Perception method and device and storage medium

Abstract

The embodiment of the invention provides a sensing method and device and a storage medium, and relates to the fields of communication technologies, terminal technologies and the like. The method comprises the following steps: determining a sensing scheme based on first information, wherein the sensing scheme comprises at least two sensing methods: an autonomous sensing method, a terminal auxiliary sensing method and a network auxiliary sensing method; and obtaining a sensing result according to the sensing scheme. Through the method, the purpose of collaborative perception can be achieved, and the perception effect is improved.

Description

Technical Field

[0001] The present application relates to fields such as communication technology and terminal technology, and in particular to perception methods, devices and storage media. Background Art

[0002] Terminal devices can perform environmental modeling, dynamic map construction, etc. through perception.

[0003] Currently, terminal devices can achieve perception by themselves, with the assistance of other terminal devices, or with network equipment. However, in some scenarios, the perception effect of terminal devices is poor and cannot meet the perception requirements of terminal devices. Therefore, how to improve the perception effect of terminal devices has become a technical problem that needs to be solved urgently. Summary of the Invention

[0004] The embodiments of the present application provide a perception method, device, and storage medium for solving the technical problem of poor perception effect and improving the perception effect of terminal devices.

[0005] In a first aspect, an embodiment of the present application provides a sensing method, applied to a first terminal device, comprising:

[0006] Determining a perception scheme based on the first information, where the perception scheme includes at least two of the following perception methods: an autonomous perception method, a terminal-assisted perception method, and a network-assisted perception method;

[0007] Obtain perception results according to the perception plan.

[0008] In an optional embodiment of the first aspect, the method further comprises:

[0009] Send the perception results to the perception function SF.

[0010] In an optional embodiment of the first aspect, the first information includes at least one of the following:

[0011] a measurement result of at least one cell, where the cell includes a serving cell and / or a non-serving cell, the signal strength of the cell is greater than a first threshold, and the network device providing network services for the cell has a sensing capability;

[0012] Information of at least one second terminal device, where the distance between the second terminal device and the first terminal device is less than a distance threshold, and the signal strength of the second terminal device is greater than a second threshold.

[0013] In an optional embodiment of the first aspect, the measurement result of the cell includes at least one of the following:

[0014] The reference signal received power RSRP of the cell;

[0015] The signal-to-noise ratio (SINR) of the cell;

[0016] The sensing capability of the serving base station of the cell;

[0017] The load of the serving base station of the cell.

[0018] In an optional embodiment of the first aspect, the information of the second terminal device includes at least one of the following:

[0019] The sensing capability of the second terminal device;

[0020] The available sensing resource amount of the second terminal device.

[0021] In an optional embodiment of the first aspect, before determining the sensing method based on the first information, the method further includes:

[0022] Obtaining the first information.

[0023] In an optional embodiment of the first aspect,

[0024] The first information includes the measurement results of at least one cell, and the sensing scheme includes an autonomous sensing method and a network-assisted sensing method.

[0025] In an optional embodiment of the first aspect, according to the sensing scheme, obtaining the sensing result includes:

[0026] Obtaining a first sensing measurement result according to the autonomous sensing method;

[0027] Obtaining a second sensing measurement result according to the network-assisted sensing method;

[0028] Determining the sensing result based on the first sensing measurement result and the second sensing measurement result.

[0029] In an optional embodiment of the first aspect,

[0030] The first information includes the information of at least one second terminal device, and the sensing scheme includes an autonomous sensing method and a terminal-assisted sensing method.

[0031] In an optional embodiment of the first aspect, according to the sensing scheme, obtaining the sensing result includes:

[0032] Obtaining a first sensing measurement result according to the autonomous sensing method;

[0033] Obtaining a third sensing measurement result according to the terminal-assisted sensing method;

[0034] Determining the sensing result based on the first sensing measurement result and the third sensing measurement result.

[0035] In an optional embodiment of the first aspect,

[0036] The first information includes measurement results of at least one cell and information of at least one second terminal device. The sensing solutions include autonomous sensing methods, network-assisted sensing methods, and terminal-assisted sensing methods.

[0037] In an optional embodiment of the first aspect, according to the sensing solution, obtaining a sensing result includes:

[0038] Obtaining a first sensing measurement result according to the autonomous sensing method;

[0039] Obtaining a second sensing measurement result according to the network-assisted sensing method;

[0040] Obtaining a third sensing measurement result according to the terminal-assisted sensing method;

[0041] Determining the sensing result based on the first sensing measurement result, the second sensing measurement result, and the third sensing measurement result.

[0042] In an optional embodiment of the first aspect, obtaining a first sensing measurement result according to the autonomous sensing method includes:

[0043] Sending a first sensing signal on a first resource, where the first resource is an available resource in a sensing resource pool pre-allocated for the first terminal device;

[0044] Receiving the first sensing signal on the first resource and measuring the first sensing signal to obtain a first sensing measurement result.

[0045] In an optional embodiment of the first aspect, obtaining a second sensing measurement result according to the network-assisted sensing method includes:

[0046] Sending a first sensing request to a first network device, where the first network device provides network services for the serving cell of the first terminal device, and the first sensing request includes at least one of the following: location information of the first terminal device, moving speed of the first terminal device, and channel state information CSI;

[0047] Receiving resource information of a second resource sent by the first network device, where the second resource is a sensing resource configured by the first network device for the first terminal device;

[0048] Performing the network-assisted sensing method through the second resource.

[0049] In an optional embodiment of the first aspect, performing the network-assisted sensing method through the second resource includes:

[0050] Sending a second sensing signal to the first network device on the second resource;

[0051] Receiving a second sensing measurement result corresponding to the second sensing signal sent by the first network device.

[0052] In an alternative embodiment of the first aspect, the method further includes:

[0053] Sending a second sensing signal to a second network device on a second resource, where the second network device provides network services for a non-serving cell of the first terminal device;

[0054] Receiving a second sensing measurement result corresponding to the second sensing signal sent by the second network device.

[0055] In an alternative embodiment of the first aspect, obtaining a third sensing measurement result according to the terminal-assisted sensing method includes:

[0056] Determining a third resource corresponding to the sensing task, where the third resource is an available resource in a sensing resource pool pre-allocated for the first terminal device;

[0057] Sending a second sensing request to a second terminal device on the third resource, where the second sensing request includes a third sensing signal corresponding to the sensing task;

[0058] Receiving a third sensing measurement result corresponding to the third sensing signal sent by the second terminal device.

[0059] In an alternative embodiment of the first aspect, the method further includes:

[0060] Establishing a sidelink connection with the second terminal device.

[0061] In an alternative embodiment of the first aspect, the second sensing request further includes at least one of the following:

[0062] An identifier of the sensing task;

[0063] Sensing quality of service QoS.

[0064] In a second aspect, an embodiment of the present application provides a sensing method, which is applied to a first network device, and the method includes:

[0065] Receiving a first sensing request sent by a first terminal device, where the first network device provides network services for a serving cell of the first terminal device, and the first sensing request includes at least one of the following: location information of the first terminal device, moving speed of the first terminal device, and channel state information CSI report;

[0066] Sending resource information of a second resource to the first terminal device, where the second resource is a sensing resource configured by the first network device for the first terminal device;

[0067] Performing a network-assisted sensing method through the second resource.

[0068] In an alternative embodiment of the second aspect, performing a network-assisted sensing method through the second resource includes:

[0069] Receive a second sensing signal sent by a first terminal device on a second resource;

[0070] Send a second sensing measurement result corresponding to the second sensing signal to the first terminal device.

[0071] In an optional embodiment of the second aspect, the method further includes:

[0072] Send a first sensing request to the SF;

[0073] Receive a resource configuration indication sent by the SF, where the resource configuration indication is used to indicate allocating sensing resources for the first terminal device;

[0074] Allocate a second resource for the first terminal device according to the resource configuration indication;

[0075] Send a resource configuration response to the SF, where the resource configuration response is used to indicate allocating a second resource for the first terminal device.

[0076] In an optional embodiment of the second aspect, the method further includes:

[0077] Receive a resource activation indication sent by the SF, where the resource activation indication is used to indicate activating the second resource;

[0078] Send a resource activation response to the SF, where the resource activation response is used to indicate that the second resource has been activated.

[0079] In a third aspect, an embodiment of the present application provides a sensing method applied to a second terminal device, and the method includes:

[0080] Receive a second sensing request sent by a first terminal device on a third resource, where the second sensing request includes a third sensing signal corresponding to a sensing task, and the third resource is an available resource in a sensing resource pool pre-allocated for the first terminal device;

[0081] Send a third sensing measurement result corresponding to the third sensing signal to the first terminal device.

[0082] In an optional embodiment of the third aspect, the method further includes:

[0083] Establish a sidelink connection with the first terminal device.

[0084] In an optional embodiment of the third aspect, the second sensing request further includes at least one of the following:

[0085] An identifier of the sensing task;

[0086] Sensing quality of service QoS.

[0087] Fourthly, an embodiment of the present application provides a terminal device, including at least part of a determination module, an acquisition module, a sending module, and an establishment module, where,

[0088] The determination module is configured to determine a sensing scheme based on first information, and the sensing scheme includes at least two of the following sensing methods: an autonomous sensing method, a terminal-assisted sensing method, and a network-assisted sensing method;

[0089] The acquisition module is configured to obtain a sensing result according to the sensing scheme.

[0090] In an optional embodiment of the fourth aspect, the sending module is configured to,

[0091] Send the sensing result to the SF.

[0092] In an optional embodiment of the fourth aspect, the first information includes at least one of the following:

[0093] Measurement results of at least one cell, where the cell includes a serving cell and / or a non-serving cell, the signal strength of the cell is greater than a first threshold, and the network device providing network services for the cell has sensing capabilities;

[0094] Information of at least one second terminal device, where the distance between the second terminal device and the first terminal device is less than a distance threshold, and the signal strength of the second terminal device is greater than a second threshold.

