Communication method and related device

Abstract

The invention relates to the technical field of wireless communication, in particular to a communication method and a related device. The method comprises: sending a first message, the first message comprising identification information of a terminal device; and a second message is received, the second message comprises positioning measurement information of the terminal device and / or first sensing measurement information associated with the terminal device, and the positioning measurement information and / or the first sensing measurement information are / is used for determining a sensing result. By adopting the method, the sensing precision of the sensing technology can be improved.

Description

Technical Field

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

[0002] With the evolution of communication technology, communication frequency bands have derived sensing capabilities, especially millimeter wave frequency bands. When network equipment (such as base stations, etc.) or terminal equipment has sensing capabilities, the communication system can sense and identify specific objects to obtain their current status, such as location, speed, etc. The communication system can use this sensing capability to solve business needs in many scenarios.

[0003] Existing perception technologies are mainly used to perceive non-communication devices between base stations and terminal devices. In the actual perception process, the perception device usually needs to first clarify the location of the base station and the terminal device, so that it can perform perception calculations based on the delay or angle of the echo signal to determine the location, speed and other information of the non-communication device. In other words, whether the perception result obtained by the perception calculation is accurate is directly related to whether the acquired location of the base station and the terminal device is accurate. However, in some actual application scenarios, the terminal device may be in a mobile state with an unfixed position. In this case, the perception result obtained by the perception calculation based on the pre-acquired location of the terminal device is not accurate. Therefore, in the scenario where the location of the terminal device is not fixed, how to improve the perception accuracy has become one of the urgent problems to be solved. Summary of the invention

[0004] In order to solve the above problems, the present application provides a communication method and related devices, which can improve the perception accuracy of perception technology.

[0005] The present application is introduced from multiple aspects below. It is easy to understand that the implementation methods of the following multiple aspects can refer to each other.

[0006] In a first aspect, an embodiment of the present application provides a communication method, which is applicable to a first device, and includes: sending a first message, wherein the first message includes identification information of a terminal device. Receiving a second message, wherein the second message includes positioning measurement information of the terminal device and / or first perception measurement information associated with the terminal device, and the positioning measurement information and / or the first perception measurement information are used to determine a perception result.

[0007] In an embodiment of the present application, the first device can interact with the second device to obtain appropriate and more accurate positioning measurement information and / or perception measurement information. The first device can then perform perception calculations based on the acquired content to obtain more accurate perception results, thereby improving the perception accuracy of the perception technology.

[0008] Second aspect, an embodiment of the present application provides a communication method, which is applicable to a second device. The method includes: receiving a first message, where the first message includes identification information of a terminal device; sending a second message or a third message, where the second message includes positioning measurement information of the terminal device and / or first sensing measurement information associated with the terminal device, and the third message includes positioning measurement information, and the positioning measurement information and / or the first sensing measurement information are used to determine a sensing result.

[0009] Combined with the first aspect or the second aspect, in a possible implementation, the second message includes the positioning measurement information, and the positioning measurement information includes target position information of the terminal device.

[0010] Combined with the first aspect or the second aspect, in a possible implementation, the first message further includes indication information for indicating a target period, and the target position information is the position information of the terminal device within the target period.

[0011] In the above implementation, the indication information included in the first message can be used by the second device to determine the position information of the terminal device within the target period and report it to the first device, which can reduce the data reporting volume of the second device. Moreover, the position information of the terminal device reported by the second device is determined based on the acquisition time of the second sensing measurement information. That is to say, the time corresponding to the position information of the terminal device required for the first device to perform sensing calculation is the same as the time corresponding to the position information of the terminal device determined by the second device, which is equivalent to obtaining the position information of the terminal device in real time. Therefore, the first device obtains the position information of the terminal device more accurately, and thus the sensing result obtained by its sensing calculation is also more accurate, which can improve the sensing accuracy.

[0012] Combined with the first aspect or the second aspect, in a possible implementation, the indication information includes a target time and a time offset, the target time and the time offset are used to determine the target period, the target time is determined by the acquisition time of the second sensing measurement information, and the second sensing measurement information and the target position information are used to determine the sensing result.

[0013] Combined with the first aspect or the second aspect, in a possible implementation, the second sensing measurement information includes one or more of non-first-path delay of a sensing reference signal, non-first-path angle of arrival (AOA), non-first-path angle of departure (AOD), non-first-path reference signal receiving power (RSRP), point cloud, Doppler velocity spectrum, distance spectrum, or angle spectrum.

[0014] In combination with the first aspect or the second aspect, in a possible implementation, the second message further includes the first sensing measurement information and the first time identification information, where the first time identification information is used to indicate the acquisition time of the first sensing measurement information.

[0015] In combination with the first aspect or the second aspect, in a possible implementation, the second message further includes the second time identification information, where the second time identification information is used to indicate the acquisition time of the positioning measurement information.

[0016] In combination with the first aspect or the second aspect, in a possible implementation, the first sensing measurement information includes one or more of the non-first-path delay, non-first-path AOA, non-first-path AOD, or non-first-path RSRP of the target reference signal.

[0017] In the above implementation, the first device can determine the positioning measurement information and the sensing measurement information with the same acquisition time through the first time identification information and the second time identification information. That is to say, the time corresponding to the position information of the terminal device required by the first device for sensing calculation is the same as the time when the second device determines the position information of the terminal device. In this way, it is equivalent to obtaining the position information of the terminal device in real time. Furthermore, the sensing result obtained by the first device through sensing calculation is more accurate, improving the sensing accuracy of the sensing technology.

[0018] In combination with the first aspect, in a possible implementation, the second message includes the positioning measurement information and the second time identification information. The positioning measurement information includes the target position information of the terminal device. The second time identification information is used to indicate the acquisition time of the target position information. The method further includes: receiving a fourth message, where the fourth message includes the third sensing measurement information and the third time identification information, and the third time identification information is used to indicate the acquisition time of the third sensing measurement information.

[0019] In combination with the first aspect, in a possible implementation, the third sensing measurement information includes one or more of the non-first-path delay, non-first-path AOA, non-first-path AOD, or non-first-path RSRP of the target reference signal.

[0020] In the above implementation, the first device can determine the positioning measurement information and the sensing measurement information with the same acquisition time through the second time identification information and the third time identification information. That is to say, the time corresponding to the position information of the terminal device required by the first device for sensing calculation is the same as the time when the second device determines the position information of the terminal device. In this way, it is equivalent to obtaining the position information of the terminal device in real time. Furthermore, the sensing result obtained by the first device through sensing calculation is more accurate, improving the sensing accuracy of the sensing technology.

[0021] In combination with the first aspect, in a possible implementation, the second message includes the first sensing measurement information, and the first sensing measurement information includes one or more of a point cloud of a target reference signal, a Doppler velocity spectrum, a distance spectrum, or an angle spectrum.

[0022] In combination with the first aspect, in a possible implementation, before sending the first message, the method further includes: receiving a fifth message, where the fifth message is used to request the first device to perform a sensing service.

[0023] In combination with the first aspect, in a possible implementation, the method includes: determining the sensing result according to the positioning measurement information and / or the first sensing measurement information. Sending a sixth message, where the sixth message includes the sensing result.

[0024] In a third aspect, the present application provides a communication method, which is applicable to a sensing device, and the method includes: receiving a third message from a second device, where the third message includes positioning measurement information of a terminal device. Sending a second message to the first device, where the second message includes first sensing measurement information.

[0025] In combination with the third aspect, in a possible implementation, the first sensing measurement information includes one or more of a point cloud of a target reference signal, a Doppler velocity spectrum, a distance spectrum, or an angle spectrum.

[0026] In combination with the third aspect, in a possible implementation, the third message further includes fourth time identification information, and the fourth time identification information is used to indicate the acquisition time of the positioning measurement information, and the positioning measurement information includes target position information of the terminal device.

[0027] In combination with the third aspect, in a possible implementation, the positioning measurement information is determined by fourth sensing measurement information, and the fourth sensing measurement information includes one or more of a first path delay of a target reference signal, a first path AOA, a first path AOD, a first path RSRP, a non-first path delay, a non-first path AOA, a non-first path AOD, or a non-first path RSRP.

[0028] In combination with the third aspect, in a possible implementation, before sending the second message to the first device, the method further includes: determining the first sensing measurement information according to the positioning measurement information and the original sensing measurement information.

[0029] In combination with the third aspect, in a possible implementation, the original sensing measurement information includes one or more of the non-first-path delay, non-first-path AOA, non-first-path AOD, or non-first-path RSRP of the target reference signal.

[0030] In the above implementation, after the sensing device receives the positioning measurement information of the terminal device sent by the second device, it can first perform a sensing calculation in combination with the original sensing measurement information to obtain the first sensing measurement information, and then send it to the first device for further sensing calculation. Since the data volume of the first sensing measurement information is much smaller than that of the original sensing measurement information, the pressure of data transmission of the sensing device can be reduced. That is to say, during the data transmission process, the data transmission volume is reduced, and the data transmission delay is reduced.

[0031] In combination with at least one of the first aspect to the third aspect, in a possible implementation, the first device includes a sensing function (SF) network element.

[0032] In combination with the second aspect or the third aspect, in a possible implementation, the second device includes a location management function (LMF) network element.

[0033] In combination with the third aspect, in a possible implementation, the sensing device includes the terminal device or a network device.

[0034] It should be understood that the communication methods provided in the above second aspect and third aspect are used to cooperate with the communication method provided in the above first aspect, so the same beneficial effects can be achieved. To avoid redundancy, the description will not be repeated here.

[0035] It should be understood that the communication method provided in the above first aspect is also applicable to the functional components in the first device, such as the processor, chip, chip system, circuit, etc. in the first device. The present application does not make specific limitations in this regard. Similarly, the communication methods provided in the above second aspect or third aspect are also applicable to the corresponding functional components in the device. To avoid redundancy, the description will not be repeated here.

[0036] Fourth aspect, the present application provides a communication device, which can be the first device mentioned in the foregoing first aspect. The communication device includes a processing unit and a transceiver unit. The processing unit is used to generate a first message, where the first message includes the identification information of the terminal device. The transceiver unit is used to send the first message. The transceiver unit is further used to receive a second message, where the second message includes the positioning measurement information of the terminal device and / or the first sensing measurement information associated with the terminal device, and the positioning measurement information and / or the first sensing measurement information are used to determine the sensing result.

[0037] In a fifth aspect, the present application provides a communication device, which may be the second device mentioned in the foregoing second aspect. The communication device includes a processing unit and a transceiver unit. The transceiver unit is configured to receive a first message, where the first message includes identification information of a terminal device. The processing unit is configured to generate a second message or a third message, where the second message includes positioning measurement information of the terminal device and / or first sensing measurement information associated with the terminal device, and the third message includes positioning measurement information, and the positioning measurement information and / or the first sensing measurement information are used to determine a sensing result. The transceiver unit is further configured to send the second message or the third message.

[0038] Combined with the fourth aspect or the fifth aspect, in a possible implementation, the second message includes the positioning measurement information, and the positioning measurement information includes target position information of the terminal device.

[0039] Combined with the fourth aspect or the fifth aspect, in a possible implementation, the first message further includes indication information for indicating a target time period, and the target position information is the position information of the terminal device within the target time period.

[0040] Combined with the fourth aspect or the fifth aspect, in a possible implementation, the indication information includes a target time and a time offset, the target time and the time offset are used to determine the target time period, the target time is determined by the acquisition time of second sensing measurement information, and the second sensing measurement information and the target position information are used to determine the sensing result.

[0041] Combined with the fourth aspect or the fifth aspect, in a possible implementation, the second sensing measurement information includes one or more of the non-first-path delay of a sensing reference signal, non-first-path angle of arrival AOA, non-first-path angle of departure AOD, non-first-path reference signal received power RSRP, point cloud, Doppler velocity spectrum, distance spectrum, or angle spectrum.

