics of the received target echo, it extracts and discovers the position, shape, motion characteristics, and movement trajectory of the target, and can further infer the characteristics of the target and the environment. Radar sensing can support rich application scenarios. For example, millimeter-wave radar has been widely used in the field of automotive assisted driving to detect pedestrians and the vehicle in front to achieve collision warning. In addition, radar also has many potential applications in fields such as home, intelligent building, autonomous driving, and wearable devices.

[0060] In addition to radar sensing, it also includes other sensor sensing, such as visual sensor sensing, ultrasonic sensing, etc.

[0061] With the development of 5G networks, new network capabilities requirements based on sensing are gradually emerging. For example, in some scenarios of smart cities and intelligent transportation, the need to obtain the relative positions and angles between objects, as well as to sense information such as the distance, speed, and shape of target objects, is gradually emerging. To meet these service requirements, 5G networks require further enhancement of core network functions, such as the ability to assist the radio access network in sensing. 5G systems or future communication systems (such as 6G) can deploy integrated radar-communication base stations to enhance the sensing capabilities of base stations. Based on the precise sensing capabilities of radar, precise communication can be carried out to improve communication efficiency. For example, the communication resources and sensing resources of the base station can be time-division multiplexed or space-division multiplexed to achieve the sensing of the surrounding environment or objects. The sensing function can be applied to some security scenarios where cameras cannot be installed. For example, in a specific industrial park, it is possible to detect the intrusion of flying objects such as drones; again, in a traffic scenario, a roadside station with sensing capabilities can complete functions such as traffic flow statistics and vehicle navigation.

[0062] In addition to sensing the environment or objects by base stations or roadside devices with fixed positions, mobile terminal devices can also have sensing capabilities to achieve the sensing of the surrounding environment or objects.

[0063] In the embodiments of this application, based on the sensing capabilities of terminal devices, one or more sensing modes can be supported. The sensing mode of a terminal device refers to the way in which the terminal device senses and measures the surrounding environment or objects.

[0064] Exemplarily, in the embodiments of this application, a terminal device can support one or more of the following sensing modes:

[0065] The first sensing mode: a working mode in which the terminal device acts as both a sensing signal transmitter and a sensing signal receiver. This mode is also called the self-transmitting and self-receiving mode.

[0066] In this mode, the terminal device sends sensing signals and collects the sensing signals reflected by other objects in the surrounding environment. An example of the first sensing mode can be as Figure 1 shown. Vehicle A is a sensing device. Vehicle A sends sensing signals, and after the sensing signals are reflected by the target object, they are received by Vehicle A. By comparing the sent sensing signals with the received signals, Vehicle A can achieve the sensing of information such as the position and speed of the target. Exemplarily, the sensing signals sent by Vehicle A can be radar signals.

[0067] The second sensing mode: the terminal device acts as a sensing signal transmitter, and another terminal device acts as a sensing signal receiver. This mode is also called the pure self-transmitting and other-receiving mode of terminal devices. In this mode, the terminal device sends sensing signals, and other terminal devices collect the sensing signals reflected by other objects in the surrounding environment. An example of the second sensing mode can be asFigure 2 As shown, vehicle A is a sensing signal transmitter or a sensing transmitter, and vehicle B is a sensing signal receiver or a sensing receiver. Vehicle A sends a sensing signal, which is reflected by a target object and then received by vehicle B. Vehicle B can measure information such as the position and speed of the target through the received signal. Exemplarily, the sensing signal sent by vehicle A can be a radar signal.

[0068] The third sensing mode: The terminal device is used as a sensing signal transmitter, and the radio access network device is used as a sensing signal receiver. In this mode, the terminal device sends a sensing signal, and the radio access network device collects the sensing signals reflected by other objects in the surrounding environment.

[0069] The fourth sensing mode: The radio access network is used as a sensing signal transmitter, and the terminal device is used as a sensing signal receiver. In this mode, the radio access network device sends a sensing signal, and the terminal device collects the sensing signals reflected by other objects in the surrounding environment.

[0070] It should be understood that the above four sensing modes are only the sensing modes exemplarily given in the embodiments of the present application, and the present application does not limit the sensing modes.

[0071] It should be understood that different sensing modes may have different requirements for the sensing capabilities of sensing devices. For example, the first sensing mode requires the terminal device to have the ability to send sensing signals and the ability to receive and identify the sensing signals it sends. The second sensing mode requires cooperation capabilities between different terminal devices, and the third and fourth sensing modes require cooperation capabilities between the terminal device and the radio access network device.

[0072] It should be understood that in different application scenarios, different sensing modes can be used to sense and measure the surrounding environment or objects.

[0073] The related art provides a drone route tracking sensing scenario, and this sensing scenario requires the continuity of sensing services. Figure 3 Exemplarily shows a drone route tracking sensing scenario, such as Figure 3 As shown, during the process of the drone performing a flight mission, it will cross the sensing areas of multiple base stations. For example, Figure 3 the drone 310 in [Figure] passes through the sensing areas of base stations 321, 322, and 325 during its flight. Base stations 321, 322, and 325 perform sensing measurements on the drone 310 and send the sensing data to the sensing function entity 330 in the 5G core network. The sensing function entity 330 determines the tracking path 320 of the drone 310 based on the sensing data of each base station. From the perspective of services, it is necessary to continuously track these drones.

[0074] Similarly, the related art also provides a perception scenario for home health detection. A user wears a health detection device, and the health detection device moves as the user moves, and continuous tracking of the health detection device needs to be achieved.

[0075] When the sensing device is a base station, since the deployment location of the base station is generally fixed and known, a suitable base station can be determined as the sensing device according to the position of the drone. When the sensing device is a mobile terminal device, the access of the terminal device to the network is random, and the position of the terminal device is not fixed. Therefore, how to achieve the continuity of the sensing service is a problem that needs to be solved currently.

[0076] To this end, the embodiments of the present application provide a sensing measurement method and a related device that can implement this method. In the embodiments of the present application, in a scenario where the sensing device is a mobile device, the first core network element or the current sensing device of the target object can obtain a group of candidate sensing devices that can perform sensing measurement on the target object at this position according to the position of the target object, and then select a sensing device from this group of candidate sensing devices according to the sensing capabilities of this group of candidate sensing devices or further in combination with the position of the sensing device to perform sensing measurement on this target object. Whenever it is necessary to re-determine the sensing device for the target object (for example, when the sensing device moves out of or is about to move out of the sensing range of the current sensing device), the target sensing device matching the current position of the target object can be determined in the above manner to perform measurement on this target object, so as to achieve the continuity of the sensing service.

[0077] The embodiments of the present application will be described in detail below with reference to the accompanying drawings.

[0078] The sensing device in the embodiments of the present application can implement sensing measurement of the target or the environment. The sensing device may include a terminal device, and the sensing device may support one or more of the above sensing modes.

[0079] In the embodiments of the present application, the terminal device is a device with wireless transceiver functions, which may be a mobile device, a handheld device (such as a mobile phone), a wearable device, a vehicle-mounted device, or a wireless device (such as a communication module, a modem, or a chip system, etc.) built into the above devices. The terminal device is used to connect people, things, machines, etc., and can be widely used in various scenarios, such as including but not limited to the following scenarios: cellular communication, device-to-device (D2D) communication, V2X, machine-to-machine / machine-type communications (M2M / MTC), Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical, smart grid, smart furniture, smart office, smart wear, smart transportation, smart city, drones, robots, and other scenarios of terminal devices. The terminal device may sometimes be referred to as a UE, a terminal, an access station, a UE station, a remote station, a wireless communication device, or a user device, etc.

[0080] The terminal device in the embodiments of the present application may also be a fixed device, such as an RSU.

[0081] In the embodiments of the present application, the communication device for implementing the functions of the terminal device may be the terminal device or a device capable of supporting the terminal device to implement such functions, such as a chip system, and this device may be installed in the terminal device. In the technical solutions provided in the embodiments of the present application, the device for implementing the functions of the terminal device is taken as an example of the terminal device to describe the technical solutions provided in the embodiments of the present application. Additionally, for convenience of description, some embodiments of the present application use UE to represent the terminal device.

[0082] The network device in the embodiments of the present application, for example, includes an access network device and / or a core network element.

[0083] The access network device is a device with wireless transceiver functions, used to communicate with the terminal device. The access network device includes, but is not limited to, a base station (base transceiver station (BTS), Node B, eNodeB / eNB, or gNodeB / gNB), a transmission reception point (TRP), a base station evolved in the subsequent evolution of the 3rd generation partnership project (3GPP), an access node in a Wi-Fi system, a wireless relay node, a wireless backhaul node, etc. The base station can be: a macro base station, a micro base station, a pico base station, a small station, a relay station, etc. Multiple base stations can support a network of the same access technology or networks of different access technologies. A base station can include one or more co-located or non-co-located transmission and reception points. The access network device can also be a wireless controller, a centralized unit (CU), and / or a distributed unit (DU) in a cloud radio access network (CRAN) scenario. The access network device can also be a server, etc. For example, the network device in vehicle to everything (V2X) technology can be a road side unit (RSU).

[0084] The following takes the base station as an example to illustrate the access network device. The base station can communicate with the terminal device or communicate with the terminal device through a relay station. The terminal device can communicate with multiple base stations in different access technologies.

[0085] The core network element is used to implement functions such as mobility management, data processing, session management, policy and charging. The names of the network elements that implement the core network functions in systems of different access technologies can be different, and the embodiments of the present application do not limit this. Taking the 5G mobile communication system as an example, the core network element includes: an access and mobility management function (AMF), a session management function (SMF), a policy control function (PCF), or a user plane function (UPF), etc.

[0086] It should be understood that the core network element can also be referred to as a core network device, or a network function entity, or a network function, or a functional entity, etc., which is not limited in this application. For example, for the network element that implements the access and mobility management function in the core network, it can be called the access and mobility management function, or the access and mobility management function entity, or AMF, or the AMF network element, etc.

[0087] In the embodiments of this application, the communication device for implementing the network device function can be a network device, or a device that can support the network device to implement this function, such as a chip system, and this device can be installed in the network device. In the technical solutions provided in the embodiments of this application, the device for implementing the network device function is taken as an example of a network device to describe the technical solutions provided in the embodiments of this application.

[0088] See Figure 4 , which is a schematic diagram of a 5G network architecture based on a service-based architecture, and this network architecture is also a kind of network architecture applied in the embodiments of this application. Figure 1 The shown 5G network architecture can include three parts, namely the UE part, the data network (DN), and the operator network part.

[0089] The operator network can include one or more of the following network elements: authentication server function (AUSF), network exposure function (NEF), policy control function (PCF), unified data management (UDM), unified data repository (UDR), network repository function (NRF), application function (AF), network slice selection function (NSSF), AMF, SMF, (radio) access network ((R)AN), or UPF, etc.

[0090] The above operator network includes a radio access network and a core network. The UE accesses the core network through the (R)AN, and the core network includes a user plane network element and a control plane network element. Among them, the user plane network element in the core network includes UPF; the control plane network elements in the core network include at least one of the network elements such as AUSF, AMF, SMF, NSSF, NEF, NRF, UDM, PCF, or AF.

[0091] The user plane network element (such as UPF) is mainly responsible for packet data forwarding, quality of service (QoS) control, charging information statistics, etc. The control plane network element is mainly responsible for service process interaction, sending packet forwarding policies and QoS control policies to the user plane, etc.

