Sensing methods, devices and storage media

Abstract

The sensing method, device, and storage medium provided in this application relate to fields such as communication technology and terminal technology. The method includes: determining a sensing scheme based on first information, wherein the sensing scheme includes at least two sensing methods: autonomous sensing, terminal-assisted sensing, and network-assisted sensing; and acquiring sensing results according to the sensing scheme. This method can achieve the purpose of collaborative sensing and improve the sensing effect.

Description

Technical Field

[0001] This application relates to fields such as communication technology and terminal technology, and in particular to sensing methods, devices and storage media. Background Technology

[0002] Terminal devices can perform environmental modeling, dynamic map construction, and other tasks through sensing.

[0003] Currently, terminal devices can perform sensing tasks with the assistance of themselves, other terminal devices, or network devices. However, in some scenarios, the sensing performance of terminal devices is poor and cannot meet their sensing needs. Therefore, improving the sensing performance of terminal devices has become an urgent technical problem to be solved. Summary of the Invention

[0004] This application provides a sensing method, device, and storage medium to solve the technical problem of poor sensing effect and improve the sensing effect of terminal devices.

[0005] In a first aspect, embodiments of this application propose a sensing method applied to a first terminal device, the method comprising:

[0006] The perception scheme is determined based on the first information. The perception scheme includes at least two of the following perception methods: autonomous perception method, terminal-assisted perception method, and network-assisted perception method.

[0007] Based on the perception scheme, obtain the perception results.

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

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

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

[0011] Measurement results of at least one cell, including serving cells and / or non-serving cells, where the signal strength of the cell is greater than a first threshold and the network equipment providing network services to the cell has sensing capability;

[0012] Information from at least one second terminal device, wherein 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 one alternative embodiment of the first aspect, the cell measurement results include at least one of the following:

[0014] Reference signal received power (RSRP) of the cell;

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

[0016] The sensing capabilities of the service base stations in the community;

[0017] The load of the service base stations in the community.

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

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

[0020] Available sensing resources for 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] Get the first information.

[0023] In one alternative embodiment of the first aspect,

[0024] The first information includes measurement results from at least one cell, and the sensing scheme includes autonomous sensing methods and network-assisted sensing methods.

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

[0026] The first sensing measurement results are obtained based on the autonomous sensing method;

[0027] The second sensing measurement results are obtained using a network-assisted sensing method.

[0028] The perception result is determined based on the first perception measurement result and the second perception measurement result.

[0029] In one alternative embodiment of the first aspect,

[0030] The first information includes information from at least one second terminal device, and the sensing scheme includes autonomous sensing methods and terminal-assisted sensing methods.

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

[0032] The first sensing measurement results are obtained based on the autonomous sensing method;

[0033] The third sensing measurement results are obtained based on the terminal-assisted sensing method;

[0034] The perception result is determined based on the first perception measurement result and the third perception measurement result.

[0035] In one alternative embodiment of the first aspect,

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

[0037] In an optional embodiment of the first aspect, obtaining the perception result according to the perception scheme includes:

[0038] The first sensing measurement results are obtained based on the autonomous sensing method;

[0039] The second sensing measurement results are obtained using a network-assisted sensing method.

[0040] The third sensing measurement results are obtained based on the terminal-assisted sensing method;

[0041] The perception result is determined based on the first perception measurement result, the second perception measurement result, and the third perception 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] Send a first sensing signal on a first resource, wherein the first resource is an available resource in a sensing resource pool pre-allocated to the first terminal device;

[0044] The first sensing signal is received on the first resource, and the first sensing signal is measured to obtain the first sensing measurement result.

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

[0046] A first sensing request is sent to a first network device, which provides network services to 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).

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

[0048] The network-assisted perception method is executed using the second resource.

[0049] In an optional embodiment of the first aspect, the network-assisted perception method is performed using a second resource, including:

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

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

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

[0053] The second sensing signal is sent to the second network device on the second resource, and the second network device provides network services for the non-serving cell of the first terminal device.

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

[0055] In one optional embodiment of the first aspect, the acquisition of a third sensing measurement result according to the terminal-assisted sensing method includes:

[0056] The third resource corresponding to the sensing task is determined. The third resource is the available resource in the sensing resource pool that has been pre-allocated to the first terminal device.

[0057] A second sensing request is sent to the second terminal device on the third resource, and the second sensing request includes a third sensing signal corresponding to the sensing task.

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

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

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

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

[0062] Identifiers for perceived tasks;

[0063] Quality of Service (QoS) is perceived.

[0064] Secondly, embodiments of this application provide a sensing method applied to a first network device, the method comprising:

[0065] The first network device receives a first sensing request sent by a first terminal device and provides network services to 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.

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

[0067] The network-assisted perception method is executed using the second resource.

[0068] In an alternative embodiment of the second aspect, the network-assisted perception method is performed using a second resource, including:

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

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

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

[0072] Send the first perception request to SF;

[0073] Receive the resource configuration instruction sent by SF, which is used to instruct the allocation of sensing resources for the first terminal device;

[0074] According to the resource allocation instructions, allocate the second resource to the first terminal device;

[0075] Send a resource configuration response to SF, which is used to instruct the allocation of a second resource for the first terminal device.

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

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

[0078] Send a resource activation response to SF, which indicates that the second resource has been activated.

[0079] Thirdly, embodiments of this application provide a sensing method applied to a second terminal device, the method comprising:

[0080] The second sensing request sent by the first terminal device is received on the third resource. The second sensing request includes a third sensing signal corresponding to the sensing task. The third resource is an available resource in the sensing resource pool pre-allocated to the first terminal device.

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

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

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

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

[0085] Identifiers for perceived tasks;

[0086] Quality of Service (QoS) is perceived.

[0087] Fourthly, embodiments of this application provide a terminal device, including at least a portion of a determining module, an acquiring module, a sending module, and an establishing module, wherein...

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

[0089] The acquisition module is used to obtain the perception results according to the perception scheme.

[0090] In an alternative embodiment of the fourth aspect, the sending module is used to,

[0091] Send the sensing results to SF.

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

[0093] Measurement results of at least one cell, including serving cells and / or non-serving cells, where the signal strength of the cell is greater than a first threshold and the network equipment providing network services to the cell has sensing capability;

[0094] Information from at least one second terminal device, wherein 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 cell measurement results include at least one of the following:

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

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

[0098] The sensing capabilities of the service base stations in the community;

[0099] The load of the service base stations in the community.

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

[0101] The sensing capabilities of the second terminal device;

[0102] Available sensing resources for 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] Get the first information.

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

[0106] The first information includes measurement results from at least one cell, and the sensing scheme includes autonomous sensing methods and network-assisted sensing methods.

[0107] In an optional embodiment of the fourth aspect, the acquisition module is specifically used for,

[0108] The first sensing measurement results are obtained based on the autonomous sensing method;

[0109] The second sensing measurement results are obtained using a network-assisted sensing method.

[0110] The perception result is determined based on the first perception measurement result and the second perception measurement result.

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

[0112] The first information includes information from at least one second terminal device, and the sensing scheme includes autonomous sensing methods and terminal-assisted sensing methods.