[0095] In an optional embodiment of the fourth aspect, the measurement results of the cell include at least one of the following:

[0096] Reference signal received power (RSRP) of the cell;

[0097] Signal-to-noise ratio (SINR) of the cell;

[0098] Sensing capabilities of the serving base station of the cell;

[0099] Load of the serving base station of the cell.

[0100] In an optional embodiment of the fourth aspect, the information of the second terminal device includes at least one of the following:

[0101] Sensing capabilities of the second terminal device;

[0102] Available sensing resource amount of the second terminal device.

[0103] In an optional embodiment of the fourth aspect, before determining the sensing method based on the first information, the acquisition module is further configured to,

[0104] Obtain the first information.

[0105] In an optional embodiment of the fourth aspect,

[0106] The first information includes measurement results of at least one cell, and the sensing scheme includes an autonomous sensing method and a network-assisted sensing method.

[0107] In an optional embodiment of the fourth aspect, the obtaining module is specifically configured to,

[0108] Obtain a first sensing measurement result according to the autonomous sensing method;

[0109] Obtain a second sensing measurement result according to the network-assisted sensing method;

[0110] Determine a sensing result based on the first sensing measurement result and the second sensing measurement result.

[0111] In an optional embodiment of the fourth aspect,

[0112] The first information includes information of at least one second terminal device, and the sensing scheme includes an autonomous sensing method and a terminal-assisted sensing method.

[0113] In an optional embodiment of the fourth aspect, the obtaining module is specifically configured to,

[0114] Obtain a first sensing measurement result according to the autonomous sensing method;

[0115] Obtain a third sensing measurement result according to the terminal-assisted sensing method;

[0116] Determine a sensing result based on the first sensing measurement result and the third sensing measurement result.

[0117] In an optional embodiment of the fourth aspect,

[0118] The first information includes measurement results of at least one cell and information of at least one second terminal device, and the sensing scheme includes an autonomous sensing method, a network-assisted sensing method, and a terminal-assisted sensing method.

[0119] In an optional embodiment of the fourth aspect, the obtaining module is specifically configured to,

[0120] Obtain a first sensing measurement result according to the autonomous sensing method;

[0121] Obtain a second sensing measurement result according to the network-assisted sensing method;

[0122] Obtain a third sensing measurement result according to the terminal-assisted sensing method;

[0123] Determine a sensing result based on the first sensing measurement result, the second sensing measurement result, and the third sensing measurement result.

[0124] In an optional embodiment of the fourth aspect, the obtaining module is specifically configured to,

[0125] Send a first sensing signal on a first resource, where the first resource is an available resource in a sensing resource pool pre-allocated for a first terminal device;

[0126] Receive the first sensing signal on the first resource and measure the first sensing signal to obtain a first sensing measurement result.

[0127] In an optional embodiment of the fourth aspect, the obtaining module is specifically configured to,

[0128] Send a first sensing request to a first network device, where the first network device provides network services for a serving cell of the first terminal device, and the first sensing request includes at least one of the following: location information of the first terminal device, moving speed of the first terminal device, and channel state information CSI;

[0129] Receive resource information of a second resource sent by the first network device, where the second resource is a sensing resource configured by the first network device for the first terminal device;

[0130] Execute a network-assisted sensing method through the second resource.

[0131] In an optional embodiment of the fourth aspect, the obtaining module is specifically configured to,

[0132] Send a second sensing signal to the first network device on the second resource;

[0133] Receive a second sensing measurement result corresponding to the second sensing signal sent by the first network device.

[0134] In an optional embodiment of the fourth aspect, the obtaining module is specifically configured to,

[0135] Send a second sensing signal to a second network device on the second resource, where the second network device provides network services for a non-serving cell of the first terminal device;

[0136] Receive a second sensing measurement result corresponding to the second sensing signal sent by the second network device.

[0137] In an optional embodiment of the fourth aspect, the obtaining module is specifically configured to,

[0138] Determine a third resource corresponding to a sensing task, where the third resource is an available resource in a sensing resource pool pre-allocated for the first terminal device;

[0139] Send a second sensing request to a second terminal device on the third resource, where the second sensing request includes a third sensing signal corresponding to the sensing task;

[0140] Receive a third sensing measurement result corresponding to the third sensing signal sent by the second terminal device.

[0141] In an optional embodiment of the fourth aspect, the establishment module is configured to

[0142] establish a sidelink connection with the second terminal device.

[0143] In an optional embodiment of the fourth aspect, the second sensing request further includes at least one of the following:

[0144] the identifier of the sensing task;

[0145] sensing QoS.

[0146] In a fifth aspect, an embodiment of the present application provides a network device, including at least part of a receiving module, a transmitting module, an execution module, and an allocation module. Among them,

[0147] The receiving module is configured to receive a first sensing request sent by a first terminal device. The first network device provides network services for the serving cell of the first terminal device. The first sensing request includes at least one of the following: the location information of the first terminal device, the moving speed of the first terminal device, and the channel state information CSI report;

[0148] The transmitting module is configured to send resource information of a second resource to the first terminal device. The second resource is the sensing resource configured by the first network device for the first terminal device;

[0149] The execution module is configured to execute a network-assisted sensing method through the second resource.

[0150] In an optional embodiment of the fifth aspect, the execution module is specifically configured to

[0151] receive a second sensing signal sent by the first terminal device on the second resource;

[0152] send a second sensing measurement result corresponding to the second sensing signal to the first terminal device.

[0153] In an optional embodiment of the fifth aspect,

[0154] the transmitting module is further configured to send the first sensing request to the SF;

[0155] the receiving module is further configured to receive a resource configuration indication sent by the SF. The resource configuration indication is used to indicate the allocation of sensing resources for the first terminal device;

[0156] The allocation module is configured to allocate a second resource for the first terminal device according to the resource configuration indication;

[0157] The transmitting module is further configured to send a resource configuration response to the SF. The resource configuration response is used to indicate the allocation of a second resource for the first terminal device.

[0158] In an optional embodiment of the fifth aspect,

[0159] The receiving module is further configured to receive a resource activation indication sent by the SF, where the resource activation indication is used to indicate the activation of the second resource;

[0160] The sending module is further configured to send a resource activation response to the SF, where the resource activation response is used to indicate that the second resource has been activated.

[0161] In a sixth aspect, an embodiment of the present application provides a terminal device, including at least part of a receiving module, a sending module, and an establishing module, where,

[0162] The receiving module is configured to receive a second sensing request sent by a first terminal device on a third resource, where the second sensing request includes a third sensing signal corresponding to a sensing task, and the third resource is an available resource in a sensing resource pool pre-allocated for the first terminal device;

[0163] The sending module is configured to send a third sensing measurement result corresponding to the third sensing signal to the first terminal device.

[0164] In an optional embodiment of the sixth aspect, the establishing module is configured to,

[0165] Establish a sidelink connection with the first terminal device.

[0166] In an optional embodiment of the sixth aspect, the second sensing request further includes at least one of the following:

[0167] An identifier of the sensing task;

[0168] Sensing QoS.

[0169] In a seventh aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory;

[0170] The memory stores computer-executable instructions;

[0171] The processor executes the computer-executable instructions stored in the memory, so that the terminal device executes the method described in the first aspect or any optional embodiment of the first aspect.

[0172] In an eighth aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory;

[0173] The memory stores computer-executable instructions;

[0174] The processor executes the computer-executable instructions stored in the memory, so that the terminal device executes the method described in the second aspect or any optional embodiment of the second aspect.

[0175] In a ninth aspect, an embodiment of the present application provides an electronic device, including: a processor and a memory;

[0176] The memory stores computer-executable instructions;

[0177] The processor executes the computer-executable instructions stored in the memory, so that the terminal device executes the method described in the third aspect or any optional embodiment of the third aspect.

[0178] In a tenth aspect, an embodiment of the present application provides a computer-readable storage medium, in which a computer program or instruction is stored. When the computer program or instruction runs on a computer, the computer is enabled to execute the method described in the first aspect or any possible implementation manner of the first aspect, or execute the method described in the second aspect or any possible implementation manner of the second aspect, or execute the method described in the third aspect or any possible implementation manner of the third aspect.

[0179] In an eleventh aspect, an embodiment of the present application provides a computer program product including a computer program. When the computer program runs, the computer is enabled to execute the method described in the first aspect or any possible implementation manner of the first aspect, or execute the method described in the second aspect or any possible implementation manner of the second aspect, or execute the method described in the third aspect or any possible implementation manner of the third aspect.

[0180] In a twelfth aspect, the present application provides a chip or a chip system. The chip or the chip system includes at least one processor and a communication interface. The communication interface and the at least one processor are interconnected by a line. The at least one processor is configured to run a computer program or instruction to execute the method described in the first aspect or any possible implementation manner of the first aspect; or, the method described in the second aspect or any possible implementation manner of the second aspect; or, the method described in the third aspect or any possible implementation manner of the third aspect. Among them, the communication interface in the chip may be an input / output interface, a pin, a circuit, etc.

[0181] In a possible implementation, the chip or the chip system described above in the present application further includes at least one memory, and instructions are stored in the at least one memory. The memory may be an internal storage unit of the chip, for example, a register, a cache, etc., or a storage unit of the chip (for example, a read-only memory, a random access memory, etc.).

[0182] The perception method, device, and storage medium provided in this embodiment. In the method, the first terminal device can determine a perception scheme based on the first information, and the perception scheme can include at least two perception methods. Through the above method, the purpose of collaborative perception can be achieved, avoiding the poor perception effect of a single perception method, and achieving the purpose of improving the perception effect.