[0092] The functions of the network elements in the core network are introduced as follows:

[0093] UPF: Supports all or part of the following functions: interconnecting the protocol data unit (PDU) session with the data network, packet routing and forwarding (for example, supporting uplink classification of traffic and then forwarding it to the data network, supporting a branching point to support multi-homed PDU sessions), or packet detection.

[0094] AMF: Used for access management and mobility management of the UE. Responsible for maintaining the state of the UE, reachability management of the UE, forwarding non-access-stratum (NAS) messages of non-mobility management (MM), and forwarding N2 messages of session management (SM).

[0095] SMF: UE session management, allocating resources for the UE's session and releasing resources. The resources include session QoS, session path, forwarding rules, etc. SMF is responsible for selecting or reselecting UPF, allocating Internet protocol (IP) addresses, and is also responsible for the establishment, modification, and release of bearers, etc.

[0096] NEF: Opens network functions to third parties in the form of northbound application programming interface (API).

[0097] NRF: Provides the storage function and selection function of network function entity information for other network elements.

[0098] UDM: User subscription context management, responsible for managing the subscription data of the UE, and notifying the corresponding network elements when the subscription data is modified.

[0099] UDR: Unified data repository function, responsible for storing and retrieving contract data, policy data, and public architecture data, etc., which can be used by network elements such as UDM, PCF or NEF to obtain relevant data. UDR can have different data access authentication mechanisms for different types of data (such as contract data, policy data, etc.) to ensure the security of data access. UDR should be able to return a failure response with an appropriate reason value for illegal service operations or data access requests.

[0100] PCF: User policy management, used to generate and manage user, session, and QoS flow processing policies.

[0101] AF: Application management, providing some application layer services to UE. When providing services to UE, AF has requirements for QoS (policy) and charging strategy, and needs to notify the network. In addition, AF also needs the core network to feedback application-related information.

[0102] The relevant interfaces between network element functions involved in the embodiments of the present application include:

[0103] N1: Interface between UE and core network control plane.

[0104] N2: Communication interface between (R)AN and core network control plane.

[0105] N3: Communication interface between (R)AN and UPF, used to transmit user plane data.

[0106] N4: Communication interface between SMF and UPF, used by SMF to configure policies for UPF, etc.

[0107] N6: Communication port between UPF and DN.

[0108] The core network control plane can adopt a service-oriented architecture, that is, the interaction between control plane network elements adopts the service call method to replace the point-to-point communication method in the traditional architecture. In the service-oriented architecture, a control plane network element will open services to other control plane network elements for other control plane network elements to call; in point-to-point communication, there will be a set of specific messages in the communication interface between control plane network elements, which can only be used by the control plane network elements at both ends of the interface when communicating. Figure 5 , is a schematic diagram of a 5G network architecture based on a service-oriented interface, which is another network architecture used in the embodiments of the present application. Figure 2 The network elements in the architecture shown can refer to Figure 1 An introduction to the relevant network elements in the architecture shown.

[0109] Above Figure 4 or Figure 5The system diagram architecture shown may also include a sensing function (SF). SF may be responsible for sensing-related business management, such as selecting sensing devices and determining parameters such as the position and speed of the target object based on information from the sensing devices. SF may be, for example, a newly added network element in the core network; or, SF may also be an SMF, AMF or location management function (LMF) with the sensing function added; or, SF may also be a module in SMF, AMF or LMF; or, SF may also have the functions of one or more network elements in SMF, AMF or LMF, which can be understood as SF being used to replace one or more network elements in SMF, AMF or LMF. SF may also be referred to as a sensing function entity, or a sensing function network element, etc., which is not limited in this application.

[0110] It should be understood that the embodiments of the present application can be applied to future communication systems, such as 6G systems. When the embodiments of the present application are applied to future communication systems, the names of terminal devices, access network devices, core network devices with perception functions, and other functions may change, and the embodiments of the present application do not limit this. For ease of understanding, the following text takes the application of the embodiments of the present application in the 5G system as an example to introduce the specific solution.

[0111] Based on the system architecture applicable to the embodiments of the present application (such as the above Figure 4 or Figure 5 The system architecture shown in Figure 6 A schematic diagram of a process of a perception measurement method provided by an embodiment of the present application is shown. In the process, the first core network element can select a target perception device from candidate perception devices provided by the second core network element to perform perception measurement on the target object.

[0112] See also Figure 6 A perception measurement method provided in an embodiment of the present application may include the following steps:

[0113] Step 601: The second core network element sends first information to the first core network element, where the first information includes identification information of a first candidate sensing device for sensing a target object and first sensing requirement information of the target object.

[0114] The first candidate perception device for perceiving the target object can be understood as a target perception device selected from the first candidate perception devices for performing perception measurements on the target object, or it can be understood as the first candidate perception device being one or more perception devices determined by the second core network element for the purpose of performing perception measurements on the target object.

[0115] The first candidate sensing device has sensing capability. The number of first candidate sensing devices may be one or more. Optionally, the identification information of the first candidate sensing device may be presented as a first candidate sensing device list, which includes identification information of one or more candidate sensing devices. The present application does not limit the form of the identification information, for example, it may be an ID or a URL. If the first core network element is able to index the sensing device according to the identification information, the identification information should be understood to be covered by the identification information in the above step 601.

[0116] Optionally, the first candidate sensing device may include a terminal device, for example, the first candidate sensing device may include a vehicle (or a connected vehicle) or a vehicle-mounted terminal.

[0117] In a possible implementation, the first core network element is a network element with a perception function, for example, the first core network element may be a SF network element in the core network. The second core network element may be a network element related to a perception service, for example, a perception service request may be initiated to provide information related to the perception service. Exemplarily, the second core network element may be an AF network element.

[0118] It should be understood that the second core network element may send the first information to the first core network element through other network elements, such as NEF. For example, AF sends the first information to NEF, and NEF sends the first information to SF.

[0119] In a possible implementation, the first perception requirement information may include information of the target object. Optionally, the information of the target object includes one or more of the following: location information of the target object, shape of the target object, and size of the target object. The second core network element sends the information of the target object to the first core network element. On the one hand, the first core network element can select a suitable target perception device from the first candidate perception devices based on information such as the location of the target object, such as selecting a perception device that is closest to the target object, to improve the perception measurement performance; on the other hand, the first core network element can provide information such as the location of the target object to the target perception device so that the target perception device can perform perception measurement on the target object.

[0120] In a possible implementation, the first perception requirement information may include perception measurement accuracy information, which is used to indicate the accuracy required for perception measurement of the target object. The second core network network element sends the perception measurement accuracy information to the first core network network element, so that the first core network network element can select a suitable target perception device from the first candidate perception device according to the perception measurement accuracy information, such as selecting a perception device that meets the perception measurement accuracy. Since the distance between the perception device and the target object can affect the perception measurement accuracy, the closer the distance, the higher the perception measurement accuracy, and vice versa, the farther the distance, the lower the perception measurement accuracy. Therefore, in a possible implementation, the perception measurement accuracy information may include the distance requirement between the perception device and the target object, such as a distance threshold between the perception device and the target object. Accordingly, when selecting a target perception device, the first core network network element can select a target perception device within the threshold range of the target object according to the distance threshold, that is, the distance between the target perception device and the target object is less than or equal to the distance threshold.

[0121] In a possible implementation manner, the first perception requirement information includes information of the target object and perception measurement accuracy information.

[0122] In a possible implementation, the first information also includes the location information of the first candidate sensing device, for example, the first information includes the location information of each candidate sensing device among multiple first candidate sensing devices. When determining the first candidate sensing device, the second core network network element may determine the terminal device located within a certain range around the target object as the first candidate sensing device of the target object according to the location of the target object, and accordingly, the location information of the first candidate sensing device may be sent to the first core network network element. The second core network network element sends the location information of the first candidate sensing device to the first core network network element, so that the first core network network element may select a suitable target sensing device from the first candidate sensing devices according to the location information of the first candidate sensing device, such as selecting the sensing device closest to the target object, to improve the sensing measurement performance.

[0123] A possible implementation of step 601 is: the second core network element sends a perception service request message to the first core network element, the perception service request message including the first information. After receiving the perception service request message, the first core network element obtains the first information in the perception service request message. In this implementation, the second core network element sends the relevant information of the perception service (i.e., the above-mentioned first information) to the first core network element while initiating the perception service request. Compared with sending the perception service request and the perception service related information separately through different signaling, the signaling overhead can be reduced.

[0124] As an alternative to step 601, in a possible implementation, the first core network element receives identification information of the first candidate sensing device and first sensing requirement information of the target object.

[0125] The first core network element may receive the identification information of the first candidate sensing device and the first sensing requirement information of the target object through different messages. For example, the first core network element receives the first sensing requirement information of the target object from the second core network element; then the first core network element requests and obtains the identification information of the first candidate sensing device for sensing the target object from the second core network element.

[0126] Optionally, the first core network element receives identification information of a first candidate sensing device from a first device (e.g., AF#1) and first sensing requirement information of a target object from a second device (e.g., a sensing request from AF#2). Optionally, the first candidate sensing device may be a first candidate sensing device corresponding to a first area or a first position.

[0127] Step 602: The first core network element selects a first sensing device from first candidate sensing devices according to first sensing requirement information of the target object.

[0128] The first sensing device is a target sensing device for sensing and measuring the target object. The first sensing device is a sensing device that can meet the first sensing requirement information among the first candidate sensing devices.

[0129] In a possible implementation, the first core network element may select the first perception device from the first candidate perception devices based on the first perception requirement information and the perception capability information of the first candidate perception device.

[0130] Optionally, for a perception device, the first perception capability information of the perception device may include one or more of the following information: information on perception modes supported by the perception device, and information on a perception area of ​​the perception device.

[0131] Among them, the information of the perception mode of the perception device can be used to indicate the type of the perception mode. For example, the information of the perception mode can be used to indicate that the perception device only supports the first perception mode, or the perception device only supports the second perception mode, or the perception device supports the first perception mode and the second perception mode at the same time. The information of the perception area of ​​the perception device can be used to indicate the size of the perception range of the perception device. For example, if the information of the perception area is 100 centimeters, it means that the perception range of the perception device is 100 centimeters around the perception device. It can be understood that a perception device that can simultaneously support the first perception mode and the second perception mode has a stronger perception capability than a perception device that only supports the first perception mode or the second perception mode; a perception device with a large perception area has a stronger perception capability than a perception device with a small perception area.

[0132] A possible implementation method in which the first core network element selects the first perception device from the first candidate perception devices according to the first perception requirement information and the perception capability information of the first candidate perception device is: the first core network element selects a perception device with the strongest perception capability from the first candidate perception devices according to the capability information of each candidate perception device in the first candidate perception devices, so as to improve the perception measurement performance. In another possible implementation method, the first core network element selects a perception device whose perception capability can meet the measurement accuracy requirement from the first candidate perception devices according to the measurement accuracy requirement corresponding to the perception measurement accuracy information and the perception capability information of the first candidate perception device.

[0133] Optionally, the perception capability information of the first candidate perception device may be acquired by the first core network element from a third core network element serving the first candidate perception device. Optionally, the third core network element may be an AMF element.