[0113] In an optional embodiment of the fourth aspect, the acquisition module is specifically used for,

[0114] The first sensing measurement results are obtained based on the autonomous sensing method;

[0115] The third sensing measurement results are obtained based on the terminal-assisted sensing method;

[0116] The perception result is determined based on the first perception measurement result and the third perception measurement result.

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

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

[0119] In an optional embodiment of the fourth aspect, the acquisition module is specifically used for,

[0120] The first sensing measurement results are obtained based on the autonomous sensing method;

[0121] The second sensing measurement results are obtained using a network-assisted sensing method.

[0122] The third sensing measurement results are obtained based on the terminal-assisted sensing method;

[0123] The perception result is determined based on the first perception measurement result, the second perception measurement result, and the third perception measurement result.

[0124] In an optional embodiment of the fourth aspect, the acquisition module is specifically used for,

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

[0126] The first sensing signal is received on the first resource, and the first sensing signal is measured to obtain the first sensing measurement result.

[0127] In an optional embodiment of the fourth aspect, the acquisition module is specifically used for,

[0128] A first sensing request is sent to a first network device, which provides network services to 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).

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

[0130] The network-assisted perception method is executed using the second resource.

[0131] In an optional embodiment of the fourth aspect, the acquisition module is specifically used for,

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

[0133] Receive the 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 acquisition module is specifically used for,

[0135] The second sensing signal is sent to the second network device on the second resource, and the second network device provides network services for the non-serving cell of the first terminal device.

[0136] Receive the 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 acquisition module is specifically used for,

[0138] The third resource corresponding to the sensing task is determined. The third resource is the available resource in the sensing resource pool that has been pre-allocated to the first terminal device.

[0139] A second sensing request is sent to the second terminal device on the third resource, and the second sensing request includes a third sensing signal corresponding to the sensing task.

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

[0141] In an alternative embodiment of the fourth aspect, the establishment module is used to,

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

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

[0144] Identifiers for perceived tasks;

[0145] QoS awareness.

[0146] Fifthly, embodiments of this application provide a network device, including at least a portion of a receiving module, a transmitting module, an execution module, and an allocation module, wherein...

[0147] The receiving module is configured to receive a first sensing request sent by a first terminal device, wherein 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) report;

[0148] The sending module is used to send resource information of the second resource to the first terminal device, wherein the second resource is the sensing resource configured by the first network device for the first terminal device;

[0149] The execution module is used to execute network-assisted perception methods using a second resource.

[0150] In an alternative embodiment of the fifth aspect, the execution module is specifically used for,

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

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

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

[0154] The sending module is also used to send the first sensing request to SF;

[0155] The receiving module is also used to receive a resource configuration instruction sent by SF, which is used to instruct the allocation of sensing resources for the first terminal device;

[0156] The allocation module is used to allocate the second resource to the first terminal device according to the resource configuration instruction;

[0157] The sending module is also used to send a resource configuration response to the SF, which is used to indicate the allocation of a second resource for the first terminal device.

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

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

[0160] The sending module is also used to send a resource activation response to the SF, which indicates that the second resource has been activated.

[0161] Sixthly, embodiments of this application provide a terminal device, including at least a portion of a receiving module, a sending module, and an establishing module, wherein...

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

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

[0164] In an alternative embodiment of the sixth aspect, the establishment module is used for,

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

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

[0167] Identifiers for perceived tasks;

[0168] QoS awareness.

[0169] In a seventh aspect, embodiments of this application provide an electronic device, including: a processor and a memory;

[0170] The memory stores instructions that the computer executes;

[0171] The processor executes computer execution instructions stored in memory, causing the terminal device to perform the method described in the first aspect or any alternative embodiment of the first aspect.

[0172] Eighthly, embodiments of this application provide an electronic device, including: a processor and a memory;

[0173] The memory stores instructions that the computer executes;

[0174] The processor executes computer execution instructions stored in memory, causing the terminal device to perform the method described in the second aspect or any alternative embodiment of the second aspect.

[0175] Ninthly, embodiments of this application provide an electronic device, including: a processor and a memory;

[0176] The memory stores instructions that the computer executes;

[0177] The processor executes computer execution instructions stored in memory, causing the terminal device to perform the method described in the third aspect or any alternative embodiment of the third aspect.

[0178] In a tenth aspect, embodiments of this application provide a computer-readable storage medium storing a computer program or instructions that, when executed on a computer, cause the computer to perform the method described in the first aspect or any possible implementation thereof, or to perform the method described in the second aspect or any possible implementation thereof, or to perform the method described in the third aspect or any possible implementation thereof.

[0179] Eleventhly, embodiments of this application provide a computer program product including a computer program, which, when run, causes the computer to perform the method described in the first aspect or any possible implementation of the first aspect, or to perform the method described in the second aspect or any possible implementation of the second aspect, or to perform the method described in the third aspect or any possible implementation of the third aspect.

[0180] In a twelfth aspect, this application provides a chip or chip system including at least one processor and a communication interface. The communication interface and the at least one processor are interconnected via a circuit. The at least one processor is used to run a computer program or instructions to perform the method described in the first aspect or any possible implementation thereof; or, the method described in the second aspect or any possible implementation thereof; or, the method described in the third aspect or any possible implementation thereof. The communication interface in the chip can be an input / output interface, a pin, or a circuit, etc.

[0181] In one possible implementation, the chip or chip system described above in this application further includes at least one memory storing instructions. The memory can be an internal storage unit of the chip, such as a register or cache, or it can be a storage unit of the chip itself (e.g., read-only memory, random access memory, etc.).

[0182] The sensing method, device, and storage medium provided in this embodiment allow a first terminal device to determine a sensing scheme based on first information. The sensing scheme may include at least two sensing methods. This method achieves collaborative sensing, avoiding the poor sensing effect of a single sensing method and thus improving the overall sensing effect.

[0183] It should be understood that the second to twelfth aspects of this application correspond to the technical solutions of the first aspect of this application, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be repeated here. Attached Figure Description

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

[0185] Figure 2 Flowchart of the sensing method provided in the embodiments of this application Figure 1 ;

[0186] Figure 3 Flowchart of the sensing method provided in the embodiments of this application Figure 2 ;

[0187] Figure 4 A flowchart of the autonomous sensing method provided in the embodiments of this application;

[0188] Figure 5 The flow chart of the network-assisted perception method provided in the embodiments of this application Figure 1 ;

[0189] Figure 6 The flow chart of the network-assisted perception method provided in the embodiments of this application Figure 2 ;

[0190] Figure 7 A flowchart of the terminal-assisted sensing method provided in the embodiments of this application;

[0191] Figure 8 Interaction flow of the perception method provided in the embodiments of this application Figure 1 ;

[0192] Figure 9 Interaction flow of the perception method provided in the embodiments of this application Figure 2 ;

[0193] Figure 10 Interaction flow of the perception method provided in the embodiments of this application Figure 3 ;

[0194] Figure 11 Schematic diagram of the structure of the terminal device provided in the embodiments of this application Figure 1 ;

[0195] Figure 12 Schematic diagram of the structure of the terminal device provided in the embodiments of this application Figure 2 ;

[0196] Figure 13 This is a schematic diagram of the network device provided in the embodiments of this application;

[0197] Figure 14 A schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0198] In the embodiments of this application, terms such as "first" and "second" are used to distinguish identical or similar items with substantially the same function and purpose. For example, "first chip" and "second chip" are used only to distinguish different chips and do not limit their order of execution. Those skilled in the art will understand that terms such as "first" and "second" do not limit the quantity or execution order, and that "first" and "second" do not necessarily imply that they are different.