[0042] Combined with the fourth aspect or the fifth aspect, in a possible implementation, the second message further includes the first sensing measurement information and first time identification information, and the first time identification information is used to indicate the acquisition time of the first sensing measurement information.

[0043] Combined with the fourth aspect or the fifth aspect, in a possible implementation, the second message further includes second time identification information, and the second time identification information is used to indicate the acquisition time of the positioning measurement information.

[0044] Combined with the fourth aspect or the fifth aspect, in a possible implementation, the first sensing measurement information includes one or more of the non-first-path delay of the target reference signal, the non-first-path angle of arrival (AOA), the non-first-path angle of departure (AOD), or the received signal strength of the non-first-path reference signal (RSRP).

[0045] Combined with the fourth aspect, in a possible implementation, the transceiver unit is further configured to receive a fourth message, where the fourth message includes third sensing measurement information and third time identification information, and the third time identification information is used to indicate the acquisition time of the third sensing measurement information.

[0046] Combined with the fourth aspect, in a possible implementation, the third sensing measurement information includes one or more of the non-first-path delay of the target reference signal, the non-first-path angle of arrival (AOA), the non-first-path angle of departure (AOD), or the received signal strength of the non-first-path reference signal (RSRP).

[0047] Combined with the fourth aspect, in a possible implementation, the second message includes the first sensing measurement information, and the first sensing measurement information includes one or more of the point cloud of the target reference signal, the Doppler velocity spectrum, the distance spectrum, or the angle spectrum.

[0048] Combined with the fourth aspect, in a possible implementation, the transceiver unit is further configured to receive a fifth message, where the fifth message is used to request the first device to perform a sensing service.

[0049] Combined with the fourth aspect, in a possible implementation, the processing unit is further configured to determine the sensing result according to the positioning measurement information and / or the first sensing measurement information. The processing unit is further configured to generate a sixth message, where the sixth message includes the sensing result. The transceiver unit is further configured to send the sixth message.

[0050] In a sixth aspect, the present application provides a communication device, which may be the sensing device mentioned in the foregoing third aspect. The device includes a transceiver unit and a processing unit. The transceiver unit is configured to receive a third message from a second device, where the third message includes positioning measurement information of a terminal device. The processing unit is configured to generate a second message, where the second message includes first sensing measurement information. The transceiver unit is further configured to send the second message.

[0051] Combined with the sixth aspect, in a possible implementation, the first sensing measurement information includes one or more of the point cloud of the target reference signal, the Doppler velocity spectrum, the distance spectrum, or the angle spectrum.

[0052] In combination with the sixth aspect, in a possible implementation, the third message further includes fourth time identification information, and the fourth time identification information is used to indicate the acquisition time of the positioning measurement information, where the positioning measurement information includes the target location information of the terminal device.

[0053] In combination with the sixth aspect, in a possible implementation, the positioning measurement information is determined from fourth sensing measurement information, and the fourth sensing measurement information includes one or more of the first-path delay of the target reference signal, the first-path angle of arrival (AOA), the first-path angle of departure (AOD), the first-path reference signal received power (RSRP), the non-first-path delay, the non-first-path AOA, the non-first-path AOD, or the non-first-path RSRP.

[0054] In combination with the sixth aspect, in a possible implementation, the processing unit is further configured to determine the first sensing measurement information according to the positioning measurement information and the original sensing measurement information.

[0055] In combination with the sixth aspect, in a possible implementation, the original sensing measurement information includes one or more of the non-first-path delay of the target reference signal, the non-first-path AOA, the non-first-path AOD, or the non-first-path RSRP.

[0056] In a seventh aspect, the present application provides a computer program product, which includes instructions that, when running on a computer, cause the computer to execute the method described in any one of the first aspect or any possible implementation of the first aspect, or execute the method described in any one of the second aspect or any possible implementation of the second aspect, or execute the method described in any one of the third aspect or any possible implementation of the third aspect.

[0057] In an eighth aspect, the present application provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed, it executes the method described in any one of the first aspect or any possible implementation of the first aspect, the second aspect or any possible implementation of the second aspect, or the third aspect or any possible implementation of the third aspect.

[0058] In a ninth aspect, the present application provides a communication device, including at least one processor and a memory. The memory is used to store a computer program. The processor is configured to execute the computer program stored in the memory, so that the communication device executes the method described in any one of the first aspect or any possible implementation of the first aspect, the second aspect or any possible implementation of the second aspect, or the third aspect or any possible implementation of the third aspect.

[0059] Tenth aspect, the present application provides a chip, which at least includes a processor. The processor is configured to execute computer-executable instructions to cause a device installed with the chip to execute the method described in any one of the first aspect or any possible implementation manner of the first aspect, the second aspect or any possible implementation manner of the second aspect, and the third aspect or any possible implementation manner of the third aspect.

[0060] In combination with the tenth aspect, in a possible implementation manner, the chip may further include an interface circuit. The interface circuit is configured to receive computer-executable instructions and transmit them to the processor.

[0061] In combination with the eleventh aspect, the present application provides a communication system. The communication system at least includes a first device, a second device, and a sensing device. The first device is configured to execute the communication method provided in the first aspect above or any possible implementation manner of the first aspect. The second device is configured to execute the communication method provided in the second aspect above or any possible implementation manner of the second aspect. The sensing device is configured to execute the communication method provided in the third aspect above or any possible implementation manner of the third aspect.

[0062] Twelfth aspect, the present application provides a communication system, which at least includes a first device and a second device. The first device is configured to execute the communication method provided in the first aspect above or any possible implementation manner of the first aspect. The second device is configured to execute the communication method provided in the second aspect above or any possible implementation manner of the second aspect.

[0063] In summary, the communication method provided by the present application can obtain appropriate and accurate location information of the terminal device, improve the accuracy of the sensing result, and improve the sensing accuracy of the sensing technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 is a schematic structural diagram of a communication system provided by the present application;

[0065] Figure 2 is a schematic structural diagram of another communication system provided by an embodiment of the present application;

[0066] Figure 3 is a schematic structural diagram of another communication system provided by an embodiment of the present application;

[0067] Figure 4 is a schematic flowchart of a communication method provided by an embodiment of the present application;

[0068] Figure 5 is another schematic flowchart of a communication method provided by an embodiment of the present application;

[0069] Figure 6 It is another flowchart of a communication method provided by an embodiment of the present application;

[0070] Figure 7 It is a flowchart of another communication method provided by an embodiment of the present application;

[0071] Figure 8 It is another flowchart of another communication method provided by an embodiment of the present application;

[0072] Figure 9 It is a flowchart of another communication method provided by an embodiment of the present application;

[0073] Figure 10 It is a flowchart of another communication method provided by an embodiment of the present application;

[0074] Figure 11 It is a flowchart of another communication method provided by an embodiment of the present application;

[0075] Figure 12 It is a flowchart of another communication method provided by an embodiment of the present application;

[0076] Figure 13 It is a flowchart of another communication method provided by an embodiment of the present application;

[0077] Figure 14 It is a schematic structural diagram of a communication device provided by an embodiment of the present application;

[0078] Figure 15 It is a schematic structural diagram of another communication device provided by the present application. Detailed implementation manners

[0079] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings provided by the embodiments of the present application.

[0080] 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 three relationships may exist. For example, A and / or B may indicate: A exists alone, A and B exist simultaneously, and B exists alone, where A and B may be singular or plural. In the text description of the present application, the character " / " generally represents an "or" relationship between the associated objects before and after; in the formula 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" may indicate: including A; including B; including C; including A and B; including A and C; including B and C; including A, B, and C.

[0081] The technical solutions provided in the embodiments of the present application can be applied to various communication systems, such as: Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD), Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) communication systems, 5th generation (5G) systems or New Radio (NR). In addition, it can also be applicable to subsequent evolved systems, such as 6th generation 6G communication systems, or even more advanced 7th generation 7G communication systems, etc.

[0082] The system architecture applied in the embodiments of the present application will be introduced below. It should be noted that the system architecture and service scenarios described in the present application are for more clearly explaining the technical solutions of the present application, and do not constitute a limitation on the technical solutions provided by the present application. Those of ordinary skill in the art can know that with the evolution of the system architecture and the emergence of new service scenarios, the technical solutions provided by the present application are equally applicable to similar technical problems.

[0083] Please refer to Figure 1 , Figure 1 which is a schematic structural diagram of a communication system provided by the present application. As Figure 1 shown, the communication system 10 may include a first device and a second device. The first device and the second device cooperate with each other and can be used to implement the communication method provided by the present application. Among them:

[0084] The first device can be used to obtain information such as the position and speed of the perceived object or target through its sensing ability. Or rather, the first device is a device, network element or functional entity that provides sensing functions. It should be understood that among them, a network element can also be referred to as an entity, device, device or module, etc., and the present application does not make specific limitations in this regard. In some possible implementations, the first device can be an SF network element in a 5G network architecture. It should be understood that in future communication systems, the first device can still be an SF network element, or the first device can also be other network elements with sensing functions, or the first device can also have other names, and the present application does not make restrictions in this regard. It should be understood that the present application does not limit the specific type of the first device.

[0085] The second device can be used to initiate a positioning process and obtain relevant information such as the location, speed, and acceleration of the terminal device, and return this information to relevant devices or network elements, which can be specific devices, network elements, or functional entities. Or rather, the second device is a device, network element, or functional entity that can provide a positioning function for the terminal device. It should be understood that among them, a network element can also be referred to as an entity, device, apparatus, or module, etc., and the present application does not make specific limitations in this regard. In some possible implementations, the second device can be an LMF network element in a 5G network architecture. It should be understood that in future communication systems, the second device can still be an LMF network element, or the second device can also be other network elements, or the second device can also have other names, and the present application does not make restrictions in this regard. It should be understood that the present application does not limit the specific type of the second device.

[0086] In some feasible implementation manners, please refer to Figure 2 , Figure 2 which is a schematic structural diagram of another communication system provided by an embodiment of the present application. As Figure 2 shown, the communication system 10 may further include a sensing device. The sensing device can cooperate with the first device and the second device to implement the communication method provided by the present application.

[0087] The sensing device is a device, equipment, or functional entity with sensing and computing capabilities. In some possible implementations, the sensing device can be a terminal device or a network device participating in the sensing process. It should be understood that in future communication systems, the sensing device can still be a terminal device or a network device, or the sensing device can also be other devices with sensing and computing capabilities, or the sensing device can also have other names, and the present application does not make specific limitations in this regard. It should be understood that the present application does not make specific limitations on the specific type of the sensing device.

[0088] Among them, the terminal device can also be referred to as: user equipment (UE), mobile station (MS), mobile terminal (MT), access terminal, user unit, user station, mobile station, mobile platform, remote station, remote terminal, mobile terminal, user terminal, terminal, wireless communication device, user agent or user device, etc. The terminal device can be a device that provides voice / data connectivity to users. For example, it can be a handheld device or a vehicle-mounted device with wireless connection capabilities. Currently, some examples of terminals are: mobile phone, tablet computer, laptop computer, palmtop computer, mobile internet device (MID), wearable device, virtual reality (VR) device, augmented reality (AR) device, wireless terminal in industrial control, wireless terminal in self-driving, wireless terminal in remote medical surgery, wireless terminal in smart grid, wireless terminal in transportation safety, wireless terminal in smart city, wireless terminal in smart home, cellular phone, cordless phone, session initiation protocol (SIP) phone, wireless local loop (WLL) station, personal digital assistant (PDA), handheld device with wireless communication function, computing device or other processing device connected to a wireless modem, vehicle-mounted device, wearable device, terminal device in a 5G network or terminal device in a future evolved public land mobile network (PLMN). The embodiments of the present application are not limited thereto.