[0134] A possible implementation manner in which the first core network element obtains the sensing capability information of the first candidate sensing device from the third core network element serving the first candidate sensing device is as follows: the first core network element sends a request message to the third core network element serving the first candidate sensing device, wherein the request message is used to request to obtain the sensing capability information of the first candidate sensing device. The third core network element sends a response message to the first core network element based on the received request message, wherein the response message includes the sensing capability information of the first candidate sensing device.

[0135] In one possible implementation, the third core network network element can obtain the perception capability information of the candidate perception device in the following manner: after the third core network network element receives the request message from the first core network network element, the third core network network element sends a request message to the candidate perception device served by the third core network element, requesting to obtain the perception capability information; after the candidate perception device receives the request message, the candidate perception device sends a response message to the third core network element, and the response message includes the perception capability information of the candidate perception device.

[0136] Among them, if N (N is an integer greater than or equal to 2) of the first candidate sensing devices correspond to the same third core network element, or the third core network element serves the N candidate sensing devices, the first core network element can send the identification information of the N candidate sensing devices to the third core network element through a request message; the third core network element can send request messages to the N candidate sensing devices respectively to request to obtain the sensing capability information. When the third core network element receives the response message sent by the N candidate sensing devices, it can send the sensing capability information of the N candidate sensing devices to the first core network element through a response message, thereby saving signaling overhead.

[0137] If there are multiple first candidate sensing devices, and the multiple candidate sensing devices correspond to different third core network elements, for example, candidate sensing device 1 corresponds to AMF1, and candidate sensing device 2 corresponds to AMF2, then the first core network element sends a request message containing the identification information of candidate sensing device 1 to AMF1, and sends a request message containing the identification information of sensing device 2 to AMF2; AMF1 sends a request message to candidate sensing device 1 to request to obtain the sensing capability information of candidate sensing device 1, and sends the sensing capability information of candidate sensing device 1 to the first core network element. AMF2 sends a request message to candidate sensing device 2 to request to obtain the sensing capability information of candidate sensing device 2, and sends the sensing capability information of candidate sensing device 2 to the first core network element.

[0138] In another possible implementation, the third core network network element may obtain the perception capability information of the candidate perception device in the following manner: after receiving the request message from the first core network network element, the third core network network element sends a request message to the fourth core network network element to request the perception capability information of the first candidate perception device; after receiving the request message, the fourth core network network element sends a response message to the third core network element, and the response message includes the perception capability information of the first candidate perception device. The fourth core network network element stores the perception capability information of the device. For example, the terminal device can register its perception capability information with the fourth core network network element. Optionally, the fourth core network network element may be an NRF, which is not limited in this application.

[0139] In a possible implementation, the first core network element may select a first sensing device from the first candidate sensing devices according to the first sensing requirement information and the location information of the first candidate sensing devices. A possible implementation for the first core network element to select a first sensing device from the first candidate sensing devices according to the first sensing requirement information and the location information of the first candidate sensing devices is as follows: The first core network element selects the sensing device closest to the target object from the first candidate sensing devices as the first sensing device according to the location information of the target object and the location information of the first candidate sensing devices, so as to improve the sensing measurement performance.

[0140] The location information of the first candidate sensing devices may be the location information of the first candidate sensing devices included in the first information. That is to say, the location information of the first candidate sensing devices may be provided by the second core network element to the first core network element.

[0141] The location information of the first candidate sensing devices may also be obtained by the first core network element from the third core network element serving the first candidate sensing devices. Optionally, the third core network element may be an AMF network element.

[0142] A possible implementation for the first core network element to obtain the location information of the first candidate sensing devices from the third core network element serving the first candidate sensing devices is as follows: The first core network element sends a request message to the third core network element serving the first candidate sensing devices, and the request message is used to request to obtain the location information of the first candidate sensing devices. The third core network element sends a response message to the first core network element according to the received request message, and the response message includes the location information of the first candidate sensing devices.

[0143] In a possible implementation, the third core network element may obtain the location information of the candidate sensing devices in the following way: After receiving the request message from the first core network element, the third core network element sends a request message to the candidate sensing devices served by the third core network element, which is used to request to obtain the location information; after receiving the request message, the candidate sensing devices send a response message to the third core network element, and the response message includes the location information of the candidate sensing devices.

[0144] Among them, if N (N is an integer greater than or equal to 2) sensing devices in the first candidate sensing device correspond to the same third core network element, or in other words, the third core network element serves the N candidate sensing devices, the third core network element may send request messages to the N candidate sensing devices respectively to request to obtain location information. When the third core network element receives the response messages sent by the N candidate sensing devices, it may send the location information of the N candidate sensing devices to the first core network element through one response message, thereby saving signaling overhead. It can be understood that the third core network element may also send the location information of the N candidate sensing devices to the first core network element through N response messages. The embodiments of the present application do not limit this.

[0145] Through the above implementation manner, the first core network element can obtain the current location of the first candidate sensing device. Compared with the location information of the first candidate sensing device included in the first information, the location information obtained in real time through the above manner has higher accuracy and / or higher precision, thus making the target candidate sensing device selected based on the location information more suitable for sensing and measuring the target object.

[0146] In a possible implementation manner, the first core network element may select a first sensing device from the first candidate sensing devices according to the first sensing requirement information, the sensing capability information of the first candidate sensing device, and the location information of the first candidate sensing device.

[0147] The manner in which the first core network element obtains the sensing capability information of the first candidate sensing device and the location information of the first candidate sensing device may specifically refer to the foregoing content and will not be elaborated here. Step 603: The first core network element sends a first sensing measurement request to the first sensing device, and the first sensing measurement request is used to request the first sensing device to perform sensing and measurement on the target object.

[0148] Optionally, the first sensing measurement request may include information about the target object, such as the location information of the target object, the shape of the target object, the size of the target object, and other information.

[0149] After receiving the first sensing measurement request, the first sensing device performs sensing and measurement on the target object to obtain sensing data, and sends the sensing data to the first core network element. The first sensing device may perform sensing and measurement on the target object according to a set period and send the sensing data to the first sensing device.

[0150] Optionally, the first sensing device may directly send the sensing data to the first core network element, or may send the sensing data to the first core network element through a third core network element (such as an AMF network element) serving the first sensing device.

[0151] The first core network element can determine the location or movement trajectory of the target object based on the perception data from the first perception device. Further, the first core network element can send the location or movement trajectory of the target object to the second core network element.

[0152] When the first perception device no longer meets the perception measurement requirements, or is unable to perform perception measurement on the target object, the first core network element can obtain a second candidate perception device from the second core network element, and select a new target perception device from the second candidate perception devices to replace the first perception device to perform perception measurement on the target object.

[0153] In a possible implementation, based on Figure 6 the process shown, the following steps may further be included:

[0154] Step 604: When the target object moves to the first location, the first core network element sends a request message to the second core network element, and the request message includes the location information of the target object.

[0155] The "target object moves to the first location" can be understood as the target object moves to the location that triggers re-selection of the perception device for the target object, or can be understood as the target object moves to the location that meets the perception measurement termination condition, or can be understood as the first perception device no longer meets the perception measurement requirements for the target object, or the first perception device is unable to perform perception measurement on the target object. Here, the "movement" can be understood as the position movement of the target object relative to the first perception device.

[0156] The "target object moves to the first location" can also be understood as based on the movement of the target object or the movement of the first perception device, or based on the movement of the target object relative to the first perception device, the first perception device meets the perception measurement termination condition, or currently meets the condition for re-selecting the target perception device for the target object.

[0157] Optionally, the perception measurement termination condition may include: the target object moves out of or is about to move out of the perception area of the perception device, or the target object moves to the edge of the perception area of the perception device. Exemplarily, if the range of the perception area of the first perception device is 10 meters, then when the target object moves to a position 10 meters away from the first perception device, it is considered that the target object moves out of or is about to move out of the perception area of the perception device; again exemplarily, if the range of the perception area of the first perception device is 10 meters, then when the target object moves to a position 9 meters away from the first perception device, it is considered that the target object moves out of or is about to move out of the perception area of the perception device.

[0158] Optionally, the perception measurement termination condition may include: the received power of the target object for the perception signal is lower than a threshold. If the received power of the target object for the perception signal sent by the perception device is lower than the threshold, it indicates that the distance between the target object and the perception device is relatively far, and the target object may be about to move out of the perception range of the perception device. Or even if it has not moved out of the perception range of the perception device, due to the low received power of the target object for the perception signal, the corresponding reflection of the perception signal is also weak, which will affect the perception measurement performance.

[0159] Optionally, the perception measurement condition may include both that the target object moves out of or is about to move out of the perception area of the perception device and that the received power of the target object for the perception signal is lower than the threshold. That is to say, when the above conditions are met simultaneously, the first core network element will be triggered to send a request message to the second core network element, that is, to trigger the process of reselecting the target perception device for the target object.

[0160] Based on the above understanding of "the target object moves to the first position", in a possible implementation, the first perception device, according to the perception measurement of the target object, when determining that the target object moves out of or is about to move out of the perception area of the first perception device, sends indication information to the first core network element. After receiving the indication information, the first core network element sends a request message to the second core network element. In another possible implementation, the first perception device, according to the perception measurement of the target object, when determining that the received power of the target object for the perception signal is lower than the threshold, sends indication information to the first core network element. After receiving the indication information, the first core network element sends a request message to the second core network element.

[0161] Wherein, the indication information is used to indicate that the first perception device meets the perception measurement termination condition.

[0162] It should be understood that the indication information can also be understood as being used to trigger or indicate the first core network element to send a request message to the second core network element to request obtaining a second candidate perception device; or, the indication information can also be understood as being used to indicate the first core network element to obtain a second candidate perception device; or, the indication information can also be understood as being used to indicate that the first perception device is no longer suitable for performing perception measurement on the target object, or the indication information is used to indicate that the first perception device can no longer perform perception measurement on the target object; or, the indication information can also be understood as being used to indicate that the target object moves out of or is about to move out of the perception area of the first perception device. All in all, the indication information can trigger reselecting a target perception device for the target object.

[0163] In a possible implementation, the first perception device may directly send the indication information to the first core network element, or may send the indication information to the first core network element through the serving AMF network element of the first perception device.

[0164] In a possible implementation, the above sensing measurement termination condition may be included in the first sensing measurement request sent to the first sensing device. Based on the above description of the sensing measurement termination condition, this sensing measurement termination condition can be used to trigger the first sensing device to send indication information to the first core network element when the target object meets the sensing measurement termination condition, so as to trigger the re-selection of a sensing device for the target object.

[0165] Based on the above understanding of "the target object moves to the first position", in a possible implementation, when the first core network determines, according to the sensing data obtained from the sensing detection of the target object by the first sensing device, that the first sensing device meets the sensing measurement termination condition, the first core network element sends a request message to the second core network element. That is to say, the first core network element can determine, according to the sensing data reported by the first sensing device, to initiate the process of re-selecting a target sensing device for the target object.

[0166] Optionally, the first core network element determines that the first sensing device meets the sensing measurement termination condition, which may include the following situations:

[0167] Situation 1: If the first core network element determines that the target object has moved out or is about to move out of the sensing area of the first sensing device, it is determined that the first sensing device meets the sensing measurement termination condition;

[0168] Situation 2: If the first core network element determines that the received power of the sensing signal sent by the first sensing device by the target object is lower than the threshold, it is determined that the first sensing device meets the sensing measurement termination condition;

[0169] Situation 3: If the first core network element determines that the target object has moved out or is about to move out of the sensing area of the first sensing device, and the first core network element determines that the received power of the sensing signal sent by the first sensing device by the target object is lower than the threshold, it is determined that the first sensing device meets the sensing measurement termination condition.