[0199] It should be noted that, in the embodiments of this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design scheme described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0200] In this application embodiment, "at least one" refers to one or more, and "more than one" refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, a--c, bc, or abc, where a, b, and c can be single or multiple.

[0201] It should be noted that "when" or "when" in the embodiments of this application can refer to the instant at which a certain situation occurs, or to a period of time after the occurrence of a certain situation. The embodiments of this application do not specifically limit this.

[0202] The terminal devices in this application embodiment may include handheld devices with sensing functions, vehicle-mounted devices, etc. For example, some terminal devices include: mobile phones, tablets, PDAs, laptops, mobile internet devices (MIDs), virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in self-driving, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handheld devices with wireless communication capabilities, computing devices or other processing devices connected to wireless modems, in-vehicle devices, terminal devices in 5G networks, or future public land mobile communication networks. Terminal devices in a network (PLMN), etc., are not limited to this in the embodiments of this application.

[0203] By way of example and not limitation, in this embodiment, the terminal device can also be a wearable device. Wearable devices, also known as wearable smart devices, are a general term for devices that utilize wearable technology to intelligently design and develop everyday wearables, such as glasses, gloves, watches, clothing, and shoes. Wearable devices are portable devices that are worn directly on the body or integrated into the user's clothing or accessories. Wearable devices are not merely hardware devices, but also achieve powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include those that are feature-rich, large in size, and can achieve complete or partial functions without relying on a smartphone, such as smartwatches or smart glasses, as well as those that focus on a specific type of application function and require the use of other devices such as smartphones, such as various smart bracelets and smart jewelry for vital sign monitoring.

[0204] Furthermore, in this embodiment, the terminal device can also be a terminal device in an Internet of Things (IoT) system. IoT is an important component of the future development of information technology. Its main technical feature is to connect objects to the network through communication technology, thereby realizing an intelligent network of human-machine interconnection and object-to-object interconnection.

[0205] The terminal device in this application embodiment 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 station, remote station, remote terminal, mobile device, user terminal, terminal, wireless communication equipment, user agent, or user device, etc.

[0206] In this embodiment, the terminal device or various network devices include a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on top of the operating system layer. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory (also called main memory). The operating system can be any one or more computer operating systems that implement business processing through processes, such as Linux, Unix, Android, iOS, or Windows. The application layer includes applications such as browsers, address books, word processing software, and instant messaging software.

[0207] In this embodiment, the network device can be a base station, which may include multiple cells providing 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, or a Home evolved Node B (HeNB), relay node, femto, pico, network testing equipment, etc., and is not limited in this embodiment.

[0208] The technical solutions provided in this application can be applied to the Long Term Evolution (LTE) architecture, as well as the UMTS Terrestrial Radio Access Network (UTRAN) architecture, or the GSM EDGE Radio Access Network (GERAN) architecture. Furthermore, the technical solutions provided in this application can also be applied to any other wireless communication system with similar structure and function, such as Public Land Mobile Network (PLMN) systems, 5G communication systems, or communication systems after 5G, etc., and this application does not impose any limitations on these applications.

[0209] To better understand the technical solutions provided in the embodiments of this application, the following is combined with... Figure 1 The communication system architecture involved in the embodiments of this application will be described.

[0210] Figure 1 This is a schematic diagram of a communication system architecture provided in an embodiment of this application. Please refer to... Figure 1 A communication system may include network devices and terminal devices. 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 devices, terminal device B may be a terminal device located at the edge of the network devices' coverage area, and terminal device C may be a terminal device located outside the network devices' coverage area. It should be noted that the number of network devices, terminal devices A, B, and C in the communication system can be one or more. Figure 1 The example only uses one network device, one terminal device A, one terminal device B, and one terminal device C as an example, and does not constitute a limitation on the technical solutions provided in the embodiments of this application.

[0211] In the aforementioned communication system, when a terminal device has a sensing need, it can complete the sensing process with the assistance of itself, other terminal devices, or network devices. However, in some scenarios, the sensing performance of the terminal device is poor and cannot meet its sensing needs.

[0212] For example, if the terminal device is outside the coverage area of ​​the network device, or at the edge of the network device's coverage area, or within the coverage area of ​​a network device without sensing capabilities, it may fail to obtain sensing resources, resulting in poor sensing performance.

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

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

[0215] The technical solutions shown in this application will be described in detail below through specific embodiments. It should be noted that the following embodiments may exist independently or in combination. For the same or similar content, such as explanations of terms or nouns, and explanations of steps, reference can be made to each other in different embodiments, and will not be repeated.

[0216] Figure 2 Flowchart of the sensing method provided in the embodiments of this application Figure 1 This method can be applied to the first terminal device. For example... Figure 2 As shown, the method includes:

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

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

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

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

[0221] The non-serving cell can be the neighboring cell of the first terminal device.

[0222] The network equipment that provides network services to the community can be the base station that provides network services to the community.

[0223] The measurement results of a cell may include at least one of the following: the cell's Reference Signal Received Power (RSRP); the cell's Signal to Interference plus Noise Ratio (SINR); the sensing capability of the cell's serving base station; and the load of the cell's serving base station.

[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: the measurement results of the serving cell of the first terminal device, and / or, the measurement results of the non-serving cell of the first terminal device. Wherein, the base station providing network service to the serving cell of the first terminal device has sensing capability, and the signal strength of the serving cell of the first terminal device is greater than a first threshold; the base station providing network service to the non-serving cell of the first terminal device has sensing capability, and the signal strength of the non-serving cell of the first terminal device is greater than the first threshold.

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

[0227] 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. In other words, 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 capability of the second terminal device; the amount of available sensing resources of the second terminal device.

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

[0230] The available sensing resources of the second terminal device can be defined as the upper limit of resources that the second terminal device can currently allocate to sensing tasks. These resources can include 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 autonomous sensing methods and network-assisted sensing methods.

[0235] In some embodiments, the first information may include information from 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, and the sensing scheme may include autonomous sensing method, terminal-assisted sensing method, and network-assisted sensing method.

[0237] In this embodiment, the sensing scheme may include at least one sensing method. Thus, when the sensing effect of one sensing method is poor, another sensing method can play a supplementary role, thereby improving the sensing effect.

[0238] S202. Obtain the perception results according to the perception scheme.

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

[0240] For example, suppose the sensing scheme includes an autonomous sensing method and a network-assisted sensing method. The first terminal device can execute the autonomous sensing method and the network-assisted sensing method and can obtain the sensing results.

[0241] In the sensing method provided in this embodiment, the first terminal device can determine a sensing scheme based on first information, and the sensing scheme can include at least two sensing methods. This method achieves the goal of collaborative sensing, avoids the poor sensing effect of a single sensing method, and improves the overall sensing effect.

[0242] Based on the above embodiments, the first terminal device can also acquire first information. The following is in conjunction with... Figure 3 The sensing method provided in the embodiments of this application will be further described.