[0183] It should be understood that the technical solutions of the second to twelfth aspects of this application correspond to those of the first aspect of this application, and the beneficial effects obtained by each aspect and the corresponding feasible implementation manners are similar, and will not be described in detail. BRIEF DESCRIPTION OF THE DRAWINGS

[0184] Figure 1 It is a schematic diagram of a communication system architecture provided in an embodiment of this application;

[0185] Figure 2 It is the flowchart of the perception method provided in an embodiment of this application Figure 1 ;

[0186] Figure 3 It is the flowchart of the perception method provided in an embodiment of this application Figure 2 ;

[0187] Figure 4 It is the flowchart of the autonomous perception method provided in an embodiment of this application;

[0188] Figure 5 It is the flowchart of the network-assisted perception method provided in an embodiment of this application Figure 1 ;

[0189] Figure 6 It is the flowchart of the network-assisted perception method provided in an embodiment of this application Figure 2 ;

[0190] Figure 7 It is the flowchart of the terminal-assisted perception method provided in an embodiment of this application;

[0191] Figure 8 It is the interaction flowchart of the perception method provided in an embodiment of this application Figure 1 ;

[0192] Figure 9 It is the interaction flowchart of the perception method provided in an embodiment of this application Figure 2 ;

[0193] Figure 10 It is the interaction flowchart of the perception method provided in an embodiment of this application Figure 3 ;

[0194] Figure 11 It is the structural schematic diagram of the terminal device provided in an embodiment of this application Figure 1 ;

[0195] Figure 12 Structural schematic diagram of the terminal device provided by the embodiment of the present application Figure 2 ;

[0196] Figure 13 Structural schematic diagram of the network device provided by the embodiment of the present application;

[0197] Figure 14 Structural schematic diagram of the electronic device provided by the embodiment of the present application. Specific implementation manners

[0198] In the embodiments of the present application, terms such as "first" and "second" are used to distinguish identical or similar items with basically the same functions and effects. For example, the first chip and the second chip are only used to distinguish different chips, and do not limit their sequence. Those skilled in the art can understand that terms such as "first" and "second" do not limit the quantity and execution order, and "first", "second", etc. do not necessarily mean different.

[0199] It should be noted that in the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary" or "for example" in the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Exactly, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific manner.

[0200] In the embodiments of the present application, "at least one" means one or more, and "a plurality" means two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone, where A and B can be singular or plural. The character " / " generally represents an "or" relationship between the associated objects before and after. "At least one (item)" or similar expressions thereof refer to any combination of these items, including any combination of single item (item) or plural items (items). For example, at least one (item) of a, b, or c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0201] It should be noted that in the embodiments of the present application, "when (at)..." or "when (in) the case of...", can be at the instant when a certain situation occurs, or within a period of time after a certain situation occurs. The embodiments of the present application do not make specific limitations on this.

[0202] The terminal device in the embodiments of the present application may include a handheld device with sensing functions, a vehicle-mounted device, etc. For example, some terminal devices are: mobile phone, tablet computer, palm computer, laptop computer, mobile internet device (MID), 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), a handheld device with wireless communication function, a computing device or other processing devices connected to a wireless modem, vehicle-mounted device, terminal device in a 5G network or terminal device in a future evolved public land mobile network (PLMN), etc. The embodiments of the present application are not limited thereto.

[0203] By way of example and not limitation, in the embodiments of the present application, the terminal device may also be a wearable device. A wearable device, also known as a wearable intelligent device, is a general term for devices developed by applying wearable technology to the intelligent design of daily wear, such as glasses, gloves, watches, clothing, and shoes. A wearable device is a portable device that is either worn directly on the body or integrated into the user's clothes or accessories. A wearable device is not just a hardware device, but also realizes powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable intelligent devices include those with complete functions and large sizes that can realize complete or partial functions without relying on a smart phone, such as smart watches or smart glasses, etc., and those that only focus on a certain type of application function and need to cooperate with other devices such as smart phones, such as various smart bracelets and smart jewelry for physical sign monitoring.

[0204] In addition, in the embodiments of the present application, the terminal device may also be a terminal device in an Internet of Things (IoT) system. The IoT is an important part of the future development of information technology. Its main technical feature is to connect objects to the network through communication technology, so as to realize an intelligent network of human-machine interconnection and thing-thing interconnection.

[0205] The terminal device in the embodiments of the present application may also be referred to as: terminal, user equipment (UE), mobile station (MS), mobile terminal (MT), access terminal, user unit, user station, mobile station, mobile platform, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication device, user agent or user device, etc.

[0206] In the embodiments of the present application, the terminal device or each network device includes a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system layer. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and a memory (also referred to as main memory). The operating system can be any one or more computer operating systems that implement service processing through processes. For example, Linux operating system, Unix operating system, Android operating system, iOS operating system, or Windows operating system, etc. The application layer includes applications such as browsers, address books, word processing software, and instant messaging software.

[0207] In the embodiments of the present application, the network device may be a base station, and the base station may include multiple cells that provide services to terminals. For example, the base station may be an evolved network device (eNB or e-NodeB) in a Long Term Evolution (LTE) system, a 5G base station (gNB) in a 5G network architecture, etc., or it may also be a Home evolved Node B (HeNB), a relay node, a femto base station, a pico base station, a network test device, etc. The embodiments of the present application do not limit this.

[0208] The technical solution provided by the embodiments of the present application can be applied to the Long Term Evolution (LTE) architecture, and can also be applied to the Universal Mobile Telecommunications System (UMTS) Terrestrial Radio Access Network (UTRAN) architecture, or the Global System for Mobile Communication (GSM) / Enhanced Data Rate for GSM Evolution (EDGE) system's GSM EDGE Radio Access Network (GERAN) architecture. In addition, the technical solution provided by the embodiments of the present application can also be applied to any other wireless communication systems with similar structures and functions, such as Public Land Mobile Network (PLMN) systems, 5G communication systems, or communication systems after 5G, etc. The embodiments of the present application do not impose any restrictions on this.

[0209] To better understand the technical solution provided by the embodiments of the present application, the following Figure 1 is used to illustrate the communication system architecture involved in the embodiments of the present application.

[0210] Figure 1 is a schematic diagram of a communication system architecture provided by the embodiments of the present application. Please refer to Figure 1 , the communication system may include a network device and terminal devices. The terminal devices may include, for example, terminal device A, terminal device B, and terminal device C. Terminal device A may be a terminal device within the coverage area of the network device, terminal device B may be a terminal device at the edge of the coverage area of the network device, and terminal device C may be a terminal device outside the coverage area of the network device. It should be noted that the number of network devices, terminal device A, terminal device B, and terminal device C in the communication system may all be one or more, Figure 1 and only the case where the number of network devices, terminal device A, terminal device B, and terminal device C is all 1 is used for illustration, which does not constitute a limitation on the technical solution provided by the embodiments of the present application.

[0211] In the above communication system, when a terminal device has a sensing requirement, it can complete sensing with the assistance of itself, other terminal devices, or the network device. However, in some scenarios, the sensing effect of the terminal device is poor and cannot meet the sensing requirements of the terminal device.

[0212] For example, if the terminal device is outside the coverage area of the network device, or at the edge of the coverage area of the network device, or within the coverage area of a network device without sensing capabilities, it may cause sensing failure due to the inability to obtain sensing resources, resulting in poor sensing effects.

[0213] For another example, if the terminal device quickly switches between a network device with sensing capabilities and a network device without sensing capabilities, it may cause sensing interruption, resulting in poor sensing effects.

[0214] In view of this, embodiments of the present application provide a sensing method to improve sensing effects.

[0215] The technical solutions shown in the present application are described in detail below through specific embodiments. It should be noted that the following several embodiments can exist independently or be combined with each other. For the same or similar content, such as the explanation of terms or nouns, and the explanation of steps, etc., they can be referred to each other in different embodiments and will not be repeated.

[0216] Figure 2 is the flow of the sensing method provided by the embodiments of the present application Figure 1 , and this method can be applied to a first terminal device. As Figure 2 shown, this method includes:

[0217] S201. Determine a sensing scheme based on the first information.

[0218] In some embodiments, the first information may include measurement results of at least one cell.

[0219] A cell includes a serving cell and / or a non-serving cell, and the signal strength of the cell is greater than a first threshold, and the network device providing network services for the cell has sensing capabilities.

[0220] The serving cell may be the serving cell of the first terminal device.

[0221] The non-serving cell may be a neighbor cell of the first terminal device.

[0222] The network device providing network services for the cell may be a base station providing network services for the cell.

[0223] The measurement results of the cell may include at least one of the following: the reference signal received power (RSRP) of the cell; the signal-to-interference plus noise ratio (SINR) of the cell; the sensing capabilities of the serving base station of the cell; the load of the serving base station of the cell.

[0224] The first threshold can be set according to actual needs, and this embodiment does not limit it.

[0225] Specifically, the first information may include: measurement results of the serving cell of the first terminal device, and / or measurement results of non-serving cells of the first terminal device. Among them, the base station providing network services for the serving cell of the first terminal device has sensing capabilities, and the signal strength of the serving cell of the first terminal device is greater than the first threshold; the base station providing network services for the non-serving cells of the first terminal device has sensing capabilities, and the signal strength of the non-serving cells of the first terminal device is greater than the first threshold.

[0226] In some embodiments, the first information may include information of at least one second terminal device.

[0227] The distance between the second terminal device and the first terminal device is less than the distance threshold, and the signal strength of the second terminal device is greater than the second threshold. That is to say, the second terminal device can be a terminal device whose distance from the first terminal device is less than the distance threshold and whose signal strength is greater than the second threshold.

[0228] The information of the second terminal device includes at least one of the following: the sensing capabilities of the second terminal device; the available sensing resource amount of the second terminal device.

[0229] The sensing capabilities of the second terminal device are used to indicate that the second terminal device has sensing capabilities.

[0230] The available sensing resource amount of the second terminal device can be the upper limit of resources that the second terminal device can currently allocate to sensing tasks. The resources can be computing resources, communication resources, or sensor resources, etc.

[0231] The second threshold can be set according to actual needs, and this embodiment does not limit it.

[0232] In some embodiments, the first information may include measurement results of at least one cell and information of at least one second terminal device.