[0170] In a possible implementation, the first core network element sending the location information of the target object to the second core network element can enable the second core network element to determine, according to the location information of the target object, a second candidate sensing device capable of performing sensing measurement on the target object, such as determining a terminal device near the target object as the second candidate sensing device.

[0171] Step 605: The second core network element sends a response message to the first core network element, and the response message includes second information, and the second information includes the identification information of the second candidate sensing device for sensing the target object.

[0172] Step 606: The first core network element selects a second sensing device from the second candidate sensing devices.

[0173] Step 607: The first core network element sends a second sensing measurement request to the second sensing device, where the second sensing measurement request is used to request the second sensing device to perform sensing measurement on the target object.

[0174] After receiving the second sensing measurement request, the second sensing device performs sensing measurement on the target object, obtains sensing data, and sends the sensing data to the first core network element. The second sensing device may perform sensing measurement on the target object according to a set period and send the sensing data to the second sensing device.

[0175] Optionally, the second sensing device may directly send the sensing data to the first core network element, or may send the sensing data to the first core network element through the core network element (such as an AMF network element) serving the second sensing device.

[0176] The first core network element may determine the position or movement trajectory of the target object based on the sensing data from the second sensing device. Further, the first core network element may send the position or movement trajectory of the target object to the second core network element.

[0177] It should be understood that the specific processes of the above steps 605 - 607 may refer to the processes of steps 602 - 604 for selecting the first sensing device and sending the first sensing measurement request to the first sensing device, which will not be elaborated here.

[0178] It should be understood that when the second sensing device meets the sensing measurement termination condition, the first core network element may also re - select a target sensing device for the target object again, and so on, until the sensing measurement of the target object ends.

[0179] It should be understood that the determination method of the first sensing device (i.e., the initial sensing device) may be executed according to steps 601 to 603 in the Figure 6 shown process, or other methods may also be adopted, which are not limited in this application.

[0180] In the above embodiments of the present application, the first core network element may select a target sensing device from the candidate sensing devices provided by the second core network element for the target object, and use the target sensing device to perform sensing measurement on the target object. Based on the above method, when the relative movement between the target object and the current sensing device performing sensing measurement causes the current sensing device to be unable to continue performing sensing measurement on the target object and a new sensing device needs to be selected, the first core network element may obtain candidate sensing devices for performing sensing measurement on the target object at the current position from the second core network element, so as to select a new sensing device from them to replace the original sensing device, so as to continue performing sensing measurement on the target object, thereby realizing the continuity of the sensing service.

[0181] In addition, when the first core network element selects a target sensing device from the candidate sensing devices, it may select a suitable sensing device according to the sensing capability information and / or location information of the candidate sensing devices, thereby improving the performance of the sensing measurement.

[0182] Based on the system architecture applicable to the embodiments of the present application (such as the Figure 4 or Figure 5 system architecture shown above), Figure 7 FIG. shows a schematic flowchart of another sensing measurement method provided by the embodiments of the present application. In this process, the first sensing device currently performing sensing measurement on the target object may obtain the next sensing device (second sensing device) for the target object through a discovery mechanism to replace the first sensing device to perform measurement on the target object.

[0183] See Figure 7 , a sensing measurement method provided by the embodiments of the present application may include the following steps:

[0184] Step 701: The first sensing device receives a first sensing measurement request message for requesting to perform sensing measurement on a target object.

[0185] Step 702: The first sensing device performs sensing measurement on the target object according to the first sensing measurement request message.

[0186] In a possible implementation manner, the specific implementation manners of steps 701 to 702 may refer to Figure 6 steps 601 to 603 therein, or refer to Figure 6 steps 604 to 607 therein. That is to say, the first sensing device may be an initial sensing device for performing sensing measurement on the target object, or a sensing device selected by the first core network element after the initial sensing device for performing sensing measurement on the target object.

[0187] Steps 703a and 703b: When the target object moves to the first position, the first sensing device sends a first message, and the first message includes second sensing requirement information of the target object, and the second sensing requirement information includes position information of the target object.

[0188] Optionally, the first message is a broadcast message.

[0189] Optionally, the first message can be sent through a device-to-device (D2D) link or through a PC5 interface.

[0190] Optionally, the first message includes an identifier of the first sensing device.

[0191] Optionally, the first message may further include information such as the shape and size of the target object.

[0192] Optionally, the second sensing requirement information may indicate requirements satisfied by performing sensing measurements on the target object.

[0193] Optionally, the requirements satisfied by performing sensing measurements on the target object may include requirements for sensing capabilities. Correspondingly, the second sensing requirement information includes sensing capability requirement information for indicating sensing capability requirements.

[0194] Optionally, the sensing capability requirement information indicates the type of sensing capability that needs to be supported (or possessed), and / or the size of the sensing area (or sensing range) that needs to be supported.

[0195] Exemplarily, the sensing capability requirement information may include information for indicating a sensing capability type requirement. For example, if the sensing capability requirement information indicates a first sensing mode, it means that the sensing device for performing sensing measurements on the target object needs to support the first sensing mode; if the sensing capability requirement information indicates a second sensing mode, it means that the sensing device for performing sensing measurements on the target object needs to support the second sensing mode; if the sensing capability requirement information indicates a third sensing mode, it means that the sensing device for performing sensing measurements on the target object needs to support the third sensing mode; if the sensing capability requirement information indicates a fourth sensing mode, it means that the sensing device for performing sensing measurements on the target object needs to support the fourth sensing mode; if the sensing capability requirement information indicates the first sensing mode and the second sensing mode, it means that the sensing device for performing sensing measurements on the target object needs to support the first sensing mode and the second sensing mode.

[0196] Another exemplarily, the sensing capability requirement information may include information for indicating the size of the sensing area. Only a sensing device whose sensing area size is greater than or equal to the area size indicated by this information meets the requirements for performing sensing measurements on the target object.

[0197] Optionally, the requirements for the perception measurement of the target object may include the requirements for the perception measurement accuracy. Correspondingly, the second perception requirement information may include perception measurement accuracy information for indicating the requirements for the perception measurement accuracy, which is used to indicate the accuracy required for the perception measurement of the target object.

[0198] Since the distance between the perception device and the target object can affect the perception measurement accuracy, in a possible implementation, the requirement for the perception measurement accuracy is also referred to as the distance requirement between the perception device and the target object. For example, the perception measurement accuracy information may specifically be the distance threshold between the perception device and the target object. Correspondingly, if the distance between the perception device receiving the first message and the target object is less than or equal to the distance threshold, the distance requirement between the perception device and the target object is satisfied.

[0199] Since the signal strength received by the perception device can affect the perception measurement accuracy, in a possible implementation, the perception measurement accuracy information may specifically be the signal strength threshold, such as the received power threshold. Correspondingly, if the perception device receiving the first message determines that the received signal strength of the first message is greater than or equal to the signal strength threshold, the requirement is satisfied.

[0200] In a possible implementation, the above perception ability requirement information and / or perception measurement accuracy information may come from the first perception measurement request message received by the first terminal device. That is to say, the first perception measurement request message may include the perception ability requirement information and / or the perception measurement accuracy information.

[0201] It should be understood that the second perception requirement information may include one or more of the above perception ability requirement information and perception measurement accuracy information.

[0202] In a possible implementation, when the target object moves to the first position, indicating that the first perception device meets the perception measurement termination condition, the first perception device sends the first message. The relevant description of "the target object moves to the first position" can refer to Figure 6 the relevant content in the shown process.

[0203] Optionally, the perception measurement termination condition includes one or more of the following: the received power of the target object for the perception signal is lower than the threshold; or, the target object moves out of or is about to move out of the perception area.

[0204] Optionally, the first perception measurement request message received by the first perception device includes the perception measurement termination condition, so that the first perception device can send the first message when it determines that the condition is met according to the perception measurement termination condition.

[0205] Step 704: The first sensing device receives a first response message from N sensing devices for sensing a target object, where N is an integer greater than or equal to 1.

[0206] Optionally, the first response message includes an identifier of the sensing device that sends the first response message.

[0207] Optionally, the first response message may further include location information of the sensing device that sends the first response message. The location information may be the absolute location information of the sensing device or the location information of the sensing device relative to the target object, such as the distance from the target object.

[0208] Optionally, the first response message may further include sensing capability information of the sensing device that sends the first response message.

[0209] In a possible implementation, if the first message does not include sensing capability requirement information and sensing measurement accuracy information, the terminal device that receives the first message determines that the target object is within the sensing area of the terminal device according to the location information of the target object, and then can return a first response message to the first sensing device. That is, the N sensing devices that return the first response message can all perform sensing measurements on the target object.

[0210] In a possible implementation, if the first message includes sensing capability requirement information but does not include sensing measurement accuracy information, the terminal device that receives the first message determines that the target object is within the sensing area of the terminal device, and determines that it meets the sensing capability requirements indicated by the sensing capability requirement information in the first message, and then sends a first response message to the first sensing device; otherwise, it does not send a response message to the first sensing device. That is, the N sensing devices that return the first response message can all perform sensing measurements on the target object and meet the sensing capability requirements indicated by the sensing capability requirement information.

[0211] Exemplarily, the terminal device receives a first message, and the first message includes sensing capability requirement information, which is specifically information for indicating the sensing capability type requirement and indicates the first sensing mode; if the terminal device supports the first sensing mode and the target object is within the sensing area of the terminal device, it sends a first response message to the first sensing device; otherwise, it does not send a first response message to the first sensing device.

[0212] Exemplarily, the terminal device receives a first message, which includes sensing capability requirement information, specifically information for indicating the requirement for the size of the sensing area; if the size of the sensing area of the terminal device is greater than or equal to the size indicated by this information and the target object is within the sensing area of the terminal device, then a first response message is sent to the first sensing device, otherwise the first response message is not sent to the first sensing device.

[0213] Exemplarily, the terminal device receives a first message, which includes sensing capability requirement information, and the sensing capability requirement information includes information for indicating the requirement for the type of sensing capability and information for indicating the requirement for the size of the sensing area; if the terminal device determines according to the sensing capability requirement information that the type of sensing mode and the size of the sensing area supported by itself meet the requirements and the target object is within the sensing area of the terminal device, then a first response message is sent to the first sensing device, otherwise the first response message is not sent to the first sensing device.

[0214] In a possible implementation, if the first message contains sensing measurement accuracy information but does not contain sensing capability requirement information, the terminal device that receives the first message determines whether it meets the sensing measurement accuracy requirement according to the sensing measurement accuracy information in the first message. If it meets the requirement and the target object is within the sensing area of the terminal device, then a first response message is sent to the first sensing device, otherwise the response message is not sent to the first sensing device. That is to say, the N sensing devices that return the first response message all meet the sensing measurement accuracy requirement indicated by the sensing measurement accuracy information, and the target object is within the sensing area of the terminal device.

[0215] Exemplarily, the terminal device receives a first message, which includes the position information of the target object and sensing measurement accuracy information (specifically, the distance threshold between the sensing device and the target object); if the terminal device determines according to the position information of the target object that the target object is within the sensing area of the terminal device and the distance between the terminal device and the target object is less than or equal to the distance threshold, then a first response message is sent to the first sensing device, otherwise the first response message is not sent to the first sensing device.