[0243] Figure 3 Flowchart of the sensing method provided in the embodiments of this application Figure 2 This method can be applied to the first terminal device. For example... Figure 3 As shown, the method includes:

[0244] S301, Obtain first information.

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

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

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

[0248] In some embodiments, after performing cell measurements, the first terminal device fails to obtain measurement results for at least one cell. The first terminal device then obtains information about at least one second terminal device through a terminal discovery process, or it obtains this information from the LMF (Local Multi-Function). In this case, the first information includes information about at least one second terminal device.

[0249] In some embodiments, after performing cell measurements, the first terminal device obtains the measurement results of at least one cell. The first terminal device fails to obtain information about at least one second terminal device through the terminal discovery process, and also fails to obtain information about at least one second terminal device from the LMF (Local Multi-Function). In this case, the first information includes the measurement results of at least one cell.

[0250] In some embodiments, after performing cell measurements, the first terminal device fails to obtain measurement results for at least one cell. The first terminal device then obtains information about at least one second terminal device through a terminal discovery process, or it obtains this information from the LMF (Local Multi-Function). In this case, the first information includes the measurement results for at least one cell and the information about at least one second terminal device.

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

[0252] In this embodiment, the sensing scheme determined by the first terminal device varies depending on the different first pieces of information. The corresponding sensing schemes are described below for each different type of first information. The first information includes at least the following cases:

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

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

[0255] In this case, the first terminal device can determine the score of each optional sensing scheme and determine the sensing scheme based on the score of each optional sensing scheme.

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

[0257]

[0258] in, It can be used as a weight for network quality. Weights can be assigned to terminal availability. This can be used as a weight for task urgency. Network quality, also known as Network Quality, ranges from 0 to 1, with higher values ​​indicating better network quality. Terminal availability, also known as Terminal Availability, ranges from 0 to 1, with higher values ​​indicating better availability. Task urgency, also known as Task Urgency, ranges from 0 to 1, with higher values ​​indicating more urgent tasks.

[0259] Furthermore, network quality can be determined based on the measurement results of at least one cell. This embodiment does not limit the specific method for determining network quality, as long as the network quality can be indicated based on the measurement results of at least one cell.

[0260] For example, network quality can be determined using the RSRP and SINR of at least one cell. A primary correspondence can exist between the cell's RSRP and SINR and the network quality value. For any given cell's measurement results, the network quality value corresponding to that cell can be determined based on the cell's RSRP and SINR and the primary correspondence. For instance, if RSRP > -80 dBm and SINR > 15 dB, the network quality value can be 0.9, indicating excellent network quality; if RSRP is between -90 dBm and -80 dBm and SINR is between 10 dB and 15 dB, the network quality value can be 0.7, indicating good network quality; if RSRP is between -100 dBm and -90 dBm and SINR is between 5 dB and 10 dB, the network quality value can be 0.5, indicating average network quality; if RSRP < -100 dBm or SINR < 5 dB, the network quality value can be 0.3, indicating poor network quality. After determining the network quality values ​​for each cell in at least one cell, the maximum network quality value can be determined as the network quality in the above formula.

[0261] Furthermore, terminal availability can be determined based on information from at least one second terminal device. This embodiment does not limit the specific method for determining terminal availability, as long as the terminal availability can be indicated based on information from at least one second terminal device.

[0262] For example, if the number of second terminals is greater than or equal to 3, and all second terminal devices have sensing capabilities, the terminal availability value can be 0.8, indicating high terminal availability. If the number of second terminals is between 1 and 2, and some second terminal devices have sensing capabilities, the terminal availability value can be 0.5, indicating 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 terminal availability value can be 0.2, indicating low terminal availability.

[0263] Furthermore, task urgency can be determined based on the task type of the perception task, which includes, but is not limited to, collision warning, environmental modeling, vehicle localization, dynamic map construction, and navigation assistance. Specifically, there is a second correspondence between task urgency and the task type of the perception task. In practice, task urgency can be determined based on the current task type of the perception task and this second correspondence.

[0264] For example, the second correspondence can indicate that: the task urgency of a collision warning perception task is 0.8, indicating extremely high task urgency; the task urgency of a navigation assistance perception task is 0.5, indicating medium task urgency; and the task urgency of an environment modeling perception task is 0.3, indicating low task urgency.

[0265] in addition, , ,as well as There is a third correspondence between the task type and the perception task. In the specific implementation process, the task type of the current perception task and the third correspondence can be used to determine... , ,as well as .

[0266] For example, the third correspondence can indicate: the perception task corresponding to the collision warning class It can be 0.1. It can be 0.1. It can be 0.8; the corresponding perception task for environmental modeling. It can be 0.2. It can be 0.7. It can be 0.1.

[0267] Specifically, the score for optional sensing scheme 2 can be determined using the following formula 2:

[0268]

[0269] It should be noted that the meaning and value method of each parameter in Formula 2 can be found in the explanation of Formula 1, and will not be repeated here.

[0270] Specifically, the score for the optional sensing scheme 3 can be determined using the following formula 3:

[0271]

[0272] It should be noted that the meaning and value method of each parameter in Formula 3 can be found in the explanation of Formula 1, and will not be repeated here.

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

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

[0275] In this case, the perception scheme may include autonomous perception methods and network-assisted perception methods.

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

[0277] In this case, the perception scheme may include autonomous perception methods and terminal-assisted perception methods.

[0278] In this embodiment, the collaborative sensing scheme determined by the above method can improve the sensing effect. Furthermore, in the above method, different parameter values ​​can be determined according to different sensing task types, making the sensing measurement results more accurate and the sensing precision higher, thereby further improving the sensing effect.

[0279] S303. Obtain the perception results according to the perception scheme.

[0280] In this embodiment, the method for obtaining the sensing results varies depending on the sensing scheme. The methods for obtaining the sensing results are described below for different sensing schemes.

[0281] Scenario 1: The perception scheme includes autonomous perception methods and network-assisted perception methods.

[0282] In this case, the first terminal device can acquire a first sensing measurement result according to the autonomous sensing method; acquire 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 for a detailed explanation of obtaining the first sensing measurement results using the autonomous sensing method, please refer to [link to relevant documentation]. Figure 4 For a detailed explanation of the embodiment of obtaining the second sensing measurement result according to the network-assisted sensing method, please refer to [link to embodiment]. Figure 5 and Figure 6 Examples are not detailed here.

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

[0285] Furthermore, for any first perception measurement result, the first perception measurement result may include measurement data or measurement conclusions. For any second perception measurement result, the second perception measurement result may include measurement data or measurement conclusions. 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 that there is no obstacle ahead, and the measurement data may be the distance to the obstacle, etc.

[0286] In some embodiments, if the first sensing measurement result and the second sensing measurement result include measurement data, the first terminal device can determine the final measurement data based on the measurement data in the first sensing measurement result and the second sensing measurement result, and can determine the sensing result based on the final measurement data.

[0287] Optionally, for any measurement data point corresponding to the perception task, the mean of that measurement data point across all first and second perception results can be determined. The final measurement data may include the mean of all measurement data points corresponding to the perception task.