[0233] The sensing scheme includes at least two of the following sensing methods: autonomous sensing method, terminal-assisted sensing method, and network-assisted sensing method.

[0234] In some embodiments, the first information may include measurement results of at least one cell, and the sensing scheme may include an autonomous sensing method and a network-assisted sensing method.

[0235] In some embodiments, the first information may include information of at least one second terminal device, and the sensing scheme may include an autonomous sensing method and a terminal-assisted sensing method.

[0236] In some embodiments, the first information may include measurement results of at least one cell and information of at least one second terminal device. The sensing scheme may include an autonomous sensing method, a terminal-assisted sensing method, and a network-assisted sensing method.

[0237] In this embodiment, the sensing scheme may include at least one sensing method. When the sensing effect of one of the sensing methods is poor, another sensing method can play an assisting and supplementary role, thereby improving the sensing effect.

[0238] S202. Obtain a sensing result according to the sensing scheme.

[0239] In this embodiment, the first terminal device may execute a corresponding sensing method according to the sensing scheme and obtain a sensing result.

[0240] For example, assuming that the sensing scheme includes an autonomous sensing method and a network-assisted sensing method, the first terminal device may execute the autonomous sensing method and the network-assisted sensing method and obtain a sensing result.

[0241] In the sensing method provided in this embodiment, the first terminal device may determine the sensing scheme based on the first information, and the sensing scheme may include at least two sensing methods. Through the above method, the purpose of collaborative sensing can be achieved, avoiding the poor sensing effect of a single sensing method, and achieving the purpose of improving the sensing effect.

[0242] Based on the above embodiments, the first terminal device may further obtain the first information. The following combines Figure 3 , and further describes the sensing method provided in the embodiments of the present application.

[0243] Figure 3 is the flow of the sensing method provided in the embodiments of the present application Figure 2 , and this method can be applied to the first terminal device. As Figure 3 shown, this method includes:

[0244] S301. Obtain the first information.

[0245] The first information includes: measurement results of at least one cell, and / or, information of at least one second terminal device.

[0246] In this embodiment, the first terminal device may perform cell measurement to obtain measurement results of at least one cell. It should be noted that the method of cell measurement can refer to related technologies and will not be elaborated here.

[0247] In this embodiment, the first terminal device may obtain information of at least one second terminal device through the terminal discovery process, or the first terminal device may obtain information of at least one second terminal device from a Location Management Function (LMF). It should be noted that the methods for obtaining information of at least one second terminal device through the terminal discovery process and the method for obtaining information of at least one second terminal device from the LMF can be referred to in the related art and will not be elaborated here.

[0248] In some embodiments, the first terminal device does not obtain measurement results of at least one cell after performing cell measurements. The first terminal device obtains information of at least one second terminal device through the terminal discovery process, or the first terminal device obtains information of at least one second terminal device from the LMF. In this case, the first information includes information of at least one second terminal device.

[0249] In some embodiments, the first terminal device obtains measurement results of at least one cell after performing cell measurements. The first terminal device does not obtain information of at least one second terminal device through the terminal discovery process, and the first terminal device also does not obtain information of at least one second terminal device from the LMF. In this case, the first information includes measurement results of at least one cell.

[0250] In some embodiments, the first terminal device does not obtain measurement results of at least one cell after performing cell measurements. The first terminal device obtains information of at least one second terminal device through the terminal discovery process, or the first terminal device obtains information of at least one second terminal device from the LMF. In this case, the first information includes measurement results of at least one cell and information of at least one second terminal device.

[0251] S302. Determine a sensing scheme based on the first information.

[0252] In this embodiment, according to the difference of the first information, the sensing schemes determined by the first terminal device are different. The corresponding sensing schemes will be described below for different first information. The first information includes at least the following situations:

[0253] Situation 1. The first information includes measurement results of at least one cell and information of at least one second terminal device.

[0254] In this case, there are three optional sensing schemes. Optional sensing scheme 1 may include an autonomous sensing method, a terminal-assisted sensing method, and a network-assisted sensing method; optional sensing scheme 2 may include an autonomous sensing method and a network-assisted sensing method; optional sensing scheme 3 may include an autonomous sensing method and a terminal-assisted sensing method.

[0255] In this case, the first terminal device can determine the score of each optional sensing scheme, and can determine the sensing scheme according to the scores of the optional sensing schemes.

[0256] Specifically, the score of the optional sensing scheme 1 can be determined by the following formula 1:

[0257]

[0258] where can be the weight of network quality, can be the weight of terminal availability, can be the weight of task urgency. Network quality can also be referred to as Network Quality, and the value range of network quality is from 0 to 1. The larger the value of network quality, the better the network quality. Terminal availability can also be referred to as Terminal Availability, and the value range of terminal availability is from 0 to 1. The larger the value of terminal availability, the better the terminal availability. Task urgency can also be referred to as Task Urgency, and the value range of task urgency is from 0 to 1. The larger the value of task urgency, the more urgent the sensing task.

[0259] In addition, the network quality can be determined according to the measurement results of at least one cell. The specific method for determining the network quality in this embodiment is not limited, as long as it can indicate the network quality according to the measurement results of at least one cell.

[0260] Exemplarily, the network quality can be determined by the RSRP and SINR of at least one cell. There can be a first correspondence between the RSRP and SINR of the cell and the value of the network quality. For the measurement result of any one cell, the value of the network quality corresponding to the cell can be determined according to the RSRP and SINR of the cell and the first correspondence. For example, if RSRP > -80 dBm and SINR > 15 dB, the value of the network quality can be 0.9, indicating that the network quality is excellent; if RSRP is between -90 dBm and -80 dBm and SINR is between 10 dB and 15 dB, the value of the network quality can be 0.7, indicating that the network quality is good; if RSRP is between -100 dBm and -90 dBm and SINR is between 5 dB and 10 dB, the value of the network quality can be 0.5, indicating that the network quality is average; if RSRP < -100 dBm or SINR < 5 dB, the value of the network quality can be 0.3, indicating that the network quality is poor. After determining the values of the network quality corresponding to each cell in at least one cell, the maximum value of the network quality can be determined as the network quality in the above formula.

[0261] In addition, the terminal availability can be determined according to the information of at least one second terminal device. In this embodiment, the specific method for determining the terminal availability is not limited, as long as the terminal availability can be indicated according to the information of at least one second terminal device.

[0262] Exemplarily, if the number of second terminals is greater than or equal to 3 and all second terminal devices have sensing capabilities, the value of the terminal availability can be 0.8, indicating a high terminal availability. If the number of second terminals is between 1 and 2 and there are second terminal devices with sensing capabilities, the value of the terminal availability can be 0.5, indicating a medium terminal availability. If the number of second terminal devices is equal to 0, or the number of second terminal devices is not 0 but all second terminal devices do not have sensing capabilities, the value of the terminal availability can be 0.2, indicating a low terminal availability.

[0263] In addition, the task urgency can be determined according to the task type of the sensing task, and the task type includes but is not limited to collision warning, environmental modeling, vehicle positioning, dynamic map construction, and navigation assistance, etc. Specifically, there is a second corresponding relationship between the task urgency and the task type of the sensing task. In the specific implementation process, the task urgency can be determined according to the task type of the current sensing task and the second corresponding relationship.

[0264] Exemplarily, the second corresponding relationship can indicate that the task urgency corresponding to the sensing task of the collision warning type is 0.8, indicating an extremely high task urgency. The task urgency corresponding to the sensing task of the navigation assistance type is 0.5, indicating a medium task urgency. The task urgency of the sensing task of the environmental modeling type is 0.3, indicating a low task urgency.

[0265] In addition, 、 、and , there is a third corresponding relationship with the task type of the sensing task. In the specific implementation process, according to the task type of the current sensing task and the third corresponding relationship, determine 、 、and .

[0266] Exemplarily, the third corresponding relationship can indicate that for the sensing task of the collision warning type, can be 0.1, can be 0.1, can be 0.8; for the sensing task of the environmental modeling type, can be 0.2, can be 0.7, can be 0.1.

[0267] Specifically, the score of the optional sensing solution 2 can be determined through the following formula 2:

[0268]

[0269] It should be noted that the meanings and value-taking methods of the parameters in formula 2 can be referred to the description of formula 1, which will not be elaborated here.

[0270] Specifically, the score of the optional sensing solution 3 can be determined through the following formula 3:

[0271]

[0272] It should be noted that the meanings and value-taking methods of the parameters in formula 3 can be referred to the description of formula 1, which will not be elaborated here.

[0273] In this case, after the first terminal device determines the score of each optional sensing solution, it can determine that the sensing solution is the optional sensing solution with the highest score.

[0274] Case 2: The first information includes measurement results of at least one cell.

[0275] In this case, the sensing solution can include an autonomous sensing method and a network-assisted sensing method.

[0276] Case 3: The first information includes information of at least one second terminal device.

[0277] In this case, the sensing solution can include an autonomous sensing method and a terminal-assisted sensing method.

[0278] In this embodiment, the collaborative sensing solution determined by the above method can improve the sensing effect. Further, in the above method, different parameter values can be determined according to different sensing task types, so that the sensing measurement results are relatively accurate, the sensing accuracy is high, and the sensing effect is further improved.

[0279] S303. Obtain a sensing result according to the sensing solution.

[0280] In this embodiment, according to different sensing solutions, the methods for obtaining sensing results are different. The methods for obtaining corresponding sensing results will be described below for different cases of the sensing solution.

[0281] Case 1: The sensing solution includes an autonomous sensing method and a network-assisted sensing method.

[0282] In this case, the first terminal device can obtain a first sensing measurement result according to the autonomous sensing method; obtain a second sensing measurement result according to the network-assisted sensing method; and determine the sensing result based on the first sensing measurement result and the second sensing measurement result.