[0089] The network device can be a device capable of providing wireless communication functions for terminal devices. For example, the network device can be an evolved Node B (eNB), a baseband unit (BBU), an Open Radio Access Network (ORAN), an access point (AP) in a Wireless Local Area Network (WLAN), a wireless relay node, a wireless backhaul node, a transmission point (TP), or a transmission reception point (TRP), etc. The network device can also be a gNB (the next generation node B, the next generation base station), a TRP, a TP in a 5G system, or one or a group (including multiple antenna panels) of antenna panels of a base station in a 5G system. In addition, the network device can also form a network node of a gNB or a TP, such as a BBU, or a distributed unit (DU), etc. Alternatively, the network device can also be a device that undertakes network-side functions in a device-to-device (D2D) communication system, a machine-to-machine (M2M) communication system, an Internet of Things (IoT), a vehicle-to-everything communication system, or other communication systems. The embodiments of the present application are not limited thereto.

[0090] In some feasible implementation manners, please refer to Figure 3 , Figure 3 which is a schematic structural diagram of another communication system provided by the embodiments of the present application. As Figure 3 shown, the communication system 10 may further include a third device. The third device can cooperate with the first device, the second device, and the sensing device to implement the communication method provided by the embodiments of the present application.

[0091] The third device can be used for mobility management and access management to implement other functions of the mobility management entity (MME) function except session management, for example, functions such as lawful interception and access authorization / authentication. Or rather, the third device is a device, network element or functional entity that provides access and mobility management functions. It should be understood that in future communication systems, the third device can be an access and mobility management function (AMF) network element in a 5G network architecture. It should be understood that in future communication systems, the third device can still be an AMF network element, or the third device can also be other network elements, or the third device can have other names, and this application does not make any restrictions in this regard. It should be understood that this application does not limit the specific type of the third device.

[0092] Optionally, the core network (CN) in the communication system 10 may include the above-mentioned first device, second device, and third device. That is to say, the core network devices may include the above-mentioned first device, second device, and third device. The devices in the core network can communicate with the terminal device through network devices. Among them, the core network devices can also be called core network network elements, which are network elements deployed in the core network, for example, core network control plane network elements or core network user plane network elements.

[0093] It should be understood that in actual deployment or future communication systems, several of the above-mentioned core network devices can be co-located, or the functions of one core network device can be jointly implemented by several devices. When the core network device is co-located by several devices, the interaction between these several devices involved in this application can be internal operations or can be omitted.

[0094] To facilitate the understanding of the solution of this application, some nouns or terms involved in this application are described below.

[0095] 1. Positioning technology

[0096] Positioning technology is a technology that obtains information such as the position and speed of an object to be located through the signals received and sent by the object itself.

[0097] It mainly adopts an architecture with core network element control, access network device, and terminal device assistance. Taking the downlink positioning process as an example, the core network element mainly performs the following operations: (1) Interact with the access network device for cell information, such as obtaining the configuration information of the positioning reference signal (PRS), sounding reference signal (SRS), cell timing information, cell location information, etc. (2) Complete the transfer of terminal device capability information, auxiliary information, measurement information, etc. with the terminal device. (3) Complete the transfer of measurement information with the access network device. Correspondingly, the terminal device and the access network device assist the core network element to complete the above operations. In actual implementation, the core network element can determine information such as the location and speed of the terminal device based on cell information, the measurement reports of the terminal device on the downlink signals of each cell, and the measurement reports of each cell on the uplink signals of the terminal device.

[0098] It should be noted that the positioning process can be initiated by the terminal device or the core network element, or indirectly initiated by the gateway mobile location center (GMLC). This application does not make specific restrictions on this. The core network element can specifically be an LMF network element.

[0099] Exemplarily, the positioning process can be as follows:

[0100] S1, The location service client sends a location service request to the AMF. Specifically, when the location service request is initiated by the client, the location service request is sent to the GMLC, and the GMLC sends the location service request to the AMF. Among them, the location service client can be a UE.

[0101] S2, The AMF initiates a location service request. For example, the network side needs to initiate an emergency call to the UE. When the AMF initiates the positioning, it directly proceeds to the next step.

[0102] S3, The UE sends a location service request to the AMF. Specifically, the UE can request location service from the AMF through non-access stratum (NAS) signaling.

[0103] S4, The AMF sends a location service request to the LMF.

[0104] S5, Interact with the gNB where the UE is located for relevant positioning processes. Specifically, if the LMF determines that the gNB needs to participate in this positioning process, it will interact with the serving gNB where the target UE is located for relevant positioning processes to obtain positioning measurement quantities or auxiliary data.

[0105] S6: Interact with the UE in the relevant positioning process. Specifically, if the LMF determines that the UE needs to participate in this positioning process, it interacts with the UE in the relevant positioning process through NAS messages, such as obtaining location information, acquiring positioning measurement quantities or auxiliary data, etc.

[0106] S7: The LMF returns a location service response to the AMF. Among them, the location service response includes the positioning result.

[0107] S8: The AMF sends the location service response to the location service client. Specifically, if the location service request is initiated by the location service client, the AMF passes the positioning result to the GMLC, and the GMLC then sends the location information to the service client that initiated the location request.

[0108] S9: The AMF obtains the location service response. Specifically, if the location request is initiated by the AMF, the AMF provides the positioning data to the service that requests positioning in the AMF.

[0109] S10: The AMF sends the location service response to the UE. Specifically, if the location request is initiated by the UE, the AMF returns the positioning result to the UE.

[0110] In this application, the positioning technology mainly refers to the positioning technologies provided by LTE and the 3rd generation partnership project (3GPP). Among them, the 3GPP protocol defines a variety of positioning technologies, including cell ID positioning supported by LTE, enhanced cell identity (E-CID) positioning, assisted global positioning system (A-GPS) positioning, and observed time difference of arrival (OTDOA) positioning technology. 5G has introduced some new positioning technologies, such as NR ECID positioning, uplink time difference of arrival (UL-TDOA) positioning, downlink time difference of arrival (DL-TDOA) positioning, signal strength-based positioning, uplink angle of arrival (UL-AoA), downlink angle of arrival (DL-AoA), multi-round trip time (Multi-RTT), and other positioning technologies.

[0111] For example, the time difference of arrival (TDOA) positioning principle determines the position of the terminal device based on the intersection of two hyperbolas. Based on the propagation speed of electromagnetic waves and the time difference of arrival between each pair of transmit and receive points (TRPs) and the terminal device, the distance difference between each pair of TRPs can be obtained. Then, the terminal device must be located on a hyperbola with two TRPs as the foci and a fixed value for the distance difference from the two foci. The distance differences between two sets of TRPs and the terminal device can yield two sets of hyperbolas, and the position, velocity, and other information of the user equipment (UE) can be determined based on the intersection of these two sets of hyperbolas. Specifically, for UL-TDOA positioning, the terminal device sends an uplink sounding reference signal (SRS), multiple TRPs receive the uplink SRS sent by the terminal device, and send the time of arrival (TOA) of the SRS to the location management function (LMF). The LMF calculates the position, velocity, and other information of the terminal device through geometric calculation based on the TDOA between each pair of TRPs and the known positions of the TRPs. For DL-TDOA positioning, the TRP sends a positioning reference signal (PRS) to the terminal device. The terminal device performs downlink reference signal time difference (RSTD) measurements on the PRS sent by each TRP, and then reports the measurement results of the DL RSTD to the LMF. The LMF uses the known positions of the TRPs and the RSTD measurement results to calculate the specific position, velocity, and other information of the terminal device.

[0112] It should be understood that the positioning technology involved in this application includes but is not limited to the positioning technologies described above. As is known to those of ordinary skill in the art, with the evolution of the system architecture and communication technology, newly emerging similar positioning technologies can also be regarded as a kind of the positioning technology provided in this application.

[0113] 2. Sensing technology

[0114] Sensing technology is a technology that obtains information such as the position and velocity of a target to be sensed through the signals reflected by the target. In the core network part of the communication system, there is an SF network element, which can use network devices and terminal devices to send sensing measurement signals and receive the sensing measurement signals reflected by the object to be sensed, and then determine information such as the position, velocity, and shape of the object to be sensed based on the signal parameters of the sent sensing measurement signals and the received sensing measurement signals reflected by the object to be sensed. For example, the SF network element can send sensing measurement signals through a base station, and then receive the sensing measurement signals reflected by a car driving on the road through the base station, and obtain information such as the position and moving speed of the car based on the sent and reflected sensing measurement signals. It should be understood that this application places no restrictions on the specific implementation process of the sensing technology. Existing sensing technologies and those evolved in the future can both be regarded as a kind of the sensing technology provided in this application.

[0115] 3. First path and non-first path

[0116] The first path can also be referred to as the line of sight (LOS) path, that is, the path along which the signal can directly propagate from the first device to the second device without obstacles. Generally speaking, the LOS path is the path with the shortest time delay between the two devices.

[0117] The non-first path can also be referred to as the non-line of sight (NLOS) path, that is, the path along which the signal propagates from the first device to the second device after multiple reflections, scatterings, and diffractions in the presence of obstacles.

[0118] An exemplary description of the process of determining the LOS path is as follows. After receiving the reference signal, device A can determine multiple paths, and for each path, the corresponding propagation delay, AOA, and AOD. The propagation delay corresponding to a path can refer to the absolute propagation delay, that is, the time interval between the moment when device B sends the reference signal and the moment when device A receives the reference signal through this path, or the propagation delay can also be a relative propagation delay. For example, the relative propagation delay is the delay of the reception moment of this path relative to the start time domain position or the end time domain position of the time unit or time sub-unit where the reference signal is located. Since the LOS path is generally the path with the shortest time delay between the two devices, device A can determine the path with the earliest AOA among the multiple paths as the LOS path.

[0119] Existing sensing technologies usually need to rely on the position of the terminal device to perform sensing calculations to obtain sensing results. Therefore, if the terminal device is in a moving state during the sensing process, that is, its position is not fixed, it will lead to inaccurate sensing results and low sensing accuracy of the sensing technology. Therefore, the technical problem to be solved by this application is: how to improve the sensing accuracy of the sensing technology.

[0120] Combined with the above content, an exemplary introduction to the communication method of the embodiments of this application is as follows.

[0121] Please refer to Figure 4 , Figure 4 which is a schematic flowchart of a communication method provided by an embodiment of this application. This method is applicable to the communication system 10 shown above. As Figure 1 shown, this communication method may include the following steps: Figure 4 shown, this communication method may include the following steps:

[0122] S401, the first device sends a first message to the second device. Correspondingly, the second device receives the first message.

[0123] In some feasible implementation manners, the first device may generate and send a first message to the second device. The first message may include the identification information of the terminal device. It should be understood that the terminal device is a terminal device that has participated in the sensing process, or in other words, the terminal device is a terminal device with sensing requirements.

[0124] It should be noted that in the embodiments of the present application, there may be one or more terminal devices participating in the sensing. Correspondingly, in the case where there are multiple terminal devices participating in the sensing, the identification information of the above terminal device may include a list of identifications of the terminal devices. Specifically, the list of identifications of the terminal device may include the identification information of each terminal device among the multiple terminal devices participating in the sensing. Here, different terminal devices may correspond to different identification information. For the communication method provided in the present application, whether there is one or multiple terminal devices, the execution process is similar. To avoid redundancy, the present application takes the scenario where a single terminal device participates in the sensing as an example for description.

[0125] In a feasible implementation manner, the first device may first determine the terminal device participating in the sensing. Further, the first device may generate a first message according to the identification information corresponding to the determined terminal device, and send the first message to the second device.