[0216] Exemplarily, the terminal device receives a first message, which includes sensing measurement accuracy information (specifically, the signal strength threshold); if the target object is within the sensing area of the terminal device and the terminal device determines that the received signal strength of the first message is greater than or equal to the signal strength threshold, then a first response message is sent to the first sensing device, otherwise the first response message is not sent to the first sensing device.

[0217] In a possible implementation, if the first message includes the sensing capability requirement information and the sensing measurement accuracy information, when the receiving terminal device determines that the target object is within the sensing area of the terminal device, and the terminal device itself meets the sensing capability requirements indicated by the sensing capability requirement information and the sensing measurement accuracy requirements indicated by the sensing measurement accuracy information, the terminal device sends a first response message to the first sensing device; otherwise, it does not send a response message to the first sensing device. That is to say, the N sensing devices that return the first response message meet the sensing capability requirements indicated by the sensing capability requirement information, and meet the sensing measurement accuracy requirements indicated by the sensing measurement accuracy information, and the target object is within the sensing area of the sensing device.

[0218] Since the first message includes the sensing capability requirement information and / or the sensing measurement accuracy information, only the terminal devices that meet the corresponding requirements return the first response message, so that the first sensing device can select the target sensing device from them, thereby improving the sensing measurement performance.

[0219] Step 705: The first sensing device selects a second sensing device from the N sensing devices that return the first response message.

[0220] In a possible implementation, the first sensing device selects a second sensing device from the N sensing devices according to the sensing capability information of the N sensing devices.

[0221] Optionally, the first response message sent by the sensing device includes the sensing capability information of the sensing device. The first sensing device can select a second sensing device from the N sensing devices according to the sensing capability information of the N sensing devices, such as selecting a sensing device with strong sensing capability. Or, the first sensing device can select the sensing device that meets the condition (or requirement) from the N sensing devices according to the sensing capability requirements indicated by the sensing capability requirement information (this information comes from the first sensing measurement request message received by the first sensing device) and the sensing capability information of the N sensing devices.

[0222] In a possible implementation, the first sensing device selects a second sensing device from the N sensing devices according to the location information of the N sensing devices.

[0223] Optionally, the first response message sent by the sensing device includes the location information of the sensing device. The first sensing device can select the sensing device closest to the target object from the N sensing devices according to the location information of the N sensing devices.

[0224] In a possible implementation, the first sensing device selects a second sensing device from the N sensing devices according to the sensing capability information and the location information of the N sensing devices.

[0225] In a possible implementation, after the first sensing device selects a second sensing device from N sensing devices, it may also send a notification message to the first core network element. The notification message includes the identifier of the second sensing device, so as to notify the first core network element of the identifier of the reselected sensing device.

[0226] Step 706: The first sensing device sends a second sensing measurement request message to the second sensing device. The second sensing measurement request message is used to request the second sensing device to perform sensing measurement on the target object.

[0227] Optionally, the second sensing measurement request message may include information about the target object, such as the location information of the target object, the shape of the target object, the size of the target object, etc.

[0228] After receiving the second sensing measurement request message, the second sensing device performs sensing measurement on the target object, obtains sensing data, and sends the sensing data to the first core network element. The second sensing device may perform sensing measurement on the target object according to a set period and send the sensing data to the second sensing device.

[0229] Optionally, the second sensing device may directly send the sensing data to the first core network element, or may send the sensing data to the first core network element through the core network element serving the second sensing device (such as an AMF network element).

[0230] The first core network element may determine the location or movement trajectory of the target object based on the sensing data from the second sensing device. Further, the first core network element may send the location or movement trajectory of the target object to the second core network element.

[0231] In a possible implementation, after receiving the second sensing measurement request message, the second sensing device may also send a notification message to the first core network element. The notification message includes the identifier of the second sensing device, so as to notify the first core network element of the identifier of the reselected sensing device.

[0232] In the above embodiments of the present application, due to the relative movement between the target object and the sensing device currently performing sensing measurement, the sensing device currently performing sensing measurement is unable to continue performing sensing measurement on the target object, and a new sensing device needs to be selected. The sensing device may obtain candidate sensing devices based on the discovery mechanism, so that a new sensing device may be selected from them to replace the original sensing device, so as to continue performing sensing measurement on the target object, thereby realizing the continuity of the sensing service.

[0233] In addition, when selecting a target sensing device from candidate sensing devices, the sensing device may select a suitable sensing device according to the sensing capability information and / or location information of the candidate sensing devices, thereby improving the performance of sensing measurement.

[0234] To more clearly understand the above embodiments of the present application, the following describes the Figure 6 and Figure 7 shown processes in combination with several application scenarios respectively.

[0235] Example 1

[0236] Example 1 takes the Figure 4 or Figure 5 shown system architecture as an example to describe a specific implementation process of the Figure 6 shown method. Among them, the first core network element is SF, the second core network element is AF, and the sensing device is a terminal device.

[0237] As Figure 8 shown, the process may include the following steps:

[0238] Step 801: AF sends a sensing service request message to SF, which includes a first candidate UE list and first sensing requirement information of the target object. The first candidate UE list includes the identifiers of candidate UEs for performing sensing measurement on the target object.

[0239] This example describes with the first candidate UE list including the identifiers of UE1 and UE2 as an example. UE1 and UE2 are candidate UEs for performing sensing measurement on the target object. Optionally, the identifiers of UE1 and UE2 are generic public subscription identifiers (GPSIs).

[0240] Optionally, the first sensing requirement information may include one or more of the following information: information of the target object, sensing measurement accuracy information. Optionally, the information of the target object may include one or more of the following information: location information of the target object, shape of the target object, size of the target object, etc. Among them, the relevant description of the first sensing requirement information can refer to the Figure 6 relevant content in the shown process.

[0241] Optionally, the service request message may also include the location information of the candidate UEs (including UE1 and UE2).

[0242] Optionally, AF may send the service request message to SF through NEF.

[0243] Step 802: SF obtains the information of the serving AMF of the candidate UE from UDM.

[0244] In this example, the SF can obtain the information of the serving AMF of UE1 from the UDM and the information of the serving AMF of UE2. The AMF of UE1 and the AMF of UE2 may be the same AMF or different AMFs. Among them, the corresponding relationship between the GPSI and the AMF is stored on the UDM. Specifically, the SF sends the GPSI to the UDM, and the UDM queries the information of the AMF stored locally according to the GPSI and returns it to the SF. Among them, the information of the AMF includes the identification information of the AMF.

[0245] Optionally, the SF can also obtain the subscription permanent identifier (SUPI) of the UE from the UDM according to the GPSI of each candidate UE. Among them, the mapping relationship between the GPSI and the SUPI is stored on the UDM.

[0246] Step 803: The SF sends a request message to the AMF of the candidate UE, which carries the identification of the candidate UE.

[0247] In a possible implementation, if the AMF of UE1 and the AMF of UE2 are different AMFs, the SF can send request messages to the serving AMFs of UE1 and UE2 respectively. One request message carries the identification of UE1 to request the acquisition of the sensing capability information of UE1, and the other request message carries the identification of UE2 to request the acquisition of the sensing capability information of UE2.

[0248] In another possible implementation, if the serving AMFs of UE1 and UE2 are the same AMF, the SF can send a single request message to the common serving AMF of UE1 and UE2, which carries the identifications of UE1 and UE2, so as to obtain the sensing capability information of multiple candidate UEs through a single request message, thereby saving signaling and reducing the network resource overhead.

[0249] Optionally, the identification of the candidate UE in the request message can be the SUPI of the candidate UE.

[0250] Step 804: After receiving the request message, the AMF triggers a positioning process for the candidate UE according to the identification of the candidate UE carried in the request message to obtain the location information of the candidate UE.

[0251] The location information of the candidate UE obtained through the positioning process is more accurate and detailed than the location information of the candidate UE from the AF. Therefore, based on this location information, a more suitable UE for sensing and measuring the target object can be selected, and thus the sensing and measuring accuracy of the target object can be improved.

[0252] It should be understood that if the candidate UE is in the radio resource control (RRC) idle state, the candidate UE can be brought into the RRC connected state through the paging process.

[0253] It should be understood that this step is an optional step. In one possible implementation, if the request message sent by the SF in step 803 includes indication information for indicating the acquisition of UE location information (or in other words, includes indication information for triggering the positioning process), the AMF triggers the positioning process for the candidate UE; otherwise, the AMF does not initiate the positioning process by default.

[0254] Step 805a: The serving AMF of UE1 sends a request message to UE1 to request the acquisition of the sensing capability information of UE1.

[0255] Optionally, this request message can be a downlink NAS message for triggering the request for the sensing capability from UE1.

[0256] Step 805b: UE1 sends a response message to the serving AMF of UE1, which carries the sensing capability information of UE1, such as including the sensing modes supported by UE1 and / or the sensing range of UE1.

[0257] Optionally, this response message can be an uplink NAS message for returning the sensing capability information.

[0258] Step 806a: The serving AMF of UE2 sends a request message to UE2 to request the acquisition of the sensing capability information of UE2.

[0259] Optionally, this request message can be a downlink NAS message for triggering the request for the sensing capability from UE2.

[0260] Step 806b: UE2 sends a response message to the serving AMF of UE2, which carries the sensing capability information of UE2, such as including the sensing modes supported by UE2 and / or the sensing range of UE2.

[0261] Optionally, this response message can be an uplink NAS message for returning the sensing capability information.

[0262] Step 807: The AMF sends a response message to the SF, which carries the identifier of the candidate UE, the sensing capability information of the candidate UE, and optionally can also carry the location information of the candidate UE.

[0263] In this step, the serving AMF of UE1 sends a response message to the SF, which carries the sensing capability information of UE1 and optionally also carries the location information of UE1; the serving AMF of UE2 sends a response message to the SF, which carries the sensing capability information of UE2 and optionally also carries the location information of UE2.

[0264] Optionally, if the serving AMF of UE1 is the same as that of UE2, the AMF may send a response message to the SF, carrying the sensing capabilities information of UE1 and UE2, and optionally the location information of UE1 and UE2, thereby saving signaling and reducing network resource overhead.

[0265] Step 808: The SF selects UE1 as the target sensing device from the candidate UEs in the first candidate UE list.

[0266] In a possible implementation, the SF may select a UE from the first candidate UE list as the sensing device for performing sensing measurements on the target object according to the sensing capabilities information of each candidate UE in the first candidate UE list. For example, if the sensing capability of UE1 is stronger than that of UE2 (such as the sensing range of UE1 is greater than that of UE2, or UE1 supports the first sensing mode and UE2 does not support the first sensing mode), then UE1 is selected as the target sensing device. Among them, the relevant description of the first sensing mode can refer to the relevant content above.

[0267] In another possible implementation, the SF may select a UE from the first candidate UE list as the sensing device for performing sensing measurements on the target object according to the sensing capabilities information of each candidate UE in the first candidate UE list and the distance between each candidate UE and the target object. For example, if the sensing capabilities of UE1 and UE2 are the same, and the distance between UE1 and the target object is less than the distance between UE2 and the target object, then UE1 can be selected as the target sensing device; for another example, if the distances between UE1 and UE2 and the target object are the same, and the sensing capability of UE1 is stronger than that of UE2, then UE1 can be selected as the target sensing device.

[0268] Step 809: The SF sends a sensing measurement request message to the serving AMF of UE1, carrying the identifier of UE1.