[0283] It should be noted that the specific description of obtaining the first perception measurement result according to the autonomous perception method can be found in Figure 4 the embodiments, and the specific description of obtaining the second perception measurement result according to the network-assisted perception method can be found in Figure 5 and Figure 6 the embodiments, which will not be elaborated here.

[0284] It should be noted that the number of the first perception measurement results can be one or more, and the one or more first perception measurement results can be the perception measurement results obtained by the first terminal device at different times. The number of the second perception measurement results can also be one or more, and the one or more second perception measurement results can be the perception measurement results obtained by the first terminal device from different network devices.

[0285] In addition, for any one of the first perception measurement results, the first perception measurement result may include measurement data or may include a measurement conclusion. For any one of the second perception measurement results, the second perception measurement result may include measurement data or may include a measurement conclusion. For example, if the perception task is to perceive whether there is an obstacle ahead, the measurement conclusion may indicate that there is an obstacle ahead or there is no obstacle ahead, and the measurement data may be the distance of the obstacle, etc.

[0286] In some embodiments, if the first perception measurement result and the second perception measurement result include measurement data, the first terminal device may determine the final measurement data according to the measurement data in the first perception measurement result and the second perception measurement result, and may determine the perception result according to the final measurement data.

[0287] Optionally, for any measurement data corresponding to the perception task, the mean value of the measurement data in all the first perception results and the second perception results can be determined. The final measurement data may include: the mean values corresponding to all the measurement data corresponding to the perception task.

[0288] Exemplarily, assume that the perception task is to perceive whether there is an obstacle ahead. The first perception measurement result includes the target object measurement value 1 and the signal strength 1 of the target object, etc., and the second perception measurement result includes the target object measurement value 2 and the signal strength 2 of the target object, etc. The first terminal device may determine the mean value of the target object measurement value 1 and the target object measurement value 2, may determine the mean value of the signal strength 1 of the target object and the signal strength 2 of the target object, and may determine whether there is an obstacle ahead according to the mean value of the target object measurement value 1 and the target object measurement value 2 and the mean value of the signal strength 1 of the target object and the signal strength 2 of the target object, that is, may determine the perception result according to the mean value of the target object measurement value 1 and the target object measurement value 2 and the mean value of the signal strength 1 of the target object and the signal strength 2 of the target object.

[0289] In some embodiments, if the first sensing measurement result and the second sensing measurement result include measurement conclusions, the first terminal device may determine a final measurement conclusion based on the conclusions in the first sensing measurement result and the second sensing measurement result, and may determine a sensing result based on the final measurement conclusion. Specifically, the measurement conclusion with the largest proportion among all the first sensing measurement results and the second sensing measurement results may be determined as the final measurement conclusion, and the sensing result may be determined based on the final measurement conclusion.

[0290] It should be noted that the method for verifying the measurement conclusion can be referred to the related art and will not be elaborated here.

[0291] Exemplarily, assume that the sensing task is to sense whether there is an obstacle ahead. The number of the first sensing measurement results is 1, and the number of the second sensing measurement results is 2. The measurement conclusion included in the first sensing measurement result is that there is an obstacle ahead, and the measurement conclusions included in the two second sensing measurement results are respectively that there is an obstacle ahead and that there is no obstacle ahead. Then the final measurement conclusion may be that there is an obstacle ahead. The first terminal device may verify the measurement conclusion that there is an obstacle ahead and may determine the sensing result based on the verification result.

[0292] Case 2: The sensing scheme includes an autonomous sensing method and a terminal-assisted sensing method.

[0293] In this case, according to the autonomous sensing method, the first sensing measurement result is obtained; according to the terminal-assisted sensing method, the third sensing measurement result is obtained; based on the first sensing measurement result and the third sensing measurement result, the sensing result is determined.

[0294] It should be noted that the specific description of obtaining the first sensing measurement result according to the autonomous sensing method can be referred to Figure 4 the embodiment, and the specific description of obtaining the third sensing measurement result according to the terminal-assisted sensing method can be referred to Figure 7 the embodiment, which will not be elaborated here.

[0295] It should be noted that the method for determining the sensing result based on the first sensing measurement result and the third sensing measurement result is similar to the method for determining the sensing result based on the first sensing measurement result and the second sensing measurement result, and will not be elaborated here.

[0296] Case 3: The sensing scheme includes an autonomous sensing method, a network-assisted sensing method, and a terminal-assisted sensing method.

[0297] In this case, the first terminal device can obtain a first sensing measurement result according to the autonomous sensing method, obtain a second sensing measurement result according to the network-assisted sensing method, obtain a third sensing measurement result according to the terminal-assisted sensing method, and determine a sensing result based on the first sensing measurement result, the second sensing measurement result, and the third sensing measurement result.

[0298] It should be noted that for the specific description of obtaining the first sensing measurement result according to the autonomous sensing method, reference can be made to Figure 4 the embodiment. For the specific description of obtaining the second sensing measurement result according to the network-assisted sensing method, reference can be made to Figure 5 and Figure 6 the embodiment. For the specific description of obtaining the third sensing measurement result according to the terminal-assisted sensing method, reference can be made to Figure 7 the embodiment, which will not be elaborated here.

[0299] It should be noted that the method for determining the sensing result based on the first sensing measurement result, the second sensing measurement result, and the third sensing measurement result is similar to the method for determining the sensing result based on the first sensing measurement result and the second sensing measurement result, and will not be elaborated here.

[0300] Optionally, after the first terminal device determines the sensing result, it can also send the sensing result to the SF, so that the SF can provide the sensing result to other terminal devices, further improving the sensing effect.

[0301] In the sensing method provided in this embodiment, the first terminal device can obtain first information, can determine a sensing scheme based on the first information, the sensing scheme can include at least two sensing methods, and can determine a sensing result according to the sensing scheme. Through the above method, the purpose of collaborative sensing can be achieved, and the combination of multiple sensing methods can improve the sensing effect.

[0302] Based on any of the above embodiments, the autonomous sensing method will be described below in combination with Figure 4 to illustrate the autonomous sensing method.

[0303] Figure 4 is a flowchart of the autonomous sensing method provided in the embodiment of the present application. This method can be applied to the first terminal device. As Figure 4 shown, this method includes: [[ID=:]]

[0304] S401. Send a first sensing signal on a first resource.

[0305] The first resource is an available resource in the sensing resource pool pre-allocated for the first terminal device.

[0306] Specifically, if the first terminal device is currently outside the coverage area of the network device, the first resource may be the available resources in the sensing resource pool allocated by the previous network device that provided network services to the first terminal device for the first terminal device. If the first terminal device is currently within the coverage area of the network device, the first resource may be the available resources in the sensing resource pool allocated by the current network device that provides network services to the first terminal device for the first terminal device.

[0307] In this embodiment, a sensing resource pool may be pre-allocated for the first terminal device. The first terminal device does not need to apply for sensing resources during the sensing process, so that the signaling overhead during the sensing process is small.

[0308] S402. Receive a first sensing signal on the first resource and measure the first sensing signal to obtain a first sensing measurement result.

[0309] It should be noted that the method for measuring the sensing signal can refer to the related art and will not be elaborated here.

[0310] In the sensing method provided in this embodiment, the first terminal device can send a first sensing signal on the first resource, receive a first sensing message on the first resource, and measure the first sensing message, achieving the purpose of autonomous sensing.

[0311] Based on any of the above embodiments, the following combines Figure 5 , to illustrate the network-assisted sensing method.

[0312] Figure 5 is the flow of the network-assisted sensing method provided in the embodiments of the present application Figure 1 . As Figure 5 shown, the method includes:

[0313] S501. The first terminal device sends a first sensing request to the first network device.

[0314] The first network device provides network services for the serving cell of the first terminal device. That is to say, the first network device may be a base station that provides network services for the first terminal device.

[0315] The first sensing request includes at least one of the following: the location information of the first terminal device, the moving speed of the first terminal device, and the channel state information (CSI).

[0316] The first sensing request can be used to request the execution of the network-assisted sensing method.

[0317] S502. The first terminal device receives the resource information of the second resource sent by the first network device.

[0318] The second resource is the sensing resource configured by the first network device for the first terminal device.

[0319] The resource information of the second resource may include the time-frequency position information of the second resource, etc.

[0320] In this embodiment, after receiving the first sensing request, the first network device may send the first sensing request to the SF. The first network device may also allocate a second resource for the first terminal device after receiving the sensing resource request sent by the SF.

[0321] S503. The first terminal device sends a second sensing signal to the first network device on the second resource.

[0322] S504. The first terminal device receives the second sensing measurement result corresponding to the second sensing signal sent by the first network device.

[0323] In the sensing method provided in this embodiment, the first terminal device may send a first sensing request to the first network device, may receive the resource information of the second resource sent by the first network device, may send a second sensing signal to the first network device on the second resource, and may receive the second sensing measurement result corresponding to the second sensing signal sent by the first network device. Network-assisted sensing can be achieved through the above method.

[0324] Based on the above embodiment, the number of network devices participating in network-assisted sensing may also be multiple. The following combines Figure 6 , and further illustrates the network-assisted sensing method.

[0325] Figure 6 is the flow of the network-assisted sensing method provided in the embodiments of this application Figure 2 . As Figure 6 shown, the method includes:

[0326] S601. The first terminal device sends a first sensing request to the first network device.

[0327] It should be noted that the specific implementation manner of S601 may refer to S501, which will not be elaborated here.

[0328] S602. The first network device sends the first sensing request to the SF.

[0329] In some embodiments, the first network device may communicate directly with the SF, and the first network device may directly send the first sensing request to the SF.

[0330] In some embodiments, the first network device may communicate with the SF through the Access and Mobility Management Function (AMF), and the first network device may send a first sensing request to the SF through the AMF.

[0331] S603. The SF sends a sensing resource request to the first network device.

[0332] The sensing resource request is used to request to allocate sensing resources for the first terminal device.

[0333] S604. The first network device allocates second resources for the first terminal device and sends the resource information of the second resources to the first terminal device.