[0126] Alternatively, a network device that has participated in the sensing process (for the sake of avoiding redundancy, hereinafter simply referred to as the network device) may first determine the above terminal device participating in the sensing process, and send the identification information of the terminal device to the first device. After receiving the identification information of the terminal device sent by the above network device, the first device may generate a first message according to the identification information of the terminal device, and send the first message to the second device.

[0127] In a feasible implementation manner, the first message may further include indication information for indicating a target time period. That is to say, the indication information included in the first message may be used to indicate a time range.

[0128] Optionally, the above indication information may include a target moment and a time offset. The target moment and the time offset may be used to determine the above target time period. For example, assuming that the target moment included in the indication information is 10:00 and the time offset is 10 minutes, the target time period can be determined to be 9:50 - 10:10 according to the target moment and the time offset.

[0129] Optionally, the above target moment may be determined by the acquisition moment of the second sensing measurement information. The second sensing measurement information may be used by the first device to determine the sensing result.

[0130] Optionally, the above time offset can be a time experience value preset by the second device. For example, the time offset can be 10 minutes, and the embodiments of the present application do not make specific limitations on this.

[0131] It should be noted that the second sensing measurement information can be obtained by the terminal device or the network device through sensing technology, or rather, the second sensing measurement information can be measured by the terminal device or the network device based on the received sensing reference signal. Among them, the sensing reference signal can be sent by the terminal device and received by the network device, or can be sent by the network device and received by the terminal device.

[0132] Optionally, the second sensing measurement information may include one or more of the non-first-path delay, non-first-path AOA, non-first-path AOD, non-first-path RSRP, point cloud, Doppler velocity spectrum, distance spectrum, or angle spectrum of the sensing reference signal.

[0133] Optionally, the sensing reference signal for measuring the above second sensing measurement information may include a sounding reference signal (SRS), a positioning reference signal (PRS), or a channel state information reference signal (CSI-RS), etc. The embodiments of the present application do not limit the specific implementation of the sensing reference signal.

[0134] It should be noted that in the scenario where the sensing reference signal is sent by the terminal device and received by the network device, the second sensing measurement information may include one or more of the non-first-path delay, non-first-path AOA, non-first-path RSRP, point cloud, Doppler velocity spectrum, distance spectrum, or angle spectrum of the sensing reference signal. The sensing reference signal may include SRS.

[0135] In the scenario where the sensing reference signal is sent by the network device and received by the terminal device, the second sensing measurement information may include one or more of the non-first-path delay, non-first-path AOD, non-first-path RSRP, point cloud, Doppler velocity spectrum, distance spectrum, or angle spectrum of the sensing reference signal. The sensing reference signal may include PRS or CSI-RS.

[0136] Correspondingly, the second device may receive the first message and obtain the content included in the first message.

[0137] S402, the second device sends a second message to the first device. Correspondingly, the first device receives the second message.

[0138] In some possible implementations, after receiving the first message, the second device may generate a second message according to the content of the first message. The second message may include positioning measurement information of the terminal device and / or first sensing measurement information associated with the terminal device, and the positioning measurement information and / or the first sensing measurement information may be used by the first device to determine a sensing result.

[0139] In a first alternative implementation, in a scenario where the first message includes the indication information described above for indicating a target time period, the second message may include positioning measurement information. Optionally, in this case, the positioning measurement information may include target location information of the terminal device. It can be seen that in this case, the first message is used to request the target location information of the terminal device. At this time, the first message may also be referred to as a terminal device location information request message, and the request message includes the identification information of the terminal device and the indication information for indicating the target time period.

[0140] In a specific implementation, after the second device receives the above first message, the second device may first determine the target time period according to the indication information, then obtain the location information of the terminal device within the target time period, and determine it as the above target location information. Further, the second device may generate a second message according to the target location information and send it to the first device.

[0141] Optionally, in a case where the indication information includes a target time and a time offset, the second device may first determine the above target time period according to the target time and the time offset.

[0142] Exemplarily, assume that the target time included in the indication information is 10:00 and the time offset is 10 minutes. After receiving the first message containing the indication information, the second device may determine that the target time period is 9:50 - 10:10. Then, the second device may obtain the location information of the terminal device within the target time period of 9:50 - 10:10 and determine it as the above target location information. Further, the second device may generate a second message according to the target location information and send it to the first device.

[0143] In the above implementation, the second device can receive the first message from the first device, determine the location information of the terminal device within the target time period according to the indication information included in the first message, and report it to the first device, which can reduce the data reporting volume of the second device. Moreover, the location information of the terminal device reported by the second device can be determined based on the acquisition time of the second sensing measurement information. That is to say, the time corresponding to the location information of the terminal device required for the first device to perform sensing calculation is the same as the time corresponding to the location information of the terminal device determined by the second device, which is equivalent to obtaining the location information of the terminal device in real time. Therefore, the location information of the terminal device obtained by the first device is more accurate, and thus the sensing result obtained by its sensing calculation is also more precise, which can improve the sensing accuracy.

[0144] In a second possible implementation manner, in a scenario where the first message does not include the indication information for indicating the target time period described above, the second message may include positioning measurement information, first sensing measurement information, and first time identification information. That is to say, the first device can obtain the positioning measurement information, first sensing measurement information, and first time identification information through interaction with the second device.

[0145] Among them, the positioning measurement information may include the target location information of the terminal device. Similar to the first possible implementation manner, in this case, the first message is used to request the second device to perform positioning on the terminal device participating in sensing to obtain the target location information of the terminal device. At this time, the first message can also be referred to as a positioning service request message. The difference is that the request message includes the identification information of the terminal device and does not include the indication information for indicating the target time period.

[0146] The first time identification information can be used to indicate the acquisition time of the first sensing measurement information. It can be understood that since the first sensing measurement information can be measured based on the target reference signal, that is to say, the reception time of the target reference signal and the acquisition time of the first sensing measurement information can be the same. Therefore, the first time identification information can also be used to indicate the reception time of the target reference signal.

[0147] Optionally, the second message may further include second time identification information. Among them, the second time identification information can be used to indicate the acquisition time of the positioning measurement information. It can be understood that since the above positioning measurement information can be determined based on the sensing measurement information measured based on the target reference signal, that is to say, the reception time of the target reference signal and the acquisition time of the target location information can be the same. Therefore, the second time identification information can also be used to indicate the reception time of the target reference signal.

[0148] It should be understood that the first device may receive multiple second messages sent by the second device. That is to say, the first device can obtain multiple positioning measurement information and multiple sensing measurement information, and the second time identification information corresponding to the multiple positioning measurement information and the first time identification information corresponding to the multiple sensing measurement information respectively. Further, the first device can determine the first sensing measurement information and the positioning measurement information with the same acquisition time according to the acquisition time of the first sensing measurement information corresponding to the first time identification information and the acquisition time of the positioning measurement information corresponding to the second time identification information, and then determine the sensing result.

[0149] That is to say, when the first device performs sensing calculation, the time corresponding to the position information of the terminal device needed is the same as the time when the second device determines the position information of the terminal device. In this way, it is equivalent to obtaining the position information of the terminal device in real time. Furthermore, the sensing result obtained by the first device through sensing calculation is more accurate, improving the sensing accuracy of the sensing technology.

[0150] It should be noted that the first sensing measurement information can be obtained by the terminal device or the network device through sensing technology. Or rather, the first sensing measurement information can be measured by the terminal device or the network device based on the received target reference signal. Among them, the target reference signal can be sent by the terminal device to the network device for measuring the first sensing measurement information, and the target reference signal can also be sent by the network device to the terminal device for measuring the first sensing measurement information.

[0151] It should be understood that in the existing positioning technology, the terminal device or the network device can send a target reference signal for positioning to obtain the position information of the terminal device. It should be supplemented that the target reference signal can also be used for sensing to obtain its sensing measurement information. Specifically, the first-path measurement quantity of the target reference signal (which can include time delay, AOA, RSRP, etc., and can also be called sensing measurement information) can be used to obtain the position information through the positioning technology, while the non-first-path measurement quantity of the target reference signal (which can include time delay, AOA, RSRP, etc., and can also be called sensing measurement information) can be used to obtain the sensing result through the sensing technology.

[0152] Optionally, in this scenario, the first sensing measurement information may include one or more of the non-first-path time delay, non-first-path AOA, non-first-path AOD, and non-first-path RSRP of the target reference signal.

[0153] Optionally, the target reference signal may include SRS, PRS, or CSI-RS, etc. The embodiments of the present application do not specifically limit the type of the target reference signal.

[0154] It should be understood that in a scenario where the target reference signal is sent by the terminal device and received by the network device, the first sensing measurement information may include one or more of the non-first-path delay, non-first-path AOA, and non-first-path RSRP of the target reference signal. The target reference signal may include SRS.

[0155] In a scenario where the target reference signal is sent by the network device and received by the terminal device, the first sensing measurement information may include one or more of the non-first-path delay, non-first-path AOD, and non-first-path RSRP of the target reference signal. The target reference signal may include PRS or CSI-RS.

[0156] It should be noted that the above content describes a way for the first device to obtain the sensing measurement information, that is, the first device interacts with the second device to obtain the sensing measurement information measured by the network device or the terminal device (i.e., the sensing device shown above) for sensing calculation. It should be understood that the second device can also obtain the sensing measurement information measured by the sensing device through other means, and this application does not specifically limit the way for the second device to obtain the sensing measurement information. Another way for the first device to obtain the sensing measurement information is introduced below, that is, the first device can directly interact with the sensing device to obtain the sensing measurement information measured by the sensing device for sensing calculation. Figure 2 In a third feasible implementation manner, in a scenario where the first message does not include the indication information for indicating the target time period described above, the second message may include positioning measurement information and second time identification information. The positioning measurement information may include the target location information of the terminal device, and the second time identification information may be used to indicate the acquisition time of the above target location information. Optionally, since the above positioning measurement information can be determined based on the sensing measurement information measured by the target reference signal, that is, the reception time of the target reference signal and the acquisition time of the target location information can be the same, therefore, the second time identification information can also be used to indicate the reception time of the target reference signal.

[0157] In this case, the first device may also receive a fourth message sent by the sensing device, that is, the sensing device may send a fourth message to the first device. The fourth message may include third sensing measurement information and third time identification information for indicating the acquisition time of the third sensing measurement information.

[0158]

[0159] ​Specifically, the sensing device can generate a fourth message based on the obtained third sensing measurement information and the acquisition time of the third sensing measurement information, and send the fourth message to the first device. That is to say, when the first device receives the second message containing the positioning measurement information, the first device can also receive the fourth message from the sensing device to obtain the third sensing measurement information and the third time identification information through the fourth message. In other words, when the first device obtains the positioning measurement information by interacting with the second device, the first device can also obtain the sensing measurement information by interacting with the sensing device for sensing calculation.

[0160] It can be understood that since the above-mentioned third sensing measurement information can be measured based on the target reference signal, that is to say, the reception time of the target reference signal and the acquisition time of the third sensing measurement information can be the same, therefore, the third time identification information can also be used to indicate the reception time of the target reference signal.

[0161] Optionally, the sensing device can perform sensing measurement based on the target reference signal to obtain the third sensing measurement information. At the same time, the sensing device can determine the third time identification information based on the reception time of the target reference signal (or the acquisition time of the third sensing measurement information).

[0162] It should be understood that the first device can receive multiple second messages sent by the second device, and the first device can receive multiple fourth messages sent by the sensing device. That is to say, the first device can obtain multiple positioning measurement information and multiple third sensing measurement information, and the second time identification information corresponding to the multiple positioning measurement information and the third time identification information corresponding to the multiple third sensing measurement information. Further, the first device can determine the third sensing measurement information and the positioning measurement information with the same acquisition time according to the acquisition time of the positioning measurement information corresponding to the second time identification information and the acquisition time of the third sensing measurement information corresponding to the third time identification information, so as to determine the sensing result through the sensing technology.