[0288] For example, assuming the perception task is to detect whether there is an obstacle ahead, the first perception measurement result includes the target object measurement value 1 and the target object signal strength 1, etc., and the second perception measurement result includes the target object measurement value 2 and the target object signal strength 2, etc. The first terminal device can determine the average value of the target object measurement value 1 and the target object measurement value 2, and can determine the average value of the target object signal strength 1 and the target object signal strength 2. It can determine whether there is an obstacle ahead based on the average value of the target object measurement value 1 and the target object measurement value 2, and the average value of the target object signal strength 1 and the target object signal strength 2. That is, the perception result can be determined based on the average value of the target object measurement value 1 and the target object measurement value 2, and the average value of the target object signal strength 1 and the target object signal strength 2.

[0289] In some embodiments, if the first sensing measurement result and the second sensing measurement result include a measurement conclusion, the first terminal device can determine the final measurement conclusion based on the conclusions in the first sensing measurement result and the second sensing measurement result, and can determine the 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 can be determined as the final measurement conclusion, and the sensing result can be determined based on the final measurement conclusion.

[0290] It should be noted that the methods for verifying the measurement results can be found in relevant technologies, which will not be elaborated here.

[0291] For example, suppose the perception task is to detect whether there is an obstacle ahead. There is one first perception measurement result and two second perception measurement results. The first perception measurement result includes the conclusion that an obstacle exists ahead, and the two second perception measurement results include the conclusions that an obstacle exists ahead and that there is no obstacle ahead, respectively. Therefore, the final measurement conclusion can be that an obstacle exists ahead. The first terminal device can verify the measurement conclusion that an obstacle exists ahead and determine the perception result based on the verification result.

[0292] Scenario 2: The perception scheme includes autonomous perception methods and terminal-assisted perception methods.

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

[0294] It should be noted that for a detailed explanation of obtaining the first sensing measurement results using the autonomous sensing method, please refer to [link to relevant documentation]. Figure 4 For a detailed explanation of how the terminal-assisted sensing method acquires the third sensing measurement results, please refer to the following examples. Figure 7 Examples are not detailed here.

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

[0296] Scenario 3: The sensing schemes include autonomous sensing methods, network-assisted sensing methods, and terminal-assisted sensing methods.

[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 the 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 a detailed explanation of obtaining the first sensing measurement results using the autonomous sensing method, please refer to [link to relevant documentation]. Figure 4 For a detailed explanation of the embodiment of obtaining the second sensing measurement result according to the network-assisted sensing method, please refer to [link to embodiment]. Figure 5 and Figure 6 For a detailed explanation of how the terminal-assisted sensing method acquires the third sensing measurement results, please refer to the following examples. Figure 7 Examples are not detailed here.

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

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

[0301] In the sensing method provided in this embodiment, the first terminal device can acquire first information, determine a sensing scheme based on the first information, and the sensing scheme can include at least two sensing methods. The sensing result can also be determined based on the sensing scheme. This method achieves the goal of collaborative sensing, and combining multiple sensing methods can improve the sensing effect.

[0302] Based on any of the above embodiments, the following is combined with Figure 4 The autonomous perception method is explained.

[0303] Figure 4 A flowchart illustrating the autonomous sensing method provided in this application embodiment. This method can be applied to a first terminal device. For example... Figure 4 As shown, the method includes:

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

[0305] The first resource is the available resources in the sensing resource pool that have been pre-allocated to the first terminal device.

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

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

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

[0309] It should be noted that the methods for measuring the sensed signal can be found in relevant technologies, 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 first sensing information on the first resource, and measure the first sensing information, thereby achieving the purpose of autonomous sensing.

[0311] Based on any of the above embodiments, the following is combined with Figure 5 This paper explains the network-assisted perception method.

[0312] Figure 5 The flow chart of the network-assisted perception method provided in the embodiments of this application Figure 1 .like Figure 5 As 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 to the serving cell of the first terminal device. In other words, the first network device can be a base station that provides network services to 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 perception request can be used to request the execution of a network-assisted perception 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, and location information of the second resource.

[0320] In this embodiment, after receiving the first sensing request, the first network device can send the first sensing request to the SF. The first network device can also allocate second resources to the first terminal device after receiving a 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 can send a first sensing request to the first network device, receive resource information of a second resource sent by the first network device, send a second sensing signal to the first network device on the second resource, and receive a 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 embodiments, the number of network devices participating in network-assisted sensing can also be multiple. The following describes... Figure 6 This paper further explains the network-assisted perception method.

[0325] Figure 6 The flow chart of the network-assisted perception method provided in the embodiments of this application Figure 2 .like Figure 6 As 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 of S601 can be found in S501, and will not be repeated here.

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

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

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

[0331] S603 and SF send a sensing resource request to the first network device.

[0332] The Sensing Resource Request is used to request the allocation of sensing resources for the first terminal device.

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

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

[0335] It should be noted that the explanation of the RRC connection reconfiguration process can be found in relevant technical documents, and will not be elaborated here.

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

[0337] In this embodiment, the first network device sends resource information of the second resource to the second network device, which enables the second network device to obtain the time, frequency, location, etc. of the second resource.

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

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

[0340] S607 and SF send a resource activation request to the first network device.

[0341] A resource activation request is used to request the activation of a second resource so that the second resource is made available.

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

[0343] It should be noted that for explanations on activating sensory resources, please refer to relevant technologies, which will not be elaborated here.

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

[0345] The resource activation response indicates that a second resource has 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 the non-serving cells of the first terminal device. In other words, 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 The example only uses one second network device as an example and does not constitute a limitation on the technical solutions provided in the embodiments of this application.

[0350] It should be noted that S610 can be executed before S611, or after S611, or S610 can be executed simultaneously with S611. This embodiment does not limit this.

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

[0352] S613, The first terminal device receives the 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 after S613, or S612 can be executed simultaneously with S613. This embodiment does not limit this.

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

[0355] Based on any of the above embodiments, the following is combined with Figure 7 The terminal-assisted sensing method is explained.

[0356] Figure 7 A flowchart illustrating the terminal-assisted sensing method provided in this application embodiment. Figure 7 As shown, the method includes:

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

[0358] The third resource is the available resources in the sensing resource pool that are pre-allocated to the first terminal device.

[0359] Specifically, if the first terminal device is currently outside the coverage area of ​​the network device, the third resource can be the available resources in the sensing resource pool allocated to the first terminal device by the network device that previously provided network services to the first terminal device. If the first terminal device is currently within the coverage area of ​​the network device, the third resource can be the available resources in the sensing resource pool allocated to the first terminal device by the network device that currently provides network services to 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 can be one or more. This embodiment is only described with the number of second terminal devices as one, and does not constitute a limitation on the technical solution provided in the embodiment of this 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 may further include at least one of the following: an identifier of the sensing task; and a sensing quality of service (QoS).

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

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

[0366] In the sensing method provided in 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 receive the third sensing measurement result corresponding to the third sensing signal sent by the second terminal device. Through this method, the purpose of terminal-assisted sensing can be achieved. Furthermore, the above method can be executed in scenarios without network coverage, making sensing highly flexible.

[0367] Based on any of the above embodiments, the following is combined with Figure 8 The following examples illustrate the use of sensing schemes including autonomous sensing methods and network-assisted sensing methods.