[0334] The first network device may allocate second resources for the first terminal through the Radio Resource Control (RRC) connection reconfiguration process and send the resource information of the second resources to the first terminal device.

[0335] It should be noted that the description of the RRC connection reconfiguration process can be referred to in the related art and will not be elaborated here.

[0336] S605. The first network device sends the resource information of the second resources to the second network device.

[0337] In this embodiment, the first network device sending the resource information of the second resources to the second network device can enable the second network device to obtain the time-frequency position, etc. of the second resources.

[0338] S606. The first network device sends a sensing resource response to the SF.

[0339] The sensing resource response is used to indicate that second resources have been allocated for the first terminal device.

[0340] S607. The SF sends a resource activation request to the first network device.

[0341] The resource activation request is used to request to activate the second resources so that the second resources are in an available state.

[0342] S608. The first network device activates the second resources.

[0343] It should be noted that the description of activating sensing resources can be referred to in the related art and will not be elaborated here.

[0344] S609. The first network device sends a resource activation response to the SF.

[0345] The resource activation response is used to indicate that the second resources have been activated.

[0346] S610. The first terminal device sends a second sensing signal to the first network device on the second resource.

[0347] S611. The first terminal device sends a second sensing signal to the second network device on the second resource.

[0348] The second network device provides network services for a non-serving cell of the first terminal device. That is to say, the second network device can be the base station corresponding to the non-serving cell obtained by the first terminal device through cell measurement.

[0349] It should be noted that the number of second network devices can be one or more. Figure 6 Only one second network device is taken as an example for illustration, which does not constitute a limitation on the technical solution provided by the embodiments of the present application.

[0350] It should be noted that S610 can be executed before S611, or S610 can also be executed after S611, or S610 can also be executed simultaneously with S611. This embodiment does not make any limitation in this regard.

[0351] S612. The first terminal device receives a second sensing measurement result corresponding to the second sensing signal sent by the first network device.

[0352] S613. The first terminal device receives a second sensing measurement result corresponding to the second sensing signal sent by the second network device.

[0353] It should be noted that S612 can be executed before S613, or S612 can also be executed after S613, or S612 can also be executed simultaneously with S613. This embodiment does not make any limitation in this regard.

[0354] In the sensing method provided in this embodiment, the first terminal device and the first network device and the second network device can execute a network-assisted sensing method, achieving the purpose of network-assisted sensing.

[0355] Based on any of the above embodiments, the following combines Figure 7 , to illustrate the terminal-assisted sensing method. <o

[0356] Figure 7 is a flowchart of the terminal-assisted sensing method provided by the embodiments of the present application. As Figure 7 shown, the method includes:

[0357] S701. The first terminal device determines a third resource corresponding to the sensing task.

[0358] The third resource is an available resource in the sensing resource pool pre-allocated for the first terminal device.

[0359] Specifically, if the first terminal device is currently outside the coverage area of the network device, the third resource may be the available resources in the sensing resource pool allocated by the previous network device that provided network services to the first terminal device for the first terminal device. If the first terminal device is currently within the coverage area of the network device, the third resource may be the available resources in the sensing resource pool allocated by the current network device that provides network services to the first terminal device for the first terminal device.

[0360] S702. The first terminal device sends a second sensing request to the second terminal device on the third resource.

[0361] It should be noted that the number of second terminal devices may be one or more. In this embodiment, only the case where the number of second terminal devices is one is described, which does not constitute a limitation on the technical solution provided by the embodiments of the present application.

[0362] In some embodiments, the second sensing request includes a third sensing signal corresponding to the sensing task.

[0363] In some embodiments, the second sensing request further includes at least one of the following: an identifier of the sensing task; Quality of Service (QoS).

[0364] In this embodiment, before the first terminal device sends the third sensing signal to the second terminal device, a sidelink connection may also be established with the second terminal device. The sidelink may be a unicast link or a multicast link.

[0365] S703. The first terminal device receives a third sensing measurement result corresponding to the third sensing signal sent by the second terminal device.

[0366] In the sensing method provided by this embodiment, the first terminal device can determine the third resource corresponding to the sensing task, send a second sensing request to the second terminal device on the third resource, and can receive the third sensing measurement result corresponding to the third sensing signal sent by the second terminal device. Through the above method, the purpose of terminal-assisted sensing can be achieved. In addition, the above method can be executed in a scenario without network coverage, making the sensing more flexible.

[0367] Based on any of the above embodiments, the following combines Figure 8 , and exemplarily describes the case where the sensing scheme includes an autonomous sensing method and a network-assisted sensing method.

[0368] Figure 8 For the interaction process of the sensing method provided by the embodiments of the present application Figure 1 . As Figure 8 shown, the method includes:

[0369] S801. The first terminal device obtains first information.

[0370] S802. The first terminal device determines a sensing scheme based on the first information.

[0371] In this embodiment, it is assumed that the sensing scheme includes an autonomous sensing method and a network-assisted sensing method.

[0372] It should be noted that the specific implementation manners of S801 - S802 can refer to S301 - S302, which will not be elaborated here.

[0373] S803. The first terminal sets to execute the autonomous sensing method and obtains a first sensing measurement result.

[0374] It should be noted that the specific implementation manner of S803 can refer to Figure 4 the embodiment, which will not be elaborated here.

[0375] S804. The first terminal device and the network device execute the network-assisted sensing method and obtain a second sensing measurement result.

[0376] In this embodiment, the network device can be the first network device; or, the network device can be the first network device and the second network device.

[0377] It should be noted that the specific implementation manner of S804 can refer to Figure 5 the embodiment, or Figure 6 the embodiment, which will not be elaborated here.

[0378] S805. The first terminal device determines a sensing result based on the first sensing measurement result and the second sensing measurement result.

[0379] It should be noted that the specific implementation manner of S805 can refer to S303, which will not be elaborated here.

[0380] In the sensing method provided in this embodiment, collaborative sensing can be achieved through the autonomous sensing method and the network-assisted sensing method, improving the sensing effect.

[0381] Based on any of the above embodiments, the following combines Figure 9 , and exemplarily describes the case where the sensing scheme includes an autonomous sensing method and a terminal-assisted sensing method.

[0382] Figure 9 This is the interaction process of the sensing method provided in the embodiment of the present application Figure 2 . As Figure 9 shown, the method includes:

[0383] S901. The first terminal device obtains first information.

[0384] S902. The first terminal device determines a sensing solution based on the first information.

[0385] In this embodiment, it is assumed that the sensing solution includes an autonomous sensing method and a terminal-assisted sensing method.

[0386] It should be noted that the specific implementation manners of S901 - S902 can be referred to S301 - S302, which will not be elaborated here.

[0387] S903. The first terminal sets to execute the autonomous sensing method to obtain a first sensing measurement result.

[0388] It should be noted that the specific implementation manner of S903 can be referred to Figure 4 the embodiment, which will not be elaborated here.

[0389] S904. The first terminal device and the second terminal device execute the terminal-assisted sensing method to obtain a third sensing measurement result.

[0390] It should be noted that the specific implementation manner of S904 can be referred to Figure 7 the embodiment, which will not be elaborated here.

[0391] S905. The first terminal device determines a sensing result based on the first sensing measurement result and the third sensing measurement result.

[0392] It should be noted that the specific implementation manner of S905 can be referred to S303, which will not be elaborated here.

[0393] In the sensing method provided in this embodiment, collaborative sensing can be achieved through the autonomous sensing method and the terminal-assisted sensing method, improving the sensing effect.

[0394] Based on any of the above embodiments, the following combines Figure 10 , and exemplarily illustrates the case where the sensing solution includes an autonomous sensing method, a network-assisted sensing method, and a terminal-assisted sensing method.

[0395] Figure 10 is the interaction flow of the sensing method provided in the embodiments of the present application Figure 3 . As Figure 10 shown, the method includes:

[0396] S1001. The first terminal device obtains first information.

[0397] S1002. The first terminal device determines a sensing solution based on the first information.

[0398] In this embodiment, it is assumed that the sensing solution includes an autonomous sensing method, a network-assisted sensing method, and a terminal-assisted sensing method.

[0399] It should be noted that the specific implementation manners of S1001 - S1002 can be referred to S301 - S302, which will not be elaborated here.

[0400] S1003. The first terminal sets to execute the autonomous sensing method to obtain the first sensing measurement result.

[0401] It should be noted that the specific implementation manner of S1003 can be referred to Figure 4 the embodiments, which will not be elaborated here.

[0402] S1004. The first terminal device and the network device execute the network - assisted sensing method to obtain the second sensing measurement result.

[0403] In this embodiment, the network device can be the first network device; or, the network device can be the first network device and the second network device.

[0404] It should be noted that the specific implementation manner of S1004 can be referred to Figure 5 the embodiments, or Figure 6 the embodiments, which will not be elaborated here.

[0405] S1005. The first terminal device and the second terminal device execute the terminal - assisted sensing method to obtain the third sensing measurement result.

[0406] It should be noted that the specific implementation manner of S1005 can be referred to Figure 7 the embodiments, which will not be elaborated here.

[0407] S1006. The first terminal device determines the sensing result based on the first sensing measurement result, the second sensing measurement result, and the third sensing measurement result.

[0408] It should be noted that the specific implementation manner of S1006 can be referred to S303, which will not be elaborated here.

[0409] In the sensing method provided in this embodiment, cooperative sensing can be achieved through the autonomous sensing method, the network - assisted sensing method, and the terminal - assisted method, improving the sensing effect.

[0410] Figure 11 This is the structural schematic diagram of the terminal device provided in the embodiment of the present application Figure 1 . The terminal device 10 can be the first terminal device or the chip in the first terminal device. As Figure 11 shown, the terminal device includes at least part of a determination module 11, an acquisition module 12, a sending module 13, and an establishment module 14, where

[0411] The determining module 11 is configured to determine a sensing scheme based on first information, where the sensing scheme includes at least two of the following sensing methods: an autonomous sensing method, a terminal-assisted sensing method, and a network-assisted sensing method;

[0412] The obtaining module 12 is configured to obtain a sensing result according to the sensing scheme.