[0163] That is to say, the time when the position information of the terminal device required by the first device for sensing calculation is the same as the time when the second device determines the position information of the terminal device. In this way, it is equivalent to obtaining the position information of the terminal device in real time, and then the sensing result obtained by the first device through sensing calculation is more accurate, improving the sensing accuracy of the sensing technology.

[0164] Optionally, the third sensing measurement information may include one or more of the non-first-path delay, non-first-path AOA, non-first-path AOD, and non-first-path RSRP of the target reference signal.

[0165] Optionally, the target reference signal may include SRS, PRS, CSI-RS, etc., and the embodiments of the present application do not limit the specific implementation of the target reference signal.

[0166] It should be understood that in the scenario where the target reference signal is sent by the terminal device and received by the network device, the third sensing measurement information may include one or more of the non-first-path delay, non-first-path AOA, and non-first-path RSRP of the target reference signal. The target reference signal may include SRS.

[0167] In the scenario where the target reference signal is sent by the network device and received by the terminal device, the third sensing measurement information may include one or more of the non-first-path delay, non-first-path AOD, and non-first-path RSRP of the target reference signal. The target reference signal may include PRS or CSI-RS.

[0168] In the above implementation, the sensing device can directly report the sensing measurement information and time identification information obtained based on the target reference signal to the first device, without the second device reporting the sensing measurement information, positioning measurement information, and time identification information to the first device at the same time after obtaining the sensing measurement information reported by the sensing device. That is to say, the second device only needs to report the positioning measurement information and time identification information to the first device. Therefore, the data reporting volume of the second device is reduced, and the data transmission efficiency is improved.

[0169] In the fourth feasible implementation manner, in the scenario where the first message does not include the indication information for indicating the target time period described above, the second message may include the first sensing measurement information. It should be noted that the first sensing measurement information can be obtained by the sensing device through sensing technology. Optionally, the first sensing measurement information can be determined by the sensing device through sensing technology according to the non-first-path delay, non-first-path AOA, non-first-path RSRP of the target reference signal, and the location information of the terminal device.

[0170] Optionally, the first sensing measurement information may include one or more of the point cloud, Doppler velocity spectrum, distance spectrum, or angle spectrum of the target reference signal.

[0171] In the embodiments of the present application, the first device can interact with the second device to obtain appropriate and more accurate positioning measurement information and / or sensing measurement information. The first device can then perform sensing calculations by combining the content it obtains to obtain a more accurate sensing result, thereby improving the sensing accuracy of the sensing technology.

[0172] In some feasible implementation manners, please refer to Figure 5 , Figure 5 is another flowchart of a communication method provided by the embodiments of the present application. This method is applicable to the foregoing Figure 1The communication system shown. As Figure 5 shown, in combination with Figure 4 the steps of the method shown, the communication method may further include the following steps:

[0173] S403, the first device determines a perception result according to positioning measurement information and / or first perception measurement information.

[0174] In some feasible implementation manners, after the first device receives a second message from the second device, the first device may determine a perception result through perception technology according to the positioning measurement information and / or first perception measurement information included in the second message.

[0175] In a scenario where the second message includes positioning measurement information, the first device may further obtain original perception measurement information sent by a terminal device or a network device. Further, the first device may obtain a perception result according to the positioning measurement information and the original perception measurement information through an object detection algorithm such as clustering.

[0176] In a scenario where the second message includes positioning measurement information and first perception measurement information, the first device may perform Fourier transform and / or threshold detection according to the positioning measurement information and the first perception measurement information, and further obtain a perception result through an object detection algorithm such as clustering.

[0177] In a scenario where the second message includes first perception measurement information, the first device may obtain a perception result through an object detection algorithm such as clustering.

[0178] In some feasible implementation manners, please refer to Figure 6 , Figure 6 which is another flowchart of a communication method provided by an embodiment of the present application. This method is applicable to the communication system 10 shown above. It should be understood that step S404 should be executed before step S401, and step S405 should be executed after step S403. As Figure 1 shown, the communication method may further include the following steps: Figure 6 shown, the communication method may further include the following steps:

[0179] S404, the terminal device sends a fifth message to the first device. Correspondingly, the first device receives the fifth message.

[0180] In some feasible implementation manners, in a case where the terminal device has a perception requirement, the terminal device may generate a fifth message and send the fifth message to the first device. Among them, the fifth message may be used to request the first device to perform a perception service.

[0181] Optionally, the terminal device may first send the generated fifth message to a fourth device, and then the fourth device sends the fifth message to the first device. That is to say, the fourth device may forward the fifth message generated by the terminal device.

[0182] S405. The first device sends a sixth message to the terminal device. Correspondingly, the terminal device receives the sixth message.

[0183] In some possible implementation manners, after the first device determines a sensing result based on positioning measurement information and / or first sensing measurement information, the first device may generate a sixth message according to the sensing result and send the sixth message to the terminal device.

[0184] In some possible scenarios, other third-party entities with sensing requirements may also send the above-mentioned fifth message to the first device. Correspondingly, after the first device receives the fifth message and determines the sensing result through sensing technology, the first device may then send the sensing result to the third-party entity. It should be noted that the third-party entity with sensing requirements may communicate directly with the network functions in the mobile communication network where the first device and the second device are located, and cooperate with the first device and the second device to implement the communication method provided in this application. In some possible implementations, the third-party entity may be an application server loaded with a positioning client (i.e., client). It should be understood that this application does not limit the specific type of the third-party entity.

[0185] Please refer to Figure 7 , Figure 7 which is a schematic flowchart of another communication method provided by an embodiment of this application. This method may be applicable to the communication system 10 shown above. As Figure 2 shown, this communication method may further include the following steps: Figure 7 shown, this communication method may further include the following steps:

[0186] S701. The first device sends a first message to the second device. Correspondingly, the second device receives the first message.

[0187] Among them, the specific process of the first device sending the first message to the second device may refer to the specific process described in step S401 above, and will not be elaborated here.

[0188] S702. The sensing device sends fourth sensing measurement information to the second device. Correspondingly, the second device receives the fourth sensing measurement information.

[0189] In some possible implementation manners, after the sensing device receives the target reference signal, the sensing device may measure the fourth sensing measurement information based on the target reference signal and send the fourth sensing measurement information to the second device. Among them, the target reference signal may be sent by the terminal device and received by the network device, or sent by the network device and received by the terminal device.

[0190] In some feasible implementation manners, the fourth sensing measurement information may include one or more of the first-path delay, first-path AOA, first-path AOD, first-path RSRP, non-first-path delay, non-first-path AOA, non-first-path AOD, or non-first-path RSRP of the target reference signal.

[0191] Optionally, the target reference signal may include SRS, PRS, CSI-RS, etc., and the embodiments of the present application do not limit the specific implementation of the target reference signal.

[0192] It should be understood that in the scenario where the target reference signal is sent by the terminal device and received by the network device, the fourth sensing measurement information may include one or more of the first-path delay, first-path AOA, first-path RSRP, non-first-path delay, non-first-path AOA, or non-first-path RSRP of the target reference signal. The target reference signal may include SRS.

[0193] Exemplarily, assuming that the target reference signal is SRS, in the scenario where the target reference signal is sent by the terminal device and received by the network device, after receiving the SRS, the sensing device may measure the fourth sensing measurement information such as the RSRP, AOA, and path delay of the SRS, such as the first-path AOA and first-path delay.

[0194] In the scenario where the target reference signal is sent by the network device and received by the terminal device, the fourth sensing measurement information may include one or more of the first-path delay, first-path AOD, first-path RSRP, non-first-path delay, non-first-path AOD, or non-first-path RSRP of the target reference signal. The target reference signal may include PRS or CSI-RS.

[0195] Exemplarily, assuming that the target reference signal is PRS, in the scenario where the target reference signal is sent by the network device and received by the terminal device, after receiving the PRS, the non-first-path measurement quantities measured by the sensing device based on the PRS include RSRP. Further, the sensing device may calculate the AOD of the PRS based on the RSRP. Additionally, in this scenario, in order to implement the sensing function, the sensing device may also perform measurements based on the target reference signal to obtain the path delay, such as the non-first-path delay. It should be understood that the path delay may correspond one-to-one to the AOD.

[0196] S703, the second device sends a third message to the sensing device. Correspondingly, the sensing device receives the third message.

[0197] In some feasible implementation manners, after receiving the fourth sensing measurement information sent by the sensing device, the second device may generate a third message based on the fourth sensing measurement information and send the third message to the sensing device. The third message may include the positioning measurement information of the terminal device.

[0198] Optionally, the second device may use positioning technology to determine the positioning measurement information of the terminal device based on the fourth sensing measurement information. Further, the second device may generate a third message based on the positioning measurement information and send the third message to the sensing device.

[0199] In a possible implementation, the third message may further include fourth time identification information, which may be used to indicate the acquisition time of the positioning measurement information. It can be understood that since the positioning measurement information can be determined from the fourth sensing measurement information measured based on the target reference signal, that is, the reception time of the target reference signal and the acquisition time of the third sensing measurement information may be the same, therefore, the fourth time identification information may also be used to indicate the reception time of the target reference signal.

[0200] Optionally, the positioning measurement information may include the target location information of the terminal device.

[0201] S704, the sensing device sends a second message to the first device. Correspondingly, the first device receives the second message.

[0202] In some feasible implementations, after receiving the third message sent by the second device, the sensing device may generate a second message based on the content included in the third message and send it to the first device. The second message may include first sensing measurement information.

[0203] In an alternative implementation, after obtaining the target location information of the terminal device included in the third message, the sensing device may use sensing technology to obtain the first sensing measurement information based on the target location information and its own original measurement information such as the non-first-path delay, non-first-path AOA, and non-first-path RSRP of the target reference signal measured based on the target reference signal. Further, the sensing device may generate a second message based on the first sensing measurement information and send it to the first device.

[0204] Optionally, the sensing device may perform Fourier transform and / or threshold detection based on the target location information included in the third message and on the basis of the above original measurement information such as the non-first-path delay, non-first-path AOA, and non-first-path RSRP of the target reference signal to obtain first sensing measurement information such as point cloud, Doppler velocity spectrum, distance spectrum, and angle spectrum. Further, the sensing device may generate a second message based on these first sensing measurement information and send it to the first device.

[0205] Optionally, in this scenario, the first sensing measurement information may include one or more of the point cloud, Doppler velocity spectrum, distance spectrum, or angle spectrum of the target reference signal.

[0206] Optionally, the target reference signal may include SRS, PRS, CSI-RS, etc. It should be understood that the target reference signal may also be other signals as long as the solution can be implemented. The embodiments of the present application do not specifically limit the type of the target reference signal.

[0207] In the above implementation, after receiving the positioning measurement information of the terminal device sent by the second device, the sensing device may first perform a sensing calculation in combination with the original sensing measurement information to obtain the first sensing measurement information, and then send it to the first device for further sensing calculation. Since the data volume of the first sensing measurement information is much smaller than that of the original sensing measurement information, the data transmission pressure of the sensing device can be reduced. That is to say, the data transmission volume is reduced during the data transmission process, and the data transmission delay is reduced.