[0368] Figure 8 Interaction flow of the perception method provided in the embodiments of this application Figure 1 .like Figure 8 As shown, the method includes:

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

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

[0371] In this embodiment, it is assumed that the perception scheme includes autonomous perception methods and network-assisted perception methods.

[0372] It should be noted that the specific implementation methods of S801-S802 can be found in S301-S302, and will not be repeated here.

[0373] S803. The first terminal is set to execute the autonomous sensing method to obtain the first sensing measurement results.

[0374] It should be noted that the specific implementation of S803 can be found in [reference needed]. Figure 4 Examples are not described here.

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

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

[0377] It should be noted that the specific implementation of S804 can be found in [reference needed]. Figure 5 Implementation examples, or Figure 6 Examples are not described here.

[0378] S805, the first terminal device determines the perception result based on the first perception measurement result and the second perception measurement result.

[0379] It should be noted that the specific implementation of S805 can be found in S303, and will not be repeated here.

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

[0381] Based on any of the above embodiments, the following is combined with Figure 9 The following examples illustrate the use of sensing schemes including autonomous sensing methods and terminal-assisted sensing methods.

[0382] Figure 9 Interaction flow of the perception method provided in the embodiments of this application Figure 2 .like Figure 9 As shown, the method includes:

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

[0384] S902, The first terminal device determines the sensing scheme based on the first information.

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

[0386] It should be noted that the specific implementation methods of S901-S902 can be found in S301-S302, and will not be repeated here.

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

[0388] It should be noted that the specific implementation of S903 can be found in [reference needed]. Figure 4 Examples are not described here.

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

[0390] It should be noted that the specific implementation of S904 can be found in [reference needed]. Figure 7 Examples are not described here.

[0391] S905, the first terminal device determines the perception result based on the first perception measurement result and the third perception measurement result.

[0392] It should be noted that the specific implementation of S905 can be found in S303, and will not be repeated here.

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

[0394] Based on any of the above embodiments, the following is combined with Figure 10 The following examples illustrate the use of sensing schemes including autonomous sensing methods, network-assisted sensing methods, and terminal-assisted sensing methods.

[0395] Figure 10 Interaction flow of the perception method provided in the embodiments of this application Figure 3 .like Figure 10 As shown, the method includes:

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

[0397] S1002, The first terminal device determines the sensing scheme based on the first information.

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

[0399] It should be noted that the specific implementation methods of S1001-S1002 can be found in S301-S302, and will not be repeated here.

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

[0401] It should be noted that the specific implementation of S1003 can be found in [reference needed]. Figure 4 Examples are not described 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 a first network device; or, the network device can be a first network device and a second network device.

[0404] It should be noted that the specific implementation of S1004 can be found in [reference needed]. Figure 5 Implementation examples, or Figure 6 Examples are not described 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 of S1005 can be found in [reference needed]. Figure 7 Examples are not described here.

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

[0408] It should be noted that the specific implementation of S1006 can be found in S303, and will not be repeated here.

[0409] The sensing method provided in this embodiment can achieve collaborative sensing through autonomous sensing, network-assisted sensing, and terminal-assisted sensing, thereby improving the sensing effect.

[0410] Figure 11 Schematic diagram of the structure of the terminal device provided in the embodiments of this application Figure 1 Terminal device 10 can be a first terminal device, or a chip within the first terminal device. For example... Figure 11 As shown, the terminal device includes at least a portion of a determining module 11, an acquiring module 12, a sending module 13, and an establishing module 14, wherein...

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

[0412] The acquisition module 12 is used to acquire the perception results according to the perception scheme.

[0413] In one possible implementation, the sending module 13 is used to,

[0414] Send the sensing results to SF.

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

[0416] Measurement results of at least one cell, including serving cells and / or non-serving cells, where the signal strength of the cell is greater than a first threshold and the network equipment providing network services to the cell has sensing capability;

[0417] Information from at least one second terminal device, wherein 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 one possible implementation, the cell measurement results include at least one of the following:

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

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

[0421] The sensing capabilities of the service base stations in the community;

[0422] The load of the service base stations in the community.

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

[0424] The sensing capabilities of the second terminal device;

[0425] Available sensing resources for the second terminal device.

[0426] In one possible implementation, before determining the perception method based on the first information, the acquisition module 12 is further used to:

[0427] Get the first information.

[0428] In one possible implementation,

[0429] The first information includes measurement results from at least one cell, and the sensing scheme includes autonomous sensing methods and network-assisted sensing methods.

[0430] In one possible implementation, the acquisition module 12 is specifically used for,

[0431] The first sensing measurement results are obtained based on the autonomous sensing method;

[0432] The second sensing measurement results are obtained using a network-assisted sensing method.

[0433] The perception result is determined based on the first perception measurement result and the second perception measurement result.

[0434] In one possible implementation,

[0435] The first information includes information from at least one second terminal device, and the sensing scheme includes autonomous sensing methods and terminal-assisted sensing methods.

[0436] In one possible implementation, the acquisition module 12 is specifically used for,

[0437] The first sensing measurement results are obtained based on the autonomous sensing method;

[0438] The third sensing measurement results are obtained based on the terminal-assisted sensing method;

[0439] The perception result is determined based on the first perception measurement result and the third perception measurement result.

[0440] In one possible implementation,

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

[0442] In one possible implementation, the acquisition module 12 is specifically used for,

[0443] The first sensing measurement results are obtained based on the autonomous sensing method;

[0444] The second sensing measurement results are obtained using a network-assisted sensing method.

[0445] The third sensing measurement results are obtained based on the terminal-assisted sensing method;

[0446] The perception result is determined based on the first perception measurement result, the second perception measurement result, and the third perception measurement result.

[0447] In one possible implementation, the acquisition module 12 is specifically used for,

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

[0449] The first sensing signal is received on the first resource, and the first sensing signal is measured to obtain the first sensing measurement result.

[0450] In one possible implementation, the acquisition module 12 is specifically used for,

[0451] A first sensing request is sent to a first network device, which provides network services to 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).

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

[0453] The network-assisted perception method is executed using the second resource.

[0454] In one possible implementation, the acquisition module 12 is specifically used for,

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

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

[0457] In one possible implementation, the acquisition module 12 is specifically used for,

[0458] The second sensing signal is sent to the second network device on the second resource, and the second network device provides network services for the non-serving cell of the first terminal device.

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

[0460] In one possible implementation, the acquisition module 12 is specifically used for,

[0461] The third resource corresponding to the sensing task is determined. The third resource is the available resource in the sensing resource pool that has been pre-allocated to the first terminal device.

[0462] A second sensing request is sent to the second terminal device on the third resource, and the second sensing request includes a third sensing signal corresponding to the sensing task.

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

[0464] In one possible implementation, module 14 is used to,

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

[0466] In one possible implementation, the second perception request also includes at least one of the following:

[0467] Identifiers for perceived tasks;

[0468] QoS awareness.

[0469] The terminal device provided in this embodiment is used to implement the technical solution of the first terminal device in the aforementioned method embodiment. Its implementation principle and technical effect are similar, and will not be repeated here.

[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 they can achieve the function of each module, and no specific restrictions are placed on the module names.