[0413] In a possible implementation, the sending module 13 is configured to

[0414] send the sensing result to the SF.

[0415] In a possible implementation, the first information includes at least one of the following:

[0416] Measurement results of at least one cell, where the cell includes a serving cell and / or a non-serving cell, the signal strength of the cell is greater than a first threshold, and the network device providing network services for the cell has sensing capabilities;

[0417] Information of at least one second terminal device, where the distance between the second terminal device and the first terminal device is less than a distance threshold, and the signal strength of the second terminal device is greater than a second threshold.

[0418] In a possible implementation, the measurement results of the cell include at least one of the following:

[0419] Reference signal received power (RSRP) of the cell;

[0420] Signal-to-noise ratio (SINR) of the cell;

[0421] Sensing capabilities of the serving base station of the cell;

[0422] Load of the serving base station of the cell.

[0423] In a possible implementation, the information of the second terminal device includes at least one of the following:

[0424] Sensing capabilities of the second terminal device;

[0425] Available sensing resource amount of the second terminal device.

[0426] In a possible implementation, before determining the sensing method based on the first information, the obtaining module 12 is further configured to

[0427] obtain the first information.

[0428] In a possible implementation,

[0429] the first information includes measurement results of at least one cell, and the sensing scheme includes an autonomous sensing method and a network-assisted sensing method.

[0430] In a possible implementation, the obtaining module 12 is specifically configured to,

[0431] Obtain a first sensing measurement result according to the autonomous sensing method;

[0432] Obtain a second sensing measurement result according to the network-assisted sensing method;

[0433] Determine a sensing result based on the first sensing measurement result and the second sensing measurement result.

[0434] In a possible implementation,

[0435] The first information includes information of at least one second terminal device, and the sensing scheme includes an autonomous sensing method and a terminal-assisted sensing method.

[0436] In a possible implementation, the obtaining module 12 is specifically configured to,

[0437] Obtain a first sensing measurement result according to the autonomous sensing method;

[0438] Obtain a third sensing measurement result according to the terminal-assisted sensing method;

[0439] Determine a sensing result based on the first sensing measurement result and the third sensing measurement result.

[0440] In a possible implementation,

[0441] The first information includes measurement results of at least one cell and information of at least one second terminal device, and the sensing scheme includes an autonomous sensing method, a network-assisted sensing method, and a terminal-assisted sensing method.

[0442] In a possible implementation, the obtaining module 12 is specifically configured to,

[0443] Obtain a first sensing measurement result according to the autonomous sensing method;

[0444] Obtain a second sensing measurement result according to the network-assisted sensing method;

[0445] Obtain a third sensing measurement result according to the terminal-assisted sensing method;

[0446] Determine a sensing result based on the first sensing measurement result, the second sensing measurement result, and the third sensing measurement result.

[0447] In a possible implementation, the obtaining module 12 is specifically configured to,

[0448] Send a first sensing signal on a first resource, where the first resource is an available resource in a sensing resource pool pre-allocated for the first terminal device;

[0449] Receive a first sensing signal on a first resource and measure the first sensing signal to obtain a first sensing measurement result.

[0450] In a possible implementation, the obtaining module 12 is specifically configured to,

[0451] Send a first sensing request to a first network device, where the first network device provides network services for a serving cell of the first terminal device, and the first sensing request includes at least one of the following: location information of the first terminal device, moving speed of the first terminal device, and channel state information CSI;

[0452] Receive resource information of a second resource sent by the first network device, where the second resource is a sensing resource configured by the first network device for the first terminal device;

[0453] Execute a network-assisted sensing method through the second resource.

[0454] In a possible implementation, the obtaining module 12 is specifically configured to,

[0455] Send a second sensing signal to the first network device on the second resource;

[0456] Receive a second sensing measurement result corresponding to the second sensing signal sent by the first network device.

[0457] In a possible implementation, the obtaining module 12 is specifically configured to,

[0458] Send a second sensing signal to a second network device on the second resource, where the second network device provides network services for a non-serving cell of the first terminal device;

[0459] Receive a second sensing measurement result corresponding to the second sensing signal sent by the second network device.

[0460] In a possible implementation, the obtaining module 12 is specifically configured to,

[0461] Determine a third resource corresponding to a sensing task, where the third resource is an available resource in a sensing resource pool pre-allocated for the first terminal device;

[0462] Send a second sensing request to a second terminal device on the third resource, where the second sensing request includes a third sensing signal corresponding to the sensing task;

[0463] Receive a third sensing measurement result corresponding to the third sensing signal sent by the second terminal device.

[0464] In a possible implementation, the establishing module 14 is used to,

[0465] Establish a sidelink connection with the second terminal device.

[0466] In a possible implementation, the second sensing request further includes at least one of the following:

[0467] The identifier of the sensing task;

[0468] Sensing QoS.

[0469] The terminal device provided in this embodiment is used to implement the technical solution of the first terminal device in the foregoing method embodiment, and its implementation principle and technical effect are similar, so details are not described herein again.

[0470] It should be noted that the module names involved in the embodiments of this application can all be defined as other names, as long as the functions of each module can be achieved, and no specific restrictions are imposed on the module names.

[0471] Figure 12 This is a schematic structural diagram of the terminal device provided in the embodiments of this application Figure 2 . The terminal device 20 may be a second terminal device or a chip in the second terminal device. As Figure 12 shown, the terminal device includes at least part of a receiving module 21, a transmitting module 22, and an establishing module 23, where

[0472] The receiving module 21 is configured to receive, on a third resource, a second sensing request sent by a first terminal device, where the second sensing request includes a third sensing signal corresponding to a sensing task, and the third resource is an available resource in a sensing resource pool pre-allocated for the first terminal device;

[0473] The transmitting module 22 is configured to send a third sensing measurement result corresponding to the third sensing signal to the first terminal device.

[0474] In a possible implementation, the establishing module 23 is configured to

[0475] Establish a sidelink connection with the first terminal device.

[0476] In a possible implementation, the second sensing request further includes at least one of the following:

[0477] The identifier of the sensing task;

[0478] Sensing QoS.

[0479] The terminal device provided in this embodiment is used to implement the technical solution of the second terminal device in the foregoing method embodiment, and its implementation principle and technical effect are similar, so details are not described herein again.

[0480] It should be noted that the module names involved in the embodiments of this application can all be defined as other names, as long as the functions of each module can be achieved, and no specific restrictions are imposed on the module names.

[0481] Figure 13 The structural schematic diagram of the network device provided by the embodiment of the present application. The network device 30 may be a first network device or a chip in the first network device. As Figure 13 shown, the network device includes at least part of a receiving module 31, a sending module 32, an execution module 33, and a distribution module 34. Among them,

[0482] The receiving module 31 is configured to receive a first sensing request sent by a first terminal device. The first network device provides network services for the serving cell of the first terminal device. The first sensing request includes at least one of the following: location information of the first terminal device, moving speed of the first terminal device, and channel state information CSI report;

[0483] The sending module 32 is configured to send resource information of a second resource to the first terminal device. The second resource is a sensing resource configured by the first network device for the first terminal device;

[0484] The execution module 33 is configured to execute a network-assisted sensing method through the second resource.

[0485] In a possible implementation manner, the execution module 33 is specifically configured to,

[0486] Receive a second sensing signal sent by the first terminal device on the second resource;

[0487] Send a second sensing measurement result corresponding to the second sensing signal to the first terminal device.

[0488] In a possible implementation manner,

[0489] The sending module 32 is further configured to send the first sensing request to the SF;

[0490] The receiving module 31 is further configured to receive a resource configuration indication sent by the SF. The resource configuration indication is used to indicate the allocation of sensing resources for the first terminal device;

[0491] The distribution module 34 is configured to allocate a second resource for the first terminal device according to the resource configuration indication;

[0492] The sending module 32 is further configured to send a resource configuration response to the SF. The resource configuration response is used to indicate the allocation of a second resource for the first terminal device.

[0493] In a possible implementation manner,

[0494] The receiving module 31 is further configured to receive a resource activation indication sent by the SF. The resource activation indication is used to indicate the activation of the second resource;

[0495] The sending module 32 is further configured to send a resource activation response to the SF. The resource activation response is used to indicate that the second resource has been activated.

[0496] The terminal device provided in this embodiment is used to implement the technical solution of the first network device in the foregoing method embodiment, and its implementation principle and technical effects are similar, which will not be elaborated here.

[0497] It should be noted that the module names involved in the embodiments of this application can all be defined as other names, as long as the functions of each module can be realized, and no specific restrictions are imposed on the module names.

[0498] Figure 14 It is a schematic structural diagram of the electronic device provided in the embodiments of this application. This electronic device can be the first terminal device in the foregoing text. This electronic device can be the second terminal device in the foregoing text. This electronic device can also be the first network device in the foregoing text. This electronic device can also be the second network device in the foregoing text. As Figure 14 shown, the electronic device 40 provided in this embodiment includes: a memory 401, a processor 402, and a transceiver 403. The transceiver 403 may include: a transmitter and / or a receiver. The transmitter may also be referred to as a sender, a transmitter, a sending port, or a sending interface, etc. Similar descriptions, and the receiver may also be referred to as a receiver, a receiving port, or a receiving interface, etc. Exemplarily, the memory 401, the processor 402, and the transceiver 403 are interconnected with each other through a bus 404.

[0499] The memory 401 is used to store computer execution instructions.

[0500] The processor 402 is used to execute the computer execution instructions stored in the memory, so that the electronic device executes the method steps of the foregoing method embodiment, and its implementation principle and technical effects are similar, which will not be elaborated here. <9001112>

[0501] The embodiments of this application provide a computer-readable storage medium, and the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, it implements the methods executed by the terminal device and / or the network-side device.