[0208] In some feasible implementation manners, please refer to Figure 8 , Figure 8 which is another schematic flowchart of another communication method provided by the embodiments of the present application. This method is applicable to the communication system 10 shown above. The sensing device may include a terminal device or a network device. It should be understood that in the scenario where the target reference signal is sent by the terminal device and received by the network device, Figure 2 the steps S702 and S703 shown in Figure 7 may be executed by the network device. In the scenario where the target reference signal is sent by the network device and received by the terminal device, Figure 7 the steps S702 and S703 shown in

[0209] such as Figure 8 shown, the method may further include the following steps:

[0210] S705, the terminal device sends a fifth message to the first device. Correspondingly, the first device receives the fifth message.

[0211] Among them, the specific process of the terminal device sending the fifth message to the first device may refer to the specific process described in the previous step S404, and will not be elaborated here.

[0212] S706, the first device determines the sensing result according to the first sensing measurement information.

[0213] Among them, the specific process of the first device determining the sensing result according to the first sensing measurement information may refer to the specific process described in the previous step S403, and will not be elaborated here.

[0214] S707, the first device sends a sixth message to the terminal device. Correspondingly, the terminal device receives the sixth message.

[0215] Among them, for the specific process of the first device sending the sixth message to the terminal device, reference can be made to the specific process described in step S405 above, which will not be elaborated here.

[0216] Multiple possible implementation manners are provided above. Next, in combination with Figures 9 to 13 , a further description will be given to the specific implementation of the communication method provided in the embodiments of the present application. It should be understood that for the logic and terms not explained below, reference can be made to the introduction in the previous embodiments, which will not be elaborated here.

[0217] In a possible implementation manner, after the first device receives the perception service request message from the terminal device, the first device may send a perception measurement request to the network device to obtain the perception measurement information associated with the terminal device. The first device may also send a first message to the second device to obtain the location information of the terminal device participating in the perception. Further, after the first device receives the second message from the second device, it may perform perception calculation in combination with the obtained perception measurement information to determine the perception result, and send the perception result to the terminal device.

[0218] Please refer to Figure 9 , Figure 9 which is a schematic flowchart of another communication method provided in the embodiments of the present application. As Figure 9 shown, this communication method may include one or more steps among steps S901 to S906, specifically as follows:

[0219] S901, the terminal device sends a fifth message to the third device.

[0220] S902, the third device sends the fifth message to the first device.

[0221] S903, the first device sends a first message to the second device.

[0222] Optionally, the first message may include a location request message to obtain the positioning measurement information of the terminal device participating in the perception.

[0223] S904, the second device sends a second message to the first device.

[0224] Among them, the second message includes the positioning measurement information of the terminal device.

[0225] S905, the first device determines the perception result according to the positioning measurement information and the first perception measurement information.

[0226] Optionally, the first device may receive the first perception measurement information sent by the perception device.

[0227] S906, the first device sends a sixth message to the terminal device.

[0228] InFigure 9 In the illustrated embodiment, the second device may determine the location information of the terminal device within the target time period according to the indication information included in the received first message and report it to the first device, which can reduce the reporting volume of the second device. Moreover, the first device is equivalent to obtaining the location information of the terminal device in real time. Therefore, the location information of the terminal device obtained by the first device is more accurate, and thus the perception result obtained by its perception calculation is also more precise, improving the perception accuracy of the perception technology.

[0229] In a possible implementation manner, in a scenario where the target reference signal is sent by the terminal device and received by the network device, after the first device receives the perception service request message from the terminal device through the third device, the first device may send a first message to the second device to obtain the location information of the terminal device participating in the perception. The second device may obtain perception measurement information such as the time delay, AOA, and RSRP of the target reference signal reported by the network device, and may perform positioning calculation based on the perception measurement information to obtain the location information of the terminal device. Further, the second device may send the location information and perception measurement information of the terminal device to the first device for perception calculation to determine the perception result.

[0230] Please refer to Figure 10 , Figure 10 which is a schematic flowchart of another communication method provided by an embodiment of the present application. As Figure 10 shown, the communication method may include one or more of steps S1001 to S1008, specifically as follows:

[0231] S1001, The terminal device sends a fifth message to the third device.

[0232] S1002, The third device sends the fifth message to the first device.

[0233] S1003, The first device sends a first message to the second device.

[0234] Optionally, the first message may include a positioning service request message to request the second device to perform a positioning service.

[0235] S1004, The network device sends fourth perception measurement information to the second device.

[0236] Among them, the fourth perception measurement information may include one or more of the first path time delay, first path AOA, first path RSRP, non-first path time delay, non-first path AOA, or non-first path RSRP of the target reference signal. The target reference signal may include SRS.

[0237] S1005, The second device sends a second message to the first device.

[0238] Wherein, the second message may include positioning measurement information, or the second message may include positioning measurement information and first sensing measurement information.

[0239] Optionally, after receiving the fourth sensing measurement information, the second device may use positioning technology to determine the positioning measurement information of the terminal device based on the fourth sensing measurement information.

[0240] Optionally, in a scenario where the second message includes positioning measurement information and first sensing measurement information, the first sensing measurement information may include one or more of the non-first-path AOA or non-first-path RSRP of the target reference signal. Specifically, after receiving the fourth sensing measurement information, the second device may obtain the non-first-path measurement quantities included therein, that is, one or more of the non-first-path time delay, non-first-path AOA, or non-first-path RSRP, and determine the obtained non-first-path measurement quantities as the above-mentioned first sensing measurement information.

[0241] That is to say, the second device may report the obtained positioning measurement information and the non-first-path measurement quantities of the target reference signal to the first device.

[0242] Optionally, in a scenario where the second message includes positioning measurement information, Figure 10 Step S1006 may further be included.

[0243] S1006, the network device may send a fourth message to the first device.

[0244] Wherein, the fourth message may include third sensing measurement information. The third sensing measurement information may include one or more of the non-first-path RSRP, non-first-path AOA, or non-first-path RSRP of the target reference signal. Specifically, the network device may determine one or more of the non-first-path measurement quantities in the fourth sensing measurement information, that is, one or more of the non-first-path AOA, non-first-path time delay, or non-first-path RSRP as the third sensing measurement information, and further generate a fourth message to send to the first device.

[0245] That is to say, in a scenario where the second message sent by the second device to the first device only includes positioning measurement information, that is, in a scenario where the second device reports the positioning measurement information to the first device, the network device may directly report the non-first-path measurement quantities of the target reference signal measured based on the target reference signal to the first device, without the second device reporting the non-first-path measurement quantities of the target reference signal to the first device.

[0246] S1007, the first device determines a sensing result based on the positioning measurement information and the first sensing measurement information.

[0247] S1008, the first device sends a sixth message to the terminal device.

[0248] In Figure 10In the illustrated embodiment, the communication system 10 can simultaneously achieve the positioning and sensing of the terminal device by transmitting an uplink positioning reference signal once. That is to say, the time corresponding to the position information of the terminal device required by the first device for sensing calculation is the same as the time when the second device determines the position information of the terminal device. Therefore, it is equivalent to obtaining the position information of the terminal device in real time. Furthermore, the sensing result obtained by the first device through sensing calculation is more accurate, effectively improving the sensing accuracy of the sensing technology.

[0249] In a possible implementation manner, in a scenario where the target reference signal is sent by the terminal device and received by the network device, after the first device receives a request message from the terminal device through the third device, the first device can send a first message to the second device to request the second device to perform positioning on the terminal device participating in sensing. After the second device obtains the sensing measurement information such as the time delay, AOA, and RSRP of the target reference signal reported by the network device and determines the position information of the terminal device based on this sensing measurement information, the second device can send the position information of the terminal device to the network device. Further, the network device can perform sensing calculation based on the position information of the terminal device to obtain sensing measurement information such as point cloud and Doppler velocity spectrum, and send it to the first device for sensing calculation to determine the sensing result.

[0250] Please refer to Figure 11 , Figure 11 which is a schematic flowchart of another communication method provided by an embodiment of the present application. As Figure 11 shown, this communication method may include one or more of steps S1101 to S1108, specifically as follows:

[0251] S1101, the terminal device sends a fifth message to the third device.

[0252] S1102, the third device sends the fifth message to the first device.

[0253] S1103, the first device sends a first message to the second device.

[0254] Optionally, the first message may include a positioning service request to request the second device to perform a positioning service.

[0255] S1104, the network device sends fourth sensing measurement information to the second device.

[0256] Among them, the fourth sensing measurement information may include one or more of the first path time delay, first path AOA, first path RSRP, non-first path time delay, non-first path AOA, or non-first path RSRP of the target reference signal. The target reference signal may include SRS.

[0257] S1105, The second device sends a third message to the network device.

[0258] Wherein, the third message may include positioning measurement information of the terminal device. Optionally, the third message may further include fourth time identification information, and the fourth time identification information may be used to indicate the acquisition time of the positioning measurement information.

[0259] Optionally, after receiving the fourth sensing measurement information, the second device may use positioning technology to determine the positioning measurement information of the terminal device according to the fourth sensing measurement information.

[0260] S1106, The network device sends a second message to the first device.

[0261] Wherein, the second message may include first sensing measurement information. The first sensing measurement information may include one or more of a point cloud of a target reference signal, a Doppler velocity spectrum, a distance spectrum, or an angle spectrum.

[0262] Optionally, the network device may use sensing technology to obtain the above first sensing measurement information according to one or more of non-first-path measurement quantities (i.e., non-first-path time delay, non-first-path AOA, non-first-path RSRP) in the positioning measurement information, the fourth time identification information, and the fourth sensing measurement information.

[0263] S1107, The first device determines a sensing result according to the first sensing measurement information.

[0264] S1108, The first device sends a sixth message to the terminal device.

[0265] In Figure 11 In the illustrated embodiment, the communication system 10 can simultaneously implement positioning and sensing of the terminal device by transmitting an uplink positioning reference signal once. That is to say, the time corresponding to the position information of the terminal device required by the first device for sensing calculation is the same as the time corresponding to the position information of the terminal device determined by the second device. Therefore, it is equivalent to obtaining the position information of the terminal device in real time. Furthermore, the sensing result obtained by the first device through sensing calculation is more accurate, effectively improving the sensing accuracy of the sensing technology. In addition, the network device can obtain the position information of the terminal device and perform a sensing calculation once in combination with original sensing measurement information such as non-first-path time delay, AOA, and RSRP to obtain sensing measurement information such as a point cloud and a Doppler velocity spectrum and report it to the first device. Compared with the original sensing measurement information, the data volume of these sensing measurement information is greatly reduced, reducing the data transmission pressure of the network device and reducing the data transmission delay.

[0266] In some possible embodiments, in a scenario where a target reference signal is sent by a network device and received by a terminal device, after the first device receives a request message from the terminal device through a third device, the first device may send a first message to the second device to obtain the location information of the terminal device participating in sensing. The second device may obtain sensing measurement information such as the delay, AOD, and RSRP of the downlink positioning signal reported by the terminal device, and may perform positioning calculations based on the sensing measurement information to obtain the location information of the terminal device. Further, the second device may send the location information and sensing measurement information of the terminal device to the first device for sensing calculation to determine the sensing result.

[0267] Please refer to Figure 12 , Figure 12 which is a schematic flow chart of another communication method provided by an embodiment of the present application. As Figure 12 shown, the communication method may include one or more of steps S1201 to S1208, specifically as follows:

[0268] S1201, The terminal device sends a fifth message to the third device.

[0269] S1202, The third device sends the fifth message to the first device.

[0270] S1203, The first device sends a first message to the second device.

[0271] Optionally, the first message may include a positioning service request to request the second device to perform a positioning service.

[0272] S1204, The terminal device sends fourth sensing measurement information to the second device.

[0273] Among them, the fourth sensing measurement information may include one or more of the first-path delay, first-path AOD, first-path RSRP, non-first-path delay, non-first-path AOD, or non-first-path RSRP of the target reference signal. The target reference signal may include PRS or CSI-RS.