[0269] Optionally, the sensing measurement request message may further include information about the target object, such as the current location information, size, shape, etc. of the target object. Among them, the information about the target object may be obtained from the sensing service request message received by the SF in step 801.

[0270] Optionally, the sensing measurement request message may further include indication information, which is used to indicate UE1 to activate sensing measurements within the entire range that the UE can sense.

[0271] Optionally, the sensing measurement request message may further include a sensing measurement termination condition. For example, the condition may be that when UE1 performs sensing measurement, the power of the sensing signal reaching the target object is lower than a set threshold; or, the condition may be that the target object moves out of or is about to move out of the sensing range of UE1 (for example, the area where the target object is currently located is at the edge of the range that UE1 can sense). UE1 may stop performing sensing measurement on the target object when this condition is met.

[0272] Step 810: The serving AMF of UE1 sends the sensing measurement request message to UE1 according to the identity of UE1 in the received sensing measurement request message.

[0273] It should be understood that in steps 809 to 810, the SF may directly interact with UE1 without going through the serving AMF of UE1.

[0274] Step 811: UE1 performs sensing measurement on the target object.

[0275] Step 812: UE1 sends the measured sensing data to the SF through the serving AMF of UE1.

[0276] It should be understood that UE1 may also directly send the sensing data to the SF without going through the serving AMF of UE1.

[0277] It should be understood that steps 811 to 812 may be executed multiple times, that is, UE1 may perform sensing measurement multiple times and report sensing data multiple times.

[0278] Step 813: The SF determines that the target object has moved to the first position, or that UE1 meets the sensing measurement termination condition, or that the condition for reselecting a sensing device for the target object is currently met, or determines to perform reselection of the sensing device.

[0279] Optionally, the SF may determine whether to trigger reselection of the sensing device based on the sensing data from UE1.

[0280] Optionally, the SF may trigger reselection of the sensing device when it determines that one or more of the following conditions are met:

[0281] Condition 1: If the target object moves out of or is about to move out of the sensing area of UE1. For example, the target object is currently at the edge of the sensing area of UE1.

[0282] Condition 2: The power of the sensing signal reaching the target object is lower than a set threshold.

[0283] Condition 3: The SF receives indication information from UE1, and this indication information is used to indicate that UE1 meets the sensing measurement termination condition. When UE1 meets the sensing measurement termination condition, it sends this indication information to the SF.

[0284] Step 814: The SF sends a request message to the AF, which carries the location information of the target object and is used to request to obtain a candidate UE list for the target object.

[0285] The location information of the target object is the current location information of the target object, which is determined by the SF based on the perception data reported by the first perception device.

[0286] Optionally, the SF can send a request message to the AF through the NEF.

[0287] Step 815: After receiving the request message, the AF sends a response message to the SF, which carries a second candidate UE list. The second candidate UE list includes the identifiers of candidate UEs for performing perception measurements on the target object.

[0288] In this example, it is described by taking the second UE list including the identifiers of UE3 and UE4 as an example. UE3 and UE4 are candidate UEs for performing perception measurements on the target object. Optionally, the identifiers of UE3 and UE4 are GPSIs.

[0289] Optionally, the response message may further include the location information of the candidate UEs (including UE3 and UE4).

[0290] Optionally, the AF can send a service request message to the SF through the NEF.

[0291] Step 816: The SF obtains the perception capability information of the candidate UEs in the second candidate UE list. Optionally, it can also obtain the location information of the candidate UEs.

[0292] The specific implementation manner of this step can refer to Steps 804 to 807.

[0293] Step 817: The SF selects UE3 as the perception device from the candidate UEs in the second candidate UE list.

[0294] The specific implementation manner for the SF to select the perception device can refer to Step 808.

[0295] Step 818: The SF sends a perception measurement request message to UE3.

[0296] Optionally, the perception measurement request message may further include information about the target object, such as the current location information, size, shape, etc. of the target object.

[0297] Optionally, the perception measurement request message may further include indication information, which is used to indicate UE3 to activate perception measurements within the entire area that the UE can perceive.

[0298] Optionally, the sensing measurement request message may further include a sensing measurement termination condition.

[0299] It should be understood that the SF may send a sensing measurement request message to UE3 through the serving AMF of UE3, or directly send a sensing measurement request message to UE3.

[0300] Step 819: UE3 performs sensing measurement on the target object.

[0301] Step 820: UE3 sends the measured sensing data to the SF through the serving AMF of UE3.

[0302] It should be understood that UE3 may also directly send the sensing data to the SF without going through the serving AMF of UE3.

[0303] It should be understood that steps 819 to 820 may be executed multiple times, that is, UE3 may perform multiple sensing measurements and report the sensing data multiple times.

[0304] Step 821: The SF aggregates the sensing data received multiple times to generate a continuous movement trajectory of the target object.

[0305] Step 822: The SF sends the movement trajectory of the target object to the AF.

[0306] It should be understood that Figure 8 The timing relationship of each step in the shown process is only one possible example, and this application does not limit it.

[0307] Figure 8 The specific implementation manner of the above steps in the shown process may refer to Figure 6 The relevant content in the shown process.

[0308] It should be understood that Figure 8 Only Figure 6 An example of the shown process in the above scenario, and this application does not limit it.

[0309] Example 2

[0310] Example 2 takes Figure 4 or Figure 5 The shown system architecture as an example to describe Figure 6 Another specific implementation process of the shown method. Among them, the first core network element is the SF, the second core network element is the AF, and the sensing device is the terminal device.

[0311] As Figure 9 shown, this process may include the following steps:

[0312] Step 901: UE1 sends a registration request message to the serving AMF, carrying the identifier of UE1 and the sensing capability information of UE1.

[0313] Step 902: The AMF stores the sensing capability information of UE1 in the context of UE1.

[0314] Step 903: The AMF sends a registration acceptance message to UE1.

[0315] UE2, UE3, and UE4 respectively send registration request messages, and the AMF stores the sensing capability information of UE2, UE3, and UE4 in the context of the UE. The specific implementation process can refer to the registration process of UE1.

[0316] Step 904: The AF sends a sensing service request message to the SF, which includes a first candidate UE list and first sensing requirement information of the target object. The first candidate UE list includes the identifiers of candidate UEs for performing sensing measurements on the target object. The first sensing requirement information may include information about the target object (such as the position, shape, size, etc. of the target object) and / or sensing measurement accuracy information. The specific implementation manner of this step can refer to Figure 8 Step 801 in

[0317] Step 905: The SF obtains the information of the serving AMF of the candidate UE from the UDM. The specific implementation manner of this step can refer to Figure 8 Step 802 in

[0318] Step 906: The SF sends a request message to the AMF of the candidate UE, which carries the identifier of the candidate UE. The specific implementation manner of this step can refer to Figure 8 Step 803 in

[0319] Step 907: After receiving the request message, the AMF obtains the sensing capability information of the candidate UE from the context of the corresponding UE according to the identifier of the candidate UE carried in the request message.

[0320] Step 908: After receiving the request message, the AMF triggers a positioning process for the candidate UE according to the identifier of the candidate UE carried in the request message to obtain the location information of the candidate UE. The specific implementation manner of this step can refer to Figure 8 Step 804 in

[0321] It should be understood that this step is an optional step. In a possible implementation manner, if the request message sent by the SF in step 906 includes indication information for indicating the acquisition of UE location information (or includes indication information for triggering a positioning process), the AMF triggers a positioning process for the candidate UE; otherwise, the AMF does not initiate a positioning process by default.

[0322] Step 909: The AMF sends a response message to the SF, which carries the identifier of the candidate UE, the sensing capability information of the candidate UE, and optionally the location information of the candidate UE. The specific implementation method of this step can refer to Figure 8 Step 807 in

[0323] Step 910: The SF selects UE1 from the candidate UEs in the first candidate UE list as the target sensing device. The specific implementation method of this step can refer to Figure 8 Step 808 in

[0324] Step 911: The SF sends a sensing measurement request message to the serving AMF of UE1, which carries the identifier of UE1. The specific implementation method of this step can refer to Figure 8 Step 809 in

[0325] Step 912: The serving AMF of UE1 sends the sensing measurement request message to UE1 according to the identifier of UE1 in the received sensing measurement request message.

[0326] It should be understood that in steps 809 to 810, the SF can directly interact with UE1 without going through the serving AMF of UE1.

[0327] Step 913: UE1 performs sensing measurement on the target object.

[0328] Step 914: UE1 sends the measured sensing data to the SF through the serving AMF of UE1.

[0329] It should be understood that UE1 can also directly send the sensing data to the SF without going through the serving AMF of UE1.

[0330] It should be understood that steps 811 to 812 can be executed multiple times, that is, UE1 can perform sensing measurement and report sensing data multiple times.

[0331] Step 915: The SF determines that the target object has moved to the first position, or UE1 meets the sensing measurement termination condition, or currently meets the condition for reselecting a sensing device for the target object, or determines to perform reselection of the sensing device.

[0332] Step 916: The SF sends a request message to the AF, which carries the location information of the target object, for requesting to obtain a list of candidate UEs for the target object. The location information of the target object is the current location information of the target object, which is determined by the SF based on the sensing data reported by the first sensing device.

[0333] Optionally, the SF can send a request message to the AF through the NEF.

[0334] Step 917: After the AF receives the request message, it sends a response message to the SF, which carries a second candidate UE list. The second candidate UE list includes the identifiers of the candidate UEs that perform sensing measurements on the target object.

[0335] Step 918: The SF obtains the sensing capability information of the candidate UEs in the second candidate UE list. Optionally, it can also obtain the location information of the candidate UEs.

[0336] Step 919: The SF selects UE3 as the sensing device from the candidate UEs in the second candidate UE list.

[0337] Step 920: The SF sends a sensing measurement request message to UE3.

[0338] Step 921: UE3 performs sensing measurements on the target object.

[0339] Step 922: UE3 sends the measured sensing data to the SF through the serving AMF of UE3.

[0340] Step 923: The SF aggregates the sensing data received multiple times to generate a continuous movement trajectory of the target object.

[0341] Step 924: The SF sends the movement trajectory of the target object to the AF.

[0342] The above Figure 9 In the process shown, the specific implementation manners of steps 915 to 924 can refer to Figure 8 Steps 813 to 822 in the process shown.

[0343] In this process, the UE can register the sensing capability information into the UE context through the registration process. In this way, when the AMF obtains the sensing capabilities of the candidate UEs, it can directly obtain the sensing capability information from the UE context without interacting with the candidate UEs, thereby saving signaling overhead.

[0344] It should be understood that Figure 9 In the process shown, the timing relationship of each step is only one possible example, and this application does not limit it.

[0345] Figure 9 In the process shown, the specific implementation manners of the above steps can refer to Figure 6 The relevant content in the process shown.

[0346] It should be understood that Figure 9 is only Figure 6 an example of the process shown in the above scenario, and this application does not limit it.

[0347] Example 3

[0348] Example 3 takes Figure 4 or Figure 5 the system architecture shown as an example to describe Figure 7 a specific implementation process of the method shown. Among them, the first core network element is SF, the second core network element is AF, and the sensing device is a terminal device.

[0349] As Figure 10 shown, this process may include the following steps:

[0350] Step 1001: AF sends a sensing service request message to SF, which includes a first candidate UE list and first sensing requirement information of the target object. The first candidate UE list includes the identifiers of candidate UEs for performing sensing measurements on the target object. The first sensing requirement information may include information of the target object (such as the location, shape, size, etc. of the target object) and / or sensing measurement accuracy information.