[0502] The embodiments of this application provide a computer program product, and the computer program product includes a computer program. When the computer program is run, it causes the computer to execute the methods executed by the terminal device and / or the network-side device.

[0503] The embodiments of this application provide a chip or a chip system. The chip or the chip system includes at least one processor and a communication interface. The communication interface and the at least one processor are interconnected through a line. The at least one processor is used to run a computer program or instruction to execute the methods executed by the terminal device and / or the network-side device. Among them, the communication interface in the chip can be an input / output interface, a pin, or a circuit, etc.

[0504] The methods described in the above embodiments can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. If implemented in software, the functions can be stored on a computer-readable storage medium or transmitted over a computer-readable storage medium as one or more instructions or code. The computer-readable storage medium can include computer storage media and communication media, and can also include any medium that can transfer a computer program from one place to another. The storage medium can be any target medium accessible by a computer.

[0505] In an alternative embodiment, the computer-readable storage medium may include RAM, ROM, read-only compact disc (CD-ROM), or other optical disc storage, magnetic disk storage, or other magnetic storage devices, or any other medium targeted to carry or store the required program code in the form of instructions or data structures and accessible by a computer. Moreover, any connection is properly termed a computer-readable storage medium. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of the medium. As used herein, disk and disc include optical disc, laser disc, optical disc, Digital Versatile Disc (DVD), floppy disk, and Blu-ray disc, where disks typically reproduce data magnetically, while discs reproduce data optically using lasers. Combinations of the above should also be included within the scope of computer-readable storage media.

[0506] Embodiments of the present application are described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and combinations of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to the processing unit of a general-purpose computer, special-purpose computer, embedded processor, or other programmable device to produce a machine, such that the instructions executed by the processing unit of the computer or other programmable data processing device produce means for implementing the functions specified in one Figure 1 one or more flows and / or blocks Figure 1 one or more blocks or the functions specified in multiple blocks.

[0507] In the above specific embodiments, the purpose, technical solutions, and beneficial effects of the present invention have been further described in detail. It should be understood that the above are only specific embodiments of the present invention and are not used to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made on the basis of the technical solutions of the present invention shall be included within the protection scope of the present invention.

Claims

1. A perception method, applied to a first terminal device, characterized in that, The method includes: Determining a sensing scheme based on first information, where the sensing scheme includes at least two of the following sensing methods: an autonomous sensing method, a terminal-assisted sensing method, and a network-assisted sensing method; Obtaining a sensing result according to the sensing scheme.

2. The method according to claim 1, wherein The method further includes: Sending the sensing result to a sensing function SF.

3. The method according to claim 1, wherein The first information includes at least one of the following: Measurement results of at least one cell, where the cell includes a serving cell and / or a non-serving cell, the signal strength of the cell is greater than a first threshold, and the network device providing network service for the cell has sensing capabilities; Information of at least one second terminal device, where the distance between the second terminal device and the first terminal device is less than a distance threshold, and the signal strength of the second terminal device is greater than a second threshold.

4. The method according to claim 3, characterized in that, The measurement results of the cell include at least one of the following: The reference signal received power (RSRP) of the cell; The signal-to-noise ratio (SINR) of the cell; The sensing capabilities of the serving base station of the cell; The load of the serving base station of the cell.

5. The method according to claim 3, characterized in that, The information of the second terminal device includes at least one of the following: The sensing capabilities of the second terminal device; The available sensing resource amount of the second terminal device.

6. The method according to claim 1, wherein Before determining the sensing method based on the first information, the method further includes: Obtaining the first information.

7. According to the method of claim 3, wherein The first information includes the measurement results of the at least one cell, and the sensing scheme includes an autonomous sensing method and a network-assisted sensing method.

8. The method according to claim 7, characterized in that, The obtaining the sensing result according to the sensing scheme includes: Obtaining a first sensing measurement result according to the autonomous sensing method; Obtaining a second sensing measurement result according to the network-assisted sensing method; Determining the sensing result based on the first sensing measurement result and the second sensing measurement result.

9. According to the method of claim 3, wherein The first information includes the information of the at least one second terminal device, and the sensing scheme includes an autonomous sensing method and a terminal-assisted sensing method.

10. The method according to claim 9, wherein The obtaining the sensing result according to the sensing scheme includes: Obtaining a first sensing measurement result according to the autonomous sensing method; Obtaining a third sensing measurement result according to the terminal-assisted sensing method; Determining the sensing result based on the first sensing measurement result and the third sensing measurement result.

11. According to the method of claim 3, wherein The first information includes the measurement results of the at least one cell and the information of the at least one second terminal device, and the sensing scheme includes an autonomous sensing method, a network-assisted sensing method, and a terminal-assisted sensing method.

12. The method according to claim 11, wherein The obtaining the sensing result according to the sensing scheme includes: Obtaining a first sensing measurement result according to the autonomous sensing method; Obtaining a second sensing measurement result according to the network-assisted sensing method; [[ID=�5]]Obtaining a third sensing measurement result according to the terminal-assisted sensing method; Determining the sensing result based on the first sensing measurement result, the second sensing measurement result, and the third sensing measurement result.

13. The method according to claim 8, or 10, or 12, characterized in that According to the autonomous sensing method, obtaining a first sensing measurement result includes: Sending a first sensing signal on a first resource, where the first resource is an available resource in a sensing resource pool pre-allocated for the first terminal device; Receiving the first sensing signal on the first resource and measuring the first sensing signal to obtain the first sensing measurement result.

14. The method according to claim 8 or 12, characterized in that, According to the network-assisted sensing method, obtaining a second sensing measurement result includes: Sending a first sensing request to a first network device that provides network services for the serving cell of the first terminal device, where the first sensing request includes at least one of the following: location information of the first terminal device, moving speed of the first terminal device, and channel state information CSI; Receiving resource information of a second resource sent by the first network device, where the second resource is a sensing resource configured by the first network device for the first terminal device; Performing the network-assisted sensing method through the second resource.

15. The method according to claim 14, wherein Performing the network-assisted sensing method through the second resource includes: Sending a second sensing signal to the first network device on the second resource; Receiving a second sensing measurement result corresponding to the second sensing signal sent by the first network device.

16. The method according to claim 15, characterized in that, The method further includes: Sending the second sensing signal to a second network device on the second resource, where the second network device provides network services for a non-serving cell of the first terminal device; Receiving a second sensing measurement result corresponding to the second sensing signal sent by the second network device.

17. The method according to claim 10 or 12, characterized in that, According to the terminal-assisted sensing method, obtaining a third sensing measurement result includes: Determining a third resource corresponding to a sensing task, where the third resource is an available resource in a sensing resource pool pre-allocated for the first terminal device; Sending a second sensing request to the second terminal device on the third resource, where the second sensing request includes a third sensing signal corresponding to the sensing task; Receiving a third sensing measurement result corresponding to the third sensing signal sent by the second terminal device.

18. The method according to claim 17, wherein The method further includes: Establishing a sidelink connection with the second terminal device.

19. The method according to claim 17, wherein The second sensing request further includes at least one of the following: An identifier of the sensing task; Sensing quality of service QoS.

20. A perception method, applied to a first network device, characterized in that The method includes: Receiving a first sensing request sent by a first terminal device, where the first network device provides network services for the serving cell of the first terminal device, and the first sensing request includes at least one of the following: location information of the first terminal device, moving speed of the first terminal device, and a CSI report of channel state information; Sending resource information of a second resource to the first terminal device, where the second resource is a sensing resource configured by the first network device for the first terminal device; Performing a network-assisted sensing method through the second resource.

21. The method according to claim 20, wherein Performing the network-assisted sensing method through the second resource includes: Receiving a second sensing signal sent by the first terminal device on the second resource; Send the second sensing measurement result corresponding to the second sensing signal to the first terminal device.

22. The method according to claim 20 or 21, characterized in that, The method further includes: Send the first sensing request to the SF; Receive a resource configuration indication sent by the SF, where the resource configuration indication is used to indicate allocating sensing resources for the first terminal device; Allocate the second resource for the first terminal device according to the resource configuration indication; Send a resource configuration response to the SF, where the resource configuration response is used to indicate that the second resource is allocated for the first terminal device.

23. The method according to claim 22, wherein The method further includes: Receive a resource activation indication sent by the SF, where the resource activation indication is used to indicate activating the second resource; Send a resource activation response to the SF, where the resource activation response is used to indicate that the second resource has been activated.

24. A perception method, applied to a second terminal device, characterized in that The method includes: Receive a second sensing request sent by a first terminal device on a third resource, where the second sensing request includes a third sensing signal corresponding to a sensing task, and the third resource is an available resource in a sensing resource pool pre-allocated for the first terminal device; Send the third sensing measurement result corresponding to the third sensing signal to the first terminal device.

25. The method according to claim 24, wherein The method further includes: Establish a sidelink connection with the first terminal device.

26. The method according to claim 24, wherein The second sensing request further includes at least one of the following: An identifier of the sensing task; Sensing quality of service (QoS).

27. An electronic device, characterized in that, Includes: A processor and a memory; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the electronic device executes the method according to any one of claims 1 to 19, or so that the electronic device executes the method according to any one of claims 20 to 23, or so that the electronic device executes the method according to any one of claims 24 to 26.

28. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method according to any one of claims 1 to 19, or the method according to any one of claims 20 to 23, or the method according to any one of claims 24 to 26.

29. A chip system, characterized in that, Includes at least one processor and a communication interface, where the communication interface and the at least one processor are interconnected by a line, and the at least one processor is used to run a computer program or instruction to execute the method according to any one of claims 1-19, or the method according to any one of claims 20 to 23, or the method according to any one of claims 24 to 26.

30. A computer program product, characterized in that, Includes a computer program, and when the computer program is run, it causes a computer to execute the method according to any one of claims 1 to 19, or the method according to any one of claims 20 to 23, or the method according to any one of claims 24 to 26.

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