[0471] Figure 12 Schematic diagram of the structure of the terminal device provided in the embodiments of this application Figure 2 Terminal device 20 can be a second terminal device, or a chip within a second terminal device. For example... Figure 12 As shown, the terminal device includes at least a portion of a receiving module 21, a sending module 22, and an establishing module 23, wherein...

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

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

[0474] In one possible implementation, module 23 is used to,

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

[0476] In one possible implementation, the second perception request also includes at least one of the following:

[0477] Identifiers for perceived tasks;

[0478] QoS awareness.

[0479] The terminal device provided in this embodiment is used to implement the technical solution of the second terminal device in the aforementioned method embodiment. Its implementation principle and technical effect are similar, and will not be repeated here.

[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 they can achieve the function of each module, and no specific restrictions are placed on the module names.

[0481] Figure 13 This is a schematic diagram of the structure of a network device provided in an embodiment of this application. Network device 30 can be a first network device, or a chip within the first network device. Figure 13 As shown, the network device includes at least a portion of a receiving module 31, a sending module 32, an execution module 33, and an allocation module 34, wherein...

[0482] The receiving module 31 is used to receive a first sensing request sent by the 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.

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

[0484] The execution module 33 is used to execute the network-assisted perception method through the second resource.

[0485] In one possible implementation, execution module 33 is specifically used for,

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

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

[0488] In one possible implementation,

[0489] The sending module 32 is also used to send a first sensing request to the SF;

[0490] The receiving module 31 is also used to receive a resource configuration instruction sent by the SF, the resource configuration instruction being used to instruct the allocation of sensing resources for the first terminal device;

[0491] The allocation module 34 is used to allocate a second resource to the first terminal device according to the resource configuration instruction;

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

[0493] In one possible implementation,

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

[0495] The sending module 32 is also used to send a resource activation response to the SF, the resource activation response being 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 aforementioned method embodiment. Its implementation principle and technical effect are similar, and will not be described again 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 they can achieve the function of each module, and no specific restrictions are placed on the module names.

[0498] Figure 14 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. The electronic device can be the first terminal device mentioned above. The electronic device can be the second terminal device mentioned above. The electronic device can also be the first network device mentioned above. The electronic device can also be the second network device mentioned above. For example... Figure 14 As 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 transmitter, transmitter port, or transmitter interface, etc., and the receiver may also be referred to as a receiver, receiver port, or receiver interface, etc. Exemplarily, the memory 401, processor 402, and transceiver 403 are interconnected via a bus 404.

[0499] Memory 401 is used to store computer-executed instructions.

[0500] The processor 402 is used to execute the computer execution instructions stored in the memory, so that the electronic device performs the method steps of the aforementioned method embodiment. The implementation principle and technical effect are similar, and will not be described again here.

[0501] This application provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements a method executed by a terminal device and / or a method executed by a network-side device.

[0502] This application provides a computer program product, which includes a computer program that, when run, causes a computer to perform methods such as those performed by a terminal device and / or by a network-side device.

[0503] This application provides a chip or chip system including at least one processor and a communication interface. The communication interface and the at least one processor are interconnected via a circuit. The at least one processor is used to run computer programs or instructions to execute methods executed by a terminal device and / or methods executed by a network-side device. The communication interface in the chip can be an input / output interface, pins, or circuits, 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 functionality can be stored as one or more instructions or code on or transmitted on a computer-readable storage medium. The computer-readable storage medium can include computer storage media and communication media, and can also include any medium capable of transferring a computer program from one place to another. The storage medium can be any target medium accessible by a computer.

[0505] In one alternative embodiment, a computer-readable storage medium may include RAM, ROM, compact disc read-only memory (CD-ROM) or other optical disc storage, disk storage or other magnetic storage devices, or any other medium targeted to carry or to store required program code in the form of instructions or data structures, and accessible by a computer. Furthermore, any connection is appropriately referred to as 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, DSL, or wireless technologies such as infrared, radio, and microwave, then coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of a medium. As used herein, disks and optical discs include optical discs, laser discs, optical discs, Digital Versatile Discs (DVDs), floppy disks, and Blu-ray discs, where disks typically reproduce data magnetically, while optical discs optically reproduce data using lasers. Combinations of the above should also be included within the scope of computer-readable storage media.

[0506] This application describes embodiments of methods, apparatus (systems), and computer program products according to embodiments of this application with reference to flowchart illustrations and / or block diagrams. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processing unit of a general-purpose computer, special-purpose computer, embedded processor, or other programmable device to produce a machine, such that the instructions, which execute via the processing unit of the computer or other programmable data processing device, generate instructions for implementing the flowchart illustrations. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0507] The above specific embodiments further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above are merely specific embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made on the basis of the technical solution of the present invention should be included within the scope of protection of the present invention.

Claims

1. A perception method applied to a first terminal device, comprising: The method comprises: determining an optional perception scheme based on the first information, the optional perception scheme comprising at least two perception methods: an autonomous perception method, a terminal-assisted perception method, and a network-assisted perception method; determining a perception scheme based on the optional perception scheme; and determining a perception result according to the perception scheme. The determining of the perception scheme based on the optional perception scheme comprises: if the first information comprises measurement results of at least one cell and information of at least one second terminal device, the optional perception scheme comprises a first perception scheme, a second perception scheme, and a third perception scheme, the first perception scheme comprising the autonomous perception method, the terminal-assisted perception method, and the network-assisted perception method, the second perception scheme comprising the autonomous perception method and the network-assisted perception method, and the third perception scheme comprising the autonomous perception method and the terminal-assisted perception method; calculating scores of the first perception scheme, the second perception scheme, and the third perception scheme, wherein the score of the first perception scheme is obtained based on network quality, terminal availability, and task urgency, the score of the second perception scheme is obtained based on network quality and task urgency, and the score of the third perception scheme is obtained based on terminal availability and task urgency; 2. The method of claim 1, wherein, selecting the scheme with the highest score among the first perception scheme, the second perception scheme, and the third perception scheme as the perception scheme. The method further comprises:

3. The method of claim 1, wherein, sending the perception result to a sensing function (SF). The cell comprises a serving cell and / or a non-serving cell, the signal strength of the cell is greater than a first threshold, and a network device providing network service for the cell has a perception capability; 4. The method of claim 3, wherein, 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. The measurement result of the cell comprises at least one of: a reference signal received power (RSRP) of the cell; a signal-to-noise ratio (SINR) of the cell; a perception capability of a serving base station of the cell; 5. The method of claim 3, wherein, a load of the serving base station of the cell. The information of the second terminal device comprises at least one of: a perception capability of the second terminal device; 6. The method of claim 1, wherein, an available perception resource amount of the second terminal device. Before the determining of the optional perception scheme based on the first information, the method further comprises:

7. The method of claim 1, wherein, obtaining the first information. When the second perception scheme is selected as the perception scheme, the obtaining of the perception result according to the perception scheme comprises: obtaining a first perception measurement result according to the autonomous perception method; obtaining a second perception measurement result according to the network-assisted perception method; 8. The method of claim 1, wherein, determining the perception result based on the first perception measurement result and the second perception measurement result. When the third perception scheme is selected as the perception scheme, the obtaining of the perception result according to the perception scheme comprises: obtaining a first perception measurement result according to the autonomous perception method; obtaining a third perception measurement result according to the terminal-assisted perception method; determining the perception result based on the first perception measurement result and the third perception measurement result.