[0351] Step 1002: SF obtains information on the serving AMF of the candidate UE from the UDM.

[0352] Step 1003: SF sends a request message to the AMF of the candidate UE, which carries the identifier of the candidate UE.

[0353] Step 1004: After receiving the request message, the AMF triggers a positioning process for the candidate UE according to the identifier of the candidate UE carried in the request message to obtain the location information of the candidate UE.

[0354] Step 1005a: The serving AMF of UE1 sends a request message to UE1 to request to obtain the sensing capability information of UE1.

[0355] Step 1005b: UE1 sends a response message to the serving AMF of UE1, which carries the sensing capability information of UE1, such as including the sensing modes supported by UE1 and / or the sensing range of UE1.

[0356] Step 1006a: The serving AMF of UE2 sends a request message to UE2 to request to obtain the sensing capability information of UE2.

[0357] Step 1006b: UE2 sends a response message to the serving AMF of UE2, which carries the sensing capability information of UE2, such as including the sensing modes supported by UE2 and / or the sensing range of UE2.

[0358] Step 1007: The AMF sends a response message to SF, which carries the identifier of the candidate UE, the sensing capability information of the candidate UE, and optionally may also carry the location information of the candidate UE.

[0359] Step 1008: The SF selects UE1 from the candidate UEs in the first candidate UE list as the target sensing device.

[0360] Step 1009: The SF sends a sensing measurement request message to the serving AMF of UE1, carrying the identifier of UE1.

[0361] Step 1010: The serving AMF of UE1 sends the sensing measurement request message to UE1 according to the identifier of UE1 in the received sensing measurement request message.

[0362] Step 1011: UE1 performs sensing measurement on the target object.

[0363] Step 1012: UE1 sends the measured sensing data to the SF through the serving AMF of UE1.

[0364] For the specific implementation manners of the above steps 1001 to 1012, reference can be made to Figure 8 steps 801 to 812 in

[0365] Step 1013: UE1 determines that the target object has moved to the first position, or UE1 meets the sensing measurement termination condition, or currently meets the condition for reselecting a sensing device for the target object, or determines to perform reselection of the sensing device.

[0366] Optionally, UE1 can determine whether to trigger reselection of the sensing device based on the sensing measurement of the target object.

[0367] Optionally, UE1 can trigger reselection of the sensing device when it determines that one or more of the following conditions are met:

[0368] Condition 1: If the target object moves out of or is about to move out of the sensing area of UE1. For example, the target object is currently at the edge of the sensing area of UE1.

[0369] Condition 2: The power of the sensing signal reaching the target object is lower than the set threshold.

[0370] Step 1014: UE1 sends a first message, including second sensing requirement information of the target object, where the second sensing requirement information includes the position information of the target object. Optionally, the second sensing requirement information further includes sensing capability requirement information and / or sensing measurement accuracy information.

[0371] Optionally, the first message is a broadcast message. For example, the first message is a discovery request message, and UEs around UE1 (such as UE3 and UE4) can receive this message.

[0372] Step 1015: UE3 and UE4 respectively send a first response message to UE1.

[0373] Optionally, if the UE (such as UE3 and UE4) that receives the first message determines, based on the location information of the target object, that the target object is within the sensing area of the UE, it sends a first response message.

[0374] Optionally, the UE (such as UE3 and UE4) that receives the first message determines whether it meets the corresponding requirements based on the sensing capability requirement information and / or sensing measurement accuracy information in the first message. If it meets the requirements and the target object is within the sensing area of the UE, it sends a first response message to UE1; otherwise, it does not send a response message to the first sensing device.

[0375] In this example, UE3 and UE4 respectively determine that they meet the requirements indicated by the sensing capability requirement information and / or sensing measurement accuracy information, and the target object is within the sensing area, and respectively return a first response message to UE1.

[0376] Optionally, the first response message sent by UE3 may further include the sensing capability information and / or location information of UE3, and the first response message sent by UE4 may include the sensing capability information and / or location information of UE4.

[0377] Step 1016: UE1 selects UE3 as the target sensing device.

[0378] Optionally, UE1 may select the target sensing device based on the sensing capability information and / or location information of UE3 and UE4. This example describes taking UE1's selection of UE3 as an example.

[0379] Step 1017: UE1 sends a notification message to the SF, which carries the identification information of UE3, for notifying the SF of the newly selected sensing device.

[0380] This step is an optional step.

[0381] Step 1018: UE1 sends a sensing measurement request message to UE3.

[0382] Step 1019: UE3 sends a notification message to the SF, which carries the identification information of UE3, for notifying the SF of the newly selected sensing device.

[0383] This step is an optional step.

[0384] It should be understood that if step 1017 is executed, step 1019 can be omitted; or if step 1019 is executed, step 1017 can be omitted.

[0385] Step 1020: UE3 performs sensing measurement on the target object.

[0386] Step 1021: UE3 sends the measured perception data to the SF through the serving AMF of UE3.

[0387] Step 1022: The SF aggregates the perception data received multiple times to generate a continuous movement trajectory of the target object.

[0388] Step 1023: The SF sends the movement trajectory of the target object to the AF.

[0389] It should be understood that Figure 10 In the shown process, the timing relationship of each step is only a possible example, and this application does not limit it.

[0390] Figure 10 For the specific implementation manner of the above steps in the shown process, reference can be made to Figure 7 the relevant content in the shown process.

[0391] It should be understood that Figure 10 is only Figure 7 an example of the shown process in the above scenario, and this application does not limit it.

[0392] Example 4

[0393] Example 2 takes Figure 4 or Figure 5 the system architecture shown as an example to describe Figure 7 another specific implementation process of the method shown. Among them, the first core network element is the SF, the second core network element is the AF, and the perception device is the terminal device.

[0394] As Figure 11 shown, this process may include the following steps:

[0395] Step 1101: UE1 sends a registration request message to the serving AMF, carrying the identifier of UE1 and the perception capability information of UE1.

[0396] Step 1102: The AMF stores the perception capability information of UE1 into the context of UE1.

[0397] Step 1103: The AMF sends a registration acceptance message to UE1.

[0398] UE2, UE3, and UE4 respectively send registration request messages, and the AMF stores the perception capability information of UE2, UE3, and UE4 into the context of UE. The specific implementation process can refer to the registration process of UE1.

[0399] Step 1104: AF sends a sensing service request message to the SF, which includes a first candidate UE list and first sensing requirement information of the target object. The first candidate UE list includes the identifiers of candidate UEs for performing sensing measurements on the target object. The first sensing requirement information may include information about the target object (such as the location, shape, size, etc. of the target object) and / or sensing measurement accuracy information.

[0400] Step 1105: The SF obtains information about the serving AMF of the candidate UE from the UDM.

[0401] Step 1106: The SF sends a request message to the AMF of the candidate UE, which carries the identifier of the candidate UE.

[0402] Step 1107: After receiving the request message, the AMF obtains the sensing capability information of the candidate UE from the context of the corresponding UE according to the identifier of the candidate UE carried in the request message.

[0403] Step 1108: After receiving the request message, the AMF triggers a positioning process for the candidate UE according to the identifier of the candidate UE carried in the request message to obtain the location information of the candidate UE.

[0404] Step 1109: The AMF sends a response message to the SF, which carries the identifier of the candidate UE, the sensing capability information of the candidate UE, and optionally, the location information of the candidate UE.

[0405] Step 1110: The SF selects UE1 as the target sensing device from the candidate UEs in the first candidate UE list.

[0406] Step 1111: The SF sends a sensing measurement request message to the serving AMF of UE1, which carries the identifier of UE1.

[0407] Step 1112: The serving AMF of UE1 sends the sensing measurement request message to UE1 according to the identifier of UE1 in the received sensing measurement request message.

[0408] Step 1113: UE1 performs sensing measurements on the target object.

[0409] Step 1114: UE1 sends the measured sensing data to the SF through the serving AMF of UE1.

[0410] The specific implementation manners of the above steps 1101 to 1114 can refer to Figure 9 Steps 901 to 914 in

[0411] Step 1115: UE1 determines that the target object has moved to the first position, or UE1 meets the condition for terminating the sensing measurement, or currently meets the condition for reselecting a sensing device for the target object, or determines to perform reselection of the sensing device.

[0412] Step 1116: UE1 sends a first message, which includes second sensing requirement information of the target object, and the second sensing requirement information includes location information of the target object. Optionally, the second sensing requirement information further includes sensing capability requirement information and / or sensing measurement accuracy information.

[0413] Step 1117: UE3 and UE4 respectively send a first response message to UE1.

[0414] Step 1118: UE1 selects UE3 as the target sensing device.

[0415] Step 1119: UE1 sends a notification message to the SF, which carries the identification information of UE3, for notifying the SF of the newly selected sensing device..

[0416] Step 1120: UE1 sends a sensing measurement request message to UE3.

[0417] Step 1121: UE3 sends a notification message to the SF, which carries the identification information of UE3, for notifying the SF of the newly selected sensing device.

[0418] Step 1122: UE3 performs sensing measurement on the target object.

[0419] Step 1123: UE3 sends the sensed data obtained by measurement to the SF through the serving AMF of UE3.

[0420] Step 1124: The SF aggregates the sensed data received multiple times to generate a continuous movement trajectory of the target object.

[0421] Step 1125: The SF sends the movement trajectory of the target object to the AF.

[0422] The specific implementation manners of the above steps 1115 to 1125 can refer to Figure 10 Steps 1013 to 1023 in

[0423] It should be understood that Figure 11 The timing relationship of each step in the shown process is only a possible example, and this application does not limit this.

[0424] Figure 11 The specific implementation manners of the above steps in the shown process can refer to Figure 7 The relevant content in the shown process.

[0425] It should be understood that Figure 11 is only Figure 7 an example of the process shown in the above scenario, and the present application is not limited thereto.

[0426] It can be understood that, in order to implement the functions in the above embodiments, the sensing device and the network device include the corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should easily realize that, combining the units and method steps of the examples described in the embodiments disclosed in the present application, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether the first function is executed in the manner of hardware or computer software driving the hardware depends on the specific application scenario and design constraints of the technical solution.

[0427] Figure 12 and Figure 13 are schematic structural diagrams of possible communication devices provided by the embodiments of the present application. These communication devices can be used to implement the functions of the network device or the sensing device in the above method embodiments, and thus can also achieve the beneficial effects possessed by the above method embodiments. In the embodiments of the present application, the communication device can be a terminal device or a network device, or can also be a module (such as a chip) applied to the terminal device or the network device.

[0428] As Figure 12 shown, the communication device 1200 includes a processing unit 1210 and a transceiver unit 1220. The communication device 1200 is used to implement the functions of the network device (such as the first core network element) or the sensing device in any of the method embodiments shown in the above Figures 6 to 11 figures.

[0429] For example, when the communication device 1200 is used to implement Figure 6 , Figure 8 or Figure 9 the functions of the network device in the method embodiments shown: the transceiver unit 1220 receives first information from the second core network element, and the first information includes the identification information of the first candidate sensing device for sensing the target object and the first sensing requirement information of the target object; the processing unit 1210 is configured to select a first sensing device from the first candidate sensing devices according to the first sensing requirement information of the target object; the processing unit 1210 sends a first sensing measurement request message to the first sensing device through the transceiver unit 1220, and the first sensing measurement request message is used to request the first sensing device to perform sensing measurement on the target object.