[0274] Exemplarily, assuming that the target reference signal is PRS, in this scenario, after the terminal device receives the PRS, the non-first-path measurement quantity measured by it based on the PRS includes RSRP. Further, the terminal device may calculate the AOD of the target reference signal based on the RSRP. In addition, in order to implement the sensing function, the terminal device may also perform measurements based on the target reference signal to obtain the path delay, such as the non-first-path delay. It should be understood that the path delay may correspond one-to-one with the AOD.

[0275] S1205, The second device sends a second message to the first device.

[0276] Wherein, the second message may include positioning measurement information, or the second message may include positioning measurement information and first sensing measurement information.

[0277] Optionally, after receiving the fourth sensing measurement information, the second device may use positioning technology to determine the positioning measurement information of the terminal device according to the fourth sensing measurement information.

[0278] Optionally, in a scenario where the second message includes positioning measurement information and first sensing measurement information, the first sensing measurement information may include one or more of the non-first-path delay, non-first-path AOD, or non-first-path RSRP of the target reference signal. Specifically, after receiving the fourth sensing measurement information, the second device may obtain the non-first-path measurement quantities included therein, that is, one or more of the non-first-path delay, non-first-path AOD, or non-first-path RSRP, and determine the obtained non-first-path measurement quantities as the above-mentioned first sensing measurement information.

[0279] That is to say, the second device may report the obtained positioning measurement information and the non-first-path measurement quantities of the target reference signal to the first device.

[0280] Optionally, in a scenario where the second message includes positioning measurement information, Figure 12 Step S1206 may further be included.

[0281] S1206, the terminal device may send a fourth message to the first device.

[0282] Wherein, the fourth message may include third sensing measurement information. The third sensing measurement information may include one or more of the non-first-path delay, non-first-path AOD, or non-first-path RSRP of the target reference signal. Specifically, the terminal device may determine one or more of the non-first-path measurement quantities in the fourth sensing measurement information, that is, the non-first-path delay, non-first-path AOD, or non-first-path RSRP, as the third sensing measurement information, and further generate a fourth message to send to the first device.

[0283] That is to say, in a scenario where the second message sent by the second device to the first device only includes positioning measurement information, that is, in a scenario where the second device reports the positioning measurement information to the first device, the network device may directly report the non-first-path measurement quantities of the target reference signal measured according to the target reference signal to the first device, without the second device reporting the non-first-path measurement quantities of the target reference signal to the first device.

[0284] S1207, the first device determines a sensing result according to the positioning measurement information and the first sensing measurement information.

[0285] S1208, the first device sends a sixth message to the terminal device.

[0286] In Figure 12In the illustrated embodiment, the communication system 10 can simultaneously achieve the positioning and sensing of the terminal device by transmitting a downlink positioning reference signal once. That is to say, the time corresponding to the position information of the terminal device required by the first device for sensing calculation is the same as the time when the second device determines the position information of the terminal device. Therefore, it is equivalent to obtaining the position information of the terminal device in real time. Furthermore, the sensing result obtained by the first device through sensing calculation is more accurate, effectively improving the sensing accuracy of the sensing technology.

[0287] In a possible implementation manner, in a scenario where the target reference signal is sent by the network device and received by the terminal device, after the first device receives a request message from the terminal device through the fourth device, the first device can send a first message to the second device to request the second device to locate the terminal device participating in the sensing. After the second device obtains the sensing measurement information such as the delay, AOD, RSRP, etc. of the downlink positioning signal reported by the terminal device and determines the position information of the terminal device based on this sensing measurement information, the second device can send the position information of the terminal device to the terminal device. Further, the terminal device can perform sensing calculation based on the position information of the terminal device to obtain sensing measurement information such as point cloud and Doppler velocity spectrum, and send it to the first device for sensing calculation to determine the sensing result.

[0288] Please refer to Figure 13 , Figure 13 which is a schematic flowchart of another communication method provided by an embodiment of the present application. As Figure 13 shown, this communication method may include one or more steps among steps S1301 to S1308, specifically as follows:

[0289] S1301, the terminal device sends a fifth message to the third device.

[0290] S1302, the third device sends the fifth message to the first device.

[0291] S1303, the first device sends a first message to the second device.

[0292] Optionally, the first message may include a positioning service request to request the second device to perform a positioning service.

[0293] S1304, the terminal device sends fourth sensing measurement information to the second device.

[0294] Among them, the fourth sensing measurement information may include one or more of the first path delay, first path AOD, first path RSRP, non-first path delay, non-first path AOD, or non-first path RSRP of the target reference signal. The target reference signal may include PRS or CSI-RS.

[0295] S1305, The second device sends a third message to the terminal device.

[0296] Among them, the third message may include the positioning measurement information of the terminal device. Optionally, the third message may further include fourth time identification information, which can be used to indicate the acquisition time of the positioning measurement information.

[0297] Optionally, after receiving the fourth sensing measurement information, the second device can use positioning technology to determine the positioning measurement information of the terminal device based on the fourth sensing measurement information.

[0298] S1306, The terminal device sends a second message to the first device.

[0299] Among them, the second message may include first sensing measurement information. The first sensing measurement information may include one or more of the point cloud of the target reference signal, Doppler velocity spectrum, distance spectrum, or angle spectrum.

[0300] Optionally, the terminal device can use sensing technology to obtain the above first sensing measurement information based on one or more of the non-first-path measurement quantities (i.e., non-first-path time delay, non-first-path AOD, non-first-path RSRP) in the positioning measurement information, the fourth time identification information, and the fourth sensing measurement information.

[0301] S1307, The first device determines a sensing result based on the first sensing measurement information.

[0302] S1308, The first device sends a sixth message to the terminal device.

[0303] In Figure 13 In the illustrated embodiment, the communication system 10 can simultaneously implement the positioning and sensing of the terminal device by transmitting a downlink positioning reference signal once. That is to say, the time when the first device needs the position information of the terminal device for sensing calculation is the same as the time when the second device determines the position information of the terminal device. Therefore, it is equivalent to obtaining the position information of the terminal device in real time. Furthermore, the sensing result obtained by the first device through sensing calculation is more accurate, effectively improving the sensing accuracy of the sensing technology. In addition, the terminal device can obtain the position information of the terminal device and first perform a sensing calculation in combination with the original sensing measurement information such as non-first-path time delay, AOD, and RSRP to obtain sensing measurement information such as point cloud and Doppler velocity spectrum and report it to the first device. Compared with the original sensing measurement information, the data volume of these sensing measurement information is greatly reduced, reducing the data transmission pressure of the network device and reducing the data transmission delay.

[0304] Above, the communication method provided by the embodiments of the present application has been described in detail in combination with Figures 4 to 13 Below, it will be described in combination with Figure 14 and Figure 15Describe in detail the communication device provided in the embodiments of the present application. It should be understood that the description of the embodiments of the communication device corresponds to the description of the embodiments of the communication method. Therefore, for the parts not described in detail, reference can be made to the foregoing method embodiments.

[0305] Please refer to Figure 14 , Figure 14 which is a schematic structural diagram of a communication device provided in the embodiments of the present application. As Figure 14 shown, the communication device 140 may include a transceiver unit 141 and a processing unit 142.

[0306] In some possible implementation manners, the communication device 140 may correspond to the foregoing first device, or be a component (such as a circuit, a chip, or a chip system) configured in the first device.

[0307] In a specific implementation, the processing unit 142 is used to generate a first message, where the first message includes identification information of the terminal device. The transceiver unit 141 is used to send the first message. The transceiver unit 141 is further used to receive a second message, where the second message includes positioning measurement information of the terminal device and / or first sensing measurement information associated with the terminal device, and the positioning measurement information and / or the first sensing measurement information are used to determine a sensing result.

[0308] In a possible implementation manner, the second message includes positioning measurement information, and the positioning measurement information includes target position information of the terminal device.

[0309] In a possible implementation manner, the first message further includes indication information for indicating a target time period, and the target position information is the position information of the terminal device within the target time period.

[0310] In a possible implementation manner, the indication information includes a target moment and a time offset amount, the target moment and the time offset amount are used to determine the target time period, the target moment is determined by the acquisition moment of the second sensing measurement information, and the second sensing measurement information and the target position information are used to determine a sensing result.

[0311] In a possible implementation manner, the second sensing measurement information includes one or more of the non-first-path delay of the sensing reference signal, the non-first-path angle of arrival AOA, the non-first-path angle of departure AOD, the non-first-path reference signal received power RSRP, the point cloud, the Doppler velocity spectrum, the distance spectrum, or the angle spectrum.

[0312] In a possible implementation manner, the second message further includes first sensing measurement information and first time identification information, and the first time identification information is used to indicate the acquisition moment of the first sensing measurement information.

[0313] In a possible implementation, the second message further includes second time identification information, which is used to indicate the acquisition time of the positioning measurement information.

[0314] In a possible implementation, the first sensing measurement information includes one or more of the non-first-path delay of the target reference signal, the non-first-path angle of arrival AOA, the non-first-path angle of departure AOD, or the received signal strength of the non-first-path reference signal RSRP.

[0315] In a possible implementation, the transceiver unit 141 is further configured to receive a fourth message, where the fourth message includes third sensing measurement information and third time identification information, and the third time identification information is used to indicate the acquisition time of the third sensing measurement information.

[0316] In a possible implementation, the third sensing measurement information includes one or more of the non-first-path delay of the target reference signal, the non-first-path angle of arrival AOA, the non-first-path angle of departure AOD, or the received signal strength of the non-first-path reference signal RSRP.

[0317] In a possible implementation, the second message includes first sensing measurement information, and the first sensing measurement information includes one or more of the point cloud of the target reference signal, the Doppler velocity spectrum, the distance spectrum, or the angle spectrum.

[0318] In a possible implementation, the transceiver unit 141 is further configured to receive a fifth message, where the fifth message is used to request the first device to perform a sensing service.

[0319] In a possible implementation, the processing unit 142 is further configured to determine a sensing result based on the positioning measurement information and / or the first sensing measurement information. The processing unit 142 is further configured to generate a sixth message, where the sixth message includes the sensing result. The transceiver unit 141 is further configured to send the sixth message.

[0320] In some feasible implementations, the communication device 140 may correspond to the second device described above, or be a component (such as a circuit, a chip, or a chip system) configured in the second device.

[0321] In a specific implementation, the transceiver unit 141 is configured to receive a first message, where the first message includes the identification information of the terminal device. The processing unit 142 is configured to generate a second message or a third message, where the second message includes the positioning measurement information of the terminal device and / or the first sensing measurement information associated with the terminal device, and the third message includes the positioning measurement information. The positioning measurement information and / or the first sensing measurement information are used to determine the sensing result. The transceiver unit 141 is further configured to send the second message or the third message.

[0322] In a possible implementation, the second message includes positioning measurement information, and the positioning measurement information includes the target location information of the terminal device.

[0323] In a possible implementation, the first message further includes indication information for indicating a target time period, and the target location information is the location information of the terminal device within the target time period.

[0324] In a possible implementation, the indication information includes a target time and a time offset. The target time and the time offset are used to determine the target time period. The target time is determined by the acquisition time of the second sensing measurement information, and the second sensing measurement information and the target location information are used to determine the sensing result.

[0325] In a possible implementation, the second sensing measurement information includes one or more of the non-first-path time delay of the sensing reference signal, the non-first-path angle of arrival (AOA), the non-first-path angle of departure (AOD), the non-first-path received signal strength indication (RSRP) of the reference signal, the point cloud, the Doppler velocity spectrum, the distance spectrum, or the angle spectrum.

[0326] In a possible implementation, the second message further includes first sensing measurement information and first time identification information, and the first time identification information is used to indicate the acquisition time of the first sensing measurement information.