9. The method of claim 1, wherein, The first perception scheme is used as a perception scheme, and the perception result is obtained according to the perception scheme, including: The first perception measurement result is obtained according to the autonomous perception method; The second perception measurement result is obtained according to the network-assisted perception method; The third perception measurement result is obtained according to the terminal-assisted perception method; The perception result is determined based on the first perception measurement result, the second perception measurement result, and the third perception measurement result.

10. The method according to any one of claims 7-9, characterized in that, The first perception measurement result is obtained according to the autonomous perception method, including: The first perception signal is sent on the first resource, which is an available resource in a perception resource pool pre-allocated for the first terminal device; The first perception signal is received on the first resource, and the first perception measurement result is obtained by measuring the first perception signal.

11. The method according to claim 7 or 9, characterized in that, The second perception measurement result is obtained according to the network-assisted perception method, including: The first perception request is sent to the first network device, which provides network services for a serving cell of the first terminal device, and the first perception request includes at least one of the following: location information of the first terminal device, a moving speed of the first terminal device, and channel state information (CSI); The resource information of the second resource is received, which is sent by the first network device and configured for the first terminal device by the first network device; The network-assisted perception method is executed through the second resource.

12. The method of claim 11, wherein, The network-assisted perception method is executed through the second resource, including: The second perception signal is sent to the first network device on the second resource; The second perception measurement result corresponding to the second perception signal is received, which is sent by the first network device.

13. The method of claim 12, wherein, The method further includes: The second perception signal is sent to the second network device on the second resource, which provides network services for a non-serving cell of the first terminal device; The second perception measurement result corresponding to the second perception signal is received, which is sent by the second network device.

14. The method of claim 8 or 9, wherein, The third perception measurement result is obtained according to the terminal-assisted perception method, including: The third resource corresponding to the perception task is determined, which is an available resource in a perception resource pool pre-allocated for the first terminal device; The second perception request is sent to the second terminal device on the third resource, and the second perception request includes the third perception signal corresponding to the perception task; The third perception measurement result corresponding to the third perception signal is received, which is sent by the second terminal device.

15. The method of claim 14, wherein, The method further includes: The sidelink connection is established with the second terminal device.

16. The method of claim 14, wherein, The second perception request further includes at least one of the following: An identifier of the perception task; A quality of service (QoS) of perception.

17. A perception method applied to a first network device, comprising: The method includes receiving the first perception request sent by the first terminal device, the first network device provides network services for a serving cell of the first terminal device, and the first perception request includes at least one of the following: location information of the first terminal device, a moving speed of the first terminal device, and a channel state information (CSI) report; sending resource information of a second resource to the first terminal device, the second resource being a sensing resource configured by the first network device for the first terminal device; performing a network-assisted sensing method through the second resource, wherein the network-assisted sensing method is one sensing method in an optional sensing scheme determined by the first terminal device based on first information, and if the first information includes measurement results of at least one cell and information of at least one second terminal device, the optional sensing scheme includes a first sensing scheme, a second sensing scheme and a third sensing scheme, the first sensing scheme includes an autonomous sensing method, a terminal-assisted sensing method and the network-assisted sensing method, the second sensing scheme includes the autonomous sensing method and the network-assisted sensing method, and the third sensing scheme includes the autonomous sensing method and the terminal-assisted sensing method, wherein a score of the first sensing scheme is obtained based on network quality, terminal availability and task urgency, a score of the second sensing scheme is obtained based on network quality and task urgency, and a score of the third sensing scheme is obtained based on terminal availability and task urgency, the scheme with the highest score among the first sensing scheme, the second sensing scheme and the third sensing scheme is taken as a sensing scheme, and a sensing result is determined according to the sensing scheme.

18. The method of claim 17, wherein, The performing of 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; sending a second sensing measurement result corresponding to the second sensing signal to the first terminal device.

19. The method of claim 17 or 18, wherein, The method further includes: sending the first sensing request to a sensing function (SF); receiving a resource configuration indication sent by the SF, the resource configuration indication being used to indicate that a sensing resource is allocated to the first terminal device; allocating the second resource to the first terminal device according to the resource configuration indication; sending a resource configuration response to the SF, the resource configuration response being used to indicate that the second resource is allocated to the first terminal device.

20. The method of claim 19, wherein, The method further includes: receiving a resource activation indication sent by the SF, the resource activation indication being used to indicate that the second resource is activated; sending a resource activation response to the SF, the resource activation response being used to indicate that the second resource has been activated.

21. A sensing method applied to a second terminal device, comprising: The method includes: receiving a second sensing request sent by the first terminal device on a third resource, the second sensing request including a third sensing signal corresponding to a sensing task, and the third resource being an available resource in a sensing resource pool pre-allocated to the first terminal device; sending, to the first terminal device, a third sensing measurement result corresponding to the third sensing signal, the third sensing measurement result being obtained according to a terminal-assisted sensing method, the terminal-assisted sensing method being one of optional sensing schemes, the optional sensing schemes being determined by the first terminal device based on first information, if the first information comprises measurement results of at least one cell and information of at least one second terminal device, the optional sensing schemes comprising a first sensing scheme, a second sensing scheme and a third sensing scheme, the first sensing scheme comprising an autonomous sensing method, the terminal-assisted sensing method and a network-assisted sensing method, the second sensing scheme comprising the autonomous sensing method and the network-assisted sensing method, the third sensing scheme comprising the autonomous sensing method and the terminal-assisted sensing method, wherein a score of the first sensing scheme is obtained based on network quality, terminal availability and task urgency, a score of the second sensing scheme is obtained based on network quality and task urgency, and a score of the third sensing scheme is obtained based on terminal availability and task urgency, and a scheme with the highest score among the first sensing scheme, the second sensing scheme and the third sensing scheme is selected as a sensing scheme, and a sensing result is determined according to the sensing scheme.

22. The method of claim 21, wherein, The method further comprises: establishing a sidelink connection with the first terminal device.

23. The method of claim 21, wherein, The second sensing request further comprises at least one of: an identifier of the sensing task; a quality of service (QoS) of sensing.

24. An electronic device, comprising: comprises: 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 performs the method according to any one of claims 1 to 16, or so that the electronic device performs the method according to any one of claims 17 to 20, or so that the electronic device performs the method according to any one of claims 21 to 23. 25.A computer readable storage medium, storing a computer program, characterized in that, The computer program, when executed by a processor, implements the method according to any one of claims 1 to 16, or the method according to any one of claims 17 to 20, or the method according to any one of claims 21 to 23.

26. A chip system, characterized by comprises at least one processor and a communication interface, the communication interface and the at least one processor are interconnected by a line, and the at least one processor is configured to run a computer program or instructions to execute the method according to any one of claims 1 to 16, or the method according to any one of claims 17 to 20, or the method according to any one of claims 21 to 23.

27. A computer program product, characterised in that, comprises a computer program, which, when executed, causes a computer to perform the method according to any one of claims 1 to 16, or the method according to any one of claims 17 to 20, or the method according to any one of claims 21 to 23.

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