[0430] For another example, when the communication device 1200 is used to implement Figure 7 , Figure 10 or Figure 11When implementing the functions of the sensing device in the method embodiments shown: The transceiver unit 1220 is used to receive a first sensing measurement request message for requesting a sensing measurement of a target object; the processing unit 1210 is used to perform a sensing measurement of the target object according to the first sensing measurement request message; when the target object moves to a first position, the processing unit 1210 sends a first message through the transceiver unit 1220, and the first message includes second sensing requirement information of the target object, and the second sensing requirement information includes the position information of the target object; the transceiver unit 1220 receives first response messages from N sensing devices for sensing the target object, where N is an integer greater than or equal to 1; the processing unit 1210 selects a second sensing device from the N sensing devices and sends a second sensing measurement request message to the second sensing device through the transceiver unit 1220, and the second sensing measurement request message is used to request the second sensing device to perform a sensing measurement of the target object.

[0431] For a more detailed description of the above processing unit 1210 and transceiver unit 1220, reference can be directly made to Figures 6 to 11 the relevant descriptions in the method embodiments shown, which will not be elaborated here.

[0432] As Figure 13 shown, the communication device 1300 includes a processor 1310 and an interface circuit 1320. The processor 1310 and the interface circuit 1320 are coupled to each other. It can be understood that the interface circuit 1320 can be a transceiver or an input / output interface. Optionally, the communication device 1300 may further include a memory 1330 for storing instructions executed by the processor 1310 or storing input data required for the processor 1310 to run instructions or storing data generated after the processor 1310 runs instructions.

[0433] When the communication device 1300 is used to implement Figures 6 to 11 the method shown, the processor 1310 is used to implement the functions of the above processing unit 1210, and the interface circuit 1320 is used to implement the functions of the above transceiver unit 1220.

[0434] When the above communication device is a chip applied to a device, the chip implements the functions of the device in the above method embodiments. The chip receives information from other modules in the device; or, the chip sends information to other modules in the device.

[0435] It can be understood that the processor in the embodiments of the present application may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The general-purpose processor may be a microprocessor or any conventional processor.

[0436] In the present application, another example of a communication device is provided. The communication device includes at least one processor and at least one memory. The at least one processor and the at least one memory are coupled. The at least one memory is used to store instructions. When the instructions are executed by the at least one processor, the communication device executes the method in the above embodiments. Taking the communication device including one processor and one memory as an example, as Figure 13 shown, the communication device 1300 includes one processor 1310 and one memory 1330. The processor 1310 and the memory 1330 are coupled. Instructions are stored in the memory 1330. When the instructions stored in the memory 1330 are executed by the processor 1310, the communication device 1300 executes the method performed by the sensing device or the network device in the above embodiments.

[0437] The method steps in the embodiments of the present application can be implemented in hardware or in software instructions executable by a processor. The software instructions may be composed of corresponding software modules. The software modules may be stored in a random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disks, removable hard disks, CD-ROMs, or any other form of storage medium well known in the art. An exemplary storage medium is coupled to the processor so that the processor can read information from the storage medium and write information to the storage medium. The storage medium may also be a component of the processor. The processor and the storage medium may be located in an ASIC. Additionally, the ASIC may be located in a network device or a terminal. The processor and the storage medium may also exist as discrete components in a network device or a terminal.

[0438] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are executed in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user device, or other programmable devices. The computer program or instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired or wireless manner. 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 integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; it can also be an optical medium, such as a digital video disc; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium can be a volatile or non-volatile storage medium, or can include both volatile and non-volatile types of storage media.

[0439] 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 internal logical relationships.

[0440] In the present application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural. In the written description of the present application, the character " / " generally represents an "or" relationship between the associated objects before and after; in the formulas of the present 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.

[0441] 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 are not used to limit the scope of the embodiments of the present application. The magnitude of the sequence numbers of the above processes does not mean the sequence of execution, and the execution sequence of each process should be determined by its function and internal logic.

Claims

1. A perception measurement method, characterized in that, Including: A first core network element receives first information from a second core network element, where the first information includes identification information of a first candidate sensing device for sensing a target object and first sensing requirement information of the target object; The first core network element selects a first sensing device from the first candidate sensing devices according to the first sensing requirement information of the target object; The first core network element sends a first sensing measurement request message to the first sensing device, where the first sensing measurement request message is used to request the first sensing device to perform sensing measurement on the target object.

2. The method according to claim 1, wherein The first core network element selects a first sensing device from the first candidate sensing devices according to the first sensing requirement information, including: The first core network element selects the first sensing device from the first candidate sensing devices according to the first sensing requirement information, and according to the sensing capability information of the first candidate sensing device and / or the location information of the first candidate sensing device.

3. The method according to claim 2, characterized in that, Also including: The first core network element obtains the sensing capability information of the first candidate sensing device from a third core network element serving the first candidate sensing device.

4. The method according to claim 2 or 3, characterized in that Also including: The first core network element obtains the location information of the first candidate sensing device from a third core network element serving the first candidate sensing device.

5. The method according to claim 2 or 3, characterized in that, The first information further includes the location information of the first candidate sensing device.

6. The method according to any one of claims 1-5, characterized in that, Also including: When the target object moves to a first location, the first core network element sends a request message to the second core network element, where the request message includes the location information of the target object; The first core network element receives a response message from the second core network element, where the response message includes second information, and the second information includes identification information of a second candidate sensing device for sensing the target object; The first core network element selects a second sensing device from the second candidate sensing devices; The first core network element sends a second sensing measurement request message to the second sensing device, where the second sensing measurement request message is used to request the second sensing device to perform sensing measurement on the target object.

7. The method according to claim 6, characterized in that, When the target object moves to a first location, the first core network element sends a request message to the second core network element, including: When the first core network element receives indication information from the first sensing device, the first core network element sends a request message to the second core network element, and the indication information indicates that the first sensing device meets the sensing measurement termination condition.

8. The method according to claim 7, wherein The first sensing measurement request message includes the sensing measurement termination condition, and the sensing measurement termination condition is used to trigger the first sensing device to send the indication information when the target object meets the sensing measurement termination condition.

9. The method according to claim 7 or 8, characterized in that, The sensing measurement termination condition includes one or more of the following: Detecting that the received power of the sensing signal by the target object is lower than a threshold; or, The target object moves out of or is about to move out of the sensing area of the sensing device.

10. The method according to claim 6, wherein When the target object moves to a first location, the first core network element sends a request message to the second core network element, including: When the first core network determines that the first sensing device meets the sensing measurement termination condition based on the sensing data obtained from the first sensing device for sensing and detecting the target object, the first core network element sends a request message to the second core network element.

11. The method according to claim 10, wherein The determination that the first sensing device meets the sensing measurement termination condition includes: If the first core network element determines that the target object has moved out or is about to move out of the sensing area of the first sensing device, it is determined that the first sensing device meets the sensing measurement termination condition; or, If the first core network element determines that the received power of the sensing signal sent by the first sensing device by the target object is lower than the threshold, it is determined that the first sensing device meets the sensing measurement termination condition.

12. The method according to any one of claims 6-11, characterized in that, The first core network element selects a second sensing device from the second candidate sensing devices, including: The first core network element selects the second sensing device from the second candidate sensing devices according to the sensing capability information of the second candidate sensing device and / or the location information of the second sensing device.

13. The method according to any one of claims 1 to 12, characterized in that, The first core network element receives the first information from the second core network element, including: The first core network element receives a sensing service request message from the second core network element, and the first information is included in the sensing service request message.

14. The method according to any one of claims 2-13, characterized in that, The sensing capability information includes one or more of the following information: information on supported sensing modes, information on sensing areas.

15. The method according to any one of claims 1 to 14, characterized in that, The first sensing requirement information includes one or more of the following: information on the target object, sensing measurement accuracy information; Among them, the information on the target object includes one or more of the following: location information of the target object, shape of the target object, size of the target object.

16. A perception measurement method, characterized in that, Includes: The first sensing device receives a first sensing measurement request message for requesting sensing measurement of the target object; The first sensing device performs sensing measurement on the target object according to the first sensing measurement request message; When the target object moves to the first position, the first sensing device sends a first message, and the first message includes second sensing requirement information of the target object, and the second sensing requirement information includes location information of the target object; The first sensing device receives first response messages from N sensing devices for sensing the target object, where N is an integer greater than or equal to 1; The first sensing device selects a second sensing device from the N sensing devices; The first sensing device sends a second sensing measurement request message to the second sensing device for requesting the second sensing device to perform sensing measurement on the target object.

17. The method according to claim 16, wherein The second sensing requirement information further includes one or more of the following: sensing capability requirement information for indicating sensing capability requirements, or sensing measurement accuracy information for indicating sensing measurement accuracy requirements; The N sensing devices meet the sensing capability requirements indicated by the sensing capability requirement information and / or meet the sensing measurement accuracy requirements indicated by the sensing measurement accuracy information.

18. The method according to claim 17, wherein The perceived ability requirement information includes: information for indicating the requirement of the type of perceived ability, and / or information for indicating the requirement of the size of the perceived area.

19. The method according to claim 17 or 18, characterized in that, The perceived measurement accuracy information includes: a distance threshold between the perception device and the target object, and / or a signal strength threshold.

20. The method according to any one of claims 17-19, characterized in that, The first perceived measurement request message includes the perceived ability requirement information and / or the perceived measurement accuracy information.

21. The method according to any one of claims 16 - 20, characterized in that, The first perception device selects a second perception device from the N perception devices, including: The first perception device selects the second perception device from the N perception devices according to the perceived ability information of the N perception devices and / or the location information of the N perception devices.

22. The method according to claim 21, wherein, The first response message sent by each perception device among the N perception devices includes the perceived ability information of the perception device and / or the location information of the perception device.

23. The method according to claim 21 or 22, characterized in that, The perceived ability information includes one or more of the following information: information on supported perception modes, information on the perceived area.

24. The method according to any one of claims 16 - 23, characterized in that, When the target object moves to the first position, the first perception device sends a first message, including: When the first perception device determines, based on the perceived measurement of the target object, that the first perception device meets the perceived measurement termination condition, the first perception device sends the first message.

25. The method according to claim 24, wherein The first perceived measurement request message further includes the perceived measurement termination condition.

26. The method according to claim 24 or 25, characterized in that, The perceived measurement termination condition includes one or more of the following: The received power of the perception signal by the target object is lower than the threshold; or, The target object moves out of or is about to move out of the perceived area.

27. The method according to any one of claims 16-26, characterized in that, After the first perception device selects a second perception device from the N perception devices, it further includes: The first perception device sends a notification message to the first core network element, and the notification message includes the identifier of the second perception device, and the first core network element is used to receive the perceived data of the second perception device.

28. A communication device, characterized in that, It includes a unit or module for executing the method according to any one of claims 1-15, or includes a unit or module for executing the method according to any one of claims 16-27.

29. A communication device, characterized in that, It includes: One or more processors are configured to execute the method according to any one of claims 1-15, or execute the method according to any one of claims 16-27.

30. A readable storage medium, characterized in that, A program is stored in the readable storage medium, and when the program is executed by the communication device, it implements the method according to any one of claims 1-15, or implements the method according to any one of claims 16-27.

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