[0327] In a possible implementation, the second message further includes second time identification information, and the second time identification information is used to indicate the acquisition time of the positioning measurement information.

[0328] In a possible implementation, the first sensing measurement information includes one or more of the non-first-path time delay of the target reference signal, the non-first-path angle of arrival (AOA), the non-first-path angle of departure (AOD), or the received signal strength indication (RSRP) of the non-first-path reference signal.

[0329] In some feasible implementations, the communication device 140 may correspond to the sensing device described above, or be a component (such as a circuit, a chip, or a chip system) configured in the sensing device.

[0330] In a specific implementation, the transceiver unit 141 is configured to receive a third message from a second device, where the third message includes the positioning measurement information of the terminal device. The processing unit 142 is configured to generate a second message, where the second message includes the first sensing measurement information. The transceiver unit 141 is further configured to send the second message.

[0331] In a possible implementation, the first sensing measurement information includes one or more of the point cloud, the Doppler velocity spectrum, the distance spectrum, or the angle spectrum of the target reference signal.

[0332] In a possible implementation, the third message further includes fourth time identification information, which is used to indicate the acquisition time of the positioning measurement information, and the positioning measurement information includes the target location information of the terminal device.

[0333] In a possible implementation, the positioning measurement information is determined from fourth sensing measurement information, and the fourth sensing measurement information includes one or more of the first path delay of the target reference signal, the first path angle of arrival (AOA), the first path angle of departure (AOD), the first path reference signal received power (RSRP), the non-first path delay, the non-first path AOA, the non-first path AOD, or the non-first path RSRP.

[0334] In a possible implementation, the processing unit 142 is further configured to determine first sensing measurement information according to the positioning measurement information and the original sensing measurement information.

[0335] In a possible implementation, the original sensing measurement information includes one or more of the non-first path delay of the target reference signal, the non-first path AOA, the non-first path AOD, or the non-first path RSRP.

[0336] Please refer to Figure 15 , Figure 15 FIG. is a schematic structural diagram of another communication device provided in the present application. The communication device 150 can be used to implement the operations performed by the first device, the second device, or the sensing device in the foregoing embodiments, or the communication device 150 can be the first device, the second device, or the sensing device described above. The communication device 150 includes: a processor 151, a memory 152, and a bus system 153.

[0337] The memory 152 includes, but is not limited to, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), or a compact disc read-only memory (CD-ROM). The memory 152 is used to store relevant instructions and data. The memory 152 stores the following elements, executable modules, or data structures, or subsets thereof, or extended sets thereof:

[0338] Operation instructions: including various operation instructions for implementing various operations.

[0339] Operating system: including various system programs for implementing various basic services and processing hardware-based tasks.

[0340] Figure 15 Only one memory is shown in FIG., and of course, the memory can also be provided as multiple according to needs.

[0341] The communication device 150 may further include a transceiver 154. The transceiver 154 may be a communication module or a transceiver circuit. In the embodiments of the present application, the transceiver 154 is used to perform the sending and receiving operations of the messages involved in the above embodiments.

[0342] The processor 151 may be a controller, a CPU, a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The processor 151 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on.

[0343] In a specific application, the various components of the communication device 150 are coupled together through a bus system 153. The bus system 153 may include, in addition to a data bus, a power bus, a control bus, a status signal bus, and the like. However, for the sake of clarity, in Figure 15 all the various buses are labeled as the bus system 153. For the sake of convenience of representation, Figure 15 it is only schematically shown in

[0344] In a specific implementation, the communication device 150 may execute the steps of the methods performed by the first device, the second device, or the sensing device in the above embodiments. Specifically, when the communication device 150 is used to implement the respective steps performed by the first device, the second device, or the sensing device in the communication method provided in the embodiments, the processor 151 may be used to implement the functions of the above processing unit 142, and the transceiver 154 is used to implement the functions of the above transceiver unit 141.

[0345] It should be noted that in practical applications, the processor in the embodiments of the present application can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method embodiments can be completed by the integrated logic circuit in the hardware of the processor or instructions in the form of software. The above-mentioned processor can be a general-purpose processor, DSP, ASIC, FPGA or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as being executed and completed by a hardware decoding processor, or executed and completed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, register, etc. This storage medium is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method.

[0346] It can be understood that the memory in the embodiments of the present application can be a volatile memory or a non-volatile memory, or can include both volatile and non-volatile memories. Among them, the non-volatile memory can be ROM, programmable read-only memory (PROM), EPROM, electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be RAM, which is used as an external cache. By way of example but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchlink DRAM (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory described in the embodiments of the present application is intended to include but not be limited to these and any other suitable types of memory.

[0347] The present application also provides a computer-readable medium, on which a computer program is stored, and when the computer program is executed by a computer, it implements the method steps executed by the first device, the second device, or the sensing device in the above embodiments.

[0348] The present application also provides a computer program product, which, when executed by a computer, implements the method steps performed by the first device, the second device, or the sensing device in the foregoing embodiments.

[0349] The present application also provides a chip, which at least includes a processor. The processor is configured to execute computer-executable instructions to enable a device installed with the chip to implement the method steps performed by the first device, the second device, or the sensing device in the foregoing embodiments.

[0350] Optionally, the chip may further include an interface circuit. The interface circuit is configured to receive computer-executable instructions and transmit them to the processor.

[0351] The present application also provides a chip system, which includes a processor for supporting a device installed with the chip system to implement the method steps performed by the first device, the second device, or the sensing device in the foregoing embodiments, such as generating or processing the data and / or information involved in the foregoing method. In a possible design, the chip system further includes a memory for storing the necessary program instructions and data of the data sending device. The chip system may be composed of chips or may include chips and other discrete devices.

[0352] The present application also provides a communication system. The communication system at least includes the first device, the second device, and the sensing device described above. The first device, the second device, and the sensing device cooperate to implement the communication method described in the foregoing embodiments.

[0353] The present application also provides a communication system. The communication system at least includes the first device and the second device described above. The first device and the second device cooperate to implement the communication method described in the foregoing embodiments.

[0354] The present application also provides a communication system. The communication system at least includes the first device, the second device, the sensing device, and the third device described above. The first device, the second device, the sensing device, and the third device cooperate to implement the communication method described in the foregoing embodiments.

[0355] In the above method embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, the processes or functions described in the embodiments of the present application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wirelessly (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a high-definition digital video disc (DVD)), or a semiconductor medium (such as a solid-state disk (SSD), etc.).

[0356] In various embodiments of the present application, if there is no special description and logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0357] 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 order of execution. The order of execution of each process should be determined by its function and internal logic.

[0358] The above is only a preferred embodiment of the technical solution of the present application and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A communication method, characterized in that, Applied to a first device, the method includes: Sending a first message, where the first message includes identification information of a terminal device; Receiving a second message, where the second message includes positioning measurement information of the terminal device and / or first sensing measurement information associated with the terminal device, and the positioning measurement information and / or the first sensing measurement information are used to determine a sensing result.

2. A communication method, characterized in that, Applied to a second device, the method includes: Receiving a first message, where the first message includes identification information of a terminal device; Sending a second message or a third message, where the second message includes positioning measurement information of the terminal device and / or first sensing measurement information associated with the terminal device, and the third message includes the positioning measurement information, and the positioning measurement information and / or the first sensing measurement information are used to determine a sensing result.

3. The method according to claim 1 or 2, characterized in that The second message includes the positioning measurement information, and the positioning measurement information includes target position information of the terminal device.

4. The method according to claim 3, wherein The first message further includes indication information for indicating a target time period, and the target position information is the position information of the terminal device within the target time period.

5. The method according to claim 4, wherein The indication information includes a target time and a time offset, and the target time and the time offset are used to determine the target time period. The target time is determined by the acquisition time of second sensing measurement information, and the second sensing measurement information and the target position information are used to determine the sensing result.

6. The method according to claim 5, characterized in that, The second sensing measurement information includes one or more of the non-first-path delay of a sensing reference signal, non-first-path angle of arrival AOA, non-first-path angle of departure AOD, non-first-path reference signal received power RSRP, point cloud, Doppler velocity spectrum, distance spectrum, or angle spectrum.

7. The method according to claim 3, wherein The second message further includes the first sensing measurement information and first time identification information, and the first time identification information is used to indicate the acquisition time of the first sensing measurement information.

8. The method according to claim 7, wherein The first sensing measurement information includes one or more of the non-first-path delay of a target reference signal, non-first-path angle of arrival AOA, non-first-path angle of departure AOD, or non-first-path reference signal received power RSRP.

9. The method according to claim 1, characterized in that The second message includes the positioning measurement information and second time identification information, the positioning measurement information includes target position information of the terminal device, and the second time identification information is used to indicate the acquisition time of the target position information; The method further includes: Receiving a fourth message, where the fourth message includes third sensing measurement information and third time identification information, and the third time identification information is used to indicate the acquisition time of the third sensing measurement information.

10. The method according to claim 9, characterized in that, The third sensing measurement information includes one or more of the non-first-path delay of a target reference signal, non-first-path angle of arrival AOA, non-first-path angle of departure AOD, or non-first-path reference signal received power RSRP.

11. The method according to claim 1, wherein The second message includes the first sensing measurement information, and the first sensing measurement information includes one or more of the point cloud, Doppler velocity spectrum, distance spectrum, or angle spectrum of a target reference signal.

12. The method according to claim 1, characterized in that, Before sending the first message, the method further includes: Receive a fifth message, where the fifth message is used to request the first device to perform a sensing service.

13. The method according to claim 12, wherein The method further includes: Determine the sensing result according to the positioning measurement information and / or the first sensing measurement information; Send a sixth message, where the sixth message includes the sensing result.

14. A communication method, characterized in that, Applied to a sensing device, the method includes: Receive a third message from a second device, where the third message includes positioning measurement information of a terminal device; Send a second message to the first device, where the second message includes first sensing measurement information.

15. The method according to claim 14, wherein The first sensing measurement information includes one or more of a point cloud of a target reference signal, a Doppler velocity spectrum, a distance spectrum, or an angle spectrum.

16. The method according to claim 14 or 15, characterized in that, The third message further includes fourth time identification information, where the fourth time identification information is used to indicate the acquisition time of the positioning measurement information, and the positioning measurement information includes target position information of the terminal device.

17. The method according to any one of claims 14 to 16, characterized in that The positioning measurement information is determined by fourth sensing measurement information, and the fourth sensing measurement information includes one or more of a first-path delay of a target reference signal, a first-path angle of arrival AOA, a first-path angle of departure AOD, a first-path reference signal received power RSRP, a non-first-path delay, a non-first-path AOA, a non-first-path AOD, or a non-first-path RSRP.

18. The method according to any one of claims 1 or 3 - 17, characterized in that, The first device includes a sensing function SF network element.

19. The method according to any one of claims 2-17, characterized in that, The second device includes a positioning management function LMF network element.

20. The method according to any one of claims 14-19, characterized in that, The sensing device includes the terminal device or a network device.

21. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is run, it implements the communication method according to any one of claims 1 to 13, or the communication method according to any one of claims 14 to 20.

22. A chip, characterized in that, Include a processor; The processor is used to execute computer execution instructions, so that the device installed with the chip executes the communication method according to any one of claims 1 to 13, or the communication method according to any one of claims 14 to 20.

23. A computer program product, where the computer program product is executed by a computer to perform the communication method according to any one of claims 1 to 13, or the communication method according to any one of claims 14 to 20.

24. A communication device, characterized in that, Include: At least one processor and a memory; The memory is used to store a computer program; The processor is used to execute the computer program stored in the memory, so that the communication device executes the communication method according to any one of claims 1, 3-13 or 18, or the communication method according to any one of claims 2-13 or 19, or the communication method according to any one of claims 14 to 20.

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